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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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LTDA.
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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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Table of contents
- 2 Safety Instructions
- 7 DISPOSAL OF WASTE
- 7 STO function of the servo amplifier
- 7 Compliance with global standards
- 8 About the manual
- 8 Cables used for wiring
- 8 U.S. customary units
- 10 CONTENTS
- 12 1. FUNCTIONS AND CONFIGURATION
- 12 1.1 Summary
- 13 1.2 Function block diagram
- 19 1.3 Standard specifications
- 19 1.3.1 Servo amplifier
- 21 1.3.2 MR-J3-T10 Field Network interface unit
- 21 1.4 Combinations of servo amplifiers and servo motors
- 23 1.5 Function list
- 24 1.6 Model designation
- 26 1.7 Structure
- 26 1.7.1 Parts identification
- 38 1.7.2 Parts identification of MR-J3-T10
- 39 1.8 Installation and removal of MR-J3-T10
- 43 1.9 Configuration including peripheral equipment
- 43 1.9.1 200 V class
- 49 1.9.2 400 V class
- 56 2. INSTALLATION
- 57 2.1 Installation direction and clearances
- 59 2.2 Keep out foreign materials
- 60 3. SIGNALS AND WIRING
- 62 3.1 I/O signal connection example
- 62 3.1.1 For sink I/O interface
- 64 3.1.2 For source I/O interface
- 65 3.2 Servo motor with an electromagnetic brake
- 65 3.2.1 Safety precautions
- 66 3.2.2 Timing chart
- 78 4. STARTUP
- 79 4.1 Switching power on for the first time
- 79 4.1.1 Startup procedure
- 80 4.1.2 Wiring check
- 83 4.1.3 Surrounding environment
- 83 4.2 Switch setting and display of the servo amplifier
- 83 4.2.1 Switches
- 86 4.2.2 Scrolling display
- 87 4.2.3 Status display of a station
- 89 4.3 Display of MR-J3-T10 CC-Link IE Field Network interface unit
- 90 5. PARAMETERS
- 90 5.1 Parameter list
- 91 5.1.1 Basic setting parameters ([Pr. PA_ _ ])
- 92 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])
- 93 5.1.3 Extension setting parameters ([Pr. PC_ _ ])
- 94 5.1.4 I/O setting parameters ([Pr. PD_ _ ])
- 95 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])
- 96 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])
- 97 5.1.7 Option setting parameters ([Pr. Po_ _)
- 99 5.2 Detailed list of parameters
- 99 5.2.1 Basic setting parameters ([Pr. PA_ _ ])
- 106 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])
- 115 5.2.3 Extension setting parameters ([Pr. PC_ _ ])
- 120 5.2.4 I/O setting parameters ([Pr. PD_ _ ])
- 122 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])
- 123 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])
- 125 5.2.7 Option setting parameters ([Pr. Po_ _)
- 126 6. TROUBLESHOOTING
- 126 6.1 Alarm and warning list
- 131 6.2 Troubleshooting at power on
- 134 7. DIMENSIONS
- 135 7.1 Servo amplifier
- 135 7.1.1 200 V class
- 144 7.1.2 400 V class
- 151 7.2 MR-J3-T10 CC-Link IE Field Network interface unit
- 152 8. OPTIONS AND PERIPHERAL EQUIPMENT
- 153 8.1 Combinations of cable/connector sets
- 155 8.2 Cable for CC-Link IE Field Network
- 156 APPENDIX
- 156 App. 1 Peripheral equipment manufacturer (for reference)
- 156 App. 2 Analog monitor
- 159 App. 3 Special specification
- 161 REVISIONS
- 162 Country/Region
- 163 Warranty