Mitsubishi Electric PUY-A-NHA3-BS Instruction manual

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Mitsubishi Electric PUY-A-NHA3-BS Instruction manual | Manualzz

MODEL

MR-J4-B-RJ010 MR-J3-T10

INSTRUCTION

MODEL

CODE

1CW810

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH (NA) 030117-B (1312) MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications are subject to change without notice.

General-Purpose AC Servo

CC-Link IE Field Network interface with Motion

MODEL (Servo amplifier)

MR-J4-_B-RJ010

MR-J4-_B4-RJ010

MODEL (CC-Link IE Field Network interface unit)

MR-J3-T10

SERVO AMPLIFIER

INSTRUCTION MANUAL

B

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 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.

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.

When using an earth-leakage current breaker (RCD), select the type B.

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 a fire.

Always connect a magnetic contactor between the power supply and the main circuit power supply (L1,

L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

When using the regenerative resistor, switch power off with the alarm signal. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier, servo motor, and MR-J3-T10.

Always connect a molded-case circuit breaker to the power supply of the servo amplifier.

A - 2

3. To prevent injury, note the following

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur.

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 power is on or for some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the parts (cables, etc.) by hand.

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.

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

Do not hold the front cover when transporting the servo amplifier. 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.

The equipment must be installed in the specified direction.

Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.

Do not install or operate the servo amplifier and MR-J3-T10 which have been damaged or have any parts missing.

Do not block the intake and exhaust areas of the servo amplifier and MR-J3-T10. Otherwise, it may cause a malfunction.

Do not drop or strike the servo amplifier, servo motor, and MR-J3-T10. Isolate them from all impact loads.

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

Item Environment

Ambient Operation temperature Storage

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing) humidity Storage

Ambience

Altitude

Vibration resistance

90 %RH or less (non-condensing)

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

1000 m or less above sea level

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

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

When handling the servo amplifier and MR-J3-T10, be careful about the edged parts such as corners of them.

The servo amplifier and MR-J3-T10 must be installed in a 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.

A - 3

(2) Wiring

CAUTION

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

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

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

Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Servo motor

V

W

M

Servo amplifier

U

V

W

U

Servo motor

V

W

M

The connection diagrams in this installation guide 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 emergency stop and other protective circuits may not operate.

Servo amplifier

24 V DC

Servo amplifier

24 V DC

DOCOM DOCOM

Control output signal RA

Control output signal RA

For sink output interface For source output interface

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

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

(3) Test run and adjustment

CAUTION

Before operation, check 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 close to moving parts at servo-on status.

(4) Usage

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition.

Do not disassemble, repair, or modify the equipment.

A - 4

(4) Usage

CAUTION

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 be given to the electronic equipment used near the servo amplifier.

Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.

Use the servo amplifier with the specified servo motor.

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 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.

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an electromagnetic brake or external brake to prevent the condition.

Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.

Contacts must be opened when ALM

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

Contacts must be opened with the EMG stop switch.

Servo motor

RA

B 24 V DC

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.

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

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a malfunction, it is recommend that the electrolytic capacitor be replaced every 10 years when it is used in general environment. Please 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 - 5

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

STO function of the servo amplifier

When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual".

For the MR-J3-D05 safety logic unit, refer to appendix 5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

Compliance with global standards

For the compliance with global standards, refer to appendix 4 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

A - 6

«About the manual»

You must have this Instruction Manual and the following manuals to use the servo. Ensure to prepare them to use the servo safely.

Relevant manuals

Manual name

MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC Servos

(Packed with 200 V class servo amplifiers)

MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC Servos

(Packed with 400 V class servo amplifiers)

MR-J4-_B_(-RJ) AMPLIFIER INSTRUCTION MANUAL

MELSERVO-J4 SERVO AMPLIFIER INSTRUCTION MANUAL (TROUBLESHOOTING)

MELSERVO Servo Motor Instruction Manual (Vol. 3)

EMC Installation Guidelines

MELSEC-Q QD77GF Simple motion module User's Manual (Positioning Control)

MELSEC-Q QD77GF Simple motion module User's Manual (Network)

Manual No.

IB(NA)0300175

IB(NA)0300197

SH(NA)030106

SH(NA)030109

SH(NA)030113

IB(NA)67310

IB(NA)0300202

IB(NA)0300203

This Instruction Manual does not describe the following items. The followings are the same as MR-J4-_B_ servo amplifiers. For details of the items, refer to each chapter/section of the detailed description field.

"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Normal gain adjustment

Special adjustment functions (except gain switching function)

Characteristics

Absolute position detection system

Using STO function

«Cables used for wiring»

MR-J4-_B_ chapter 6

MR-J4-_B_ chapter 7

MR-J4-_B_ chapter 10

MR-J4-_B_ chapter 12

MR-J4-_B_ chapter 13

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

Mass

Length

Torque

Moment of inertia

Load (thrust load/axial load)

Temperature

SI (metric) unit

1 [kg]

1 [mm]

1 [N•m]

1 [(× 10 -4 kg•m 2

1 [N]

N [°C] × 9/5 + 32

U.S. customary unit

2.2046 [lb]

0.03937 [in]

141.6 [oz•in]

0.2248 [lbf]

N [°F]

A - 7

MEMO

A - 8

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-44

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

1.2 Function block diagram...................................................................................................................... 1- 2

1.3 Standard specifications...................................................................................................................... 1- 8

1.3.1 Servo amplifier............................................................................................................................. 1- 8

1.3.2 MR-J3-T10 Field Network interface unit..................................................................................... 1-10

1.4 Combinations of servo amplifiers and servo motors......................................................................... 1-10

1.5 Function list ....................................................................................................................................... 1-12

1.6 Model designation............................................................................................................................. 1-13

1.7 Structure............................................................................................................................................ 1-15

1.7.1 Parts identification ...................................................................................................................... 1-15

1.7.2 Parts identification of MR-J3-T10............................................................................................... 1-27

1.8 Installation and removal of MR-J3-T10............................................................................................. 1-28

1.9 Configuration including peripheral equipment .................................................................................. 1-32

1.9.1 200 V class ................................................................................................................................. 1-32

1.9.2 400 V class ................................................................................................................................. 1-38

2. INSTALLATION 2- 1 to 2- 4

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

2.2 Keep out foreign materials ................................................................................................................. 2- 4

3. SIGNALS AND WIRING 3- 1 to 3-18

3.1 I/O signal connection example........................................................................................................... 3- 3

3.1.1 For sink I/O interface ................................................................................................................... 3- 3

3.1.2 For source I/O interface............................................................................................................... 3- 5

3.2 Servo motor with an electromagnetic brake ...................................................................................... 3- 6

3.2.1 Safety precautions....................................................................................................................... 3- 6

3.2.2 Timing chart................................................................................................................................. 3- 7

4. STARTUP 4- 1 to 4-12

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

4.1.1 Startup procedure........................................................................................................................ 4- 2

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

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

4.2 Switch setting and display of the servo amplifier............................................................................... 4- 6

4.2.1 Switches ...................................................................................................................................... 4- 6

4.2.2 Scrolling display .......................................................................................................................... 4- 9

4.2.3 Status display of a station .......................................................................................................... 4-10

4.3 Display of MR-J3-T10 CC-Link IE Field Network interface unit........................................................ 4-12

5. PARAMETERS 5- 1 to 5-36

5.1 Parameter list..................................................................................................................................... 5- 1

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

1

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

5.1.3 Extension setting parameters ([Pr. PC_ _ ])................................................................................ 5- 4

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

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................. 5- 6

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................. 5- 7

5.1.7 Option setting parameters ([Pr. Po_ _) ....................................................................................... 5- 8

5.2 Detailed list of parameters ................................................................................................................ 5-10

5.2.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5-10

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5-17

5.2.3 Extension setting parameters ([Pr. PC_ _ ])............................................................................... 5-26

5.2.4 I/O setting parameters ([Pr. PD_ _ ]).......................................................................................... 5-31

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 5-33

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 5-34

5.2.7 Option setting parameters ([Pr. Po_ _) ...................................................................................... 5-36

6. TROUBLESHOOTING 6- 1 to 6- 8

6.1 Alarm and warning list........................................................................................................................ 6- 1

6.2 Troubleshooting at power on ............................................................................................................. 6- 6

7. DIMENSIONS 7- 1 to 7-18

7.1 Servo amplifier ................................................................................................................................... 7- 2

7.1.1 200 V class .................................................................................................................................. 7- 2

7.1.2 400 V class ................................................................................................................................. 7-11

7.2 MR-J3-T10 CC-Link IE Field Network interface unit......................................................................... 7-18

8. OPTIONS AND PERIPHERAL EQUIPMENT 8- 1 to 8- 4

8.1 Combinations of cable/connector sets............................................................................................... 8- 2

8.2 Cable for CC-Link IE Field Network................................................................................................... 8- 4

APPENDIX App.- 1 to App.- 5

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

App. 2 Analog monitor ........................................................................................................................App.- 1

App. 3 Special specification ................................................................................................................App.- 4

2

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

The following item is the same as MR-J4-_B_ Servo amplifiers. For details of the item, refer to the section of the detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

1.1 Summary

Removal and reinstallation of the front cover MR-J4-_B_ section 1.7.2

This instruction manual explains about CC-Link IE Field Network interface AC servo amplifier with Motion

MR-J4-_B_-RJ010 and CC-Link IE Field Network interface unit MR-J3-T10. Refer to "MR-J4-_B_(-RJ) Servo

Amplifier Instruction Manual" for the information not given in this manual.

Always use MR-J4-_B_-RJ010 with MR-J3-T10.

Connecting MR-J4-_B_-RJ010 and MR-J3-T10 to CC-Link IE Field simple motion module QD77GF_ enables you to drive a servo motor using CC-Link IE Field motion function.

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) 200 V class

(a) MR-J4-500B-RJ010 or less

Power factor improving

DC reactor (Note 5)

Regenerative option

(Note 2)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

STO switch

P4 (Note 4)

Relay

P+ C

(Note 1)

D N-

+

Regenerative

TR

Dynamic brake circuit

Current encoder

U

V

W

U

V

W

Servo motor

M

L11

L21

+

Cooling fan

(Note 3)

Control circuit power supply

CHARGE lamp

STO circuit

Base amplifier

Voltage detection

Overcurrent protection

Current detection

Position command input Model position control

Model speed control

Virtual encoder

Virtual motor

Model position Model speed Model torque

Actual position control

Actual speed control

Current control

Stepdown circuit

RA

24 V DC

B1

B

Electromagnetic brake

B2

Encoder

Optional battery

(for absolute position detection system)

USB D/A

I/F Control

CN7

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

CN5 CN3

Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

Note 1. The built-in regenerative resistor is not provided for the MR-J4-10B-RJ010.

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 1.3.1.

3. Servo amplifiers MR-J4-70B-RJ010 or more have a cooling fan.

4. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and

P2 of MR-J3 servo amplifiers.

5. 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 - 2

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-700B-RJ010

Power factor improving

DC reactor (Note 3)

Regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier P3

MC

L1

Diode stack

L2

U

L3

U U

P4 (Note 2) P+

Relay

+

Regenerative

TR

C N-

STO switch

Dynamic brake circuit

Current encoder

U

V

W

U

V

W

Servo motor

M

L11

L21

+

CHARGE lamp

Cooling fan

Control circuit power supply

STO circuit

Base amplifier

Voltage detection

Overcurrent protection

Current detection

Position command input Model position control

Model speed control

Virtual encoder

Virtual motor

Model position Model speed Model torque

Actual position control

Actual speed control

Current control

Stepdown circuit

RA B1

24 V DC B

Electromagnetic brake

B2

Encoder

Optional battery

(for absolute position detection system)

I/F Control

USB D/A

CN7

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

CN5 CN3

Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

Note 1. For power supply specifications, refer to section 1.3.1.

2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and

P2 of MR-J3 servo amplifiers.

3. 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 - 3

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-11KB-RJ010/MR-J4-15KB-RJ010/MR-J4-22KB-RJ010

(Note 4)

Power factor improving

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-

+

Control circuit power supply

+

Regenerative

TR

Charge lamp

Cooling fan

Current detector

STO circuit

Base amplifier

Voltage detection

Overcurrent protection

Current detection

U

V

W

(Note 3)

External dynamic brake

(optional)

Servo motor

U

V

W

M

RA

24 V DC

B1

B

Electromagnetic brake

B2

Encoder

Position command input Model position control

Model speed control

Virtual motor

Virtual encoder

Model position Model speed Model torque

Stepdown circuit

Optional battery

(For absolute position detection system)

Actual position control

Actual speed control

Current control

I/F Control

USB D/A

CN7

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

CN5 CN3

Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

Note 1. Refer to section 1.3.1 for the power supply specification.

2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and

P2 of MR-J3 servo amplifiers.

3. 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 section 6.1.

4. 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

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

(a) MR-J4-350B4-RJ010 or less

(Note 4)

Power factor improving

DC reactor

Regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

L11

L21

P4 (Note 3)

Relay

P+ C

+

Control circuit power supply

+

Cooling fan

(Note 2)

Regenerative

TR

Charge lamp

STO circuit

STO switch Base amplifier

D

Voltage detection

N-

Dynamic brake circuit

Current detector

Overcurrent protection

Current detection

Servo motor

U

V

W

U

V

W

M

Stepdown circuit

RA

24 V DC

B1

B

Electromagnetic brake

B2

Encoder

Position command input Model position control

Model speed control

Virtual motor

Virtual encoder

Model position Model speed Model torque

Actual position control

Actual speed control

Current control

Optional battery

(For absolute position detection system)

I/F Control

USB D/A

CN7

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

CN5 CN3

Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

Note 1. Refer to section 1.3.1 for the power supply specification.

2. Servo amplifiers MR-J4-200B4(-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. 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 - 5

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-500B4-RJ010/MR-J4-700B4-RJ010

(Note 3)

Power factor improving

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+

+

Control circuit power supply

+

Regenerative

TR

Charge lamp

Cooling fan

C N-

Dynamic brake circuit

Current detector

STO circuit

Base amplifier

Voltage detection

Overcurrent protection

Current detection

Servo motor

U

V

W

U

V

W

M

Stepdown circuit

RA

24 V DC

B1

B

Electromagnetic brake

B2

Encoder

Position command input Model position control

Model speed control

Virtual motor

Virtual encoder

Model position Model speed Model torque

Actual position control

Actual speed control

Current control

Optional battery

(For absolute position detection system)

I/F Control

USB D/A

CN7

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

CN5 CN3

Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

Note 1. Refer to section 1.3.1 for the power supply specification.

2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and

P2 of MR-J3 servo amplifiers.

3. 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 - 6

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-11KB4-RJ010/MR-J4-15KB4-RJ010/MR-J4-22KB4-RJ010

(Note 4)

Power factor improving

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-

+

Control circuit power supply

+

Regenerative

TR

Charge lamp

Cooling fan

Current detector

STO circuit

Base amplifier

Voltage detection

Overcurrent protection

Current detection

U

V

W

(Note 3)

External dynamic brake

(optional)

Servo motor

U

V

W

M

RA

24 V DC

B1

B

Electromagnetic brake

B2

Encoder

Position command input Model position control

Model speed control

Virtual motor

Virtual encoder

Model position Model speed Model torque

Stepdown circuit

Optional battery

(For absolute position detection system)

Actual position control

Actual speed control

Current control

I/F Control

USB D/A

CN7

MR-J3-T10

CN10A CN10B

CC-Link IE

Field Network

CC-Link IE

Field Network

CN5 CN3

Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

Note 1. Refer to section 1.3.1 for the power supply specification.

2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and

P2 of MR-J3 servo amplifiers.

3. 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 section 6.1.

4. 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 - 7

1. FUNCTIONS AND CONFIGURATION

1.3 Standard specifications

1.3.1 Servo amplifier

10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB

Output

Main circuit power supply input

Control circuit power supply input

Power consumption

Inrush current

Voltage Interface power supply

Control method

Dynamic brake

Current capacity

Communication function

Encoder output pulses

Analog monitor

Protective functions

Safety function

Safety performance

Compliance to standards

Rated voltage

Rated current [A] 1.1

3-phase 170 V AC

1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0

Voltage/Frequency

Rated current

Permissible voltage fluctuation

Permissible frequency fluctuation

[A]

3-phase or 1-phase

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

0.9 1.5 2.6

3.2

(Note

5)

3-phase or 1-phase

170 V AC to 264 V AC

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

3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0

3-phase 170 V AC to 264 V AC

Within ±5%

Power supply capacity

Inrush current

Voltage/Frequency

[kVA]

[A]

Rated current

Permissible voltage fluctuation

Permissible frequency fluctuation

[A]

MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.2

MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.5

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

0.2

1-phase 170 V AC to 264 V AC

Within ±5%

0.3

Standards certified by CB

Response performance

(Note 3)

Test pulse input (STO)

CE marking

UL standard

Structure (IP rating)

Close mounting (Note 2)

Ambient temperature

[W] 30

[A]

[A]

Operation

Storage

45

MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.5

24 V DC ± 10%

(Note 1) 0.3 (including CN8 connector signals)

Sine-wave PWM control, current control method

Built-in

Compatible (A/B/Z-phase pulse)

External option (Note 6)

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

2 channels

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, and error excessive protection

STO (IEC/EN 61800-5-2)

EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2

Natural cooling, open (IP20)

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

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)

Possible

Force cooling, open

(IP20) (Note 4)

Impossible

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

Environment

Ambient humidity

Operation

Storage

Ambience

Altitude

Vibration resistance

90 %RH or less (non-condensing)

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

1000 m or less above sea level

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

Mass

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 °C to 45 °C or at

75% or smaller effective load ratio.

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 UL or CSA compliant servo motor.

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 - 8

1. FUNCTIONS AND CONFIGURATION

60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4

Output

Main circuit power supply input

Rated voltage

Rated [A]

Voltage/Frequency

Rated [A]

Permissible voltage fluctuation

Permissible frequency fluctuation

Power supply capacity

[kVA]

Inrush current

Voltage/Frequency

[A]

3-phase 323 V AC

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

3-phase 323 V AC to 528 V AC

MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.2

MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.5

1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

0.2

Control circuit power supply input

Permissible voltage fluctuation

Permissible frequency fluctuation

1-phase 323 V AC to 528 V AC

Interface power supply

Voltage

Current capacity

Control method

Dynamic brake

Communication function

Encoder output pulses

Analog monitor

Protective functions

Functional safety

[A]

Standards certified by CB

45

MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual section 10.5

24 V DC ± 10%

(Note 1) 0.3 (including CN8 connector signals)

Sine-wave PWM control, current control method

Built-in External option (Note 4)

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

Compatible (A/B/Z-phase pulse)

Two channels

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

STO (IEC/EN 61800-5-2)

EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and

EN 61800-5-2 SIL 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

Safety performance

Response performance

(Note 2)

Test pulse input (STO)

Mean time to dangerous failure (MTTFd)

Diagnosis converge (DC)

Average probability of dangerous failures per hour

(PFH)

100 years or longer

Medium (90% to 99%)

1.68 × 10 -10 [1/h]

Compliance to standards

CE marking

Structure (IP rating)

LVD: EN 61800-5-1

EMC: EN 61800-3

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

Natural cooling, open

(IP20)

Force cooling, open

(IP20)

Force cooling, open (IP20) (Note 3)

Impossible

Environment

Ambient temperature

Ambient humidity

Ambience

Altitude

Operation

Storage

Operation

Storage

Vibration resistance

90 %RH or less (non-condensing)

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

1000 m or less above sea level

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

Mass 13.4 18.2

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self-diagnose.

3. Except for the terminal block.

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 emergency stop. Ensure the safety in the entire equipment.

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.3.2 MR-J3-T10 Field Network interface unit

Model

Control circuit Voltage power supply Rated current [A]

I/O interfaces

Number of communication ports

Structure

Ambient Operation temperature Storage

Environment

Ambient humidity

Operation

Ambience

Altitude

Vibration resistance

Mass

Storage

[g]

MR-J3-T10

5 V DC (supplied from the servo amplifier)

0.8

CC-Link IE Field Network interface

2 (CN10A connector/CN10B connector)

Natural-cooling, open (IP rating: IP 00)

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

90 %RH or less (non-condensing)

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

1000 m or less above sea level

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

150

1.4 Combinations of servo amplifiers and servo motors

POINT

Linear servo motors and direct drive motors cannot be used with the MR-J4-

_B_-RJ010 servo amplifier.

(1) 200 V class

Rotary servo motor

Servo amplifier HG-JR

13 13

52

MR-J4-70B-RJ010 73 73 72 73

MR-J4-100B-RJ010 81

102

103

152 103 153

153 203 201

152

202

MR-J4-700B-RJ010

MR-J4-11KB-RJ010

352

502 502

702

353

503

703

903

11K1M

503

53

73

103

153

203

503 353

MR-J4-15KB-RJ010

MR-J4-22KB-RJ010

15K1M

22K1M

1 - 10

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

Rotary servo motor

HG-JR

Servo amplifier

400%)

MR-J4-60B4-RJ010 524

MR-J4-100B4-RJ010 1024

534

734

1034

534

MR-J4-200B4-RJ010 1524

2024

MR-J4-350B4-RJ010 3524

1534

2034

3534

734

1034

1534

2034

3534 MR-J4-500B4-RJ010 5024 5034

MR-J4-700B4-RJ010 7024 7034 5034

MR-J4-11KB4-RJ010 9034

11K1M4

MR-J4-15KB4-RJ010 15K1M4

MR-J4-22KB4-RJ010 22K1M4

1 - 11

1. FUNCTIONS AND CONFIGURATION

1.5 Function list

The following table lists the functions of this servo. For details of the functions, refer to each section of the detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Function Description explanation

Position control mode

Speed control mode

Torque control mode

High-resolution encoder

Absolute position detection system

Gain switching function

Advanced vibration suppression control II

Machine resonance suppression filter

This servo is used as a position control servo.

This servo is used as a speed control servo.

The speed control mode is used with servo amplifiers with software version

A1 or later.

This servo is used as a torque control servo.

The torque control mode is used with servo amplifiers with software version

A1 or later.

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.

This is not available with the MR-J4-_B_-RJ010 servo amplifier.

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

MR-J4-_B_ chapter 12

MR-J4-_B_ section

7.1.5

MR-J4-_B_ section

7.1.1

Shaft resonance suppression filter

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.

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 a MR Configurator2 installed personal computer and servo amplifier.

MR Configurator2 is necessary for this function.

This function provides better disturbance response in case low response level that load to motor inertia ratio is high for such as roll send axes.

MR-J4-_B_ section

7.1.3

MR-J4-_B_ section

7.1.2

MR-J4-_B_ section

7.1.4

[Pr. PE41]

Slight vibration suppression control

Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]

Auto tuning

Brake unit

Power regeneration converter

Regenerative option

Alarm history clear

Output signal selection

(device settings)

Output signal (DO) forced output

Test operation mode

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 regenerative power generated.

Alarm history is cleared.

The output devices including ALM (Malfunction) can be assigned to specified pins of the CN3 connector.

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

Use this function for checking output signal wiring, etc.

Jog operation, positioning operation, motor-less operation, DO forced output, and program operation

MR Configurator2 is necessary for this function.

MR-J4-_B_ section 6.3

MR-J4-_B_ section

11.3

MR-J4-_B_ section

11.4

MR-J4-_B_ section

11.2

[Pr. PC21]

[Pr. PD07] to

[Pr. PD09]

MR-J4-_B_ section

4.5.1 (1) (d)

MR-J4-_B_ section 4.5

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

[Pr. PC09],

[Pr. PC10]

MR Configurator2

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

Use MR Configurator2 of software version 1.19V or later for the MR-J4-_B_-

RJ010 servo amplifier.

MR-J4-_B_ section

11.7

1 - 12

1. FUNCTIONS AND CONFIGURATION

Servo amplifier life diagnosis function

Function Description explanation

Linear servo system

Direct drive servo system

Fully closed loop system

One-touch tuning

Tough drive function

Drive recorder function

STO function

Power monitoring function

Machine diagnosis function

This is not available with the MR-J4-_B_-RJ010 servo amplifier.

This is not available with the MR-J4-_B_-RJ010 servo amplifier.

This is not available with the MR-J4-_B_-RJ010 servo amplifier.

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

Configurator2.

MR Configurator2 is necessary for this function.

This function makes the equipment continue operating even under the condition that an alarm occurs.

The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.

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".

4. The controller is not connected (except the test operation mode).

5. An alarm related to the controller is occurring.

This function is a protective functions that complies with IEC/EN 61800-5-2.

You can create a safety system for the equipment easily.

You can check the cumulative energization time and the number of on/off times of the inrush relay. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.

MR Configurator2 is necessary for this function.

This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. 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.

MR Configurator2 is necessary for this function.

This is not available with the MR-J4-_B-RJ010 servo amplifier.

MR-J4-_B_ section 6.2

MR-J4-_B_ section 7.3

[Pr. PA23]

Master-slave operation function

Scale measurement function

J3 compatibility mode

Continuous operation to torque control

1.6 Model designation

(1) Rating plate

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

AC SERVO

SER.S21001001

MODEL

POWER

MR-J4-10B-RJ010

: 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

Serial number

Model

Capacit

Applicable power supply

Rated output current

Standard, Manual number

Ambient temperature

IP rating

MODEL MR-J3-T10

POWER

INPUT :

:

OUTPUT

SERIAL :

:

IP00 MANUAL IB-0300171

1.5A 3PH+1PH

3PH+1PH200-230V

2.2A 1PH 200-230V

170V 0-360Hz 1.5A

The year and month of manufacture

Country of origin

Servo amplifier CC-Link IE Field Network interface unit

Model

IP rating Installation guide

Serial number

Country of origin

1 - 13

1. FUNCTIONS AND CONFIGURATION

(2) Model

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

Series

Special specifications

Symbol Special specifications

RJ010 CC-Link IE Field Network interface with Motion

RU010 MR-J4-_B_-RJ010 without a dynamic brake (Note1)

RZ010 MR-J4-_B_-RJ010 without regenerative resistor (Note2)

Note 1. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. Refer to Appendix 3.1 for details.

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

Appendix 3.2 for details.

Power supply

Symbol Power supply

None 3-phase 200 V AC to 240 V AC

4 3-phase 380 V AC to 480 V AC

200

350

500

700

11k

15k

22k

Rated output

Symbol Rated output [kW]

10

20

0.1

0.2

40

60

70

100

0.4

0.6

0.75

1

2

3.5

5

7

11

15

22

1 - 14

1. FUNCTIONS AND CONFIGURATION

(13)

(5)

(6)

(15)

(7)

(16)

(8)

(9)

(17)

(18)

(14)

Side

(10)

1.7 Structure

1.7.1 Parts identification

(1) 200 V class

"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

(a) MR-J4-200B-RJ010 or less

"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

(4)

(1)

(3)

(11)

(12)

Inside of the display cover

(20)

(19)

(2)

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

Display

The 3-digit, seven-segment LED shows the servo status and the alarm number.

Station number setting rotary switch (SW1)

Used to set a station No. of servo amplifier.

Auxiliary station number setting switch (SW2)

This consists of the test operation select switch and auxiliary station number setting switches.

USB communication connector (CN5)

Connect with the personal computer.

I/O signal connector (CN3)

Used to connect digital I/O signals.

STO input signal connector (CN8)

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

Manufacturer setting connector (CN1A)

This is not available with the servo amplifier. Always cap the connector.

Manufacturer setting connector (CN1B)

This is not available with the servo amplifier. Always cap the connector.

Encoder connector (CN2)

Used to connect the servo motor encoder.

Section 4.2

MR-J4-_B_ section

11.7

Section 3.1

MR-J4-_B_ section 3.4

MR-J4-_B_ chapter 13

MR-J4-_B_ app. 5

(9)

MR-J4-_B_ section 3.4

"Servo Motor

Instruction Manual

(Vol. 3)"

(10)

(11)

(17)

(18)

(19)

(20)

Battery connector (CN4)

Used to connect the battery or the battery unit for absolute position data backup.

Battery holder

Install the the battery for absolute position data backup.

(12)

(13)

Protective earth (PE) terminal

Grounding terminal

Main circuit power supply connector (CNP1)

Connect the input power supply.

(14) Rating plate

(15)

(16)

Control circuit power supply connector (CNP2)

Connect the control circuit power supply or regenerative option.

Servo motor power supply connector (CNP3)

Connect the servo motor.

Charge lamp

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

Manufacturer setting connector (CN2L)

This is not available with the servo amplifier.

Optional unit connector (CN7)

This is for connecting MR-J3-T10.

Manufacturer setting connector (CN9)

This is not available with the servo amplifier.

MR-J4-_B_ chapter 12

MR-J4-_B_ section

12.2

MR-J4-_B_ section 3.1

MR-J4-_B_ section 3.3

Section 1.6

MR-J4-_B_ section 3.1

MR-J4-_B_ section 3.3

Section 1.8

1 - 15

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-350B-RJ010

The broken line area is the same as

MR-J4-200B-RJ010 or less.

(1)

(3)

(2)

Side

(4)

(5)

(7) (6)

(1)

Main circuit power supply connector (CNP1)

Connect the input power supply.

(2) Rating plate

(3)

Servo motor power supply connector (CNP3)

Connect the servo motor.

(4)

(5)

Control circuit power supply connector (CNP2)

Connect the control circuit power supply or regenerative option.

Charge lamp

When the main circuit is charged, this will light.

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

(6)

(7)

Protective earth (PE) terminal

Grounding terminal

Battery holder

Install the the battery for absolute position data backup.

MR-J4-_B_ section 3.1

MR-J4-_B_ section 3.3

Section 1.6

MR-J4-_B_ section 3.1

MR-J4-_B_ section 3.3

MR-J4-_B_ section 3.1

MR-J4-_B_ section 3.3

MR-J4-_B_ section

12.2

1 - 16

(6)

(7)

(8)

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-500B-RJ010

POINT

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

The broken line area is the same as

MR-J4-200B-RJ010 or less.

(1)

(2)

(3)

(Note)

(4)

Side

(1)

(2)

(5)

Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

Main circuit terminal block (TE1)

Connect the input power supply.

(3)

Battery holder

Install the the battery for absolute position data backup.

(4) Rating plate

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

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

(6)

(7)

(8)

Servo motor power supply terminal block (TE4)

Connect the servo motor.

Charge lamp

When the main circuit is charged, this will light.

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

Protective earth (PE) terminal

Grounding terminal

MR-J4-_B_ section 3.1

MR-J4-_B_ section 3.3

MR-J4-_B_ section

12.2

Section 1.6

MR-J4-_B_ section 3.1

MR-J4-_B_ section 3.3

MR-J4-_B_ section 3.1

MR-J4-_B_ section 3.3

(5)

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

1 - 17

1. FUNCTIONS AND CONFIGURATION

(d) MR-J4-700B-RJ010

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

The broken line area is the same as

MR-J4-200B-RJ010 or less.

(7)

(6)

(5)

(Note)

(1)

(2)

(3)

(4)

Power factor improving reactor terminal block (TE3)

Used to connect the DC reactor.

Main circuit terminal block (TE1)

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

Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

Protective earth (PE) terminal

Grounding terminal

(5)

Battery holder

Install the the battery for absolute position data backup.

(6) Rating plate

(7)

Charge lamp

When the main circuit is charged, this will light.

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

MR-J4-_B_ section 3.1

MR-J4-_B_ section 3.3

MR-J4-_B_ section

12.2

Section 1.6

(1)

(2)

(4)

(3)

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

1 - 18

1. FUNCTIONS AND CONFIGURATION

(e) MR-J4-11KB-RJ010/MR-J4-15KB-RJ010

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

The broken line area is the same as

MR-J4-200B-RJ010 or less.

(5)

(Note)

(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.

Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(4)

(5)

Protective earth (PE) terminal

Grounding terminal

Battery holder

Install the battery for absolute position data backup.

(6) Rating plate

(7)

Charge lamp

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

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

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

MR-J4-_B_ section

12.2

Section 1.6

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

1 - 19

1. FUNCTIONS AND CONFIGURATION

(f) MR-J4-22KB-RJ010

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

The broken line area is the same as

MR-J4-200B-RJ010 or less.

(7)

(5)

(Note)

(6)

(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.

Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(4)

(5)

Protective earth (PE) terminal

Grounding terminal

Battery holder

Install the battery for absolute position data backup.

(6) Rating plate

(7)

Charge lamp

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

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

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

MR-J4-_B_ section

12.2

Section 1.6

(2)

(3)

(1)

(4)

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

1 - 20

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

(a) MR-J4-200B4-RJ010 or less

(1)

(3)

(17)

(4)

(5)

(6)

(13)

(15)

(7)

(8)

(16)

(9)

(18)

(14)

Side (10) (11)

Bottom

(12)

(20)

(19)

(2)

Inside of the display cover

(1)

(2)

(3)

(4)

(5)

Display

The 3-digit, 7-segment LED shows the servo status and the alarm number.

Axis selection rotary switch (SW1)

Used to set the axis No. of servo amplifier.

Control axis setting switch (SW2)

The test operation switch, the control axis deactivation setting switch, and the auxiliary axis number setting switch are available.

USB communication connector (CN5)

Connect with the personal computer.

I/O signal connector (CN3)

Used to connect digital I/O signals.

MR-J4-_B_ section

4.3

MR-J4-_B_ section

11.7

MR-J4-_B_ section

3.2

Section 3.4

MR-J4-_B_ chapter

13

MR-J4-_B_ app. 5

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

STO input signal connector (CN8)

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

SSCNET III cable connector (CN1A)

Used to connect the servo system controller or the previous axis servo amplifier.

SSCNET III cable connector (CN1B)

Used to connect the next axis servo amplifier. For the final axis, put a cap.

Encoder connector (CN2)

Used to connect the servo motor encoder.

Battery connector (CN4)

Used to connect the battery for absolute position data backup.

Battery holder

Install the battery for absolute position data backup.

Protective earth (PE) terminal

Grounding terminal

Main circuit power supply connector (CNP1)

Connect the input power supply.

(14) Rating plate

(15)

(16)

Control circuit power supply connector (CNP2)

Connect the control circuit power supply and regenerative option.

Servo motor power output connector (CNP3)

Connect the servo motor.

(17)

Charge lamp

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

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

(18)

(19)

(20)

Manufacturer setting connector (CN2L)

This is not available with the servo amplifier.

Optional unit connector (CN7)

This is for connecting MR-J3-T10.

Manufacturer setting connector (CN9)

This is not available with the servo amplifier.

MR-J4-_B_ section

3.2

MR-J4-_B_ section

3.4

MR-J4-_B_ section

3.4

MR-J4-_B_ chapter

12

MR-J4-_B_ section

12.2

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

Section 1.6

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

Section 1.8

1 - 21

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-350B4-RJ010

The broken line area is the same as

MR-J4-200B4-RJ010 or less.

(1)

(7)

(3)

(2)

Side

(4)

(1)

Main circuit power connector (CNP1)

Connect the input power supply.

(2) Rating plate

(3)

(4)

Control circuit power connector (CNP2)

Connect the control circuit power supply and regenerative option.

Servo motor power output connector (CNP3)

Connect the servo motor.

(5)

Charge lamp

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

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

(6)

Protective earth (PE) terminal

Grounding terminal

(7)

Battery holder

Install the battery for absolute position data backup.

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

Section 1.6

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

MR-J4-_B_ section

12.2

(5)

(6)

1 - 22

1. FUNCTIONS AND CONFIGURATION

(c) MR-J4-500B4-RJ010

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

The broken line area is the same as

MR-J4-200B4-RJ010 or less.

(6)

(3)

(Note)

(4)

(5)

(1)

(1)

(2)

(3)

(7)

Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

Main circuit terminal block (TE1)

Used to connect the input power supply.

Battery holder

Install the battery for absolute position data backup.

(4) Rating plate

(5)

Regenerative option, Power factor improving reactor terminal block (TE3)

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

(6)

Charge lamp

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

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

Protective earth (PE) terminal

Grounding terminal

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

MR-J4-_B_ section

12.2

Section 1.6

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

(2)

(7)

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

1 - 23

1. FUNCTIONS AND CONFIGURATION

(d) MR-J4-700B4-RJ010

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

The broken line area is the same as

MR-J4-200B4-RJ010 or less.

(7)

(6)

(5)

(Note)

(1)

(2)

(3)

(4)

(5)

Power factor improving reactor terminal block (TE3)

Used to connect a power factor improving DC reactor.

Main circuit terminal block (TE1)

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

Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

Protective earth (PE) terminal

Grounding terminal

Battery holder

Install the battery for absolute position data backup.

(6) Rating plate

(7)

Charge lamp

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

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

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

MR-J4-_B_ section

12.2

Section 1.6

(1)

(2)

(4)

(3)

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

1 - 24

1. FUNCTIONS AND CONFIGURATION

(e) MR-J4-11KB4-RJ010/MR-J4-15KB4-RJ010

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

The broken line area is the same as

MR-J4-200B4-RJ010 or less.

(5)

(Note)

(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.

Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(4)

(5)

Protective earth (PE) terminal

Grounding terminal

Battery holder

Install the battery for absolute position data backup.

(6) Rating plate

(7)

Charge lamp

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

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

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

MR-J4-_B_ section

12.2

Section 1.6

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

1 - 25

1. FUNCTIONS AND CONFIGURATION

(f) MR-J4-22KB4-RJ010

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

The broken line area is the same as

MR-J4-200B4-RJ010 or less.

(7)

(5)

(Note)

(6)

(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.

Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(4)

(5)

Protective earth (PE) terminal

Grounding terminal

Battery holder

Install the battery for absolute position data backup.

(6) Rating plate

(7)

Charge lamp

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

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

MR-J4-_B_ section

3.1

MR-J4-_B_ section

3.3

MR-J4-_B_ section

12.2

Section 1.6

(2)

(3)

(1)

(4)

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

1 - 26

1. FUNCTIONS AND CONFIGURATION

1.7.2 Parts identification of MR-J3-T10

MR-J3-T10

(3)

(4)

(1)

RUN

ERR.

D LINK

SD

RD

L.ERR

(2)

(2)

(1)

(2)

(3)

(4)

Display

RUN

D LINK

SD

RD

ERR.

L ERR.

Display

LINK

L.ER

Status of CC-Link IE communication is displayed.

Status of CC-Link IE communication is displayed.

CC-Link IE Field Network communication connector

(CN10A)

Connect to CC-Link IE Field Network.

CC-Link IE Field Network communication connector

(CN10B)

Connect to CC-Link IE Field Network.

Section 4.3

Section 3.1

Chapter 8

1 - 27

1. FUNCTIONS AND CONFIGURATION

1.8 Installation and removal of MR-J3-T10

WARNING

Before installing or removing the CC-Link IE interface unit, 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-J3-T10 repeatedly. Any contact failure of the connector may be caused.

Avoid unsealing MR-J3-T10 to be free of dust and dirt against the connector except installing. Make sure to use the pre-packing when storing.

Avoid using MR-J3-T10 of which the hook and knobs for fixing are damaged. Any contact failure of the connector may be caused.

When installing and removing MR-J3-T10 to the MR-J4-500B-RJ010 or more, avoid dropping out the installing screw inside it. Otherwise, it may cause a malfunction.

When installing MR-J3-T10 to the MR-J3-500B-RJ010 or more, avoid damaging the control board by the fixing plate. Otherwise, it may cause a malfunction.

Make sure to tighten MR-J3-T10 with the enclosed installing screws when installing.

POINT

The internal circuits of the servo amplifier and MR-J3-T10 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.

1 - 28

1. FUNCTIONS AND CONFIGURATION

(1) MR-J4-350B-RJ010 or smaller capacity models

POINT

Do not remove the cover of the CN9 connector because the connector is not used.

(a) Installation of MR-J3-T10

1)

Guide hole

MR-J3-T10

2)

1) Remove the cover of connector for connecting an option.

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-J3-T10's guide pins.

2)

Guide pin

3) Push the four corners of the side of MR-J3-T10 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).

4)

Knob

(b) Removal of MR-J3-T10 a)

1) b)

1) Remove the installing screw.

2) Keep pushing the knobs ( a) , b) ) and pull out MR-J3-T10 to the arrow direction. Avoid pulling out MR-J3-T10 while it is tightened with the installation screw.

After removing MR-J3-T10, make sure to cap the connector for connecting an option to avoid dust and dirt.

1 - 29

a) b)

1. FUNCTIONS AND CONFIGURATION

(2) MR-J4-350B-RJ010/MR-J4-500B-RJ010/MR-J4-700B-RJ010

(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) a)

(b) Installation of MR-J3-T10

1)

Guide pin

1)

Guide hole

1) Find the guide hole on the side of the servo amplifier. To the guide hole, insert the MR-J3-T10's guide pins.

2) Push MR-J3-T10 until the knobs click.

3) Tighten the unit with the enclosed installing screw (M4).

2)

3)

Knob

(c) Removal of MR-J3-T10

1) Remove the installing screw.

2) Keep pushing the knobs ( a) , b) ) and pull out MR-J3-T10 to the arrow direction. Avoid pulling out MR-J3-T10 while it is tightened with the installation screw.

1)

1 - 30

1. FUNCTIONS AND CONFIGURATION

(d) Installation of the side cover

1) a)

1)

Side cover setting tab

1) Insert the side cover setting tabs into the sockets a) of servo amplifier.

2) Push the side cover at the supporting point a) until the knobs click.

2)

Knob

(3) MR-J4-11KB(4)-RJ010 to MR-J4-22KB(4)-RJ010

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-J4-11KB(4)-RJ010 to MR-J4-22KB(4)-RJ010 servo amplifiers are covered 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-J4-11KB(4)-RJ010 to MR-J4-22KB(4)-RJ010 and for this unit. Install or remove the side cover with the same way as for the unit. However, the installing screw for the side cover is unnecessary. a)

1 - 31

1. FUNCTIONS AND CONFIGURATION

1.9 Configuration including peripheral equipment

CAUTION

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

POINT

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

1.9.1 200 V class

(1) MR-J4-200B-RJ010 or less

R S T

(Note 2)

Power supply

Molded-case circuit breaker

(MCCB)

Servo amplifier MR-J3-T10

MR Configurator2

CN5

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1) CN3

Line noise filter

(FR-BSF01)

Power factor improving DC reactor

(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

U

V

W

CN8

CN10A

CN10B

CN2

CN4

Battery

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B-RJ010 or less. For 1phase 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 1.3.1.

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.

1 - 32

1. FUNCTIONS AND CONFIGURATION

(2) MR-J4-350B-RJ010

(Note 2)

Power supply

Molded-case circuit breaker

(MCCB)

R S T

Servo amplifier MR-J3-T10

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

CN3

Line noise filter

(FR-BSF01)

CN8

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

Power factor improving DC reactor

(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

U

V

W

CN10A

CN10B

CN2

CN4

Battery

CC-Link IE

Field Network

CC-Link IE

Field Network

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 33

1. FUNCTIONS AND CONFIGURATION

(3) MR-J4-500B-RJ010

(Note 2)

Power supply

Molded-case circuit breaker

(MCCB)

R S T

Servo amplifier MR-J3-T10

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

L11

L21

CN3

Line noise filter

(FR-BLF)

L1

L2

L3

Power factor improving DC reactor

(FR-HEL)

Regenerative option

P+

C

P3

P4

U

V

W

CN8

CN10A

CN10B

CN2

CN4

Battery

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 34

1. FUNCTIONS AND CONFIGURATION

(4) MR-J4-700B-RJ010

(Note 2)

Power supply

Molded-case circuit breaker

(MCCB)

R S T

Servo amplifier MR-J3-T10

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

CN3

Line noise filter

(FR-BLF)

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

Power factor improving

DC reactor

(FR-HEL)

P3

L21

L11

P4

L3

L2

L1

CN8

CN10A

CN10B

CN2

CN4

Battery

U V W

P+ C

Regenerative option

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 35

1. FUNCTIONS AND CONFIGURATION

(5) MR-J4-11KB-RJ010/MR-J4-15KB-RJ010

(Note 2)

Power supply

Molded-case circuit breaker

(MCCB)

R S T

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1

Power factor improving DC reactor

(FR-HEL)

P3

P4

L21

L11

P+ C

Regenerative option

CN5

MR Configurator2

Personal computer

CN3

CN8

CN10A

CN10B

CN2

CN4

Battery

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 36

1. FUNCTIONS AND CONFIGURATION

(6) MR-J4-22KB-RJ010

R S T

(Note 2)

Power supply

Molded-case circuit breaker

(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1

L21

L11

CN3

CN8

CN10A

CN10B

CN2

CN4

Battery

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

Power factor improving DC reactor

(FR-HEL)

P3

P4

P+ C

Regenerative option

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 37

1. FUNCTIONS AND CONFIGURATION

1.9.2 400 V class

(1) MR-J4-200B4-RJ010 or less

(Note 2)

Power supply

R S T

Molded-case circuit breaker

(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1) CN3

Junction terminal block

Line noise filter

(FR-BSF01)

CN8

CN10A

CN10B

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

Power factor improving DC reactor

(FR-HEL-H)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

U

V

W

CN2

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.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 38

1. FUNCTIONS AND CONFIGURATION

(2) MR-J4-350B4-RJ010

(Note 2)

Power supply

R S T

Molded-case circuit breaker

(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)

Power factor improving DC reactor

(FR-HEL-H)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

U

V

W

CN5

MR Configurator2

Personal computer

CN3

CN8

CN10A

CN10B

CN2

CN4

Battery

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 39

1. FUNCTIONS AND CONFIGURATION

(3) MR-J4-500B4-RJ010

(Note 2)

Power supply

R S T

Molded-case circuit breaker

(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)

Power factor improving DC reactor

(FR-HEL-H)

P3

P4

CN5

MR Configurator2

Personal computer

CN3

CN8

CN10A

CN10B

CN2

CN4

Battery

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

L3

L2

L1

L21

L11

U V W

P+ C

Regenerative option

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 40

1. FUNCTIONS AND CONFIGURATION

(4) MR-J4-700B4-RJ010

(Note 2)

Power supply

Molded-case circuit breaker

(MCCB)

R S T

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

Power factor improving DC reactor

(FR-HEL-H)

P3

L21

L11

P4

L3

L2

L1

U V W

CN5

MR Configurator2

Personal computer

CN3

CN8

CN10A

CN10B

CN2

CN4

Battery

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

P+ C

Regenerative option

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 41

1. FUNCTIONS AND CONFIGURATION

(5) MR-J4-11KB4-RJ010/MR-J4-15KB4-RJ010

(Note 2)

Power supply

Molded-case circuit breaker

(MCCB)

R S T

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1

Power factor improving DC reactor

(FR-HEL)

P3

P4

L21

L11

P+ C

Regenerative option

CN5

MR Configurator2

Personal computer

CN3

CN8

CN10A

CN10B

CN2

CN4

Battery

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 42

1. FUNCTIONS AND CONFIGURATION

(6) MR-J4-22KB4-RJ010

R S T

(Note 2)

Power supply

Molded-case circuit breaker

(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1

L21

L11

CN3

CN8

CN10A

CN10B

CN2

CN4

Battery

Junction terminal block

To safety relay or MR-J3-D05 safety logic unit

CC-Link IE

Field Network

CC-Link IE

Field Network

Power factor improving DC reactor

(FR-HEL)

P3

P4

P+ C

Regenerative option

Servo motor

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For power supply specifications, refer to section 1.3.1.

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.

1 - 43

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 44

2. INSTALLATION

2. INSTALLATION

WARNING

To prevent electric shock, ground each equipment securely.

CAUTION

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

Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire.

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

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

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

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and MR-J3-T10.

Do not block the intake and exhaust areas of the servo amplifier and MR-J3-T10.

Otherwise, it may cause a malfunction.

Do not drop or strike the servo amplifier and MR-J3-T10. Isolate them from all impact loads.

Do not install or operate the servo amplifier and MR-J3-T10 which have been damaged or have any parts missing.

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

When handling the servo amplifier and MR-J3-T10, be careful about the edged parts such as corners of them.

The servo amplifier and MR-J3-T10 must be installed in a 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 MR-J4-10B-RJ010,

MR-J4-20B-RJ010, MR-J4-40B-RJ010, and MR-J4-60B-RJ010, pull out CN3 and CN8 connectors beforehand.

The following item is the same as MR-J4-_B_ servo amplifiers. For details of the items, refer to each chapter/section of the detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual".

Keep out foreign materials

Encoder cable stress

Inspection items

Parts having service lives

MR-J4-_B_ section 2.2

MR-J4-_B_ section 2.3

MR-J4-_B_ section 2.5

MR-J4-_B_ section 2.6

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/MR-J3-T10 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

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. For the MR-J4-500B-RJ010, the clearance between the left side and wall will be 25 mm or more.

Bottom

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 1.3.1 for availability of close mounting.

When mounting the servo amplifiers closely, do not install the servo amplifier whose depth is larger than that of the left side servo amplifier since CNP1,

CNP2, and CNP3 connectors cannot be disconnected.

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

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. For the MR-J4-500B-RJ010, the clearance between the left side and wall will be 25 mm or more.

(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 Keep out 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 - 4

3. SIGNALS AND WIRING

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.

Ground the servo amplifier and servo motor securely.

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

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

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

CAUTION

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.

Servo amplifier Servo amplifier

24 V DC 24 V DC

DOCOM DOCOM

Control output signal RA

Control output signal RA

For sink output interface For source output interface

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 (FR-BIF-(H) option) with the power line of the servo motor.

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

Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire.

Do not modify the equipment.

3 - 1

3. SIGNALS AND WIRING

CAUTION

Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.

Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Servo motor

V

W

M

Servo amplifier

U

V

W

U

Servo motor

V

W

M

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

The following item is the same as MR-J4-_B_ servo amplifiers. For details of the items, refer to each chapter/section of the detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual".

Input power supply circuit

Explanation of power supply system

Connector and pin assignment

Signal (device) explanations

Forced stop deceleration function

Interface

Grounding

MR-J4-_B_ section 3.1

MR-J4-_B_ section 3.3

MR-J4-_B_ section 3.4

MR-J4-_B_ section 3.5

MR-J4-_B_ section 3.6

MR-J4-_B_ section 3.8

MR-J4-_B_ section 3.11

3 - 2

3. SIGNALS AND WIRING

3.1 I/O signal connection example

POINT

Be sure to mount a data line filter to the CC-Link IE Field Network cable.

For the branch of CC-Link IE Field Network by the switching hub, use DT135TX

(Mitsubishi Electric System & Service Co., Ltd.). For details of the switching hub, refer to "MELSEC-Q QD77GF Simple Motion Module User's Manual (Positioning

3.1.1 For sink I/O interface

Control)".

(Note 3, 4)

Forced stop 2

(Note 11)

FLS

RLS

DOG

(Note 5)

MR Configurator2

+

Personal computer

10 m or shorter

(Note 12)

Main circuit power supply

(Note 7) 24 V DC

EM2

DI1

DI2

DI3

DICOM

DICOM

USB cable

MR-J3USBCBL3M

(option)

Servo amplifier

(Note 9)

CN3

20

(Note 9)

CN3

3

10 m or shorter

DOCOM

(Note 7) 24 V DC

2

13 MBR

RA1

12 15 ALM

RA3

19

5

10

(Note 2)

CN5

6 LA

16 LAR

7 LB

17 LBR

8 LZ

18 LZR

11 LG

Electromagnetic brake interlock

Malfunction (Note 8)

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse

(differential line driver)

Encoder Z-phase pulse

(differential line driver)

Control common

(Note 10)

(Note 13)

Short-circuit connector

(Packed with the servo amplifier)

CN8

4

1

14

MO1

LG

MO2

Plate SD

2 m or shorter

Analog monitor 1

±10 V DC

Analog monitor 2

±10 V DC

CC-Link IE Field Network

(Note 6) CN1A CN1B (Note 6)

CN7

MR-J3-T10

(Note 14)

CN10A CN10B

(Note 1)

Data line filter

ZCAT1730-0730 (TDK)

80 mm or shorter

CC-Link IE Field Network

Data line filter

ZCAT1730-0730 (TDK)

80 mm or shorter

3 - 3

3. SIGNALS AND WIRING

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. If the controller does not have forced stop function, always install the forced stop 2 switch (normally closed contact).

4. When starting operation, always turn on EM2 (Forced stop 2). (Normally closed contact)

5. Use SW1DNC-MRC2-J. (Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 11.7.)

6. CN1A and CN1B cannot be used. Be sure to cap CN1A and CN1B connector.

7. Supply 24 V DC ± 10% for interfaces from outside. Set the total current capacity to 300 mA. 300 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-_B_(-RJ) Servo Amplifier Instruction Manual" 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.

8. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)

9. The pins with the same signal name are connected in the servo amplifier.

10. You can change devices of these pins with [Pr. PD07], [Pr. PD08], and [Pr. PD09].

11. Devices can be assigned for these devices with controller setting. For devices that can be assigned, refer to the controller instruction manual. The following devices can be assigned for QD77GF_.

FLS: Upper stroke limit

RLS: Lower stroke limit

DOG: Proximity dog

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

13. When not using the STO function, attach a short-circuit connector supplied with a servo amplifier.

14. Connector covers are mounted on the CN10A and the CN10B connectors when the product is shipped from the factory.

Remove those connector covers to connect the CC-Link IE Field Network cables.

3 - 4

3. SIGNALS AND WIRING

3.1.2 For source I/O interface

POINT

For notes, refer to section 3.1.1.

(Note 3, 4)

Forced stop 2

(Note 11)

FLS

RLS

10 m or shorter

(Note 12)

Main circuit power supply

EM2

DI1

DI2

Servo amplifier

(Note 9)

CN3

20

(Note 9)

CN3

3

10 m or shorter

DOCOM

(Note 7) 24 V DC

2

13 MBR

RA1

12 15 ALM

RA3

DOG DI3 (Note 2)

(Note 7) 24 V DC

DICOM

DICOM

19

5

10

(Note 5)

MR Configurator2

+

Personal computer USB cable

MR-J3USBCBL3M

(option)

CN5

6 LA

16 LAR

7 LB

17 LBR

8 LZ

18 LZR

11 LG

Electromagnetic brake interlock

Malfunction (Note 8)

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse

(differential line driver)

Encoder Z-phase pulse

(differential line driver)

Control common

(Note 10)

(Note 13)

Short-circuit connector

(Packed with the servo amplifier)

CN8

4

1

14

MO1

LG

MO2

Plate SD

2 m or shorter

Analog monitor 1

±10 V DC

Analog monitor 2

±10 V DC

CC-Link IE Field Network

(Note 6) CN1A CN1B (Note 6)

CN7

MR-J3-T10

(Note 14)

CN10A CN10B

(Note 1)

Data line filter

ZCAT1730-0730 (TDK)

80 mm or shorter

CC-Link IE Field Network

Data line filter

ZCAT1730-0730 (TDK)

80 mm or shorter

3 - 5

3. SIGNALS AND WIRING

3.2 Servo motor with an electromagnetic brake

3.2.1 Safety precautions

Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.

Contacts must be opened when ALM

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

Contacts must be opened with the EMG stop switch.

Servo motor

RA

B 24 V DC

CAUTION

Electromagnetic brake

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.

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 brake will operate when the power (24 V DC) turns off.

2) Turn off the servo-on command after the servo motor stopped.

(1) Connection diagram

Servo amplifier

(Note 2)

24 V DC

MBR

RA1

ALM

(Malfaunction) B1

Servo motor

DOCOM

MBR

RA1

24 V DC

(Note 1)

U

B

B2

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

In [Pr. PC02 Electromagnetic brake sequence output], set the time delay (Tb) from electromagnetic brake operation to base circuit shut-off at a servo-off as in the timing chart in section 3.2.2.

3 - 6

3. SIGNALS AND WIRING

3.2.2 Timing chart

(1) When you use the forced stop deceleration function

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(a) At power-on to ready-off from the controller

Main circuit

Control circuit power supply

ON

OFF

Initialization

EM2 (Forced stop 2)

Controlword

(Controller → Servo amplifier)

Statusword

(Servo amplifier → Controller)

ON (disabled)

OFF (enabled)

Initial value

(A) Not ready to switch on

(2) Shutdown (3) Switch on

Ready-on command on

(4) Enable operation

Servo-on command on

(C) Ready to switch on

(D) Switched on (E) Operation enabled

(B) Switch on disabled

215 V

Bus voltage

Internal inrush relay

Dynamic brake

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

Electromagnetic brake

0 V

ON

OFF

Release

Operation

ON

OFF

(Note 1)

ON

OFF

Release

Operation

100 ms

(Note 4)

Approx. 95 ms

Gate-on processing start Gate-on blocked

Release delay time and external relay, etc. (Note 2)

(8) Shutdown

(C) Ready to switch on

Operation delay time of the electromagnetic brake

Operation command

(Controller → Servo amplifier)

0 r/min

(Note 3)

Servo motor speed

0 r/min

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is 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. To prevent the servo motor from rotating rapidly at servo-on, give a current position as a position command from the controller before servo-on.

4. It will be 200 ms for 5 kW and 7 kW servo amplifiers.

3 - 7

3. SIGNALS AND WIRING

(b) Servo-on command on/off

When servo-on command 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.

Main circuit

Control circuit power supply

ON

OFF

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword

(Controller → Servo amplifier)

(4) Enable operation

Servo-on command on

(5) Disable operation

Servo-on command off

Statusword

(Servo amplifier → Controller)

Dynamic brake

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

Electromagnetic brake

Release

Operation

ON

OFF

(Note 1)

ON

OFF

Release

Operation

(E) Operation enabled (D) Switched on

(Note 2)

Tb

Coasting

Servo motor speed

Operation delay time of the electromagnetic brake

0 r/min

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Tb is a delay time from electromagnetic brake start to base circuit shut-off at servo-off. Set

Tb in [Pr. PC02].

3 - 8

3. SIGNALS AND WIRING

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(c) Forced stop 2 on/off

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword

(Controller → Servo amplifier)

(4) Enable operation

Servo-on command on

Statusword

(Servo amplifier → Controller)

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

ALM (Malfunction)

WNG (Warning)

Dynamic brake

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

ON (No alarm)

OFF (alarm)

Release

Operation

(E) Operation enabled (F) Quick stop active (B) Switched on disabled

(Note 3)

Tb

(Note 2)

Model speed command = 0, and equal to or less than zero speed

Servo motor speed

0 r/min

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

3. Tb is a delay time from electromagnetic brake start to base circuit shut-off at servo-off. Set Tb in [Pr. PC02].

3 - 9

3. SIGNALS AND WIRING

(d) Alarm occurrence

1) When the forced stop deceleration function is enabled

Alarm occurrence

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword

(Controller → Servo amplifier)

(4) Enable operation

Servo-on command on

Statusword

(Servo amplifier → Controller)

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

ALM (Malfunction)

Dynamic brake

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

Release

Operation

(E) Operation enabled

(G) Fault reaction active

Servo motor speed

0 r/min

Alarm reset

(B) Switched on disabled

(H) Fault

(15) Fault Reset

(4) Enable operation

Servo-on command on

(C) Ready to switch on

(D) Switched on

Approx. 210 ms

(Note 4)

(E) Operation enabled

(Note 3)

Tb

(Note 2)

Model speed command = 0, and equal to or less than zero speed

Controller command is ignored.

Servo amplifier display No alarm Alarm No.

No alarm

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

3. Tb is a delay time from electromagnetic brake start to base circuit shut-off at servo-off. Set Tb in [Pr. PC02].

4. Waiting time for relay-on + waiting time for servo-on

3 - 10

3. SIGNALS AND WIRING

2) When the forced stop deceleration function is disabled

Servo amplifier display

Alarm occurrence

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword

(Controller → Servo amplifier)

Statusword

(Servo amplifier → Controller)

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

(Note)

ALM (Malfunction)

Dynamic brake

ON

OFF

ON

OFF

ON (No alarm)

OFF (alarm)

Release

Operation

(4) Enable operation

Servo-on command on

(E) Operation enabled

(G) Fault reaction active

(H) Fault

Dynamic brake operation delay time

Approx. 10 ms

Dynamic brake

Dynamic brake + electromagnetic brake

Servo motor speed

0 r/min

Operation delay time of the electromagnetic brake

No alarm Alarm No.

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

3 - 11

3. SIGNALS AND WIRING

3) When CC-Link IE Field communication brake occurred

Communication broke

(unexpected parallel off)

EM2 (Forced stop 2)

(Note 5)

ON (disabled)

OFF (enabled) (4) Enable operation

Servo-on command on

Controlword

(Controller → Servo amplifier)

Initial value

Statusword

(Servo amplifier → Controller)

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

ALM (Malfunction)

Dynamic brake

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

Release

Operation

(E) Operation enabled

(F) Quick stop active

Communication recovered

(parallel on)

(B) Switch on disabled

(A) Not ready to switch on

(4) Enable operation

Servo-on command on

(C) Ready to switch on

(D) Switched on

Approx. 210 ms

(Note 4)

(E) Operation enabled

(Note 3)

Tb

(Note 2)

Model speed command = 0, and equal to or less than zero speed

Servo motor speed

0 r/min

Servo amplifier display No alarm (d1 or E7) AA No alarm

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

3. Tb is a delay time from electromagnetic brake start to base circuit shut-off at servo-off. Set Tb in [Pr. PC02].

4. Waiting time for relay-on + waiting time for servo-on

5. A delay time will be generated between communication brake occurrence and deceleration start due to processing time of parallel off. The dynamic brake will start depending on status of communication brake.

3 - 12

3. SIGNALS AND WIRING

(c) Both main and control circuit power supplies off

Main circuit

Control circuit power supply

EM2 (Forced stop 2)

Main circuit, Control circuit power off

ON

OFF

ON (disabled)

OFF (enabled) (4) Enable operation

Servo-on command on

Controlword

(Controller → Servo amplifier)

Statusword

(Servo amplifier → Controller)

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

ALM (Malfunction)

[AL. 10.1 Undervoltage]

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

(E) Operation enabled

Dynamic brake

Release

Operation

(Note 2)

Dynamic brake operation delay time

Approx. 10 ms

Dynamic brake

Dynamic brake + electromagnetic brake

Servo motor speed

0 r/min

Operation delay time of the electromagnetic brake

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Variable according to the operation status.

3 - 13

3. SIGNALS AND WIRING

(d) Main circuit power supply off during control circuit power supply on

Main circuit

Control circuit power supply

ON

OFF

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword

(Controller

Statusword

(Servo amplifier

Base circuit

→ Servo amplifier)

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

ALM (Malfunction)

[AL. 10.1 Undervoltage]

Dynamic brake

→ Controller)

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

Release

Operation

(4) Enable operation

Servo-on command on

(E) Operation enabled

(G) Fault reaction active

(H) Fault

(Note 2)

Servo motor speed

The time until a bus voltage drop is detected.

Forced stop deceleration

Dynamic brake

Dynamic brake + electromagnetic brake

0 r/min

Approx. 10 ms

Dynamic brake operation delay time

Operation delay time of the electromagnetic brake

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Variable according to the operation status.

3 - 14

3. SIGNALS AND WIRING

(2) When you do not use the forced stop deceleration function

POINT

To disable the function, set "0 _ _ _" in [Pr. PA04].

(a) At power-on to ready-off from the controller

It is the same as (1) (a) of this section.

(b) Servo-on command on/off

It is the same as (1) (b) of this section.

(c) Off/on of the forced stop command or Forced stop 1

Main circuit

Control circuit power supply

ON

OFF

Forced stop command

(Controller → Servo amplifier) or

EM1 (Forced stop 1)

Controlword

(Controller → Servo amplifier)

ON (disabled)

OFF (enabled)

(4) Enable operation

Servo-on command on

(F) Quick stop active

Statusword

(Servo amplifier → Controller)

(E) Operation enabled

(B) Switched on disabled

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

Dynamic brake

ON

OFF

(Note 1)

ON

OFF

Release

Operation

Servo motor speed

Dynamic brake operation delay time

Approx. 10 ms

Dynamic brake

Dynamic brake + electromagnetic brake

(C) Ready to switch on

(D) Switched on

Approx. 210 ms (Note 2) (E) Operation enabled

Electromagnetic brake release

0 r/min

Operation delay time of the electromagnetic brake

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Waiting time for relay-on + waiting time for servo-on

(d) Alarm occurrence

1) At alarm occurrence

The servo motor driving during an alarm is the same as (1) (d) 2) of this section.

3 - 15

3. SIGNALS AND WIRING

2) When CC-Link IE Field communication brake occurred

Communication broke

(unexpected parallel off)

(Note 3)

EM2 (Forced stop 2)

ON (disabled)

OFF (enabled)

Controlword

(Controller → Servo amplifier)

(4) Enable operation

Servo-on command on

Communication recovered

(parallel on)

Initial value

(F) Quick stop active (B) Switch on disabled

(A) Not ready to switch on

(4) Enable operation

Servo-on command on

(C) Ready to switch on

(D) Switched on

Approx. 210 ms

(Note 2)

(E) Operation enabled

Statusword

(Servo amplifier → Controller)

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

ALM (Malfunction)

Dynamic brake

ON

OFF

(Note 1)

ON

OFF

ON (No alarm)

OFF (alarm)

Release

Operation

(E) Operation enabled

Dynamic brake operation delay time

Approx. 10 ms

Dynamic brake

Dynamic brake + electromagnetic brake

Servo motor speed

0 r/min

Servo amplifier display No alarm (d1 or E7)

Operation delay time of the electromagnetic brake

AA No alarm

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Waiting time for relay-on + waiting time for servo-on

3. A delay time will be generated between communication brake occurrence and deceleration start due to processing time of parallel off.

(e) Both main and control circuit power supplies off

It is the same as (1) (c) of this section.

3 - 16

3. SIGNALS AND WIRING

(f) Main circuit power supply off during control circuit power supply on

Main circuit power supply

ON

OFF

Forced stop command

(Controller → Servo amplifier) or

EM2 (Forced stop 2)

Controlword

(Controller → Servo amplifier)

ON (disabled)

OFF (enabled)

(4) Enable operation

Servo-on command on

(G) Fault reaction active

Statusword

(Servo amplifier → Controller)

(E) Operation enabled

(H) Fault

(Note 2)

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

ON

OFF

(Note 1)

ON

OFF

ALM (Malfunction)

[AL. 10.1 Undervoltage]

ON (No alarm)

OFF (alarm)

Dynamic brake

Release

Operation

Dynamic brake operation delay time

Approx. 10 ms

Dynamic brake

Dynamic brake + electromagnetic brake

Servo motor speed

0 r/min

Operation delay time of the electromagnetic brake

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Waiting time for relay-on + waiting time for servo-on

3 - 17

3. SIGNALS AND WIRING

MEMO

3 - 18

4. STARTUP

4. STARTUP

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

Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly.

The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for some time after power-off. Take safety measures, e.g.

CAUTION provide covers, to avoid accidentally touching the parts (cables, etc.) by hand.

During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.

The following item is the same as MR-J4-_B_ servo amplifiers. For details of the items, refer to each chapter/section of the detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual".

Test operation

Test operation mode

MR-J4-_B_ section 4.4

MR-J4-_B_ section 4.5

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

Axis No. settings

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 ("MR-J4-_B_(-RJ) Servo

Amplifier Instruction Manual" section 4.5.1), 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 a station No. with the auxiliary station number setting switches (SW2-3,

SW2-4) and station number setting rotary switch (SW1). (Refer to section

4.2.1 (2).)

Set the parameters as necessary, such as the used operation mode and regenerative option selection. (Refer to chapter 5.)

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 "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual" section 4.5.)

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 "MR-J4-

_B(-RJ) Servo Amplifier Instruction Manual" chapter 6.)

Stop giving commands and stop operation.

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

The power supplied to the power input terminals (L1, L2, L3, L11, and L21) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.1.)

(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U, V, and W) should match in phase with the servo motor power input terminals (U, V, and 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, and W). Doing so will fail the connected servo amplifier and servo motor.

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.

5) Between P3 and P4 should be connected.

Servo amplifier

P3

P4

(c) When you use an option and peripheral equipment

1) 200 V class a) When you use a regenerative option for 5 kW or less servo amplifiers

The lead wire between P+ terminal and D terminal should not be connected.

The regenerative option should be connected to P+ terminal and C terminal.

A twisted cable should be used. (Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual" section 11.2.4.)

4 - 3

4. STARTUP 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.

The regenerative option should be connected to P+ terminal and C terminal.

A twisted cable should be used. (Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual" 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 "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 11.3 to

11.4.)

A twisted cable should be used when wiring is over 5m and under 10m using a brake unit.

(Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" 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 "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 11.5.) e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to

"MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 11.11.)

Servo amplifier

Power factor improving

DC reactor

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

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.

A twisted cable should be used. (Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual" section 11.2.4.) 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.

The regenerative option should be connected to P+ terminal and C terminal.

A twisted cable should be used. (Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual" section 11.2.4.)

4 - 4

4. STARTUP c) When you use a brake unit and power regeneration converter for 5 kW or more servo amplifiers

For 5 kW or 7 kW servo amplifiers, the lead wire of 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 "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 11.3 to

11.4.)

A twisted cable should be used when wiring is over 5m and under 10m using a brake unit.

(Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" 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 "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 11.5.) e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to

"MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 11.11.)

Servo amplifier

Power factor improving

DC reactor

P3

(Note)

P4

Note. Always disconnect between P3 and P4.

(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 CN3 connector. This function can be used to perform a wiring check. In this case, switch on the control circuit power supply only.

Refer to section 3.1 for details of I/O signal connection.

(b) 24 V DC or higher voltage is not applied to the pins of the CN3 connector.

(c) SD and DOCOM of the CN3 connector is not shorted.

Servo amplifier

CN3

DOCOM

SD

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 "MR-J4-_B_(-RJ) Servo

Amplifier Instruction Manual" 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 Switch setting and display of the servo amplifier

Switching to the test operation mode and setting station No. are enabled with switches on the servo amplifier.

On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the controller at power-on and station No., and diagnose a malfunction at occurrence of an alarm.

4.2.1 Switches

WARNING

When switching the station number setting rotary switch (SW1) and auxiliary station number setting switches (SW2), use an insulated screw driver. Do not use a metal screw driver. Touching patterns on electronic boards, lead of electronic parts, etc. may cause an electric shock.

POINT

Turning "ON (up)" all the auxiliary station number setting switches (SW2) enables an operation mode for manufacturer setting and displays "off". The mode is not available. Set the auxiliary station number setting switches (SW2) correctly according to this section.

Cycling the main circuit power supply and control circuit power supply enables the setting of each switch.

The following explains the test operation select switch, the auxiliary station number setting switches, and the station number setting rotary switch.

3-digit, 7-segment LED

Auxiliary station number setting switches

(SW2)

Station number setting rotary switch

(SW1)

ON

1 2 3 4

Auxiliary station number setting switches

Switch for manufacturer setting

Test operation select switch

4 - 6

4. STARTUP

(1) Test operation select switch (SW2-1)

To use the test operation mode, turn "ON (up)" the switch. Turning "ON (up)" the switch enables the test operation mode. In the test operation mode, the functions such as JOG operation, positioning operation, and machine analyzer are available with MR Configurator2.

ON

1 2 3 4

Test operation select switch

Turn it "ON (up)".

(2) Switches for setting station No.

POINT

Set a station No. with the auxiliary station number setting switches (SW2-3,

SW2-4) and station number setting rotary switch (SW1). When connecting the amplifier to the Mitsubishi simple motion module QD77GF_, set the station No. between 1 and 16.

For setting the station number setting rotary switch, use a flat-blade screwdriver with the blade edge width of 2.1 mm to 2.3 mm and the blade edge thickness of

0.6 mm to 0.7 mm.

When connecting the amplifier to the Mitsubishi simple motion module

QD77GF_, set the station No. between 1 and 16.

You can set the station No. between 1 and 63 by using the auxiliary station number setting switches with the station number setting rotary switch. (Refer to (2) (c) in this section.)

If the same numbers are set to different stations in a single communication system, the system will not operate properly. The station numbers may be set independently of the CC-Link IE cable connection sequence. The following shows the description of each switch.

(a) Auxiliary station number setting switches (SW2-3 and SW2-4)

Turning these switches "ON (up)" enables you to set the station No. 16 or more.

(b) Station number setting rotary switch (SW1)

You can set the station No. between 1 and 63 by using auxiliary station number setting switches with this switch. (Refer to (2) (c) of this section.)

Station number setting rotary switch (SW1)

5

6

7

8 9

A

B

D

3

2

1 0

F

E

4 - 7

4. STARTUP

(c) Switch combination list for the station No. setting

The following lists show the setting combinations of the auxiliary station number setting switches and station number setting rotary switch.

Auxiliary station number setting switch

Station number setting rotary switch

ON

1 2 3 4

Station No.

Auxiliary station number setting switch

Station number setting rotary switch

ON

1 2 3 4

Station No.

ON

1 2 3 4

0

Station No. setting standby

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

9 9

A 10

B 11

C 12

D 13

E 14

F 15

Auxiliary station number setting switch

Station number setting rotary switch

Station No.

ON

1 2 3 4

0 16

1 17

2 18

3 19

4 20

5 21

6 22

7 23

8 24

9 25

A 26

B 27

C 28

D 29

E 30

F 31

Auxiliary station number setting switch

Station number setting rotary switch

Station No.

0 32

1 33

2 34

3 35

4 36

5 37

6 38

7 39

8 40

9 41

A 42

B 43

C 44

D 45

E 46

F 47

0 48

1 49

2 50

3 51

4 52

5 53

6 54

7 55

8 56

9 57

A 58

B 59

C 60

D 61

E 62

F 63

The station No. of the servo amplifier will be set in the following order of priority.

Priority order

1

2

3

Prior station No.

Station No. specified with master station

Station No. 1 to 120 specified with [Pr. Po02] (Note)

Station No.set with the station number setting rotary switch and auxiliary station number setting switches when [Pr. Po02] is "0"

Note. Set a station No. with [Pr. Po02] within the range of 1 to 120. Setting over the range will result in [AL. 37

Parameter error].

4 - 8

4. STARTUP

4.2.2 Scrolling display

(1) Normal display

When there is no alarm, the station No. and blank are displayed in rotation.

After 1.6 s

Status Blank

After 0.2 s

Status

(1 digit)

Station No.

(2 digits)

"b": Indicates ready-off and servo-off status.

"C": Indicates ready-on and servo-off status.

"d": Indicates ready-on and servo-on status.

(2) Alarm display

When an alarm occurs, the alarm number (two digits) and the alarm detail (one digit) are displayed following the status display. For example, the following shows when [AL. 32 Overcurrent] is occurring.

After 0.8 s After 0.8 s

Status Alarm No.

After 0.2 s

Blank

Status

(1 digit)

Station No.

(2 digits)

Alarm No.

(2 digits)

Alarm detail

(1 digit)

"n": Indicates that an alarm is occurring.

4 - 9

4. STARTUP

4.2.3 Status display of a station

(1) Display sequence

Servo amplifier power on

System check in progress

Waiting for controller power-on (CC-Link IE communication)

Controller power on

(CC-Link IE communication starts)

Initial data communication with the servo system controller

(initialization communication)

(Note)

Ready-off, servo-off

Ready-on

When alarm occurs, its alarm code appears.

(Note)

Servo-on

Ready-on, servo-off

(Note)

Ready-on, servo-on

Ordinary operation

Controller power off

Controller power on

Note.

Station

No. 1

Station

No. 2

Station

No. 63

The segment of the last 2 digits shows the station number.

When an alarm No. or warning No. is displayed

Example: When [AL. 50 Overload 1] occurred at station No. 1

Flickering

After 0.8 s

Flickering

After 0.8 s

Blank

Example: When [AL. E1 Overload warning 1] occurred at station No. 1

Flickering

After 0.8 s

Flickering

After 0.8 s

Blank

During a non servo-off causing warning, the decimal point on the third digit LED shows the servo-on status.

Alarm reset or warning cleared

4 - 10

4. STARTUP

(2) Indication list

Display Status Description

Initializing System check in progress

A b Initializing

The servo amplifier power was switched on when the controller power was off.

The station Nos. set to the auxiliary station number setting switches (SW2-3 and

SW2-4) and the station number setting rotary switch (SW1) do not match the one set to the servo system controller.

A servo amplifier malfunctioned, or communication error occurred with the controller or the previous station servo amplifier.

The controller is malfunctioning.

During initial setting for communication specifications A b . (Note 4) Initializing

A C Initializing

The initial setting for communication specifications was completed and the amplifier received a communication synchronization setting from the controller. Synchronizing

The power supply of controller was turned off during the servo amplifier power

A A Initializing supply on.

The communication did not continue and resulted in parallel off. b # # (Note 1) Ready-off The ready-off command from the controller was received. d # # (Note 1)

C # # (Note 1)

Servo-on

Servo-off

The servo-on command from the controller was received.

The servo-off command from the controller was received.

(Note 2)

8 8 8

Alarm and warning

CPU error

The alarm No. and the warning No. that occurred is displayed.

CPU watchdog error has occurred. b # # . (Note 1, 4) d # # .

(Note 3)

Test operation mode

Motor-less operation

C # # .

Note 1. The meanings of ## are listed below. They are displayed in decimal to 99. However, they will be irregular from 100. (The tenths and hundreds digits will be hexadecimal.)

## Description

00 Set to the test operation mode.

-- Station No. 0 (unspecified)

Remarks

If 0 (unspecified) is set as the station No., the communication is performed with the station No. set by the master station.

01 Station No. 1

02

:

:

99

A0

:

:

A9

B0

:

: b9

C0

Station No. 2

:

:

Station No. 99

Station No. 100

:

:

Station No. 109

Station No. 110

:

:

Station No. 119

Station No. 120

2. "***" indicates the alarm No. and the warning No.

3. Requires the MR Configurator2.

4. The decimal point in the first digit flickers.

4 - 11

4. STARTUP

4.3 Display of MR-J3-T10 CC-Link IE Field Network interface unit

The table below shows the detailed description of the communication alarm display area. MR-J3-T10 has eight kinds of LED indication.

Table 4.1 LED indication list

MR-J3-T10

RUN

ERR.

D LINK

SD

RD

L.ERR

Red

Red

Green

No. LED

1

2

RUN

D LINK

Name

Operation status

Cyclic communication status

LED status

Description

Lit

Extinguished

Extinguished

Operating normally (RUN status)

Hardware error (WDT error)

Lit Linking data (In cyclic transmission)

Flickering Data not linked (after receiving Parameter)

Data not linked (In parallel off)

3 status

4

Green (LINK)

Red (L.ER)

Green (LINK)

Red (L.ER)

5

6

7

8

ERR. status

Unit error status

L ERR. Line error status

Line error status L ER

(port 1/2)

LINK

(port 1/2)

Link status

Lit

Extinguished

Lit

Lit

Unit error

No problem found.

Erroneous data is being received.

Erroneous data is being received.

Lit Linking up

The following shows indication example of each state.

No.

1

2

3

4

5

6

7

8

9

Error at start

Status

Normal (condition before communication connection)

Normal (condition before cyclic commutation established)

Normal (during cyclic communication)

Error occurred (communication disabled due to MRJ3-T10 malfunction)

Error occurred (cyclic communication stopped due to MRJ3-

T10 malfunction)

Error occurred (WDT error)

Error occurred (MR-J3-T10 came off)

Error occurred (cyclic communication stopped due to incorrect setting)

10 Error occurred (erroneous data received)

11 Error occurred (parallel off due to twisted pair cable, etc. came off)

12 Error occurred (cyclic data not received)

13 Error occurred (erroneous station/network No. designated by the master)

14 Reserved station specification

15 Error occurred (watchdog counter error)

RUN D LINK ERR. L ERR.

L ER

(port 1/2)

LINK

(port 1/2)

Servo amplifier display

74.1

74.2

37.1

1 to 5

Ab

-

Ab

AC b**

C** d**

- - - 74.3

75.3

75.4

-

9d.1

- to

9d.4

- - 9E.1

-

16 Error occurred (synchronization error)

-

( : Lit, : Extinguished, : Flickers, -: Refer to table 4.1.)

4 - 12

5. PARAMETERS

5. PARAMETERS

CAUTION

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

If fixed values are written in the digits of a parameter, do not change these values.

Do not change parameters for manufacturer setting.

Do not set values other than described values to each parameter.

POINT

When you connect the amplifier to a controller, servo parameter values of the controller will be written to each parameter.

5.1 Parameter list

POINT

The parameter whose symbol is preceded by * is enabled with the following conditions:

*: After setting the parameter, cycle the power or reset the controller.

**: After setting the parameter, cycle the power.

5 - 1

5. PARAMETERS

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

No. Symbol

PA01 For manufacturer setting

PA03 *ABS Absolute position detection system

PA04 *AOP1 Function selection A-1

PA05 For manufacturer setting

PA06

PA07

PA08 ATU Auto tuning mode

PA09 RSP Auto tuning response

Name

PA11 For manufacturer setting

PA12

PA13

PA14 *POL Rotation direction selection

PA15 *ENR Encoder output pulses

PA16 *ENR2 Encoder output pulses 2

PA17 For manufacturer setting

PA18

PA19 *BLK Parameter writing inhibit

PA20 *TDS Tough drive setting

PA21 *AOP3 Function selection A-3

PA22 For manufacturer setting

PA23 DRAT Drive recorder arbitrary alarm trigger setting

PA24 AOP4 Function selection A-4

PA25 OTHOV One-touch tuning - Overshoot permissible level

PA26 For manufacturer setting

PA27

PA28

PA29

PA30

PA31

PA32

Initial value

Unit

1000h

0000h

0000h

2000h

10000

1

1

0001h

16

1600 [pulse]

1000.0

1000.0

0000h

0

4000

1

0000h

[pulse/rev]

0000h

00ABh

0000h

0001h

0000h

0000h

0000h

0

0000h

[%]

0000h

0000h

0000h

0000h

0000h

0000h

5 - 2

5. PARAMETERS

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

No. Symbol Name

PB01 FILT Adaptive tuning mode (adaptive filter II)

PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)

PB03 For manufacturer setting

PB04

PB05

FFC Feed forward gain

For manufacturer setting

PB06 GD2 Load to motor inertia ratio

PB07 PG1 Model loop gain

PB08 PG2 Position loop gain

PB09 VG2 Speed loop gain

PB10

PB11

VIC Speed integral compensation

For manufacturer setting

PB12 OVA Overshoot amount compensation

PB13 NH1 Machine resonance suppression filter 1

PB14 NHQ1 Notch shape selection 1

PB15 NH2 Machine resonance suppression filter 2

PB16 NHQ2 Notch shape selection 2

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

PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping

PB23 VFBF Low-pass filter selection

PB24 *MVS Slight vibration suppression control

PB25 For manufacturer setting

PB26

PB27

PB28

PB29

PB30

PB31

PB32

PB33

PB34

PB35

PB36

PB37

PB38

PB39

PB40

PB41

PB42

PB43

PB44

PB45 CNHF Command notch filter

PB46 NH3 Machine resonance suppression filter 3

PB47 NHQ3 Notch shape selection 3

PB48 NH4 Machine resonance suppression filter 4

PB49 NHQ4 Notch shape selection 4

PB50 NH5 Machine resonance suppression filter 5

PB51 NHQ5 Notch shape selection 5

PB52 VRF21 Vibration suppression control 2 - Vibration frequency

PB53 VRF22 Vibration suppression control 2 - Resonance frequency

0.00

1600

0.00

0.00

0.00

0

0

0000h

0.00

0000h

4500

0000h

4500

0000h

4500

0000h

100.0

100.0

0000h

0000h

10

1

7.00

0.0

0

0.0

0.0

0.0

0.00

4500

0000h

0000h

3141

100.0

100.0

0.00

0.00

0000h

0000h

Initial value

0000h

0000h

18000

Unit

0 [%]

500

7.00 [Multiplier]

15.0 [rad/s]

37.0 [rad/s]

823 [rad/s]

33.7

980

0

4500

0000h

[ms]

[%]

[Hz]

[Hz]

[rad/s]

[Hz]

[Hz]

[Hz]

[Hz]

[Hz]

[Hz]

[Hz]

5 - 3

5. PARAMETERS

No. Symbol Name

PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping

PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping

PB56 For manufacturer setting

PB57

PB58

PB59

PB60

PB61

PB62

PB63

PB64

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

No. Symbol

PC01 ERZ Error excessive alarm level

Name

PC03 *ENRS Encoder output pulse selection

PC04 **COP1 Function selection C-1

PC05 **COP2 Function selection C-2

PC06 *COP3 Function selection C-3

PC08 OSL Overspeed alarm detection level

PC09 MOD1 Analog monitor 1 output

PC10 MOD2 Analog monitor 2 output

PC11 MO1 Analog monitor 1 offset

PC12 MO2 Analog monitor 2 offset

PC13 MOSDL Analog monitor - Feedback position output standard data - Low

PC14 MOSDH Analog monitor - Feedback position output standard data - High

PC15

PC16

For manufacturer setting

PC17 **COP4 Function selection C-4

PC18 *COP5 Function selection C-5

PC19 For manufacturer setting

PC20 *COP7 Function selection C-7

PC21 *BPS Alarm history clear

PC22 For manufacturer setting

PC23

PC24 RSBR Forced stop deceleration time constant

PC25 For manufacturer setting

PC26

PC27

PC28

PC29 *COPB Function selection C-B

PC30 For manufacturer setting

PC31 RSUP1 Vertical axis freefall prevention compensation amount

PC32 For manufacturer setting

PC33

PC34

PC35

PC36

PC37

PC38

PC39

PC40

5 - 4

Initial value

0.00

0.00

0.0

0.0

0.00

0.00

0.0

0.0

0000h

0000h

0000h

Unit

0000h

0000h

0000h

0

0

0000h

0

100

0000h

0000h

0000h

0000h

0000h

0000h

0

0000h

0001h

0

0

0

0

0

0000h

Initial value

0

0

0000h

0000h

0000h

Unit

[rev]

[ms]

0000h

50 [r/min]

[r/min]

[mV]

[mV]

[pulse]

[10000 pulses]

0000h

0000h

0000h

0000h

0000h

0

0000h

100

0

0000h

[ms]

[0.0001 rev]

5. PARAMETERS

No. Symbol

PC41 For manufacturer setting

PC42

PC43

PC44

PC45

PC46

PC47

PC48

PC49

PC50

PC51

PC52

PC53

PC54

PC55

PC56

PC57

PC58

PC59

PC60

PC61

PC62

PC63

PC64

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

No. Symbol

PD01 For manufacturer setting

PD02 *DIA2 Input signal automatic on selection 2

PD03 For manufacturer setting

PD04

PD05

PD06

PD07 *DO1 Output device selection 1

PD08 *DO2 Output device selection 2

PD09 *DO3 Output device selection 3

PD10 For manufacturer setting

PD11

PD12 *DOP1 Function selection D-1

PD13 For manufacturer setting

PD14 *DOP3 Function selection D-3

PD15 For manufacturer setting

PD16

PD17

PD18

PD19

PD20

PD21

PD22

PD23

PD24

PD25

PD26

PD27

PD28

Name

Name

5 - 5

0

0

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

Initial value

0000h

0000h

0020h

0021h

0022h

0000h

0005h

0004h

0003h

0000h

0004h

0000h

Unit

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Initial value

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Unit

5. PARAMETERS

No. Symbol Name

PD29 For manufacturer setting

PD30

PD31

PD32

PD33

PD34

PD35

PD36

PD37

PD38

PD39

PD40

PD41

PD42

PD43

PD44

PD45

PD46

PD47

PD48

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

No. Symbol

PE01 For manufacturer setting

PE02

PE03

PE04

PE05

PE06

PE07

PE08

PE09

PE10

PE11

PE12

PE13

PE14

PE15

PE16

PE17

PE18

PE19

PE20

PE21

PE22

PE23

PE24

PE25

PE26

PE27

PE28

PE29

PE30

Name

5 - 6

0000h

0000h

0111h

20

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Initial value

0000h

0000h

0003h

1

1

400

100

10

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Unit

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Initial value

0000h

0

0

0

0000h

0000h

0000h

Unit

5. PARAMETERS

No. Symbol Name

PE31 For manufacturer setting

PE32

PE33

PE34

PE35

PE36

PE37

PE38

PE39

PE40

PE41 EOP3 Function selection E-3

PE42 For manufacturer setting

PE43

PE44

PE45

PE46

PE47

PE48

PE49

PE50

PE51

PE52

PE53

PE54

PE55

PE56

PE57

PE58

PE59

PE60

PE61

PE62

PE63

PE64

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

No. Symbol

PF01 For manufacturer setting

PF02

PF03

PF04

PF05

PF06 *FOP5 Function selection F-5

PF07 For manufacturer setting

PF08

PF09

PF10

PF11

PF12 DBT Electronic dynamic brake operating time

PF13 For manufacturer setting

PF14

PF15

PF16

PF17

PF18

Name

5 - 7

0.00

20

0000h

0000h

0

0.0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Initial value

0000h

0000h

0000h

1

1

0.0

0.00

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0.00

0.00

0.00

0.00

Unit

Initial value

0000h

0000h

0000h

0

0000h

0000h

0000h

0000h

0

0

0

2000

0000h

10

0000h

0000h

0000h

0000h

Unit

[ms]

5. PARAMETERS

No. Symbol Name

PF19

PF20

PF21

For manufacturer setting

DRT Drive recorder switching time setting

PF22 For manufacturer 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

PF26 For manufacturer setting

PF27

PF28

PF29

PF30

PF31 FRIC Machine diagnosis function - Friction judgement speed

PF32 For manufacturer setting

PF33

PF34

PF35

PF36

PF37

PF38

PF39

PF40

PF41

PF42

PF43

PF44

PF45

PF46

PF47

PF48

5.1.7 Option setting parameters ([Pr. Po_ _)

No. Symbol Name

Po01 For manufacturer setting

Po02 *STNO CC-Link IE communication station No. selection

Po03 *NWNO CC-Link IE communication network number

Po04 For manufacturer setting

Po05

Po06

Po07

Po08

Po09

Po10

Po11

Po12

Po13

Po14

Po15

Po16

Po17

Po18

Po19

Po20

5 - 8

Initial value

0000h

0

0

0000h

0000h

0

0

0

0

0

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Unit

0

50

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Initial value

0000h

0000h

0

200

50

0000h

200

0

0

0

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

[r/min]

Unit

[s]

[%]

[ms]

5. PARAMETERS

No. Symbol

Po21 For manufacturer setting

Po22

Po23

Po24

Po25

Po26

Po27

Po28

Po29

Po30

Po31

Po32

Name

Initial value

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Unit

5 - 9

5. PARAMETERS

5.2 Detailed list of parameters

POINT

"x" in the "Setting digit" columns means which digit to set a value.

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

No. Symbol Name and function

0h

0h

Initial value

[unit]

Setting

range

Refer to Name and function column.

Used to 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.

Setting digit

Explanation

Initial value

00h _ _ x x Regenerative option selection

00: Regenerative option is not used.

For servo amplifier of 100 W, regenerative option 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-RC-(H)/FR-CV-(H)/FR-BU2-(H)

When you use FR-RC-(H), FR-CV-(H) or FR-BU2-(H), select

"Mode 2 (_ _ _ 1)" of "Undervoltage alarm detection mode selection" in [Pr. PC20].

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.)

83: MR-RB5G-4 (Cooling fan is required.)

84: MR-RB34-4 (Cooling fan is required.)

85: MR-RB54-4 (Cooling fan is required.)

91: MR-RB3U-4 (Cooling fan is required.)

92: MR-RB5U-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.

_ x _ _ For manufacturer setting x _ _ _

5 - 10

5. PARAMETERS

No. Symbol Name and function

PA03 *ABS Absolute position detection system

Set this parameter when using the absolute position detection system. The parameter is not available in the speed control mode and torque control mode.

Setting digit

Explanation

Initial value

0h _ _ _ x Absolute position detection system selection

0: Disabled (used in incremental system)

1: Enabled (used in absolute position detection system)

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

Initial value

[unit]

Setting

range

Refer to Name and function column.

PA04 *AOP1 Function selection A-1

This is used to select the forced stop input and forced stop deceleration function.

Setting digit

Explanation

_ _ _ x For manufacturer setting

_ _ x _

_ x _ _ Servo forced stop selection

0: Enabled (The forced stop input EM2 or EM1 is used.)

1: Disabled (The forced stop input EM2 and EM1 are not used.)

Refer to table 5.1 for details. x _ _ _ Forced stop deceleration function selection

0: Forced stop deceleration function disabled (EM1)

2: Forced stop deceleration function enabled (EM2)

Refer to table 5.1 for details.

0h

0h

0h

Refer to Name and function column.

Initial value

0h

0h

0h

2h

Table 5.1 Deceleration method

Setting value

0 0 _ _

EM2/EM1

EM1

2 0 _ _ EM2

0 1 _ _ Not using

EM2 or EM1

2 1 _ _ Not using

EM2 or EM1

EM2 or EM1 is off

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.

Alarm occurred

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.

5 - 11

5. PARAMETERS

No. Symbol Name and function

PA08 ATU Auto tuning mode

Select the gain adjustment mode.

Setting digit

Explanation

_ _ _ x Gain adjustment mode selection

0: 2 gain adjustment mode 1 (interpolation mode)

1: Auto tuning mode 1

2: Auto tuning mode 2

3: Manual mode

4: 2 gain adjustment mode 2

Refer to table 5.2 for details.

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

Table 5.2 Gain adjustment mode selection value 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]

[Pr. PB08 Position loop gain]

[Pr. PB09 Speed loop gain]

[Pr. PB10 Speed integral compensation]

_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]

[Pr. PB08 Position loop gain]

_ _ _ 3 Manual mode

[Pr. PB09 Speed loop gain]

[Pr. PB10 Speed integral compensation]

_ _ _ 4 2 gain adjustment mode 2

[Pr. PB08 Position loop gain]

[Pr. PB09 Speed loop gain]

[Pr. PB10 Speed integral compensation]

Initial value

[unit]

Setting

range

Refer to Name and function column.

Initial value

1h

0h

0h

0h

5 - 12

5. PARAMETERS

No. Symbol Name and function

Initial value

[unit]

16

Setting

range

PA09 RSP Auto tuning response

Set a response of the auto tuning.

Setting value Response

Guideline for machine resonance frequency

[Hz]

Setting value Response

2.7 Middle

3.6 response

4.9 23

6.6 24

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

High

59.6 response

Set an in-position range per command pulse.

PA14 *POL Rotation direction selection

Select the rotation direction of command input pulse.

Servo motor rotation direction

Setting value

Positioning address Positioning address increase decrease

0

1

CCW

CW

CW

CCW

The following shows the servo motor rotation directions.

1 to 40

Guideline for machine resonance 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

1600

[pulse]

0

0 to

65535

0 to 1

Forward rotation (CCW)

Reverse rotation (CW)

5 - 13

5. PARAMETERS

No. Symbol

PA15 *ENR Encoder output pulses

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. PC03].

The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this range.

PA16 *ENR2 Encoder output pulses 2

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. PC03].

PA19 *BLK Parameter writing inhibit

Select a reference range and writing range of the parameter.

Refer to table 5.3 for settings.

Table 5.3 [Pr. PA19] setting value and reading/writing range

PA19

Other than below

000Ah

000Bh

000Ch

000Eh

000Fh

00AAh

00ABh

(initial value)

Writing 19

Reading

Writing

Reading

Writing

Reading

Writing

Reading

Writing

Reading

Writing

Reading

Name and function

Setting operation

PA PB PC PD PE PF Po

Reading

Writing

Initial value

[unit]

4000

[pulse/ rev]

Setting

range

1 1 to

65535

00ABh

1 to

65535

Refer to

Name and function column.

100Bh

100Ch

100Eh

100Fh

10AAh

10ABh

Writing

Reading

Writing 19

Reading

Writing 19

Reading

Writing 19

Reading

Writing 19

Reading

Writing 19

Reading

Writing 19

5 - 14

5. PARAMETERS

No. Symbol Name and function

PA20 *TDS Tough drive setting

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 pins CN3-9 to CN3-13 and CN3-15 with [Pr.

PD07] to [Pr. PD09].

Setting digit

Explanation

Initial value

_ _ _ x For manufacturer setting

_ _ 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].

For details, refer to section 7.3 of "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual".

_ 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. Set the time of until [AL. 10.1 Voltage drop in the control circuit power] occurs in

[Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. x _ _ _ For manufacturer setting

PA21 *AOP3 Function selection A-3

Setting digit

Explanation

Initial value

[unit]

Setting

range

Refer to Name and function column.

0h

0h

0h

0h

Initial value

Refer to Name and function column.

1h _ _ _ x One-touch tuning function selection

0: Disabled

1: Enabled

When the digit is "0", the one-touch tuning with MR Configurator2 will be disabled.

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

0h

0h

0h

5 - 15

5. PARAMETERS

No. Symbol Name and function

PA23 DRAT Drive recorder arbitrary alarm trigger setting

Setting digit

Explanation

_ _ 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]

Setting

range

Initial value

Refer to Name and function column.

00h

00h

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".

PA24 AOP4 Function selection A-4

Setting digit

Explanation

Initial value

Refer to Name and function column.

0h _ _ _ x Vibration suppression mode selection

0: Standard mode

1: 3 inertia mode

2: Low response mode

When two low resonance frequencies are generated, select "3 inertia mode (_ _ _ 1)". When the load to motor inertia ratio exceeds the recommended load to motor inertia ratio, select "Low response mode (_ _ _ 2)".

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.

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

0h

0h

0h

PA25 OTHOV One-touch tuning - Overshoot permissible level

This is used to set a permissible value of overshoot amount with a percentage to in-position range.

However, setting "0" will be 50%.

0

[%]

0 to 100

5 - 16

5. PARAMETERS

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

No. Symbol Name and function

PB01 FILT Adaptive tuning mode (adaptive filter II)

Set the adaptive filter tuning.

Setting digit

Explanation

_ _ _ x Filter tuning mode selection

Select the adjustment mode of the machine resonance suppression filter 1. For details, refer to section 7.1.2 of "MR-J4-_B_(-RJ) Servo

Amplifier Instruction Manual".

0: Disabled

1: Automatic setting

2: Manual setting

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

Initial value

[unit]

Setting

range

Refer to Name and function column.

Initial value

0h

0h

0h

0h

PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)

This is used to set the vibration suppression control tuning. For details, refer to section 7.1.5 of

"MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Setting

Explanation digit

Initial value

Refer to Name and function column.

PB04

_ _ _ x Vibration suppression control 1 tuning mode selection

Select the tuning mode of the vibration suppression control 1.

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 digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24 Function selection A-4].

0: Disabled

1: Automatic setting

2: Manual setting

0h

0h

_ x _ _ For manufacturer setting x _ _ _

0h

0h

FFC Feed forward gain

Set the feed forward gain.

When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. 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

[%]

7.00

[Multiplier]

PB06 GD2 Load to motor inertia ratio

This is used to set the load to motor inertia ratio.

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

_ _ _ 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)

Automatic setting

Manual setting

0 to 100

0.00 to

300.00

5 - 17

5. PARAMETERS

No. Symbol Name and function

PB07 PG1 Model loop gain

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/or 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.

Pr. PA08 This parameter

Manual setting _ _ _ 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)

Automatic setting

Manual setting

PB08 PG2 Position loop gain

This is used to 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/or 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.

Pr. PA08 This parameter

Automatic setting _ _ _ 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)

Manual setting

Automatic setting

PB09 VG2 Speed loop gain

This is used to 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/or 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.

PB10 VIC Speed integral compensation

This is used to 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/or 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.

PB12 OVA Overshoot amount compensation

This is used to set a viscous friction torque in percentage to the rated torque at servo motor rated speed.

When the response level is low, or when the torque is limited, the efficiency of the parameter may be lower.

PB13 NH1 Machine resonance suppression filter 1

Set the notch frequency of the machine resonance suppression filter 1.

When you select "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" in [Pr. PB01], this parameter will be adjusted automatically.

When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting value will be enabled.

Initial value

[unit]

15.0

[rad/s]

37.0

[rad/s]

823

[rad/s]

33.7

[ms]

0

[%]

4500

[Hz]

Setting

range

1.0 to

2000.0

1.0 to

2000.0

20 to

65535

0.1 to

1000.0

0 to 100

10 to

4500

5 - 18

5. PARAMETERS

No. Symbol

PB14 NHQ1 Notch shape selection 1

Set the shape of the machine resonance suppression filter 1.

When you select "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" in [Pr. PB01], this parameter will be adjusted automatically.

Set manually for the manual setting.

Setting digit

Explanation

Initial value

Name and function

_ _ _ x For manufacturer setting

_ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

_ x _ _ Notch width selection

0: α = 2

1: α = 3

2: α = 4

3: α = 5 x _ _ _ For manufacturer setting 0h

Initial value

[unit]

Setting

range

Refer to Name and function column.

0h

0h

0h

PB15 NH2 Machine resonance suppression filter 2

Set the notch frequency of the machine resonance suppression filter 2.

To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in [Pr. PB16].

PB16 NHQ2 Notch shape selection 2

Set the shape of the machine resonance suppression filter 2.

Setting digit

Explanation

Initial value

4500

[Hz]

Refer to Name and function column.

10 to

4500

_ _ _ x Machine resonance suppression filter 2 selection

0: Disabled

1: Enabled

_ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

_ x _ _ Notch width selection

0: α = 2

1: α = 3

2: α = 4

3: α = 5 x _ _ _ For manufacturer setting

0h

0h

0h

0h

5 - 19

5. PARAMETERS

No. Symbol Name and function

Initial value

[unit]

Setting

range

PB17 NHF Shaft resonance suppression filter

This is used for setting the shaft resonance suppression filter.

This is used to suppress a low-frequency machine vibration.

When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection" in [Pr. PB23], the value will be calculated automatically from the servo motor you use and load to motor inertia ratio. Set manually for "Manual setting (_ _ _ 1)".

When "Shaft resonance suppression filter selection" is "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this parameter will be disabled.

When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in

[Pr. PB49], the shaft resonance suppression filter is not available.

Setting digit

Explanation

Initial value

Refer to Name and function column.

00h _ _ x x Shaft resonance suppression filter setting frequency selection

This is used for setting the shaft resonance suppression filter.

Refer to table 5.4 for settings.

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 x _ _ _ For manufacturer setting

Table 5.4 Shaft resonance suppression filter setting frequency selection

0h

0h

PB18 LPF value

00 Disabled

01

Setting value

Disabled

Frequency [Hz]

562

529

02

03

04

05

500

473

450

428

06

07

08

09

0A 900

0B 818

0C 750

0D 692

0E 642

0F 600

409

391

375

360

1A 346

1B 333

1C 321

1D 310

1E 300

1F 290

Low-pass filter setting

Set the low-pass filter.

The following shows a relation of a required parameter to this parameter.

[Pr. PB23] [Pr. PB18]

_ _ 0 _

(Initial value)

_ _ 1 _

Automatic setting

_ _ 2 _

Setting value enabled

Setting value disabled

3141

[rad/s]

100 to

18000

5 - 20

5. PARAMETERS

No. Symbol Name and function

Initial value

[unit]

Setting

range

Set the vibration frequency for vibration suppression control 1 to suppress low-frequency machine vibration.

When "Vibration suppression control 1 tuning mode selection" is "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ _

2)". For details, refer to section 7.1.5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

100.0

[Hz]

0.1 to

300.0

Set the resonance frequency for vibration suppression control 1 to suppress low-frequency machine vibration.

When "Vibration suppression control 1 tuning mode selection" is "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ _

2)". For details, refer to section 7.1.5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping

Set a damping of the vibration frequency for vibration suppression control 1 to suppress lowfrequency machine vibration.

When "Vibration suppression control 1 tuning mode selection" is "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ _

2)". For details, refer to section 7.1.5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping

Set a damping of the resonance frequency for vibration suppression control 1 to suppress lowfrequency machine vibration.

When "Vibration suppression control 1 tuning mode selection" is "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ _

2)". For details, refer to section 7.1.5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

PB23 VFBF Low-pass filter selection

Select the shaft resonance suppression filter and low-pass filter.

Setting digit

Explanation

Initial value

100.0

[Hz]

0.1 to

300.0

0.00 0.00 to

0.30

0.00 0.00 to

0.30

Refer to Name and function column.

0h _ _ _ x Shaft resonance suppression filter selection

0: Automatic setting

1: Manual setting

2: Disabled

When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49], the shaft resonance suppression filter is not available.

_ _ x _ Low-pass filter selection

0: Automatic setting

1: Manual setting

2: Disabled

_ x _ _ For manufacturer setting x _ _ _

PB24 *MVS Slight vibration suppression control

Select the slight vibration suppression control

Setting digit

Explanation

_ _ _ x Slight vibration suppression control selection

0: Disabled

1: Enabled

To enable the slight vibration suppression control, select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08].

The slight vibration suppression control selection cannot be used in the speed control mode.

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

0h

0h

0h

Refer to Name and function column.

Initial value

0h

0h

0h

0h

5 - 21

5. PARAMETERS

No. Symbol Name and function

PB45 CNHF Command notch filter

Set the command notch filter.

Setting digit

Explanation

_ _ x x Command notch filter setting frequency selection

Refer to table 5.5 for the relation of setting values to frequency.

_ x _ _ Notch depth selection

Refer to table 5.6 for details. x _ _ _ For manufacturer setting

Table 5.5 Command notch filter setting frequency selection

Initial value

[unit]

Setting

range

Refer to Name and function column.

Initial value

00h

0h

0h

Setting

Frequency

[Hz]

01 2250

02 1125

03 750

04 562

05 450

06 375

07 321

08 281

09 250

0A 225

0B 204

0C 187

0D 173

0E 160

0F 150

10 140

11 132

12 125

13 118

14 112

15 107

16 102

17 97

18 93

19 90

1A 86

1B 83

1C 80

1D 77

1E 75

1F 72

Setting

Frequency

[Hz]

20 70

21 66

22 62

23 59

24 56

25 53

26 51

27 48

28 46

29 45

2A 43

2B 41

2C 40

2D 38

2E 37

2F 36

30 35.2

31 33.1

32 31.3

33 29.6

34 28.1

35 26.8

36 25.6

37 24.5

38 23.4

39 22.5

3A 21.6

3B 20.8

3C 20.1

3D 19.4

3E 18.8

3F 18.2

Setting

Frequency

[Hz]

40 17.6

41 16.5

42 15.6

43 14.8

44 14.1

45 13.4

46 12.8

47 12.2

48 11.7

49 11.3

4A 10.8

4B 10.4

4C 10

4D 9.7

4E 9.4

4F 9.1

50 8.8

51 8.3

52 7.8

53 7.4

54 7.0

55 6.7

56 6.4

57 6.1

58 5.9

59 5.6

5A 5.4

5B 5.2

5C 5.0

5D 4.9

5E 4.7

5F 4.5

5 - 22

5. PARAMETERS

No. Symbol

PB45 CNHF

Name and function

Initial value

[unit]

Setting

range

Table 5.6 Notch depth selection Refer to Name and function

Setting Depth column.

0

1

2

3

4

5

6

7

-40.0 8

-24.1 9

-18.1 A

-14.5 B

-12.0 C

-10.1 D

-8.5 E

-7.2 F

-6.0

-5.0

-4.1

-3.3

-2.5

-1.8

-1.2

-0.6

PB46 NH3 Machine resonance suppression filter 3

Set the notch frequency of the machine resonance suppression filter 3.

To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection" in [Pr. PB47].

PB47 NHQ3 Notch shape selection 3

Set the shape of the machine resonance suppression filter 3.

Setting digit

Explanation

Initial value

4500

[Hz]

10 to

4500

Refer to Name and function column.

_ _ _ x Machine resonance suppression filter 3 selection

0: Disabled

1: Enabled

_ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

_ x _ _ Notch width selection

0: α = 2

1: α = 3

2: α = 4

3: α = 5 x _ _ _ For manufacturer setting

0h

0h

0h

0h

PB48 NH4 Machine resonance suppression filter 4

Set the notch frequency of the machine resonance suppression filter 4.

To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49].

4500

[Hz]

10 to

4500

5 - 23

5. PARAMETERS

No. Symbol Name and function

PB49 NHQ4 Notch shape selection 4

Set the shape of the machine resonance suppression filter 4.

Setting

Explanation digit

_ _ _ x Machine resonance suppression filter 4 selection

0: Disabled

1: Enabled

When you select "Enabled" of this digit, [Pr. PB17 Shaft resonance suppression filter] is not available.

_ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

_ x _ _ Notch width selection

0: α = 2

1: α = 3

2: α = 4

3: α = 5 x _ _ _ For manufacturer setting

Initial value

[unit]

Setting

range

Refer to Name and function column.

Initial value

0h

0h

0h

0h

PB50 NH5 Machine resonance suppression filter 5

Set the notch frequency of the machine resonance suppression filter 5.

To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5 selection" in [Pr. PB51].

4500

[Hz]

10 to

4500

PB51 NHQ5 Notch shape selection 5

Set the shape of the machine resonance suppression filter 5.

When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine resonance suppression filter 5 is not available.

Setting

Explanation digit

Initial value

_ _ _ x Machine resonance suppression filter 5 selection

0: Disabled

1: Enabled

_ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

_ x _ _ Notch width selection

0: α = 2

1: α = 3

2: α = 4

3: α = 5 x _ _ _ For manufacturer setting

Refer to Name and function column.

0h

0h

0h

0h

100.0

[Hz]

0.1 to

300.0

Set the vibration frequency for vibration suppression control 2 to suppress low-frequency machine vibration.

To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in

[Pr. PA24].

When "Vibration suppression control 2 tuning mode selection" is "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ 2

_)".

5 - 24

5. PARAMETERS

No. Symbol Name and function

Set the resonance frequency for vibration suppression control 2 to suppress low-frequency machine vibration.

To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in

[Pr. PA24].

When "Vibration suppression control 2 tuning mode selection" is "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ 2

_)".

PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping

Set a damping of the vibration frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.

To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in

[Pr. PA24].

When "Vibration suppression control 2 tuning mode selection" is "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ 2

_)".

PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping

Set a damping of the resonance frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.

To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in

[Pr. PA24].

When "Vibration suppression control 2 tuning mode selection" is "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ 2

_)".

Initial value

[unit]

100.0

[Hz]

Setting

range

0.1 to

300.0

0.00 0.00 to

0.30

0.00 0.00 to

0.30

5 - 25

5. PARAMETERS

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

No. Symbol

PC01 ERZ Error excessive alarm level

Set an error excessive alarm level.

Set this per rev for rotary servo motors. Setting "0" will be 3 rev. Setting over 200 rev will be clamped with 200 rev.

Note. Setting can be changed in [Pr. PC06].

PC02 MBR Electromagnetic brake sequence output

This is used to set the delay time between MBR (Electromagnetic brake interlock) and the base drive circuit is shut-off.

PC03 *ENRS Encoder output pulse selection

This is used to select the encoder pulse direction and encoder output pulse setting.

Setting digit

Explanation

Initial value

Name and function

_ _ _ x Encoder output pulse phase selection

0: Increasing A-phase 90° in CCW

1: Increasing A-phase 90° in CW

Setting Servo motor rotation direction value

CCW CW

0

A-phase A-phase

B-phase B-phase

Initial value

[unit]

0

[rev]

(Note)

0

[ms]

0h

Setting

range

0 to

1000

0 to

1000

Refer to Name and function column.

1

A-phase

B-phase

A-phase

B-phase

_ _ x _ Encoder output pulse setting selection

0: Output pulse setting

(When "_ 1 0 _" is set to this parameter, [AL. 37 Parameter error] will occur.)

1: Division ratio setting

3: A-phase/B-phase pulse electronic gear setting

_ x _ _ For manufacturer setting x _ _ _

PC04 **COP1 Function selection C-1

Select the encoder cable communication method selection.

Setting digit

Explanation

_ _ _ x For manufacturer setting

_ _ x _

_ x _ _ x _ _ _ Encoder cable communication method selection

0: Two-wire type

1: Four-wire type

Incorrect setting will result in [AL. 16 Encoder initial communication error 1].

0h

0h

0h

Refer to Name and function column.

Initial value

0h

0h

0h

0h

5 - 26

5. PARAMETERS

No. Symbol Name and function

PC05 **COP2 Function selection C-2

This is used to select the motor-less operation.

Setting

Explanation digit

_ _ _ x Motor-less operation selection

0: Disabled

1: Enabled

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

Initial value

[unit]

Setting

range

Refer to Name and function column.

Initial value

0h

_ _ _ x For manufacturer setting

_ _ x _

_ x _ _ x _ _ _ Error excessive alarm level unit selection

0: 1 rev unit

1: 01 rev unit

2: 001 rev unit

3: 0001 rev unit

0h

0h

0h

PC06 *COP3 Function selection C-3

Select the error excessive alarm level setting for [Pr. PC01]. The parameter is not available in the speed control mode and torque control mode.

Setting

Explanation digit

Initial value

Refer to Name and function column.

0h

0h

0h

0h

Used to set the output range of ZSP (Zero speed detection).

ZSP (Zero speed detection) has hysteresis of 20 r/min.

PC08 OSL Overspeed alarm detection level

This is used to set an overspeed alarm detection level.

When you set a value more than "servo motor maximum speed × 120%", the set value will be clamped.

When you set "0", the value of "servo motor maximum speed × 120%" will be set.

50

[r/min]

0

[r/min]

0 to

10000

0 to

20000

5 - 27

5. PARAMETERS

No. Symbol Name and function

Initial value

[unit]

Setting

range

PC09 MOD1 Analog monitor 1 output

Select a signal to output to MO1 (Analog monitor 1). Refer to section 9.1 for detection point of output selection.

Setting digit

Explanation

Initial value

Refer to Name and function column.

00h _ _ x x Analog monitor 1 output selection

Refer to table 5.7 for settings.

_ x _ _ For manufacturer setting x _ _ _

Table 5.7 Analog monitor setting value

0h

0h

Setting value

Item

00 Servo motor speed (±8 V/max. speed)

01 Torque (±8 V/max. torque)

02 Servo motor speed (+8 V/max. speed)

03 Torque (+8 V/max. torque)

04 Current command (±8 V/max. current command)

05 Speed command (±8 V/max. speed)

06 Servo motor-side droop pulses (±10 V/100 pulses) (Note)

07 Servo motor-side droop pulses (±10 V/1000 pulses) (Note)

08 Servo motor-side droop pulses (±10 V/10000 pulses) (Note)

09 Servo motor-side droop pulses (±10 V/100000 pulses) (Note)

0A Feedback position (±10 V/1 Mpulses) (Note)

0B Feedback position (±10 V/10 Mpulses) (Note)

0C Feedback position (±10 V/100 Mpulses) (Note)

0D Bus voltage (200 V class: +8 V/400 V, 400 V class: +8 V/800 V)

0E Speed command 2 (±8 V/max. speed)

17 Encoder inside temperature (±10 V/±128 ˚C)

Note. Encoder pulse unit

PC10 MOD2 Analog monitor 2 output

Select a signal to output to MO2 (Analog monitor 2). Refer to section 9.1 for detection point of output selection.

Setting digit

Explanation

Initial value

Refer to Name and function column.

01h _ _ x x Analog monitor 2 output selection

Refer to [Pr. PC09] for settings.

_ x _ _ For manufacturer setting x _ _ _

PC11 MO1 Analog monitor 1 offset

This is used to set the offset voltage of MO1 (Analog monitor 1).

PC12 MO2 Analog monitor 2 offset

This is used to set the offset voltage of MO2 (Analog monitor 2).

PC13 MOSDL Analog monitor - Feedback position output standard data - Low

Set a monitor output standard position (lower 4 digits) for the feedback position for when selecting "Feedback position" for MO1 (Analog monitor 1) and MO2 (Analog monitor 2).

Monitor output standard position = [Pr. PC14] setting × 10000 + [Pr. PC13] setting

PC14 MOSDH Analog monitor - Feedback position output standard data - High

Set a monitor output standard position (higher 4 digits) for the feedback position for when selecting "Feedback position" for MO1 (Analog monitor 1) and MO2 (Analog monitor 2).

Monitor output standard position = [Pr. PC14] setting × 10000 + [Pr. PC13] setting

0h

0h

0

[mV]

0

[mV]

0

[pulse]

0

[10000 pulses]

-999 to

999

-999 to

999

-9999 to

9999

-9999 to

9999

5 - 28

5. PARAMETERS

No. Symbol Name and function

PC17 **COP4 Function selection C-4

This is used to select a home position setting condition.

Setting

Explanation digit

_ _ _ x Selection of home position setting condition

0: Need to pass servo motor Z-phase after power on

1: Not need to pass servo motor Z-phase after power on

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

PC18 *COP5 Function selection C-5

This is used to select an occurring condition of [AL. E9 Main circuit off warning].

Setting

Explanation digit

_ _ _ x For manufacturer setting

_ _ x _

_ x _ _ x _ _ _ [AL. E9 Main circuit off warning] selection

0: Detection with ready-on and servo-on command

1: Detection with servo-on command

PC20 *COP7 Function selection C-7

This is used to select [AL. 10 undervoltage] detection method.

Setting

Explanation digit

_ _ _ x This is set when FR-RC-(H) or FR-CV-(H) is used and if [AL. 10 undervoltage] occurs due to distorted power supply voltage waveform.

0: When [AL. 10] does not occur

1: When [AL. 10] occurs

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

PC21 *BPS Alarm history clear

Used to clear the alarm history.

Setting digit

Explanation

_ _ _ x Alarm history clear selection

0: Disabled

1: Enabled

When you select "Enabled", the alarm history will be cleared at next power-on. After the alarm history is cleared, the setting is automatically disabled.

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

Initial value

[unit]

Setting

range

Refer to Name and function column.

Initial value

0h

0h

0h

0h

Refer to Name and function column.

Initial value

0h

0h

0h

0h

Refer to Name and function column.

Initial value

0h

0h

0h

0h

Refer to Name and function column.

Initial value

0h

0h

0h

0h

5 - 29

5. PARAMETERS

No. Symbol Name and function

PC24 RSBR Forced stop deceleration time constant

This is used to 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.

Rated speed

Servo motor speed

Forced stop deceleration

Dynamic brake deceleration

Initial value

[unit]

100

[ms]

Setting

range

0 to

20000

0 r/min

[Pr. PC24]

[Precautions]

If the servo motor torque is saturated at the maximum torque 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.

Set a longer time than deceleration time at quick stop of the controller. If a shorter time is set, [AL. 52 Error excessive] may occur.

PC29 *COPB Function selection C-B

This is used to select the POL reflection at torque control.

This parameter is used with servo amplifiers with software version A1 or later.

Setting

Explanation digit

_ _ _ x For manufacturer setting

_ _ x _

_ x _ _ x _ _ _ POL reflection selection at torque control

0: Enabled

1: Disabled

Refer to Name and function column.

Initial value

0h

0h

0h

0h

PC31 RSUP1 Vertical axis freefall prevention compensation amount

Set the compensation amount of the vertical axis freefall prevention function.

Set it per servo motor rotation amount.

When a positive value is set, compensation is performed to the address increasing direction.

When a negative value is set, compensation is performed to the address decreasing 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 servo motor speed is zero speed or less.

5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD07] to [Pr. PD09], and the base circuit shut-off delay time was set in [Pr. PC16].

0

[0.0001

rev]

-25000 to

25000

5 - 30

5. PARAMETERS

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

No. Symbol Name and function

Setting

range

PD02 *DIA2 Input signal automatic on selection 2

When disabling (releasing) FLS and RLS with this parameter, preset "Upper limit" and "Lower limit" of [Pr. 22 Input signal selection] to negative logic.

HEX. BIN.

Explanation

Initial value

_ _ _ x

_ _ x _

_ x _ _ x _ _ _

Refer to Name and function column.

_ _ _ x FLS (Upper stroke limit) selection

0: Disabled

1: Enabled

_ _ x _ RLS (Lower stroke limit) selection

0: Disabled

1: Enabled

0h

_ x _ _ For manufacturer setting x _ _ _

For manufacturer setting 0h

0h

0h

Convert the setting value into hexadecimal as follows.

Initial value

[unit]

0 0 0

Signal name

FLS (Upper stroke limit) selection

RLS (Lower stroke limit) selection

Initial value

BIN HEX

0

0

0

0

0

BIN 0: Use for an external input signal.

BIN 1: Automatic on.

PD07 *DO1 Output device selection 1

You can assign any output device to the CN3-13 pin. As the initial value, MBR

(Electromagnetic brake interlock) is assigned to the pin.

Setting digit

Explanation

_ _ x x Device selection

Refer to table 5.8 for settings.

_ x _ _ For manufacturer setting x _ _ _

Table 5.8 Selectable output devices

Setting value

Output device

00

02

03

04

05

06 (Note)

07

08

MBR (Electromagnetic brake interlock)

DB (Dynamic brake interlock)

TLC (Limiting torque)

09

0A (Note)

0C (Note)

11

BWNG (Battery warning)

SA (Speed reached)

ZSP (Zero speed detection)

ABSV (Absolute position undetermined)

17 MTTR (During tough drive)

Note. This setting is used with servo amplifiers with software version A1 or later.

Refer to Name and function column.

Initial value

05h

0h

0h

5 - 31

5. PARAMETERS

No. Symbol Name and function

Initial value

[unit]

Setting

range

PD08 *DO2 Output device selection 2

You can assign any output device to the CN3-9 pin. INP (In-position) is assigned as the initial value.

The devices that can be assigned and the setting method are the same as in [Pr. PD07].

Setting

Explanation

Initial digit value

Refer to Name and function column.

04h _ _ x x Device selection

Refer to table 5.8 in [Pr. PD07] for settings.

_ x _ _ For manufacturer setting x _ _ _

PD09 *DO3 Output device selection 3

0h

0h

You can assign any output device to the CN3-15 pin. ALM (Malfunction) is assigned as the initial value.

The devices that can be assigned and the setting method are the same as in [Pr. PD07].

Setting

Explanation

Initial digit value

Refer to Name and function column.

03h _ _ x x Device selection

Refer to table 5.8 in [Pr. PD07] for settings.

_ x _ _ For manufacturer setting x _ _ _

PD12 *DOP1 Function selection D-1

This parameter is used with servo amplifiers with software version A1 or later.

Setting digit

Explanation

_ _ _ x For manufacturer setting

_ _ x _

_ x _ _ x _ _ _ Servo motor thermistor enabled/disabled selection

0: Enabled

1: Disabled

For servo motors without thermistor, the setting will be disabled.

0h

0h

Refer to Name and function column.

Initial value

0h

0h

0h

0h

5 - 32

5. PARAMETERS

No. Symbol Name and function

PD14 *DOP3 Function selection D-3

Setting digit

_ _ _ x For manufacturer setting

Explanation

_ _ x _ Selection of output device at warning occurrence

Select WNG (Warning) and ALM (Malfunction) output status at warning occurrence.

Servo amplifier output

Setting value

(Note 1) Device status

0

WNG

ALM

1

0

1

0

Warning occurrence

1

WNG

ALM

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

1

0

1

0

Warning occurrence (Note 2)

Note 1. 0: Off

1: On

2. Although ALM is turned off upon occurrence of the warning, the forced stop deceleration is performed.

_ x _ _ For manufacturer setting x _ _ _

Initial value

[unit]

Setting

range

Initial value

Refer to Name and function column.

0h

0h

0h

0h

No. Symbol Name and function

PE41 EOP3 Function selection E-3

Setting digit

Explanation

_ _ _ 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 _ For manufacturer setting

_ x _ _ x _ _ _

Initial value

[unit]

Setting

range

Initial value

Refer to Name and function column.

0h

0h

0h

0h

5 - 33

5. PARAMETERS

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

No. Symbol Name and function

PF06 *FOP5 Function selection F-5

Setting digit

Explanation

_ _ _ 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

Initial value

[unit]

Setting

range

Initial value

Refer to Name and function column.

0h

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

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

Set a operating time for the electronic dynamic brake.

0h

0h

0h

2000

[ms]

PF21 DRT Drive recorder switching time setting

This is used to set a drive recorder switching time.

When a USB communication is cut during using a graph function, the function will be changed to the drive recorder function after the setting time of this parameter.

When a value from "1" to "32767" is set, it will switch after the setting value.

However, when "0" is set, it will switch after 600 s.

When "-1" is set, the drive recorder function is disabled.

PF23 OSCL1 Vibration tough drive - Oscillation detection level

This is used to 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.

Example: When you set "50" to the parameter, the filter will be readjusted at the time of 50% or more oscillation level.

PF24 *OSCL2 Vibration tough drive function selection

Setting digit

Explanation

Initial value

0

[s]

50

[%]

0 to 100

Refer to Name and function column.

0 to

10000

-1 to

32767

0h _ _ _ x Oscillation detection alarm selection

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

Select alarm or warning when a 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].

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

0h

0h

0h

5 - 34

5. PARAMETERS

No. Symbol Name and function

PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time

Set the time of the [AL. 10.1 Voltage drop in the control circuit power] occurrence.

To disable the parameter, select "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr.

PA20].

PF31 FRIC Machine diagnosis function - Friction judgement speed

Set a servo motor speed to divide a friction estimation area into high and low for the friction estimation process of the machine diagnosis.

However, setting "0" will be the value half of the rated speed.

When your operation pattern is under rated speed, we recommend that you set half value to the maximum speed with this.

Maximum speed in operation

Forward rotation direction

[Pr. PF31] setting

Servo motor speed

0 r/min

Initial value

[unit]

200

[ms]

Setting

range

30 to

200

0

[r/min]

0 to permissible speed

Operation pattern

Reverse rotation direction

5 - 35

5. PARAMETERS

5.2.7 Option setting parameters ([Pr. Po_ _)

No. Symbol Name and function

Po02 *STNO CC-Link IE communication station number selection

Use this parameter to set a station No. of the servo amplifier.

Station Nos. of the servo amplifier will be set in the following order of priority.

Priority

Prior station No. order

1

2

Station No. specified with master station

Station No. 1 to 120 specified with [Pr. Po02] (Note)

Note.

3 Station No.set with the station number setting rotary switch and auxiliary station number setting switches when [Pr. Po02] is "0"

Set a station No. with [Pr. Po02] within the range of 1 to 120. Setting over the range will trigger [AL. 37 Parameter error].

Cautions for connecting the CC-Link IE Field simple motion QD77GF16 to the servo amplifier

Be sure to set a station No. from 1 to 16.

When you set [Pr. Po02] to "0", the station number setting rotary switch to "0", and both of the auxiliary station number setting switches SW2-3/SW2-4 to "OFF", the servo amplifier will be in a stand-by state for station No. setting from the master station. However, a communication will not be made because QD77GF16 does not execute a station No. specification.

Po03 *NWNO CC-Link IE communication network number

Use this parameter to set the network number of the servo amplifier.

The number is "1" at the initial value of "0".

The maximum setting value for the network number is 239.

A value higher than the maximum value will trigger [AL.37 parameter error].

If a station No. is set with master station automatically in [Pr.Po02] and with the station number setting rotary switch (SW1), this parameter setting is ignored. Instead, the network number transmitted from the master station is used.

When the network number of controller and that of servo amplifier are different, the network number of servo amplifier cannot be changed via the controller. The network number of servo amplifier should be changed using MR Configurator2 which is directly connected to the servo amplifier with USB cable.

Initial value

[unit]

0

0

Setting

range

0 to 120

0 to 239

5 - 36

6. TROUBLESHOOTING

6. TROUBLESHOOTING

POINT

6.1 Alarm and warning list

Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings.

As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power.

[AL. 37 Parameter error] and warnings are not recorded in the alarm history.

When an error occurs during operation, the corresponding alarm or warning is displayed. When the alarm or the warning occurs, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM will turn off.

After its cause has been removed, the alarm can be deactivated in any of the methods marked ○ in the alarm deactivation column in the following table. Warnings are automatically canceled after the cause of occurrence is removed.

For the alarms and warnings in which "SD" is written in the stop method column, the axis 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 axis stops with the dynamic brake without forced stop deceleration.

Alarm reset

Stop

No. Name

Detail

No.

Detail name method

(Note 3,

4)

10 Undervoltage

10.1 Voltage drop in the control circuit power

10.2 Voltage drop in the main circuit power

12.1 RAM error 1

12.2 RAM error 2

12 Memory error 1 (RAM) 12.3 RAM error 3

12.4 RAM error 4

12.5 RAM error 5

13 Clock

13.1 Clock error 1

13.2 Clock error 2

14.1 Control process error 1

14.2 Control process error 2

14

15

Control process error

Memory error 2

(EEP-ROM)

14.3 Control process error 3

14.4 Control process error 4

14.5 Control process error 5

14.6 Control process error 6

14.7 Control process error 7

14.8 Control process error 8

14.9 Control process error 9

14.A Control process error 10

15.1 EEP-ROM error at power on

15.2 EEP-ROM error during operation

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

EDB

SD

DB

DB

DB

DB

6 - 1

6. TROUBLESHOOTING

No. Name

Detail

No.

Detail name

Alarm reset

Stop method

(Note 3,

4)

25 Absolute position erased

16.1

16.2

16.3

Encoder initial communication - Receive data error 1

Encoder initial communication - Receive data error 2

Encoder initial communication - Receive data error 3

16.6

16.D Encoder initial communication - Process error 4

16.E Encoder initial communication - Process error 5

16.F Encoder initial communication - Process error 6

17.1 Board error 1

17 Board 17.3 Board error 2

19

20

Memory error 3

(Flash-ROM)

1A

Servo motor combination error

1E

Encoder initial communication error 2

1F

Encoder initial communication error 3

16.A Encoder initial communication - Process error 1

16.B Encoder initial communication - Process error 2

16.C Encoder initial communication - Process error 3

17.4 Board error 3

19.1 Flash-ROM error 1

19.2 Flash-ROM error 2

1A.1 Servo motor combination error

1A.2 Servo motor control mode combination error

20.6

21

24 communication error 1 communication error 1

Encoder normal communication error 2

Main circuit error

20.A

Encoder normal communication - Receive data error 5

21.1 Encoder data error 1

21.2 Encoder data update error

21.3 Encoder data waveform error

21.5 Encoder hardware error 1

21.6 Encoder hardware error 2

21.9 Encoder data error 2

24.2

Ground fault detected by software detection function

25.1 Servo motor encoder - Absolute position erased

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

DB

DB

DB

6 - 2

6. TROUBLESHOOTING

No. Name

Detail

No.

30

31

Regenerative error

(Note 1)

Overspeed

Detail name

30.1 Regeneration heat error

30.2 Regeneration signal error

30.3 Regeneration feedback signal error

31.1 Abnormal motor speed

32 Overcurrent

32.4

Overcurrent detected at software detection function (during a stop)

33.1 Main circuit voltage error 33 Overvoltage

35 Command frequency error 35.1 Command frequency error

37 Parameter

37.1 Parameter setting range error

37.2 Parameter combination error

3E

45

46 circuit error

Operation mode error

Main circuit device overheat (Note 1)

Servo motor overheat

(Note 1)

3A.1 Inrush current suppression circuit error

3E.1 Operation mode error

45.1 Main circuit device overheat error

46.1

46.5

Abnormal temperature of servo motor 1

Abnormal temperature of servo motor 3

47 Cooling fan error

46.6 Abnormal temperature of servo motor 4

47.1 Cooling fan stop error

47.2 Cooling fan speed reduction error

50.1 Thermal overload error 1 during operation

50.2

50.3

Thermal overload error 2 during operation

Thermal overload error 4 during operation

50 Overload 1 (Note 1)

50.4 Thermal overload error 1 during a stop

50.5 Thermal overload error 2 during a stop

50.6 Thermal overload error 4 during a stop

51.1 Thermal overload error 3 during operation

51 Overload 2 (Note 1)

51.2 Thermal overload error 3 during a stop

52.1 Excess droop pulse 1

52 Error

52.3 Excess droop pulse 2

52.4 Error excessive during 0 torque limit

52.5 Excess droop pulse 3

56 Forced stop error

56.2 Over speed during forced stop

56.3 Estimated distance over during forced stop

74 Option card error 1

74.1

74.2

74.3

74.4

74.5

Option card error 1

Option card error 2

Option card error 3

Option card error 4

Option card error 5

Alarm reset

Stop method

(Note 3,

4)

DB

DB

DB

SD

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

DB

DB

DB

DB

EDB

SD

DB

DB

EDB

DB

SD

SD

DB

DB

SD

SD

SD

SD

SD

SD

SD

SD

DB

DB

SD

SD

SD

EDB

EDB

EDB

EDB

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

(Note 1) (Note 1) (Note 1)

DB

DB

DB

DB

DB

DB

6 - 3

6. TROUBLESHOOTING

No. Name

Detail

No.

Detail name

Alarm reset

Stop method

(Note 3,

4)

75 Option card error 2

75.3 Option card connection error

75.4 Option card disconnected

8A

USB communication timeout error

8A.1 USB communication time-out error

8D

CC-Link IE communication error

8D.1 CC-Link IE communication error 1

8D.2 CC-Link IE communication error 2

8D.3 Master station setting error 1

8D.5 Master station setting error 2

8D.6 CC-Link IE communication error 3

8D.7 CC-Link IE communication error 4

8D.8 CC-Link IE communication error 5

8D.9 Synchronization error 1

8D.A Synchronization error 2

8E.1 USB communication receive error

8E USB communication error

888 Watchdog

8E.2 USB communication checksum error

8E.3

8E.4

8E.5

USB communication character error

USB communication command error

USB communication data number error

88._ Watchdog

Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.

2. In some controller communication status, the alarm factor may not be removed.

EDB

DB

SD

SD

SD

DB

DB

SD

SD

SD

SD

SD

SD

SD

SD

SD

SD

DB

DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)

EDB: Stop with electronic dynamic brake (enabled only with the 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-MR

HG-SR

HG-KR053/HG-KR13/HG-KR23/HG-KR43

HG-MR053/HG-MR13/HG-MR23/HG-MR43

HG-SR51/HG-SR52

SD: Forced stop deceleration

4. 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].

6 - 4

6. TROUBLESHOOTING

No. Name

Detail

No.

Detail name

Stop method

(Note 2,

3)

91

92

Servo amplifier overheat warning (Note 1)

Battery cable disconnection warning

91.1

92.1

Main circuit device overheat warning

Encoder battery cable disconnection warning

95 STO

95.1 STO1 off detection

95.2 STO2 off detection warning

9D CC-Link IE warning 1

9E

9F

CC-Link IE warning 2

Battery warning

E0

Excessive regeneration warning (Note 1)

96.2

9D.1

9D.2

Command input warning at home positioning

Station number switch change warning

Master station setting warning

9D.3 Overlapping station number warning

9D.4 Mismatched station number warning

9E.1 CC-Link IE communication warning

9F.1 Low battery

E0.1 Excessive regeneration warning

E1

Overload warning 1

(Note 1)

E1.1 Thermal overload warning 1 during operation

E1.2 Thermal overload warning 2 during operation

E1.3 Thermal overload warning 3 during operation

E1.4 Thermal overload warning 4 during operation

E1.5 Thermal overload error 1 during a stop

E1.6 Thermal overload error 2 during a stop

E1.7 Thermal overload error 3 during a stop

E3

E4

Absolute position counter warning

Parameter warning

E6 Servo forced stop warning E6.1 Forced stop warning

E7

Controller forced stop warning

E7.1 Controller forced stop warning

E8

Cooling fan speed reduction warning

E8.1

E8.2

E9.1

Decreased cooling fan speed warning

Cooling fan stop

Servo-on signal on during main circuit off

E9

EC

ED

Main circuit off warning

Overload warning 2

(Note 1)

Output watt excess warning

F0

F2

Tough drive warning

Drive recorder - Miswriting warning

F3

Oscillation detection warning

E1.8 Thermal overload error 4 during a stop

E3.2 Absolute position counter warning

E3.5 Encoder absolute positioning counter warning

E4.1 Parameter setting range error warning

E9.2 Bus voltage drop during low speed operation

E9.3 Ready-on signal on during main circuit off

EC.1 Overload warning 2

ED.1 Output watt excess warning

F0.1 Instantaneous power failure tough drive warning

F0.3 Vibration tough drive warning

F2.1

F2.2

F3.1

Drive recorder - Area writing time-out warning

Drive recorder - Data miswriting warning

Oscillation detection warning

Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.

2. The following shows two stop methods of DB and SD.

DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)

SD: Decelerates to a stop

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].

SD

SD

DB

DB

DB

DB

DB

6 - 5

6. TROUBLESHOOTING

6.2 Troubleshooting at power on

When an error occurs at the power supply of the controller or servo amplifier, improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take actions according to this section.

Display Description Cause Checkpoint Action

AA The power of the simple motion module was turned off.

The power of the simple motion module was turned off.

A CC-Link IE cable was disconnected.

Review the power of the simple motion module.

Turn on the power of the simple motion module.

Replace the CC-Link IE cable of the corresponding station.

Ab Initialization communication with the controller has not completed.

The setting of the station

No. is incorrect.

The station No. of the simple motion module is not matched.

A CC-Link IE cable was disconnected.

The power of the servo amplifier was turned on while the power of the simple motion module was off.

"AA" is displayed in the corresponding station and following stations.

Check if the connectors (CN10A,

CN10B) are unplugged.

Check that a device is not assigned to the same station No.

Check the settings and station

No. of the simple motion module.

"Ab" is displayed in the corresponding station and following stations.

Review the power of the simple motion module.

Connect it correctly.

Set it correctly.

Set it correctly.

Replace the CC-Link IE cable of the corresponding station.

Turn on the power of the simple motion module.

Ab. The initialization of the servo amplifier has not completed. malfunctioning.

The servo amplifier is malfunctioning.

The simple motion module is malfunctioning.

A CC-Link IE cable was disconnected.

The power of the servo amplifier was turned on while the power of the simple motion module was off.

"Ab" is displayed in the corresponding station and following stations.

"Ab" is displayed in the corresponding station and following stations.

Replace the simple motion module and check the repeatability.

"Ab." is displayed in the corresponding station and following stations.

Review the power of the simple motion module.

Replace the MR-J3-T10.

Replace the servo amplifier.

Replace the simple motion module.

Replace the CC-Link IE cable of the corresponding station.

Turn on the power of the simple motion module. malfunctioning.

The servo amplifier is malfunctioning.

The simple motion module is malfunctioning. does not match.

"Ab." is displayed in the corresponding station and following stations.

"Ab." is displayed in the corresponding station and following stations.

Replace the simple motion module and check the repeatability.

Check the communication cycle on the simple motion module side.

Number of using stations is 8 or less: 0.888 ms

Number of using stations is 16 or less: 1.777 ms

Replace the MR-J3-T10.

Replace the servo amplifier.

Replace the simple motion module.

Set it correctly.

6 - 6

6. TROUBLESHOOTING

Display Description Cause

MR-J3-T10 is malfunctioning. communications by specified cycle could not be made.

The servo amplifier is malfunctioning. b##.

C##. d##.

(Note)

The system has been in the test operation mode. off Operation mode for manufacturer setting is set.

The simple motion module is malfunctioning.

Test operation mode has been enabled.

"AC" is displayed in the corresponding station and following stations.

Replace the simple motion module and check the repeatability.

Test operation setting switch

(SW2-1) is turned on.

Operation mode for manufacturer setting is enabled.

Checkpoint

"AC" is displayed in the corresponding station and following stations.

Check that the test operation select switch (SW2-1) and manufacturer setting switch

(SW2-2) are not on.

Note. ## indicates axis No.

Action

Replace the MR-J3-T10.

Replace the servo amplifier.

Replace the simple motion module.

Turn off the test operation setting switch (SW2-1).

Set the auxiliary station number setting switches (SW2) correctly.

6 - 7

6. TROUBLESHOOTING

MEMO

6 - 8

7. DIMENSIONS

7. DIMENSIONS

The following item is the same as MR-J4-_B_ servo amplifiers. For details of the items, refer to each chapter/section of the detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual".

Connector MR-J4-_B_ section 9.2

7 - 1

7. DIMENSIONS

7.1 Servo amplifier

7.1.1 200 V class

(1) MR-J4-10B-RJ010/MR-J4-20B-RJ010

φ6 mounting hole

Lock knob

CNP1

6

40

60

CNP2

CNP3

Approx. 80 135

[Unit: mm]

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

Terminal

PE

Approx. 38.5

6

MR-BAT6V1SET is mounted

Approx. 69.3

4

Mass: 0.8 [kg] (servo amplifier only)

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

7 - 2

7. DIMENSIONS

(2) MR-J4-40B-RJ010/MR-J4-60B-RJ010

φ6 mounting hole

Lock knob

6

40

60

CNP1

CNP2

CNP3

Approx. 80 170

[Unit: mm]

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

Terminal

PE

Approx. 38.5

6

MR-BAT6V1SET is mounted

Approx. 69.3

5

Mass: 1.0 [kg] (servo amplifier only)

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

7 - 3

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

7. DIMENSIONS

(3) MR-J4-70B-RJ010/MR-J4-100B-RJ010

[Unit: mm]

φ6 mounting hole

Lock knob

12

60

80

CNP1

CNP2

CNP3

Approx. 80 185

Exhaust

Terminal

PE

6

Approx. 38.5

12 42

MR-BAT6V1SET is mounted

Approx. 69.3

Cooling fan intake

6

Mass: 1.4 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 60

Screw size: M4

Tightening torque: 1.2 [N•m]

3-M5 screw

Approx. 12 42 0.3

Approx. 6

Mounting hole process drawing

7 - 4

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

7. DIMENSIONS

(4) MR-J4-200B-RJ010

[Unit: mm]

φ6 mounting hole

Lock knob

CNP1

45

110

90

85

CNP2

CNP3

Terminal

Approx. 80 195

Exhaust

PE

6

6 78

Approx. 38.5

6

MR-BAT6V1SET is mounted

Approx. 69.3

Cooling fan intake

6

Mass: 2.1 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 90

Screw size: M4

Tightening torque: 1.2 [N•m]

3-M5 screw

Approx. 6 78 0.3

Approx. 6

Mounting hole process drawing

7 - 5

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

7. DIMENSIONS

(5) MR-J4-350B-RJ010

[Unit: mm]

Mounting hole

Lock knob

CNP1

45

110

90

85

CNP3

CNP2

Terminal

Approx. 80

195

Exhaust

PE

6

6 78

Approx. 38.5

6

MR-BAT6V1SET is mounted

Approx. 69.3

Cooling fan intake

6

Mass: 2.3 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 90

(R)

6

Screw size: M4

Tightening torque: 1.2 [N•m]

φ13 hole

Mounting hole dimensions

3-M5 screw

Approx. 6 78 0.3

Approx. 6

Mounting hole process drawing

7 - 6

7. DIMENSIONS

(6) MR-J4-500B-RJ010

[Unit: mm]

2-

Approx. 25

φ6 mounting hole

6

115

105

93 6

Approx. 80

Approx. 28

200

Cooling fan exhaust

6

6

MR-BAT6V1SET is mounted

Air intake

TE2

TE1

TE3

TE4

PE

TE2

L11

L21

TE1

TE3

P3

P4

P+

C

TE4

L1

L2

L3

N-

D

U

V

W

PE

Terminal

TE2 Screw size: M3.5

Tightening torque: 0.8 [N•m]

TE1 Screw size: M4

Tightening torque: 1.2 [N•m]

TE3 Screw size: M4

Tightening torque: 1.2 [N•m]

TE4 Screw size: M4

Tightening torque: 1.2 [N•m]

PE Screw size: M4

Tightening torque: 1.2 [N•m]

Approx. 6

Mass: 4.0 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 105

93 0.5

Approx. 6

4-M5 screw

Mounting hole process drawing

7 - 7

7. DIMENSIONS

(7) MR-J4-700B-RJ010

[Unit: mm]

2φ6 mounting hole

6

182

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

Tightening torque: 1.2[N•m]

TE1 Screw size: M4

Tightening torque: 1.2[N•m]

TE2 Screw size: M3.5

Tightening torque: 0.8[N•m]

PE Screw size: M4

Tightening torque: 1.2[N•m]

MR-BAT6V1SET is mounted

Air intake

TE3

TE1

PE

TE2

Built-in regenerative resistor lead terminal fixing screw

Screw size: M4

Tightening torque: 1.2 [N•m]

Approx. 6

Mass: 6.2 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 172

160 0.5

Approx. 6

4-M5 screw

Mounting hole process drawing

7 - 8

7. DIMENSIONS

(8) MR-J4-11KB-RJ010/MR-J4-15KB-RJ010

[Unit: mm]

2φ6 mounting hole

12

220

196 12

Approx. 80 260

Approx. 28 10.5

Cooling fan exhaust

6

With

MR-BAT6V1SET

24.2

TE2

11

188 Intake

224.2

237.4

25.5

57.9

5 × 25.5 (= 127.5)

PE

TE1-1

TE1-2

Terminal

TE1-1 L1 L2 L3 U V W

TE1-2 P3 P4 P+ C NTE2

L11 L21

PE

TE1-1 Screw size: M6

Tightening torque: 3.0 [N•m]

TE1-2 Screw size: M6

Tightening torque: 3.0 [N•m]

TE2

PE

Screw size: M4

Tightening torque: 1.2 [N•m]

Screw size: M6

Tightening torque: 3.0 [N•m]

Approx. 12

Mass: 13.4 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 220

196 0.5

Approx. 12

4-M5 screw

Mounting hole process drawing

7 - 9

7. DIMENSIONS

(9) MR-J4-22KB-RJ010

[Unit: mm]

12

2φ6 mounting hole

260

236 12 Approx. 80 260

Approx. 28

Cooling fan exhaust

C

12

With

MR-BAT6V1SET

188.5

Intake

223.4

235.4

TE2

32.7

11

25.5

59.9

5 × 25.5 (= 127.5)

TE1-1

TE1-2

PE

Terminal

TE1-1 L1 L2 L3 U V W

TE1-2 P3 P4 P+ C N-

PE TE2

L11 L21

TE1-1 Screw size: M8

Tightening torque: 6.0 [N•m]

TE1-2 Screw size: M8

Tightening torque: 6.0 [N•m]

TE2

PE

Screw size: M4

Tightening torque: 1.2 [N•m]

Screw size: M8

Tightening torque: 6.0 [N•m]

7 - 10

Approx. 12

Mass: 18.2 [kg] (servo amplifier only)

Mounting screw

Screw size: M10

Tightening torque: 3.24 [N•m]

Approx. 260

236 ± 0.5

Approx. 12

4-M10 screw

12 Mounting hole process drawing

L11

L21

CNP3

U

V

W

PE

CNP1

N-

L1

L2

L3

P3

P4

CNP2

P+

C

D

7. DIMENSIONS

7.1.2 400 V class

(1) MR-J4-60B4-RJ010/MR-J4-100B4-RJ010

[Unit: mm]

φ6 mounting hole

Lock knob

CNP1

12

80

60

CNP2

CNP3

Approx. 80

PE

6

12 42

Approx. 38.5

With MR-BAT6V1SET

Approx.

69.3

195

Terminal

6

Mass: 1.7 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 60

Screw size: M4

Tightening torque: 1.2 [N•m]

3-M5 screw

Approx. 12

42 ± 0.3

Approx. 6

Mounting hole process drawing

7 - 11

7. DIMENSIONS

(2) MR-J4-200B4-RJ010

L11

L21

CNP3

U

V

W

PE

CNP1

N-

L1

L2

L3

P3

P4

CNP2

P+

C

D

[Unit: mm]

φ6 mounting hole

Lock knob

CNP1

45

105

85

CNP2

CNP3

Approx. 80 195

Exhaust

Terminal

PE

6

Approx. 38.5

6 78 6

With MR-BAT6V1SET

Approx.

69.3

Cooling fan intake ox. 6

6

Mass: 2.1 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 90

Screw size: M4

Tightening torque: 1.2 [N•m]

3-M5 screw ox. 6

Approx. 6 78 ± 0.3

Approx. 6

Mounting hole process drawing

7 - 12

7. DIMENSIONS

(3) MR-J4-350B4-RJ010

[Unit: mm]

2φ6 mounting hole

Approx. 28

Approx. 200

CNP1

CNP2

CNP3

6

115

105

93 6

Approx. 80

Approx.

28

94.2

200

Cooling fan exhaust

6

Lock knob

6 PE

With MR-BAT6V1SET

Intake

L11

L21

CNP3

U

V

W

PE

CNP1

N-

L1

L2

L3

P3

P4

CNP2

P+

C

D

Terminal

Screw size: M4

Tightening torque: 1.2 [N•m]

7 - 13

Approx. 6

Mass: 3.6 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 105

93 ± 0.5

Approx. 6

4-M5 screw

Mounting hole process drawing

7. DIMENSIONS

(4) MR-J4-500B4-RJ010

[Unit: mm]

2φ6 mounting hole

Approx. 200

Approx. 28

6

140

130

118 6 Approx. 80 200

Approx. 28

Cooling fan exhaust

6 pprox. 73.5

TE2

L11 L21

TE3

Terminal

N- P3 P4

TE1 L1 L2 L3 P+ C U V W

PE

6

With

MR-BAT6V1SET

TE2 Terminal screw: M3.5

Tightening torque: 0.8 [N•m]

TE3 Terminal screw: M4

Tightening torque: 1.2 [N•m]

TE1 Terminal screw: M4

Tightening torque: 1.2 [N•m]

PE Screw size: M4

Tightening torque: 1.2 [N•m]

TE3

Intake

TE2

TE1

PE

Built-in regenerative resistor lead terminal fixing screw

Screw size: M4

Tightening torque: 1.2 [N•m]

Approx. 6

Mass: 4.3 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 130

118 ± 0.5

Approx. 6

4-M5 screw

Mounting hole process drawing

7 - 14

7. DIMENSIONS

(5) MR-J4-700B4-RJ010

[Unit: mm]

2φ6 mounting hole

Approx. 200 Approx. 28

6

182

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

Tightening torque: 1.2 [N•m]

TE1 Screw size: M4

Tightening torque: 1.2 [N•m]

TE2 Screw size: M3.5

Tightening torque: 0.8 [N•m]

PE Screw size: M4

Tightening torque: 1.2 [N•m]

With

MR-BAT6V1SET pprox. 101

TE3

Intake

TE1

PE

TE2

Built-in regenerative resistor lead terminal fixing screw

Screw size: M4

Tightening torque: 1.2 [N•m]

Approx. 6

Mass: 6.5 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 172

160 0.5

Approx. 6

4-M5 screw

Mounting hole process drawing

7 - 15

7. DIMENSIONS

(6) MR-J4-11KB4-RJ010/MR-J4-15KB4-RJ010

[Unit: mm]

2φ6 mounting hole

12

220

196 12

Approx. 80 260

Approx. 28 10.5

Cooling fan exhaust

6

With

MR-BAT6V1SET

24.2

TE2

11

188 Intake

224.2

237.4

25.5

57.9

5 × 25.5 (= 127.5)

PE

TE1-1

TE1-2

Terminal

TE1-1 L1 L2 L3 U V W

TE1-2 P3 P4 P+ C NTE2

L11 L21

PE

TE1-1 Screw size: M6

Tightening torque: 3.0 [N•m]

TE1-2 Screw size: M6

Tightening torque: 3.0 [N•m]

TE2

PE

Screw size: M4

Tightening torque: 1.2 [N•m]

Screw size: M6

Tightening torque: 3.0 [N•m]

Approx. 12

Mass: 13.4 [kg] (servo amplifier only)

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N•m]

Approx. 220

196 0.5

Approx. 12

4-M5 screw

Mounting hole process drawing

7 - 16

7. DIMENSIONS

(7) MR-J4-22KB4-RJ010

[Unit: mm]

12

2φ6 mounting hole

260

236 12 Approx. 80 260

Approx. 28

Cooling fan exhaust

C

12

With

MR-BAT6V1SET

188.5

Intake

223.4

235.4

TE2

32.7

11

25.5

59.9

5 × 25.5 (= 127.5)

TE1-1

TE1-2

PE

Terminal

TE1-1 L1 L2 L3 U V W

TE1-2 P3 P4 P+ C N-

PE TE2

L11 L21

TE1-1 Screw size: M8

Tightening torque: 6.0 [N•m]

TE1-2 Screw size: M8

Tightening torque: 6.0 [N•m]

TE2

PE

Screw size: M4

Tightening torque: 1.2 [N•m]

Screw size: M8

Tightening torque: 6.0 [N•m]

7 - 17

Approx. 12

Mass: 18.2 [kg] (servo amplifier only)

Mounting screw

Screw size: M10

Tightening torque: 3.24 [N•m]

Approx. 260

236 ± 0.5

Approx. 12

4-M10 screw

12 Mounting hole process drawing

7. DIMENSIONS

7.2 MR-J3-T10 CC-Link IE Field Network interface unit

28

20

MR-J3-T10

103

98

94

[Unit: mm]

5 × 6 mounting hole for grounding

Rating plate

Mass: 0.15 [kg]

7 - 18

8. OPTIONS AND PERIPHERAL EQUIPMENT

8. 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 peripheral equipment and options to prevent a malfunction or a fire.

The following item is the same as MR-J4-_B_ servo amplifiers. For details of the items, refer to each chapter/section of the detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual".

Regenerative option

FR-BU2-(H) brake unit

MR-J4-_B_ section 11.2

MR-J4-_B_ section 11.3

FR-RC-(H) power regeneration converter MR-J4-_B_ section 11.4

FR-CV-(H) power regeneration common converter MR-J4-_B_ section 11.5

MR-J4-_B_ section 11.6 Junction terminal block PS7DW-20V14B-F

(recommended)

MR Configurator2 (Note) MR-J4-_B_ section 11.7

MR-J4-_B_ section 11.8

MR-J4-_B_ section 11.9

MR-J4-_B_ section 11.10

Battery

Selection example of wires

Molded-case circuit breakers, fuses, magnetic contactors (recommended)

Power factor improving DC reactor

Power factor improving AC reactor

Relay (recommended)

Noise reduction techniques

Earth-leakage current breaker

EMC filter (recommended)

External dynamic brake

Heat sink outside mounting attachment

(MR-J4ACN15K/MR-J3ACN)

MR-J4-_B_ section 11.11

MR-J4-_B_ section 11.12

MR-J4-_B_ section 11.13

MR-J4-_B_ section 11.14

MR-J4-_B_ section 11.15

MR-J4-_B_ section 11.16

MR-J4-_B_ section 11.17

MR-J4-_B_ section 11.18

Note. Use MR Configurator2 of software version 1.19V or later for the MR-J4-_B_-RJ010 servo amplifier.

8 - 1

8. OPTIONS AND PERIPHERAL EQUIPMENT

8.1 Combinations of cable/connector sets

POINT

The CN1A and CN1B connectors are not used. Always put caps came with the servo amplifier.

For connecting each servo motor, refer to "Servo Motor Instruction Manual (Vol.

3)".

When not using the STO function, attach the short-circuit connector came with the servo amplifier to CN8.

Please purchase the cable and connector options indicated in this section.

(Note 2)

6)

Safety logic unit

MR-J3-D05

CN9

5) 5)

Personal computer

CN10

2)

MR-J4-_B_-RJ010 servo amplifier 4)

MR-J4-_B_-RJ010 servo amplifier

1) (packed with the servo amplifier)

(Note 1)

CNP1

CN5

CN3 3)

CN5

CN3

CC-Link IE

Field Network controller

CNP2

CNP3

CN8

CN1A

CN10A

CN1B

CN10B

CN2

CN2L

CN4

MR-J3-T10

CN8

CN1A

CN10A

CN1B

CN10B

CN2

CN2L

CN4

MR-J3-T10

CC-Link IE

Field Network

7)

Battery

7)

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 the short-circuit connector ( 7)) came with a servo amplifier.

8 - 2

8. OPTIONS AND PERIPHERAL EQUIPMENT

Model Description power connector set

For CNP2

Connector:

06JFAT-SAXGDK-H7.5

Connector:

05JFAT-SAXGDK-H5.0

(JST) (JST)

Applicable wire size: 0.8 mm 2 to 2.1 mm 2

(AWG 18 to 14)

Insulator OD: to 3.9 mm

For CNP3

Connector:

03JFAT-SAXGDK-H7.5

(JST)

Open tool

J-FAT-OT

(JST)

Application

Supplied with servo amplifiers of 1 kW or less in 200

V class

Supplied with servo amplifiers of 2 kW and 3.5 kW in 200 V class Connector:

06JFAT-SAXGFK-XL

(JST)

(For CNP1 and CNP3)

Applicable wire size:

1.25 mm 2 to 5.5 mm 2

(AWG 16 to 10)

Insulator OD: to 4.7 mm

For CNP2

Connector:

05JFAT-SAXGDK-H5.0

(JST)

(For CNP2)

Applicable wire size:

0.8 mm 2 to 2.1 mm 2

(AWG 18 to 14)

Insulator OD: to 3.9 mm

For CNP3

Connector:

03JFAT-SAXGFK-XL

(JST)

Open tool

Quantity: 1

Model: J-FAT-OT-EXL

(JST)

Supplied with servo amplifiers of 3.5 kW or less in

400 V class

Cable length: 3 m

CNP1 connector:

06JFAT-SAXGDK-

HT10.5

CNP2 connector:

05JFAT-SAXGDK-

HT7.5

(JST) (JST)

Applicable wire size: 1.25 mm 2 to 2.1 mm 2

(AWG 16 to 14)

Insulator OD: to 3.9 mm mini-B connector (5 pins)

CNP3 connector:

03JFAT-SAXGDK-

HT10.5

(JST)

Open tool

J-FAT-OT-XL

(JST)

Personal computer connector

A connector

For connection with PC-AT compatible personal computer block

(recommended)

MR-J2HBUS_M

Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

PS7DW-20V14B-F

(Yoshida Electric industry)

Junction terminal block PS7DW-20V14B-F is not option. For using the junction terminal block, option MR-J2HBUS_M is necessary. For details, refer to section 11.6 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction

Manual".

8 - 3

8. OPTIONS AND PERIPHERAL EQUIPMENT

5) STO cable

6) Short-circuit connector

7) Shielded twisted pair cable (Refer to section 8.2.)

Model Description Application

MR-D05UDL3M-B

(Refer to "MR-J4-

_B(-RJ) Servo

Amplifier

Instruction Manual" section 11.1.2.)

Connector set: 2069250-1

(TE Connectivity)

Connection cable for the CN8 connector

Supplied with servo amplifier

Shielded twisted pair cable (Category 5e)

The shielded twisted pair cable is not an option.

For CC-

Link IE

Field

Network

8.2 Cable for CC-Link IE Field Network

For the wiring of CC-Link IE Field Network, use the following wiring tools recommended by the CC-Link

Partner Association. The CC-Link IE controller network cable cannot be used for the CC-Link IE Field

Network.

Item Description

Cable type

Standard

Connector

Shielded twisted pair cable (Category 5e)

One of the following standards must be met.

IEEE802.3 1000BASE-T

ANSI/TIA/EIA-568-B (Category 5e)

Category 5e or more RJ-45 plug

A product example on the market is as follows. For the latest product information, contact the manufacturer.

Model Manufacturer Contact

SC-E5EW(-L)

(Note)

Mitsubishi Electric System & Service

Co., Ltd. email: [email protected]

Note. The SC-E5EW cable is for in-enclosure and indoor uses. The SC-E5EW-L cable is for outdoor use.

8 - 4

APPENDIX

The following item is the same as MR-J4-_B_ servo amplifiers. For details of the items, refer to each chapter/section of the detailed description field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier

Instruction Manual".

Handling of AC servo amplifier batteries for the

United Nations Recommendations on the

Transport of Dangerous Goods

Symbol for the new EU Battery Directive

Compliance with global standards

MR-J3-D05 Safety logic unit

EC declaration of conformity

MR-J4-_B_ app. 2

MR-J4-_B_ app. 3

MR-J4-_B_ app. 4

MR-J4-_B_ app. 5

MR-J4-_B_ app. 6

App. 1 Peripheral equipment manufacturer (for reference)

Names given in the table are as of December 2013.

JST JST

3M 3M

TE Connectivity

Mitsubishi Cable Industries

TE Connectivity

Mitsubishi Cable Industries, LTD

App. 2 Analog monitor

POINT

A voltage of analog monitor output may be irregular at power-on.

The servo status can be output to two channels in terms of voltage.

(1) Setting

Change the following digits of [Pr. PC09] and [Pr. PC10].

[Pr. PC09]

0 0

Analog monitor 1 output selection

(the signal provided to the output across MO1 and LG)

[Pr. PC10]

0 0

Analog monitor 2 output selection

(the signal provided to the output across MO2 and LG)

[Pr. PC11] and [Pr. PC12] can be used to set the offset voltages to the analog output voltages. Setting value is -999 mV to 999 mV.

Parameter

PC11

PC12

Description

This is used to set the offset voltage of MO1 (Analog monitor

1).

This is used to set the offset voltage of MO2 (Analog monitor

2).

Setting range [mV]

-999 to 999

App. - 1

APPENDIX

(2) Setting

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 by setting in [Pr. PC09] and [Pr. PC10] as follows.

Refer to (3) for the detection point.

Setting value

Output item Description

Setting value

Output item Description

00 Servo motor speed 01 Torque

CCW direction

Power running in

CCW direction

8 [V] 8 [V]

Maximum speed

0

Maximum speed

Maximum torque

0

Maximum torque

-8 [V]

CW direction

02 Servo motor speed

CW direction

8 [V]

CCW direction

Maximum speed 0 Maximum speed

8 [V]

CCW direction

06 Servo motor-side droop pulses (Note 1, 3, 4)

(±10 V/100 pulses)

Maximum current command

(Maximum torque command)

0

Maximum current command

(Maximum torque command)

-8 [V]

CW direction

CCW direction

10 [V]

100 [pulse]

0

100 [pulse]

03 Torque

Power running in

CW direction

Power running in

CW direction

8 [V]

Power running in

CCW direction

Maximum torque

8 [V]

0 Maximum torque

CCW direction

Maximum speed

-8 [V]

0

Maximum speed

CW direction

07 Servo motor-side droop pulses (Note 1, 3, 4)

(±10 V/1000 pulses)

10 [V]

1000 [pulse]

-8 [V]

CCW direction

0

1000 [pulse]

CW direction

08 Servo motor-side droop pulses (Note 1, 3, 4)

(±10 V/10000 pulses)

10 [V]

10000 [pulse]

-10 [V]

CCW direction

0

10000 [pulse]

CW direction

09 Servo motor-side droop pulses (Note 1, 3, 4)

(±10 V/100000 pulses)

10 [V]

100000 [pulse]

-10 [V]

CCW direction

0

100000 [pulse]

0A Feedback position

(Note 1, 2, 3)

(±10 V/1 Mpulses)

CW direction

10 [V]

-10 [V]

CCW direction

1 [Mpulse]

0

1 [Mpulse]

0B Feedback position

(Note 1, 2, 3)

(±10 V/10 Mpulses)

-10 [V]

CW direction

CW direction

10 [V]

-10 [V]

CCW direction

10 [Mpulse]

0

10 [Mpulse]

-10 [V]

CW direction

App. - 2

APPENDIX

Setting value

Output item

0C Feedback position

(Note 1, 2, 3)

(±10 V/100 Mpulses)

0E Speed command 2

Description

10 [V]

CCW direction

Setting value

Output item

0D Bus voltage

(Note 5)

100 [Mpulse]

0

100 [Mpulse]

CW direction

8 [V]

-10 [V]

CCW direction temperature (±10

V/±128 °C)

Maximum speed

0

Maximum speed

-8 [V]

CW direction

Note 1. Encoder pulse unit

2. Available in position control mode

3. This cannot be used in the torque control mode.

4. This cannot be used in the speed control mode.

5. For 400 V class servo amplifier, the bus voltage becomes +8 V/800 V.

(3) Analog monitor block diagram

Description

8 [V]

0

400 [V]

-128 [°C]

10 [V]

0

-10 [V]

128 [°C]

Position command received from a controller

Speed command

Differentiation

Position feedback data returned to a controller

Feedback position standard position(Note)

+

-

+

-

Droop pulses

Speed command 2

Position control

Speed command +

-

Differentiation

Speed control

Current command

+

-

Current control

+

PWM

Bus voltage

Current encoder

M Servo motor

Current feedback

Encoder

Encoder inside temperature

Position feedback

Servo motor speed

Torque

Feedback position

Note. The feedback position is output based on the position data passed between controller and servo amplifier. [Pr. PC13] and [Pr.

PC14] can set up the standard position of feedback position that is output to analog monitor in order to adjust the output range of feedback position. The setting range is between -9999 pulses and 9999 pulses.

Standard position of feedback position = [Pr. PC14] setting value × 10000 + [Pr. PC13] setting value

Parameter Description Setting

PC13

PC14

Sets the lower-order four digits of the standard position of feedback position

Sets the higher-order four digits of the standard position of feedback position

-9999 to 9999 [pulse]

-9999 to 9999 [10000 pulses]

App. - 3

APPENDIX

App. 3 Special specification

App. 3.1 Amplifiers without dynamic brake

App. 3.1.1 Summary

This section explains servo amplifiers without a dynamic brake. The things not explained in this section will be the same as MR-J4-_B_-RJ010.

App. 3.1.2 Model

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

Series

Special specifications

Symbol

RU010

Special specifications

MR-J4-_B_-RJ010 without a dynamic brake

Power supply

Symbol Power supply

None 3-phase 200 V AC to 240 V AC

4 3-phase 380 V AC to 480 V AC

100

200

350

500

700

20

40

60

70

Rated output

Symbol Rated output [kW]

10 0.1

0.2

0.4

0.6

0.75

1

2

3.5

5

7

App. 3.1.3 Specifications

Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed.

Take safety measures such as making another circuit for an emergency stop, alarm occurrence, and power shut-off.

The following servo motors may function an electronic dynamic brake at an alarm occurrence.

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-_B_-RU010 [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. - 4

APPENDIX

App. 3.2 Without regenerative resistor

App. 3.2.1 Summary

This section explains servo amplifiers without a regenerative resistor. The things not explained in this section will be the same as MR-J4-_B_-RJ010.

App. 3.2.2 Model

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

Series

Special specifications

Symbol

RZ010

Special specifications

MR-J4-_B_-RJ010 without regenerative resistor

Power supply

Symbol Power supply

None 3-phase 200 V AC to 240 V AC

4 3-phase 380 V AC to 480 V AC

Rated output

Symbol Rated output [kW]

11k

15k

22k

11

15

22

App. 3.2.3 Specifications

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. - 5

REVISIONS

*The manual number is given on the bottom left of the back cover.

Print Data *Manual Number

Feb. 2013

Dec. 2013

SH(NA)030117-A First edition

SH(NA)030117-B

Revision

200 V class 11 kW to 22 kW are added.

400 V class 600 W to 22 kW are added.

Speed control mode and torque control mode are added.

4. Additional instructions (2)

Wiring

Section 1.2 (1) (c)

Section 1.2 (2)

Section 1.3.1

Section 1.4

Section 1.5

Section 1.6 (1)

Section 1.6 (2)

Section 1.7.1 (1) (a)

Section 1.7.1 (1) (e), (f)

Section 1.7.1 (2)

Section 1.8 (1)

Section 1.8 (2) (a)

Section 1.8 (3)

Section 1.9.1 (5), (6)

Section 1.9.2

Chapter 2

Section 2.1

Section 2.1 (1) (a)

Section 2.1 (1) (b)

Section 4.1.2 (1) (c)

Section 5.1.3

Section 5.1.4

Section 5.1.6

Section 5.2.1

Section 5.2.2

Section 5.2.3

Section 5.2.4

Chapter 6

Section 6.1

Section 7.1.1 (8), (9)

Section 7.1.2

Section 8.1

App. 3

The sentences are added.

Added.

Added.

Table is added and partly changed.

Table is added and partly changed.

The part of table is changed.

The sentences are added.

The sentences are added and a part of diagram is changed.

The part of table is changed.

Added.

Added.

POINT is added.

The sentences of 3) are changed.

Added.

Added.

Added.

The sentences of Note are changed.

The sentences of Note are deleted.

Note 1 is added.

Note 1 is added.

Changed.

PC29 is added.

PD12 is added.

The name of PF25 is changed.

PA03 and PA20 are changed.

PB24 is changed.

PC06 and PC09 are changed. PC29 is added.

PD07 is changed. PD12 is added.

The sentences are added to POINT.

The name of F0.1 is changed.

Added.

Added.

The sentences of POINT are deleted and a part of diagram is changed.

Added.

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.

© 2013 MITSUBISHI ELECTRIC CORPORATION

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Russia

South Africa

China

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Korea

Singapore

Thailand

Indonesia

India

Australia

UK

Country/Region Sales

USA MITSUBISHI ELECTRIC AUTOMATION, INC.

Brasil

500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.

MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS

LTDA.

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Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP

06465-070, Barueri - SP, Brasil

MITSUBISHI ELECTRIC EUROPE B.V. German Branch

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MITSUBISHI ELECTRIC EUROPE B.V. UK Branch

Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K.

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France

Czech Republic

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(Barcelona), Spain

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307 Alexandra Road, Mitsubishi Electric Building, Singapore 159943

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CO., LTD.

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Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel

Fax

Tel/Fax

Tel : +1-847-478-2100

Fax

Tel

Fax

: +1-847-478-2253

: +55-11-4689-3000

: +55-11-4689-3016

: +49-2102-486-0

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: +91-20-2710-2000

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: +61-2-9684-7777

: +61-2-9684-7245

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]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[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 responsibility for compensation against loss of opportunity, secondary loss, etc.

Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you.

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 General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

(2) Our General-Purpose 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)030117-B

MODEL

MR-J4-B-RJ010 MR-J3-T10

INSTRUCTION

MODEL

CODE

1CW810

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH (NA) 030117-B (1312) MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications are subject to change without notice.

General-Purpose AC Servo

CC-Link IE Field Network interface with Motion

MODEL (Servo amplifier)

MR-J4-_B-RJ010

MR-J4-_B4-RJ010

MODEL (CC-Link IE Field Network interface unit)

MR-J3-T10

SERVO AMPLIFIER

INSTRUCTION MANUAL

B

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