mr-j4w2-_b/mr-j4w3-_b/mr-j4w2-0303b6 servo amplifier instruction

mr-j4w2-_b/mr-j4w3-_b/mr-j4w2-0303b6 servo amplifier instruction
General-Purpose AC Servo
MODEL
CODE
1CW806
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SH(NA)030105ENG-L(1703)MEE
Printed in Japan
This Instruction Manual uses recycled paper.
Specifications are subject to change without notice.
MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 SERVO AMPLIFIER INSTRUCTION MANUAL L
MODEL MR-J4W-B INSTRUCTIONMANUAL
SSCNET
/H Interface Multi-axis AC Servo
MODEL
MR-J4W2-_B
MR-J4W3-_B
MR-J4W2-0303B6
SERVO AMPLIFIER INSTRUCTION MANUAL
L
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
CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates what must not be done. For example, "No Fire" is indicated by
Indicates what must be done. For example, grounding is indicated by
.
.
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, keep it accessible to the operator.
A- 1
1. To prevent electric shock, note the following
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to smoke or a fire.
Always connect a magnetic contactor between the power supply and the main circuit power supply (L1/
L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side
of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large
current may cause smoke or a fire when the servo amplifier malfunctions.
Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power
supply and the main circuit power supply (L1/L2/L3) of the servo amplifier (including converter unit), in
order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power
supply. If a molded-case circuit breaker or fuse is not connected, continuous flow of a large current may
cause smoke or a fire when the servo amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative
transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
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 the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.
A- 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
When you keep or use the equipment, please fulfill the following environment.
Item
Operation
Storage
Operation
Ambient
humidity
Storage
Ambience
Altitude
Vibration resistance
Ambient
temperature
Environment
0 °C to 55 °C (non-freezing)
-20 °C to 65 °C (non-freezing)
5 %RH to 90 %RH (non-condensing)
Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
2000 m or less above sea level (Contact your local sales office for the altitude for options.)
5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads.
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in the metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our
products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
(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 option) on the servo amplifier
output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier
and servo motor.
A- 3
CAUTION
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier
U
U
V
V
Servo motor
Servo amplifier
V
V
M
W
W
U
U
Servo motor
M
W
W
The connection diagrams in this instruction manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
Servo amplifier
24 V DC
Servo amplifier
Control output
signal
24 V DC
DOCOM
DOCOM
Control output
signal
RA
RA
For source output interface
For sink 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 an encoder for different axis to the CN2A, CN2B, or CN2C connector may cause a
malfunction.
Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C connector may cause a
malfunction.
Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an
unexpected restart of the servo amplifier.
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
Never adjust or change the parameter values extremely as it will make operation unstable.
Do not close to moving parts at servo-on status.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Do not disassemble, repair, or modify the equipment.
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.
A- 4
CAUTION
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
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
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
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 which is interlocked with an external emergency stop switch.
Contacts must be opened when CALM (AND
malfunction) or MBR (Electromagnetic brake
interlock) turns off.
Contacts must be opened with
the emergency stop switch.
Servo motor
RA
B
24 V DC
Electromagnetic brake
When 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
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using a servo amplifier whose power has not been turned on for a long time, contact your local
sales office.
A- 5
(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 Specifications and
Instruction Manual.
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
The servo amplifier complies with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety
standard. Refer to app. 15 for schedule.
When using the STO function of the servo amplifier, refer to chapter 13.
For the MR-J3-D05 safety logic unit, refer to app. 5.
Compliance with global standards
For the compliance with global standards, refer to app. 4.
A- 6
«About the manuals»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
When using an MR-J4W2-0303B6, refer to chapter 18.
Relevant manuals
Manual name
MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)
MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1)
MELSERVO Linear Servo Motor Instruction Manual (Note 2)
MELSERVO Direct Drive Motor Instruction Manual (Note 3)
MELSERVO Linear Encoder Instruction Manual (Note 2, 4)
MELSERVO EMC Installation Guidelines
Note 1.
2.
3.
4.
Manual No.
SH(NA)030109ENG
SH(NA)030113ENG
SH(NA)030110ENG
SH(NA)030112ENG
SH(NA)030111ENG
IB(NA)67310ENG
It is necessary for using a rotary servo motor.
It is necessary for using a linear servo motor.
It is necessary for using a direct drive motor.
It is necessary for using a fully closed loop system.
«Wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.
«U.S. customary units»
U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity
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•m2)]
1 [N]
N [°C] × 9/5 + 32
A- 7
U.S. customary unit
2.2046 [lb]
0.03937 [inch]
141.6 [oz•inch]
5.4675 [oz•inch2]
0.2248 [lbf]
N [°F]
MEMO
A- 8
CONTENTS
1. FUNCTIONS AND CONFIGURATION
1- 1 to 1-14
1.1 Summary ........................................................................................................................................... 1- 1
1.2 Function block diagram..................................................................................................................... 1- 3
1.3 Servo amplifier standard specifications ............................................................................................ 1- 4
1.3.1 Integrated 2-axis servo amplifier ................................................................................................ 1- 4
1.3.2 Integrated 3-axis servo amplifier ................................................................................................ 1- 6
1.3.3 Combinations of servo amplifiers and servo motors .................................................................. 1- 8
1.4 Function list ...................................................................................................................................... 1-10
1.5 Model designation ............................................................................................................................ 1-12
1.6 Parts identification............................................................................................................................ 1-13
1.7 Configuration including auxiliary equipment .................................................................................... 1-14
2. INSTALLATION
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2- 1 to 2- 8
Installation direction and clearances ................................................................................................ 2- 1
Keep out foreign materials ................................................................................................................ 2- 3
Encoder cable stress ........................................................................................................................ 2- 3
SSCNET III cable laying ................................................................................................................... 2- 3
Inspection items ................................................................................................................................ 2- 5
Parts having service life .................................................................................................................... 2- 6
Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m
above sea level ................................................................................................................................. 2- 7
3. SIGNALS AND WIRING
3- 1 to 3-38
3.1 Input power supply circuit ................................................................................................................. 3- 2
3.2 I/O signal connection example.......................................................................................................... 3- 5
3.2.1 For sink I/O interface .................................................................................................................. 3- 5
3.2.2 For source I/O interface ............................................................................................................. 3- 7
3.3 Explanation of power supply system ................................................................................................ 3- 8
3.3.1 Signal explanations .................................................................................................................... 3- 8
3.3.2 Power-on sequence .................................................................................................................. 3-10
3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-11
3.4 Connectors and pin assignment ...................................................................................................... 3-13
3.5 Signal (device) explanations ............................................................................................................ 3-14
3.5.1 Input device ............................................................................................................................... 3-14
3.5.2 Output device ............................................................................................................................ 3-15
3.5.3 Output signal ............................................................................................................................. 3-18
3.5.4 Power supply ............................................................................................................................. 3-18
3.6 Forced stop deceleration function ................................................................................................... 3-19
3.6.1 Forced stop deceleration function ............................................................................................. 3-19
3.6.2 Base circuit shut-off delay time function ................................................................................... 3-21
3.6.3 Vertical axis freefall prevention function ................................................................................... 3-22
3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-22
3.7 Alarm occurrence timing chart ......................................................................................................... 3-23
3.7.1 When you use the forced stop deceleration function ................................................................ 3-23
3.7.2 When you do not use the forced stop deceleration function ..................................................... 3-25
3.8 Interfaces ......................................................................................................................................... 3-26
1
3.8.1 Internal connection diagram ...................................................................................................... 3-26
3.8.2 Detailed description of interfaces .............................................................................................. 3-27
3.8.3 Source I/O interfaces ................................................................................................................ 3-28
3.9 SSCNET III cable connection .......................................................................................................... 3-29
3.10 Servo motor with an electromagnetic brake .................................................................................. 3-31
3.10.1 Safety precautions .................................................................................................................. 3-31
3.10.2 Timing chart ............................................................................................................................ 3-33
3.11 Grounding ...................................................................................................................................... 3-38
4. STARTUP
4- 1 to 4-20
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- 4
4.2 Startup .............................................................................................................................................. 4- 4
4.3 Switch setting and display of the servo amplifier .............................................................................. 4- 6
4.3.1 Switches ..................................................................................................................................... 4- 6
4.3.2 Scrolling display ........................................................................................................................ 4-11
4.3.3 Status display of an axis ........................................................................................................... 4-12
4.4 Test operation .................................................................................................................................. 4-14
4.5 Test operation mode ........................................................................................................................ 4-14
4.5.1 Test operation mode in MR Configurator2 ................................................................................ 4-15
4.5.2 Motor-less operation in controller.............................................................................................. 4-17
5. PARAMETERS
5- 1 to 5-56
5.1 Parameter list .................................................................................................................................... 5- 2
5.1.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5- 3
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 4
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 5
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 7
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 5- 8
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-10
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-11
5.2 Detailed list of parameters ............................................................................................................... 5-13
5.2.1 Basic setting parameters ([Pr. PA_ _ ])..................................................................................... 5-13
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-23
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-36
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-43
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 5-47
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-49
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-52
6. NORMAL GAIN ADJUSTMENT
6- 1 to 6-28
6.1 Different adjustment methods ........................................................................................................... 6- 1
6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1
6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2
6.2 One-touch tuning .............................................................................................................................. 6- 3
6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 5
2
6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 7
6.2.3 Caution for one-touch tuning ..................................................................................................... 6-17
6.3 Auto tuning ....................................................................................................................................... 6-18
6.3.1 Auto tuning mode ...................................................................................................................... 6-18
6.3.2 Auto tuning mode basis............................................................................................................. 6-19
6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-20
6.3.4 Response level setting in auto tuning mode ............................................................................. 6-21
6.4 Manual mode ................................................................................................................................... 6-22
6.5 2 gain adjustment mode .................................................................................................................. 6-25
7. SPECIAL ADJUSTMENT FUNCTIONS
7- 1 to 7-32
7.1 Filter setting ...................................................................................................................................... 7- 1
7.1.1 Machine resonance suppression filter ....................................................................................... 7- 2
7.1.2 Adaptive filter II........................................................................................................................... 7- 5
7.1.3 Shaft resonance suppression filter............................................................................................. 7- 7
7.1.4 Low-pass filter ............................................................................................................................ 7- 8
7.1.5 Advanced vibration suppression control II ................................................................................. 7- 8
7.1.6 Command notch filter ................................................................................................................ 7-13
7.2 Gain switching function .................................................................................................................... 7-15
7.2.1 Applications ............................................................................................................................... 7-15
7.2.2 Function block diagram ............................................................................................................. 7-16
7.2.3 Parameter.................................................................................................................................. 7-17
7.2.4 Gain switching procedure ......................................................................................................... 7-20
7.3 Tough drive function ........................................................................................................................ 7-24
7.3.1 Vibration tough drive function.................................................................................................... 7-24
7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-26
7.4 Compliance with SEMI-F47 standard .............................................................................................. 7-30
7.5 Model adaptive control disabled ...................................................................................................... 7-32
8. TROUBLESHOOTING
8.1
8.2
8.3
8.4
8- 1 to 8-16
Explanation for the lists ..................................................................................................................... 8- 1
Alarm list ........................................................................................................................................... 8- 2
Warning list ...................................................................................................................................... 8-12
Troubleshooting at power on ........................................................................................................... 8-15
9. DIMENSIONS
9- 1 to 9- 6
9.1 Servo amplifier .................................................................................................................................. 9- 1
9.2 Connector ......................................................................................................................................... 9- 4
10. CHARACTERISTICS
10- 1 to 10-10
10.1 Overload protection characteristics .............................................................................................. 10- 1
10.2 Power supply capacity and generated loss .................................................................................. 10- 2
10.3 Dynamic brake characteristics ...................................................................................................... 10- 5
10.3.1 Dynamic brake operation ....................................................................................................... 10- 6
10.3.2 Permissible load to motor inertia when the dynamic brake is used ....................................... 10- 8
10.4 Cable bending life ......................................................................................................................... 10- 9
10.5 Inrush currents at power-on of main circuit and control circuit ..................................................... 10- 9
3
11. OPTIONS AND PERIPHERAL EQUIPMENT
11- 1 to 11-48
11.1 Cable/connector sets .................................................................................................................... 11- 1
11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2
11.1.2 SSCNET III cable ................................................................................................................... 11- 4
11.1.3 Battery cable/junction battery cable ....................................................................................... 11- 6
11.1.4 MR-D05UDL3M-B STO cable ................................................................................................ 11- 7
11.2 Regenerative options .................................................................................................................... 11- 7
11.2.1 Combination and regenerative power .................................................................................... 11- 7
11.2.2 Selection of regenerative option ............................................................................................ 11- 8
11.2.3 Parameter setting .................................................................................................................. 11-10
11.2.4 Connection of regenerative option ........................................................................................ 11-11
11.2.5 Dimensions ........................................................................................................................... 11-12
11.3 Battery .......................................................................................................................................... 11-13
11.3.1 Selection of battery ............................................................................................................... 11-13
11.3.2 MR-BAT6V1SET-A battery ................................................................................................... 11-14
11.3.3 MR-BT6VCASE battery case ................................................................................................ 11-18
11.3.4 MR-BAT6V1 battery .............................................................................................................. 11-24
11.4 MR Configurator2 ........................................................................................................................ 11-25
11.4.1 Specifications ........................................................................................................................ 11-25
11.4.2 System configuration............................................................................................................. 11-26
11.4.3 Precautions for using USB communication function ............................................................. 11-27
11.5 Selection example of wires .......................................................................................................... 11-28
11.6 Molded-case circuit breakers, fuses, magnetic contactors ......................................................... 11-30
11.7 Power factor improving AC reactors ............................................................................................ 11-32
11.8 Relays (recommended) ............................................................................................................... 11-33
11.9 Noise reduction techniques ......................................................................................................... 11-33
11.10 Earth-leakage current breaker ................................................................................................... 11-40
11.11 EMC filter (recommended) ........................................................................................................ 11-43
11.12 Junction terminal block MR-TB26A ........................................................................................... 11-46
12. ABSOLUTE POSITION DETECTION SYSTEM
12- 1 to 12- 4
12.1 Summary....................................................................................................................................... 12- 1
12.1.1 Features ................................................................................................................................. 12- 1
12.1.2 Structure ................................................................................................................................. 12- 1
12.1.3 Parameter setting ................................................................................................................... 12- 1
12.1.4 Confirmation of absolute position detection data ................................................................... 12- 2
12.2 Battery ........................................................................................................................................... 12- 2
12.2.1 Using MR-BAT6V1SET battery (only for MR-J4W2-0303B6) ............................................... 12- 2
12.2.2 Using MR-BT6VCASE battery case....................................................................................... 12- 4
13. USING STO FUNCTION
13- 1 to 13-14
13.1 Introduction ................................................................................................................................... 13- 1
13.1.1 Summary ................................................................................................................................ 13- 1
13.1.2 Terms related to safety .......................................................................................................... 13- 1
13.1.3 Cautions ................................................................................................................................. 13- 1
13.1.4 Residual risks of the STO function......................................................................................... 13- 2
13.1.5 Specifications ......................................................................................................................... 13- 3
13.1.6 Maintenance ........................................................................................................................... 13- 4
4
13.2 STO I/O signal connector (CN8) and signal layouts..................................................................... 13- 4
13.2.1 Signal layouts ......................................................................................................................... 13- 4
13.2.2 Signal (device) explanations .................................................................................................. 13- 5
13.2.3 How to pull out the STO cable ............................................................................................... 13- 5
13.3 Connection example ..................................................................................................................... 13- 6
13.3.1 Connection example for CN8 connector ................................................................................ 13- 6
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit .................... 13- 7
13.3.3 External I/O signal connection example using an external safety relay unit ......................... 13- 9
13.3.4 External I/O signal connection example using a motion controller ....................................... 13-10
13.4 Detailed description of interfaces ................................................................................................ 13-11
13.4.1 Sink I/O interface................................................................................................................... 13-11
13.4.2 Source I/O interface .............................................................................................................. 13-12
14. USING A LINEAR SERVO MOTOR
14- 1 to 14-32
14.1 Functions and configuration ......................................................................................................... 14- 1
14.1.1 Summary ................................................................................................................................ 14- 1
14.1.2 Servo system with auxiliary equipment .................................................................................. 14- 2
14.2 Signals and wiring ......................................................................................................................... 14- 3
14.3 Operation and functions................................................................................................................ 14- 5
14.3.1 Startup .................................................................................................................................... 14- 5
14.3.2 Magnetic pole detection ......................................................................................................... 14- 8
14.3.3 Home position return ............................................................................................................. 14-16
14.3.4 Test operation mode in MR Configurator2 ............................................................................ 14-20
14.3.5 Operation from controller ...................................................................................................... 14-23
14.3.6 Function................................................................................................................................. 14-25
14.3.7 Absolute position detection system....................................................................................... 14-27
14.4 Characteristics ............................................................................................................................. 14-28
14.4.1 Overload protection characteristics ...................................................................................... 14-28
14.4.2 Power supply capacity and generated loss .......................................................................... 14-29
14.4.3 Dynamic brake characteristics .............................................................................................. 14-31
14.4.4 Permissible load to motor mass ratio when the dynamic brake is used ............................... 14-32
15. USING A DIRECT DRIVE MOTOR
15- 1 to 15-24
15.1 Functions and configuration ......................................................................................................... 15- 1
15.1.1 Summary ................................................................................................................................ 15- 1
15.1.2 Servo system with auxiliary equipment .................................................................................. 15- 3
15.2 Signals and wiring ......................................................................................................................... 15- 4
15.3 Operation and functions................................................................................................................ 15- 5
15.3.1 Startup procedure .................................................................................................................. 15- 6
15.3.2 Magnetic pole detection ......................................................................................................... 15- 7
15.3.3 Operation from controller ...................................................................................................... 15-15
15.3.4 Function................................................................................................................................. 15-16
15.4 Characteristics ............................................................................................................................. 15-18
15.4.1 Overload protection characteristics ...................................................................................... 15-18
15.4.2 Power supply capacity and generated loss .......................................................................... 15-19
15.4.3 Dynamic brake characteristics .............................................................................................. 15-21
5
16. FULLY CLOSED LOOP SYSTEM
16- 1 to 16-24
16.1 Functions and configuration ......................................................................................................... 16- 1
16.1.1 Function block diagram .......................................................................................................... 16- 1
16.1.2 Selecting procedure of control mode ..................................................................................... 16- 3
16.1.3 System configuration.............................................................................................................. 16- 4
16.2 Load-side encoder ........................................................................................................................ 16- 5
16.2.1 Linear encoder ....................................................................................................................... 16- 5
16.2.2 Rotary encoder....................................................................................................................... 16- 5
16.2.3 Configuration diagram of encoder cable ................................................................................ 16- 5
16.2.4 MR-J4FCCBL03M branch cable ............................................................................................ 16- 6
16.3 Operation and functions................................................................................................................ 16- 7
16.3.1 Startup .................................................................................................................................... 16- 7
16.3.2 Home position return ............................................................................................................. 16-14
16.3.3 Operation from controller ...................................................................................................... 16-17
16.3.4 Fully closed loop control error detection functions................................................................ 16-19
16.3.5 Auto tuning function .............................................................................................................. 16-20
16.3.6 Machine analyzer function .................................................................................................... 16-20
16.3.7 Test operation mode ............................................................................................................. 16-20
16.3.8 Absolute position detection system under fully closed loop system ..................................... 16-21
16.3.9 About MR Configurator2 ....................................................................................................... 16-22
17. APPLICATION OF FUNCTIONS
17- 1 to 17-72
17.1 J3 compatibility mode ................................................................................................................... 17- 1
17.1.1 Outline of J3 compatibility mode ............................................................................................ 17- 1
17.1.2 Operation modes supported by J3 compatibility mode .......................................................... 17- 1
17.1.3 J3 compatibility mode supported function list ........................................................................ 17- 2
17.1.4 How to switch J4 mode/J3 compatibility mode ...................................................................... 17- 5
17.1.5 How to use the J3 compatibility mode ................................................................................... 17- 6
17.1.6 Cautions for switching J4 mode/J3 compatibility mode ......................................................... 17- 7
17.1.7 Cautions for the J3 compatibility mode .................................................................................. 17- 7
17.1.8 Change of specifications of "J3 compatibility mode" switching process ................................ 17- 9
17.1.9 J3 extension function ............................................................................................................ 17-11
17.2 Scale measurement function ....................................................................................................... 17-65
17.2.1 Functions and configuration .................................................................................................. 17-65
17.2.2 Scale measurement encoder ................................................................................................ 17-67
17.2.3 How to use scale measurement function .............................................................................. 17-70
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18- 1 to 18-54
18.1 Functions and configuration ......................................................................................................... 18- 1
18.1.1 Summary ................................................................................................................................ 18- 1
18.1.2 Function block diagram .......................................................................................................... 18- 2
18.1 3 Servo amplifier standard specifications ................................................................................. 18- 3
18.1.4 Combinations of servo amplifiers and servo motors .............................................................. 18- 4
18.1.5 Function list ............................................................................................................................ 18- 5
18.1.6 Model definition ...................................................................................................................... 18- 7
18.1.7 Parts identification .................................................................................................................. 18- 8
18.1.8 Configuration including peripheral equipment ....................................................................... 18- 9
18.2 Installation .................................................................................................................................... 18-10
6
18.2.1 Installation direction and clearances ..................................................................................... 18-11
18.2.2 Installation by DIN rail ........................................................................................................... 18-13
18.3 Signals and wiring ........................................................................................................................ 18-15
18.3.1 Input power supply circuit ..................................................................................................... 18-16
18.3.2 Explanation of power supply system..................................................................................... 18-18
18.3.3 Selection of main circuit power supply/control circuit power supply ..................................... 18-22
18.3.4 Power-on sequence .............................................................................................................. 18-22
18.3.5 I/O Signal Connection Example ............................................................................................ 18-23
18.3.6 Connectors and pin assignment ........................................................................................... 18-26
18.3.7 Signal (device) explanations ................................................................................................. 18-27
18.3.8 Alarm occurrence timing chart .............................................................................................. 18-34
18.3.9 Interfaces .............................................................................................................................. 18-36
18.3.10 Grounding ........................................................................................................................... 18-39
18.4 Startup ......................................................................................................................................... 18-40
18.4.1 Startup procedure ................................................................................................................. 18-41
18.4.2 Troubleshooting when "24V ERROR" lamp turns on............................................................ 18-42
18.4.3 Wiring check .......................................................................................................................... 18-42
18.4.4 Surrounding environment ...................................................................................................... 18-43
18.5 Switch setting and display of the servo amplifier ......................................................................... 18-44
18.6 Dimensions .................................................................................................................................. 18-45
18.7 Characteristics ............................................................................................................................. 18-46
18.7.1 Overload protection characteristics ...................................................................................... 18-46
18.7.2 Power supply capacity and generated loss .......................................................................... 18-47
18.7.3 Dynamic brake characteristics .............................................................................................. 18-47
18.7.4 Inrush currents at power-on of main circuit and control circuit ............................................. 18-49
18.8 Options and peripheral equipment .............................................................................................. 18-50
18.8.1 Cable/connector sets ............................................................................................................ 18-51
18.8.2 Combinations of cable/connector sets .................................................................................. 18-51
18.8.3 Selection example of wires ................................................................................................... 18-53
18.8.4 Circuit protector ..................................................................................................................... 18-54
APPENDIX
App.- 1 to App.-59
App. 1 Auxiliary equipment manufacturer (for reference) ................................................................ App.- 1
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the
Transport of Dangerous Goods ............................................................................................ App.- 1
App. 3 Symbol for the new EU Battery Directive .............................................................................. App.- 4
App. 4 Compliance with global standards ........................................................................................ App.- 5
App. 5 MR-J3-D05 Safety logic unit ................................................................................................ App.-21
App. 6 EC declaration of conformity ................................................................................................ App.-39
App. 7 How to replace servo amplifier without magnetic pole detection ......................................... App.-42
App. 8 Two-wire type encoder cable for HG-MR/HG-KR ................................................................ App.-43
App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System &
Service ................................................................................................................................. App.-45
App. 10 CNP_crimping connector ..................................................................................................... App.-45
App. 11 Recommended cable for servo amplifier power supply ....................................................... App.-46
App. 12 Special specification............................................................................................................. App.-48
App. 13 Driving on/off of main circuit power supply with DC power supply ...................................... App.-51
App. 14 Optional data monitor function ............................................................................................. App.-53
App. 15 STO function with SIL 3 certification .................................................................................... App.-56
7
App. 16 Status of general-purpose AC servo products for compliance with the China RoHS
directive ................................................................................................................................ App.-58
8
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
POINT
In MELSERVO-J4 series, ultra-small capacity servo amplifiers compatible with
48 V DC and 24 V DC power supplies are available as MR-J4W2-0303B6. Refer
to chapter 18 for details of MR-J4W2-0303B6 servo amplifiers.
1.1 Summary
The MELSERVO-J4 series of multi-axis servo amplifiers inherits the high performance, sophisticated
functions, and usability of the MR-J4-B servo amplifiers, and ensures space saving, reduced wiring, and
energy saving.
The MR-J4W_-B servo amplifier is connected to controllers, including a servo system controller, on the highspeed synchronous network, SSCNET III/H. The servo amplifier directly receives a command from a
controller to drive a servo motor.
One MR-J4W_-B servo amplifier can drive two or three servo motors. The footprint of one MR-J4W_-B servo
amplifier is considerably smaller than that of two or three MR-J4-B servo amplifiers. You can install MRJ4W_-B servo amplifiers without clearance between them. This makes your system more compact.
The multi-axis structure enables multiple axes to share the SSCNET III cable, control circuit power supply
cable, and main circuit power supply cable. This ensures reduced wiring.
For the MR-J4W_-B servo amplifier, the parameter settings allows you to use a rotary servo motor, linear
servo motor, and direct drive motor for each axis. The axes can be connected to a rotary servo motor, linear
servo motor, and direct drive motor, which have different capacity. Using a linear servo motor or direct drive
motor simplifies the system, and using the MR-J4W_-B servo amplifier downsizes the equipment, enhances
the equipment performance, and ensures space saving.
Using regenerative energy generated when a servo motor decelerates ensures energy saving.
Depending on the operating conditions, the regenerative option is not required.
As the MR-J4-B servo amplifier, the MR-J4W_-B servo amplifier supports the one-touch tuning and the realtime auto tuning. This enables you to easily adjust the servo gain according to the machine.
The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN
series, have been improved. The MR-J4W_-B servo amplifier supports the improved functions. Additionally,
the preventive maintenance support function detects an error in the machine parts. This function provides
strong support for the machine maintenance and inspection.
On the SSCNET III/H network, the stations are connected with a maximum distance of 100 m between them.
This allows you to create a large system.
The MR-J4W_-B servo amplifier supports the Safe Torque Off (STO) function. When the MR-J4W_-B servo
amplifier is connected to a SSCNET III/H-compatible servo system controller, in addition to the STO function,
the servo amplifier also supports the Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operating Stop (SOS),
Safely-Limited Speed (SLS), Safe Brake Control (SBC), and Safe Speed Monitor (SSM) functions.
The MR-J4W_-B servo amplifier has a USB communication interface. Therefore, you can connect the servo
amplifier to the personal computer with MR Configurator2 installed to perform the parameter setting, test
operation, gain adjustment, and others.
1- 1
1. FUNCTIONS AND CONFIGURATION
Table 1.1 Connectors to connect external encoders
Operation mode
External encoder communication method
Two-wire type
Linear servo motor system
Four-wire type
Connector
MR-J4W2-_B
MR-J4W3-_B
CN2A (Note 1)
CN2B (Note 1)
CN2A (Note 1)
CN2B (Note 1)
CN2C (Note 1)
A/B/Z-phase differential output method
Two-wire type
Fully closed loop system
Four-wire type (Note 6)
A/B/Z-phase differential output method
Two-wire type
Scale measurement function
CN2A (Note 2, 3, 4)
CN2B (Note 2, 3, 4)
CN2A (Note 2, 3, 5)
CN2B (Note 2, 3, 5)
Four-wire type (Note 6)
A/B/Z-phase differential output method
Note 1. The MR-J4THCBL03M branch cable is necessary.
2. The MR-J4FCCBL03M branch cable is necessary.
3. When the communication method of the servo motor encoder is four-wire type and A/B/Z-phase differential output
method, MR-J4W2-_B cannot be used. Use an MR-J4-_B-RJ.
4. This is used with servo amplifiers with software version A3 or later.
5. This is used with servo amplifiers with software version A8 or later.
6. The synchronous encoder Q171ENC-W8 cannot be used due to the four-wire type.
1- 2
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
Regenerative
option
Diode
stack
MC
D
Built-in
regenerative
resistor
Relay
TRM (A)
U
CHARGE
lamp
CNP2
Cooling fan
(Note 1)
L11
L21
+
A-axis
output
Dynamic
brake circuit (A)
STO circuit
Control
circuit
power
supply
Base
amplifier
Current
detection
(A)
Overcurrent
(A)
Overvoltage
A-axis
F/B
CN8
Model speed
control (A)
B-axis
F/B
CN1A
Control (B-axis)
Servo system
controller or
servo amplifier
Control (C-axis)
CN1B
I/F
Control
Servo amplifier
or cap
E
B-axis Servo motor
V
M
W
E
U
Virtual
encoder
Actual position
control (A)
M
Virtual
motor
Control (A-axis)
Model position
control (A)
V
W
U
B-axis
output
STO switch
CNP3A
Current
detector
CN2A
+
U
CNP3B
L3 U
A-axis Servo motor
CN2B
L2 U
Regenerative
TR
Actual speed
control (A)
C-axis
output
Current
control (A)
C-axis
F/B
CNP3C
CNP1
L1
C-axis Servo motor
V
M
W
CN2C
MCCB
(Note 2)
Power
supply
P+ C
CNP2
E
CN4
Step-down
circuit
CN5
CN3
USB
Personal
computer
Digital I/O
control
MR-BT6VCASE
Battery case +
Battery
(for absolute position
detection system)
Note 1. The MR-J4W2-22B has no cooling fan.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply
specifications, refer to section 1.3.
1- 3
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
1.3.1 Integrated 2-axis servo amplifier
Model MR-J4W2Output
Rated voltage
Rated current
(each axis)
22B
[A]
Rated current
(Note 11)
[A]
Permissible voltage
fluctuation
Permissible
frequency fluctuation
1.5
2.8
1010B
5.8
6.0
[kVA]
Inrush current
[A]
Voltage/Frequency
Rated current
[A]
Permissible voltage
Control circuit fluctuation
power supply Permissible
input
frequency fluctuation
Power consumption
[W]
Inrush current
[A]
Voltage
Interface
Power supply
power supply
capacity
Control method
Reusable regenerative
energy (Note 2)
[J]
Moment of inertia J
equivalent to the
permissible charging
amount (Note 3)
-4
2
Capacitor
[× 10 kg • m ]
regeneration Mass
LM-H3
equivalent to
the
permissible
LM-K2
charging
LM-U2
amount
(Note 4) [kg]
Built-in regenerative resistance
[W]
Dynamic brake
SSCNET III/H command
communication cycle (Note 9)
Communication function
Encoder output pulse
Analog monitor
Fully closed loop control
Scale measurement function
Load-side encoder interface
3-phase 200 V AC to
240 V AC, 50 Hz/60 Hz
3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
2.9
5.2
7.5
9.8
3-phase 170 V AC to
264 V AC
3-phase or 1-phase 170 V AC to 264 V AC
Within ±5%
Power supply
capacity
Protective functions
77B
3-phase 170 V AC
Voltage/Frequency
Main circuit
power supply
input
44B
Refer to section 10.2.
Refer to section 10.5.
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
0.4
1-phase 170 V AC to 264 V AC
Within ±5%
55
Refer to section 10.5.
24 V DC ± 10%
0.35 A (Note 1)
Sine-wave PWM control, current control method
17
21
44
3.45
4.26
8.92
3.8
4.7
9.8
8.5
10.5
22.0
20
100
Built-in
0.222 ms, 0.444 ms, 0.888 ms
USB: Connect a personal computer (MR Configurator2 compatible)
Compatible (A/B-phase pulse)
None
Compatible (Note 8)
Compatible (Note 10)
Mitsubishi Electric high-speed serial communication (Note 6)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
undervoltage protection, instantaneous power failure protection, overspeed protection, and
error excessive protection
1- 4
1. FUNCTIONS AND CONFIGURATION
Model MR-J4W2-
22B
Functional safety
Standards certified by
CB (Note 12)
Response
performance
Test pulse input (STO)
(Note 5)
Safety
Mean time to
performance dangerous failure
(MTTFd)
Diagnosis converge
(DC)
Average probability of
dangerous failures
per hour (PFH)
Compliance
with global
standards
44B
8 ms or less (STO input off → energy shut off)
Test pulse interval: 1 Hz to 25 Hz
Test pulse off time: Up to 1 ms
MTTFd ≥ 100 [years] (314a)
DC = Medium, 97.6 [%]
-9
6.4 × 10 [1/h]
LVD: EN 61800-5-1
EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL 508C
UL standard
Natural cooling, open
(IP20)
Force cooling, open (IP20)
Close mounting
Ambient
temperature
Operation
Ambient
humidity
Operation
Possible
0 °C to 55 °C (non-freezing)
-20 °C to 65 °C (non-freezing)
Storage
Storage
Ambience
Altitude
Vibration
Mass
1010B
EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2
CE marking
Structure (IP rating)
Environment
77B
STO (IEC/EN 61800-5-2) (Note 7)
[kg]
5 %RH to 90 %RH (non-condensing)
Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
2000 m or less above sea level (Note 13)
2
5.9 m/s or less at 10 Hz to 55 Hz (directions of X, Y and Z axes)
1.5
2.0
Note 1. 0.35 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. Reusable regenerative energy corresponds to energy generated under the following conditions.
Rotary servo motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the
permissible charging amount, decelerates from the rated speed to stop.
Linear servo motor: Regenerative energy is generated when the machine, whose mass is equivalent to the permissible
charging amount, decelerates from the maximum speed to stop.
Direct drive motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the
permissible charging amount, decelerates from the rated speed to stop.
3. Moment of inertia when the motor decelerates from the rated speed to stop
Moment of inertia for two axes when two motors decelerate simultaneously
Moment of inertia for each axis when multiple motors do not decelerate simultaneously
The values also apply to the direct drive motor.
4. Mass when the machine decelerates from the maximum speed to stop
The primary-side (coil) mass is included.
Mass for two axes when two motors decelerate simultaneously
Mass for each axis when multiple motors do not decelerate simultaneously
5. 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.
6. The load-side encoder is compatible only with two-wire type communication method. Not compatible with pulse train interface
(A/B/Z-phase differential output type).
7. STO is common for all axes.
8. Fully closed loop control is compatible with the servo amplifiers with software version A3 or later.
Check the software version of the servo amplifier using MR Configurator2.
9. The command communication cycle depends on the controller specifications and the number of axes connected.
10. The scale measurement function is available for the MR-J4W2-_B servo amplifiers of software version A8 or later. Check the
software version of the servo amplifier with MR Configurator2.
11. This value is applicable when a 3-phase power supply is used.
12. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.
13. Follow the restrictions in section 2.7 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1- 5
1. FUNCTIONS AND CONFIGURATION
1.3.2 Integrated 3-axis servo amplifier
Model MR-J4W3Rated voltage
Output
Rated current
(each axis)
[A]
Power supply
/Frequency
Rated current
(Note 9)
[A]
Permissible voltage
Main circuit
power supply fluctuation
input
Permissible
frequency fluctuation
Power supply
capacity
[kVA]
Inrush current
[A]
Power supply
/Frequency
Rated current
[A]
Permissible voltage
Control circuit
fluctuation
power supply
Permissible
input
frequency fluctuation
Power consumption
[W]
Inrush current
[A]
Voltage/Frequency
Interface
Power supply
power supply
capacity
Control method
Reusable regenerative
energy (Note 2)
[J]
Moment of inertia J
equivalent to the
permissible charging
amount (Note 3)
-4
2
Capacitor
[× 10 kg • m ]
regeneration Mass
LM-H3
equivalent to
the
permissible
LM-K2
charging
LM-U2
amount
(Note 4) [kg]
Built-in regenerative resistance
[W]
Dynamic brake
SSCNET III/H command
communication cycle (Note 7)
Communication function
Encoder output pulse
Analog monitor
Fully closed loop control
Scale measurement function
Protective functions
222B
444B
3-phase 170 V AC
1.5
2.8
3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
4.3
7.8
3-phase or 1-phase 170 V AC to 264 V AC, 50 Hz/60 Hz
Within ±5%
Refer to section 10.2.
Refer to section 10.5.
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
0.4
1-phase 170 V AC to 264 V AC
Within ±5%
55
Refer to section 10.5.
24 V DC ± 10%
0.45 A (Note 1)
Sine-wave PWM control, current control method
21
30
4.26
6.08
4.7
6.7
10.5
15.0
30
100
Built-in
0.222 ms (Note 8), 0.444 ms, 0.888 ms
USB: Connect a personal computer (MR Configurator2 compatible)
Not compatible
None
Not compatible
Not compatible
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
undervoltage protection, instantaneous power failure protection, overspeed protection, and
error excessive protection
1- 6
1. FUNCTIONS AND CONFIGURATION
Model MR-J4W3-
222B
Functional safety
Standards certified by
CB (Note 10)
Response
performance
444B
STO (IEC/EN 61800-5-2) (Note 6)
EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2
8 ms or less (STO input off → energy shut off)
Test pulse interval: 1 Hz to 25 Hz
Test pulse off time: Up to 1 ms
Test pulse input (STO)
(Note 5)
Safety
performance
Compliance
with global
standards
Mean time to
dangerous failure
(MTTFd)
Diagnosis converge
(DC)
Average probability of
dangerous failures
per hour (PFH)
MTTFd ≥ 100 [years] (314a)
DC = Medium, 97.6 [%]
-9
6.4 × 10 [1/h]
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
0 °C to 55 °C (non-freezing)
-20 °C to 65 °C (non-freezing)
CE marking
UL standard
Structure (IP rating)
Close mounting
Environment
Ambient
temperature
Operation
Ambient
humidity
Operation
Storage
Ambience
Altitude
Vibration
Mass
5 %RH to 90 %RH (non-condensing)
Storage
[kg]
Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
2000 m or less above sea level (Note 11)
2
5.9 m/s or less at 10 Hz to 55 Hz (directions of X, Y and Z axes)
1.9
Note 1. 0.45 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. Reusable regenerative energy corresponds to energy generated under the following conditions.
Rotary servo motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the
permissible charging amount, decelerates from the rated speed to stop.
Linear servo motor: Regenerative energy is generated when the machine, whose mass is equivalent to the permissible
charging amount, decelerates from the maximum speed to stop.
Direct drive motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the
permissible charging amount, decelerates from the rated speed to stop.
3. Moment of inertia when the machine decelerates from the rated speed to stop
Moment of inertia for three axes when three motors decelerate simultaneously
Moment of inertia for each axis when multiple motors do not decelerate simultaneously
The values also apply to the direct drive motor.
4. Mass when the machine decelerates from the maximum speed to stop
The primary-side (coil) mass is included.
Mass for three axes when three motors decelerate simultaneously
Mass for each axis when multiple motors do not decelerate simultaneously
5. 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.
6. STO is common for all axes.
7. The command communication cycle depends on the controller specifications and the number of axes connected.
8. Servo amplifier with software version A3 or later is compatible with the command communication cycle of 0.222 ms. However,
note that the following functions are not available when 0.222 ms is used: auto tuning (real time, one-touch, and vibration
suppression control), adaptive filter II, vibration tough drive, and power monitoring.
9. This value is applicable when a 3-phase power supply is used.
10. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.
11. Follow the restrictions in section 2.7 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1- 7
1. FUNCTIONS AND CONFIGURATION
1.3.3 Combinations of servo amplifiers and servo motors
(1) MR-J4W2-_B servo amplifier
Servo amplifier
HG-KR
HG-MR
053
13
23
053
13
23
Rotary servo motor
HG-SR
HG-UR
HG-JR
LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0
MR-J4W2-22B
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAB-05M-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0
MR-J4W2-44B
053
13
23
43
053
13
23
43
MR-J4W2-77B
43
73
43
73
51
52
72
MR-J4W2-1010B
43
73
43
73
Linear servo motor
(primary side)
51
81
52
102
72
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
53
LM-K2P1A-01M-2SS1
73
LM-K2P2A-02M-1SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
53 (Note 3) LM-H3P7A-24P-ASS0
LM-K2P1A-01M-2SS1
73
LM-K2P2A-02M-1SS1
103
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
Note 1. This is available with servo amplifiers with software version C8 or later.
2. This combination increases the maximum torque of the servo motor to 400%.
3. The combination increases the rated torque and the maximum torque.
1- 8
Direct drive motor
TM-RFM002C20
TM-RG2M004E30
(Note 1)
TM-RU2M004E30
(Note 1)
TM-RFM002C20
TM-RFM004C20
TM-RG2M004E30
(Note 1, 2)
TM-RU2M004E30
(Note 1, 2)
TM-RG2M009G30
(Note 1)
TM-RU2M009G30
(Note 1)
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM012G20
TM-RFM040J10
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM018E20
TM-RFM012G20
TM-RFM040J10
1. FUNCTIONS AND CONFIGURATION
(2) MR-J4W3-_B servo amplifier
Servo amplifier
Rotary servo motor
HG-KR
HG-MR
MR-J4W3-222B
053
13
23
053
13
23
MR-J4W3-444B
053
13
23
43
053
13
23
43
Linear servo motor
(primary side)
LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAB-05M-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0
Direct drive motor
TM-RFM002C20
TM-RG2M004E30
(Note 1)
TM-RU2M004E30
(Note 1)
TM-RFM002C20
TM-RFM004C20
TM-RG2M004E30
(Note 1, 2)
TM-RU2M004E30
(Note 1, 2)
TM-RG2M009G30
(Note 1)
TM-RU2M009G30
(Note 1)
Note 1. This is available with servo amplifiers with software version C8 or later.
2. This combination increases the maximum torque of the servo motor to 400%.
1- 9
1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function
Model adaptive control
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
Shaft resonance suppression
filter
Adaptive filter II
Low-pass filter
Machine analyzer function
Robust filter
Slight vibration suppression
control
Auto tuning
Regenerative option
Alarm history clear
Output signal selection
(Device settings)
Output signal (DO) forced
output
Test operation mode
MR Configurator2
Linear servo system
Direct drive servo system
One-touch tuning
Description
This realizes a high response and stable control following the ideal model. The
two-degrees-of-freedom-model model adaptive control enables you to set a
response to the command and response to the disturbance separately.
Additionally, this function can be disabled. Refer to section 7.5 for disabling this
function. This is used by servo amplifiers with software version B4 or later. Check
the software version with MR Configurator2.
This servo amplifier is used as a position control servo.
This servo amplifier is used as a speed control servo.
This servo amplifier is used as a torque control servo.
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.
Using an input device or gain switching conditions (including the servo motor
speed) switches gains.
This function suppresses vibration at the arm end or residual vibration of the
machine.
The machine resonance suppression filter is a filter function (notch filter) which
decreases the gain of the specific frequency to suppress the resonance of the
mechanical system.
When a load is mounted to the servo motor shaft, resonance by shaft torsion
during driving may generate a mechanical vibration at high frequency. The shaft
resonance suppression filter suppresses the vibration.
Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
increased.
Analyzes the frequency characteristic of the mechanical system by simply
connecting an MR Configurator2 installed personal computer and servo amplifier.
MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response level that
load to motor inertia ratio is high for such as roll send axes.
Suppresses vibration of ±1 pulse produced at a servo motor stop.
Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.
Used when the built-in regenerative resistor of the servo amplifier does not have
sufficient regenerative capability for the regenerative power generated.
Alarm history is cleared.
The pins that output the output devices, including ALM (Malfunction) and INP (Inposition), can be assigned to certain pins of the CN3 connectors.
Output signal can be forced on/off independently of the servo status.
Use this function for output signal wiring check and others.
Jog operation, positioning operation, motor-less operation, DO forced output, and
program operation
MR Configurator2 is necessary for this function.
Using a personal computer, you can perform the parameter setting, test operation,
monitoring, and others.
Linear servo system can be configured using a linear servo motor and linear
encoder.
Direct drive servo system can be configured to drive a direct drive motor.
One click on a certain button on MR Configurator2 adjusts the gains of the servo
amplifier.
MR Configurator2 is necessary for this function.
1 - 10
Detailed
explanation
Chapter 12
Section 7.2
Section 7.1.5
Section 7.1.1
Section 7.1.3
Section 7.1.2
Section 7.1.4
[Pr. PE41]
[Pr. PB24]
Chapter 6
Section 11.2
[Pr. PC21]
[Pr. PD07] to
[Pr. PD09]
Section 4.5.1 (1)
(d)
Section 4.5
Section 11.4
Chapter 14
Chapter 15
Section 6.2
1. FUNCTIONS AND CONFIGURATION
Function
SEMI-F47 function (Note)
Tough drive function
Drive recorder function
STO function
Servo amplifier life diagnosis
function
Power monitoring function
Machine diagnostic function
Fully closed loop system
Scale measurement function
J3 compatibility mode
Continuous operation to
torque control mode
Description
Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy
charged in the capacitor in case that an instantaneous power failure occurs during
operation. Use a 3-phase for the input power supply of the servo amplifier. Using a
1-phase 200 V AC for the input power supply will not comply with the SEMI-F47
standard.
This function makes the equipment continue operating even under the condition
that an alarm occurs.
The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.
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 functional safety that complies with IEC/EN 61800-5-2. You can
create a safety system for the equipment easily.
You can check the cumulative energization time and the number of on/off times of
the inrush relay. Before the parts of the servo amplifier, including a capacitor and
relay, malfunction, this function is useful for finding out the time for their
replacement.
MR Configurator2 is necessary for this function.
This function calculates the power running and the regenerative power from the
data, including the speed and current, in the servo amplifier. MR Configurator2 can
display the data, including the power consumption. Since the servo amplifier sends
data to a servo system controller, you can analyze the data and display the data on
a display with the SSCNET III/H system.
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.
Fully closed system can be configured using the load-side encoder. (not available
with the MR-J4 3-axis servo amplifiers)
This is used with servo amplifiers with software version A3 or later. Check the
software version with MR Configurator2.
The function transmits position information of a scale measurement encoder to the
controller by connecting the scale measurement encoder in semi closed loop
control.
Used by servo amplifiers with software version A8 or later. (not available with the
MR-J4 3-axis servo amplifiers)
This amplifier has "J3 compatibility mode" which compatible with the previous MRJ3-B series. Refer to section 17.1 for software versions.
This enables to smoothly switch the mode from position control mode/speed
control mode to torque control mode without stopping. This also enables to
decrease load to the machine and high quality molding without rapid changes in
speed or torque. For details of the continuous operation to torque control mode,
refer to the manuals for servo system controllers.
Note. For servo system controllers which are available with this, contact your local sales office.
1 - 11
Detailed
explanation
[Pr. PA20]
[Pr. PE25]
Section 7.4
Section 7.3
[Pr. PA23]
Chapter 13
Chapter 16
Section 17.2
Section 17.1
[Pr. PB03]
Servo system
controller
manuals
1. FUNCTIONS AND CONFIGURATION
1.5 Model designation
(1) Rating plate
The following shows an example of rating plate for explanation of each item.
AC SERVO
SER.A45001001
MR-J4W3-222B
POWER: 200W×3 (A, B, C)
INPUT: 3AC/AC200-240V 4.3A/7.5A 50/60Hz
OUTPUT: 3PH170V 0-360Hz 1.5A×3 (A, B, C)
STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175
Max. Surrounding Air Temp.: 55°C
IP20 (Except for fan finger guard)
KCC-REI-MEK-TC300A612G51
TOKYO 100-8310, JAPAN
Serial number
Model
Capacity
Applicable power supply
Rated output current
Standard, Manual number
Ambient temperature
IP rating
DATE: 2014-05
MADE IN JAPAN
KC certification number, the year
and month of manufacture
Country of origin
Note. Production year and month of the servo amplifier are indicated in a serial number on
the rating plate.
The year and month of manufacture are indicated by the last one digit of the year and
1 to 9, X (10), Y (11), Z (12).
For September 2011, the Serial No. is like, "SERIAL: _ 19 _ _ _ _ _ _".
(2) Model
The following describes what each block of a model name indicates. Not all combinations of the symbols
are available.
MR - J 4W2 - 2 2 B - ED
Series
Number of axes
Number
Symbol of axes
W2
2
W3
3
SSCNETIII/H interface
Rated output
Rated output [kW]
Symbol
A-axis B-axis C-axis
22
0.2
0.2
44
0.4
0.4
77
0.75
0.75
1010
1
1
222
0.2
0.2
0.2
444
0.4
0.4
0.4
Special specifications
Symbol
Special specifications
None
Standard
-ED Without a dynamic brake (Note 1)
MR-J4W_-_B_ with a special coating specification
-EB (3C2) (Note 2)
Note 1. Refer to App. 13.1 for details.
2. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to app. 13.2 for details.
1 - 12
1. FUNCTIONS AND CONFIGURATION
1.6 Parts identification
No.
(1)
(3)
(2)
ON
(4)
1 2 3 4 5 6
(5)
(6)
(13)
(14)
(7)
(8)
Side
view
(9)
(15)
(16)
(10)
(17)
(11)
(18)
(19)
(12)
(20)
Name/Application
Display
The 3-digit, 7-segment LED shows the servo
status and the alarm number.
Axis selection rotary switch (SW1)
(2)
Used to set the axis No. of servo amplifier.
Control axis setting switch (SW2)
The test operation switch, the disabling control
(3)
axis switch, and the auxiliary axis number
setting switch are available.
USB communication connector (CN5)
(4)
Connect with the personal computer.
Charge lamp
Lit to indicate that the main circuit is charged.
(5)
While this lamp is lit, do not reconnect the
cables.
Main circuit power connector (CNP1)
(6)
Connect the input power supply.
Control circuit power connector (CNP2)
(7)
Connect the control circuit power supply or
regenerative option.
(8)
Rating plate
A-axis servo motor power connector (CNP3A)
(9)
Connect the A-axis servo motor.
B-axis servo motor power connector (CNP3B)
(10)
Connect the B-axis servo motor.
C-axis servo motor power connector (CNP3C)
(11) (Note 1)
Connect the C-axis servo motor.
(12) Protective earth (PE) terminal
I/O signal connector (CN3)
(13)
Used to connect digital I/O signals.
STO input signal connector (CN8)
(14) Used to connect MR-J3-D05 safety logic unit
and external safety relay.
SSCNET III cable connector (CN1A)
(15) Used to connect the servo system controller or
the previous axis servo amplifier.
SSCNET III cable connector (CN1B)
(16) Used to connect the next axis servo amplifier.
For the final axis, put a cap.
(17) A-axis encoder connector (CN2A)
(Note Used to connect the A-axis servo motor
2)
encoder or external encoder.
(18) B-axis encoder connector (CN2B)
(Note Used to connect the B-axis servo motor
2)
encoder or external encoder.
(19) C-axis encoder connector (CN2C) (Note 1)
(Note Used to connect the C-axis servo motor
2)
encoder or linear encoder.
Battery connector (CN4)
(20) Used to connect the battery unit for absolute
position data backup.
Detailed
explanation
(1)
Section 4.3
Section 11.4
Section 3.1
Section 3.3
Section 1.5
Section 3.1
Section 3.3
Section 3.11
Section 3.2
Section 3.4
Chapter 13
Section 3.2
Section 3.4
Section 3.4
"Servo Motor
Instruction
Manual (Vol.
3)"
"Linear
Encoder
Instruction
Manual"
Section 11.3
Chapter 12
Note 1. This figure shows the MR-J4 3-axis servo amplifier.
2. "External encoder" is a term for linear encoder used in the linear
servo system, load-side encoder used in the fully closed loop
system, and scale measurement encoder used with the scale
measurement function in this manual.
1 - 13
1. FUNCTIONS AND CONFIGURATION
1.7 Configuration including auxiliary equipment
CAUTION
Connecting a servo motor for different axis to the CNP3A, CNP3B, or CNP3C
connector may cause a malfunction.
POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.
Power supply
CN5
(under the cover)
RS T
Molded-case
circuit breaker
(MCCB) or fuse
L1
L2
L3
CNP1
Safety relay or
MR-J3-D05 safety logic unit
Servo system
controller or Front axis
servo amplifier CN1B
CN1A
Regenerative
option
Line noise
filter
(FR-BSF01)
I/O signal
CNP2
D (Note 3)
Power factor
improving
reactor
(FR-HAL)
CN3
CN8
P+
C
Magnetic
contactor
(MC)
MR Configurator2
CNP3A
U
W
V
CN1B
CNP3B
U
W
V
Personal
computer
Rear servo amplifier
CN1A or Cap
CN2A
CNP3C (Note 1)
U
W
A-axis encoder
CN2B
V
CN2C (Note 1)
B-axis encoder
C-axis encoder
CN4
(Note 2)
Battery unit
L21
L11
A-axis
servo motor
B-axis
servo motor
C-axis
servo motor
Note 1. For the MR-J4 3-axis servo amplifier
2. The battery unit consists of an MR-BT6VCASE battery case and five MR-BAT6V1 batteries. The battery unit is used in the
absolute position detection system. (Refer to chapter 12.)
3. Always connect P+ and D. When using the regenerative option, refer to section 11.2.
1 - 14
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 environmental range. For the environment,
refer to section 1.3.
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it
may cause a malfunction.
Do not drop or strike the servo amplifier. Isolate them from all impact loads.
Do not install or operate the servo amplifier 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, be careful about the edged parts such as
corners of the servo amplifier.
The servo amplifier must be installed in the metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine,
bromine, and iodine are used for disinfecting and protecting wooden packaging
from insects, they cause malfunction when entering our products. Please take
necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat
method). Additionally, disinfect and protect wood from insects before packing
products.
2.1 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, it may
cause a malfunction.
Leave specified clearances between the servo amplifier and the cabinet walls or
other equipment. Otherwise, it may cause a malfunction.
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- 1
2. INSTALLATION
(1) Installation of one servo amplifier
Control box
Control box
40 mm
or more
Wiring
allowance
80 mm
Servo amplifier
10 mm
or more
Top
10 mm
or more
Bottom
40 mm
or more
(2) Installation of two or more servo amplifiers
POINT
You can install MR-J4W_-B servo amplifiers without clearances between them.
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.
Control box
100 mm
or more
Control box
10 mm
or more
1 mm
100 mm
or more
1 mm
Top
30 mm
or more
30 mm
or more
30 mm
or more
Bottom
40 mm
or more
40 mm
or more
Leaving clearance
Mounting closely
2- 2
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.
2.3 Encoder cable stress
(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight
stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (for the encoder, power supply,
and brake) with having some slack from the connector connection part of the servo motor to avoid
putting stress on the connector connection part. Use the optional encoder cable within the bending life
range. Use the power supply and brake wiring cables within the bending life of the cables.
(3) Avoid any probability that the cable insulator might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles.
(4) For the cable installation on a machine where the servo motor moves, the bending radius should be
made as large as possible. Refer to section 10.4 for the bending life.
2.4 SSCNET III cable laying
SSCNET III cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral
pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be
available. Especially, as optical fiber for MR-J3BUS_M/MR-J3BUS_M-A is made of synthetic resin, it melts
down if being left near the fire or high temperature. Therefore, do not make it touched the part, which can
become hot, such as heat sink or regenerative option of servo amplifier.
Read described item in this section carefully and handle it with caution.
(1) Minimum bend radius
Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to
edges of equipment or others. For the SSCNET III cable, the appropriate length should be selected with
due consideration for the dimensions and arrangement of the servo amplifier. When closing the door of
cabinet, pay careful attention for avoiding the case that SSCNET III cable is held down by the door and
the cable bend becomes smaller than the minimum bend radius. For the minimum bend radius, refer to
section 11.1.2.
2- 3
2. INSTALLATION
(2) Prohibition of vinyl tape use
Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS_M, and MR-J3BUS_M-A cables away
from vinyl tape because the optical characteristic may be affected.
SSCNET III cable
Cord
Cable
MR-J3BUS_M
MR-J3BUS_M-A
MR-J3BUS_M-B
Optical cord
Cable
: Phthalate ester plasticizer such as DBP and DOP
may affect optical characteristic of cable.
: Cord and cable are not affected by plasticizer.
(3) Precautions for migrating plasticizer added materials
Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating
plasticizer and they do not affect the optical characteristic of SSCNET III cable. However, some wire
sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS_M
and MR-J3BUS_M-A cables.
In addition, MR-J3BUS_M-B cable is not affected by plasticizer.
A chemical substance may affect its optical characteristic. Therefore, previously check that the cable is
not affected by the environment.
(4) Bundle fixing
Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET III
cable from putting its own weight on CN1A/CN1B connector of servo amplifier. Optical cord should be
given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be
twisted.
When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which
does not contain migratable plasticizers.
If adhesive tape for bundling the cable is used, fire resistant acetate cloth adhesive tape 570F (Teraoka
Seisakusho Co., Ltd) is recommended.
Connector
Optical cord
Loose slack
Bundle material
Recommended product:
NK clamp SP type
( NIX, INC.)
2- 4
Cable
2. INSTALLATION
(5) Tension
If tension is added on optical cable, the increase of transmission loss occurs because of external force
which concentrates on the fixing part of optical fiber or the connecting part of optical connector. Doing so
may cause the breakage of the optical fiber or damage of the optical connector. For cable laying, handle
without putting forced tension. For the tension strength, refer to section 11.1.2.
(6) Lateral pressure
If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets
stressed, and then transmission loss will increase. Doing so may cause the breakage of the optical
cable. As the same condition also occurs at cable laying, do not tighten up optical cable with a thing
such as nylon band (TY-RAP).
Do not trample it down or tuck it down with the door of cabinet or others.
(7) Twisting
If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or
bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur.
(8) Disposal
When incinerating optical cable (cord) used for SSCNET III, hydrogen fluoride gas or hydrogen chloride
gas which is corrosive and harmful may be generated. For disposal of optical fiber, request for
specialized industrial waste disposal services who has incineration facility for disposing hydrogen
fluoride gas or hydrogen chloride gas.
2.5 Inspection items
WARNING
Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P+ and N- is safe with a voltage tester or others. Otherwise, an electric
shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.
To avoid an electric shock, only qualified personnel should attempt inspections.
For repair and parts replacement, contact your sales representative.
CAUTION
Do not perform insulation resistance test on the servo amplifier. Otherwise, it may
cause a malfunction.
Do not disassemble and/or repair the equipment on customer side.
It is recommended to make the following checks periodically.
(1) Check for loose terminal block screws. Retighten any loose screws.
(2) Check the cables and wires for scratches and cracks. Inspect them periodically according to operating
conditions especially when the servo motor is movable.
2- 5
2. INSTALLATION
(3) Check that the connector is securely connected to the servo amplifier.
(4) Check that the wires are not coming out from the connector.
(5) Check for dust accumulation on the servo amplifier.
(6) Check for unusual noise generated from the servo amplifier.
(7) Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
2.6 Parts having service life
Service life of the following parts is listed below. However, the service life varies vary depending on
operating methods and environmental conditions. If any fault is found in the parts, they must be replaced
immediately regardless of their service life.
For parts replacement, please contact your sales representative.
Part name
Life guideline
Smoothing capacitor
Relay
Cooling fan
Absolute position battery
10 years
Number of power-on, forced stop by EM1 (Forced
stop 1), and controller forced stop times: 100,000
times
Number of on and off for STO: 1,000,000 times
50,000 hours to 70,000 hours (7 to 8 years)
Refer to section 12.2.
(1) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly
depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in
10 years of continuous operation in air-conditioned environment (ambient temperature of 40 °C or less).
(2) Relays
Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of
their life when the power has been turned on, forced stop by EM1 (Forced stop 1) has occurred, and
controller forced stop has occurred 100,000 times in total, or when the STO has been turned on and off
1,000,000 times while the servo motor is stopped under servo-off state. However, the life of relays may
depend on the power supply capacity.
(3) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 50,000 hours to 70,000 hours. Normally, therefore,
the fan must be changed in seven or eight years of continuous operation as a guideline.
If unusual noise or vibration is found during inspection, the cooling fan must also be replaced.
The life is under the environment where a yearly average ambient temperature of 40 °C, free from
corrosive gas, flammable gas, oil mist, dust and dirt.
2- 6
2. INSTALLATION
2.7 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level
Regenerative load ratio
Effective load ratio
(1) Effective load ratio and regenerative load ratio
As heat dissipation effects decrease in proportion to decreasing air density, use the product within the
effective load ratio and regenerative load ratio shown in the following figure.
[%]
100
95
0
0
1000
Altitude
2000 [m]
When closely mounting the product, operate them at the ambient temperatures of 0 °C to 45 °C or at
75% or smaller effective load ratio. (Refer to section 2.1.)
(2) Input voltage
Generally, withstand voltage decreases as increasing altitude; however, there is no restriction on the
withstand voltage. Use in the same manner as in 1000 m or less. (Refer to section 1.3.)
(3) Parts having service life
(a) Smoothing capacitor
The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned
environment (ambient temperature of 30 °C or less).
(b) Relays
There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.6.)
(c) Servo amplifier cooling fan
There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.6.)
2- 7
2. INSTALLATION
MEMO
2- 8
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.
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
24 V DC
24 V DC
DOCOM
DOCOM
Control output
signal
RA
For sink output interface
CAUTION
Servo amplifier
Control output
signal
RA
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 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.
Connect the servo amplifier power output (U/V/W) to the servo motor power input
(U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may
cause a malfunction.
Servo amplifier
U
V
W
U
Servo motor
V
W
Servo amplifier
U
M
V
W
U
Servo motor
V
W
Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C
connector may cause a malfunction.
3- 1
M
3. SIGNALS AND WIRING
POINT
When you use a linear servo motor, replace the following left words to the right
words.
Load to motor inertia ratio
→ Load to motor mass ratio
Torque
→ thrust
(Servo motor) Speed
→ (Linear servo motor) Speed
3.1 Input power supply circuit
CAUTION
Always connect a magnetic contactor between the power supply and the main
circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a
circuit that shuts down the power supply on the side of the servo amplifier’s power
supply. If a magnetic contactor is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.
When alarms are occurring in all axes of A, B, and C, shut off the main circuit
power supply. Not doing so may cause a fire when a regenerative transistor
malfunctions or the like may overheat the regenerative resistor.
Check the servo amplifier model, and then input proper voltage to the servo
amplifier power supply. If input voltage exceeds the upper limit, the servo amplifier
will break down.
The servo amplifier has a built-in surge absorber (varistor) to reduce exogenous
noise and to suppress lightning surge. Exogenous noise or lightning surge
deteriorates the varistor characteristics, and the varistor may be damaged. To
prevent a fire, use a molded-case circuit breaker or fuse for input power supply.
Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C
connector may cause a malfunction.
The N- terminal is not a neutral point of the power supply. Incorrect wiring will
cause a burst, damage, etc.
POINT
Even if alarm has occurred, do not switch off the control circuit power supply.
When the control circuit power supply has been switched off, optical module
does not operate, and optical transmission of SSCNET III/H communication is
interrupted. Therefore, the next axis servo amplifier displays "AA" at the
indicator and turns into base circuit shut-off. The servo motor stops with starting
dynamic brake.
EM2 has the same device as EM1 in the torque control mode.
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of
the connecting destinations is different from MR-J3W Series Servo Amplifier.
When using MR-J4W as a replacement for MR-J3W, be careful not to connect
the power to L2.
Configure the wiring so that the main circuit power supply is shut off and the servo-on command turned off
after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or an enabled controller
forced stop. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit
power supply.
3- 2
3. SIGNALS AND WIRING
(Note 3)
AND malfunction
RA1
OFF
ON
MC
Emergency stop switch
(Note 6)
MC
MCCB
(Note 7)
Power
supply
Servo amplifier
CNP1
(Note 12)
L1
CNP3A
U
L2
L3
CNP2
P+
(Note 10)
(Note 1)
C
MC
SK
A-axis servo motor
(Note 5)
U
V
V
W
W
CN2A
D
(Note 2)
Encoder cable
Motor
M
Encoder
L11
L21
PE ( )
B-axis servo motor
N(Note 9)
Short-circuit connector
(Packed with the servo amplifier)
CN8
(Note 12)
CNP3B
U
(Note 5)
U
V
V
W
W
CN2B
(Note 2)
Encoder cable
Motor
M
Encoder
C-axis servo motor
(Note 11)
(Note 12)
CNP3C
U
(Note 4)
Forced stop 2
CN3
EM2
DICOM
24 V DC (Note 13)
V
W
W
CN3
(Note 2)
Encoder cable
Motor
M
Encoder
24 V DC (Note 13)
(Note 4)
DOCOM
CALM
3- 3
U
V
CN2C
(Note 8)
Main circuit power supply
(Note 5)
RA1
AND malfunction
(Note 3)
3. SIGNALS AND WIRING
Note 1. Between P+ and D is connected by default. When using the regenerative option, refer to section 11.2.
2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to Servo Motor
Instruction Manual (Vol. 3).
3. This circuit is an example of stopping all axes when an alarm occurs. If disabling CALM (AND malfunction) output
with the parameter, configure up the power supply circuit which switches off the magnetic contactor after detection of
alarm occurrence on the controller side.
4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
5. For connecting servo motor power wires, refer to Servo Motor Instruction Manual (Vol. 3).
6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure
of contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases,
and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake
deceleration is not required, slow the time to turn off the magnetic contactor.
7. 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.
8. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of
the servo amplifier.
9. When not using the STO function, attach a short-circuit connector supplied with a servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
(Refer to section 11.10.)
11. For the MR-J4 3-axis servo amplifier
12. Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C connector may cause a malfunction.
13. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience.
However, they can be configured by one.
3- 4
3. SIGNALS AND WIRING
3.2 I/O signal connection example
POINT
EM2 has the same device as EM1 in the torque control mode.
3.2.1 For sink I/O interface
10 m or less
10 m or less
(Note 15)
Main circuit
power supply
Servo amplifier
CN3
26
(Note 10)
24 V DC
DICOM
(Note 3, 4) Forced stop 2
EM2
A-axis FLS
A-axis RLS
A-axis DOG
B-axis FLS
B-axis RLS
DI1-A
(Note 14)
(Note 18)
B-axis DOG
C-axis FLS
C-axis RLS
C-axis DOG
DI2-A
DI3-A
DI1-B
DI2-B
DI3-B
DI1-C
DI2-C
DI3-C
(Note 16)
Short-circuit connector
(Packed with the servo amplifier)
Servo system
controller
CN3
23
10
7
8
9
20
21
22
1
2
15
CN8
(Note 6)
SSCNET III cable
(option)
(Note 10)
24 V DC
DOCOM
(Note 2)
11 CALM
RA1
12
MBR-A
RA2
25
MBR-B
RA3
13
MBR-C
RA4
24
(Note 12)
3
16
4
17
5
18
6
19
14
Plate
LA-A
AND malfunction (Note 11)
Electromagnetic brake
interlock A-axis
(Note 13)
Electromagnetic brake
(Note 20)
interlock B-axis
Electromagnetic brake
interlock C-axis (Note 17)
Encoder A-phase pulse A-axis
(differential line driver) (Note 19)
LAR-A
LB-A
Encoder B-phase pulse A-axis
(differential line driver) (Note 19)
LBR-A
LA-B
Encoder A-phase pulse B-axis
(differential line driver) (Note 19)
LAR-B
Encoder B-phase pulse B-axis
(differential line driver) (Note 19)
LB-B
LBR-B
LG
Control common
Servo amplifier
(Note 7)
SD
CN1A
CN1A CN1B
(Note 1)
(Note 5)
MR Configurator2
+
Personal
computer
CN1B
USB cable
MR-J3USBCBL3M
(option)
CN5
The last servo amplifier (Note 8)
(Note 7)
(Note 6)
SSCNET III cable
(option)
3- 5
CN1A
(Note 9)
Cap
CN1B
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-_. (Refer to section 11.4.)
6. Use SSCNET III cables listed in the following table.
Cable
Standard cord inside
panel
Standard cable
outside panel
Long-distance cable
Cable model
Cable length
MR-J3BUS_M
0.15 m to 3 m
MR-J3BUS_M-A
5 m to 20 m
MR-J3BUS_M-B
30 m to 50 m
7. The wiring after the second servo amplifier is omitted.
8. Up to 64 axes of servo amplifiers can be connected. The number of connectable axes depends on the controller you use.
Refer to section 4.3 for setting of axis selection.
9. Make sure to cap the unused CN1B connector.
10. Supply 24 V DC ± 10% for interfaces from outside. Set the total current capacity to 350 mA for MR-J4W2-_B and to 450 mA for
MR-J4W3-_B. The 24 V DC power supply can be used both for input signals and output signals. 350 mA and 450 mA are the
values applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.
Refer to section 3.8.2 (1) that gives the current value necessary for the interface. 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.
11. CALM (AND malfunction) turns on in normal alarm-free condition. (Normally closed contact)
12. In the initial setting, CINP (AND in-position) is assigned to the pin. You can change devices of the pin with [Pr. PD08].
13. You can change devices of these pins with [Pr. PD07] and [Pr. PD09].
14. Devices can be assigned for these devices with controller setting. For devices that can be assigned, refer to the controller
instruction manual. These assigned devices are for R_MTCPU, Q17_DSCPU, RD77MS_, QD77MS_, and LD77MS_.
15. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
16. When not using the STO function, attach a short-circuit connector supplied with a servo amplifier.
17. The pin is not used for MR-J4 2-axis servo amplifiers.
18. For the MR-J4 3-axis servo amplifier
19. This signal cannot be used for MR-J4W3-_B.
20. When you use a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake
mechanism.
3- 6
3. SIGNALS AND WIRING
3.2.2 For source I/O interface
POINT
For notes, refer to section 3.2.1.
10 m or less
10 m or less
(Note 15)
Main circuit
power supply
Servo amplifier
CN3
26
(Note 10)
24 V DC
DICOM
(Note 3, 4) Forced stop 2
A-axis FLS
A-axis RLS
A-axis DOG
B-axis FLS
(Note 14) B-axis RLS
B-axis DOG
C-axis FLS
(Note 18)
C-axis RLS
C-axis DOG
EM2
DI1-A
DI2-A
DI3-A
DI1-B
DI2-B
DI3-B
DI1-C
DI2-C
DI3-C
(Note 16)
Short-circuit connector
(Packed with the servo amplifier)
Servo system
controller
(Note 6)
SSCNET III cable
(option)
CN3
23
10
7
8
9
20
21
22
1
2
15
CN8
(Note 10)
24 V DC
DOCOM
(Note 2)
11 CALM
RA1
12
MBR-A
RA2
25
MBR-B
RA3
13
MBR-C
RA4
24
(Note 12)
3
16
4
17
5
18
6
19
14
Plate
LA-A
AND malfunction (Note 11)
Electromagnetic brake
interlock A-axis
Electromagnetic brake
interlock B-axis
Electromagnetic brake
interlock C-axis (Note 17)
Encoder A-phase pulse A-axis
(differential line driver) (Note 19)
LAR-A
LB-A
Encoder B-phase pulse A-axis
(differential line driver) (Note 19)
LBR-A
LA-B
Encoder A-phase pulse B-axis
(differential line driver) (Note 19)
LAR-B
Encoder B-phase pulse B-axis
(differential line driver) (Note 19)
LB-B
LBR-B
LG
Control common
Servo amplifier
(Note 7)
SD
CN1A
CN1A CN1B
(Note 1)
(Note 5)
MR Configurator2
+
Personal
computer
CN1B
USB cable
MR-J3USBCBL3M
(option)
CN5
The last servo amplifier (Note 8)
(Note 7)
(Note 6)
SSCNET III cable
(option)
3- 7
(Note 20)
CN1A
(Note 9)
Cap
CN1B
(Note 13)
3. SIGNALS AND WIRING
3.3 Explanation of power supply system
3.3.1 Signal explanations
POINT
N- terminal is for manufacturer. Be sure to leave this terminal open.
(1) Pin assignment and connector applications
CNP1
L1
1
L2
2
L3
3
Connector
CNP2
CNP1
P+
L11
1
C
L21
2
D
N-
3
A
B
CNP2
CNP3A
CNP3B
CNP3A
W
A
U
1
V
2
CNP3C
(Note 1)
Name
Main circuit power connector
Control circuit power
connector
A-axis servo motor power
connector
B-axis servo motor power
connector
C-axis servo motor power
connector
B
CNP3B
W
A
U
1
V
2
B
(Note 2)
CNP3C (Note 1)
W
A
U
1
V
2
B
Note 1. For the MR-J4 3-axis servo amplifier
2. Connect to the protective earth (PE) of the cabinet to ground.
3- 8
Function and application
Input main circuit power supply.
Input control circuit power supply. Connect
regenerative option.
Connect with the A-axis servo motor.
Connect with the B-axis servo motor.
Connect with the C-axis servo motor.
3. SIGNALS AND WIRING
(2) Detailed explanation
Symbol
Connector
Connection
destination
(application)
Description
Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC,
connect the power supply to L1 and L3. Leave L2 open.
Servo amplifier
L1/L2/L3
CNP1
Main circuit power
supply
Power supply
3-phase 200 V AC to 240 V
AC, 50 Hz/60 Hz
1-phase 200 V AC to 240 V
AC, 50 Hz/60 Hz
P+/C/D
Regenerative
option
N-
For manufacturer
CNP2
Control circuit
power supply
L11/L21
U/V/W
(Note 2)
(Note 2)
CNP3A
CNP3B
CNP3C
(Note 1)
Servo motor
power output
Protective earth
(PE)
Protective earth
(PE)
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W3-222B
MR-J4W3-444B
MR-J4W2-1010B
L1/L2/L3
L1/L3
When using a servo amplifier built-in regenerative resistor, connect P+ and D.
(factory-wired)
When using a regenerative option, connect the regenerative option to P+ and C.
Refer to section 11.2 for details.
N- terminal is for manufacturer. Be sure to leave this terminal open.
Supply the following power to L11 and L21.
Servo amplifier
Power supply
MR-J4W2-22B to MR-J4W2-1010B
MR-J4W3-222B to MR-J4W3-444B
1-phase 200 V AC to 240 V
AC, 50 Hz/60 Hz
L11/L21
Connect them to the servo motor power supply (U/V/W). Connect the servo amplifier
power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a
magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Connect the grounding terminal of the servo motor.
Connect to the protective earth (PE) of the cabinet to ground.
Note 1. For the MR-J4 3-axis servo amplifier
2. Connect the grounding terminal of the servo motor to
protective earth (PE) terminal (
of CNP3A, CNP3B, and CNP3C. For grounding, connect the
) of front lower part on the servo amplifier to the protective earth (PE) terminal on a cabinet.
3- 9
3. SIGNALS AND WIRING
3.3.2 Power-on sequence
POINT
An output signal, etc. may be irregular at power-on.
(1) Power-on procedure
1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with
the main circuit power supply ((L1/L2/L3)). Configure up an external sequence to switch off the
magnetic contactor as soon as an alarm occurs in all axes of A, B, and C.
2) Switch on the control circuit power supply (L11/L21) simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the control circuit power supply is
turned on with the main circuit power supply off, and then the servo-on command is transmitted,
[AL. E9 Main circuit off warning] will occur. Turning on the main circuit power supply stops the
warning and starts the normal operation.
3) The servo amplifier receives the servo-on command within 4 s after the main circuit power supply
is switched on.
(Refer to (2) in this section.)
(2) Timing chart
Servo-on command accepted
(Note 1)
(4 s)
Main circuit power supply ON
Control circuit
OFF
Base circuit
ON
OFF
Servo-on command
(from controller)
ON
OFF
95 ms (Note 2)
10 ms
95 ms
Note 1. This range will be approximately 6 s for the linear servo system and fully closed loop system.
2. The time will be longer during the magnetic pole detection of a linear servo motor and direct drive motor.
3 - 10
3. SIGNALS AND WIRING
3.3.3 Wiring CNP1, CNP2, and CNP3
POINT
For the wire sizes used for wiring, refer to section 11.5.
(1) Connector
Servo amplifier
CNP1
CNP2
CNP3A
CNP3B
CNP3C (Note)
Note. For the MR-J4 3-axis servo amplifier
Table 3.1 Connector and applicable wire
Receptacle assembly
Applicable wire
size
Stripped length
[mm]
CNP1
03JFAT-SAXGFK-43
AWG 16 to 14
11.5
CNP2
06JFAT-SAXYGG-FKK
AWG 16 to 14
9
CNP3A
CNP3B
CNP3C
04JFAT-SAGG-G-KK
AWG 18 to 14
9
Connector
Open tool
J-FAT-OT-EXL (big size
side)
J-FAT-OT-EXL (small size
side)
Manufacturer
JST
J-FAT-OT-EXL (small size
side)
(2) Cable connection procedure
(a) Cable making
Refer to table 3.1 for stripped length of cable insulator. The appropriate stripped length of cables
depends on their type, etc. Set the length considering their status.
Insulator
Core
Stripped length
Twist strands slightly and straighten them as follows.
Loose and bent strands
3 - 11
Twist and straighten
the strands.
3. SIGNALS AND WIRING
You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following
ferrules and crimp terminal.
Wire size
AWG 16
AWG 14
Ferrule model (Phoenix contact)
For 1 wire
For 2 wires
AI1.5-10BK
AI2.5-10BU
AI-TWIN2×1.5-10BK
Crimping tool
(Phoenix contact)
CRIMPFOX-ZA3
(b) Inserting wire
Insert the open tool as follows and push down it to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the cable
insulator does not get caught by the spring.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.
The following shows a connection example of the CNP1 connector.
1) Push down the open tool.
3) Release the open tool to fix the wire.
2) Insert the wire.
3 - 12
3. SIGNALS AND WIRING
3.4 Connectors and pin assignment
POINT
The pin assignment of the connectors is as viewed from the cable connector
wiring section.
For the CN3 connector, securely connect the external conductor of the shielded
cable to the ground plate and fix it to the connector shell.
Screw
Cable
Screw
Ground plate
CN3
CN5 (USB connector)
Refer to section 11.4
1
2
DI2-C
CN2A
2
LG
4
6
THM2
MRR
1
P5
3
MR
8
4
10
LB-A
MXR
5
THM1
7
MX
CN8
For the STO I/O
signal connector,
refer to chapter 13.
CN1A
Connector for
SSCNET III cable
for previous servo
amplifier axis
CN1B
Connector for
SSCNET III cable
for next servo
amplifier axis
9
BAT
CN2B
2
LG
4
6
THM2
MRR
1
P5
3
MR
8
10
MXR
5
THM1
7
MX
9
BAT
CN2C (Note)
2
LG
4
6
THM2
MRR
1
P5
3
MR
8
THM1
7
MX
LB-B
8
DI2-A
10
EM2
12
MBR-A
3
LA-A
5
LA-B
7
DI1-A
9
DI3-A
11
CALM
13
MBR-C
10
MXR
5
6
DI1-C
9
CN4
(Battery connector)
Refer to section 11.3
BAT
The 3M make connector is shown.
The frames of the CN2A, CN2B, CN2C and CN3
connectors are connected to the protective earth
terminal in the servo amplifier.
Note. For the MR-J4 3-axis servo amplifier
3 - 13
14
15
DI3-C
17
LBR-A
19
LBR-B
21
DI2-B
23
DICOM
25
MBR-B
LG
16
LAR-A
18
LAR-B
20
DI1-B
22
DI3-B
24
CINP
26
DOCOM
3. SIGNALS AND WIRING
3.5 Signal (device) explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.
The pin numbers in the connector pin No. column are those in the initial status.
3.5.1 Input device
Device
Symbol
Connector
pin No.
I/O
division
Function and application
Turn off EM2 (open between commons) to decelerate the servo motor to a stop
with commands.
Turn EM2 on (short between commons) in the forced stop state to reset that
state.
Set [Pr. PA04] to "2 1 _ _" to disable EM2.
The following shows the setting of [Pr. PA04].
[Pr. PA04]
EM2/EM1
setting
Forced stop 2
Forced stop 1
EM2
EM1
00__
EM1
20__
EM2
01__
Not using
EM2 and
EM1
21__
Not using
EM2 and
EM1
(CN3-10)
Deceleration method
EM2 or EM1 is off
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.
MBR (Electromagnetic
brake interlock) turns off
without the forced stop
deceleration.
MBR (Electromagnetic
brake interlock) turns off
after the forced stop
deceleration.
EM2 and EM1 are mutually exclusive.
EM2 has the same device as EM1 in the torque control mode.
When using EM1, set [Pr. PA04] to "0 0 _ _" to enable EM1.
When EM1 is turned off (open between commons), the base circuit shuts off,
(CN3-10) and the dynamic brake operates to decelerate the servo motor to a stop.
The forced stop will be reset when EM1 is turned on (short between commons).
Set [Pr. PA04] to "0 1 _ _" to disable EM1.
DI1-A
CN3-7
DI2-A
CN3-8
DI3-A
CN3-9
DI1-B
CN3-20
DI2-B
CN3-21
DI3-B
CN3-22
DI1-C
CN3-1
DI2-C
CN3-2
DI3-C
CN3-15
Devices can be assigned for these devices with controller setting. For devices
that can be assigned, refer to the controller instruction manual. You can assign
the following devices with MR-J4 series compatible controllers (R_MTCPU,
Q17_DSCPU, RD77MS_, and QD77MS_)
DI1-A: FLS for A-axis (Upper stroke limit)
DI2-A: RLS for A-axis (Lower stroke limit)
DI3-A: DOG for A-axis (Proximity dog)
DI1-B: FLS for B-axis (Upper stroke limit)
DI2-B: RLS for B-axis (Lower stroke limit)
DI3-B: DOG for B-axis (Proximity dog)
DI1-C: FLS for C-axis (Upper stroke limit)
DI2-C: RLS for C-axis (Lower stroke limit)
DI3-C: DOG for C-axis (Proximity dog)
3 - 14
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
3. SIGNALS AND WIRING
3.5.2 Output device
(1) Output device pin
The following shows the output device pins and parameters for assigning devices.
Connector pin No.
CN3-12
CN3-25
CN3-13
CN3-11
CN3-24
Parameter
B-axis
A-axis
Initial device
C-axis
[Pr. PD07]
[Pr. PD07]
[Pr. PD09]
[Pr. PD08]
[Pr. PD07]
[Pr. PD09]
[Pr. PD08]
[Pr. PD09]
[Pr. PD08]
MBR-A
MBR-B
MBR-C
CALM
CINP
I/O division
Remark
DO-1
For A-axis
For B-axis
For C-axis (Note)
Common pin
Common pin
Note. The pin is not used for MR-J4 2-axis servo amplifiers.
(2) Output device explanations
POINT
Initial letter and last letter with hyphen in device symbols mean target axis. Refer
to the following table.
Symbol
(Note)
Target axis
C___
A/B/C
X___
A/B/C
_ _ _ -A
A-axis
Device for A-axis
_ _ _ -B
B-axis
Device for B-axis
_ _ _ -C
C-axis
Device for C-axis
Description
When all axes of A, B, and C meet a condition, the device
will be enabled (on or off).
When each axis of A, B, or C meet a condition, the device
will be enabled (on or off).
Note. _ _ _ differs depending on devices.
Device
AND electromagnetic
brake interlock
OR electromagnetic
brake interlock
Electromagnetic
brake interlock for Aaxis
Electromagnetic
brake interlock for Baxis
Electromagnetic
brake interlock for Caxis
AND malfunction
OR malfunction
Malfunction for A-axis
Malfunction for B-axis
Malfunction for C-axis
AND in-position
OR in-position
In-position for A-axis
In-position for B-axis
In-position for C-axis
Symbol
CMBR
Function and application
When using the device, set operation delay time of the electromagnetic brake in [Pr. PC02].
When a servo-off status or alarm occurs, MBR will turn off.
XMBR
MBR-A
MBR-B
MBR-C
CALM
XALM
ALM-A
ALM-B
ALM-C
CINP
XINP
INP-A
INP-B
INP-C
When the protective circuit is activated to shut off the base circuit, ALM will turn off.
When an alarm does not occur, ALM will turn on about 3 s after power-on.
When the number of droop pulses is in the preset in-position range, INP will turn on. The inposition range can be changed using [Pr. PA10]. When the in-position range is increased, INP may
be on during low-speed rotation.
The device cannot be used in the speed control mode, torque control mode, or continuous
operation to torque control mode.
3 - 15
3. SIGNALS AND WIRING
Device
Symbol
AND ready
OR ready
Common ready for Aaxis
Common ready for Baxis
Common ready for Caxis
AND speed reached
OR speed reached
Speed reached for Aaxis
CRD
XRD
RD-A
Speed reached for Baxis
Speed reached for Caxis
AND limiting speed
OR limiting speed
Limiting speed for Aaxis
Limiting speed for Baxis
Limiting speed for Caxis
AND zero speed
detection
OR zero speed
detection
Zero speed detection
for A-axis
Zero speed detection
for B-axis
Zero speed detection
for C-axis
Function and application
Enabling servo-on to make the servo amplifier ready to operate will turn on RD.
RD-B
RD-C
CSA
XSA
SA-A
SA will turn off during servo-off. When the servo motor speed reaches the following range, SA will
turn on.
Set speed ± ((Set speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or less, SA always turns on.
The device cannot be used in the position control mode and torque control mode.
SA-B
SA-C
CVLC
XVLC
VLC-A
When the speed reaches the speed limit value in the torque control mode, VLC will turn on. When
the servo is off, TLC will be turned off.
The device cannot be used in the position control mode and speed control mode.
VLC-B
VLC-C
CZSP
ZSP turns on when the servo motor speed is zero speed (50 r/min) or less. Zero speed can be
changed with [Pr. PC07].
XZSP
ZSP-A
Forward
rotation
direction
ZSP-B
ZSP-C
Servo motor
speed
Reverse
rotation
direction
ZSP
(Zero speed
detection)
AND limiting torque
OR limiting torque
Limiting torque for Aaxis
Limiting torque for Baxis
Limiting torque for Caxis
CTLC
XTLC
TLC-A
OFF level
70 r/min
ON level
50 r/min
1)
2)
3)
20 r/min
(Hysteresis width)
[Pr. PC07]
0 r/min
ON level
-50 r/min
OFF level
-70 r/min
[Pr. PC07]
4)
20 r/min
(Hysteresis width)
ON
OFF
ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)), and will turn off when the
servo motor is accelerated to 70 r/min again (at 2)).
ZSP will turn on when the servo motor is decelerated again to 50 r/min (at 3)), and will turn off
when the servo motor speed has reached -70 r/min (at 4)).
The range from the point when the servo motor speed has reached on level, and ZSP turns on, to
the point when it is accelerated again and has reached off level is called hysteresis width.
Hysteresis width is 20 r/min for this servo amplifier.
When you use a linear servo motor, [r/min] explained above will be [mm/s].
When the torque reaches the torque limit value during torque generation, TLC will turn on. When
the servo is off, TLC will be turned off.
This device cannot be used in the torque control mode.
TLC-B
TLC-C
3 - 16
3. SIGNALS AND WIRING
Device
Symbol
AND warning
OR warning
Warning for A-axis
Warning for B-axis
Warning for C-axis
AND battery warning
OR battery warning
Battery warning for Aaxis
Battery warning for Baxis
Battery warning for Caxis
AND variable gain
selection
OR variable gain
selection
Variable gain
selection for A-axis
Variable gain
selection for B-axis
Variable gain
selection for C-axis
AND absolute
position
undetermined
OR absolute position
undetermined
Absolute position
undetermined for Aaxis
Absolute position
undetermined for Baxis
Absolute position
undetermined for Caxis
AND during tough
drive
OR during tough drive
Tough drive for A-axis
Tough drive for B-axis
Tough drive for Caxis
AND during fully
closed loop control
OR during fully closed
loop control
During fully closed
loop control A-axis
During fully closed
loop control B-axis
During fully closed
loop control C-axis
CWNG
XWNG
WNG-A
WNG-B
WNG-C
CBWNG
XBWNG
BWNG-A
Function and application
When warning has occurred, WNG turns on. When a warning is not occurring, WNG will turn off
about 3 s after power-on.
BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has
occurred. When the battery warning is not occurring, BWNG will turn off about 3 s after power-on.
BWNG-B
BWNGC
CCDPS
CDPS will turn on during variable gain.
XCDPS
CDPS-A
CDPS-B
CDPS-C
CABSV
ABSV turns on when the absolute position is undetermined.
The device cannot be used in the speed control mode and torque control mode.
XABSV
ABSV-A
ABSV-B
ABSV-C
CMTTR
When a tough drive is enabled in [Pr. PA20], activating the instantaneous power failure tough drive
will turn on MTTR.
XMTTR
MTTR-A
MTTR-B
MTTR-C
CCLDS
CLDS turns on during fully closed loop control.
XCLDS
CLDS-A
CLDS-B
CLDS-C
3 - 17
3. SIGNALS AND WIRING
3.5.3 Output signal
Signal name
Symbol
Connector
Pin No.
Encoder A-phase
pulse A
(differential line
driver)
Encoder B-phase
pulse A
(differential line
driver)
Encoder A-phase
pulse B
(differential line
driver)
Encoder B-phase
pulse B
(differential line
driver)
LA-A
LAR-A
CN3-3
CN3-16
LB-A
LBR-A
CN3-4
CN3-17
LA-B
LAR-B
CN3-5
CN3-18
LB-B
LBR-B
CN3-6
CN3-19
Signal name
Symbol
Connector
Pin No.
Digital I/F power input
DICOM
CN3-23
Digital I/F common
DOCOM
CN3-26
LG
SD
CN3-14
Plate
Function and application
The encoder output pulses set in [Pr. PA15] and [Pr. PA16] are output in differential line
driver type.
In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder Aphase pulse by a phase angle of π/2.
The relation between rotation direction and phase difference of the A-phase and Bphase pulses can be changed with [Pr. PC03].
Output pulse specification, dividing ratio setting, and electronic gear setting can be
selected.
These signals cannot be used for MR-J4W3-_B.
3.5.4 Power supply
Control common
Shield
Function and application
Input 24 V DC (24 V DC ± 10% MR-J4W2-_B: 350 mA, MR-J4W3-_B: 450 mA) for I/O
interface. The power supply capacity changes depending on the number of I/O interface
points to be used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Common terminal for input device such as EM2 of the servo amplifier. This is separated
from LG.
For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of 24 V DC external power supply.
This is for encoder output pulses (differential line driver).
Connect the external conductor of the shielded wire.
3 - 18
3. SIGNALS AND WIRING
3.6 Forced stop deceleration function
POINT
When alarms not related to the forced stop function occur, control of motor
deceleration cannot be guaranteed. (Refer to section 8.1.)
When SSCNET III/H communication shut-off occurs, forced stop deceleration
will operate. (Refer to section 3.7 (3).)
In the torque control mode, the forced stop deceleration function is not available.
3.6.1 Forced stop deceleration function
When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.
During this sequence, the display shows [AL. E6 Servo forced stop warning].
During normal operation, do not use EM2 (Forced stop 2) to alternate stop and run. The servo amplifier life
may be shortened.
(1) Connection diagram
Servo amplifier
24 V DC
DICOM
(Note)
Forced stop 2
EM2
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
3 - 19
3. SIGNALS AND WIRING
(2) Timing chart
When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC24 Forced stop
deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed], base power is cut
and the dynamic brake activates. For MR-J4W_-B servo amplifiers, forced stop deceleration operates for
all axes.
EM2 (Forced stop 2)
ON
OFF (Enabled)
Ordinary
operation
Forced stop
deceleration
Dynamic brake
+
Electromagnetic brake
Rated speed
Servo motor
speed
Command
0 r/min
A-axis
Zero speed
([Pr. PC07])
Deceleration time
[Pr. PC24] (A-axis) (Note)
Base circuit
(Energy supply to
the servo motor)
ON
MBR-A
(Electromagnetic
brake interlock A)
ON
OFF
OFF (Enabled)
Ordinary
operation
Forced stop
deceleration
Dynamic brake
+
Electromagnetic brake
Rated speed
Servo motor
speed
B-axis
or
C-axis
Command
0 r/min
Deceleration time
[Pr. PC24] (B-axis) (Note)
Base circuit
(Energy supply to
the servo motor)
MBR-B or MBR-C
ON
OFF
ON
OFF (Enabled)
Note. To decelerate all axes of A, B, and C, set the same value to [Pr. PC24] for all axes.
3 - 20
Zero speed
([Pr. PC07])
3. SIGNALS AND WIRING
3.6.2 Base circuit shut-off delay time function
The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop
(EM2 goes off), alarm occurrence, or SSCNET III/H communication shut-off due to delay time of the
electromagnetic brake. Set the time from MBR (Electromagnetic brake interlock) off to base circuit shut-off
with [Pr. PC02].
(1) Timing chart
EM2 (Forced stop 2)
When EM2 (Forced stop 2) turns off or
an alarm occurs during driving, the
servo motor will decelerate based on
the deceleration time constant. MBR
(Electromagnetic brake interlock) will
turn off, and then after the delay time
set in [Pr. PC16], the servo amplifier
will be base circuit shut-off status.
ON
OFF (Enabled)
Servo motor
speed
0 r/min
A-axis
Base circuit
(Energy supply to
the servo motor)
ON
MBR-A
(Electromagnetic
brake interlock A)
ON
OFF
[Pr. PC02]
OFF (Enabled)
Servo motor
speed
0 r/min
B-axis
or
C-axis
C
Base circuit
(Energy supply to
the servo motor)
MBR-B or MBR-C
ON
OFF
[Pr. PC02]
ON
OFF (Enabled)
(2) Adjustment
While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay
time in [Pr. PC16], and set the value to approximately 1.5 times of the smallest delay time in which the
servo motor shaft does not freefall.
3 - 21
3. SIGNALS AND WIRING
3.6.3 Vertical axis freefall prevention function
The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the
following case.
When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the
base circuit shut-off delay time function avoid dropping axis at forced stop. However, the functions may not
avoid dropping axis a few μm due to the backlash of the servo motor electromagnetic brake.
The vertical axis freefall prevention function is enabled with the following conditions.
Other than "0" is set to [Pr. PC31 Vertical axis freefall prevention compensation amount].
EM2 (Forced stop 2) turned off, an alarm occurred, or SSCNETIII/H communication shut-off occurred
while the servo motor speed is zero speed or less.
The base circuit shut-off delay time function is enabled.
(1) Timing chart
EM2 (Forced stop 2)
ON
OFF (Enabled)
Travel
distance
Position
Base circuit
(Energy supply to
the servo motor)
ON
MBR
(Electromagnetic
brake interlock)
ON
Actual operation of
electromagnetic brake
OFF
Set the base circuit shut-off delay time. ([Pr. PC02])
OFF (Enabled)
Disabled
Enabled
(2) Adjustment
Set the freefall prevention compensation amount in [Pr. PC31].
While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off
delay time in [Pr. PC02] in accordance with the travel distance ([Pr. PC31). Adjust it considering the
freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.
3.6.4 Residual risks of the forced stop function (EM2)
(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms
occur.
(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking
distance until the servo motor stops will be longer than that of normal forced stop deceleration without
the dynamic brake.
(3) If STO is turned off during forced stop deceleration, [AL. 63 STO timing error] will occur.
3 - 22
3. SIGNALS AND WIRING
3.7 Alarm occurrence timing chart
CAUTION
When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting
operation.
When alarms are occurring in all axes of A, B, and C, shut off the main circuit
power supply. Not doing so may cause a fire when a regenerative transistor
malfunctions or the like may overheat the regenerative resistor.
POINT
In the torque control mode, the forced stop deceleration function is not available.
To deactivate the alarm, cycle the control circuit power or give the error reset or CPU reset command from
the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.
3.7.1 When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(1) When the forced stop deceleration function is enabled
When an all-axis stop alarm occur, all axes will be the operation status below. When a corresponding
axis stop alarm occurs, only the axis will be the operation status below. You can normally operate the
axis that any alarm is not occurring.
Alarm occurrence
(Note 1)
Model speed command 0
and equal to or less than
zero speed
Servo motor speed
0 r/min
Base circuit
(Energy supply to
the servo motor)
ON
CALM (AND malfunction)
(Note 2)
OFF
Servo amplifier
display
MBR
(Electromagnetic
brake interlock)
Command is not received.
No alarm
Alarm No.
ON
OFF
ON (no alarm)
OFF (alarm)
Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop
deceleration of the servo motor.
2. This is for when the electronic dynamic brake is enabled with [Pr. PF06] while a certain servo motor is
used. If the servo motor speed is 5 r/min or higher, the electronic dynamic brake will operate continuously
for the time period set in [Pr. PF12].
3 - 23
3. SIGNALS AND WIRING
(2) When the forced stop deceleration function is not enabled
When an all-axis stop alarm occur, all axes will be the operation status below. When a corresponding
axis stop alarm occurs, only the axis will be the operation status below. You can normally operate the
axis that any alarm is not occurring.
Alarm occurrence
Braking by the dynamic brake
Dynamic brake
+ Braking by the electromagnetic brake
Servo motor speed
0 r/min
Base circuit
(Energy supply to
the servo motor)
ON
OFF
Servo amplifier
display
MBR
(Electromagnetic
brake interlock)
CALM (AND malfunction)
No alarm
Alarm No.
Operation delay time of the electromagnetic brake
ON
OFF
ON (no alarm)
OFF (alarm)
(3) When SSCNET III/H communication shut-off occurs
When SSCNET III/H communication is broken, all axes will be the operation status below. The dynamic
brake may operate depending on the communication shut-off status.
SSCNET III/H communication
has broken.
(Note 1)
Model speed command 0
and equal to or less than
zero speed
Servo motor speed
0 r/min
Base circuit
(Energy supply to
the servo motor)
ON
Servo amplifier
display
MBR
(Electromagnetic
brake interlock)
CALM (AND malfunction)
(Note 2)
OFF
No alarm (d1 or E7)
AA
ON
OFF
ON (no alarm)
OFF (alarm)
Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop
deceleration of the servo motor.
2. This is for when the electronic dynamic brake is enabled with [Pr. PF06] while a certain servo motor is
used. If the servo motor speed is 5 r/min or higher, the electronic dynamic brake will operate continuously
for the time period set in [Pr. PF12].
3 - 24
3. SIGNALS AND WIRING
3.7.2 When you do not use the forced stop deceleration function
POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
The timing chart that shows the servo motor condition when an alarm or SSCNETIII/H communication shutoff occurs is the same as section 3.7.1 (2).
3 - 25
3. SIGNALS AND WIRING
3.8 Interfaces
3.8.1 Internal connection diagram
POINT
Refer to section 13.3.1 for the CN8 connector.
Servo amplifier
(Note 6)
24 V DC
CN3
(Note 6)
24 V DC
(Note 2)
CN3
26
DOCOM
12
MBR-A
DICOM
23
EM2
10
25
MBR-B
DI1-A
7
13
MBR-C
DI2-A
8
11 CALM
DI3-A
9
24
Approximately
5.6 kΩ
RA
(Note 2)
(Note 4)
RA
DI1-B 20
(Note 1)
CN3
3
16
4
17
5
18
6
19
14
DI2-B 21
DI3-B 22
DI1-C
1
DI2-C
2
Approximately
5.6 kΩ
DI3-C 15
LA-A
LAR-A
LB-A
(Note 5)
Differential line
driver output
(35 mA or less)
LBR-A
LA-B
LAR-B
LB-B
LBR-B
LG
A-axis servo motor
CN2A
7
8
3
4
2
CNP3A
2A
Isolated
Encoder
MX
MXR
MR
MRR
LG
PE
M
B-axis servo motor
USB
CN5
D2
D+
3
GND 5
CN2B
7
8
3
4
2
CNP3B
2A
Encoder
MX
MXR
MR
MRR
LG
PE
M
C-axis servo motor (Note 3)
CN2C
7
8
3
4
2
CNP3C
2A
3 - 26
Encoder
MX
MXR
MR
MRR
LG
PE
M
3. SIGNALS AND WIRING
Note 1. Signal can be assigned for these pins with the controller setting.
For contents of signals, refer to the instruction manual of the controller.
2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
3. For the MR-J4 3-axis servo amplifier
4. In the initial setting, CINP (AND in-position) is assigned to the pin. You can change devices of the pin with [Pr. PD08].
5. This signal cannot be used for MR-J4W3-_B.
6. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
3.8.2 Detailed description of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 3.5. Refer to this section and make connection with the external device.
(1) Digital input interface DI-1
This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink
(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink
input. Refer to section 3.8.3 for source input.
Servo amplifier
For transistor
Approximately
5 mA
TR
EM2
etc.
Approximately
5.6 k
Switch
DICOM
24 V DC ± 10%
MR-J4W2-_B: 350 mA
MR-J4W3-_B: 450 mA
VCES 1.0 V
ICEO 100 A
(2) Digital output interface DO-1
This is a circuit in which the collector of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow to the collector terminal.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A
maximum of 2.6 V voltage drop occurs in the servo amplifier.
The following shows a connection diagram for sink output. Refer to section 3.8.3 for source output.
Servo amplifier
CALM
etc.
Load
If polarity of diode is
reversed, servo amplifier
will malfunction.
DOCOM
(Note) 24 V DC ± 10%
MR-J4W2-_B: 350 mA
MR-J4W3-_B: 450 mA
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
3 - 27
3. SIGNALS AND WIRING
(3) Encoder output pulses DO-2 (differential line driver type)
(a) Interface
Maximum output current: 35 mA
Servo amplifier
Servo amplifier
LA-A/LA-B
(LB-A/LB-B)
LA-A/LA-B
(LB-A/LB-B)
Am26LS32 or equivalent
100 Ω
150 Ω
LAR-A/LAR-B
(LBR-A/LBR-B)
SD
LAR-A/LAR-B
(LBR-A/LBR-B)
LG
High-speed photocoupler
SD
(b) Output pulse
Servo motor CCW rotation
LA-A/LA-B
Time cycle (T) is determined by the settings of
[Pr. PA15], [Pr. PA16] and [Pr. PC03].
LAR-A/LAR-B
T
LB-A/LB-B
LBR-A/LBR-B
/2
3.8.3 Source I/O interfaces
In this servo amplifier, source type I/O interfaces can be used.
(1) Digital input interface DI-1
This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals from
source (open-collector) type transistor output, relay switch, etc.
Servo amplifier
For transistor
EM2
etc.
TR
Switch
Approximately
5.6 k
DICOM
Approximately
5 mA
VCES 1.0 V
ICEO 100 A
24 V DC ± 10%
MR-J4W2-_B: 350 mA
MR-J4W3-_B: 450 mA
3 - 28
3. SIGNALS AND WIRING
(2) Digital output interface DO-1
This is a circuit in which the emitter of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow from the output terminal to a load.
A maximum of 2.6 V voltage drop occurs in the servo amplifier.
Servo amplifier
CALM
etc.
Load
If polarity of diode is
reversed, servo amplifier
will malfunction.
DOCOM
(Note) 24 V DC ± 10%
MR-J4W2-_B: 350 mA
MR-J4W3-_B: 450 mA
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
3.9 SSCNET III cable connection
POINT
Do not look directly at the light generated from CN1A/CN1B connector of the
servo amplifier or the end of SSCNET III cable. The light can be a discomfort
when it enters the eye.
(1) SSCNET III cable connection
For the CN1A connector, connect the SSCNET III cable connected to a controller in host side or a servo
amplifier of the previous axis. For CN1B connector, connect SSCNET III cable connected to servo
amplifier of the next axis. For CN1B connector of the final axis, put a cap came with servo amplifier.
Servo amplifier
SSCNET III cable
Controller
The last servo amplifier
Servo amplifier
SSCNET III
cable
SSCNET III
cable
CN1A
CN1A
CN1B
CN1B
CN1A
Cap
3 - 29
CN1B
3. SIGNALS AND WIRING
(2) How to connect/disconnect cable
POINT
CN1A and CN1B connector are capped to protect light device inside connector
from dust. For this reason, do not remove the cap until just before connecting
the SSCNET III cable. Then, when removing SSCNET III cable, make sure to
put a cap.
Keep the cap for CN1A/CN1B connector and the tube for protecting optical cord
end of SSCNET III cable in a plastic bag with a slide fastener of SSCNET III
cable to prevent them from becoming dirty.
When asking repair of servo amplifier for some malfunctions, make sure to cap
CN1A and CN1B connector. When the connector is not put a cap, the light
device may be damaged at the transit. In this case, replacing and repairing the
light device is required.
(a) Connection
1) For SSCNET III cable in the shipping status, the tube for protect optical cord end is put on the
end of connector. Remove this tube.
2) Remove the CN1A and CN1B connector caps of the servo amplifier.
3) With holding a tab of SSCNET III cable connector, make sure to insert it into the CN1A and CN1B
connector of the servo amplifier until you hear the click. If the end face of optical cord tip is dirty,
optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a
bonded textile, etc. Do not use solvent such as alcohol.
Servo amplifier
Servo amplifier
Click
CN1A
CN1A
CN1B
CN1B
Tab
(b) Disconnection
With holding a tab of SSCNET III cable connector, pull out the connector.
When pulling out the SSCNET III cable from servo amplifier, be sure to put the cap on the connector
parts of servo amplifier to prevent it from becoming dirty. For SSCNET III cable, attach the tube for
protection optical cord's end face on the end of connector.
3 - 30
3. SIGNALS AND WIRING
3.10 Servo motor with an electromagnetic brake
3.10.1 Safety precautions
Configure an electromagnetic brake circuit which is interlocked with an external
emergency stop switch.
Contacts must be opened when CALM (AND malfunction)
or MBR (Electromagnetic brake interlock) turns off.
Contacts must be opened with the
emergency stop switch.
Servo motor
RA
B
U
24 V DC
Electromagnetic brake
CAUTION
The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
Do not use the 24 V DC interface power supply for the electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
Otherwise, it may cause a malfunction.
When using EM2 (Forced stop 2), use MBR (Electromagnetic brake interlock) for
operating the electromagnetic brake. Operating the electromagnetic brake without
using MBR during deceleration to a stop will saturate servo motor torques at the
maximum value due to brake torques of the electromagnetic brake and can result
in delay of the deceleration to a stop from a set value.
POINT
Refer to "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the
power supply capacity and operation delay time of the electromagnetic brake.
Refer to "Servo Motor Instruction Manual (Vol. 3)" or section 11.19 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.
3 - 31
3. SIGNALS AND WIRING
(1) Connection diagram
A-axis servo motor
(Note 2)
RA5
CALM
RA1
MBR-A
RA2
(Note 1)
24 V DC for electromagnetic brake
B1
U
B
B2
Servo amplifier
EM2
B-axis servo motor
24 V DC (Note 4)
24 V DC
(Note 4)
EM2
DOCOM
DICOM
CALM
RA1
MBR-A
RA2
MBR-B
RA3
MBR-C
RA4
MBR-B
RA3
B1
U
B
B2
(Note 3)
C-axis servo motor
MBR-C
RA4
B1
U
B
B2
Note 1.
2.
3.
4.
Do not use the 24 V DC interface power supply for the electromagnetic brake.
Create the circuit in order to shut off by interlocking with the emergency stop switch.
This connection is for the MR-J4 3-axis servo amplifier.
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.
(2) Setting
In [Pr. PC02 Electromagnetic brake sequence output], set the time delay (Tb) from MBR
(Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in section
3.10.2.
3 - 32
3. SIGNALS AND WIRING
3.10.2 Timing chart
(1) When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(a) Servo-on command (from controller) 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.
Tb [Pr. PC02 Electromagnetic brake sequence output]
Coasting
0 r/min
Servo motor speed
Approx. 95 ms
ON
Base circuit
MBR
(Electromagnetic
brake interlock)
OFF
(Note 1)
ON
Ready-on command
(from controller)
ON
Electromagnetic
brake
Operation delay time of
the electromagnetic brake
OFF
Servo-on command
(from controller)
Operation command
(from controller)
Approx. 95 ms
ON
OFF
OFF
(Note 3)
0 r/min
Release
Activate
Release delay time and external relay, etc. (Note 2)
Note 1. ON : Electromagnetic brake is not activated.
OFF: Electromagnetic brake 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. Give the operation command from the controller after the electromagnetic brake is released.
3 - 33
3. SIGNALS AND WIRING
(b) Off/on of the forced stop command (from controller) or EM2 (Forced stop 2)
When EM2 is turned off, all axes will be the operation status below.
POINT
In the torque control mode, the forced stop deceleration function is not available.
(Note 2)
Model speed command 0
and equal to or less than
zero speed
Servo motor speed
0 r/min
Base circuit
(Energy supply to
the servo motor)
ON
Forced stop command
(from controller) or
EM2 (Forced stop 2)
Disabled (ON)
MBR
(Electromagnetic
brake interlock)
ON
OFF
(Note 1)
CALM (AND malfunction)
Enabled (OFF)
OFF
ON (no alarm)
OFF (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.
(c) Alarm occurrence
The operation status during an alarm is the same as section 3.7.
(d) Both main and control circuit power supplies off
When both main and control circuit power supplies are turned off, all axes will be the operation
status below.
Approx. 10 ms
Servo motor speed
0 r/min
(Note 1)
ON
Base circuit
MBR
(Electromagnetic
brake interlock)
Dynamic brake
Dynamic brake
+ Electromagnetic brake
Electromagnetic brake
OFF
(Note 2)
Alarm
([AL. 10 Undervoltage])
ON
OFF
No alarm
Alarm
ON
Main circuit
Control circuit Power supply OFF
Note 1. Variable according to the operation status.
2. ON : Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 34
Operation delay time of
the electromagnetic brake
3. SIGNALS AND WIRING
(e) Main circuit power supply off during control circuit power supply on
When the main circuit power supply is turned off, all axes will be the operation status below.
POINT
In the torque control mode, the forced stop deceleration function is not available.
Servo motor speed
Main circuit power supply
Forced stop deceleration
Dynamic brake
Dynamic brake
The time until a voltage
+ Electromagnetic brake
drop is detected.
Electromagnetic brake
0 r/min
Approx. 10 ms
ON
Base circuit
(Energy supply to
the servo motor)
MBR
(Electromagnetic
brake interlock)
(Note 2)
OFF
ON
OFF
(Note 1)
CALM (AND malfunction)
ON
OFF
Operation delay time of
the electromagnetic brake
ON (no alarm)
OFF (alarm)
Note 1. ON : Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Variable according to the operation status.
(f) Ready-off command from controller
When ready-off is received, all axes will be the operation status below.
Approx. 10 ms
Servo motor speed
Dynamic brake
Dynamic brake
+ Electromagnetic brake
Electromagnetic brake
0 r/min
ON
Base circuit
MBR
(Electromagnetic
brake interlock)
Ready-on command
(from controller)
OFF
(Note)
ON
OFF
ON
OFF
Note. ON : Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 35
Operation delay time of
the electromagnetic brake
3. SIGNALS AND WIRING
(2) When you do not use the forced stop deceleration function
POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
(a) Servo-on command (from controller) on/off
It is the same as (1) (a) in this section.
(b) Off/on of the forced stop command (from controller) or EM1 (Forced stop)
When the controller forced stop warning is received from a controller or EM1 is turned off, all axes
will be the operation status below.
Dynamic brake
Dynamic brake
+ Electromagnetic brake Electromagnetic brake
has released.
Electromagnetic brake
Servo motor speed
0 r/min
Base circuit
MBR
(Electromagnetic
brake interlock)
Approx. 210 ms
Approx. 10 ms
ON
OFF
(Note)
Forced stop command
(from controller)
or
EM1 (Forced stop)
Operation delay time
of the electromagnetic
brake
ON
OFF
(ON) Disabled
(OFF) Enabled
Note. ON : Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(c) Alarm occurrence
The operation status during an alarm is the same as section 3.7.
(d) Both main and control circuit power supplies off
It is the same as (1) (d) in this section.
3 - 36
Approx. 210 ms
3. SIGNALS AND WIRING
(e) Main circuit power supply off during control circuit power supply on
When the main circuit power supply is turned off, all axes will be the operation status below.
Approx. 10 ms
Servo motor speed
0 r/min
(Note 1)
ON
Base circuit
MBR
(Electromagnetic
brake interlock)
Dynamic brake
Dynamic brake
+ Electromagnetic brake
Electromagnetic brake
OFF
(Note 2)
ON
OFF
Alarm
[AL. 10 Undervoltage]
No alarm
Main circuit
power supply
ON
Alarm
OFF
Note 1. Variable according to the operation status.
2. ON : Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(f) Ready-off command from controller
It is the same as (1) (f) in this section.
3 - 37
Operation delay time of
the electromagnetic brake
3. SIGNALS AND WIRING
3.11 Grounding
WARNING
Ground the servo amplifier and servo motor securely.
To prevent an electric shock, always connect the protective earth (PE) terminal
(marked ) of the servo amplifier to the protective earth (PE) of the cabinet.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt
and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to "EMC Installation Guidelines".
Cabinet
MCCB
Line filter
A-axis servo motor
CN2A
L1
Encoder
L2
CNP3A
U
CNP2
V
L11
W
L21
L3
Servo system
controller
(Note 1)
Power
supply
MC
Servo amplifier
CNP1
U
V
W
M
(Note 3)
B-axis servo motor
CN2B
Encoder
CNP3B
U
V
W
U
V
W
M
(Note 3)
C-axis servo motor
(Note 2)
CN2C
Encoder
CNP3C
U
V
W
U
V
W
M
(Note 3)
Protective earth (PE)
Outer box
Note 1. For power supply specifications, refer to section 1.3.
2. For the MR-J4 3-axis servo amplifier
3. Be sure to connect it to
of CNP3A, CNP3B, and CNP3C. Do not connect the wire directly to
the protective earth of the cabinet.
3 - 38
4. STARTUP
4. STARTUP
WARNING
Do not operate the switches with wet hands. Otherwise, it may cause an electric
shock.
CAUTION
Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot
while the power is on and for some time after power-off. Take safety measures
such as providing covers to avoid accidentally touching them by hands and parts
such as cables.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
POINT
When you use a linear servo motor, replace the following left words to the right
words.
Load to motor inertia ratio → Load to motor mass ratio
Torque
→ Thrust
(Servo motor) speed
→ (Linear servo motor) speed
4- 1
4. STARTUP
4.1 Switching power on for the first time
When switching power on for the first time, follow this section to make a startup.
4.1.1 Startup procedure
Wiring check
Surrounding environment check
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
Check whether the servo amplifier and servo motor are wired correctly using
visual inspection, DO forced output function (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.)
Confirm that the control axis No. set with the auxiliary axis number setting
switches (SW2-5 and SW2-6) and with the axis selection rotary switch
(SW1) match the control axis No. set with the servo system controller. (Refer
to section 4.3.1 (3).)
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 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 servo system controller.
Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
Actual operation
Stop
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/L21) of the servo amplifier should
satisfy the defined specifications. (Refer to section 1.3.)
(b) Connection of servo amplifier and servo motor
1) The CNP3A, CNP3B, or CNP3C connector should be connected to each A-axis, B-axis, or C-axis
servo motor. The servo amplifier power output (U/V/W) should match in phase with the servo
motor power input terminals (U/V/W).
Servo amplifier
A-axis servo motor
U
V
CNP3A
W
U
V
W
M
B-axis servo motor
U
V
W
U
V
CNP3B
W
M
C-axis servo motor
U
V
CNP3C
W
U
V
W
M
2) The power supplied to the servo amplifier should not be connected to the power outputs (U/V/W).
Otherwise, the servo amplifier and servo motor will fail.
Servo amplifier
L1
U
L2
V
L3
W
Servo motor
U
V
M
W
3) The grounding terminal of the servo motor should be connected to the PE terminal of the CNP3_
connector of the servo amplifier.
Servo amplifier
Servo motor
M
4) The CN2A, CN2B, or CN2C connector should be connected using encoder cables securely to
each A-axis, B-axis, or C-axis encoder of the servo motors.
4- 3
4. STARTUP
(c) When you use an option and auxiliary equipment
When you use a regenerative option
The regenerative option wire should be connected between P+ terminal and C terminal.
Twisted wires should be used. (Refer to section 11.2.4.)
(2) I/O signal wiring
(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN3 connector. You can use this function
to check the wiring. In this case, switch on the control circuit power supply only.
Refer to section 3.2 for details of I/O signal connection.
(b) 24 V DC or higher voltage is not applied to the pins of the CN3 connector.
(c) Plate and DOCOM of the CN3 connector is not shorted.
Servo amplifier
CN3
DOCOM
Plate
4.1.3 Surrounding environment
(1) Cable routing
(a) The wiring cables should not be stressed.
(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)
(c) The connector of the servo motor should not be stressed.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
4.2 Startup
POINT
The controller recognizes MR-J4 2-axis servo amplifiers as two servo amplifiers
and 3-axis servo amplifiers as three servo amplifiers. For this reason, select
"MR-J4-B" for each of the A-axis, the B-axis, and the C-axis. The following table
shows the servo amplifier settings in the controller when the MR-J4 multi-axis
servo amplifier is used.
Compatible controller
Motion controller
(R_MTCPU/Q17_DSCPU)
Simple motion module
(RD77MS_/QD77MS_)
Servo amplifier selection
Select "MR-J4-B" in the system setting screen.
Select "MR-J4-B" in "Servo series" [Pr. 100] of the servo
parameter.
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
4- 4
4. STARTUP
(1) Power on
When the main and control circuit power supplies are turned on, "b01" (for the first axis) appears on the
servo amplifier display.
When the absolute position detection system is used in a rotary servo motor, first power-on results in
[AL. 25 Absolute position erased] and the servo-on cannot be ready. The alarm can be deactivated by
then switching power off once and on again.
Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may
occur due to external force or the like. Power must therefore be switched on when the servo motor is at
a stop.
(2) Parameter setting
POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC04] to "1 _ _ _" to select the four-wire type. Incorrect
setting will result in [AL. 16 Encoder initial communication error 1].
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
details.
After setting the above parameters, switch power off as necessary. Then switch power on again to
enable the parameter values.
(3) Servo-on
Enable the servo-on with the following procedure.
(a) Switch on main circuit power supply and control circuit power supply.
(b) Transmit the servo-on command with the servo system controller.
When the servo-on status is enabled, the servo amplifier is ready to operate and the servo motor is
locked.
(4) Home position return
Always perform home position return before starting positioning operation.
4- 5
4. STARTUP
(5) Stop
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop.
Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command
Stopping condition
Servo-off command
Servo system
controller
Servo amplifier
The base circuit is shut off and the servo motor coasts.
The base circuit is shut off and the dynamic brake operates to
Ready-off command
bring the servo motor to a stop.
The servo motor decelerates to a stop with the command. [AL.
Forced stop command
E7 Controller forced stop warning] occurs.
The servo motor decelerates to a stop with the command. With
Alarm occurrence
some alarms, however, the dynamic brake operates to bring the
servo motor to a stop. (Refer to section 8. (Note))
The servo motor decelerates to a stop with the command. [AL.
EM2 (Forced stop 2) off E6 Servo forced stop warning] occurs. EM2 has the same device
as EM1 in the torque control mode. Refer to section 3.5 for EM1.
The base circuit is shut off and the dynamic brake operates to
STO (STO1, STO2) off
bring the servo motor to a stop.
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier
Instruction Manual (Troubleshooting)" for details of alarms and warnings.
4.3 Switch setting and display of the servo amplifier
Switching to the test operation mode, deactivating control axes, and setting control axis No. are enabled with
switches on the servo amplifier.
On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the
servo system controller at power-on, and the axis number, and diagnose a malfunction at occurrence of an
alarm.
4.3.1 Switches
WARNING
When switching the axis selection rotary switch (SW1) and auxiliary axis number
setting switch (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 control axis setting switches (SW2) enables an
operation mode for manufacturer setting and displays "off". The mode is not
available. Set the control axis 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.
4- 6
4. STARTUP
The following explains the test operation select switch, the disabling control axis switches, auxiliary axis
number setting switches, and the axis selection rotary switch.
3-digit, 7-segment LED
Control axis setting switch
(SW2)
Axis selection rotary switch
(SW1)
ON
1 2 3 4 5 6
MR-J4 2-axis servo amplifier
MR-J4 3-axis servo amplifier
ON
ON
1 2 3 4 5 6
1 2 3 4 5 6
Auxiliary axis number setting switch
For manufacturer setting
Disabling control axis switch
Test operation select switch
Auxiliary axis number setting switch
Disabling control axis switch
Test operation select switch
(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 for all axes. In the test operation mode, the functions such as JOG operation,
positioning operation, and machine analyzer are available with MR Configurator2. Before turning "ON
(up)" the test operation select switch, turn "OFF (down)" the disabling control axis switches.
MR-J4 2-axis servo amplifier
MR-J4 3-axis servo amplifier
ON
ON
1 2 3 4 5 6
1 2 3 4 5 6
Disabling control axis switch
Set to the "OFF (down)" position.
Test operation select switch
Set to the "ON (up)" position.
Disabling control axis switch
Set to the "OFF (down)" position.
Test operation select switch
Set to the "ON (up)" position.
(2) Disabling control axis switches (SW2-2, SW2-3, and SW2-4)
Turning "ON (up)" a disabling control axis switch disables the corresponding servo motor. The servo
motor will be disabled-axis status and will not be recognized by the controller. The following shows the
disabling control axis switches for each axis.
MR-J4 2-axis servo amplifier
MR-J4 3-axis servo amplifier
ON
ON
1 2 3 4 5 6
1 2 3 4 5 6
For manufacturer setting
Disabling control axis switch for B-axis
Disabling control axis switch for A-axis
Disabling control axis switch for C-axis
Disabling control axis switch for B-axis
Disabling control axis switch for A-axis
Disable the axis that you do not use. Set them from the last axis to the first axis in order. When only the
first axis is disabled, [AL. 11 Switch setting error] occurs. The following lists show the enabled axes that
the controller recognizes and the disabled axes that the controller do not recognize.
4- 7
4. STARTUP
MR-J4 2-axis servo amplifier
Disabling control
axis switch
ON
A-axis
B-axis
Enabled Enabled
1 2 3 4 5 6
ON
1 2 3 4 5 6
ON
1 2 3 4 5 6
Disabling control
axis switch
A-axis
B-axis
C-axis
Enabled Enabled Enabled
ON
1 2 3 4 5 6
Enabled Disabled
1 2 3 4 5 6
ON
MR-J4 3-axis servo amplifier
1 2 3 4 5 6
[AL. 11] occurs.
1 2 3 4 5 6
C-axis
ON
ON
[AL. 11] occurs.
ON
1 2 3 4 5 6
[AL. 11] occurs.
ON
B-axis
1 2 3 4 5 6
Enabled Disabled Disabled
ON
A-axis
1 2 3 4 5 6
Enabled Enabled Disabled
ON
Disabling control
axis switch
1 2 3 4 5 6
ON
1 2 3 4 5 6
(3) Switches for setting control axis No.
POINT
The control axis No. set to the auxiliary axis number setting switches (SW2-5
and SW2-6) and the axis selection rotary switch (SW1) should be the same as
the one set to the servo system controller. The number of the axes you can set
depends on the servo system controller.
For setting the axis selection 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 the test operation mode is selected with the test operation select switch
(SW2-1), the SSCNET III/H communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
You can set the control axis No. between 1 and 64 by using auxiliary axis number setting switches with
the axis selection rotary switch. (Refer to (3) (c) in this section.)
If the same numbers are set to different control axes in a single communication system, the system will
not operate properly. The control axes may be set independently of the SSCNET III cable connection
sequence. The following shows the description of each switch.
(a) Auxiliary axis number setting switches (SW2-5 and SW2-6)
Turning these switches "ON (up)" enables you to set the axis No. 17 or more.
(b) Axis selection rotary switch (SW1)
You can set the control axis No. between 1 and 64 by using auxiliary axis number setting switches
with the axis selection rotary switch. (Refer to (3) (c) in this section.)
Axis selection rotary switch (SW1)
7 8 9
2
B C D E
3 4 5 6
A
F 0 1
4- 8
4. STARTUP
(c) Switch combination list for the control axis No. setting
POINT
Set control axis Nos. for one system. For details of the control axis No., refer to
the servo system controller user's manual.
The following lists show the setting combinations of the auxiliary axis number setting switches and
the axis selection rotary switch.
1) MR-J4 2-axis servo amplifier
The control axis No. of A-axis is set as 1 to 63 and B-axis is set as 2 to 64.
Auxiliary axis number
setting switch
ON
1 2 3 4 5 6
Auxiliary axis number
setting switch
ON
1 2 3 4 5 6
Axis
selection
rotary
switch
Control axis
No.
ABaxis
axis
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Axis
selection
rotary
switch
Control axis
No.
ABaxis
axis
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
Auxiliary axis number
setting switch
ON
1 2 3 4 5 6
Auxiliary axis number
setting switch
ON
1 2 3 4 5 6
Axis
selection
rotary
switch
Control axis
No.
ABaxis
axis
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
Axis
selection
rotary
switch
Control axis
No.
ABaxis
axis
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
(Note)
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
Note. When B-axis is set as disabled-axis, A-axis is used as 64 axes. When B-axis is not set as nonaxis, [AL. 11 Switch setting error] occurs.
4- 9
4. STARTUP
2) MR-J4 3-axis servo amplifier
The control axis No. of A-axis is set as 1 to 62, B-axis is set as 2 to 63, and C-axis is set as 3 to
64.
Auxiliary axis number
setting switch
ON
1 2 3 4 5 6
Auxiliary axis number
setting switch
ON
1 2 3 4 5 6
Axis
selection
rotary
switch
Control axis No.
Aaxis
Baxis
Caxis
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Axis
selection
rotary
switch
Control axis No.
Aaxis
Baxis
Caxis
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Auxiliary axis number
setting switch
ON
1 2 3 4 5 6
Auxiliary axis number
setting switch
ON
1 2 3 4 5 6
Axis
selection
rotary
switch
Control axis No.
Aaxis
Baxis
Caxis
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
Axis
selection
rotary
switch
Control axis No.
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
49
50
50
51
51
52
52
53
53
54
54
55
55
56
56
57
57
58
58
59
59
60
60
61
61
62
62
63
(Note 1)
(Note 2)
Aaxis
Baxis
Caxis
51
52
53
54
55
56
57
58
59
60
61
62
63
64
Note 1. When C-axis is set as disabled-axis, A-axis is used as 63 axes and B-axis is used as 64-axes. When C-axis is
not set as disabled-axis, [AL. 11 Switch setting error] occurs.
2. When B-axis and C-axis are set as disabled-axes, A-axis is used as 64 axes. When B-axis and C-axis are not
set as disabled-axes, [AL. 11 Switch setting error] occurs.
4 - 10
4. STARTUP
4.3.2 Scrolling display
Displaying the status of each axis in rotation enables you to check the status of all axes.
(1) Normal display
When there is no alarm, the status of all axes are displayed in rotation.
After 1.6 s
After 0.2 s
After 1.6 s
After 0.2 s
After 1.6 s
After 0.2 s
After 1.6 s
MR-J4 2-axis
servo amplifier
A-axis status
Blank
B-axis status
Blank
A-axis status
Blank
B-axis status
Blank
After 0.2 s
After 1.6 s
After 0.2 s
After 1.6 s
After 0.2 s
After 1.6 s
After 0.2 s
After 1.6 s
MR-J4 3-axis
servo amplifier
A-axis status
Blank
B-axis status
Blank
C-axis status
Blank
Blank
After 0.2 s
Status
(1 digit)
Axis 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. 16 Encoder initial
communication error 1] is occurring at the A-axis, and [AL. 32 Overcurrent] is occurring at the B-axis
simultaneously.
After 0.8 s
After 0.8 s
After 0.2 s
After 0.8 s
After 0.8 s
MR-J4 2-axis
servo amplifier
A-axis status A-axis alarm
No.
Blank
B-axis status B-axis alarm
No.
Blank
After 0.2 s
Status
(1 digit)
Axis No.
(2 digits)
Alarm No. Alarm detail
(2 digits)
(1 digit)
"n": Indicates that an alarm is occurring.
4 - 11
4. STARTUP
4.3.3 Status display of an axis
(1) Display sequence
Servo amplifier power on
System check in progress
Waiting for servo system controller power to switch on
(SSCNET III/H communication)
Servo system controller power on
(SSCNET III/H communication begins)
Initial data communication with the
servo system controller
(initialization communication)
When an alarm No. or warning No. is displayed
(Note)
Ready-off and ready-off
Example: When [AL. 50 Overload 1]
occurs at axis No. 1
Blinking
Ready-on
After 0.8 s
Blinking
(Note)
Ready-on and servo-off
When alarm occurs, its
alarm code appears.
After 0.8 s
Blank
Servo-on
(Note)
Example: When [AL. E1 Overload warning 1]
occurs at axis No. 1
Blinking
Ready-on and servo-on
After 0.8 s
Blinking
Ordinary operation
After 0.8 s
Blank
Servo system controller power off
During a warning that does not cause
servo-off the decimal point on the third
digit LED shows the servo-on status.
Alarm reset or warning cleared
Servo system controller power on
Note.
The segment of the last 2 digits shows the axis number.
Axis Axis
No. 1 No. 2
Axis
No. 64
4 - 12
4. STARTUP
(2) Indication list
Indication
Status
Initializing
A b
A b
Initializing
.
Description
System check in progress
Power of the servo amplifier was switched on at the condition that the power of
the servo system controller is off.
The control axis No. set to the auxiliary axis number setting switches (SW2-5 and
SW2-6) and the axis selection rotary switch (SW1) do not match the one set to the
servo system controller.
A servo amplifier malfunctioned, or communication error occurred with the servo
system controller or the previous axis servo amplifier. In this case, the indication
changes as follows.
"Ab" → "AC" → "Ad" → "Ab"
The servo system controller is malfunctioning.
Initializing
During initial setting for communication specifications
AC
Initializing
Initial setting for communication specifications completed, and then it synchronized
with servo system controller.
A d
Initializing
During initial parameter setting communication with servo system controller
A E
Initializing
During the servo motor/encoder information and telecommunication with servo
system controller
A F
Initializing
During initial signal data communication with servo system controller
AH
Initializing completion
A A
Initializing standby
The process for initial data communication with the servo system controller is
completed.
The power supply of servo system controller is turned off during the power supply of
servo amplifier is on.
(Note 1) b # #
Ready-off
(Note 1) d # #
Servo-on
The ready off signal from the servo system controller was received.
(Note 1) C # #
Servo-off
The ready off signal from the servo system controller was received.
(Note 2) * * *
Alarm/warning
The alarm No. and the warning No. that occurred is displayed. (Refer to chapter 8.
(Note 4))
CPU error
CPU watchdog error has occurred.
(Note 3)
Test operation mode
JOG operation, positioning operation, program operation, output signal (DO) forced
output, or motor-less operation was set.
8 8 8
The ready off signal from the servo system controller was received.
(Note 1) b # #.
d # #.
C # #.
Note 1. The meanings of ## are listed below.
##
Description
01
to
64
Axis No. 1
to
Axis No. 64
2. *** indicates the alarm No. and the warning No. "A" in the third digit indicates the A-axis, "B" indicates the B-axis, and "C"
indicates the C-axis.
3. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
4 - 13
4. STARTUP
4.4 Test operation
Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.2 for the power on and off methods of the servo amplifier.
POINT
If necessary, verify controller program by using motor-less operation. Refer to
section 4.5.2 for the motor-less operation.
Test operation of the servo motor
alone in JOG operation of test
operation mode
In this step, confirm that the servo amplifier and servo motor operate
normally. With the servo motor disconnected from the machine, use the test
operation mode and check whether the servo motor rotates correctly. Refer
to section 4.5 for the test operation mode.
Test operation of the servo motor
alone by commands
In this step, confirm that the servo motor rotates correctly under the
commands from the controller.
Give a low speed command at first and check the rotation direction, etc. of
the servo motor. If the machine does not operate in the intended direction,
check the input signal.
Test operation with the servo motor
and machine connected
In this step, connect the servo motor with the machine and confirm that the
machine operates normally under the commands from the controller.
Give a low speed command at first and check the operation direction, etc. of
the machine. If the machine does not operate in the intended direction,
check the input signal.
Check any problems with the servo motor speed, load ratio, and other status
display items with MR Configurator2.
Then, check automatic operation with the program of the controller.
4.5 Test operation mode
CAUTION
The test operation mode is designed for checking servo operation. It is not for
checking machine operation. Do not use this mode with the machine. Always use
the servo motor alone.
If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.
POINT
The content described in this section indicates that the servo amplifier and a
personal computer are directly connected.
By using a personal computer and MR Configurator2, you can execute jog operation, positioning operation,
DO forced output program operation without connecting the servo system controller.
4 - 14
4. STARTUP
4.5.1 Test operation mode in MR Configurator2
POINT
All axes will be in the test operation mode for the multi-axis servo amplifier.
Although only one axis is active in the mode.
When the test operation mode is selected with the test operation select switch
(SW2-1), the SSCNET III/H communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
(1) Test operation mode
(a) Jog operation
Jog operation can be performed without using the servo system controller. Use this operation with
the forced stop reset. This operation may be used independently of whether the servo is on or off
and whether the servo system controller is connected or not.
Exercise control on the jog operation screen of MR Configurator2.
1) Operation pattern
Item
Default value
Setting range
Speed [r/min]
Acceleration/deceleration
time constant [ms]
200
0 to max. speed
1000
0 to 50000
2) Operation method
When the check box of "Rotation only while the CCW or CW button is being pushed." is
checked.
Operation
Screen control
Forward rotation start
Reverse rotation start
Stop
Forced stop
Keep pressing "Forward".
Keep pressing "Reverse".
Release "Forward" or "Reverse".
Click "Forced stop".
When the check box of "Rotation only while the CCW or CW button is being pushed." is not
checked.
Operation
Screen control
Forward rotation start
Reverse rotation start
Stop
Forced stop
Click "Forward".
Click "Reverse".
Click "Stop".
Click "Forced stop".
4 - 15
4. STARTUP
(b) Positioning operation
Positioning operation can be performed without using the servo system controller. Use this operation
with the forced stop reset. This operation may be used independently of whether the servo is on or
off and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of MR Configurator2.
1) Operation pattern
Item
Default value
Setting range
Travel distance [pulse]
Speed [r/min]
Acceleration/deceleration
time constant [ms]
4000
200
0 to 99999999
0 to max. speed
1000
0 to 50000
Repeat pattern
Fwd. rot. (CCW) to
rev. rot. (CW)
Dwell time [s]
Number of repeats [time]
2.0
1
Fwd. rot. (CCW) to rev. rot. (CW)
Fwd. rot. (CCW) to fwd. rot. (CCW)
Rev. rot. (CW) to fwd. rot. (CCW)
Rev. rot. (CW) to rev. rot. (CW)
0.1 to 50.0
1 to 9999
2) Operation method
Operation
Screen control
Forward rotation start
Reverse rotation start
Pause
Stop
Forced stop
Click "Forward".
Click "Reverse".
Click "Pause".
Click "Stop".
Click "Forced stop".
(c) Program operation
Positioning operation can be performed in two or more operation patterns combined, without using
the servo system controller. Use this operation with the forced stop reset. This operation may be
used independently of whether the servo is on or off and whether the servo system controller is
connected or not.
Exercise control on the program operation screen of MR Configurator2. For full information, refer to
the MR Configurator2 Installation Guide.
Operation
Screen control
Start
Pause
Stop
Forced stop
Click "Start".
Click "Pause".
Click "Stop".
Click "Forced stop".
(d) Output signal (DO) forced output
Output signals can be switched on/off forcibly independently of the servo status. Use this function for
output signal wiring check, etc. Exercise control on the DO forced output screen of MR
Configurator2.
4 - 16
4. STARTUP
(2) Operation procedure
1) Turn off the power.
2) Turn "ON (up)" SW2-1.
ON
ON
Set SW2-1 to "ON (up)".
1 2 3 4 5 6
1 2 3 4 5 6
Turning "ON (up)" SW2-1 during power-on will not start the test operation mode.
3) Turn on the servo amplifier.
When initialization is completed, the decimal point on the first digit will blink.
Example: MR-J4 2-axis servo amplifier
After 1.6 s
After 0.2 s
Blinking
After 1.6 s
Blinking
After 0.2 s
When an alarm or warning also occurs during the test operation, the decimal point will blink.
After 0.8 s
After 0.8 s
Blinking
Blinking
After 0.2 s
4) Start operation with the personal computer.
4.5.2 Motor-less operation in controller
POINT
Use motor-less operation which is available by making the servo system
controller parameter setting.
Connect the servo amplifier with the servo system controller before the motorless operation.
The motor-less operation is not used in the fully closed loop control mode, linear
servo motor control mode, and DD motor control mode.
4 - 17
4. STARTUP
(1) Motor-less operation
Without connecting a servo motor to servo amplifier, output signals or status displays can be provided in
response to the servo system controller commands as if the servo motor is actually running. This
operation may be used to check the servo system controller sequence. Use this operation with the
forced stop reset. Use this operation with the servo amplifier connected to the servo system controller.
To stop the motor-less operation, set the motor-less operation selection to "Disable" in the servo
parameter setting of the servo system controller. When the power supply is turned on next time, motorless operation will be disabled.
(a) Load conditions
Load item
Condition
Load torque
Load to motor inertia ratio
0
[Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]
(b) Alarms
The following alarms and warning do not occur. However, the other alarms and warnings occur as
when the servo motor is connected.
[AL. 16 Encoder initial communication error 1]
[AL. 1E Encoder initial communication error 2]
[AL. 1F Encoder initial communication error 3]
[AL. 20 Encoder normal communication error 1]
[AL. 21 Encoder normal communication error 2]
[AL. 25 Absolute position erased]
[AL. 92 Battery cable disconnection warning]
[AL. 9F Battery warning]
4 - 18
4. STARTUP
(2) Operation procedure
1) Set the servo amplifier to the servo-off status.
2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF (down: normal condition side)" the test operation mode
switch (SW2-1), and then turn on the power supply.
ON
ON
1 2 3 4 5 6
Set SW2-1 to "OFF (down)".
1 2 3 4 5 6
3) Start the motor-less operation with the servo system controller.
The display shows the following screen.
The decimal point blinks.
4 - 19
4. STARTUP
MEMO
4 - 20
5. PARAMETERS
5. PARAMETERS
CAUTION
Never make a drastic adjustment or change to the parameter values as doing so
will make the operation unstable.
Do not change the parameter settings as described below. Doing so may cause
an unexpected condition, such as failing to start up the servo amplifier.
Changing the values of the parameters for manufacturer setting
Setting a value out of the range
Changing the fixed values in the digits of a parameter
When you write parameters with the controller, make sure that the control axis
No. of the servo amplifier is set correctly. Otherwise, the parameter settings of
another axis may be written, possibly causing the servo amplifier to be an
unexpected condition.
POINT
The following parameters are not available with 200 W or more MR-J4W_-_B
servo amplifiers.
[Pr. PC09 Analog monitor 1 output]
[Pr. PC10 Analog monitor 2 output]
[Pr. PC11 Analog monitor 1 offset]
[Pr. PC12 Analog monitor 2 offset]
[Pr. PC13 Analog monitor - Feedback position output standard data - Low]
[Pr. PC14 Analog monitor - Feedback position output standard data - High]
The following parameters are not available with MR-J4W2-0303B6 servo
amplifiers.
[Pr. PA02 Regenerative option]
[Pr. PA17 Servo motor series setting]
[Pr. PA18 Servo motor type setting]
[Pr. PA22 Position control composition selection]
[Pr. PC20 Function selection C-7]
[Pr. PC27 Function selection C-9]
[Pr. PE01 Fully closed loop function selection 1]
[Pr. PE03 Fully closed loop function selection 2]
[Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 Numerator]
[Pr. PE05 Fully closed loop control - Feedback pulse electronic gear 1 Denominator]
[Pr. PE06 Fully closed loop control - Speed deviation error detection level]
[Pr. PE07 Fully closed loop control - Position deviation error detection level]
[Pr. PE08 Fully closed loop dual feedback filter]
[Pr. PE10 Fully closed loop function selection 3]
[Pr. PE34 Fully closed loop control - Feedback pulse electronic gear 2 Numerator]
[Pr. PE35 Fully closed loop control - Feedback pulse electronic gear 2 Denominator]
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used
with MR-J4W2-0303B6 servo amplifiers.
When you connect the amplifier to a servo system controller, servo parameter
values of the servo system controller will be written to each parameter.
Setting may not be made to some parameters and their ranges depending on
the servo system controller model, servo amplifier software version, and MR
Configurator2 software version. For details, refer to the servo system controller
user's manual.
5- 1
5. PARAMETERS
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.
How to set parameters
Each: Set parameters for each axis of A, B, and C.
Common: Set parameters for common axis of A, B, and C. Be sure to set the
same value to all axes.
The same values are set as default for all axes.
Abbreviations of operation modes indicate the followings.
Standard: Standard (semi closed loop system) use of the rotary servo motor
Full.: Fully closed loop system use of the rotary servo motor
Lin.: Linear servo motor use.
D.D.: Direct drive (D.D.) motor use.
For MR-J4W2-0306B6 servo amplifiers, the operation mode is available only in
standard (semi closed loop system).
Setting an out of range value to each parameter will trigger [AL. 37 Parameter
error].
5- 2
5. PARAMETERS
5.1.1 Basic setting parameters ([Pr. PA_ _ ])
**STY
**REG
*ABS
*AOP1
ATU
RSP
INP
*POL
*ENR
*ENR2
**MSR
**MTY
*BLK
*TDS
*AOP3
**PCS
DRAT
AOP4
OTHOV
Operation mode
Regenerative option
Absolute position detection system
Function selection A-1
For manufacturer setting
Auto tuning mode
Auto tuning response
In-position range
For manufacturer setting
Rotation direction selection/travel direction selection
Encoder output pulses
Encoder output pulses 2
Servo motor series setting
Servo motor type setting
Parameter writing inhibit
Tough drive setting
Function selection A-3
Position control composition selection
Drive recorder arbitrary alarm trigger setting
Function selection A-4
One-touch tuning - Overshoot permissible level
For manufacturer setting
5- 3
1000h
0000h
0000h
2000h
10000
1
1
0001h
16
1600
1000.0
1000.0
0000h
0
4000
1
0000h
0000h
00ABh
0000h
0001h
0000h
0000h
0000h
0
0000h
0000h
0000h
0000h
0000h
0000h
0000h
Unit
Each/
Common
Each
Common
Each
Common
[pulse]
[pulse/rev]
[%]
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
D.D.
PA01
PA02
PA03
PA04
PA05
PA06
PA07
PA08
PA09
PA10
PA11
PA12
PA13
PA14
PA15
PA16
PA17
PA18
PA19
PA20
PA21
PA22
PA23
PA24
PA25
PA26
PA27
PA28
PA29
PA30
PA31
PA32
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
5. PARAMETERS
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])
FILT
VRFT
PB03
PB04
PB05
PB06
PB07
PB08
PB09
PB10
PB11
PB12
PB13
PB14
PB15
PB16
PB17
PB18
PB19
PB20
PB21
PB22
PB23
PB24
PB25
PB26
PB27
TFBGN
FFC
PB28
PB29
CDT
GD2B
PB30
PB31
PB32
PB33
PG2B
VG2B
VICB
VRF11B
PB34
VRF12B
PB35
VRF13B
PB36
VRF14B
PB37
GD2
PG1
PG2
VG2
VIC
VDC
OVA
NH1
NHQ1
NH2
NHQ2
NHF
LPF
VRF11
VRF12
VRF13
VRF14
VFBF
*MVS
*BOP1
*CDP
CDL
Adaptive tuning mode (adaptive filter II)
Vibration suppression control tuning mode (advanced vibration
suppression control II)
Torque feedback loop gain
Feed forward gain
For manufacturer setting
Load to motor inertia ratio/load to motor mass ratio
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
Speed differential compensation
Overshoot amount compensation
Machine resonance suppression filter 1
Notch shape selection 1
Machine resonance suppression filter 2
Notch shape selection 2
Shaft resonance suppression filter
Low-pass filter setting
Vibration suppression control 1 - Vibration frequency
Vibration suppression control 1 - Resonance frequency
Vibration suppression control 1 - Vibration frequency damping
Vibration suppression control 1 - Resonance frequency damping
Low-pass filter selection
Slight vibration suppression control
Function selection B-1
Gain switching function
Gain switching condition
Gain switching time constant
Load to motor inertia ratio/load to motor mass ratio after gain
switching
Position loop gain after gain switching
Speed loop gain after gain switching
Speed integral compensation after gain switching
Vibration suppression control 1 - Vibration frequency after gain
switching
Vibration suppression control 1 - Resonance frequency after gain
switching
Vibration suppression control 1 - Vibration frequency damping
after gain switching
Vibration suppression control 1 - Resonance frequency damping
after gain switching
For manufacturer setting
0000h
0000h
18000
0
500
7.00
15.0
37.0
823
33.7
980
0
4500
0000h
4500
0000h
0000h
3141
100.0
100.0
0.00
0.00
0000h
0000h
0000h
0000h
10
Each/
Common
Each
Each
[rad/s]
[%]
Each
Each
[Multiplier]
[rad/s]
[rad/s]
[rad/s]
[ms]
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
[%]
[Hz]
[Hz]
[rad/s]
[Hz]
[Hz]
1
7.00
[kpulse/s]/
[pulse]/
[r/min]
[ms]
[Multiplier]
0.0
0
0.0
0.0
[rad/s]
[rad/s]
[ms]
[Hz]
Each
Each
Each
Each
0.0
[Hz]
Each
Each
Each
0.00
Each
0.00
Each
1600
PB38
0.00
PB39
0.00
PB40
0.00
PB41
0
PB42
0
5- 4
Unit
D.D.
PB01
PB02
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
5. PARAMETERS
PB43
PB44
PB45
PB46
PB47
PB48
PB49
PB50
PB51
PB52
PB53
PB54
PB55
PB56
CNHF
NH3
NHQ3
NH4
NHQ4
NH5
NHQ5
VRF21
VRF22
VRF23
VRF24
VRF21B
PB57
VRF22B
PB58
VRF23B
PB59
VRF24B
PB60
PB61
PB62
PB63
PB64
PG1B
For manufacturer setting
Command notch filter
Machine resonance suppression filter 3
Notch shape selection 3
Machine resonance suppression filter 4
Notch shape selection 4
Machine resonance suppression filter 5
Notch shape selection 5
Vibration suppression control 2 - Vibration frequency
Vibration suppression control 2 - Resonance frequency
Vibration suppression control 2 - Vibration frequency damping
Vibration suppression control 2 - Resonance frequency damping
Vibration suppression control 2 - Vibration frequency after gain
switching
Vibration suppression control 2 - Resonance frequency after gain
switching
Vibration suppression control 2 - Vibration frequency damping
after gain switching
Vibration suppression control 2 - Resonance frequency damping
after gain switching
Model loop gain after gain switching
For manufacturer setting
0000h
0.00
0000h
4500
0000h
4500
0000h
4500
0000h
100.0
100.0
0.00
0.00
0.0
0.0
Unit
Each/
Common
[Hz]
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
[Hz]
Each
[Hz]
[Hz]
[Hz]
[Hz]
[Hz]
0.00
Each
0.00
Each
0.0
0.0
0000h
0000h
0000h
[rad/s]
D.D.
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
Each
5.1.3 Extension setting parameters ([Pr. PC_ _ ])
ERZ
PC02
PC03
PC04
PC05
PC06
PC07
MBR
*ENRS
**COP1
**COP2
*COP3
ZSP
PC08
OSL
Error excessive alarm level
0
Electromagnetic brake sequence output
Encoder output pulse selection
Function selection C-1
Function selection C-2
Function selection C-3
Zero speed
0
0000h
0000h
0000h
0000h
50
Overspeed alarm detection level
0
5- 5
Unit
[rev]/
[mm]
[ms]
[r/min]/
[mm/s]
[r/min]/
[mm/s]
Each/
Common
Each
Each
Each
Each
Each
Each
Each
Each
D.D.
PC01
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
5. PARAMETERS
MOD1
MOD2
MO1
MO2
PC13
PC14
MOSDL
MOSDH
PC15
PC16
PC17
PC18
PC19
PC20
PC21
PC22
PC23
PC24
PC25
PC26
PC27
Analog monitor 1 output
Analog monitor 2 output
Analog monitor 1 offset
Analog monitor 2 offset
0000h
0001h
0
0
Analog monitor - Feedback position output standard data - Low
Analog monitor - Feedback position output standard data - High
For manufacturer setting
**COP4
*COP5
*COP7
*BPS
RSBR
**COP9
0
0
Function selection C-9
0
0000h
0000h
0000h
0000h
0000h
0000h
0
0000h
100
0
0000h
0000h
For manufacturer setting
Function selection C-B
For manufacturer setting
Vertical axis freefall prevention compensation amount
0000h
0000h
0
0
For manufacturer setting
0000h
0
100
0000h
0000h
0000h
0
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
Function selection C-4
Function selection C-5
For manufacturer setting
Function selection C-7
Alarm history clear
For manufacturer setting
Forced stop deceleration time constant
For manufacturer setting
Unit
Each/
Common
Common
Common
[mV]
[mV]
Common
[pulse]
[10000
pulses]
Each
Each
Common
Each
Common
Common
Each
[ms]
Each
Each
(Note)
PC28
PC29
PC30
PC31
PC32
PC33
PC34
PC35
PC36
PC37
PC38
PC39
PC40
PC41
PC42
PC43
PC44
PC45
PC46
PC47
PC48
PC49
PC50
PC51
PC52
PC53
PC54
PC55
*COPB
RSUP1
ERW
Error excessive warning level
For manufacturer setting
Each
[0.0001
rev]/
[0.01 mm]
Each
[rev]/[mm]
Each
Note. It is available when the scale measurement function is enabled ([Pr. PA22] is "1 _ _ _" or "2 _ _ _").
5- 6
D.D.
PC09
PC10
PC11
PC12
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
5. PARAMETERS
PC56
PC57
PC58
PC59
PC60
PC61
PC62
PC63
PC64
For manufacturer setting
Unit
Each/
Common
D.D.
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
5.1.4 I/O setting parameters ([Pr. PD_ _ ])
PD01
PD02
PD03
PD04
PD05
PD06
PD07
PD08
PD09
PD10
PD11
PD12
PD13
PD14
PD15
PD16
PD17
PD18
PD19
PD20
PD21
PD22
PD23
PD24
PD25
PD26
PD27
PD28
PD29
PD30
*DIA2
*DO1
*DO2
*DO3
*DIF
*DOP1
*DOP3
For manufacturer setting
Input signal automatic on selection 2
For manufacturer setting
0000h
0000h
0020h
0021h
0022h
0000h
0005h
0004h
0003h
0000h
0004h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0
0
0
0
0000h
0000h
0000h
0000h
0000h
0000h
0
Output device selection 1
Output device selection 2
Output device selection 3
For manufacturer setting
Input filter setting (Note)
Function selection D-1
For manufacturer setting
Function selection D-3
For manufacturer setting
5- 7
Unit
Each/
Common
Each
Each
Common
Common
Common
Each
Each
D.D.
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
5. PARAMETERS
PD31
PD32
PD33
PD34
PD35
PD36
PD37
PD38
PD39
PD40
PD41
PD42
PD43
PD44
PD45
PD46
PD47
PD48
For manufacturer setting
Unit
Each/
Common
D.D.
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
0
0
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
Note. Refer to the servo system controller instruction manual for the setting.
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])
**FCT1
PE05
**FBD
PE06
PE07
PE08
PE09
PE10
PE11
PE12
PE13
PE14
PE15
PE16
PE17
PE18
PE19
PE20
PE21
BC1
BC2
DUF
*FCT2
**FBN
FCT3
Fully closed loop function selection 1
For manufacturer setting
Fully closed loop function selection 2
Fully closed loop control - Feedback pulse electronic gear 1 Numerator
Fully closed loop control - Feedback pulse electronic gear 1 Denominator
Fully closed loop control - Speed deviation error detection level
Fully closed loop control - Position deviation error detection level
Fully closed loop dual feedback filter
For manufacturer setting
Fully closed loop function selection 3
For manufacturer setting
5- 8
Unit
Each/
Common
0000h
0000h
0003h
1
Each
1
Each
400
100
10
0000h
0000h
0000h
0000h
0000h
0111h
20
0000h
0000h
0000h
0000h
0000h
0000h
Each
Each
[r/min]
[kpulse]
[rad/s]
Each
Each
Each
Each
D.D.
PE01
PE02
PE03
PE04
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
5. PARAMETERS
PE22
PE23
PE24
PE25
PE26
PE27
PE28
PE29
PE30
PE31
PE32
PE33
PE34
**FBN2
PE35
**FBD2
PE36
PE37
PE38
PE39
PE40
PE41
PE42
PE43
PE44
PE45
PE46
PE47
PE48
PE49
PE50
PE51
PE52
PE53
PE54
PE55
PE56
PE57
PE58
PE59
PE60
PE61
PE62
PE63
PE64
For manufacturer setting
Fully closed loop control - Feedback pulse electronic gear 2 Numerator
Fully closed loop control - Feedback pulse electronic gear 2 Denominator
For manufacturer setting
EOP3
Function selection E-3
For manufacturer setting
TOF
Torque offset
For manufacturer setting
5- 9
Unit
Each/
Common
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
1
Each
1
Each
0.0
0.00
0.00
20
0000h
0000h
0
0.0
0
0
0
0
0000h
0
0
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0.00
0.00
0.00
0.00
Each
[0.01%]
Each
D.D.
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
5. PARAMETERS
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])
PF01
PF02
PF03
PF04
PF05
PF06
PF07
PF08
PF09
PF10
PF11
PF12
PF13
PF14
PF15
PF16
PF17
PF18
PF19
PF20
PF21
PF22
PF23
PF24
PF25
PF26
PF27
PF28
PF29
PF30
PF31
PF32
PF33
PF34
PF35
PF36
PF37
PF38
PF39
PF40
PF41
PF42
PF43
PF44
PF45
PF46
PF47
PF48
*FOP2
*FOP5
DBT
**STOD
DRT
OSCL1
*OSCL2
CVAT
FRIC
For manufacturer setting
Function selection F-2
For manufacturer setting
Function selection F-5
For manufacturer setting
Electronic dynamic brake operating time
For manufacturer setting
STO diagnosis error detection time
Drive recorder switching time setting
For manufacturer setting
Vibration tough drive - Oscillation detection level
Vibration tough drive function selection
SEMI-F47 function - Instantaneous power failure detection time
For manufacturer setting
Machine diagnosis function - Friction judgment speed
For manufacturer setting
0000h
0000h
0000h
0
0000h
0000h
0000h
0000h
0
0
0
2000
0000h
10
0000h
0000h
0000h
0
0000h
0000h
0
200
50
0000h
200
0
0
0
0000h
0
0
50
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0
0000h
0000h
0000h
0000h
5 - 10
Unit
Each/
Common
Common
Each
[ms]
Each
[s]
Common
[s]
Common
[%]
Each
Each
[ms]
Common
[r/min]/
[mm/s]
Each
D.D.
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
5. PARAMETERS
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
**LIT1
**LIM
**LID
*LIT2
LB1
PL06
LB2
PL07
PL08
PL09
PL10
PL11
PL12
PL13
PL14
PL15
PL16
PL17
LB3
*LIT3
LPWM
Torque/thrust deviation error detection level
Linear servo motor/DD motor function selection 3
Magnetic pole detection voltage level
For manufacturer setting
LTSTS
PL18
IDLV
Magnetic pole detection - Minute position detection method Function selection
Magnetic pole detection - Minute position detection method Identification signal amplitude
For manufacturer setting
Linear servo motor/DD motor function selection 1
Linear encoder resolution - Numerator
Linear encoder resolution - Denominator
Linear servo motor/DD motor function selection 2
Position deviation error detection level
Speed deviation error detection level
0301h
1000
1000
0003h
0
0
5 - 11
100
0010h
30
5
100
500
0000h
0
20
0
0000h
0
0
0
0
0
0000h
0
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
Unit
[µm]
[µm]
[mm]/
[0.01 rev]
[r/min]/
[mm/s]
[%]
[%]
Each/
Common
Each
Each
Each
Each
Each
Each
Each
Each
Each
Each
[%]
Each
D.D.
PL01
PL02
PL03
PL04
PL05
PL19
PL20
PL21
PL22
PL23
PL24
PL25
PL26
PL27
PL28
PL29
PL30
PL31
PL32
PL33
PL34
PL35
Name
Lin.
Symbol
Full.
Initial
value
No.
Standard
Operation
mode
5. PARAMETERS
PL36
For manufacturer setting
0000h
PL37
0000h
PL38
0000h
PL39
0000h
PL40
0000h
PL41
0000h
PL42
0000h
PL43
0000h
PL44
0000h
PL45
0000h
PL46
0000h
PL47
0000h
PL48
0000h
5 - 12
Unit
Each/
Common
D.D.
Initial
value
Name
Lin.
Symbol
Full.
No.
Standard
Operation
mode
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
PA01
**STY
Operation mode
Select an operation mode.
Setting
digit
___x
__x_
_x__
x___
PA02
**REG
Initial
value
[unit]
Name and function
Explanation
For manufacturer setting
Operation mode selection
0: Standard control mode
1: Fully closed loop control mode
4. Linear servo motor control mode
6: DD motor control mode
Setting other than above will result in [AL. 37 Parameter
error]. The fully closed loop system is available for the MRJ4W2-_B servo amplifiers of which software version is A3
or later. It will not be available with MR-J4W3-_B servo
amplifiers.
For MR-J4W2-0303B6 servo amplifiers, this digit cannot be
used other than the initial value.
For manufacturer setting
Compatibility mode selection
To change this digit, use an application software "MRJ4(W)-B mode selection". When you change it without the
application, [AL. 3E Operation mode error] will occur.
Set the digit as common setting.
0: J3 compatibility mode
1: J4 mode
__xx
_x__
x___
Explanation
Regenerative option selection
00: Regenerative option is not used. (Built-in regenerative
resistor is used.)
0B: MR-RB3N
0D: MR-RB14
0E: MR-RB34
For MR-J4W2-0303B6 servo amplifiers, this digit cannot be
used other than the initial value.
For manufacturer setting
5 - 13
Each/
Common
Refer to Name
and function
column.
Each
Refer to Name
and function
column.
Common
Initial
value
0h
0h
0h
1h
Regenerative option
Select a 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
Setting
range
Initial
value
00h
0h
0h
5. PARAMETERS
Initial
value
[unit]
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
___x
__x_
_x__
x___
PA04
*AOP1
x___
For manufacturer setting
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.
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
2h
Table 5.1 Deceleration method
EM2/EM1
00__
EM1
20__
EM2
Deceleration method
EM2 or EM1 is off
Alarm occurred
MBR (Electromagnetic
brake interlock) turns off
without the forced stop
deceleration.
MBR (Electromagnetic
brake interlock) turns off
after the forced stop
deceleration.
0 1 _ _ Not using
EM2 and
EM1
2 1 _ _ Not using
EM2 and
EM1
5 - 14
Each
Refer to Name
and function
column.
Common
0h
0h
0h
Initial
value
Explanation
Setting
value
Refer to Name
and function
column.
0h
Absolute position detection system selection
0: Disabled (used in incremental system)
1: Enabled (used in absolute position detection system)
For manufacturer setting
Function selection A-1
Select a forced stop input and forced stop deceleration function.
___x
__x_
_x__
Each/
Common
Initial
value
Explanation
Setting
digit
Setting
range
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. PARAMETERS
No.
Symbol
PA08
ATU
Initial
value
[unit]
Name and function
Auto tuning mode
Select a gain adjustment mode.
Setting
digit
___x
__x_
_x__
x___
Refer to Name
and function
column.
Explanation
Initial
value
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.
For manufacturer setting
1h
0h
0h
0h
Table 5.2 Gain adjustment mode selection
Setting
value
___0
___1
___2
___3
___4
Gain adjustment
mode
Setting
range
Automatically adjusted parameter
2 gain adjustment
[Pr. PB06 Load to motor inertia ratio/load to
mode 1 (interpolation motor mass ratio]
mode)
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
Auto tuning mode 1
[Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
Auto tuning mode 2
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
Manual mode
2 gain adjustment
[Pr. PB08 Position loop gain]
mode 2
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
5 - 15
Each/
Common
Each
5. PARAMETERS
No.
Symbol
PA09
RSP
Name and function
Auto tuning response
Set a response of the auto tuning.
Machine characteristic
Guideline for
Setting
machine
value Response
resonance
frequency [Hz]
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
PA10
INP
Low
response
Middle
response
Initial
value
[unit]
Setting
range
Each/
Common
16
1 to 40
Each
1600
[pulse]
0 to
65535
Each
Machine characteristic
Guideline for
Setting
machine
value Response
resonance
frequency [Hz]
2.7
3.6
4.9
6.6
10.0
11.3
12.7
14.3
16.1
18.1
20.4
23.0
25.9
29.2
32.9
37.0
41.7
47.0
52.9
59.6
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
In-position range
Set an in-position range per command pulse.
5 - 16
Middle
response
High
response
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
5. PARAMETERS
No.
Symbol
PA14
*POL
Name and function
Rotation direction selection/travel direction selection
Select a rotation direction or travel direction.
Setting
value
Initial
value
[unit]
Setting
range
Each/
Common
0
0 to 1
Each
4000
[pulse/
rev]
1 to
65535
Each
1
1 to
65535
Each
Servo motor rotation direction/linear servo motor travel direction
Positioning address increase
Positioning address decrease
0
1
CCW or positive direction
CW or negative direction
CW or negative direction
CCW or positive direction
The following shows the servo motor rotation directions.
Forward rotation (CCW)
Reverse rotation (CW)
The positive/negative directions of the linear servo motor are as follows.
Negative direction
Negative direction
Secondary side
Secondary side
Positive direction
Positive direction
Table
Primary side
Positive direction
Primary side
Negative direction
PA15
*ENR
PA16
*ENR2
Secondary side
Primary side
LM-H3 series
LM-U2 series
LM-K2 series
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)
Set a numerator of the electronic gear, for when selecting "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.
Encoder output pulses 2
Set a denominator of the electronic gear for the A/B-phase pulse output. Set a
denominator of the electronic gear, for when selecting "A-phase/B-phase pulse
electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.
PC03].
5 - 17
5. PARAMETERS
No.
Symbol
PA17
**MSR
Servo motor series setting
When using a linear servo motor, select any linear servo motor with [Pr. PA17] and
[Pr. PA18]. Set this and [Pr. PA18] at a time.
Refer to the following table for settings.
This digit is not available with the MR-J4W2-0303B6 servo amplifier.
Linear servo motor
series
LM-H3
LM-U2
LM-K2
PA18
**MTY
Initial
value
[unit]
Name and function
Linear servo motor
(primary side)
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P3D-48P-CSS0
LM-H3P7A-24P-ASS0
LM-H3P7B-48P-ASS0
LM-H3P7C-72P-ASS0
LM-H3P7D-96P-ASS0
LM-U2PAB-05M-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
LM-U2P2B-40M-2SS0
LM-U2P2C-60M-2SS0
LM-U2P2D-80M-2SS0
LM-K2P1A-01M-2SS1
LM-K2P1C-03M-2SS1
LM-K2P2A-02M-1SS1
LM-K2P2C-07M-1SS1
LM-K2P2E-12M-1SS1
LM-K2P3C-14M-1SS1
LM-K2P3E-24M-1SS1
Each/
Common
0000h
Refer to
Name
and
function
column.
Each
0000h
Refer to
Name
and
function
column
of [Pr.
PA17].
Each
Parameter
[Pr. PA17]
[Pr. PA18]
setting
setting
00BBh
00B4h
00B8h
2101h
3101h
3201h
3301h
3401h
7101h
7201h
7301h
7401h
A201h
A401h
A601h
B201h
B401h
2601h
2201h
2301h
2401h
1101h
1301h
2101h
2301h
2501h
3301h
3501h
Servo motor type setting
When using a linear servo motor, select any linear servo motor with [Pr. PA17] and
[Pr. PA18]. Set this and [Pr. PA17] at a time.
Refer to the table of [Pr. PA17] for settings.
This digit is not available with the MR-J4W2-0303B6 servo amplifier.
5 - 18
Setting
range
5. PARAMETERS
No.
Symbol
PA19
*BLK
Initial
value
[unit]
Name and function
Parameter writing inhibit
Select a reference range and writing range of the parameter.
Refer to table 5.3 for settings.
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with
MR-J4W2-0303B6 servo amplifiers.
Table 5.3 [Pr. PA19] setting value and reading/writing range
PA19
Setting
operation
PA
PB
PC
Other than Reading
below
Writing
Reading Only 19
000A
Writing Only 19
Reading
000B
Writing
Reading
000C
Writing
Reading
000F
Writing
Reading
00AA
Writing
00AB
Reading
(initial
Writing
value)
100B
100C
100F
10AA
10AB
Reading
Writing
Reading
Writing
Reading
Writing
Reading
Writing
Reading
Writing
Only 19
Only 19
Only 19
Only 19
Only 19
5 - 19
PD
PE
PF
PL
00ABh
Setting
range
Each/
Common
Refer to
Name
and
function
column.
Each
5. PARAMETERS
No.
Symbol
PA20
*TDS
Initial
value
[unit]
Name and function
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 CN3-11 to CN3-13, CN3-24, and
CN3-25 with [Pr. PD07] to [Pr. PD09]. For MR-J4W2-0303B6 servo amplifiers, MTTR
(during tough drive) cannot be assigned.
Setting
digit
___x
__x_
Explanation
For manufacturer setting
Vibration tough drive selection
0: Disabled
1: Enabled
Setting
range
Each/
Common
Refer to Name
and function
column.
Each
Refer to Name
and function
column.
Each
Initial
value
0h
0h
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].
_x__
x___
PA21
*AOP3
Refer to section 7.3 for details.
SEMI-F47 function selection
0: Disabled
1: Enabled
Selecting "1" enables to avoid generating [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].
A specified axis cannot be enabled for the instantaneous
power failure tough drive function.
For MR-J4W2-0303B6 servo amplifiers, this digit cannot be
used other than the initial value.
For manufacturer setting
0h
0h
Function selection A-3
Setting
digit
___x
__x_
_x__
x___
Explanation
One-touch tuning function selection
0: Disabled
1: Enabled
When the digit is "0", the one-touch tuning with MR
Configurator2 will be disabled.
For manufacturer setting
5 - 20
Initial
value
1h
0h
0h
0h
5. PARAMETERS
No.
Symbol
PA22
**PCS
Initial
value
[unit]
Name and function
Position control composition selection
Setting
digit
___x
__x_
_x__
x___
Explanation
For manufacturer setting
Scale measurement function selection
0: Disabled
1: Used in absolute position detection system
2: Used in incremental system
Initial
value
Setting
range
Each/
Common
Refer to Name
and function
column.
Each
Refer to Name
and function
column.
Common
0h
0h
0h
0h
The setting of this digit is enabled with software version A8
or later.
The absolute position detection system cannot be used
while an incremental type encoder is used. Enabling
absolute position detection system will trigger [AL. 37
Parameter error].
Additionally, the setting is enabled only in the standard
control mode. Setting other than "0" in other operation
modes triggers [AL. 37 Parameter error].
For MR-J4W2-0303B6 servo amplifiers, this digit cannot be
used other than the initial value.
PA23
DRAT
Drive recorder arbitrary alarm trigger setting
Setting
digit
__xx
xx__
Explanation
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", the drive recorder will operate
with any alarm No. regardless of detail numbers.
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.
Setting example:
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".
5 - 21
Initial
value
00h
00h
5. PARAMETERS
No.
Symbol
PA24
AOP4
Function selection A-4
Setting
digit
___x
__x_
_x__
x___
PA25
OTHOV
Initial
value
[unit]
Name and function
Explanation
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.
Before changing the control mode with the controller during
the 3 inertia mode or low response mode, stop the motor.
For manufacturer setting
Initial
value
Refer to Name
and function
column.
Each/
Common
Each
0h
0h
0h
0h
One-touch tuning - Overshoot permissible level
Set a permissible value of overshoot amount for one-touch tuning as a percentage of
the in-position range.
However, setting "0" will be 50%.
5 - 22
Setting
range
0
[%]
0
to
100
Each
5. PARAMETERS
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])
No.
Symbol
PB01
FILT
Adaptive tuning mode (adaptive filter II)
Set the adaptive tuning.
All axes cannot be simultaneously enabled for this function. Set for each axis to use.
Setting
digit
___x
__x_
_x__
x___
PB02
VRFT
___x
__x_
_x__
x___
TFBGN
PB04
FFC
Explanation
Filter tuning mode selection
Select the adjustment mode of the machine resonance
suppression filter 1. Refer to section 7.1.2 for details.
0: Disabled
1: Automatic setting
2: Manual setting
For manufacturer setting
Tuning accuracy selection
0: Standard
1: High accuracy
The frequency is estimated more accurately in the high
accuracy mode compared to the standard mode. However,
the tuning sound may be larger in the high accuracy mode.
This digit is available with servo amplifier with software
version C5 or later.
Explanation
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
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
For manufacturer setting
Each/
Common
Refer to Name
and function
column.
Each
Refer to Name
and function
column.
Each
0h
0h
0h
0h
Initial
value
0h
0h
0h
0h
Torque feedback loop gain
Set a torque feedback loop gain in the continuous operation to torque control mode.
Decreasing the setting value will also decrease a collision load during continuous
operation to torque control mode.
Setting a value less than 6 rad/s will be 6 rad/s.
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.
5 - 23
Setting
range
Initial
value
Vibration suppression control tuning mode (advanced vibration suppression control II)
This is used to set the vibration suppression control tuning. Refer to section 7.1.5 for
details.
All axes cannot be simultaneously enabled for this function. Set for each axis to use.
Setting
digit
PB03
Initial
value
[unit]
Name and function
18000
[rad/s]
0 to
18000
Each
0
[%]
0 to
100
Each
5. PARAMETERS
No.
Symbol
PB06
GD2
Name and function
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment mode 2)
PG1
Pr. PA08
PG2
Pr. PA08
VG2
PB10
VIC
0.00 to
300.00
Each
15.0
[rad/s]
1.0 to
2000.0
Each
37.0
[rad/s]
1.0 to
2000.0
Each
823
[rad/s]
20 to
65535
Each
33.7
[ms]
0.1 to
1000.0
Each
Automatic setting
Manual setting
This parameter
Automatic setting
Manual setting
Automatic setting
Position loop gain
Set a gain of the position loop.
Set this parameter to increase the position response to level load disturbance.
Increasing the setting value will also increase the response level to the load
disturbance but will be liable to generate vibration and noise.
The setting of the parameter will be the automatic setting or manual setting depending
on the [Pr. PA08] setting. Refer to the following table for details.
_ _ _ 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)
PB09
Each/
Common
This parameter
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 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.
_ _ _ 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)
PB08
Setting
range
Load to motor inertia ratio/load to motor mass ratio
7.00
[Multiplier]
Set a load to motor inertia ratio or load to motor mass ratio. Setting a value
considerably different from the actual load moment of inertia or load mass may cause
an unexpected operation such as an overshoot.
The setting of the parameter will be the automatic setting or manual setting depending
on the [Pr. PA08] setting. Refer to the following table for details. When the parameter
is automatic setting, the value will vary between 0.00 and 100.00.
Pr. PA08
PB07
Initial
value
[unit]
This parameter
Automatic setting
Manual setting
Automatic setting
Speed loop gain
Set a gain of the speed loop.
Set this parameter when vibration occurs on machines of low rigidity or large
backlash. Increasing the setting value will also increase the response level but will be
liable to generate vibration and noise.
The setting of the parameter will be the automatic setting or manual setting depending
on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
Speed integral compensation
Set an integral time constant of the speed loop.
Decreasing the setting value will increase the response level but will be liable to
generate vibration and noise.
The setting of the parameter will be the automatic setting or manual setting depending
on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
5 - 24
5. PARAMETERS
Initial
value
[unit]
No.
Symbol
Name and function
PB11
VDC
PB12
OVA
PB13
NH1
PB14
NHQ1
Speed differential compensation
Set a differential compensation.
To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID
switching control selection" in [Pr. PB24].
Overshoot amount compensation
Set a viscous friction torque or thrust to rated torque in percentage unit at servo motor
rated speed or linear servo motor rated speed.
When the response level is low or when the torque/thrust is limited, the efficiency of
the parameter may be lower.
Machine resonance suppression filter 1
Set the notch frequency of the machine resonance suppression filter 1.
When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
PB01], this parameter will be adjusted automatically by adaptive tuning.
When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01],
the setting value will be enabled.
Notch shape selection 1
Set the shape of the machine resonance suppression filter 1.
When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
PB01], this parameter will be adjusted automatically by adaptive tuning.
To enable the setting value, select the manual setting.
Setting
digit
___x
__x_
_x__
x___
PB15
NH2
PB16
NHQ2
Explanation
For manufacturer setting
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
For manufacturer setting
__x_
_x__
x___
Each/
Common
980
0 to
1000
Each
0
[%]
0 to
100
Each
4500
[Hz]
10 to
4500
Each
Refer to Name
and function
column.
Each
Initial
value
0h
0h
0h
0h
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].
Notch shape selection 2
Set the shape of the machine resonance suppression filter 2.
Setting
digit
___x
Setting
range
Explanation
Machine resonance suppression filter 2 selection
0: Disabled
1: Enabled
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
For manufacturer setting
5 - 25
4500
[Hz]
10 to
4500
Refer to Name
and function
column.
Initial
value
0h
0h
0h
0h
Each
Each
5. PARAMETERS
No.
Symbol
PB17
NHF
Initial
value
[unit]
Name and function
Setting
range
Shaft resonance suppression filter
Refer to Name
and function
Set a shaft resonance suppression filter.
column.
Use this 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. It will not automatically calculated for the
linear servo motor. When "Manual setting (_ _ _ 1)" is selected, the setting written to
the parameter is used.
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
__xx
_x__
x___
Initial
value
Explanation
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.
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
For manufacturer setting
Table 5.4 Shaft resonance suppression filter setting
frequency selection
Setting
value
Frequency [Hz]
Setting
value
Frequency [Hz]
__00
__01
__02
__03
__04
__05
__06
__07
__08
__09
__0A
__0B
__0C
__0D
__0E
__0F
Disabled
Disabled
4500
3000
2250
1800
1500
1285
1125
1000
900
818
750
692
642
600
__10
__11
__12
__13
__14
__15
__16
__17
__18
__19
__1A
__1B
__1C
__1D
__1E
__1F
562
529
500
473
450
428
409
391
375
360
346
333
321
310
300
290
5 - 26
00h
0h
0h
Each/
Common
Each
5. PARAMETERS
No.
Symbol
PB18
LPF
PB19
VRF11
PB20
VRF12
PB21
VRF13
PB22
VRF14
PB23
VFBF
Name and function
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_
__2_
Automatic setting
Setting value enabled
Setting value disabled
Vibration suppression control 1 - Vibration frequency
Set the vibration frequency for vibration suppression control 1 to suppress lowfrequency machine vibration.
When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual
setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Vibration suppression control 1 - Resonance frequency
Set the resonance frequency for vibration suppression control 1 to suppress lowfrequency machine vibration.
When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual
setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Vibration suppression control 1 - Vibration frequency damping
Set a damping of the vibration frequency for vibration suppression control 1 to
suppress low-frequency machine vibration.
When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual
setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Vibration suppression control 1 - Resonance frequency damping
Set a damping of the resonance frequency for vibration suppression control 1 to
suppress low-frequency machine vibration.
When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual
setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Low-pass filter selection
Select the shaft resonance suppression filter and low-pass filter.
Setting
digit
___x
__x_
_x__
x___
Explanation
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.
Low-pass filter selection
0: Automatic setting
1: Manual setting
2: Disabled
For manufacturer setting
5 - 27
Initial
value
0h
0h
0h
0h
Initial
value
[unit]
Setting
range
Each/
Common
3141
[rad/s]
100 to
18000
Each
100.0
[Hz]
0.1 to
300.0
Each
100.0
[Hz]
0.1 to
300.0
Each
0.00
0.00 to
0.30
Each
0.00
0.00 to
0.30
Each
Refer to Name
and function
column.
Each
5. PARAMETERS
No.
Symbol
PB24
*MVS
Slight vibration suppression control
Select the slight vibration suppression control and PI-PID switching control.
Setting
digit
___x
__x_
_x__
x___
PB25
*BOP1
Initial
value
[unit]
Name and function
Explanation
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]. Slight vibration suppression control
cannot be used in the speed control mode.
PI-PID switching control selection
0: PI control enabled
(Switching to PID control is possible with commands of
servo system controller.)
3: Continuous PID control enabled
If the servo motor at a stop is rotated even for a pulse due
to any external factor, it generates torque to compensate for
a position shift. When the servo motor shaft is to be locked
mechanically after positioning completion (stop), enabling
PID control and completing positioning simultaneously will
suppress the unnecessary torque generated to compensate
for a position shift.
For manufacturer setting
___x
__x_
_x__
x___
Explanation
Model adaptive control selection
0: Enabled (model adaptive control)
2: Disabled (PID control)
For manufacturer setting
5 - 28
Each/
Common
Refer to Name
and function
column.
Each
Refer to Name
and function
column.
Each
Initial
value
0h
0h
0h
0h
Function selection B-1
Select enabled/disabled of model adaptive control.
This parameter is supported with software version B4 or later.
Setting
digit
Setting
range
Initial
value
0h
0h
0h
0h
5. PARAMETERS
No.
Symbol
PB26
*CDP
Gain switching function
Select the gain switching condition.
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and
[Pr. PB56] to [Pr. PB60].
Setting
digit
___x
__x_
_x__
x___
PB27
CDL
PB28
CDT
PB29
GD2B
Initial
value
[unit]
Name and function
Explanation
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
Gain switching condition selection
0: Gain after switching is enabled with gain switching
condition or more
1: Gain after switching is enabled with gain switching
condition or less
Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Refer to section 7.2.4 for details.
This parameter is used by servo amplifier with software
version B4 or later.
For manufacturer setting
Refer to Name
and function
column.
Each/
Common
Each
Initial
value
0h
0h
0h
0h
Gain switching condition
Set a value of gain switching (command frequency, droop pulses, and servo motor
speed/linear servo motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to section
7.2.3)
The unit "r/min" will be "mm/s" for linear servo motors.
Gain switching time constant
Set the time constant until the gains switch in response to the conditions set in [Pr.
PB26] and [Pr. PB27].
Load to motor inertia ratio/load to motor mass ratio after gain switching
Set a load to motor inertia ratio/load to motor mass ratio for when gain switching is
enabled.
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
5 - 29
Setting
range
0 to
65535
Each
1
[ms]
0 to
100
Each
7.00
0.00 to
300.00
Each
10
[kpulse/s]
/[pulse]
/[r/min]
[Multiplier]
5. PARAMETERS
No.
Symbol
PB30
PG2B
PB31
VG2B
PB32
VICB
PB33
VRF11B
PB34
VRF12B
PB35
VRF13B
PB36
VRF14B
Name and function
Position loop gain after gain switching
Set the position loop gain when the gain switching is enabled.
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Speed loop gain after gain switching
Set the speed loop gain when the gain switching is enabled.
When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09].
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Speed integral compensation after gain switching
Set the speed integral compensation when the gain changing is enabled.
When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10].
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Vibration suppression control 1 - Vibration frequency after gain switching
Set the vibration frequency of the vibration suppression control 1 for when the gain
switching is enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19].
This parameter is enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
Vibration suppression control 1 - Resonance frequency after gain switching
Set the resonance frequency for vibration suppression control 1 when the gain
switching is enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB20].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
Vibration suppression control 1 - Vibration frequency damping after gain switching
Set a damping of the vibration frequency for vibration suppression control 1 when the
gain switching is enabled.
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
Vibration suppression control 1 - Resonance frequency damping after gain switching
Set a damping of the resonance frequency for vibration suppression control 1 when
the gain switching is enabled.
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
5 - 30
Initial
value
[unit]
Setting
range
Each/
Common
0.0
[rad/s]
0.0 to
2000.0
Each
0
[rad/s]
0
to
65535
Each
0.0
[ms]
0.0 to
5000.0
Each
0.0
[Hz]
0.0 to
300.0
Each
0.0
[Hz]
0.0 to
300.0
Each
0.00
0.00 to
0.30
Each
0.00
0.00 to
0.30
Each
5. PARAMETERS
No.
Symbol
PB45
CNHF
Initial
value
[unit]
Name and function
Command notch filter
Set the command notch filter.
Refer to Name
and function
column.
Setting
digit
__xx
_x__
x___
Setting
range
Initial
value
Explanation
Command notch filter setting frequency selection
Refer to table 5.5 for the relation of setting values to
frequency.
Notch depth selection
Refer to table 5.6 for details.
For manufacturer setting
00h
0h
0h
Table 5.5 Command notch filter setting frequency selection
Setting
value
Frequency
[Hz]
Setting
value
Frequency
[Hz]
Setting
value
Frequency
[Hz]
__00
__01
__02
__03
__04
__05
__06
__07
__08
__09
__0A
__0B
__0C
__0D
__0E
__0F
__10
__11
__12
__13
__14
__15
__16
__17
__18
__19
__1A
__1B
__1C
__1D
__1E
__1F
Disabled
2250
1125
750
562
450
375
321
281
250
225
204
187
173
160
150
140
132
125
118
112
107
102
97
93
90
86
83
80
77
75
72
__20
__21
__22
__23
__24
__25
__26
__27
__28
__29
__2A
__2B
__2C
__2D
__2E
__2F
__30
__31
__32
__33
__34
__35
__36
__37
__38
__39
__3A
__3B
__3C
__3D
__3E
__3F
70
66
62
59
56
53
51
48
46
45
43
41
40
38
37
36
35.2
33.1
31.3
29.6
28.1
26.8
25.6
24.5
23.4
22.5
21.6
20.8
20.1
19.4
18.8
18.2
__40
__41
__42
__43
__44
__45
__46
__47
__48
__49
__4A
__4B
__4C
__4D
__4E
__4F
__50
__51
__52
__53
__54
__55
__56
__57
__58
__59
__5A
__5B
__5C
__5D
__5E
__5F
17.6
16.5
15.6
14.8
14.1
13.4
12.8
12.2
11.7
11.3
10.8
10.4
10
9.7
9.4
9.1
8.8
8.3
7.8
7.4
7.0
6.7
6.4
6.1
5.9
5.6
5.4
5.2
5.0
4.9
4.7
4.5
5 - 31
Each/
Common
Each
5. PARAMETERS
No.
Symbol
PB45
CNHF
PB46
NH3
PB47
NHQ3
Setting value
Depth [dB]
Setting value
Depth [dB]
_0__
_1__
_2__
_3__
_4__
_5__
_6__
_7__
-40.0
-24.1
-18.1
-14.5
-12.0
-10.1
-8.5
-7.2
_8__
_9__
_A__
_B__
_C__
_D__
_E__
_F__
-6.0
-5.0
-4.1
-3.3
-2.5
-1.8
-1.2
-0.6
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].
Notch shape selection 3
Set the shape of the machine resonance suppression filter 3.
___x
__x_
_x__
x___
NH4
Explanation
Machine resonance suppression filter 3 selection
0: Disabled
1: Enabled
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
For manufacturer setting
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].
5 - 32
Setting
range
Refer to Name
and function
column.
Table 5.6 Notch depth selection
Setting
digit
PB48
Initial
value
[unit]
Name and function
4500
[Hz]
10 to
4500
Refer to Name
and function
column.
Each/
Common
Each
Each
Each
Initial
value
0h
0h
0h
0h
4500
[Hz]
10 to
4500
Each
5. PARAMETERS
No.
Symbol
PB49
NHQ4
Notch shape selection 4
Set the shape of the machine resonance suppression filter 4.
Setting
digit
___x
__x_
_x__
x___
PB50
NH5
PB51
NHQ5
___x
__x_
_x__
x___
VRF21
Explanation
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.
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
For manufacturer setting
Explanation
Machine resonance suppression filter 5 selection
0: Disabled
1: Enabled
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
For manufacturer setting
Each/
Common
Each
Initial
value
0h
0h
0h
0h
4500
[Hz]
10 to
4500
Refer to Name
and function
column.
Each
Each
Initial
value
0h
0h
0h
0h
Vibration suppression control 2 - Vibration frequency
Set the vibration frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual
setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
5 - 33
Setting
range
Refer to Name
and function
column.
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].
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
digit
PB52
Initial
value
[unit]
Name and function
100.0
[Hz]
0.1 to
300.0
Each
5. PARAMETERS
No.
Symbol
PB53
VRF22
PB54
PB55
PB56
PB57
Name and function
Vibration suppression control 2 - Resonance frequency
Set the resonance frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual
setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
VRF23 Vibration suppression control 2 - Vibration frequency damping
Set a damping of the vibration frequency for vibration suppression control 2 to
suppress low-frequency machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual
setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
VRF24 Vibration suppression control 2 - Resonance frequency damping
Set a damping of the resonance frequency for vibration suppression control 2 to
suppress low-frequency machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual
setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
VRF21B Vibration suppression control 2 - Vibration frequency after gain switching
Set the vibration frequency for vibration suppression control 2 when the gain switching
is enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB52].
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
selection" in [Pr. PA24].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
VRF22B Vibration suppression control 2 - Resonance frequency after gain switching
Set the resonance frequency for vibration suppression control 2 when the gain
switching is enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB53].
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
selection" in [Pr. PA24].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
5 - 34
Initial
value
[unit]
Setting
range
Each/
Common
100.0
[Hz]
0.1 to
300.0
Each
0.00
0.00 to
0.30
Each
0.00
0.00 to
0.30
Each
0.0
[Hz]
0.0 to
300.0
Each
0.0
[Hz]
0.0 to
300.0
Each
5. PARAMETERS
No.
PB58
PB59
PB60
Symbol
Name and function
VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching
Set a damping of the vibration frequency for vibration suppression control 2 when the
gain switching is enabled.
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
selection" in [Pr. PA24].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching
Set a damping of the resonance frequency for vibration suppression control 2 when
the gain switching is enabled.
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
selection" in [Pr. PA24].
This parameter will be enabled only when the following conditions are fulfilled.
PG1B
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
Model loop gain after gain switching
Set the model loop gain when the gain switching is enabled.
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
5 - 35
Initial
value
[unit]
Setting
range
Each/
Common
0.00
0.00 to
0.30
Each
0.00
0.00 to
0.30
Each
0.0
[rad/s]
0.0 to
2000.0
Each
5. PARAMETERS
5.2.3 Extension setting parameters ([Pr. PC_ _ ])
No.
Symbol
PC01
ERZ
Initial
value
[unit]
Name and function
Error excessive alarm level
Set an error excessive alarm level.
Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be 3
rev. Setting over 200 rev will be clamped with 200 rev.
Set this per mm for linear servo motors. Setting "0" will be 100 mm.
Setting
range
Each/
Common
0
[rev]/
[mm]
(Note)
0 to
1000
Each
0
[ms]
0 to
1000
Each
Note. Setting can be changed in [Pr. PC06].
PC02
MBR
PC03
*ENRS
Electromagnetic brake sequence output
Set a delay time between MBR (Electromagnetic brake interlock) and the base drive
circuit is shut-off.
Encoder output pulse selection
Select an encoder pulse direction and encoder output pulse setting. This parameter is
not available with C-axis.
Setting
digit
___x
Explanation
Encoder output pulse phase selection
0: Increasing A-phase 90° in CCW or positive direction
1: Increasing A-phase 90° in CW or negative direction
Setting
value
0
1
__x_
_x__
x___
Initial
value
0h
Servo motor rotation direction/
linear servo motor travel direction
CCW or positive
CW or negative
direction
direction
A-phase
A-phase
B-phase
B-phase
A-phase
A-phase
B-phase
B-phase
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/B-phase pulse electronic gear setting
For linear servo motors, selecting "0" will output as division
ratio setting because the output pulse setting is not
available.
Selection of the encoders for encoder output pulse
Select an encoder used the encoder output pulses which
the servo amplifier outputs.
0: Servo motor encoder
1: Load-side encoder
When "_ 1 0 _" is set to this parameter, [AL. 37
Parameter error] will occur.
Use [Pr. PA16] only in the fully closed loop system.
Selecting "1" in other than fully closed loop system or
standard control system (scale measurement function:
enabled) triggers [AL. 37 Parameter error].
For manufacturer setting
5 - 36
0h
0h
0h
Refer to Name
and function
column.
Each
5. PARAMETERS
No.
Symbol
PC04
**COP1
Function selection C-1
Select the encoder cable communication method selection.
Each/
Common
Each
Function selection C-2
Refer to Name
Set the motor-less operation, servo motor main circuit power supply, and [AL. 9B Error and function
column.
excessive warning]. The motor-less operation cannot be used in the fully closed loop
control mode, linear servo motor control mode, or DD motor control mode.
Each
___x
__x_
_x__
x___
**COP2
Setting
range
Refer to Name
and function
column.
Setting
digit
PC05
Initial
value
[unit]
Name and function
Setting
digit
___x
__x_
_x__
x___
Explanation
For manufacturer setting
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]. Or [AL. 20 Encoder initial
communication error 1] will occur. Setting "1" will trigger
[AL. 37] while "Fully closed loop control mode (_ _ 1 _)" is
selected in [Pr. PA01].
For MR-J4W2-0303B6 servo amplifiers, this digit cannot be
used other than the initial value.
Explanation
Motor-less operation selection
0: Disabled
1: Enabled
For manufacturer setting
Main circuit power supply selection
Select a voltage to be connected to the main circuit power
supply with an MR-J4W2-0303B6 servo amplifier.
0: 48 V DC
1: 24 V DC
When using 24 V DC for the main circuit power supply, set
"1" to this digit.
The setting of this digit in the J3 compatibility mode is the
same as the MR-J3W-0303BN6 servo amplifier. Set it with
[Pr. Po04]. For details, refer to "MR-J3W-0303BN6 MRJ3W-_B Servo Amplifier Instruction Manual".
This digit is not available with MR-J4W_-_B 200 W or more
servo amplifiers.
The characteristics of the servo motor vary depending on
whether 48 V DC or 24 V DC is used. For details, refer to
"Servo Motor Instruction Manual (Vol. 3)".
[AL. 9B Error excessive warning] selection
0: [AL. 9B Error excessive warning] is disabled.
1: [AL. 9B Error excessive warning] is enabled.
The setting of this digit is used by servo amplifier with
software version B4 or later.
5 - 37
Initial
value
0h
0h
0h
0h
Initial
value
0h
0h
0h
0h
5. PARAMETERS
No.
Symbol
PC06
*COP3
Function selection C-3
Select units for error excessive alarm level setting with [Pr. PC01] and for error
excessive warning level setting with [Pr. PC38]. The parameter is not available in the
speed control mode and torque control mode.
Setting
digit
___x
__x_
_x__
x___
PC07
ZSP
PC08
OSL
Initial
value
[unit]
Name and function
Explanation
For manufacturer setting
Error excessive alarm/error excessive warning level unit
selection
0: Per rev or mm
1: Per 0.1 rev or 0.1 mm
2: Per 0.01 rev or 0.01 mm
3: Per 0.001 rev or 0.001 mm
Refer to Name
and function
column.
Each/
Common
Each
Initial
value
0h
0h
0h
0h
Zero speed
Set an output range of ZSP (Zero speed detection).
ZSP (Zero speed detection) has hysteresis of 20 r/min or 20 mm/s.
Overspeed alarm detection level
Set an overspeed alarm detection level.
When you set a value more than "(linear) servo motor maximum speed × 120%", the
set value will be clamped.
When you set "0", the value of "(linear) servo motor maximum speed × 120%" will be
set.
5 - 38
Setting
range
50
[r/min]/
[mm/s]
0 to
10000
Each
0
[r/min]/
[mm/s]
0 to
20000
Each
5. PARAMETERS
Initial
value
[unit]
No.
Symbol
Name and function
PC09
MOD1
Analog monitor 1 output
Select a signal to output to MO1 (Analog monitor 1). Refer to section 18.3.7 (6) (c) for
detection point of output selection.
The parameter is available with MR-J4W2-0303B6 servo amplifiers.
Setting
digit
__xx
_x__
x___
Explanation
Analog monitor 1 output selection
Refer to table 5.7 for settings.
For manufacturer setting
Analog monitor 1 output axis selection
Select an output axis of Analog monitor 1.
0: A-axis
1: B-axis
Setting
range
Each/
Common
Refer to the Name
and function
column.
Common
Refer to the Name
and function
column.
Common
Initial
value
00h
0h
0h
Table 5.7 Analog monitor setting value
Setting
value
__00
__01
__02
__03
__04
__05
__06
__07
__08
__09
__0A
__0B
__0C
__0D
__0E
__17
Item
Servo motor speed (10 V ± 4 V/max. speed)
Torque (10 V ± 4 V/max. torque)
Servo motor speed (10 V + 4 V/max. speed)
Torque (10 V + 4 V/max. torque)
Current command (10 V ± 4 V/max. current command)
Speed command (10 V ± 4 V/max. speed)
Servo motor-side droop pulses (10 V ± 5 V/100 pulses) (Note)
Servo motor-side droop pulses (10 V ± 5 V/1000 pulses) (Note)
Servo motor-side droop pulses (10 V ± 5 V/10000 pulses) (Note)
Servo motor-side droop pulses (10 V ± 5 V/100000 pulses) (Note)
Feedback position (10 V ± 5 V/1 Mpulse) (Note)
Feedback position (10 V ± 5 V/10 Mpulses) (Note)
Feedback position (10 V ± 5 V/100 Mpulses) (Note)
Bus voltage (10 V + 5 V/100 V)
Speed command 2 (10 V ± 4 V/max. speed)
Internal temperature of encoder (10 V ± 5 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 18.3.7 (6) (c) for
detection point of output selection.
The parameter is available with MR-J4W2-0303B6 servo amplifiers.
Setting
digit
PC11
MO1
Explanation
Initial
value
__xx
Analog monitor 2 output selection
Refer to [Pr. PC09] for settings.
01h
_x__
x___
For manufacturer setting
Analog monitor 2 output axis selection
Select an output axis of Analog monitor 2.
0: A-axis
1: B-axis
0h
Analog monitor 1 offset
Set the offset voltage of MO1 (Analog monitor 1).
The parameter is available with MR-J4W2-0303B6 servo amplifiers.
5 - 39
0h
0
[mV]
-9999
to
9999
Common
5. PARAMETERS
No.
Symbol
PC12
MO2
PC13
MOSDL
PC14
MOSDH
PC17
**COP4
Analog monitor 2 offset
Set the offset voltage of MO2 (Analog monitor 2).
The parameter is available with MR-J4W2-0303B6 servo amplifiers.
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
The parameter is available with MR-J4W2-0303B6 servo amplifiers.
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
The parameter is available with MR-J4W2-0303B6 servo amplifiers.
Function selection C-4
Select a home position setting condition.
Setting
digit
___x
__x_
_x__
x___
PC18
*COP5
Initial
value
[unit]
Name and function
Explanation
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
Linear scale multipoint Z-phase input function selection
When two or more reference marks exist during the full
stroke of the linear encoder, set "1".
0: Disabled
1: Enabled
This parameter setting is used by servo amplifiers with
software version A5 or later.
For MR-J4W2-0303B6 servo amplifiers, this digit cannot be
used other than the initial value.
For manufacturer setting
Explanation
For manufacturer setting
[AL. E9 Main circuit off warning] selection
0: Detection with ready-on and servo-on command
1: Detection with servo-on command
5 - 40
Each/
Common
0
[mV]
-9999
to
9999
Common
0
[pulse]
-9999
to
9999
Each
0
[10000
pulses]
-9999
to
9999
Each
Refer to the Name
and function
column.
Each
Initial
value
0h
0h
0h
0h
Function selection C-5
Select an occurring condition of [AL. E9 Main circuit off warning].
Setting
digit
___x
__x_
_x__
x___
Setting
range
Refer to Name
and function
column.
Initial
value
0h
0h
0h
0h
Common
5. PARAMETERS
No.
Symbol
PC20
*COP7
Function selection C-7
Select the detection method of [AL. 10 Undervoltage].
Setting
digit
___x
__x_
_x__
x___
PC21
*BPS
Explanation
For manufacturer setting
Undervoltage alarm selection
Select the alarm/alarm and warning for when the bus
voltage drops to the undervoltage alarm level.
0: [AL. 10] regardless of servo motor speed
1: [AL. E9] at servo motor speed 50 r/min (50 mm/s) or
less, [AL. 10] at over 50 r/min (50 mm/s)
For manufacturer setting
___x
__x_
_x__
x___
RSBR
Alarm history clear selection
0: Disabled
1: Enabled
When "Enabled" is set, the alarm history will be cleared at
the next power-on. Once the alarm history is cleared, the
setting becomes disabled automatically.
For manufacturer setting
Refer to Name
and function
column.
Each
0h
0h
0h
Dynamic brake
deceleration
[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 of the controller. If a shorter time is set,
[AL. 52 Error excessive] may occur.
5 - 41
Common
0h
Servo motor speed
(Linear servo motor
speed)
0 r/min
(0 mm/s)
Refer to Name
and function
column.
0h
Forced stop deceleration time constant
Set a deceleration time constant when you use the forced stop deceleration function.
Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Setting "0" will be 100
ms.
Forced stop deceleration
Each/
Common
Initial
value
Explanation
Rated speed
Setting
range
Initial
value
0h
0h
0h
Alarm history clear
Used to clear the alarm history.
Setting
digit
PC24
Initial
value
[unit]
Name and function
100
[ms]
0 to
20000
Each
5. PARAMETERS
No.
Symbol
PC27
**COP9
Function selection C-9
Select a polarity of the linear encoder or load-side encoder.
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Setting
digit
___x
__x_
_x__
x___
PC29
*COPB
___x
__x_
_x__
x___
RSUP1
PC38
ERW
Explanation
Selection of encoder pulse count polarity
0: Encoder pulse increasing direction in the servo motor
CCW or positive direction
1: Encoder pulse decreasing direction in the servo motor
CCW or positive direction
For manufacturer setting
Explanation
For manufacturer setting
POL reflection selection at torque control
0: Enabled
1: Disabled
Each/
Common
Refer to Name
and function
column.
Each
Refer to Name
and function
column.
Each
0
[0.0001
rev]/
[0.01
mm]
-25000
to
25000
Each
0
[rev]/
[mm]
0
to
1000
Each
0h
0h
0h
0h
Initial
value
0h
0h
0h
0h
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 (linear) 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].
Error excessive warning level
Set an error excessive warning level.
To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive
warning] selection" in [Pr. PC05].
You can change the setting unit with "Error excessive alarm/error excessive warning
level unit selection" in [Pr. PC06].
Set this per rev. for rotary servo motors and direct drive motors. Set this per mm for
linear servo motors.
Setting "0" will be "1 rev" for rotary servo motors and direct drive motors. Setting over
200 rev will be clamped with 200 rev. It will be "50 mm" for linear servo motors.
When an error reaches the set value, [AL. 9B Error excessive warning] will occur.
When the error decreases lower than the set value, the warning will be canceled
automatically. The minimum pulse width of the warning signal is 100 [ms].
Set as follows.: [Pr. PC38 Error excessive warning level] < [Pr. PC01 Error excessive
alarm level] When you set as follows, [AL. 52 Error excessive] will occur earlier than
the warning.: [Pr. PC38 Error excessive warning level] ≥ [Pr. PC01 Error excessive
alarm level]
This parameter is used by servo amplifier with software version B4 or later.
5 - 42
Setting
range
Initial
value
Function selection C-B
Select the POL reflection at torque control.
Setting
digit
PC31
Initial
value
[unit]
Name and function
5. PARAMETERS
5.2.4 I/O setting parameters ([Pr. PD_ _ ])
No.
Symbol
PD02
*DIA2
Initial
value
[unit]
Name and function
Input signal automatic on selection 2
Setting digit
HEX.
BIN.
___x
___x
__x_
_x__
x___
__x_
_x__
x___
Explanation
Initial
value
FLS (Upper stroke limit) selection
0: Disabled
1: Enabled
RLS (Lower stroke limit) selection
0: Disabled
1: Enabled
For manufacturer setting
0h
For manufacturer setting
0h
0h
0h
Convert the setting value into hexadecimal as follows.
0 0 0
Initial value
BIN HEX
FLS (Upper stroke limit) selection
0
RLS (Lower stroke limit) selection
0
0
0
0
BIN 0: Disabled (Use for an external input signal.)
BIN 1: Automatic on
Signal name
When performing a magnetic pole detection without using FLS (Upper stroke limit)
and RLS (Lower stroke limit), you can disable FLS and RLS by setting [Pr. PL08
Linear servo motor/DD motor function selection 3] to "_ 1 _ _".
5 - 43
Setting
range
Refer to Name
and function
column.
Each/
Common
Each
5. PARAMETERS
No.
Symbol
PD07
*DO1
Initial
value
[unit]
Name and function
Output device selection 1
You can assign any output device to pins CN3-12, CN3-13, and CN3-25. In the initial
setting, the following devices are assigned to the pins.
CN3-12 pin: MBR-A (Electromagnetic brake interlock for A-axis)
CN3-13 pin: MBR-C (Electromagnetic brake interlock for C-axis)
CN3-25 pin: MBR-B (Electromagnetic brake interlock for B-axis)
Setting
digit
__xx
_x__
x___
Explanation
Device selection
Refer to table 5.8 for settings.
For manufacturer setting
Setting
range
Each/
Common
Refer to Name
and function
column.
Each
Refer to Name
and function
column.
Common
Initial
value
05h
0h
0h
Table 5.8 Selectable output devices
PD08
*DO2
Setting
value
Output device
__00
__02
__03
__04
__05
__07
__08
__09
__0A
__0C
__0F
__10
__11
__17
Always off
RD (Ready)
ALM (Malfunction)
INP (In-position)
MBR (Electromagnetic brake interlock)
TLC (Limiting torque)
WNG (Warning)
BWNG (Battery warning)
SA (Speed reached)
ZSP (Zero speed detection)
CDPS (Variable gain selection)
CLDS (During fully closed loop control)
ABSV (Absolute position undetermined)
MTTR (During tough drive)
Output device selection 2
You can assign any output device to the CN3-24 pin for each axis. CINP (AND inposition) is assigned to the all axes in the initial setting.
The devices that can be assigned and the setting method are the same as in [Pr.
PD07].
Setting
digit
__xx
_x__
x___
Explanation
Device selection
Refer to table 5.8 in [Pr. PD07] for settings.
All-axis output condition selection
0: AND output
When all axes of A, B, and C meet a condition, the
device will be enabled (on or off).
1: OR output
When each axis of A, B, or C meet a condition, the
device will be enabled (on or off).
The digit will be enabled when "All axes (0 _ _ _)" is
selected.
Output axis selection
0: All axes
1: A-axis
2: B-axis
3: C-axis
5 - 44
Initial
value
04h
0h
0h
5. PARAMETERS
No.
Symbol
PD09
*DO3
Output device selection 3
You can assign any output device to the CN3-11 pin for each axis. CALM (AND
malfunction) is assigned to the all axes in the initial setting.
The devices that can be assigned and the setting method are the same as in [Pr.
PD07].
Setting
digit
__xx
_x__
x___
PD11
*DIF
__x_
_x__
x___
*DOP1
Explanation
Device selection
Refer to table 5.8 in [Pr. PD07] for settings.
All-axis output condition selection
0: AND output
When all axes of A, B, and C meet a condition, the
device will be enabled (on or off).
1: OR output
When each axis of A, B, or C meet a condition, the
device will be enabled (on or off).
The digit will be enabled when "All axes (0 _ _ _)" is
selected.
Output axis selection
0: All axes
1: A-axis
2: B-axis
3: C-axis
Explanation
Input signal filter selection
Refer to the servo system controller instruction manual for
the setting.
If external input signal causes chattering due to noise, etc.,
input filter is used to suppress it.
0: None
1: 0.888 [ms]
2: 1.777 [ms]
3: 2.666 [ms]
4: 3.555 [ms]
For manufacturer setting
___x
__x_
_x__
x___
Explanation
For manufacturer setting
Servo motor or linear servo motor thermistor enabled/
disabled selection
(Supported by servo amplifiers with software version A5 or
later.)
0: Enabled
1: Disabled
For servo motors or linear servo motor without thermistor,
the setting will be disabled.
5 - 45
Each/
Common
Refer to Name
and function
column.
Common
Refer to Name
and function
column.
Common
Refer to Name
and function
column.
Each
03h
0h
0h
Initial
value
4h
0h
0h
0h
Function selection D-1
Setting
digit
Setting
range
Initial
value
Input filter setting
Select the input filter.
Setting
digit
___x
PD12
Initial
value
[unit]
Name and function
Initial
value
0h
0h
0h
0h
5. PARAMETERS
No.
Symbol
PD14
*DOP3
Initial
value
[unit]
Name and function
Function selection D-3
Setting
digit
___x
__x_
Explanation
For manufacturer setting
Selection of output device at warning occurrence
Select WNG (Warning) and ALM (Malfunction) output
status at warning occurrence.
Initial
value
0h
0h
Servo amplifier output
Setting
value
(Note 1) Device status
WNG
0
ALM
1
0
1
0
Warning occurrence
WNG
1
ALM
1
0
1
0
Warning occurrence (Note 2)
_x__
x___
Note 1. 0: Off
1: On
2. Although ALM is turned off upon occurrence of
the warning, the forced stop deceleration is
performed.
For manufacturer setting
5 - 46
0h
0h
Setting
range
Refer to Name
and function
column.
Each/
Common
Each
5. PARAMETERS
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])
No.
Symbol
PE01
**FCT1
Initial
value
[unit]
Name and function
Fully closed loop function selection 1
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Setting
digit
___x
Initial
value
Explanation
Fully closed loop function selection
0: Always enabled
1: Switching with the control command of controller
(switching semi./full.)
Switching with the control
command of controller
Control system
Off
On
Semi closed loop control
Fully closed loop control
Setting
range
Each/
Common
Refer to Name
and function
column.
Each
Refer to Name
and function
column.
Each
0h
To enable the digit, select "Fully closed loop control mode
(_ _ 1 _)" of "operation mode selection" in [Pr. PA01].
When "Absolute position detection system" is "Enabled (_ _
_ 1)" in [Pr. PA03], setting "1" will trigger [AL. 37 Parameter
error].
__x_
_x__
x___
PE03
*FCT2
__x_
_x__
x___
**FBN
PE05
**FBD
PE06
BC1
0h
0h
0h
Fully closed loop function selection 2
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Setting
digit
___x
PE04
For manufacturer setting
Explanation
Fully closed loop control error detection function selection
0: Disabled
1: Speed deviation error detection
2: Position deviation error detection
3: Speed deviation error/position deviation error detection
Position deviation error detection system selection
0: Continuous detection system
1: Detection system at stop (detected with command set to
"0")
For manufacturer setting
Fully closed loop control error reset selection
0: Reset disabled (reset by powering off/on enabled)
1: Reset enabled
Initial
value
3h
0h
0h
0h
Fully closed loop control - Feedback pulse electronic gear 1 - Numerator
Set a numerator of electronic gear for the servo motor encoder pulse at the fully
closed loop control.
Set the electronic gear so that the number of servo motor encoder pulses for one
servo motor revolution is converted to the resolution of the load-side encoder.
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Fully closed loop control - Feedback pulse electronic gear 1 - Denominator
Set a denominator of electronic gear for the servo motor encoder pulse at the fully
closed loop control.
Set the electronic gear so that the number of servo motor encoder pulses for one
servo motor revolution is converted to the resolution of the load-side encoder.
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Fully closed loop control - Speed deviation error detection level
Set [AL. 42.9 Fully closed loop control error by speed deviation] of.
When the speed deviation between the servo motor encoder and load-side encoder
becomes larger than the setting value, the alarm will occur.
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
5 - 47
1
1 to
65535
Each
1
1 to
65535
Each
400
[r/min]
1 to
50000
Each
5. PARAMETERS
No.
Symbol
Name and function
PE07
BC2
PE08
DUF
PE10
FCT3
Fully closed loop control - Position deviation error detection level
Set [AL. 42.8 Fully closed loop control error by position deviation] of the fully closed
loop control error detection.
When the position deviation between the servo motor encoder and load-side encoder
becomes larger than the setting value, the alarm will occur.
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Fully closed loop dual feedback filter
Set a dual feedback filter band.
Refer to section 16.3.1 (6) for details.
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Fully closed loop function selection 3
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Setting
digit
___x
__x_
_x__
x___
PE34
**FBN2
PE35
**FBD2
PE41
EOP3
Explanation
For manufacturer setting
Fully closed loop control - Position deviation error detection
level - Unit selection
0: 1 kpulse unit
1: 1 pulse unit
Droop pulse monitor selection for controller display
0: Servo motor encoder
1: Load-side encoder
2: Deviation between the servo motor and load side
Cumulative feedback pulses monitor selection for controller
display
0: Servo motor encoder
1: Load-side encoder
The setting of this digit is used for the fully closed loop
system and scale measurement function.
___x
__x_
_x__
x___
Explanation
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.
For manufacturer setting
5 - 48
Setting
range
Each/
Common
100
[kpulse]
1 to
20000
Each
[rad/s]
0 to
4500
Each
Refer to Name
and function
column.
Each
Initial
value
0h
0h
0h
0h
Fully closed loop control - Feedback pulse electronic gear 2 - Numerator
Set a numerator of electronic gear for the servo motor encoder pulse at the fully
closed loop control.
Set the electronic gear so that the number of servo motor encoder pulses for one
servo motor revolution is converted to the resolution of the load-side encoder.
Refer to section 16.3.1 (4) for details.
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Fully closed loop control - Feedback pulse electronic gear 2 - Denominator
Set a denominator of electronic gear for the servo motor encoder pulse at the fully
closed loop control.
Set the electronic gear so that the number of servo motor encoder pulses for one
servo motor revolution is converted to the resolution of the load-side encoder.
Refer to section 16.3.1 (4) for details.
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Function selection E-3
Setting
digit
Initial
value
[unit]
Initial
value
0h
0h
0h
0h
1
1 to
65535
Each
1
1 to
65535
Each
Refer to Name
and function
column.
Each
5. PARAMETERS
Initial
value
[unit]
No.
Symbol
Name and function
PE47
TOF
Torque offset
Set this when canceling unbalanced torque of vertical axis. Set this assuming the
rated torque of the servo motor as 100%. The torque offset does not need to be set for
a machine not generating unbalanced torque. The torque offset cannot be used for
linear servo motors and direct drive motors. Set 0.00%.
The torque offset set with this parameter will be enabled in the position control mode,
speed control mode, and torque control mode. Input commands assuming torque
offset for the torque control mode.
This parameter is supported with software version B4 or later.
0
[0.01%]
Setting
range
Each/
Common
-10000
to
10000
Each
Setting
range
Each/
Common
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])
No.
Symbol
PF02
*FOP2
Function selection F-2
Set targets of [AL. EB The other axis error warning].
Setting
digit
___x
__x_
_x__
x___
PF06
*FOP5
Explanation
Target alarm selection of the other axis error warning
Select target alarms of the other axis error warning.
0: [AL. 24 Main circuit error] and [AL. 32 Overcurrent]
1: All alarms
For alarms occurring at all axes, [AL. EB The other axis
error warning] will not occur regardless of alarm No.
For manufacturer setting
___x
Explanation
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
HG-KR
HG-MR
HG-SR
HG-AK
__x_
_x__
x___
DBT
Initial
value
Refer to Name
and function
column.
Common
Refer to Name
and function
column.
Each
0h
0h
0h
0h
Function selection F-5
Setting
digit
PF12
Initial
value
[unit]
Name and function
Initial
value
0h
Servo motor
HG-KR053/HG-KR13/HG-KR23/HGKR43
HG-MR053/HG-MR13/HG-MR23/HGMR43
HG-SR51/HG-SR52
HG-AK0136/HG-AK0236/HG-AK0336
For manufacturer setting
0h
0h
0h
Electronic dynamic brake operating time
Set an operating time for the electronic dynamic brake.
5 - 49
2000
[ms]
0
to
10000
Each
5. PARAMETERS
No.
Symbol
Name and function
PF18
**STOD
STO diagnosis error detection time
Set the time from when an error occurs in the STO input signal or STO circuit until the
detection of [AL. 68.1 Mismatched STO signal error].
When 0 s is set, the detection of [AL. 68.1 Mismatched STO signal error] is not
performed.
Initial
value
[unit]
Setting
range
Each/
Common
0
[s]
0 to
60
Common
0
[s]
-1 to
32767
Common
50
[%]
0 to
100
Each
The following shows safety levels at the time of parameter setting.
Setting
value
0
STO input diagnosis by
TOFB output
Execute
Not execute
Execute
1 to 60
Not execute
PF21
DRT
PF23
OSCL1
PF24
*OSCL2
Safety level
EN ISO 13849-1 category 3 PL d, IEC
61508 SIL 2, and EN 62061 SIL CL2
EN ISO 13849-1 category 3 PL e, IEC
61508 SIL 3, and EN 62061 SIL CL3
EN ISO 13849-1 category 3 PL d, IEC
61508 SIL 2, and EN 62061 SIL CL2
When the short-circuit connector is connected to the CN8 connector, set "0" in the
parameter.
This parameter is available with servo amplifiers with software version C1 or later.
Drive recorder switching time setting
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 seconds.
When "-1" is set, the drive recorder function is disabled.
Vibration tough drive - Oscillation detection level
Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression filter
1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration tough
drive is enabled.
However, setting "0" will be 50%.
Example: When you set "50" to the parameter, the filter will be readjusted at the time
of 50% or more oscillation level.
Vibration tough drive function selection
Setting
digit
___x
__x_
_x__
x___
Explanation
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].
For manufacturer setting
5 - 50
Initial
value
0h
0h
0h
0h
Refer to Name
and function
column.
Each
5. PARAMETERS
No.
Symbol
Name and function
PF25
CVAT
PF31
FRIC
SEMI-F47 function - Instantaneous power failure detection time
Set the time of the [AL. 10.1 Voltage drop in the control circuit power] occurrence.
This parameter setting range differs depending on the software version of the servo
amplifier as follows.
Software version C0 or later: Setting range 30 ms to 200 ms
Software version C1 or earlier: Setting range 30 ms to 500 ms
To comply with SEMI-F47 standard, it is unnecessary to change the initial value (200
ms).
However, when the instantaneous power failure time exceeds 200 ms, and the
instantaneous power failure voltage is less than 70% of the rated input voltage, the
power may be normally turned off even if a value larger than 200 ms is set in the
parameter.
To disable the parameter, select "Disabled (_ 0 _ _)" of "SEMI-F47 function selection"
in [Pr. PA20].
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Machine diagnosis function - Friction judgment speed
Set a (linear) servo motor speed that divides a friction estimation area into high and
low during the friction estimation process of the machine diagnosis.
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 0 r/min
speed
(0 mm/s)
Reverse rotation
direction
Operation pattern
5 - 51
Initial
value
[unit]
Setting
range
Each/
Common
200
[ms]
30 to
500
Common
0
[r/min]/
[mm/s]
0 to
permissible
speed
Each
axis
5. PARAMETERS
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
POINT
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used
with MR-J4W2-0303B6 servo amplifiers.
No.
Symbol
PL01
**LIT1
Linear servo motor/DD motor function selection 1
Select a magnetic pole detection timing of the linear servo motor/DD motor and stop
interval of the home position returning.
Setting
digit
___x
__x_
_x__
x___
PL02
**LIM
PL03
**LID
Initial
value
[unit]
Name and function
Explanation
Linear servo motor/DD motor magnetic pole detection
selection
The setting value "0" will be enabled only with absolute
position linear encoders.
0: Magnetic pole detection disabled
1: Magnetic pole detection at first servo-on
5: Magnetic pole detection at every servo-on
For manufacturer setting
Stop interval selection at the home position return
Set a stop interval of the home position returning.
The digit is enabled only for linear servo motors.
13
0: 2 (= 8192) pulses
17
1: 2 (= 131072) pulses
18
2: 2 (= 262144) pulses
20
3: 2 (= 1048576) pulses
22
4: 2 (= 4194304) pulses
24
5: 2 (= 16777216) pulses
26
6: 2 (= 67108864) pulses
For manufacturer setting
Linear encoder resolution - Numerator
Set a linear encoder resolution in [Pr. PL02] and [Pr. PL03].
Set the numerator in [Pr. PL02].
This is enabled only for linear servo motors.
Linear encoder resolution - Denominator
Set a linear encoder resolution in [Pr. PL02] and [Pr. PL03].
Set the denominator in [Pr. PL03].
This is enabled only for linear servo motors.
5 - 52
Setting
range
Refer to Name
and function
column.
Each/
Common
Each
Initial
value
1h
0h
3h
0h
1000
[μm]
1 to
65535
Each
1000
[μm]
1 to
65535
Each
5. PARAMETERS
No.
Symbol
PL04
*LIT2
Linear servo motor/DD motor function selection 2
Select a detection function and detection controller reset condition of [AL. 42 Servo
control error].
Setting
digit
___x
[AL. 42 Servo control error] detection function selection
Refer to the following table.
0
1
2
3
4
5
6
7
__x_
_x__
x___
LB1
PL06
LB2
PL07
LB3
Torque/thrust
deviation
error (Note)
Speed
deviation
error (Note)
Disabled
Disabled
Enabled
Disabled
Enabled
Enabled
Refer to Name
and function
column.
Each/
Common
Each
3h
Position
deviation
error (Note)
Disabled
Enabled
Disabled
Enabled
Disabled
Enabled
Disabled
Enabled
Note. Refer to chapter 14 and 15 for details of each
deviation error.
For manufacturer setting
[AL. 42 Servo control error] detection function controller
reset condition selection
0: Reset disabled (reset by powering off/on enabled)
1: Reset enabled
0h
0h
0h
Position deviation error detection level
Set a position deviation error detection level of the servo control error detection.
When the deviation between a model feedback position and actual feedback position
is larger than the setting value, [AL. 42 Servo control error] will occur.
However, when "0" is set, the level vary depending on the operation mode in [Pr.
PA01].
Linear servo motor: 50 mm
Direct drive motor: 0.09 rev
Speed deviation error detection level
Set a speed deviation error detection level of the servo control error detection.
When the deviation between a model feedback speed and actual feedback speed is
larger than the setting value, [AL. 42 Servo control error] will occur.
However, when "0" is set, the level vary depending on the operation mode in [Pr.
PA01].
Linear servo motor: 1000 mm/s
Direct drive motor: 100 r/min
Torque/thrust deviation error detection level
Set a torque/thrust deviation error detection level of the servo control error detection.
When the deviation between a current command and current feedback is larger than
the setting value, [AL. 42.3 Servo control error by torque/thrust deviation] will occur.
5 - 53
Setting
range
Initial
value
Explanation
Setting
value
PL05
Initial
value
[unit]
Name and function
0
[mm]/
[0.01 rev]
0 to
1000
Each
0
[mm/s]/
[r/min]
0 to
5000
Each
100
[%]
0 to
1000
Each
5. PARAMETERS
No.
Symbol
PL08
*LIT3
Linear servo motor/DD motor function selection 3
Setting
digit
___x
__x_
_x__
x___
PL09
LPWM
Initial
value
[unit]
Name and function
Explanation
Magnetic pole detection method selection
0: Position detection method
4: Minute position detection method
For manufacturer setting
Magnetic pole detection - Stroke limit enabled/disabled
selection
0: Enabled
1: Disabled
For manufacturer setting
Initial
value
Refer to Name
and function
column.
Each/
Common
Each
0h
1h
0h
0h
Magnetic pole detection voltage level
Set a direct current exciting voltage level during the magnetic pole detection.
If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the
magnetic pole detection, decrease the setting value.
If [AL. 27 Initial magnetic pole detection error] occurs during the magnetic pole
detection, increase the setting value.
5 - 54
Setting
range
30
[%]
0 to
100
Each
5. PARAMETERS
No.
Symbol
PL17
LTSTS
Initial
value
[unit]
Name and function
Magnetic pole detection - Minute position detection method - Function selection
To enable the parameter, select "Minute position detection method (_ _ _ 4)" in [Pr.
PL08].
Setting
digit
___x
__x_
_x__
x___
Setting
range
Refer to Name
and function
column.
Each/
Common
Each
Initial
value
Explanation
Response selection
Set a response of the minute position detection method.
When reducing a travel distance at the magnetic pole
detection, increase the setting value. Refer to table 5.9 for
settings.
Load to motor mass ratio/load to motor inertia ratio
selection
Select a load to mass of the linear servo motor primary-side
ratio or load to mass of the direct drive motor inertia ratio
used at the minute position detection method. Set a closest
value to the actual load.
Refer to table 5.10 for settings.
For manufacturer setting
0h
0h
0h
0h
Table 5.9 Response of minute position detection method at
magnetic pole detection
Setting value
Response
Setting value
Response
___0
___1
Low response
___8
___9
Middle response
___2
___A
___3
___B
___4
___C
___5
___D
___6
___7
___E
Middle response
___F
High response
Table 5.10 Load to motor mass ratio/load to motor inertia ratio
PL18
IDLV
Setting value
Load to motor
mass ratio/load to
motor inertia ratio
Setting value
Load to motor
mass ratio/load to
motor inertia ratio
__0_
__1_
__2_
__3_
__4_
__5_
__6_
__7_
10 times or less
10 times
20 times
30 times
40 times
50 times
60 times
70 times
__8_
__9_
__A_
__B_
__C_
__D_
__E_
__F_
80 times
90 times
100 times
110 times
120 times
130 times
140 times
150 times or more
Magnetic pole detection - Minute position detection method - Identification signal
amplitude
Set an identification signal amplitude used in the minute position detection method.
This parameter is enabled only when the magnetic pole detection is the minute
position detection method.
However, setting "0" will be 100% amplitude.
5 - 55
0
[%]
0 to
100
Each
5. PARAMETERS
MEMO
5 - 56
6. NORMAL GAIN ADJUSTMENT
6. NORMAL GAIN ADJUSTMENT
POINT
In the torque control mode, you do not need to make gain adjustment.
Before making gain adjustment, check that your machine is not being operated
at maximum torque of the servo motor. If operated over maximum torque, the
machine may vibrate and may operate unexpectedly. In addition, make gain
adjustment with a safety margin considering characteristic differences of each
machine. It is recommended that generated torque during operation is under
90% of the maximum torque of the servo motor.
When you use a linear servo motor, replace the following left words to the right
words.
Load to motor inertia ratio
→ Load to motor mass ratio
Torque
→ Thrust
(Servo motor) speed
→ (Linear servo motor) speed
6.1 Different adjustment methods
6.1.1 Adjustment on a single servo amplifier
The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain
adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment,
execute "Auto tuning mode 2" and "Manual mode" in this order.
(1) Gain adjustment mode explanation
Gain adjustment mode
[Pr. PA08] setting
Estimation of load to motor
inertia ratio
Automatically set
parameters
Auto tuning mode 1
(initial value)
___1
Always estimated
Auto tuning mode 2
___2
Fixed to [Pr. PB06] value
Manual mode
___3
2 gain adjustment mode 1
(interpolation mode)
___0
Always estimated
GD2 ([Pr. PB06])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain adjustment mode 2
___4
Fixed to [Pr. PB06] value
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
6- 1
GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
Manually set
parameters
RSP ([Pr. PA09])
GD2 ([Pr. PB06])
RSP ([Pr. PA09])
GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
PG1 ([Pr. PB07])
RSP ([Pr. PA09])
GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
RSP ([Pr. PA09])
6. NORMAL GAIN ADJUSTMENT
(2) Adjustment sequence and mode usage
Start
Interpolation
made for 2 or more
axes?
Yes
2 gain adjustment mode 1
(interpolation mode)
No
The load fluctuation
is large during driving?
Yes
No
One-touch tuning
Handle the error
Yes
Finished normally?
No
Error handling
is possible?
No
Auto tuning mode 1
Yes
Yes
Adjustment OK?
No
Auto tuning mode 2
Yes
Adjustment OK?
No
Adjustment OK?
No
2 gain adjustment mode 2
Yes
Yes
Adjustment OK?
No
Manual mode
End
6.1.2 Adjustment using MR Configurator2
This section explains the functions and adjustment using the servo amplifier with MR Configurator2.
Function
Machine analyzer
Description
With the machine and servo motor coupled,
the characteristic of the mechanical system
can be measured by giving a random
vibration command from a personal
computer to the servo and measuring the
machine response.
6- 2
Adjustment
You can grasp the machine resonance
frequency and determine the notch
frequency of the machine resonance
suppression filter.
6. NORMAL GAIN ADJUSTMENT
6.2 One-touch tuning
POINT
After the one-touch tuning is completed, "Gain adjustment mode selection" in
[Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr.
PB06 Load to motor inertia ratio/load to motor mass ratio], set "Gain adjustment
mode selection" in [Pr. PA08] to "Auto tuning mode 1 (_ _ _ 1)".
When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning
function selection] is "_ _ _1" (initial value).
At start of the one-touch tuning, only when "Auto tuning mode 1 (_ _ _ 1)" or "2
gain adjustment mode 1 (interpolation mode) (_ _ _ 0)" of "Gain adjustment
mode selection" is selected in [Pr. PA08], [Pr. PB06 Load to motor inertia
ratio/load to motor mass ratio] will be estimated.
Execute the one-touch tuning while the servo system controller and the servo
amplifier are connected.
When executing the one-touch tuning in the test operation mode (SW2-1 is on),
write the tuning result to servo parameters of the servo system controller, and
then connect the servo system controller and the servo amplifier.
The amplifier command method can be used with the servo amplifier with
software version C1 or later and MR Configurator2 with software version 1.45X
or later.
When the one-touch tuning is executed, MR Configurator2 is required.
For MR-J4W2-0303B6 servo amplifier, one-touch tuning by the amplifier
command method will be available in the future.
The one-touch tuning includes two methods: the user command method and the amplifier command method.
(1) User command method
The user command method performs one-touch tuning by inputting commands from outside the servo
amplifier.
(2) Amplifier command method
In the amplifier command method, when you simply input a travel distance (permissible travel distance)
that collision against the equipment does not occur during servo motor driving, a command for the
optimum tuning will be generated inside the servo amplifier to perform one-touch tuning.
Movable range
Limit switch
Permissible
travel distance
Permissible
travel distance
Limit switch
Moving
part
Servo motor
Tuning start position
6- 3
Movable range at tuning
6. NORMAL GAIN ADJUSTMENT
The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment mode
selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other parameters will
be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning response].
Table 6.1 List of parameters automatically set with one-touch tuning
Parameter
Symbol
Name
Parameter
Symbol
PA08
PA09
PB01
ATU
RSP
FILT
Auto tuning mode
Auto tuning response
Adaptive tuning mode (adaptive filter II)
PB18
LPF
PB19
VRF11
Vibration suppression control 1 Vibration frequency
PB02
VRFT
Vibration suppression control tuning
mode (advanced vibration suppression
control II)
PB20
VRF12
Vibration suppression control 1 Resonance frequency
PB06
PB07
PB08
PB09
PB10
PB12
PB13
PB14
PB15
PB16
GD2
PG1
PG2
VG2
VIC
OVA
NH1
NHQ1
NH2
NHQ2
Load to motor inertia ratio
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
Overshoot amount compensation
Machine resonance suppression filter 1
Notch shape selection 1
Machine resonance suppression filter 2
Notch shape selection 2
PB21
VRF13
Vibration suppression control 1 Vibration frequency damping
PB22
VRF14
Vibration suppression control 1 Resonance frequency damping
PB23
PB46
PB47
PB48
PB49
PB51
PE41
VFBF
NH3
NHQ3
NH4
NHQ4
NHQ5
EOP3
Low-pass filter selection
Machine resonance suppression filter 3
Notch shape selection 3
Machine resonance suppression filter 4
Notch shape selection 4
Notch shape selection 5
Function selection E-3
PB17
NHF
Shaft resonance suppression filter
6- 4
Name
Low-pass filter setting
6. NORMAL GAIN ADJUSTMENT
6.2.1 One-touch tuning flowchart
(1) User command method
Make one-touch tuning as follows.
Start
Startup of the system
Operation
One-touch tuning start,
mode selection
Response mode selection
One-touch tuning execution
One-touch tuning in progress
One-touch tuning completion
Tuning result check
Start a system referring to chapter 4.
Rotate the servo motor by a servo system controller. (In the user command method, the onetouch tuning cannot be executed if the servo motor is not operating.)
Start one-touch tuning of MR Configurator2, and select "User command method".
Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning
window of MR Configurator2.
Press "Start" during servo motor driving to execute one-touch tuning.
Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress
will be displayed in % in MR Configurator2.
When one-touch tuning is completed normally, the parameters described in table 6.1 will be set
automatically.
When the tuning is not completed normally, the tuning error will be displayed. (Refer to section
6.2.2 (5).)
Check the tuning result.
When the tuning result is not satisfactory, you can return the parameter to the value before the
one-touch tuning or the initial value. (Refer to section 6.2.2 (8).)
End
6- 5
6. NORMAL GAIN ADJUSTMENT
(2) Amplifier command method
Make one-touch tuning as follows.
Start
Startup of the system
Movement to tuning start position
One-touch tuning start,
mode selection
Input of permissible
travel distance
Response mode selection
One-touch tuning execution
One-touch tuning in progress
One-touch tuning completion
Tuning result check
Controller reset
Servo amplifier power cycling
Start a system referring to chapter 4.
Move the moving part to the center of a movable range.
Start one-touch tuning of MR Configurator2, and select "Amplifier command method".
In the one-touch tuning window of MR Configurator2, input a maximum travel distance to move
the moving part at one-touch tuning.
Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning
window of MR Configurator2.
While the servo motor is stopped, press "Start" to start one-touch tuning. After the tuning is
started, the servo motor will reciprocate automatically. Executing one-touch tuning during servo
motor rotation will cause an error. After one-touch tuning is executed using the amplifier
command method, control will not be performed by commands from the controller.
Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress
will be displayed in % in MR Configurator2.
One-touch tuning will be completed automatically after the tuning. When one-touch tuning is
completed normally, the parameters described in table 6.1 will be updated automatically.
When the tuning is not completed normally, the tuning error will be displayed. (Refer to section
6.2.2 (5).)
Check the tuning result.
When the tuning result is not satisfactory, you can return the parameter to the value before the
one-touch tuning or the initial value. (Refer to section 6.2.2 (8).)
After executing the one-touch tuning, resetting the controller or cycling the power of the servo
amplifier returns to the state in which control is performed from the controller.
End
6- 6
6. NORMAL GAIN ADJUSTMENT
6.2.2 Display transition and operation procedure of one-touch tuning
(1) Command method selection
Select a command method from two methods in the one-touch tuning window of MR Configurator2.
(a)
(b)
6- 7
6. NORMAL GAIN ADJUSTMENT
(a) User command method
It is recommended to input commands meeting the following conditions to the servo amplifier. If onetouch tuning is executed while commands which do not meet the conditions are inputted to the servo
amplifier, the one-touch tuning error may occur.
One cycle time
Travel distance
Forward
Servo motor rotation
0 r/min
speed
Reverse
rotation Acceleration
time constant
Dwell time
Deceleration
time constant
Fig. 6.1 Recommended command for one-touch tuning in the user command method
Item
Travel distance
Description
Set 100 pulses or more in encoder unit. Setting less than 100 pulses will cause the one-touch tuning error
"C004".
Servo motor speed Set 150 r/min (mm/s) or higher. Setting less than 150 r/min (mm/s) may cause the one-touch tuning error "C005".
Acceleration time
constant
Deceleration time
constant
Set the time to reach 2000 r/min (mm/s) to 5 s or less.
Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10%
or more of the rated torque.
The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration
torque is larger, and the one-touch tuning result will be closer to the optimum value.
Dwell time
Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".
One cycle time
Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".
6- 8
6. NORMAL GAIN ADJUSTMENT
(b) Amplifier command method
Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed loop
control mode, and in the servo motor-side resolution unit for other control modes. In the amplifier
command method, the servo motor will be operated in a range between "current value ± permissible
travel distance". Input the permissible travel distance as large as possible within a range that the
movable part does not collide against the machine. Inputting a small permissible travel distance
decreases the possibility that the moving part will collide against the machine. However, the
estimation accuracy of the load to motor inertia ratio may be lower, resulting in improper tuning.
Also, executing the one-touch tuning in the amplifier command method will generate a command for
the following optimum tuning inside the servo amplifier to start the tuning.
Servo motor
speed (Note)
Travel distance (Note)
Forward
Servo motor rotation
0 r/min
speed
Reverse
rotation
Dwell time (Note)
Acceleration
time constant
(Note)
Deceleration
time constant
(Note)
Note. It will be automatically generated in the servo amplifier.
Fig. 6.2 Command generated by one-touch tuning in the amplifier command method
Item
Description
An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible
Travel distance
travel distance with MR Configurator2.
A speed not exceeding 1/2 of the rated speed and overspeed alarm detection level ([Pr. PC08]) will be
Servo motor speed
automatically set.
Acceleration time
constant
An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of the
Deceleration time rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.
constant
Dwell time
A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.
6- 9
6. NORMAL GAIN ADJUSTMENT
(2) Response mode selection
Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.
Table 6.2 Response mode explanations
Response mode
High mode
Basic mode
Low mode
Explanation
This mode is for high-rigid system.
This mode is for standard system.
This mode is for low-rigid system.
6 - 10
6. NORMAL GAIN ADJUSTMENT
Refer to the following table for selecting a response mode.
Table 6.3 Guideline for response mode
Low mode
Response mode
Basic mode
High mode
Response
Machine characteristic
Guideline of corresponding machine
Low response
Arm robot
General machine
tool conveyor
Precision working
machine
Inserter
Mounter
Bonder
High response
(3) One-touch tuning execution
POINT
For equipment in which overshoot during one-touch tuning is in the permissible
level of the in-position range, changing the value of [Pr. PA25 One-touch tuning
overshoot permissible level] will shorten the settling time and improve the
response.
When executing one-touch tuning in the amplifier command method, turn on
EM2. When you turn off EM2 during one-touch tuning, "C008" will be displayed
at status in error code, and the one-touch tuning will be canceled.
When executing the one-touch tuning in the amplifier command method, FLS
(Upper stroke limit) and RLS (Lower stroke limit) will be disabled. Thus, set a
permissible travel distance within a range where moving part collision never
occurs, or execute the one-touch tuning in a state in which the servo motor can
immediately stop in emergency.
When one-touch tuning is executed in the amplifier command method while
magnetic pole detection is not being performed, magnetic pole detection will be
performed, and then one-touch tuning will start after the magnetic pole detection
is completed.
After the response mode is selected in (2) in this section, clicking "Start" will start one-touch tuning. If
"Start" is clicked while the servo motor stops, "C002" or "C004" will be displayed at status in error code.
(Refer to (5) in this section for error codes.)
6 - 11
6. NORMAL GAIN ADJUSTMENT
Click "Start" to start the one-touch tuning in the amplifier command method with the servo-off, the servoon will be automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the
amplifier command method, an optimum tuning command will be generated in the servo amplifier after
servo-on. Then, the servo motor will reciprocate, and the one-touch tuning will be executed. After the
tuning is completed or canceled, the servo amplifier will be the servo-off status. When the servo-on
command is inputted from outside, the amplifier will be the servo-on status.
After one-touch tuning is executed using the amplifier command method, control will not be performed
by commands from the controller. To return to the state in which control is performed by commands from
the controller, reset the controller or cycle the power.
During processing of one-touch tuning, the progress will be displayed as follows. Tuning will be
completed at 100%.
6 - 12
6. NORMAL GAIN ADJUSTMENT
Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and the
following window will be displayed. Select whether or not to reflect the tuning result in the project.
After the one-touch tuning is completed, "0000" will be displayed at status in error code. In addition,
settling time and overshoot amount will be displayed in "Adjustment result".
(4) Stop of one-touch tuning
When "Stop" is clicked during one-touch tuning, the tuning will be stopped. At this time, "C000" will be
displayed at status in error code. When the one-touch tuning is stopped, the parameter setting will be
returned to the values at the start of the one-touch tuning. Stop the servo motor before executing the
one-touch tuning again. In addition, execute it after the moving part is returned to the tuning start
position.
6 - 13
6. NORMAL GAIN ADJUSTMENT
(5) If an error occurs
If a tuning error occurs during tuning, one-touch tuning will be stopped. With that, the following error
code will be displayed in status. Check the cause of tuning error. When executing one-touch tuning
again, stop the servo motor once. In addition, after returning the moving part to the tuning start position,
execute it.
Display
Name
C000
C001
Tuning canceled
Overshoot exceeded
C002
Servo-off during tuning
C003
Control mode error
C004
Time-out
Error detail
"Stop" was clicked during one-touch tuning.
Overshoot amount is a value larger than the
one set in [Pr. PA10 In-position range] and
[Pr. PA25 One-touch tuning - Overshoot
permissible level].
The one-touch tuning was attempted in the
user command method during servo-off.
The servo amplifier will be servo-off status
during one-touch tuning.
1. The one-touch tuning was attempted while
the torque control mode was selected in
the control modes.
2. During one-touch tuning, the control mode
was attempted to change from the position
control mode to the speed control mode.
1. One cycle time during the operation has
been over 30 s.
2. The command speed is slow.
3. The operation interval of the continuous
operation is short.
C005
Load to motor inertia
ratio misestimated
1. The estimation of the load to motor inertia
ratio at one-touch tuning was a failure.
2. The load to motor inertia ratio was not
estimated due to an oscillation or other
influences.
6 - 14
Corrective action example
Increase the in-position range or overshoot
permissible level.
When executing one-touch tuning in the user
command method, turn to servo-on, and then
execute it.
Prevent the servo amplifier from being the
servo-off status during one-touch tuning.
Select the position control mode or speed
control mode for the control mode from the
controller, and then execute one-touch tuning.
Do not change the control mode during the
one-touch tuning.
Set one cycle time during the operation (time
from the command start to the next command
start) to 30 s or less.
Set the servo motor speed to 100 r/min or
higher. Error is less likely to occur as the
setting speed is higher.
When one-touch tuning by the amplifier
command is used, set a permissible travel
distance so that the servo motor speed is 100
r/min or higher. Set a permissible travel
distance to two or more revolutions as a guide
value to set the servo motor speed to 100
r/min.
Set the stop interval during operation to 200
ms or more. Error is less likely to occur as the
setting time is longer.
Drive the motor with meeting conditions as
follows.
The acceleration time constant/deceleration
time constant to reach 2000 r/min (mm/s) is
5 s or less.
Speed is 150 r/min (mm/s) or higher.
The load to servo motor (mass of linear
servo motor's primary side or direct drive
motor) inertia ratio is 100 times or less.
The acceleration/deceleration torque is
10% or more of the rated torque.
Set to the auto tuning mode that does not
estimate the load to motor inertia ratio as
follows, and then execute the one-touch
tuning.
Select "Auto tuning mode 2 (_ _ _ 2)",
"Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
Manually set [Pr. PB06 Load to motor
inertia ratio/load to motor mass ratio]
properly.
6. NORMAL GAIN ADJUSTMENT
Display
Name
Error detail
C006
Amplifier command start
error
C007
Amplifier command
generation error
One-touch tuning was attempted to start in
the amplifier command method under the
following speed condition.
Servo motor speed of one axis.: 20 r/min or
higher
1. One-touch tuning was executed in the
amplifier command method when the
permissible travel distance is set to 100
pulses or less in the encoder pulse unit, or
the distance is set not to increase the
servo motor speed to 150 r/min (mm/s) (50
r/min for direct drive motor) or higher at the
time of load to motor inertia ratio
estimation.
C008
Stop signal
C009
Parameter
C00A
Alarm
C00F
One-touch tuning
disabled
Corrective action example
Execute the one-touch tuning in the amplifier
command method while the servo motor is
stopped.
Set a permissible travel distance to 100
pulses or more in the encoder pulse unit, or a
distance so as to increase the servo motor
speed to 150 r/min (mm/s) (50 r/min for direct
drive motor) or higher at the time of load to
motor inertia ratio estimation, and then
execute the one-touch tuning. Set a
permissible travel distance to four or more
revolutions as a guide value.
Load to motor inertia ratio will be estimated
when "0000" or "0001" is set in [Pr. PA08
Auto tuning mode] at the start of one-touch
tuning.
If the permissible travel distance is short and
the servo motor speed cannot be increased to
150 r/min (mm/s) (50 r/min for direct drive
motor) or higher, select "Auto tuning mode 2
(_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
When estimating the load to motor inertia
ratio, set the overspeed alarm detection level
so that the speed becomes 150 r/min or
more.
2. An overspeed alarm detection level is set
so that the servo motor speed becomes
150 r/min (mm/s) (50 r/min for direct drive
motor) or less at the time of load to motor
inertia ratio estimation.
3. The torque limit has been set to 0.
Set the torque limit value to greater than 0.
EM2 was turned off during one-touch tuning in Review the one-touch tuning start position
the amplifier command method.
and permissible travel distance for the
amplifier command method.
After ensuring safety, turn on EM2.
Parameters for manufacturer setting have
Return the parameters for manufacturer
been changed.
setting to the initial values.
Start one-touch tuning when no alarm or
One-touch tuning was attempted to start in
warning occurs.
the amplifier command method during alarm
or warning.
Prevent alarm or warning from occurring
during one-touch tuning.
Alarm or warning occurred during one-touch
tuning by the amplifier command method.
"One-touch tuning function selection" in [Pr.
Select "Enabled (_ _ _ 1)".
PA21] is "Disabled (_ _ _ 0)".
(6) If an alarm occurs
If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated. Remove the cause
of the alarm and execute one-touch tuning again. When executing one-touch tuning in the amplifier
command method again, return the moving part to the tuning start position.
(7) If a warning occurs
If a warning which continues the motor driving occurs during one-touch tuning by the user command
method, the tuning will be continued. If a warning which does not continue the motor driving occurs
during the tuning, one-touch tuning will be stopped.
One-touch tuning will be stopped when warning occurs during one-touch tuning by the amplifier
command method regardless of the warning type. Remove the cause of the warning, and return the
moving part to the tuning start position. Then, execute the tuning again.
6 - 15
6. NORMAL GAIN ADJUSTMENT
(8) Initializing one-touch tuning
Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to return
the parameter to the initial value. Refer to table 6.1 for the parameters which you can initialize.
Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2
enables to return the parameter to the value before clicking "Start".
When the initialization of one-touch tuning is completed, the following window will be displayed.
(returning to initial value)
6 - 16
6. NORMAL GAIN ADJUSTMENT
6.2.3 Caution for one-touch tuning
(1) Caution common for user command method and amplifier command method
(a) The tuning is not available in the torque control mode.
(b) The one-touch tuning cannot be executed while an alarm or warning which does not continue the
motor driving is occurring.
(c) The one-touch tuning cannot be executed during the following test operation mode.
1) Output signal (DO) forced output
2) Motor-less operation
(d) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or
unusual noise may occur during the tuning.
(2) Caution for amplifier command method
(a) Starting one-touch tuning while the servo motor is rotating displays "C006" at status in error code,
and the one-touch tuning cannot be executed.
(b) Start one-touch tuning when all connected servo motors are at a stop.
(c) One-touch tuning is not available during the test operation mode. The following test operation modes
cannot be executed during one-touch tuning.
1) Positioning operation
2) JOG operation
3) Program operation
4) Machine analyzer operation
(d) After one-touch tuning is executed, control will not be performed by commands from the servo
system controller. To return to the state in which control is performed from the servo system
controller, reset the controller or cycle the power of the servo amplifier.
(e) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot, set a
value sufficient to prevent machine collision.
(f) When Auto tuning mode 2, Manual mode, or 2 gain adjustment mode 2 is selected in [Pr. PA08 Auto
tuning mode], the load to motor inertia ratio will not be estimated. An optimum
acceleration/deceleration command will be generated by [Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio] at the start of one-touch tuning. When the load to motor inertia ratio is incorrect,
the optimum acceleration/deceleration command may not be generated, causing the tuning to fail.
(g) When one-touch tuning is started by using USB communication, if the USB communication is
interrupted during the tuning, the servo motor will stop, and the tuning will also stop. The parameter
will return to the one at the start of the one-touch tuning.
(h) When one-touch tuning is started via the controller, if communication between the controller and the
servo amplifier or personal computer is shut-off during the tuning, the servo motor will stop, and the
tuning will also stop. The parameter will return to the one at the start of the one-touch tuning.
(i) When one-touch tuning is started during the speed control mode, the mode will be switched to the
position control mode automatically. The tuning result may differ from the one obtained by executing
tuning by using the speed command.
6 - 17
6. NORMAL GAIN ADJUSTMENT
6.3 Auto tuning
6.3.1 Auto tuning mode
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to
motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.
(1) Auto tuning mode 1
The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter
Symbol
PB06
PB07
PB08
PB09
PB10
GD2
PG1
PG2
VG2
VIC
Name
Load to motor inertia ratio/load to motor mass ratio
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if all of the following
conditions are not satisfied.
The time until the acceleration/deceleration time constant reach 2000 r/min
(mm/s) is 5 s or less.
Speed is 150 r/min (mm/s) or higher.
The load to servo motor (mass of linear servo motor's primary side or direct
drive motor) inertia ratio is 100 times or less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the auto tuning mode 2 or
manual mode to make gain adjustment.
(2) Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor
inertia ratio in [Pr. PB06].
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter
Symbol
PB07
PB08
PB09
PB10
PG1
PG2
VG2
VIC
Name
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
6 - 18
6. NORMAL GAIN ADJUSTMENT
6.3.2 Auto tuning mode basis
The block diagram of real-time auto tuning is shown below.
Load moment
of inertia
Automatic setting
Encoder
Loop gain
PG1, PG2,
VG2, VIC
Command +
-
+
-
Current
control
Current feedback
Set 0 or 1 to turn on.
Real-time
auto tuning section
Gain table
Switch
[Pr. PA08]
[Pr. PA09]
0 0 0
Gain adjustment mode selection
Load to motor
inertia ratio
estimation section
M
Servo motor
Position/speed
feedback
Speed feedback
[Pr. PB06 Load to
motor inertia ratio/
load to motor mass ratio]
Response
level setting
When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always
estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of
estimation are written to [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]. These results can be
confirmed on the status display screen of the MR Configurator2.
If you have already known the value of the load to motor inertia ratio or failed to estimate, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] to stop the estimation (turning off
the switch in above diagram), and set the load to motor inertia ratio or load to motor mass ratio ([Pr. PB06])
manually.
From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop
gains are automatically set on the basis of the internal gain table.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on.
At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used
as an initial value.
POINT
If sudden disturbance torque is imposed during operation, the load to motor
inertia ratio may be misestimated temporarily. In such a case, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and
then set the correct load to motor inertia ratio in [Pr. PB06].
When any of the auto tuning mode 1 and auto tuning mode settings is changed
to the manual mode 2 setting, the current loop gains and load to motor inertia
ratio estimation value are saved in the EEP-ROM.
6 - 19
6. NORMAL GAIN ADJUSTMENT
6.3.3 Adjustment procedure by auto tuning
Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically
sets the optimum gains that match the machine. Merely changing the response level setting value as
required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment
Acceleration/deceleration repeated
Yes
Load to motor inertia ratio
estimation value stable?
No
Auto tuning conditions
are not satisfied? (Estimation of
load to motor inertia ratio is
difficult.)
No
Yes
Set [Pr. PA08] to "_ _ _ 2" and set
[Pr. PB06 Load to motor inertia
ratio/load to motor mass ratio] manually.
Adjust response level setting so
that desired response is achieved
on vibration-free level.
Acceleration/deceleration repeated
Requested performance
satisfied?
No
Yes
End
6 - 20
To 2 gain adjustment
mode 2
6. NORMAL GAIN ADJUSTMENT
6.3.4 Response level setting in auto tuning mode
Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the
trackability to a command improves and settling time decreases, but setting the response level too high will
generate vibration. Set a value to obtain the desired response level within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
PB13] to [Pr. PB16], [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to section 7.2 and 7.3 for
settings of the adaptive tuning mode and machine resonance suppression filter.
[Pr. PA09]
Machine characteristic
Setting
value
1
2
Guideline for
Response machine resonance
frequency [Hz]
Low
response
Reference
(setting
value of
MR-J3 and
MR-J3W)
Machine characteristic
Setting
value
2.7
21
3.6
22
Guideline for
Response machine resonance
frequency [Hz]
Middle
response
Reference
(setting
value of
MR-J3 and
MR-J3W)
67.1
17
75.6
18
3
4.9
23
85.2
19
4
6.6
24
95.9
20
5
10.0
1
25
108.0
21
6
11.3
2
26
121.7
22
7
12.7
3
27
137.1
23
8
14.3
4
28
154.4
24
9
16.1
5
29
173.9
25
10
18.1
6
30
195.9
26
11
20.4
7
31
220.6
27
12
23.0
8
32
248.5
28
13
25.9
9
33
279.9
29
14
29.2
10
34
315.3
30
15
32.9
11
35
355.1
31
16
37.0
12
36
400.0
32
17
41.7
13
37
446.6
47.0
14
38
52.9
15
39
59.6
16
40
18
19
20
Middle
response
6 - 21
501.2
High
response
571.5
642.7
6. NORMAL GAIN ADJUSTMENT
6.4 Manual mode
If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually.
POINT
If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or
machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46]
to [Pr. PB51] may be used to suppress machine resonance. (Refer to section
7.2 to 7.3.)
(1) For speed control
(a) Parameter
The following parameters are used for gain adjustment.
Parameter
Symbol
PB06
PB07
PB09
PB10
GD2
PG1
VG2
VIC
Name
Load to motor inertia ratio/load to motor mass ratio
Model loop gain
Speed loop gain
Speed integral compensation
(b) Adjustment procedure
Step
1
2
3
4
5
6
7
8
9
Operation
Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
PA08]: _ _ _ 3).
Set the estimated value to the load to motor inertia ratio/load to
motor mass ratio. (If the estimate value with auto tuning is
correct, setting change is not required.)
Set a slightly smaller value to the model loop gain.
Set a slightly larger value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual
noise-free range, and return slightly if vibration takes place.
Decrease the speed integral compensation within the vibrationfree range, and return slightly if vibration takes place.
Increase the model loop gain, and return slightly if overshoot
takes place.
If the gains cannot be increased due to mechanical system
resonance or the like and the desired response cannot be
achieved, response may be increased by suppressing resonance
with the adaptive tuning mode or machine resonance
suppression filter and then executing steps 3 to 7.
While checking the motor status, fine-adjust each gain.
6 - 22
Description
Increase the speed loop
gain.
Decrease the time
constant of the speed
integral compensation.
Increase the model loop
gain.
Suppression of machine
resonance
Refer to section 7.2 and
7.3.
Fine adjustment
6. NORMAL GAIN ADJUSTMENT
(c) Parameter adjustment
1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop gain
Speed loop response frequency [Hz] =
2) [Pr. PB10 Speed integral compensation]
To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral
control. Increasing the setting lowers the response level. However, if the load to motor inertia
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the
following expression.
Speed integral compensation setting [ms]
2000 to 3000
≥
Speed loop gain/(1 + Load to motor inertia ratio)
3) [Pr. PB07 Model loop gain]
This parameter determines the response level to a speed command. Increasing the value
improves track ability to a speed command, but a too high value will make overshoot liable to
occur at settling.
Model loop gain guideline ≤
Speed loop gain
(1 + Load to motor inertia ratio)
×
1
1
to
4
8
(2) For position control
(a) Parameter
The following parameters are used for gain adjustment.
Parameter
Symbol
PB06
PB07
PB08
PB09
PB10
GD2
PG1
PG2
VG2
VIC
Name
Load to motor inertia ratio/load to motor mass ratio
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
6 - 23
6. NORMAL GAIN ADJUSTMENT
(b) Adjustment procedure
Step
1
2
3
4
5
6
7
8
9
10
Operation
Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
PA08]: _ _ _ 3).
Set the estimated value to the load to motor inertia ratio/load to
motor mass ratio. (If the estimate value with auto tuning is
correct, setting change is not required.)
Set a slightly smaller value to the model loop gain and the
position loop gain.
Set a slightly larger value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual
noise-free range, and return slightly if vibration takes place.
Decrease the speed integral compensation within the vibrationfree range, and return slightly if vibration takes place.
Increase the position loop gain, and return slightly if vibration
takes place.
Increase the model loop gain, and return slightly if overshoot
takes place.
If the gains cannot be increased due to mechanical system
resonance or the like and the desired response cannot be
achieved, response may be increased by suppressing resonance
with the adaptive tuning mode or machine resonance
suppression filter and then executing steps 3 to 8.
While checking the settling characteristic and motor status, fineadjust each gain.
Description
Increase the speed loop
gain.
Decrease the time
constant of the speed
integral compensation.
Increase the position loop
gain.
Increase the model loop
gain.
Suppression of machine
resonance
Refer to section 7.2 and
7.3.
Fine adjustment
(c) Parameter adjustment
1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop gain
Speed loop response frequency [Hz] =
2) [Pr. PB10 Speed integral compensation]
To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral
control. Increasing the setting lowers the response level. However, if the load to motor inertia
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the
following expression.
Speed integral compensation setting [ms]
2000 to 3000
≥
Speed loop gain/(1 + Load to motor inertia ratio)
6 - 24
6. NORMAL GAIN ADJUSTMENT
3) [Pr. PB08 Position loop gain]
This parameter determines the response level to a disturbance to the position control loop.
Increasing the value increases the response level to the disturbance, but a too high value will
increase vibration of the mechanical system.
Position loop gain guideline ≤
Speed loop gain
(1 + Load to motor inertia ratio)
×
1
1
to
4
8
4) [Pr. PB07 Model loop gain]
This parameter determines the response level to a position command. Increasing the value
improves track ability to a position command, but a too high value will make overshoot liable to
occur at settling.
Model loop gain guideline ≤
Speed loop gain
(1 + Load to motor inertia ratio)
×
1
1
to
4
8
6.5 2 gain adjustment mode
The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode,
manually set the model loop gain that determines command track ability. Other parameters for gain
adjustment are set automatically.
(1) 2 gain adjustment mode 1 (interpolation mode)
The 2 gain adjustment mode 1 manually set the model loop gain that determines command track ability.
The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for
gain adjustment to optimum gains using auto tuning response.
The following parameters are used for 2 gain adjustment mode 1.
(a) Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
Parameter
Symbol
PB06
PB08
PB09
PB10
GD2
PG2
VG2
VIC
Name
Load to motor inertia ratio/load to motor mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
(b) Manually adjusted parameter
The following parameters are adjustable manually.
Parameter
Symbol
PA09
PB07
RSP
PG1
Name
Auto tuning response
Model loop gain
6 - 25
6. NORMAL GAIN ADJUSTMENT
(2) 2 gain adjustment mode 2
Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment
mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load
to motor inertia ratio in [Pr. PB06].
The following parameters are used for 2 gain adjustment mode 2.
(a) Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
Parameter
Symbol
PB08
PB09
PB10
PG2
VG2
VIC
Name
Position loop gain
Speed loop gain
Speed integral compensation
(b) Manually adjusted parameter
The following parameters are adjustable manually.
Parameter
Symbol
PA09
PB06
PB07
RSP
GD2
PG1
Name
Auto tuning response
Load to motor inertia ratio/load to motor mass ratio
Model loop gain
(3) Adjustment procedure of 2 gain adjustment mode
POINT
Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain
adjustment mode.
Step
1
2
3
4
5
6
7
Operation
Description
Select the auto tuning
Set to the auto tuning mode.
mode 1.
During operation, increase the response level setting value in [Pr. Adjustment in auto tuning
PA09], and return the setting if vibration occurs.
mode 1.
Check value of the model loop gain and the load to motor inertia Check the upper setting
ratio in advance.
limits.
Set the 2 gain adjustment mode 1 ([Pr. PA08]: _ _ _ 0).
Select the 2 gain
adjustment mode 1
(interpolation mode).
When the load to motor inertia ratio is different from the design
Check the load to motor
value, select the 2 gain adjustment mode 2 ([Pr. PA08]: _ _ _ 4)
inertia ratio.
and then set the load to motor inertia ratio manually in [Pr. PB06].
Set the model loop gain of all the axes to be interpolated to the
same value. At that time, adjust to the setting value of the axis,
Set model loop gain.
which has the smallest model loop gain.
Considering the interpolation characteristic and motor status,
Fine adjustment
fine-adjust the model loop gain and response level setting.
6 - 26
6. NORMAL GAIN ADJUSTMENT
(4) Parameter adjustment
[Pr. PB07 Model loop gain]
This parameter determines the response level of the position control loop. Increasing the value improves
track ability to a position command, but a too high value will make overshoot liable to occur at settling.
Number of droop pulses is determined by the following expression.
Number of droop pulses [pulse] =
Position command frequency [pulse/s]
Model loop gain setting
Position command frequency differs depending on the operation mode.
Rotary servo motor and direct drive motor:
Position command frequency
Speed [r/min]
=
× Encoder resolution (number of pulses per servo motor revolution)
60
Linear servo motor:
Position command frequency = Speed [mm/s] ÷ Encoder resolution (travel distance per pulse)
6 - 27
6. NORMAL GAIN ADJUSTMENT
MEMO
6 - 28
7. SPECIAL ADJUSTMENT FUNCTIONS
7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
The functions given in this chapter need not be used normally. Use them if you
are not satisfied with the machine status after making adjustment in the methods
in chapter 6.
When you use a linear servo motor, replace the following left words to the right
words.
Load to motor inertia ratio
→ Load to motor mass ratio
Torque
→ Thrust
(Servo motor) speed
→ (Linear servo motor) speed
7.1 Filter setting
The following filters are available with MR-J4 servo amplifiers.
Speed
control
Command
pulse train
Command +
filter
-
[Pr. PB18]
[Pr. PB13]
[Pr. PB15]
[Pr. PB46]
Low-pass
filter
setting
Machine
resonance
suppression
filter 1
Machine
resonance
suppression
filter 2
Machine
resonance
suppression
filter 3
Load
[Pr. PB50]
[Pr. PB48]
[Pr. PB49]
Machine
resonance
suppression
filter 4
[Pr. PE41]
Machine
resonance
suppression
filter 5
[Pr. PB17]
Encoder
PWM
Shaft
resonance
suppression
filter
Robust filter
7- 1
M
Servo motor
7. SPECIAL ADJUSTMENT FUNCTIONS
7.1.1 Machine resonance suppression filter
POINT
The machine resonance suppression filter is a delay factor for the servo system.
Therefore, vibration may increase if you set an incorrect resonance frequency or
set notch characteristics too deep or too wide.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A wider notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine analyzer
on MR Configurator2. This allows the required notch frequency and notch
characteristics to be determined.
If a mechanical system has a unique resonance point, increasing the servo system response level may
cause resonance (vibration or unusual noise) in the mechanical system at that resonance frequency. Using
the machine resonance suppression filter and adaptive tuning can suppress the resonance of the
mechanical system. The setting range is 10 Hz to 4500 Hz.
7- 2
7. SPECIAL ADJUSTMENT FUNCTIONS
Notch
characteristics
Response of
mechanical system
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of
the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency), gain decreasing depth and width.
Machine resonance point
Frequency
Notch width
Notch depth
Notch frequency
Frequency
You can set five machine resonance suppression filters at most.
Filter
Setting parameter
Machine resonance
suppression filter 1
PB01/PB13/PB14
Machine resonance
suppression filter 2
Machine resonance
suppression filter 3
Machine resonance
suppression filter 4
PB15/PB16
Machine resonance
suppression filter 5
PB50/PB51
Precaution
The filter can be set automatically with
"Filter tuning mode selection" in [Pr.
PB01].
PB46/PB47
PB48/PB49
Parameter that is
Parameter
reset with vibration
automatically
tough drive
adjusted with onefunction
touch tuning
PB13
PB01/PB13/PB14
PB15
PB15/PB16
PB47
Enabling the machine resonance
suppression filter 4 disables the shaft
resonance suppression filter.
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
Enabling the robust filter disables the
machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.
7- 3
PB48/PB49
PB51
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameter
(a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14])
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
([Pr. PB13] and [Pr. PB14])
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting
of the machine resonance suppression filter 1 is enabled.
(b) Machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in
[Pr. PB16].
How to set the machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16]) is the same as for
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
(c) Machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection" in
[Pr. PB47].
How to set the machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47]) is the same as for
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
(d) Machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in
[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft
resonance suppression filter.
How to set the machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49]) is the same as for
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
(e) Machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5 selection" in
[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance
suppression filter 5.
How to set the machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51]) is the same as for
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
7- 4
7. SPECIAL ADJUSTMENT FUNCTIONS
7.1.2 Adaptive filter II
POINT
The machine resonance frequency which adaptive filter II (adaptive tuning) can
respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of
the range, set manually.
When adaptive tuning is executed, vibration sound increases as an excitation
signal is forcibly applied for several seconds.
When adaptive tuning is executed, machine resonance is detected for a
maximum of 10 seconds and a filter is generated. After filter generation, the
adaptive tuning mode automatically shifts to the manual setting.
Adaptive tuning generates the optimum filter with the currently set control gains.
If vibration occurs when the response setting is increased, execute adaptive
tuning again.
During adaptive tuning, a filter having the best notch depth at the set control
gain is generated. To allow a filter margin against machine resonance, increase
the notch depth in the manual setting.
Adaptive vibration suppression control may provide no effect on a mechanical
system which has complex resonance characteristics.
Adaptive tuning in the high accuracy mode is available with servo amplifiers with
software version C5 or later. The frequency is estimated more accurately in the
high accuracy mode compared to the standard mode. However, the tuning
sound may be larger in the high accuracy mode.
Notch frequency
Frequency
When machine resonance is large and
frequency is low
7- 5
Response of
mechanical system
Frequency
Machine resonance point
Frequency
Notch depth
Machine resonance point
Notch depth
Response of
mechanical system
(1) Function
Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine vibration for
a predetermined period of time and sets the filter characteristics automatically to suppress mechanical
system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not
be conscious of the resonance frequency of a mechanical system.
Notch frequency
Frequency
When machine resonance is small and
frequency is high
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameter
Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].
[Pr. PB01]
0 0
Filter tuning mode selection
Setting
value
0
1
2
Filter tuning mode selection
Disabled
Automatic setting
Manual setting
Automatically set parameter
PB13/PB14
Tuning accuracy selection (Note)
0: Standard
1: High accuracy
Note. This digit is available with servo amplifier with software version C5 or later.
(3) Adaptive tuning mode procedure
Adaptive tuning
Operation
Yes
Is the target response
reached?
No
Increase the response setting.
No
Has vibration or unusual
noise occurred?
Yes
In the standard mode
In the high accuracy mode
Execute or re-execute adaptive
tuning in the high accuracy mode.
(Set [Pr. PB01] to "1 _ _ 1".)
Execute or re-execute adaptive
tuning in the standard mode.
(Set [Pr. PB01] to "0 _ _ 1".)
Tuning ends automatically after the
predetermined period of time.
([Pr. PB01] will be "_ _ _ 2" or "_ _ _
0".)
Has vibration or unusual
noise been resolved?
If assumption fails after tuning is executed at a large vibration or
oscillation, decrease the response setting temporarily down to
the vibration level and execute again.
Yes
No
Decrease the response until vibration
or unusual noise is resolved.
Using the machine analyzer, set the
filter manually.
End
7- 6
Factor
The response has increased to the machine limit.
The machine is too complicated to provide the
optimum filter.
7. SPECIAL ADJUSTMENT FUNCTIONS
7.1.3 Shaft resonance suppression filter
POINT
This filter is set properly by default according to servo motor you use and load
moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0"
(automatic setting) because changing "Shaft resonance suppression filter
selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may
lower the performance.
(1) Function
When 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.
When you select "Automatic setting", the filter will be set automatically on the basis of the servo motor
you use and the load to motor inertia ratio. The disabled setting increases the response of the servo
amplifier for high resonance frequency.
(2) Parameter
Set "Shaft resonance suppression filter selection" in [Pr. PB23].
[Pr. PB23]
0 0 0
Shaft resonance suppression filter selection
0: Automatic setting
1: Manual setting
2: Disabled
To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".
To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting
values are as follows.
Shaft resonance suppression filter setting frequency selection
Setting
value
Frequency [Hz]
Setting
value
Frequency [Hz]
__00
__01
__02
__03
__04
__05
__06
__07
__08
__09
__0A
__0B
__0C
__0D
__0E
__0F
Disabled
Disabled
4500
3000
2250
1800
1500
1285
1125
1000
900
818
750
692
642
600
__10
__11
__12
__13
__14
__15
__16
__17
__18
__19
__1A
__1B
__1C
__1D
__1E
__1F
562
529
500
473
450
428
409
391
375
360
346
333
321
310
300
290
7- 7
7. SPECIAL ADJUSTMENT FUNCTIONS
7.1.4 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of
the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a
default. The filter frequency of the low-pass filter is automatically adjusted to the value in the following
equation.
Filter frequency ([rad/s]) =
VG2
× 10
1 + GD2
However, when an automatically adjusted value is smaller than VG2, the filter frequency will be the VG2
value.
To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr. PB23].
(2) Parameter
Set "Low-pass filter selection" in [Pr. PB23].
[Pr. PB23]
0 0
0
Low-pass filter selection
0: Automatic setting
1: Manual setting
2: Disabled
7.1.5 Advanced vibration suppression control II
POINT
The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is
"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment
mode 2 (_ _ _ 4)".
The machine resonance frequency supported in the vibration suppression
control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range,
set manually.
Stop the servo motor before changing the vibration suppression control-related
parameters. Otherwise, it may cause an unexpected operation.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after vibration damping.
Vibration suppression control tuning may not make normal estimation if the
residual vibration at the servo motor side is small.
Vibration suppression control tuning sets the optimum parameter with the
currently set control gains. When the response setting is increased, set vibration
suppression control tuning again.
When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].
7- 8
7. SPECIAL ADJUSTMENT FUNCTIONS
Servo motor side
Load side
Vibration suppression: off (normal)
t
Position
Position
(1) Function
Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration
and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not
vibrate.
Servo motor side
Load side
Vibration suppression control: on
t
When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning
mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine
side vibration two times at most.
In the vibration suppression control tuning mode, this mode shifts to the manual setting after the
positioning operation is performed the predetermined number of times. For manual setting, adjust the
vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.
PB52] to [Pr. PB55].
(2) Parameter
Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode
selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning
mode selection" in addition.
[Pr. PB02]
0 0
Vibration suppression control 1 tuning mode
Setting
value
Vibration suppression control 1
tuning mode selection
_ _ _ 0 Disabled
_ _ _ 1 Automatic setting
_ _ _ 2 Manual setting
Automatically set parameter
PB19/PB20/PB21/PB22
Vibration suppression control 2 tuning mode
Setting
value
Vibration suppression control 2
tuning mode selection
_ _ 0 _ Disabled
_ _ 1 _ Automatic setting
_ _ 2 _ Manual setting
7- 9
Automatically set parameter
PB52/PB53/PB54/PB55
7. SPECIAL ADJUSTMENT FUNCTIONS
(3) Vibration suppression control tuning procedure
The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2,
set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning.
Vibration suppression control tuning
Operation
Yes
Is the target response
reached?
No
Increase the response setting.
Has vibration of workpiece
end/device increased?
No
Yes
Stop operation.
Execute or re-execute vibration
suppression control tuning.
(Set [Pr. PB02] to "_ _ _ 1".)
Resume operation.
Tuning ends automatically after
positioning operation is performed
the predetermined number of times.
([Pr. PB02] will be "_ _ _ 2" or
"_ _ _ 0".)
Has vibration
of workpiece end/device
been resolved?
Yes
No
Decrease the response until vibration
of workpiece end/device is resolved.
Using a machine analyzer or
considering load-side vibration
waveform, set the vibration
suppression control manually.
End
7 - 10
Factor
Estimation cannot be made as load-side vibration
has not been transmitted to the servo motor side.
The response of the model loop gain has
increased to the load-side vibration frequency
(vibration suppression control limit).
7. SPECIAL ADJUSTMENT FUNCTIONS
(4) Vibration suppression control manual mode
POINT
When load-side vibration does not show up in servo motor-side vibration, the
setting of the servo motor-side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external equipment, do not set the same value
but set different values to improve the vibration suppression performance.
Measure work-side vibration and device shake with the machine analyzer or external measuring
instrument, and set the following parameters to adjust vibration suppression control manually.
Setting item
Vibration suppression control - Vibration
frequency
Vibration suppression control - Resonance
frequency
Vibration suppression control - Vibration
frequency damping
Vibration suppression control - Resonance
frequency damping
7 - 11
Vibration suppression
control 1
Vibration suppression
control 2
[Pr. PB19]
[Pr. PB52]
[Pr. PB20]
[Pr. PB53]
[Pr. PB21]
[Pr. PB54]
[Pr. PB22]
[Pr. PB55]
7. SPECIAL ADJUSTMENT FUNCTIONS
Step 1
Step 2
Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or
"Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr.
PB02].
Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control Resonance frequency" as follows.
However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency have
the following usable range and recommended range.
Vibration suppression
control
Vibration suppression
control 1
Vibration suppression
control 2
Usable range
Recommended setting range
[Pr. PB19] > 1/2π × (0.9 × [Pr. PB07])
[Pr. PB20] > 1/2π × (0.9 × [Pr. PB07])
When [Pr. PB19] < [Pr. PB52],
[Pr. PB52] > (5.0 + 0.1 × [Pr. PB07])
[Pr. PB53] > (5.0 + 0.1 × [Pr. PB07])
1.1 < [Pr. PB52]/[Pr. PB19] < 5.5
[Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])
[Pr. PB19] > 1/2π × (1.5 × [Pr. PB07])
[Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])
When [Pr. PB19] < [Pr. PB52],
[Pr. PB52], [Pr. PB53] > 6.25 Hz
1.1 < [Pr. PB52]/[Pr. PB19] < 4
[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])
(a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external
equipment.
Vibration suppression control 2 Vibration frequency
(anti-resonance frequency)
[Pr. PB52]
Vibration suppression control 2 Resonance frequency
[Pr. PB53]
Gain characteristics
1 Hz
300 Hz
Resonance of more than
Vibration suppression control 1 300 Hz is not the target of control.
Vibration frequency
Vibration suppression control 1 (anti-resonance frequency)
Resonance frequency
[Pr. PB19]
[Pr. PB20]
Phase
-90 degrees
(b) When vibration can be confirmed using monitor signal or external sensor
Motor-side vibration
(droop pulses)
External acceleration pickup signal, etc.
Position command frequency
t
Vibration cycle [Hz]
Vibration suppression control Vibration frequency
Vibration suppression control Resonance frequency
t
Vibration cycle [Hz]
Set the same value.
Step 3
Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration
suppression control - Resonance frequency damping".
7 - 12
7. SPECIAL ADJUSTMENT FUNCTIONS
7.1.6 Command notch filter
POINT
By using the advanced vibration suppression control II and the command notch
filter, the load-side vibration of three frequencies can be suppressed.
The frequency range of machine vibration, which can be supported by the
command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to
the machine vibration frequency and within the range.
When [Pr. PB45 Command notch filter] is changed during the positioning
operation, the changed setting is not reflected. The setting is reflected
approximately 150 ms after the servo motor stops (after servo-lock).
Position
Position
(1) Function
Command notch filter has a function that lowers the gain of the specified frequency contained in a
position command. By lowering the gain, load-side vibration, such as work-side vibration and base
shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be
set.
Load side
Load side
t
t
Command notch filter: disabled
7 - 13
Command notch filter: enabled
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameter
Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency,
set the closest value to the vibration frequency [Hz] at the load side.
[Pr. PB45]
0
Command notch filter setting frequency
Notch depth
Setting
value
Depth
[dB]
Setting
value
Frequency
[Hz]
Setting
value
Frequency
[Hz]
Setting
value
Frequency
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
-40.0
-24.1
-18.1
-14.5
-12.0
-10.1
-8.5
-7.2
-6.0
-5.0
-4.1
-3.3
-2.5
-1.8
-1.2
-0.6
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
Disabled
2250
1125
750
562
450
375
321
281
250
225
204
187
173
160
150
140
132
125
118
112
107
102
97
93
90
86
83
80
77
75
72
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
70
66
62
59
56
53
51
48
46
45
43
41
40
38
37
36
35.2
33.1
31.3
29.6
28.1
26.8
25.6
24.5
23.4
22.5
21.6
20.8
20.1
19.4
18.8
18.2
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
17.6
16.5
15.6
14.8
14.1
13.4
12.8
12.2
11.7
11.3
10.8
10.4
10.0
9.7
9.4
9.1
8.8
8.3
7.8
7.4
7.0
6.7
6.4
6.1
5.9
5.6
5.4
5.2
5.0
4.9
4.7
4.5
7 - 14
[Hz]
7. SPECIAL ADJUSTMENT FUNCTIONS
7.2 Gain switching function
You can switch gains with the function. You can switch gains during rotation and during stop, and can use a
control command from a controller to switch gains during operation.
7.2.1 Applications
The following shows when you use the function.
(1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using a control command from a controller to ensure stability of the servo
system since the load to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a
carrier).
7 - 15
7. SPECIAL ADJUSTMENT FUNCTIONS
7.2.2 Function block diagram
The control gains, load to motor inertia ratio, and vibration suppression control settings are changed
according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching
condition].
CDP
[Pr. PB26]
Control command
from controller
Command pulse
frequency
+
-
Droop pulses
+
-
Model speed
+
-
Changing
Comparator
CDL
[Pr. PB27]
GD2
[Pr. PB06]
GD2B
[Pr. PB29]
PG1
[Pr. PB07]
PG1B
[Pr. PB60]
PG2
[Pr. PB08]
PG2B
[Pr. PB30]
VG2
[Pr. PB09]
VG2B
[Pr. PB31]
VIC
[Pr. PB10]
VICB
[Pr. PB32]
Enabled
GD2 value
Enabled
PG1 value
Enabled
PG2 value
Enabled
VG2 value
Enabled
VIC value
VRF11
[Pr. PB19]
VRF11B
[Pr. PB33]
VRF12
[Pr. PB20]
VRF12B
[Pr. PB34]
VRF13
[Pr. PB21]
VRF13B
[Pr. PB35]
VRF14
[Pr. PB22]
VRF14B
[Pr. PB36]
VRF21
[Pr. PB52]
VRF21B
[Pr. PB56]
VRF22
[Pr. PB53]
VRF22B
[Pr. PB57]
VRF23
[Pr. PB54]
VRF23B
[Pr. PB58]
VRF24
[Pr. PB55]
VRF24B
[Pr. PB59]
7 - 16
Enabled
VRF11 value
Enabled
VRF12 value
Enabled
VRF13 value
Enabled
VRF14 value
Enabled
VRF21 value
Enabled
VRF22 value
Enabled
VRF23 value
Enabled
VRF24 value
7. SPECIAL ADJUSTMENT FUNCTIONS
7.2.3 Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning
mode.
(1) Parameter for setting gain switching condition
Parameter
Symbol
Name
Unit
PB26
PB27
CDP
CDL
Gain switching function
Gain switching condition
PB28
CDT
Gain switching time constant
Description
Select a switching condition.
[kpulse/s] Set a switching condition values.
/[pulse]
/[r/min]
[ms]
Set the filter time constant for a gain switch at switching.
(a) [Pr. PB26 Gain switching function]
Set gain switching conditions. Select the switching condition in the first to third digits.
[Pr. PB26]
0
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
Gain switching condition
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
Gain switching time constant disabling condition selection (Note)
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Note. This digit is available with servo amplifier with software version B4 or later.
(b) [Pr. PB27 Gain switching condition]
Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or
"Servo motor speed/linear servo motor speed" with the gain switching selection in [Pr. PB26 Gain
switching function].
The setting unit is as follows.
Gain switching condition
Unit
Command frequency
Droop pulses
Servo motor speed/linear servo motor speed
[kpulse/s]
[pulse]
[r/min]/[mm/s]
(c) [Pr. PB28 Gain switching time constant]
You can set the primary delay filter to each gain at gain switching. Use this parameter to suppress
shock given to the machine if the gain difference is large at gain switching, for example.
7 - 17
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Switchable gain parameter
Loop gain
Parameter
Before switching
Symbol
Name
Load to motor inertia
ratio/load to motor mass
ratio
Model loop gain
PB06
GD2
PB07
Position loop gain
Parameter
After switching
Symbol
Name
PB29
GD2B
PG1
Load to motor inertia
ratio/load to motor mass
ratio
Model loop gain
PB60
PG1B
PB08
PG2
Position loop gain
PB30
PG2B
Speed loop gain
PB09
VG2
Speed loop gain
PB31
VG2B
Speed integral
compensation
PB10
VIC
Speed integral
compensation
PB32
VICB
Vibration suppression
control 1 - Vibration
frequency
PB19
VRF11
Vibration suppression
control 1 - Vibration
frequency
PB33
VRF11B
Vibration suppression
control 1 - Resonance
frequency
PB20
VRF12
Vibration suppression
control 1 - Resonance
frequency
PB34
VRF12B
Vibration suppression
control 1 - Vibration
frequency damping
PB21
VRF13
Vibration suppression
control 1 - Vibration
frequency damping
PB35
VRF13B
Vibration suppression
control 1 - Resonance
frequency damping
PB22
VRF14
Vibration suppression
control 1 - Resonance
frequency damping
PB36
VRF14B
Vibration suppression
control 2 - Vibration
frequency
PB52
VRF21
Vibration suppression
control 2 - Vibration
frequency
PB56
VRF21B
Vibration suppression
control 2 - Resonance
frequency
PB53
VRF22
Vibration suppression
control 2 - Resonance
frequency
PB57
VRF22B
Vibration suppression
control 2 - Vibration
frequency damping
PB54
VRF23
Vibration suppression
control 2 - Vibration
frequency damping
PB58
VRF23B
Vibration suppression
control 2 - Resonance
frequency damping
PB55
VRF24
Vibration suppression
control 2 - Resonance
frequency damping
PB59
VRF24B
Load to motor inertia
ratio/load to motor mass
ratio after gain switching
Model loop gain after gain
switching
Position loop gain after
gain switching
Speed loop gain after gain
switching
Speed integral
compensation after gain
switching
Vibration suppression
control 1 - Vibration
frequency after gain
switching
Vibration suppression
control 1 - Resonance
frequency after gain
switching
Vibration suppression
control 1 - Vibration
frequency damping after
gain switching
Vibration suppression
control 1 - Resonance
frequency damping after
gain switching
Vibration suppression
control 2 - Vibration
frequency after gain
switching
Vibration suppression
control 2 - Resonance
frequency after gain
switching
Vibration suppression
control 2 - Vibration
frequency damping after
gain switching
Vibration suppression
control 2 - Resonance
frequency damping after
gain switching
(a) [Pr. PB06] to [Pr. PB10]
These parameters are the same as in ordinary manual adjustment. Gain switching allows the values
of load to motor inertia ratio/load to motor mass ratio, position loop gain, model loop gain, speed loop
gain, and speed integral compensation to be switched.
(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]
These parameters are the same as in ordinary manual adjustment. Executing gain switching while
the servo motor stops, You can change vibration frequency, resonance frequency, vibration
frequency damping, and resonance frequency damping.
7 - 18
7. SPECIAL ADJUSTMENT FUNCTIONS
(c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching]
Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to motor
inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio].
(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],
and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of after switching position loop gain, speed loop gain and speed integral
compensation.
(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]),
and [Pr. PB60 Model loop gain after gain switching]
The gain switching vibration suppression control and gain switching model loop gain are used only
with control command from the controller.
You can switch the vibration frequency, resonance frequency, vibration frequency damping,
resonance frequency damping, and model loop gain of the vibration suppression control 1 and
vibration suppression control 2.
7 - 19
7. SPECIAL ADJUSTMENT FUNCTIONS
7.2.4 Gain switching procedure
This operation will be described by way of setting examples.
(1) When you choose switching by control command from the controller
(a) Setting example
Parameter
Symbol
PB06
PB07
PB08
PB09
PB10
PB19
PB20
PB21
PB22
PB52
PB53
PB54
PB55
PB29
GD2
PG1
PG2
VG2
VIC
VRF11
VRF12
VRF13
VRF14
VRF21
VRF22
VRF23
VRF24
GD2B
PB60
PB30
PB31
PB32
PB26
PG1B
PG2B
VG2B
VICB
CDP
PB28
PB33
CDT
VRF11B
PB34
VRF12B
PB35
VRF13B
PB36
VRF14B
PB56
VRF21B
PB57
VRF22B
PB58
VRF23B
PB59
VRF24B
Name
Load to motor inertia ratio/load to motor mass ratio
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
Vibration suppression control 1 - Vibration frequency
Vibration suppression control 1 - Resonance frequency
Vibration suppression control 1 - Vibration frequency damping
Vibration suppression control 1 - Resonance frequency damping
Vibration suppression control 2 - Vibration frequency
Vibration suppression control 2 - Resonance frequency
Vibration suppression control 2 - Vibration frequency damping
Vibration suppression control 2 - Resonance frequency damping
Load to motor inertia ratio/load to motor mass ratio after gain
switching
Model loop gain after gain switching
Position loop gain after gain switching
Speed loop gain after gain switching
Speed integral compensation after gain switching
Gain switching function
Gain switching time constant
Vibration suppression control 1 - Vibration frequency after gain
switching
Vibration suppression control 1 - Resonance frequency after gain
switching
Vibration suppression control 1 - Vibration frequency damping after
gain switching
Vibration suppression control 1 - Resonance frequency damping
after gain switching
Vibration suppression control 2 - Vibration frequency after gain
switching
Vibration suppression control 2 - Resonance frequency after gain
switching
Vibration suppression control 2 - Vibration frequency damping after
gain switching
Vibration suppression control 2 - Resonance frequency damping
after gain switching
7 - 20
Setting value
Unit
4.00
100
120
3000
20
50
50
0.20
0.20
20
20
0.10
0.10
10.00
[Multiplier]
[rad/s]
[rad/s]
[rad/s]
[ms]
[Hz]
[Hz]
[Hz]
[Hz]
[Multiplier]
50
84
4000
50
0001
(Switch by control command
from the controller.)
100
60
[rad/s]
[rad/s]
[rad/s]
[ms]
60
[Hz]
[ms]
[Hz]
0.15
0.15
30
[Hz]
30
[Hz]
0.05
0.05
7. SPECIAL ADJUSTMENT FUNCTIONS
(b) Switching timing chart
Control command
from controller
OFF
OFF
ON
After-switching gain
63.4%
Gain switching
Model loop gain
Load to motor inertia ratio/load to motor
mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
Vibration suppression control 1 - Vibration
frequency
Vibration suppression control 1 Resonance frequency
Vibration suppression control 1 - Vibration
frequency damping
Vibration suppression control 1 Resonance frequency damping
Vibration suppression control 2 - Vibration
frequency
Vibration suppression control 2 Resonance frequency
Vibration suppression control 2 - Vibration
frequency damping
Vibration suppression control 2 Resonance frequency damping
Before-switching gain
CDT = 100 ms
100
→
50
→
100
4.00
→
10.00
→
4.00
120
3000
20
→
→
→
84
4000
50
→
→
→
120
3000
20
50
→
60
→
50
50
→
60
→
50
0.20
→
0.15
→
0.20
0.20
→
0.15
→
0.20
20
→
30
→
20
20
→
30
→
20
0.10
→
0.05
→
0.10
0.10
→
0.05
→
0.10
(2) When you choose switching by droop pulses
The vibration suppression control after gain switching and model loop gain after gain switching cannot
be used.
(a) Setting example
Parameter
Symbol
Name
Setting value
Unit
PB06
GD2
4.00
[Multiplier]
PB08
PB09
PB10
PB29
PG2
VG2
VIC
GD2B
120
3000
20
10.00
[rad/s]
[rad/s]
[ms]
[Multiplier]
PB30
PG2B
84
[rad/s]
PB31
VG2B
4000
[rad/s]
PB32
VICB
50
[ms]
PB26
CDP
Load to motor inertia ratio/load to
motor mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
Load to motor inertia ratio/load to
motor mass ratio after gain
switching
Position loop gain after gain
switching
Speed loop gain after gain
switching
Speed integral compensation after
gain switching
Gain switching selection
PB27
PB28
CDL
CDT
Gain switching condition
Gain switching time constant
0003
(switching by droop pulses)
50
100
[pulse]
[ms]
7 - 21
7. SPECIAL ADJUSTMENT FUNCTIONS
(b) Switching timing chart
Command pulses
Droop pulses
Command pulses
Droop pulses
[pulse]
0
+CDL
-CDL
After-switching gain
63.4%
Gain switching
Before-switching gain
CDT = 100 ms
Load to motor inertia ratio/load to motor
mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
4.00
→
10.00
→
4.00
→
10.00
120
3000
20
→
→
→
84
4000
50
→
→
→
120
3000
20
→
→
→
84
4000
50
(3) When the gain switching time constant is disabled
(a) Switching time constant disabled was selected.
The gain switching time constant is disabled. The time constant is enabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.
PB28 (CDT)] = 100 [ms].
Command pulses
Droop pulses
Droop pulses [pulse]
+100 pulses
0
-100 pulses
Switching time constant
disabled
Switching at 0 ms
Gain switching
After-switching gain
After-switching gain
63.4%
Before-switching gain
Switching at 0 ms
CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)
7 - 22
7. SPECIAL ADJUSTMENT FUNCTIONS
(b) Return time constant disabled was selected.
The gain switching time constant is enabled. The time constant is disabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28
(CDT)] = 100 [ms].
CDP (Gain switching)
OFF
ON
OFF
After-switching gain
Return time constant disabled
Switching at 0 ms
Gain switching
63.4%
Before-switching gain
CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)
7 - 23
7. SPECIAL ADJUSTMENT FUNCTIONS
7.3 Tough drive function
POINT
Set enable/disable of the tough drive function with [Pr. PA20 Tough drive
setting]. (Refer to section 5.2.1.)
This function makes the equipment continue operating even under the condition that an alarm occurs. The
tough drive functions are the vibration tough drive and the instantaneous power failure tough drive.
7.3.1 Vibration tough drive function
This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to
varied machine resonance frequency caused by machine aging.
To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.
Set [Pr. PB13] and [Pr. PB15] as follows.
(1) One-touch tuning execution (section 6.1)
(2) Manual setting (section 4.2.2)
The vibration tough drive function operates when a detected machine resonance frequency is within ±30%
for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance
suppression filter 2].
To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation
detection level].
POINT
Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is
performed constantly. However, the number of write times to the EEPROM is
limited to once per hour.
The vibration tough drive function does not reset [Pr. PB46 Machine resonance
suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr.
PB50 Machine resonance suppression filter 5].
The vibration tough drive function does not detect a vibration of 100 Hz or less.
7 - 24
7. SPECIAL ADJUSTMENT FUNCTIONS
The following shows the function block diagram of the vibration tough drive function.
The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset
a machine resonance frequency of a parameter whose set value is closer.
Filter
Setting parameter
Machine resonance
suppression filter 1
PB01/PB13/PB14
Machine resonance
suppression filter 2
Machine resonance
suppression filter 3
Machine resonance
suppression filter 4
PB15/PB16
Machine resonance
suppression filter 5
PB50/PB51
The filter can be set automatically with
"Filter tuning mode selection" in [Pr.
PB01].
PB13
PB15
PB48/PB49
Enabling the machine resonance
suppression filter 4 disables the shaft
resonance suppression filter.
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
Enabling the robust filter disables the
machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.
Vibration tough drive
[Pr. PB13]
Command +
filter
-
Precaution
PB46/PB47
Updates the parameter
whose setting is the
closest to the machine
resonance frequency.
Command
pulse train
Parameter that is
reset with vibration
tough drive
function
[Pr. PB15]
Machine
resonance
suppression
filter 1
[Pr. PB46]
Machine
resonance
suppression
filter 2
Machine
resonance
suppression
filter 3
Load
[Pr. PB50]
[Pr. PB48]
[Pr. PB49]
Machine
resonance
suppression
filter 4
[Pr. PE41]
Machine
resonance
suppression
filter 5
[Pr. PB17]
Encoder
PWM
Shaft
resonance
suppression
filter
Robust filter
M
Servo motor
[Pr. PF23 Vibration tough drive - Oscillation detection level]
Torque
CALM
(AND malfunction)
ON
WNG
(Warning)
ON
MTTR
(During tough drive)
ON
Detects the machine resonance and reconfigures the filter automatically.
OFF
5s
OFF
During tough drive (MTTR) is not turned on in the vibration tough drive function.
OFF
7 - 25
7. SPECIAL ADJUSTMENT FUNCTIONS
7.3.2 Instantaneous power failure tough drive function
The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an
instantaneous power failure occurs during operation. When the instantaneous power failure tough drive
activates, the function will increase the tolerance against instantaneous power failures using the electrical
energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL. 10
Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the control circuit power] detection time for the
control circuit power supply can be changed by [Pr. PF25 SEMI-F47 function - Instantaneous power failure
detection time]. In addition, [AL. 10.2 Voltage drop in the main circuit power] detection level for the bus
voltage is changed automatically.
POINT
MBR (Electromagnetic brake interlock) will not turn off during the instantaneous
power failure tough drive.
When the load of instantaneous power failure is large, [AL. 10.2] caused by the
bus voltage drop may occur regardless of the set value of [Pr. PF25 SEMI-F47
function - Instantaneous power failure detection time].
MR-J4W2-0303B6 servo amplifier is not compatible with instantaneous power
failure tough drive.
The setting range of [Pr. PF25 SEMI-F47 function - Instantaneous power failure
detection time] differs depending on the software version of the servo amplifier
as follows.
Software version C0 or later: Setting range 30 ms to 200 ms
Software version C1 or earlier: Setting range 30 ms to 500 ms
To comply with SEMI-F47 standard, it is unnecessary to change the initial value
(200 ms).
However, when the instantaneous power failure time exceeds 200 ms, and the
instantaneous power failure voltage is less than 70% of the rated input voltage,
the power may be normally turned off even if a value larger than 200 ms is set in
the parameter.
7 - 26
7. SPECIAL ADJUSTMENT FUNCTIONS
(1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function Instantaneous power failure detection time]
The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds
[Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time].
MTTR (During tough drive) turns on after detecting the instantaneous power failure.
MBR (Electromagnetic brake interlock) turns off when the alarm occurs.
Instantaneous power failure time of the control circuit power supply
Control circuit
ON (energization)
power supply OFF (power failure)
[Pr. PF25]
Bus voltage
Undervoltage level
(158 V DC)
CALM
(AND malfunction)
ON
OFF
WNG
(Warning)
ON
OFF
MTTR
(During tough drive)
ON
OFF
MBR
(Electromagnetic
brake interlock)
ON
OFF
Base circuit
ON
OFF
7 - 27
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function Instantaneous power failure detection time]
Operation status differs depending on how bus voltage decrease.
(a) When the bus voltage decrease lower than 158 V DC within the instantaneous power failure time of
the control circuit power supply
[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than 158 V DC regardless of the
enabled instantaneous power failure tough drive.
Instantaneous power failure time of the control circuit power supply
Control circuit ON (energization)
power supply OFF (power failure)
[Pr. PF25]
Bus voltage
Undervoltage level
(158 V DC)
CALM
(AND malfunction)
ON
OFF
WNG
(Warning)
ON
OFF
MTTR
(During tough drive)
ON
OFF
MBR
(Electromagnetic
brake interlock)
ON
OFF
Base circuit
ON
OFF
7 - 28
7. SPECIAL ADJUSTMENT FUNCTIONS
(b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power
failure time of the control circuit power supply
The operation continues without alarming.
Instantaneous power failure time of the
control circuit power supply
Control circuit ON (energization)
power supply OFF (power failure)
[Pr. PF25]
Bus voltage
Undervoltage level
(158 V DC)
CALM
(AND malfunction)
ON
OFF
WNG
(Warning)
ON
OFF
MTTR
(During tough drive)
ON
OFF
MBR
(Electromagnetic
brake interlock)
ON
OFF
Base circuit
ON
OFF
7 - 29
7. SPECIAL ADJUSTMENT FUNCTIONS
7.4 Compliance with SEMI-F47 standard
POINT
The control circuit power supply of the MR-J4W_-_B 200 W or more servo
amplifier can comply with SEMI-F47 standard. However, a back-up capacitor
may be necessary for instantaneous power failure in the main circuit power
supply depending on the power supply impedance and operating situation. Be
sure to check them by testing the entire equipment using actual machines.
Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase
200 V AC for the input power supply will not comply with SEMI-F47 standard.
The MR-J4W2-0303B6 servo amplifier is not compatible with SEMI-F47
standard.
The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag
immunity test" of MR-J4 series.
This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the
capacitor in case that an instantaneous power failure occurs during operation.
(1) Parameter setting
Setting [Pr. PA20] and [Pr. PF25] as follows will enable SEMI-F47 function.
Parameter
Setting
value
PA20
_1__
PF25
200
Description
Enable SEMI-F47 function selection.
Set the time [ms] of the [AL. 10.1 Voltage drop in the control circuit power]
occurrence.
Enabling SEMI-F47 function will change operation as follows.
(a) The voltage will drop in the control circuit power at "Rated voltage × 50% or less". After 200 ms, [AL.
10.1 Voltage drop in the control circuit power] will occur.
(b) [AL. 10.2 Voltage drop in the main circuit power] will occur with 158 V DC or less in bus voltage.
(c) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit
power] occurs.
(2) Requirement of SEMI-F47 standard
Table 7.1 shows the permissible time of instantaneous power failure for instantaneous power failure of
SEMI-F47 standard.
Table 7.1 Requirement of SEMI-F47 standard
Instantaneous power
failure voltage
Permissible time of
instantaneous power
failure [s]
Rated voltage × 80%
Rated voltage × 70%
Rated voltage × 50%
1
0.5
0.2
7 - 30
7. SPECIAL ADJUSTMENT FUNCTIONS
(3) Calculation of tolerance against instantaneous power failure
Table 7.2 shows tolerance against instantaneous power failure when instantaneous power failure
voltage is "rated voltage × 50%" and instantaneous power failure time is 200 ms.
Table 7.2 Tolerance against instantaneous power failure
(instantaneous power failure voltage = rated voltage × 50%,
instantaneous power failure time = 200 ms)
Servo amplifier
Instantaneous
maximum output [W]
Tolerance against
instantaneous power
failure [W]
(Voltage drop
between lines)
MR-J4W2-22B
1400 (700 × 2)
790
MR-J4W2-44B
2800 (1400 × 2)
1190
MR-J4W2-77B
5250 (2625 × 2)
2300
MR-J4W2-1010B
6000 (3000 × 2)
2400
MR-J4W3-222B
2100 (700 × 3)
970
MR-J4W3-444B
4200 (1400 × 3)
1700
Instantaneous maximum output means power which servo amplifier can output in maximum torque at
rated speed. You can examine margins to compare the values of following conditions and instantaneous
maximum output.
Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the
maximum output. This can be handled as a margin.
The following shows the conditions of tolerance against instantaneous power failure.
(a) Delta connection
For 3-phase (L1/L2/L3) delta connection, an instantaneous power failure will be applied to a voltage
between lines (e.g. between L1 and L2) from three pairs of voltages between lines (between L1 and
L2, L2 and L3, or L3 and L1).
(b) Star connection
For 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure will be
applied to a voltage between lines (e.g. between L1 and N) from six pairs of voltages between lines
(between L1 and L2, L2 and L3, or L3 and L1) and between line and neutral point (between L1 and
N, L2 and N, or L3 and N).
7 - 31
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5 Model adaptive control disabled
POINT
Change the parameters while the servo motor stops.
When setting auto tuning response ([Pr. PA09]), change the setting value one by
one to adjust with checking operation status of the servo motor.
This is used by servo amplifiers with software version B4 or later. Check the
software version with MR Configurator2.
(1) Summary
The servo amplifier has a model adaptive control. The servo amplifier has a virtual motor model and
drives the servo motor following the output of the motor model in the model adaptive control. At model
adaptive control disabled, the servo amplifier drives motor with PID control without using the model
adaptive control.
The following parameters are available at model adaptive control disabled.
Parameter
Symbol
Name
PB08
PB09
PB10
PG2
VG2
VIC
Position loop gain
Speed loop gain
Speed integral compensation
(2) Parameter setting
Set [Pr. PB25] to "_ _ _ 2".
(3) Restrictions
The following functions are not available at model adaptive control disabled.
Function
Explanation
Forced stop deceleration function
([Pr. PA04])
Vibration suppression control 1
([Pr. PB02]/[Pr. PB19]/[Pr. PB20])
Vibration suppression control 2
([Pr. PB02]/[Pr. PB52]/[Pr. PB53])
Overshoot amount compensation
([Pr. PB12])
7 - 32
Disabling the model adaptive control while the forced stop
deceleration function is enabled, [AL. 37] will occur.
The forced stop deceleration function is enabled at factory
setting. Set [Pr. PA04] to "0 _ _ _" (forced stop
deceleration function disabled).
The vibration suppression control uses the model adaptive
control. Disabling the model adaptive control will also
disable the vibration suppression control.
The overshoot amount compensation uses data used by
the model adaptive control. Disabling the model adaptive
control will also disable the overshoot amount
compensation.
8. TROUBLESHOOTING
8. TROUBLESHOOTING
POINT
Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)"
for details of alarms and warnings.
If an alarm which indicates each axis in the stop method column occurs, the axis
without the alarm operates the servo motor as per normal.
As soon as an alarm occurs, make the Servo-off status and interrupt the main
circuit power.
[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning])
are not recorded in the alarm history.
When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm or
warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to
remove the failure. When an alarm occurs, ALM (Malfunction) will turn off.
8.1 Explanation for the lists
(1) No./Name/Detail No./Detail name
Indicates each No./Name/Detail No./Detail name of alarms or warnings.
(2) Processing system
Processing system of alarms is as follows.
Each axis: Alarm is detected for each axis.
Common: Alarm is detected as the whole servo amplifier.
(3) Stop system
This means target axis to stop when the alarm occurs.
Each axis: Only alarming axis will stop.
All axes: All axes will stop.
(4) Stop method
For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops
with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or
"EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced
stop deceleration.
(5) Alarm deactivation
After its cause has been removed, the alarm can be deactivated in any of the methods marked
in the
alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is
removed. Alarms are deactivated with alarm reset, CPU reset, or cycling the power.
Alarm deactivation
Alarm reset
CPU reset
Cycling the power
Explanation
1. Error reset command from controller
2. Pushing "Occurring Alarm Reset" in the "Alarm Display" window of MR
Configurator2
Resetting the controller itself
Turning the power off and then turning it on again.
8- 1
8. TROUBLESHOOTING
8.2 Alarm list
Alarm
No.
10
11
12
13
14
15
16
Name
Detail
No.
10.1
Voltage drop in the control
circuit power
10.2
Common All axes
Voltage drop in the main circuit
power
SD
Common All axes
11.1
Axis number setting error/
Station number setting error
DB
Common All axes
11.2
Disabling control axis setting
error
DB
Common All axes
12.1
RAM error 1
DB
Common All axes
12.2
RAM error 2
DB
Common All axes
12.3
RAM error 3
DB
Common All axes
12.4
RAM error 4
DB
Common All axes
12.5
RAM error 5
DB
Common All axes
12.6
RAM error 6
DB
13.1
Clock error 1
DB
Common All axes
13.2
Clock error 2
DB
Common All axes
14.1
Control process error 1
DB
Common All axes
14.2
Control process error 2
DB
Common All axes
14.3
Control process error 3
DB
Common All axes
14.4
Control process error 4
DB
Common All axes
14.5
Control process error 5
DB
Common All axes
14.6
Control process error 6
DB
Common All axes
14.7
Control process error 7
DB
Common All axes
14.8
Control process error 8
DB
Common All axes
14.9
Control process error 9
DB
Common All axes
14.A
Control process error 10
DB
Common All axes
14.B
Control process error 11
DB
15.1
EEP-ROM error at power on
DB
Common All axes
15.2
EEP-ROM error during
operation
DB
Common All axes
15.4
Home position information read
error
DB
16.1
Encoder initial communication Receive data error 1
DB
Each
axis
Each
axis
16.2
Encoder initial communication Receive data error 2
DB
Each
axis
Each
axis
16.3
Encoder initial communication Receive data error 3
DB
Each
axis
Each
axis
16.5
Encoder initial communication Transmission data error 1
DB
Each
axis
Each
axis
16.6
Encoder initial communication Transmission data error 2
DB
Each
axis
Each
axis
16.7
Encoder initial communication Transmission data error 3
DB
Each
axis
Each
axis
16.A
Encoder initial communication Process error 1
DB
Each
axis
Each
axis
16.B
Encoder initial communication Process error 2
DB
Each
axis
Each
axis
16.C
Encoder initial communication Process error 3
DB
Each
axis
Each
axis
16.D
Encoder initial communication Process error 4
DB
Each
axis
Each
axis
16.E
Encoder initial communication Process error 5
DB
Each
axis
Each
axis
16.F
Encoder initial communication Process error 6
DB
Each
axis
Each
axis
Switch setting error
Clock error
Control process
error
Memory error 2
(EEP-ROM)
Encoder initial
communication
error 1
Alarm deactivation
Stop
ProcessStop
method
ing
Cycling
system
Alarm
CPU
system
(Note
the
(Note 8)
reset
reset
2, 3)
power (Note 8)
EDB
Undervoltage
Memory error 1
(RAM)
Detail name
8- 2
8. TROUBLESHOOTING
Name
Alarm
No.
17
19
1A
1B
1E
1F
20
21
Board error
Memory error 3
(Flash-ROM)
Servo motor
combination error
Detail
No.
Detail name
Alarm deactivation
Stop
ProcessStop
method
ing
Cycling
system
Alarm
CPU
system
(Note
the
(Note 8)
reset
reset
2, 3)
power (Note 8)
17.1
Board error 1
DB
Common All axes
17.3
Board error 2
DB
Common All axes
17.4
Board error 3
DB
Common All axes
17.5
Board error 4
DB
Common All axes
17.6
Board error 5
DB
Common All axes
17.7
Board error 7
DB
17.8
Board error 6 (Note 6)
17.9
Board error 8
DB
19.1
Flash-ROM error 1
DB
Common All axes
19.2
Flash-ROM error 2
DB
Common All axes
19.3
Flash-ROM error 3
DB
1A.1
Servo motor combination error
1
DB
Each
axis
Each
axis
1A.2
Servo motor control mode
combination error
DB
Each
axis
Each
axis
1A.4
Servo motor combination error
2
DB
Each
axis
Each
axis
EDB
Common All axes
Converter error
1B.1
Converter unit error
DB
Encoder initial
communication
error 2
1E.1
Encoder malfunction
DB
Each
axis
Each
axis
1E.2
Load-side encoder malfunction
DB
Each
axis
Each
axis
1F.1
Incompatible encoder
DB
Each
axis
Each
axis
1F.2
Incompatible load-side encoder
DB
Each
axis
Each
axis
20.1
Encoder normal
communication - Receive data
error 1
EDB
Each
axis
Each
axis
20.2
Encoder normal
communication - Receive data
error 2
EDB
Each
axis
Each
axis
20.3
Encoder normal
communication - Receive data
error 3
EDB
Each
axis
Each
axis
20.5
Encoder normal
communication - Transmission
data error 1
EDB
Each
axis
Each
axis
20.6
Encoder normal
communication - Transmission
data error 2
EDB
Each
axis
Each
axis
20.7
Encoder normal
communication - Transmission
data error 3
EDB
Each
axis
Each
axis
20.9
Encoder normal
communication - Receive data
error 4
EDB
Each
axis
Each
axis
20.A
Encoder normal
communication - Receive data
error 5
EDB
Each
axis
Each
axis
21.1
Encoder data error 1
EDB
Each
axis
Each
axis
21.2
Encoder data update error
EDB
Each
axis
Each
axis
21.3
Encoder data waveform error
EDB
Each
axis
Each
axis
21.4
Encoder non-signal error
EDB
Each
axis
Each
axis
21.5
Encoder hardware error 1
EDB
Each
axis
Each
axis
21.6
Encoder hardware error 2
EDB
Each
axis
Each
axis
21.9
Encoder data error 2
EDB
Each
axis
Each
axis
Encoder initial
communication
error 3
Encoder normal
communication
error 1
Encoder normal
communication
error 2
8- 3
Alarm
8. TROUBLESHOOTING
No.
Name
24
Main circuit error
25
27
28
2A
2B
30
31
32
33
Absolute position
erased
Initial magnetic
pole detection error
Linear encoder
error 2
Linear encoder
error 1
Encoder counter
error
Regenerative error
Overspeed
Detail
No.
Alarm deactivation
Stop
ProcessStop
method
ing
Cycling
system
Alarm
CPU
system
(Note
the
(Note 8)
reset
reset
2, 3)
power (Note 8)
24.1
Ground fault detected by
hardware detection circuit
DB
Each
axis
All axes
24.2
Ground fault detected by
software detection function
DB
Each
axis
All axes
25.1
Servo motor encoder Absolute position erased
DB
Each
axis
Each
axis
25.2
Scale measurement encoder Absolute position erased
DB
Each
axis
Each
axis
27.1
Initial magnetic pole detection Abnormal termination
DB
Each
axis
Each
axis
27.2
Initial magnetic pole detection Time out error
DB
Each
axis
Each
axis
27.3
Initial magnetic pole detection Limit switch error
DB
Each
axis
Each
axis
27.4
Initial magnetic pole detection Estimated error
DB
Each
axis
Each
axis
27.5
Initial magnetic pole detection Position deviation error
DB
Each
axis
Each
axis
27.6
Initial magnetic pole detection Speed deviation error
DB
Each
axis
Each
axis
27.7
Initial magnetic pole detection Current error
DB
Each
axis
Each
axis
28.1
Linear encoder - Environment
error
EDB
Each
axis
Each
axis
2A.1
Linear encoder error 1-1
EDB
Each
axis
Each
axis
2A.2
Linear encoder error 1-2
EDB
Each
axis
Each
axis
2A.3
Linear encoder error 1-3
EDB
Each
axis
Each
axis
2A.4
Linear encoder error 1-4
EDB
Each
axis
Each
axis
2A.5
Linear encoder error 1-5
EDB
Each
axis
Each
axis
2A.6
Linear encoder error 1-6
EDB
Each
axis
Each
axis
2A.7
Linear encoder error 1-7
EDB
Each
axis
Each
axis
2A.8
Linear encoder error 1-8
EDB
Each
axis
Each
axis
2B.1
Encoder counter error 1
EDB
Each
axis
Each
axis
2B.2
Encoder counter error 2
EDB
Each
axis
Each
axis
30.1
Regeneration heat error
DB
30.2
Regeneration signal error
DB
30.3
Regeneration feedback signal
error
DB
31.1
Abnormal motor speed
SD
Each
axis
Each
axis
32.1
Overcurrent detected at
hardware detection circuit
(during operation)
DB
Each
axis
All axes
32.2
Overcurrent detected at
software detection function
(during operation)
DB
Each
axis
All axes
32.3
Overcurrent detected at
hardware detection circuit
(during a stop)
DB
Each
axis
All axes
32.4
Overcurrent detected at
software detection function
(during a stop)
DB
Each
axis
All axes
33.1
Main circuit voltage error
Overcurrent
Overvoltage
Detail name
EDB
8- 4
(Note 1) (Note 1) (Note 1)
(Note 1) (Note 1) (Note 1)
(Note 1) (Note 1) (Note 1)
Common All axes
Common All axes
Common All axes
Common All axes
8. TROUBLESHOOTING
Name
Alarm
No.
34
35
36
37
39
SSCNET receive
error 1
Command
frequency error
SSCNET receive
error 2
Parameter error
Program error
3A
Inrush current
suppression circuit
error
3D
Parameter setting
error for driver
communication
3E
Operation mode
error
Servo control error
(for linear servo
motor and direct
drive motor)
42
Fully closed loop
control error
(for fully closed
loop control)
45
Main circuit device
overheat
Detail
No.
Detail name
Alarm deactivation
Stop
ProcessStop
method
ing
Cycling
system
Alarm
CPU
system
(Note
the
(Note 8)
reset
reset
2, 3)
power (Note 8)
Common All axes
34.1
SSCNET receive data error
SD
34.2
SSCNET connector connection
error
SD
34.3
SSCNET communication data
error
SD
34.4
Hardware error signal detection
SD
34.5
SSCNET receive data error
(safety observation function)
SD
34.6
SSCNET communication data
error (safety observation
function)
SD
35.1
Command frequency error
SD
Each
axis
Each
axis
36.1
Continuous communication
data error
SD
Each
axis
Each
axis
36.2
Continuous communication
data error (safety observation
function)
SD
37.1
Parameter setting range error
DB
Each
axis
Each
axis
37.2
Parameter combination error
DB
Each
axis
Each
axis
37.3
Point table setting error
DB
39.1
Program error
DB
39.2
Instruction argument external
error
DB
39.3
Register No. error
DB
39.4
Non-correspondence instruction
error
DB
3A.1
Inrush current suppression
circuit error
3D.1
Parameter combination error
for driver communication on
slave
DB
3D.2
Parameter combination error
for driver communication on
master
DB
3E.1
Operation mode error
DB
3E.6
Operation mode switch error
DB
42.1
Servo control error by position
deviation
42.2
(Note 5)
Common All axes
Each
axis
Each
axis
Common All axes
Common All axes
EDB
Each
axis
Each
axis
EDB (Note 4) (Note 4)
Each
axis
Each
axis
Servo control error by speed
deviation
EDB (Note 4) (Note 4)
Each
axis
Each
axis
42.3
Servo control error by
torque/thrust deviation
EDB (Note 4) (Note 4)
Each
axis
Each
axis
42.8
Fully closed loop control error
by position deviation
EDB (Note 4) (Note 4)
Each
axis
Each
axis
42.9
Fully closed loop control error
by speed deviation
EDB (Note 4) (Note 4)
Each
axis
Each
axis
42.A
Fully closed loop control error
by position deviation during
command stop
EDB (Note 4) (Note 4)
Each
axis
Each
axis
45.1
Main circuit device overheat
error 1
SD
45.2
Main circuit device overheat
error 2
SD
8- 5
(Note 1) (Note 1) (Note 1)
(Note 1) (Note 1) (Note 1)
Common All axes
Common All axes
8. TROUBLESHOOTING
Name
Alarm
No.
46
47
50
51
52
54
56
61
63
64
Servo motor
overheat
Cooling fan error
Detail name
46.1
Abnormal temperature of servo
motor 1
SD
46.2
Abnormal temperature of servo
motor 2
SD
46.3
Thermistor disconnected error
SD
46.4
Thermistor circuit error
SD
46.5
Abnormal temperature of servo
motor 3
DB
46.6
Abnormal temperature of servo
motor 4
DB
47.1
Cooling fan stop error
SD
Common All axes
47.2
Cooling fan speed reduction
error
SD
Common All axes
50.1
Thermal overload error 1
during operation
SD
50.2
Thermal overload error 2
during operation
SD
50.3
Thermal overload error 4
during operation
SD
50.4
Thermal overload error 1
during a stop
SD
50.5
Thermal overload error 2
during a stop
SD
50.6
Thermal overload error 4
during a stop
SD
51.1
Thermal overload error 3
during operation
DB
51.2
Thermal overload error 3
during a stop
DB
52.1
Excess droop pulse 1
52.3
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
SD
Each
axis
Each
axis
Excess droop pulse 2
SD
Each
axis
Each
axis
52.4
Error excessive during 0 torque
limit
SD
Each
axis
Each
axis
52.5
Excess droop pulse 3
EDB
Each
axis
Each
axis
54.1
Oscillation detection error
EDB
Each
axis
Each
axis
56.2
Over speed during forced stop
EDB
Each
axis
Each
axis
56.3
Estimated distance over during
forced stop
EDB
Each
axis
Each
axis
Forced stop error
Functional safety
unit setting error
Each
axis
Each
axis
Error excessive
STO timing error
Each
axis
Each
axis
Overload 2
Operation error
(Note 1) (Note 1) (Note 1)
(Note 1) (Note 1) (Note 1)
Overload 1
Oscillation
detection
Alarm deactivation
Stop
ProcessStop
method
ing
Cycling
system
Alarm
CPU
system
(Note
the
(Note 8)
reset
reset
2, 3)
power (Note 8)
Detail
No.
61.1
Point table setting range error
DB
63.1
STO1 off
DB
Common All axes
63.2
STO2 off
DB
Common All axes
63.5
STO by functional safety unit
DB
64.1
STO input error
DB
64.2
Compatibility mode setting
error
DB
64.3
Operation mode setting error
DB
8- 6
8. TROUBLESHOOTING
Name
Alarm
No.
Detail
No.
65.1
65.2
65.3
65.4
65
Functional safety
unit connection
error
65.5
65.6
65.7
65.8
65.9
66.1
66.2
66
Encoder initial
communication
error (safety
observation
function)
66.3
66.7
66.9
67.1
67.2
67
Encoder normal
communication
error 1
(safety observation
function)
67.3
67.4
67.7
68
STO diagnosis
error
68.1
69.1
69.2
69
Command error
69.3
69.4
69.5
69.6
Detail name
Functional safety unit
communication error 1
Functional safety unit
communication error 2
Functional safety unit
communication error 3
Functional safety unit
communication error 4
Functional safety unit
communication error 5
Functional safety unit
communication error 6
Functional safety unit
communication error 7
Functional safety unit shut-off
signal error 1
Functional safety unit shut-off
signal error 2
Encoder initial communication Receive data error 1 (safety
observation function)
Encoder initial communication Receive data error 2 (safety
observation function)
Encoder initial communication Receive data error 3 (safety
observation function)
Encoder initial communication Transmission data error 1
(safety observation function)
Encoder initial communication Process error 1 (safety
observation function)
Encoder normal
communication - Receive data
error 1 (safety observation
function)
Encoder normal
communication - Receive data
error 2 (safety observation
function)
Encoder normal
communication - Receive data
error 3 (safety observation
function)
Encoder normal
communication - Receive data
error 4 (safety observation
function)
Encoder normal
communication - Transmission
data error 1 (safety observation
function)
Mismatched STO signal error
Forward rotation-side software
limit detection - Command
excess error
Reverse rotation-side software
limit detection - Command
excess error
Forward rotation stroke end
detection - Command excess
error
Reverse rotation stroke end
detection - Command excess
error
Upper stroke limit detection Command excess error
Lower stroke limit detection Command excess error
Alarm deactivation
Stop
ProcessStop
method
ing
Cycling
system
Alarm
CPU
system
(Note
the
(Note 8)
reset
reset
2, 3)
power (Note 8)
SD
SD
SD
SD
SD
SD
SD
DB
DB
DB
DB
DB
DB
DB
DB
DB
DB
DB
DB
DB
SD
SD
SD
SD
SD
SD
8- 7
Common Common
8. TROUBLESHOOTING
Name
Alarm
No.
70
71
Load-side encoder
initial
communication
error 1
Load-side encoder
normal
communication
error 1
Alarm deactivation
Stop
ProcessStop
method
ing
Cycling
system
Alarm
CPU
system
(Note
the
(Note 8)
reset
reset
2, 3)
power (Note 8)
Detail
No.
Detail name
70.1
Load-side encoder initial
communication - Receive data
error 1
DB
Each
axis
Each
axis
70.2
Load-side encoder initial
communication - Receive data
error 2
DB
Each
axis
Each
axis
70.3
Load-side encoder initial
communication - Receive data
error 3
DB
Each
axis
Each
axis
70.5
Load-side encoder initial
communication - Transmission
data error 1
DB
Each
axis
Each
axis
70.6
Load-side encoder initial
communication - Transmission
data error 2
DB
Each
axis
Each
axis
70.7
Load-side encoder initial
communication - Transmission
data error 3
DB
Each
axis
Each
axis
70.A
Load-side encoder initial
communication - Process error
1
DB
Each
axis
Each
axis
70.B
Load-side encoder initial
communication - Process error
2
DB
Each
axis
Each
axis
70.C
Load-side encoder initial
communication - Process error
3
DB
Each
axis
Each
axis
70.D
Load-side encoder initial
communication - Process error
4
DB
Each
axis
Each
axis
70.E
Load-side encoder initial
communication - Process error
5
DB
Each
axis
Each
axis
70.F
Load-side encoder initial
communication - Process error
6
DB
Each
axis
Each
axis
71.1
Load-side encoder normal
communication - Receive data
error 1
EDB
Each
axis
Each
axis
71.2
Load-side encoder normal
communication - Receive data
error 2
EDB
Each
axis
Each
axis
71.3
Load-side encoder normal
communication - Receive data
error 3
EDB
Each
axis
Each
axis
71.5
Load-side encoder normal
communication - Transmission
data error 1
EDB
Each
axis
Each
axis
71.6
Load-side encoder normal
communication - Transmission
data error 2
EDB
Each
axis
Each
axis
71.7
Load-side encoder normal
communication - Transmission
data error 3
EDB
Each
axis
Each
axis
71.9
Load-side encoder normal
communication - Receive data
error 4
EDB
Each
axis
Each
axis
71.A
Load-side encoder normal
communication - Receive data
error 5
EDB
Each
axis
Each
axis
8- 8
8. TROUBLESHOOTING
Name
Alarm
No.
72
74
75
79
7A
7B
7C
7D
82
Load-side encoder
normal
communication
error 2
Option card error 1
Option card error 2
Functional safety
unit diagnosis error
Parameter setting
error
(safety observation
function)
Encoder diagnosis
error
(safety observation
function)
Functional safety
unit communication
diagnosis error
(safety observation
function)
Safety observation
error
Master-slave
operation error 1
Alarm deactivation
Stop
ProcessStop
method
ing
Cycling
system
Alarm
CPU
system
(Note
the
(Note 8)
reset
reset
2, 3)
power (Note 8)
Detail
No.
Detail name
72.1
Load-side encoder data error 1
EDB
Each
axis
Each
axis
72.2
Load-side encoder data update
error
EDB
Each
axis
Each
axis
72.3
Load-side encoder data
waveform error
EDB
Each
axis
Each
axis
72.4
Load-side encoder non-signal
error
EDB
Each
axis
Each
axis
72.5
Load-side encoder hardware
error 1
EDB
Each
axis
Each
axis
72.6
Load-side encoder hardware
error 2
EDB
Each
axis
Each
axis
72.9
Load-side encoder data error 2
EDB
Each
axis
Each
axis
74.1
Option card error 1
74.2
Option card error 2
DB
74.3
Option card error 3
DB
74.4
Option card error 4
DB
74.5
Option card error 5
75.3
Option card connection error
75.4
Option card disconnected
DB
79.1
Functional safety unit power
voltage error
DB
79.2
Functional safety unit internal
error
DB
79.3
Abnormal temperature of
functional safety unit
SD
79.4
Servo amplifier error
SD
DB
DB
EDB
79.5
Input device error
SD
79.6
Output device error
SD
79.7
Mismatched input signal error
SD
79.8
Position feedback fixing error
DB
7A.1
Parameter verification error
(safety observation function)
DB
7A.2
Parameter setting range error
(safety observation function)
DB
7A.3
Parameter combination error
(safety observation function)
DB
7A.4
Functional safety unit
combination error (safety
observation function)
DB
7B.1
Encoder diagnosis error 1
(safety observation function)
DB
7B.2
Encoder diagnosis error 2
(safety observation function)
DB
7B.3
Encoder diagnosis error 3
(safety observation function)
DB
7B.4
Encoder diagnosis error 4
(safety observation function)
DB
7C.1
Functional safety unit
communication setting error
(safety observation function)
SD
7C.2
Functional safety unit
communication data error
(safety observation function)
SD
7D.1
Stop observation error
DB
7D.2
Speed observation error
DB
82.1
Master-slave operation error 1
EDB
8- 9
(Note 7)
(Note 7)
(Note 7)
(Note 7)
(Note 3)
(Note 7)
8. TROUBLESHOOTING
Alarm
No.
84
85
86
8A
8D
8E
88888
Name
Network module
initialization error
Network module
error
Network
communication
error
USB
communication
time-out error/serial
communication
time-out
error/Modbus-RTU
communication
time-out error
CC-Link IE
communication
error
USB
communication
error/serial
communication
error/Modbus-RTU
communication
error
Watchdog
Detail
No.
Detail name
Alarm deactivation
Stop
ProcessStop
method
ing
Cycling
system
Alarm
CPU
system
(Note
the
(Note 8)
reset
reset
2, 3)
power (Note 8)
84.1
Network module undetected
error
DB
84.2
Network module initialization
error 1
DB
84.3
Network module initialization
error 2
DB
85.1
Network module error 1
SD
85.2
Network module error 2
SD
85.3
Network module error 3
SD
86.1
Network communication error 1
SD
86.2
Network communication error 2
SD
86.3
Network communication error 3
SD
8A.1
USB communication time-out
error/serial communication
time-out error
SD
8A.2
Modbus-RTU communication
time-out error
SD
8D.1
CC-Link IE communication
error 1
SD
8D.2
CC-Link IE communication
error 2
SD
8D.3
Master station setting error 1
DB
8D.5
Master station setting error 2
DB
8D.6
CC-Link IE communication
error 3
SD
8D.7
CC-Link IE communication
error 4
SD
8D.8
CC-Link IE communication
error 5
SD
8D.9
Synchronization error 1
SD
8D.A Synchronization error 2
SD
Common All axes
8E.1
USB communication receive
error/serial communication
receive error
SD
Common All axes
8E.2
USB communication checksum
error/serial communication
checksum error
SD
Common All axes
8E.3
USB communication character
error/serial communication
character error
SD
Common All axes
8E.4
USB communication command
error/serial communication
command error
SD
Common All axes
8E.5
USB communication data
number error/serial
communication data number
error
SD
Common All axes
8E.6
Modbus-RTU communication
receive error
SD
8E.7
Modbus-RTU communication
message frame error
SD
8E.8
Modbus-RTU communication
CRC error
8888._ Watchdog
SD
DB
8 - 10
Common All axes
8. TROUBLESHOOTING
Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.
2. The following shows three stop methods of DB, EDB, and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6. Note that EDB is applied when an alarm below occurs;
[AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2], [AL. 888]
EDB: Electronic dynamic brake stop (available with specified servo motors)
Refer to the following table for the specified servo motors. The stop method for other than the specified servo motors will
be DB.
Series
HG-KR
HG-MR
HG-SR
HG-AK
Servo motor
HG-KR053/HG-KR13/HG-KR23/HG-KR43
HG-MR053/HG-MR13/HG-MR23/HG-MR43
HG-SR51/HG-SR52
HG-AK0136/HG-AK0236/HG-AK0336
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
4. The alarm can be canceled by setting as follows:
For the fully closed loop control: set [Pr. PE03] to "1 _ _ _".
When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _".
5. In some controller communication status, the alarm factor may not be removed.
6. This alarm will occur only in the J3 compatibility mode.
7. Reset this while all the safety observation functions are stopped.
8. The processing and stop systems are applicable only for the multi-axis servo amplifiers (MR-J4W_-_B_). Refer to section 8.1
for details.
8 - 11
8. TROUBLESHOOTING
Warning
8.3 Warning list
No.
Name
90
Home position
return incomplete
warning
91
Servo amplifier
overheat warning
(Note 1)
92
Battery cable
disconnection
warning
93
95
96
97
98
99
9A
9B
9C
9D
ABS data transfer
warning
Detail
No.
Positioning
specification
warning
Software limit
warning
Home position return incomplete
90.2
Home position return abnormal
termination
90.5
Z-phase unpassed
91.1
Main circuit device overheat
warning
92.1
Encoder battery cable
disconnection warning
Each
axis
92.3
Battery degradation
Each
axis
93.1
ABS data transfer requirement
warning during magnetic pole
detection
95.1
STO1 off detection
DB
Common All axes
95.2
STO2 off detection
DB
Common All axes
95.3
STO warning 1 (safety observation
function)
DB
95.4
STO warning 2 (safety observation
function)
DB
95.5
STO warning 3 (safety observation
function)
DB
96.1
In-position warning at home
positioning
Each
axis
96.2
Command input warning at home
positioning
Each
axis
96.3
Servo off warning at home
positioning
96.4
Home positioning warning during
magnetic pole detection
97.1
Program operation disabled
warning
97.2
Next station position warning
98.1
Forward rotation-side software
stroke limit reached
98.2
Reverse rotation-side software
stroke limit reached
99.1
Forward rotation stroke end off
(Note
4, 7)
99.2
Reverse rotation stroke end off
(Note
4, 7)
99.4
Upper stroke limit off
(Note 7)
Each
axis
99.5
Lower stroke limit off
(Note 7)
Each
axis
Stroke limit warning
Optional unit input
data error warning
Error excessive
warning
Converter error
CC-Link IE warning
1
Stop ProcessStop
method
ing
system
(Note 2, system
(Note 5)
3)
(Note 5)
90.1
STO warning
Home position
setting warning
Detail name
Common
9A.1
Optional unit input data sign error
9A.2
Optional unit BCD input data error
9B.1
Excess droop pulse 1 warning
Each
axis
9B.3
Excess droop pulse 2 warning
Each
axis
9B.4
Error excessive warning during 0
torque limit
Each
axis
9C.1
Converter unit error
9D.1
Station number switch change
warning
9D.2
Master station setting warning
9D.3
Overlapping station number
warning
9D.4
Mismatched station number
warning
8 - 12
Warning
8. TROUBLESHOOTING
Stop ProcessStop
method
ing
system
(Note 2, system
(Note 5)
3)
(Note 5)
No.
Name
Detail
No.
Detail name
9E
CC-Link IE warning
2
9E.1
CC-Link IE communication warning
9F.1
Low battery
Each
axis
9F.2
Battery degradation warning
Each
axis
E0.1
Excessive regeneration warning
E1.1
Thermal overload warning 1 during
operation
Each
axis
E1.2
Thermal overload warning 2 during
operation
Each
axis
E1.3
Thermal overload warning 3 during
operation
Each
axis
E1.4
Thermal overload warning 4 during
operation
Each
axis
E1.5
Thermal overload error 1 during a
stop
Each
axis
E1.6
Thermal overload error 2 during a
stop
Each
axis
E1.7
Thermal overload error 3 during a
stop
Each
axis
E1.8
Thermal overload error 4 during a
stop
Each
axis
E2.1
Servo motor temperature warning
Each
axis
E3.1
Multi-revolution counter travel
distance excess warning
E3.2
Absolute position counter warning
E3.4
Absolute positioning counter EEPROM writing frequency warning
E3.5
Encoder absolute positioning
counter warning
Each
axis
Each
axis
9F
E0
E1
E2
E3
Battery warning
Excessive
regeneration
warning
Overload warning 1
Servo motor
overheat warning
Absolute position
counter warning
Common
Each
axis
E4
Parameter warning
E4.1
Parameter setting range error
warning
ABS time-out
warning
E5.1
Time-out during ABS data transfer
E5
E5.2
ABSM off during ABS data transfer
E5.3
SON off during ABS data transfer
E6.1
Forced stop warning
SD
E6.2
SS1 forced stop warning 1 (safety
observation function)
SD
E6.3
SS1 forced stop warning 2 (safety
observation function)
SD
Controller forced stop warning
SD
E6
E7
E8
E9
Servo forced stop
warning
Controller forced stop
E7.1
warning
Cooling fan speed
reduction warning
Main circuit off
warning
Common All axes
Common All axes
E8.1
Decreased cooling fan speed
warning
E8.2
Cooling fan stop
E9.1
Servo-on signal on during main
circuit off
DB
Common All axes
E9.2
Bus voltage drop during low speed
operation
DB
Common All axes
E9.3
Ready-on signal on during main
circuit off
DB
Common All axes
E9.4
Converter unit forced stop
DB
EA
ABS servo-on
warning
EB
The other axis error
warning
EB.1 The other axis error warning
EC
Overload warning 2
EC.1 Overload warning 2
Common
Common
EA.1 ABS servo-on warning
8 - 13
DB
Each
axis
Each
axis
(Note 6)
Warning
8. TROUBLESHOOTING
No.
Name
ED
Output watt excess
warning
F0
F2
F3
F4
F5
F6
F7
Detail
No.
ED.1 Output watt excess warning
Oscillation detection
warning
Simple cam
function - Cam
control warning
Machine diagnosis
warning
Each
axis
Instantaneous power failure tough
drive warning
Each
axis
F0.3
Vibration tough drive warning
Each
axis
F2.1
Drive recorder - Area writing timeout warning
Common
F2.2
Drive recorder - Data miswriting
warning
Common
F3.1
Oscillation detection warning
F4.4
Target position setting range error
warning
F4.6
Acceleration time constant setting
range error warning
F4.7
Deceleration time constant setting
range error warning
F4.9
Home position return type error
warning
F5.1
Cam data - Area writing time-out
warning
Positioning warning
Simple cam
function - Cam data
miswriting warning
Stop ProcessStop
method
ing
system
(Note 2, system
(Note 5)
3)
(Note 5)
F0.1
Tough drive warning
Drive recorder Miswriting warning
Detail name
F5.2
Cam data - Area miswriting warning
F5.3
Cam data checksum error
F6.1
Cam axis one cycle current value
restoration failed
F6.2
Cam axis feed current value
restoration failed
Each
axis
F6.3
Cam unregistered error
F6.4
Cam control data setting range
error
F6.5
Cam No. external error
F6.6
Cam control inactive
F7.1
Vibration failure prediction warning
Each
axis
F7.2
Friction failure prediction warning
Each
axis
F7.3
Total travel distance failure
prediction warning
Each
axis
Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.
2. The following shows two stop methods of DB and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6.
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB
using [Pr. PA04].
4. For MR-J4-_A_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD30].
5. The processing and stop systems are applicable only for the multi-axis servo amplifiers (MR-J4W_-_B_).
Refer to section 1.1 for details.
6. As the initial value, it is applicable only for [AL. 24] and [AL. 32]. All-axis stop can be selected using [Pr.
PF02].
7. For MR-J4-_GF_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD12]. (I/O mode
only)
8 - 14
8. TROUBLESHOOTING
8.4 Troubleshooting at power on
When the servo system does not boot and system error occurs at power on of the servo system controller,
improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take
actions according to this section.
Display
AA
Description
Communication with the
servo system controller
has disconnected.
Cause
The power of the servo
system controller was
turned off.
SSCNET III cable was
disconnected.
The power of the servo
amplifier was turned off.
Ab
Initialization
communication with the
servo system controller
has not completed.
Checkpoint
Action
Check the power of the servo
system controller.
Switch on the power of the servo
system controller.
"AA" is displayed in the
corresponding axis and following
axes.
Check if the connectors (CNIA,
CNIB) are unplugged.
"AA" is displayed in the
corresponding axis and following
axes.
Replace the SSCNET III cable of
the corresponding axis.
All axes are in a state of
disabling control axis.
Check if the disabling control axis
switches (SW2-2, 2-3, and 2-4)
are on.
Axis No. is set incorrectly. Check that the other servo
amplifier is not assigned to the
same axis No.
Axis No. does not match
Check the setting and axis No. of
with the axis No. set to
the servo system controller.
the servo system
controller.
Information about the
Check the value set in Servo
servo series has not set
series (Pr. 100) in the simple
in the simple motion
motion module.
module.
Communication cycle
Check the communication cycle
does not match.
at the servo system controller
side.
When using 8 axes or less:
0.222 ms
When using 16 axes or less:
0.444 ms
When using 32 axes or less:
0.888 ms
Connection to MR-J4W3- Check if the communication cycle
_B with software version
on servo system controller side is
A2 or earlier was
0.222 ms.
attempted in 0.222 ms
communication cycle.
SSCNET III cable was
"Ab" is displayed in the
disconnected.
corresponding axis and following
axes.
Check if the connectors (CNIA,
CNIB) are unplugged.
The power of the servo
"Ab" is displayed in an axis and
amplifier was turned off.
the following axes.
The servo amplifier is
"Ab" is displayed in an axis and
malfunctioning.
the following axes.
8 - 15
Connect correctly.
Check the power of the servo
amplifier.
Replace the servo amplifier of the
corresponding axis.
Turn off the disabling control axis
switches (SW2-2, 2-3, and 2-4).
Set it correctly.
Set it correctly.
Set it correctly.
Set it correctly.
Use them with 0.444 ms or more
communication cycle.
Replace the SSCNET III cable of
the corresponding axis.
Connect correctly.
Check the power of the servo
amplifier.
Replace the servo amplifier of the
corresponding axis.
8. TROUBLESHOOTING
Display
Description
Ab
Communication between
servo system controller
and servo amplifier are
repeating connection and
shut-off.
AC
or
Ab
AC
Cause
Checkpoint
Action
An MR-J4-_B(4)(-RJ)
servo amplifier or MRJ4W_-_B servo amplifier
which is set to J3
compatibility mode is
connected to the
SSCNET III/H network.
Check if "J3 compatibility mode"
is set using "MR-J4(W)-B mode
selection" which came with MR
Configurator2.
Select "J4 mode" with "MRJ4(W)-B mode selection".
Test operation mode has
been active.
Test operation setting switch
(SW2-1) is turned on.
Turn off the test operation setting
switch (SW2-1).
Operation mode for
manufacturer setting is
enabled.
Check if all of the control axis
setting switches (SW2) are on.
Set the control axis setting
switches (SW2) correctly.
Ad
b##. The system has been in
(Note) the test operation mode.
off
Operation mode for
manufacturer setting is
set.
Note. ## indicates axis No.
8 - 16
9. DIMENSIONS
9. DIMENSIONS
9.1 Servo amplifier
(1) MR-J4W2-22B/MR-J4W2-44B
[Unit: mm]
6 mounting hole
60
Approx. 80
6
195
Cooling fan exhaust
(only with MR-J4W-44B)
6.2
6
Lock knob
CNP1
168
156
CNP2
CNP3A
CNP3B
6
PE
Air intake
6
6
Lock knob
Mass: 1.4 [kg]
Mounting screw
Screw size: M5
Terminal
CNP1
1
L2
2
L3
3
Approx. 6
Tightening torque: 3.24 [N•m]
L1
Approx. 60
1
C L21
2
D
N-
3
A
B
156
Approx. 168
CNP2
P+ L11
CNP3A
A
2-M5 screw
U
1
V
2
Approx. 6
B
CNP3B
W
A
PE
U
1
V
2
Approx. 6
W
Mounting hole process drawing
B
Screw Size: M4
Tightening torque: 1.2 [N•m]
9- 1
9. DIMENSIONS
(2) MR-J4W2-77B/MR-J4W2-1010B
[Unit: mm]
6 mounting hole
Lock knob
85
Approx. 80
195
Cooling fan exhaust
(only with MR-J4W-44B)
6
6
CNP1
168
156
CNP2
CNP3A
CNP3B
6
PE
Air intake
6
6
6.2
73
Lock knob
Mass: 2.3 [kg]
CNP1
L1
1
L2
2
L3
3
Approx. 85
Approx. 6
Mounting screw
Screw size: M5
Tightening torque: 3.24 [N•m]
Terminal
P+ L11
1
C L21
2
D
N-
3
A
B
156 ± 0.5
Approx. 168
CNP2
3-M5 screw
W
A
U
1
V
2
Approx. 6
CNP3A
B
CNP3B
W
A
PE
U
1
V
2
Approx. 6
73 ± 0.3
Approx. 6
Mounting hole process drawing
B
Screw Size: M4
Tightening torque: 1.2 [N•m]
9- 2
9. DIMENSIONS
(3) MR-J4W3-222B/MR-J4W3-444B
[Unit: mm]
Approx. 80
85
6
195
Cooling fan exhaust
(only with MR-J4W-44B)
6
6 mounting hole
Lock knob
CNP1
168
156
CNP2
CNP3A
CNP3B
6
CNP3C
PE
Air intake
6
6
6.2
73
Lock knob
Mass: 2.3 [kg]
Terminal
L1
1
L2
2
L3
3
Approx. 85
Approx. 6
Mounting screw
Screw size: M5
Tightening torque: 3.24 [N•m]
CNP1
1
C L21
2
D
N-
3
A
B
156 ± 0.5
Approx. 168
CNP2
P+ L11
CNP3A
A
U
1
V
2
3-M5 screw
Approx. 6
W
B
CNP3B
W
A
U
1
V
2
Approx. 6
B
A
PE
Approx. 6
Mounting hole process drawing
CNP3C
W
73 ± 0.3
U
1
V
2
B
Screw Size: M4
Tightening torque: 1.2 [N•m]
9- 3
9. DIMENSIONS
9.2 Connector
(1) CN1A/CN1B connector
[Unit: mm]
F0-PF2D103
F0-PF2D103-S
4.8
13.4
13.4
4.8
1.7
15
15
1.7
2.3
6.7
9.3
9.3
6.7
2.3
17.6 ± 0.2
8
17.6 ± 0.2
20.9 ± 0.2
8
20.9 ± 0.2
(2) Miniature delta ribbon (MDR) system (3M)
(a) One-touch lock type
[Unit: mm]
D
E
A
C
39.0
23.8
Logo etc., are indicated here.
B
12.7
Connector
Shell kit
10120-3000PE
10320-52F0-008
9- 4
A
22.0
Each type of dimension
B
C
D
33.3
14.0
10.0
E
12.0
9. DIMENSIONS
(b) Jack screw M2.6 type
This is not available as option.
[Unit: mm]
D
E
A
C
F
5.2
39.0
23.8
Logo etc., are indicated here.
B
12.7
Connector
Shell kit
10120-3000PE
10320-52F0-008
A
B
22.0
33.3
Each type of dimension
C
D
E
14.0
(3) SCR connector system (3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
[Unit: mm]
39.5
22.4
11.0
34.8
9- 5
10.0
12.0
F
27.4
9. DIMENSIONS
MEMO
9- 6
10. CHARACTERISTICS
10. CHARACTERISTICS
POINT
For the characteristics of the linear servo motor and the direct drive motor, refer
to sections 14.4 and 15.4.
10.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo
motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 10.1 [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or
broken line in the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque
of the machine should be kept at 70% or less of the rated torque.
This servo amplifier has solid-state servo motor overload protection for each axis. (The servo motor overload
current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
1000
1000
Operating
Servo-lock
10
Servo-lock
10
1
1
0.1
Operating
100
Operation time [s]
Operation time [s]
100
0
50
100
200
150
250
(Note 1, 2) Load ratio [%]
300
350
0.1
0
50
100
150
200
250
300
350
400
(Note 1, 2, 3) Load ratio [%]
HG-KR053, HG-KR13
HG-MR053, HG-MR13
HG-KR23, HG-KR43, HG-KR73
HG-MR23, HG-MR43, HG-MR73
HG-SR51, HG-SR81, HG-SR52, HG-SR102
HG-UR72
HG-JR53, HG-JR73, HG-JR103
Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo
motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction
regardless of the electronic thermal protection.
2. The load ratio ranging from 300% to 350% applies to the HG-KR series servo motor.
3. The load ratio ranging from 350% to 400% applies to the HG-JR53 servo motor.
Fig. 10.1 Electronic thermal protection characteristics
10 - 1
10. CHARACTERISTICS
10.2 Power supply capacity and generated loss
Calculate the generated loss and the power supply capacity of the servo amplifier under rated load from (1)
and (2) in this section. The calculated value will vary depending on the number of connected servo motors
and the capacities of the servo motors. For thermal design of an enclosed type cabinet, use the values
calculated in consideration for the worst operating conditions. The actual amount of generated heat will be
intermediate between values at rated torque and servo-off according to the duty used during operation.
When the servo motor is run at less than the rated speed, the power supply capacity will be smaller than the
calculated value, but the servo amplifier's generated heat will not change.
(1) Calculation method of power supply capacity
Calculate the power supply capacity for one servo amplifier from tables 10.1 and 10.2.
Table 10.1 Power supply capacity for
one servo amplifier at rated output
Servo amplifier
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
(Note)
Power supply capacity
[kVA]
Total power supply
capacity of connected
servo motors ((A) in
table 10.2)
Note. The power supply capacity will vary
according to the power supply impedance.
This value is applicable when the power
factor improving reactor is not used.
Table 10.2 Servo amplifier power
supply capacity for one servo motor
Servo motor
Power supply capacity
[kVA]
(A)
HG-KR053
HG-KR13
HG-KR23
HG-KR43
HG-KR73
HG-MR053
0.3
0.3
0.5
0.9
1.3
0.3
HG-MR13
HG-MR23
HG-MR43
HG-MR73
HG-SR51
HG-SR81
HG-SR52
HG-SR102
HG-UR72
HG-JR53
HG-JR73
HG-JR103
0.3
0.5
0.9
1.3
1.0
1.5
1.0
1.7
1.3
1.0
1.3
1.7
Calculate the power supply capacity with equation 10.1 below.
Power supply capacity [kVA] = Sum of power supply capacity (A) of the connected servo motors ·· (10.1)
For example, when a HG-KR43, HG-KR23, and HG-KR053 are connected to an MR-J4W3-444B servo
amplifier, according to table 10.1, the power supply capacity of each servo motor is as follows: HG-KR43
= 0.9 [kVA], HG-KR23 = 0.5 [kVA], HG-KR053 = 0.3 [kVA]. Calculate the values with equation 10.1.
Power supply capacity [kVA] = 0.9 + 0.5 + 0.3 = 1.7
Under the above conditions, the power supply capacity of the servo amplifier is 1.7 [kVA].
10 - 2
10. CHARACTERISTICS
(2) Calculation method of the amount of heat generated by the servo amplifier
Calculate the amount of heat generated by one servo amplifier from tables 10.3 and 10.4.
Table 10.3 Amount of heat generated by one servo amplifier at
rated output
(Note)
Servo amplifier-generated heat [W]
Servo amplifier
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
At rated output
With servo-off (C)
Sum of the total amount of
heat generated by the servo
amplifier for each servo motor
((B) in table 10.4) and the
amount of heat generated by
the servo amplifier with servooff (C)
20
20
20
25
25
Table 10.4 Amount of heat generated
by one servo amplifier for one servo
motor
Servo motor
Servo amplifiergenerated heat [W]
(B)
HG-KR053
HG-KR13
HG-KR23
HG-KR43
HG-KR73
10
10
10
20
35
HG-MR053
HG-MR13
HG-MR23
HG-MR43
HG-MR73
HG-SR51
HG-SR81
HG-SR52
HG-SR102
HG-UR72
HG-JR53
HG-JR73
HG-JR103
10
10
10
20
35
25
35
25
35
35
25
35
35
20
Note. Heat generated during regeneration is not included in the servo amplifiergenerated heat. To calculate heat generated by the regenerative option,
refer to section 11.2.
Calculate the amount of heat generated by the servo amplifier with equation 10.2 below.
Servo amplifier-generated heat at rated output [W]
= Sum of servo amplifier-generated heat (B) + Servo amplifier-generated heat with servo-off (C) ·· (10.2)
Under the conditions in (1) in this section, according to table 10.3, the amount of heat generated by the
servo amplifier for each servo motor is as follows: HG-KR43 = 20 [W], HG-KR23 = 10 [W], HG-KR053 =
10 [W]. According to table 10.4, the amount of heat generated by the servo amplifier with servo-off is 25
[W]. Calculate the values with equation 10.2.
Servo amplifier-generated heat at rated output [W] = (20 + 10 + 10) + 25 = 65
Under the above conditions, the amount of heat generated by the servo amplifier is 65 [W].
10 - 3
10. CHARACTERISTICS
(3) Heat dissipation area for an enclosed type cabinet
The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be
designed to ensure that its temperature rise is within +10 ˚C at the ambient temperature of 40 ˚C. (With
an approximately 5 ˚C safety margin, the system should operate within a maximum 55 ˚C limit.) The
necessary cabinet heat dissipation area can be calculated by equation 10.3.
A=
P
················································································································· (10.3)
K• T
A: Heat dissipation area [m2]
P: Loss generated in the cabinet [W]
∆T: Difference between internal and ambient temperatures [˚C]
K: Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with equation 10.3, assume that P is the sum of all losses
generated in the cabinet. Refer to table 10.3 for heat generated by the servo amplifier. "A" indicates the
effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra
amount must be added to the cabinet's surface area. The required heat dissipation area will vary with
the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat
dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a
cooling fan should be considered. Table 10.3 lists the cabinet dissipation area for each servo amplifier
(guideline) when the servo amplifier is operated at the ambient temperature of 40 ˚C under rated load.
(Outside the cabinet)
(Inside the cabinet)
Air flow
Fig. 10.2 Temperature distribution in an enclosed type cabinet
When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the
temperature slope inside and outside the cabinet will be steeper.
10 - 4
10. CHARACTERISTICS
10.3 Dynamic brake characteristics
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to
stop in emergency.
For a machine operating at the recommended load to motor inertia ratio or less,
the estimated number of usage times of the dynamic brake is 1000 times while
the machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1
(Forced stop 1) frequently in other than emergency.
Servo motors for MR-J4 may have the different coasting distance from that of
the previous model.
The electronic dynamic brake operates in the initial state for the HG series servo
motors of 600 [W] or smaller capacity. The time constant "τ" for the electronic
dynamic brake will be shorter than that of normal dynamic brake. Therefore,
coasting distance will be longer than that of normal dynamic brake. For how to
set the electronic dynamic brake, refer to [Pr. PF06] and [Pr. PF12].
10 - 5
10. CHARACTERISTICS
10.3.1 Dynamic brake operation
(1) Calculation of coasting distance
Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 10.4 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant τ varies with the servo motor and machine operation speeds. (Refer to (2) in this
section.)
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a
maximum coasting distance calculated with the following equation.
EM1 (Forced stop 1)
ON
OFF
Dynamic brake
time constant τ
V0
Machine speed
te
Time
Fig. 10.3 Dynamic brake operation diagram
Lmax =
V0
• te +
60
1+
JL
JM
··························································································· (10.4)
Lmax: Maximum coasting distance ······················································································ [mm]
V0: Machine's fast feed speed ····················································································· [mm/min]
JM: Moment of inertia of the servo motor·································································· [× 10-4 kg•m2]
JL: Load moment of inertia converted into equivalent value on servo motor shaft·············· [× 10-4 kg•m2]
τ: Dynamic brake time constant ···························································································· [s]
te: Delay time of control section ···························································································· [s]
There is internal relay delay time of about 10 ms.
10 - 6
10. CHARACTERISTICS
(2) Dynamic brake time constant
The following shows necessary dynamic brake time constant τ for equation 10.4.
50
40
30
73
43
20
053
10
0
23
13
0
Dynamic brake time
constant τ [ms]
Dynamic brake time
constant τ [ms]
50
40
30
20
23
10
0
1000 2000 3000 4000 5000 6000
Speed [r/min]
0
HG-MR series
350
51
60
81
40
20
0
250
Dynamic brake time
constant τ [ms]
Dynamic brake time
constant τ [ms]
80
300
250
200
100
50
0
500 750 1000 1250 1500
Speed [r/min]
0
500 1000 1500 2000 2500 3000
Speed [r/min]
HG-SR 2000 r/min series
260
Dynamic brake time
constant τ [ms]
100
90
80
70
60
50
40
30
20
10
0
72
0
500
1000 1500
Speed [r/min]
102
52
150
HG-SR 1000 r/min series
Dynamic brake time
constant τ [ms]
053
13
1000 2000 3000 4000 5000 6000
Speed [r/min]
HG-KR series
100
0
43
73
2000
HG-UR series
53
220
180
140
103
100
73
60
20
0
0
1000 2000 3000 4000 5000 6000
Speed [r/min]
HG-JR3000 r/min series
10 - 7
10. CHARACTERISTICS
10.3.2 Permissible load to motor inertia when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia
moment is higher than this value, the dynamic brake may burn. If there is a possibility that the load inertia
moment may exceed the value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation
speed of the servo motor.
Servo motor
HG-KR053
HG-KR13
HG-KR23
HG-KR43
HG-KR73
HG-MR053
HG-MR13
HG-MR23
HG-MR43
HG-MR73
Permissible load to motor inertia
ratio [multiplier]
Servo motor
HG-SR51
HG-SR81
HG-SR52
HG-SR102
HG-UR72
HG-JR53
HG-JR73
HG-JR103
30
35
32
10 - 8
Permissible load to motor inertia
ratio [multiplier]
30
10. CHARACTERISTICS
10.4 Cable bending life
The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
10.5 Inrush currents at power-on of main circuit and control circuit
POINT
For a servo amplifier of 600 W or less, the inrush current values can change
depending on frequency of turning on/off the power and ambient temperature.
Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and
magnetic contactors. (Refer to section 11.6.)
When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an
inrush current, be used.
The following table indicates the inrush currents (reference data) that will flow when 240 V AC is applied at
the power supply capacity of 2500 kVA and the wiring length of 1 m. Even when you use a 1-phase 200 V
AC power supply with MR-J4W2-22B to MR-J4W2-77B, MR-J4W3-222B, and MR-J4W3-444B, the inrush
currents of the main circuit power supply is the same.
MR-J4
2-axis servo amplifier
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4
3-axis servo amplifier
MR-J4W3-222B
MR-J4W3-444B
Inrush currents (A0-P)
Main circuit power supply (L1/L2/L3)
Control circuit power supply (L11/L21)
113 A
(attenuated to approx. 6 A in 20 ms)
113 A
(attenuated to approx. 11A in 20 ms)
10 - 9
24 A
(attenuated to approx. 2 A in 20 ms)
10. CHARACTERISTICS
MEMO
10 - 10
11. OPTIONS AND PERIPHERAL EQUIPMENT
11. OPTIONS AND PERIPHERAL EQUIPMENT
WARNING
Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, when confirming whether the charge lamp is
off or not, always confirm it from the front of the servo amplifier.
CAUTION
Use the specified auxiliary equipment and options to prevent a malfunction or a
fire.
POINT
We recommend using HIV wires to wire the servo amplifiers, options, and
peripheral equipment. Therefore, the recommended wire sizes may differ from
those used for the previous servo amplifiers.
11.1 Cable/connector sets
POINT
The IP rating indicated for cables and connectors is their protection against
ingress of dust and raindrops when they are connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all
components.
Purchase the cable and connector options indicated in this section.
11 - 1
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.1.1 Combinations of cable/connector sets
Servo system
controller
Personal
computer
Safety logic unit
MR-J3-D05
5)
10)
2) 3) 4)
CN9
10)
CN10
9)
8)
(Packed with the servo amplifier)
1)
CN5
6) 7)
CN3
CNP1
CN8 (Note 3)
CNP2
To servo motor
(Note 2)
CN8 (Note 3)
CN1A
CN1A
2) 3) 4)
CNP3A
CN1B
CNP3B
CN2A
CN2B
To encoder (Note 2)
CN2C (Note 1)
12)
CN4
CNP3C
(Note 1)
Cap
(Packed with the
servo amplifier)
CN4
Battery unit
MR-BT6VCASE and
MR-BAT6V1 battery
11)
Note 1. CNP3 and CN2C are available only on MR-J4 3-axis servo amplifier.
2. Refer to each servo amplifier instruction manual for options for connecting the servo amplifier and the servo motor.
3. When not using the STO function, attach a short-circuit connector (13)) supplied with a servo amplifier.
No.
Product
1)
Servo amplifier
power connector
set
Model
Description
Remark
Supplied
with servo
amplifier
CNP1 connector
Quantity: 1
Model: 03JFAT-SAXGFK-43
(JST)
Applicable wire size: AWG 16 to 14
Insulator OD: to 4.2 mm
CNP3A/CNP3B/CNP3C
connector
Quantity: 2 (MR-J4W2)
3 (MR-J4W3)
Model: 04JFAT-SAGG-G-KK
(JST)
Applicable wire size: AWG 18 to 14
Insulator OD: to 3.8 mm
11 - 2
CNP2 connector
Quantity: 1
Model: 06JFAT-SAXYGG-F-KK
(JST)
Applicable wire size: AWG 16 to 14
Insulator OD: to 3.8 mm
Open tool
Quantity: 1
Model: J-FAT-OT-EXL
(JST)
11. OPTIONS AND PERIPHERAL EQUIPMENT
No.
Product
Model
2)
SSCNET III
cable
MR-J3BUS_M
Cable length:
0.15 m to 3 m
(Refer to section
11.1.2.)
MR-J3BUS_M-A
Cable length:
5 m to 20 m
(Refer to section
11.1.2.)
MR-J3BUS_M-B
Cable length:
30 m to 50 m
(Refer to section
11.1.2.)
MR-J3USBCBL3M
Cable length: 3 m
3)
SSCNET III
cable
4)
SSCNET III
cable
5)
USB cable
6)
Connector set
MR-J2CMP2
7)
Connector set
MR-ECN1
8)
Junction terminal MR-TBNATBL_M
block cable
Cable length:
0.5/1 m
(Refer to section
11.12.)
9)
10)
Junction terminal MR-TB26A
block
STO cable
MR-D05UDL3M-B
11)
Battery cable
12)
Junction battery
cable
Description
Connector: PF-2D103
(JAE)
Connector: PF-2D103
(JAE)
Remark
Standard
cord
inside
panel
Standard
cable
outside
panel
Connector: CF-2D103-S
(JAE)
Connector: CF-2D103-S
(JAE)
Longdistance
cable
CN5 connector
mini-B connector (5 pins)
Personal computer connector
A connector
Junction terminal block connector
Connector: 10126-6000EL
Shell kit: 10326-3210-000
(3M or equivalent)
Connector: 10126-3000PE
Shell kit: 10326-52F0-008
(3M or equivalent)
Connector: 10126-3000PE
Shell kit: 10326-52F0-008
(3M or equivalent)
Servo amplifier-side connector
Connector: 10126-6000EL
Shell kit: 10326-3210-000
(3M or equivalent)
For
connection
with PC-AT
compatible
personal
computer
Quantity: 1
Quantity:
20
For
junction
terminal
block
connection
Refer to section 11.12.
Connector set: 2069250-1
(TE Connectivity)
Connection
cable for
the CN8
connector
MR-BT6V1CBL_M Housing: PAP-02V-O
Contact: SPHD-001G-P0.5
Cable length:
0.3/1 m (JST)
(Refer to section
11.1.3.)
Connector: 10114-3000PE
Shell kit: 10314-52F0-008
(3M or equivalent)
For
connection
with battery
unit
MR-BT6V2CBL_M Housing: PAP-02V-O
Contact: SPHD-001G-P0.5
Cable length:
0.3/1 m (JST)
(Refer to section
11.1.3.)
Housing: PALR-02VF-O
Contact: SPAL-001GU-P0.5
(JST)
For battery
junction
Housing: PAP-02V-O
Contact: SPHD-001G-P0.5
(JST)
13)
Short-circuit
connector
Supplied
with servo
amplifier
11 - 3
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.1.2 SSCNET III cable
POINT
Do not look directly at the light generated from CN1A/CN1B connector of servo
amplifier or the end of SSCNET III cable. The light can be a discomfort when it
enters the eye.
Refer to app. 9 for long distance cable over 50 m and ultra-long bending life
cable.
(1) Model explanations
The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable
model. The cables of the lengths with the symbols are available.
Cable model
0.15 m 0.3 m 0.5 m
MR-J3BUS_M
015
03
05
1m
1
Cable length
Bending
life
3m
5 m 10 m 20 m 30 m 40 m 50 m
Using inside panel
standard cord
Using outside panel
Standard
standard cable
3
MR-J3BUS_M-A
Application/remark
Standard
5
10
20
(Note)
MR-J3BUS_M-B
30
40
Long
bending
life
50
Using long distance
cable
Note. For cable of 30 m or less, contact your local sales office.
(2) Specifications
Description
Minimum bend
radius
Tension strength
25 mm
70 N
Temperature
range for use
(Note)
140 N
MR-J3BUS_M-A
MR-J3BUS_M-B
5 m to 20 m
30 m to 50 m
Enforced covering cable
Enforced covering cable
50 mm
50 mm
Cord: 30 mm
Cord: 25 mm
420 N
980 N
(Enforced covering cable) (Enforced covering cable)
-40 °C to 85 °C
-20 °C to 70 °C
Indoors (no direct sunlight)
No solvent or oil
2.2 ± 0.07
Ambience
4.4 ± 0.1
4.4 ± 0.4
2.2 ± 0.2
Optical
cable
(cord)
MR-J3BUS_M
0.15 m
0.3 m to 3 m
2.2 ± 0.07
SSCNET III cable model
SSCNET III cable length
External
appearance [mm]
2.2 ± 0.07
4.4 ± 0.1
6.0 ± 0.2
7.6 ± 0.5
Note. This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same as
that for servo amplifier.
11 - 4
11. OPTIONS AND PERIPHERAL EQUIPMENT
(3) Dimensions
(a) MR-J3BUS015M
[Unit: mm]
(6.7)
(37.65)
(15) (13.4)
(20.9)
Protective tube
(2.3)
(1.7)
8 +0
150 +50
- 0
(b) MR-J3BUS03M to MR-J3BUS3M
Refer to the table shown in (1) in this section for cable length (L).
[Unit: mm]
Protective tube
(Note)
(100)
(100)
L
Note. Dimension of connector part is the same as that of MR-J3BUS015M.
(c) MR-J3BUS5M-A to MR-J3BUS20M-A/MR-J3BUS30M-B to MR-J3BUS50M-B
Refer to the table shown in (1) in this section for cable length (L).
Variable dimensions [mm]
A
B
SSCNET III cable
MR-J3BUS5M-A to MR-J3BUS20M-A
MR-J3BUS30M-B to MR-J3BUS50M-B
100
150
30
50
[Unit: mm]
Protective tube
(Note)
(A)
(B)
(B)
L
Note. Dimension of connector part is the same as that of MR-J3BUS015M.
11 - 5
(A)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.1.3 Battery cable/junction battery cable
(1) Model explanations
The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable
model. The cables of the lengths with the symbols are available.
Cable model
Cable length
0.3 m
1m
Bending life
MR-BT6V1CBL_M
03
1
Standard
MR-BT6V2CBL_M
03
1
Standard
Application/remark
For connection with MRBT6VCASE
For junction
(2) MR-BT6V1CBL_M
(a) Appearance
Components
2)
3)
1)
1) Cable
2) Connector
3) Connector
Description
VSVC 7/0.18 × 2C
Housing: PAP-02V-O
Contact: SPHD-001G-P0.5 (JST)
Connector: 10114-3000PE
Shell kit: 10314-52F0-008 (3M or equivalent)
(b) Internal wiring diagram
2)
BT
LG
1)
3)
White
Black
1
2
7
14
Plate
BT
LG
SD
(3) MR-BT6V2CBL_M
(a) Appearance
Components
4)
2)
5)
1) Cable
2) Cable
3) Connector
4) Connector
3)
1)
5) Connector
Description
VSVC 7/0.18 × 2C
Housing: PAP-02V-O
Contact: SPHD-001G-P0.5 (JST)
Housing: PALR-02VF-O
Contact: SPAL-001GU-P0.5 (JST)
(b) Internal wiring diagram
4)
BT
LG
1
2
1)
3)
White
Black
White
Black
2)
11 - 6
1
2
BT
LG
1
2
5)
BT
LG
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.1.4 MR-D05UDL3M-B STO cable
This cable is for connecting an external device to the CN8 connector.
Cable model
Cable length
MR-D05UDL3M-B
3m
Application/remark
Connection cable for the CN8
connector
(1) Configuration diagram
Servo amplifier
MR-D05UDL3M-B
CN8
(2) Internal wiring diagram
1
2
3
4
5
6
7
8
Plate
(Note)
Yellow (with black dots)
Yellow (with red dots)
Gray (with black dots)
Gray (with red dots)
White (with black dots)
White (with red dots)
STOCOM
STO1
STO2
TOFB1
TOFB2
TOFCOM
Shield
CN8 connector
2
1
4
3
6
5
8
7
Viewed from the connection part
Note. Do not use the two core wires with orange sheath (with red or black dots).
11.2 Regenerative options
CAUTION
Do not use servo amplifiers with regenerative options other than the combinations
specified below. Otherwise, it may cause a fire.
11.2.1 Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers.
Regenerative power [W]
Servo amplifier
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
Built-in regenerative
resistor
MR-RB14 [26 Ω]
20
100
MR-RB34 [26 Ω]
100
MR-RB3N [26 Ω]
300
30
100
11 - 7
300
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.2.2 Selection of regenerative option
Use the following method when regeneration occurs continuously in vertical motion applications or when it is
desired to make an in-depth selection of the regenerative option.
Unbalanced torque
(1) Regenerative energy calculation
M
Friction
torque
TF
V
TU
Rotary servo motor
Servo motor speed
Linear servo motor feed speed
2)
V
1) Up/
3)
Linear servo motor
secondary-side (magnet)
V
M1
M2
Load
Positive
direction
Ft
8)
4)
Down/
Negative
5) direction
Linear servo motor
primary-side (coil)
Time
7)
6)
Linear servo motor
tpsa1
t1
tpsd1
t2
tpsa2
t3
tpsd2
t4
The following shows equations of the rotary servo motor torque and energy at the driving pattern above.
Section
1)
Torque applied to servo motor [N•m]
(Note)
1
(JL/η + JM) • V
T1 =
•
+ TU + TF
tpsa1
9.55 × 104
Energy E [J]
E1 =
0.1047
• V • T1 • tpsa1
2
2)
T2 = TU + TF
3)
1
0.1047
- (JL • η + JM) • V
T3 =
•
+ TU + TF E3 =
• V • T3 • tpsd1
tpsd1
2
9.55 × 10 4
E2 = 0.1047 • V • T2 • t1
T4, T8 = TU
E4, E8 ≥ 0 (No regeneration)
5)
1
(JL/η + JM) • V
T5 =
•
- TU + TF
tpsa2
9.55 × 104
E5 =
6)
T6 = - TU + TF
E6 = 0.1047 • V • T6 • t3
7)
1
- (JL • η + JM) • V
T7 =
•
- TU + TF
tpsd2
9.55 × 104
E7 =
4), 8)
0.1047
• V • T5 • tpsa2
2
0.1047
• V • T7 • tpsd2
2
Note. η: Drive system efficiency
The following shows equations of the linear servo motor thrust and energy.
Section
1)
2)
3)
4), 8)
5)
6)
7)
Thrust F of linear servo motor [N]
F1 = (M1 + M2) • V / tpsa1 + Ft
F2 = Ft
F3 = - (M1 + M2) • V / tpsd1 + Ft
F4, F8 = 0
F5 = (M1 + M2) • V / tpsa2 + Ft
F6 = Ft
F7 = - (M1 + M2) • V / tpsd2 + Ft
11 - 8
Energy E [J]
E1 = V / 2 • F1 • tpsa1
E2 = V • F2 • t1
E3 = V / 2 • F3 • tpsd1
E4, E8 = 0 (No regeneration)
E5 = V / 2 • F5 • tpsa2
E2 = V • F6 • t3
E7 = V / 2 • F7 • tpsd2
11. OPTIONS AND PERIPHERAL EQUIPMENT
(2) Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in the
regenerative mode.
Servo amplifier
Inverse
efficiency [%]
Capacitor charging
energy Ec [J]
75
85
85
85
75
85
17
21
44
44
21
31
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
Inverse efficiency (ηm): Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Efficiency varies
with the speed and generated torque. Since the characteristics of the electrolytic
capacitor change with time, allow for approximately 10% higher inverse
efficiency.
Capacitor charging energy (Ec): Energy charged into the electrolytic capacitor in the servo amplifier
(3) Calculation of regenerative energy per cycle
For example, calculate the regenerative energy in the following operation pattern with 3-axis servo
amplifier.
1)
2)
3)
Servo motor speed
Linear servo motor feed speed
4)
5)
6)
7)
8)
9)
10)
11)
tf (1 cycle)
A-axis
Time
B-axis
Time
C-axis
Time
11 - 9
11. OPTIONS AND PERIPHERAL EQUIPMENT
Calculate the energy at different timings in one cycle. Energy is a positive value in power running and a
negative value in regeneration. Write down the energy during power running/regeneration with signs in
the calculation table as shown below.
Timing
1)
2)
3)
4)
5)
6)
7)
8)
9)
10)
11)
A-axis
B-axis
C-axis
Sum
E1A
E1B
E1C
E1
E2A
E2B
E2C
E2
E3A
E3B
E3C
E3
E4A
E4B
E4C
E4
E5A
E5B
E5C
E5
E6A
E6B
E6C
E6
E7A
E7B
E7C
E7
E8A
E8B
E8C
E8
E9A
E9B
E9C
E9
E10A
E10B
E10C
E10
E11A
E11B
E11C
E11
Calculate the energy consumed by the regenerative resistor with the following equation for the
calculation results from E1 to E11 with a negative value.
When the absolute value of the value in E1 to E11 is assumed to be Es: ER [J] = ηm • Es - Ec
If ER values are negative at all timings, the regenerative option is not needed. If any of ER values is
positive, calculate the energy consumed by the regenerative resistor in one cycle from the time for one
cycle and the sum of the positive ER values.
PR [W] = Sum of the positive ER values/Operating time (tf) for one cycle
Regenerative option is not required when PR is equal to or less than the specification value of the servo
amplifier built-in regenerative energy.
11.2.3 Parameter setting
Set [Pr. PA02] according to the option to be used.
[Pr. PA02]
0 0
Regenerative option selection
00 : Regenerative option is not used. (Built-in regenerative resistor is used.)
0B: MR-RB3N
0D: MR-RB14
0E: MR-RB34
11 - 10
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.2.4 Connection of regenerative option
POINT
For the sizes of wires used for wiring, refer to section 11.5.
The regenerative option generates heat of 100 ˚C higher than the ambient temperature. Fully consider heat
dissipation, installation position, wires used, etc. before installing the option. For wiring, use flame-resistant
wires or make the wires flame-resistant and keep them away from the regenerative option. Use twisted wires
of up to 5 m for connecting the servo amplifier.
Connect the regenerative option to P+ and C. G3 and G4 are thermal sensor's terminals. Between G3 and
G4 is opened when the regenerative option overheats abnormally.
Always remove wiring across P+ - D.
Servo amplifier
Regenerative option
P
P+
C
C
G3
D
(Note 2)
G4
5 m or less
(Note 1)
Cooling fan
Note 1. When the ambient temperature is more than 55 °C and the regenerative load ratio
is more than 60% in MR-RB34 and MR-RB3N, forcefully cool the air with a
3
cooling fan (1.0 m /min or more, 92 mm × 92 mm). A cooling fan is not required if
the ambient temperature is 35 °C or less. (A cooling fan is required for the
shaded area in the following graph.)
A cooling fan is required.
Load ratio [%]
100
60
A cooling fan is
not required.
0
35
0
Ambient temperature [
55
]
A cooling fan is not required for MR-RB14.
2. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
11 - 11
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.2.5 Dimensions
(1) MR-RB14
[Unit: mm]
G3
6 mounting hole
G4
Approx. 6
40
36
15
TE1 terminal
P
C
2
2
144
156
168
Applicable wire size: 0.2 mm to 2.5 mm (AWG 14 to 12)
Tightening torque: 0.5 to 0.6 [N•m]
Mounting screw
Screw size: M5
Tightening torque: 3.24 [N•m]
5
TE1
6
12
6
Mass: 1.1 [kg]
Approx. 20
2
149
169
(2) MR-RB34/MR-RB3N
[Unit: mm]
8.5
Cooling fan mounting
screw (2-M4 screw)
Terminal block
P
C
150
142
82.5
125
G3
G4
7
101.5
90
100
17
Approx. 30
10
82.5
318
335
Mounting screw
Screw size: M6
Tightening torque: 5.4 [N•m]
Intake
Mass: 2.9 [kg]
79
8.5
30
Terminal screw size: M4
Tightening torque: 1.2 [N•m]
11 - 12
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.3 Battery
POINT
Refer to app. 2 and 3 for battery transportation and the new EU Battery
Directive.
This battery is used to construct an absolute position detection system. Refer to chapter 12 for construction
of the absolute position detection system.
11.3.1 Selection of battery
The available batteries vary depending on servo amplifiers. Select a required battery.
(1) Applications of the batteries
Model
MR-BAT6V1SET-A
MR-BT6VCASE
Name
Application
Battery
Battery case
For absolute position data backup
For absolute position data backup
of multi-axis servo motor
(2) Combinations of batteries and the servo amplifier
Model
MR-J4W_-_B
MR-J4W2-0303B6
MR-BAT6V1SET-A
MR-BT6VCASE
11 - 13
Built-in battery
MR-BAT6V1
MR-BAT6V1
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.3.2 MR-BAT6V1SET-A battery
POINT
Use MR-BAT6V1SET-A for MR-J4W2-0303B6 servo amplifier. The MRBAT6V1SET-A cannot be used for MR-J4W_-B servo amplifiers other than MRJ4W2-0303B6.
For the specifications and year and month of manufacture of the built-in MRBAT6V1 battery, refer to section 11.3.4.
(1) Parts identification and dimensions
[Unit: mm]
51
37.5
27.4
Connector for servo amplifier
Case
Mass: 55 [g] (including MR-BAT6V1 battery)
(2) Battery mounting
Connect as follows.
MR-J4W2-0303B6
CN4
MR-BAT6V1SET-A
11 - 14
11. OPTIONS AND PERIPHERAL EQUIPMENT
(3) Battery replacement procedure
WARNING
Before replacing a battery, turn off the main circuit power and wait for 15 minutes
or longer until the charge lamp turns off. Then, check the voltage between P+ and
N- with a voltage tester or others. Otherwise, an electric shock may occur. In
addition, when confirming whether the charge lamp is off or not, always confirm it
from the front of the servo amplifier.
CAUTION
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
POINT
Replacing battery with the control circuit power off will erase the absolute
position data.
Before replacing batteries, check that the new battery is within battery life.
Replace the battery while only control circuit power is on. Replacing battery with the control circuit power
on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.
(a) Installation procedure
Insert the connector of the battery
into CN4.
Insert the battery along the rails.
11 - 15
11. OPTIONS AND PERIPHERAL EQUIPMENT
(b) Removal procedure
CAUTION
Pulling out the connector of the battery without the lock release lever pressed
may damage the CN4 connector of the servo amplifier or the connector of the
battery.
While pressing the lock release
lever, pull out the connector.
While pressing the lock release lever,
slide the battery case toward you.
11 - 16
11. OPTIONS AND PERIPHERAL EQUIPMENT
(4) Replacement procedure of the built-in battery
When the MR-BAT6V1SET-A reaches the end of its life, replace the MR-BAT6V1 battery in the MRBAT6V1SET-A.
1) While pressing the locking part, open the cover.
Tab
Cover
2) Replace the battery with a new MR-BAT6V1 battery.
3) Press the cover until it is fixed with the projection of
the locking part to close the cover.
Projection
(four places)
11 - 17
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.3.3 MR-BT6VCASE battery case
POINT
Use an MR-BT6VCASE for 200 W or more MR-J4W_-_B servo amplifiers. MRBT6VCASE cannot be used for MR-J4W2-0303B6 servo amplifiers.
The battery unit consists of an MR-BT6VCASE battery case and five MRBAT6V1 batteries.
For the specifications and year and month of manufacture of MR-BAT6V1
battery, refer to section 11.3.4.
MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. A battery case does
not have any batteries. Please prepare MR-BAT6V1 batteries separately.
(1) The number of connected servo motors
One MR-BT6VCASE holds absolute position data up to eight axes servo motors. For direct drive motors,
up to four axes can be connected. Servo motors and direct drive motors in the incremental system are
included as the axis Nos. Linear servo motors are not counted as the axis Nos. Refer to the following
table for the number of connectable axes of each servo motor.
Servo motor
Number of axes
Rotary servo motor
Direct drive motor
0
4
1
4
2
4
3
4
4
4
5
3
6
2
7
1
8
0
(2) Dimensions
[Unit: mm]
Approx. 70
130
Approx. 25
4.6
5
5
Approx. 130
120 ± 0.5
120
Approx. 5
5
130
5
25
Approx. 5
2- 5 mounting
hole
2-M4 screw
Mounting hole process drawing
Mounting screw
Screw size: M4
[Mass: 0.18 kg]
11 - 18
11. OPTIONS AND PERIPHERAL EQUIPMENT
(3) Battery mounting
POINT
One battery unit can be connected to up to 8-axis servo motors. However, when
using direct drive motors, the number of axes of the direct drive motors should
be up to 4 axes. Servo motors and direct drive motors in the incremental system
are included as the axis Nos. Linear servo motors are not counted as the axis
Nos.
The MR-J4W_-_B servo amplifiers can be combined with MR-J4-_B_(-RJ) servo
amplifiers.
(a) When using 1-axis servo amplifier
Servo amplifier
CN1A
CN1B
Cap
CN4
MR-BT6VCASE
CN10
MR-BT6V1CBL_M
(b) When using up to 8-axis servo amplifiers
Servo amplifier
(First)
CN4
MR-BT6VCASE
CN10
Servo amplifier
(Second)
CN4
MR-BT6V2CBL_M
MR-BT6V1CBL_M
11 - 19
Servo amplifier
(Last)
CN4
MR-BT6V2CBL_M
11. OPTIONS AND PERIPHERAL EQUIPMENT
(4) Battery replacement procedure
WARNING
Before replacing a battery, turn off the main circuit power and wait for 15 minutes
or longer until the charge lamp turns off. Then, check the voltage between P+ and
N- with a voltage tester or others. Otherwise, an electric shock may occur. In
addition, when confirming whether the charge lamp is off or not, always confirm it
from the front of the servo amplifier.
CAUTION
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
POINT
Replacing battery with the control circuit power off will erase the absolute
position data.
Before replacing batteries, check that the new battery is within battery life.
Replace the battery while only control circuit power is on. Replacing battery with the control circuit power
on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.
11 - 20
11. OPTIONS AND PERIPHERAL EQUIPMENT
(a) Assembling a battery unit
CAUTION
Do not mount new and old batteries together.
When you replace a battery, replace all batteries at the same time.
POINT
Always install five MR-BAT6V1 batteries to an MR-BT6VCASE battery case.
1) Required items
Product name
Battery case
Battery
Model
Quantity
MR-BT6VCASE
1
MR-BAT6V1
5
Remark
MR-BT6VCASE is a case used for connecting and
mounting five MR-BAT6V1 batteries.
Lithium battery (primary battery, nominal + 6 V)
2) Disassembly and assembly of the battery case MR-BT6VCASE
a) Disassembly of the case
MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be
disassembled.
Threads
Remove the two screws using a
Phillips screwdriver.
Parts identification
BAT1
BAT2
BAT3
BAT4
BAT5
CON2
CON3
Cover
Remove the cover.
CON1
CON4
CON5
11 - 21
11. OPTIONS AND PERIPHERAL EQUIPMENT
b) Mounting MR-BAT6V1
Securely mount an MR-BAT6V1 to the BAT1 holder.
BAT1
CON1
Click
Insert the MR-BAT6V1 connector mounted on BAT1
holder to CON1.
Confirm the click sound at this point.
The connector has to be connected in the right direction.
If the connector is pushed forcefully in the incorrect
direction, the connector will break.
Place the MR-BAT6V1 lead wire to the duct designed to
store lead wires.
Insert MR-BAT6V1 to the holder in the same procedure in
the order from BAT2 to BAT5.
Bring out the lead wire from the space between the ribs, and bend it as
shown above to store it in the duct. Connect the lead wire to the
connector. Be careful not to get the lead wire caught in the case or
other parts.
When the lead wire is damaged, external short circuit may occur, and
the battery can become hot.
11 - 22
11. OPTIONS AND PERIPHERAL EQUIPMENT
c) Assembly of the case
After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes
and tighten them. Tightening torque is 0.71 N•m.
POINT
When assembling the case, be careful not to get the lead wires caught in the
fitting parts or the screwing parts.
Threads
d) Precautions for removal of battery
The connector attached to the MR-BAT6V1 battery has the lock release lever. When removing
the connector, pull out the connector while pressing the lock release lever.
3) Battery cable removal
CAUTION
Pulling out the connector of the MR-BT6V1CBL and the MR-BT6V2CBL without
the lock release lever pressed may damage the CN4 connector of the servo
amplifier or the connector of the MR-BT6V1CBL or MR-BT6V2CBL.
Battery cable
While pressing the lock release
lever, pull out the connector.
11 - 23
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.3.4 MR-BAT6V1 battery
The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET-A and MR-BAT6V1SET
and a primary lithium battery built-in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use.
The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put on
an MR-BAT6V1 battery.
2CR17335A WK17
Rating plate
11-04
6V
1650mAh
The year and month of manufacture
Item
Description
Battery pack
Nominal voltage
[V]
Nominal capacity
[mAh]
Storage temperature
[°C]
Operating temperature
[°C]
Lithium content
[g]
Mercury content
2CR17335A (CR17335A × 2 pcs. in series)
6
1650
0 to 55
0 to 55
1.2
Less than 1 ppm
Not subject to the dangerous goods (Class 9)
Refer to app. 2 for details.
Dangerous goods class
Operating humidity and
storage humidity
(Note) Battery life
Mass
5 %RH to 90 %RH (non-condensing)
[g]
5 years from date of manufacture
34
Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from
the production date regardless of the connection status.
11 - 24
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.4 MR Configurator2
MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform
parameter setting changes, graph display, test operation, etc. on a personal computer.
11.4.1 Specifications
Item
Project
Parameter
Monitor
Diagnosis
Test mode
Adjustment
Others
Description
Create/read/save/delete project, read/write other format, system setting, print
Parameter setting
Display all, I/O monitor, graph, ABS data display
Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration,
life diagnosis, machine diagnosis, fully closed loop diagnosis (Note 2), linear diagnosis
(Note 3)
Jog mode (Note 4), positioning mode, motor-less operation (Note 1), DO forced output,
program operation, test mode information
One-touch tuning, tuning, machine analyzer
Servo assistant, parameter setting range update, machine unit conversion setting, help
display
Note 1. The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control
mode, or DD motor control mode.
2. This is available only in the fully closed loop control mode.
3. This is available only in the linear servo motor control mode.
4. This is available in the standard control mode, fully closed loop control mode, and DD motor control mode.
11 - 25
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.4.2 System configuration
(1) Component
To use MR Configurator2 (SW1DNC-MRC2-_), the following components are required in addition to the
servo amplifier and servo motor.
Equipment
Description
®
OS
(Note 1, 2, 3, 4, 5)
Personal computer
CPU
(recommended)
®
Microsoft Windows 10 Home Operating System/Pro Operating System/Enterprise
Operating System/Education Operating System
®
®
Microsoft Windows 8.1 Enterprise Operating System/Pro Operating System/Operating
System
®
®
Microsoft Windows 8 Enterprise Operating System/Pro Operating System/Operating
System
®
®
Microsoft Windows 7 Enterprise Operating System/Ultimate Operating System/
Professional Operating System/Home Premium Operating System/Starter Operating
System
®
®
Microsoft Windows Vista Enterprise Operating System/Ultimate Operating System/
Business Operating System/Home Premium Operating System/Home Basic Operating
System
®
®
Microsoft Windows XP Professional Operating System, Service Pack3/Home Edition
Operating System, Service Pack3
®
®
Desktop personal computer: Intel Celeron processor 2.8 GHz or more
®
®
Laptop personal computer: Intel Pentium M processor 1.7 GHz or more
512 MB or more (for 32-bit OS), 1 GB or more (for 64-bit OS)
Memory
(recommended)
Free space on
1 GB or more
the hard disk
Communication
USB port
interface
®
®
Windows Internet Explorer 4.0 or more
One whose resolution is 1024 × 768 or more and that can provide a high color (16 bit) display.
Connectable with the above personal computer.
Connectable with the above personal computer.
Connectable with the above personal computer.
Connectable with the above personal computer.
MR-J3USBCBL3M
Browser
Display
Keyboard
Mouse
Printer
USB cable
Note 1. On some personal computers, MR Configurator2 may not run properly.
2. The following functions cannot be used.
Windows Program Compatibility mode
Fast User Switching
Remote Desktop
Large Fonts Mode (Display property)
DPI settings other than 96 DPI (Display property)
®
®
For 64-bit operating system, this software is compatible with Windows 7 and Windows 8.
®
3. When Windows 7 or later is used, the following functions cannot be used.
Windows XP Mode
Windows touch
®
4. When using this software with Windows Vista or later, log in as a user having USER authority or higher.
®
5. When Windows 8 or later is used, the following functions cannot be used.
Hyper-V
Modern UI style
11 - 26
11. OPTIONS AND PERIPHERAL EQUIPMENT
(2) Connection with servo amplifier
Personal computer
Servo amplifier
CN5
(Note)
USB cable
MR-J3USBCBL3M
(Option)
To USB
connector
Note. CN5 is located under the display cover.
11.4.3 Precautions for using USB communication function
Note the following to prevent an electric shock and malfunction of the servo amplifier.
(1) Power connection of personal computers
Connect your personal computer with the following procedures.
(a) When you use a personal computer with AC power supply
1) When using a personal computer with a three-core power plug or power plug with grounding wire,
use a three-pin socket or ground the grounding wire.
2) When your personal computer has two-core plug and has no grounding wire, connect the
personal computer to the servo amplifier with the following procedures.
a) Disconnect the power plug of the personal computer from an AC power socket.
b) Check that the power plug was disconnected and connect the device to the servo amplifier.
c) Connect the power plug of the personal computer to the AC power socket.
(b) When you use a personal computer with battery
You can use as it is.
(2) Connection with other devices using servo amplifier communication function
When the servo amplifier is charged with electricity due to connection with a personal computer and the
charged servo amplifier is connected with other devices, the servo amplifier or the connected devices
may malfunction. Connect the servo amplifier and other devices with the following procedures.
(a) Shut off the power of the device for connecting with the servo amplifier.
(b) Shut off the power of the servo amplifier which was connected with the personal computer and
check the charge lamp is off.
(c) Connect the device with the servo amplifier.
(d) Turn on the power of the servo amplifier and the device.
11 - 27
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.5 Selection example of wires
POINT
Refer to section 11.1.2 for SSCNET III cable.
To comply with the EC/EN/UL/CSA standard, use the wires shown in app. 4 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
Selection conditions of wire size are as follows.
Construction condition: One wire is constructed in the air
Wire length: 30 m or less
(1) Wires for power supply wiring
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead
Servo amplifier
Power supply
L1
U
L2
V
L3
W
M
2) Control circuit power supply lead
L11
L12
D
Regenerative option
C
P+
3) Regenerative option lead
11 - 28
4) Servo motor power supply lead
11. OPTIONS AND PERIPHERAL EQUIPMENT
The following table shows the wire size selection example.
Table 11.1 Wire size selection example (HIV wire)
2
Wires [mm ]
Servo amplifier
1) L1/L2/L3/
(Note 1)
2) L11/L21
3) P+/C/D
4) U/V/W/
(Note 2)
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
2 (AWG 14)
MR-J4W2-1010B
AWG 18 to 14
MR-J4W3-222B
MR-J4W3-444B
Note 1. Use the crimp terminal specified as below for the PE terminal of the servo amplifier.
Crimp terminal: FVD2-4
Tool: YNT-1614
Manufacturer: JST
Tightening torque: 1.2 [N•m]
2. The wire size shows applicable size of the servo amplifier connector. For wires connecting to
the servo motor, refer to "Servo Motor Instruction Manual (Vol. 3)".
11 - 29
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.6 Molded-case circuit breakers, fuses, magnetic contactors
Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When
using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this
section.
When using a combination of the rotary servo motor, linear servo motor, or direct drive motor, select a
molded-case circuit breaker, a fuse or a magnetic contactor tentatively, assuming one type of the servo
motors are used for two or three axes. After the tentative selections are made for all types of the servo
motors, use the largest among all molded-case circuit breakers, fuses, or magnetic contactors.
(1) For main circuit power supply
CAUTION
To prevent the servo amplifier from smoke and a fire, select a molded-case circuit
breaker which shuts off with high speed.
Always use one molded-case circuit breaker and one magnetic contactor with one
servo amplifier.
(a) For MR-J4W2
Total output of
rotary servo
motors
Total
continuous
thrust of linear
servo motors
Total output of
direct drive
motors
150 N or less
100 W or less
From over 150
N to 300 N
From over 100
W to 252 W
50 A frame 5 A
(Note 3)
50 A frame 10 A
(Note 3)
50 A frame 15 A
(Note 3)
From over 300
N to 720 N
From over 252
W to 838 W
50 A frame 20 A
(Note 3)
300 W or less
From over 300
W to 600 W
From over 600
W to 1 kW
From over 1
kW to 2 kW
Molded-case circuit breaker
Fuse
(Note 5, 6)
(Note 2)
Voltage
Voltage Magnetic
(Note 1) Current
AC
AC
Frame, rated current
contactor
Class
[A]
[V]
[V]
15
S-N10
S-T10
20
240
T
20
30
300
S-N20
(Note 4)
S-T21
Note 1. When using the servo amplifier as an EC/EN/UL/CSA standard compliant product, refer to app. 4.
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until
closure of contacts) of 80 ms or less.
3. When not using the servo amplifier as an EC/EN/UL/CSA standard compliant product, molded-case circuit breaker
of 30 A frame can be used.
4. S-N18 can be used when auxiliary contact is not required.
5. A molded-case circuit breaker will not change to select regardless of use of a power factor improving AC reactor.
6. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric
general-purpose products.
11 - 30
11. OPTIONS AND PERIPHERAL EQUIPMENT
(b) For MR-J4W3
Total
continuous
thrust of linear
servo motors
Total output of
rotary servo
motors
Molded-case circuit breaker
Fuse
(Note 4, 5)
(Note 2)
Voltage
Voltage Magnetic
(Note 1) Current
AC
AC
contactor
Frame, rated current
Class
[A]
[V]
[V]
Total output of
direct drive
motors
450 W or less
150 N or less
50 A frame 10 A
(Note 3)
From over 450
W to 800 W
From over 150
N to 300 N
252 W or less
50 A frame 15 A
(Note 3)
From over 800
W to 1.5 kW
From over 300
N to 450 N
From over 252
W to 378 W
50 A frame 20 A
(Note 3)
20
240
T
20
300
30
S-N10
S-T10
S-N20
S-T21
Note 1. When using the servo amplifier as an EC/EN/UL/CSA standard compliant product, refer to app. 4.
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until
closure of contacts) of 80 ms or less.
3. When not using the servo amplifier as an EC/EN/UL/CSA standard compliant product, molded-case circuit breaker
of 30 A frame can be used.
4. A molded-case circuit breaker will not change to select regardless of use of a power factor improving AC reactor.
5. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric
general-purpose products.
The Type E Combination motor controller can also be used instead of a molded-case circuit breaker.
Servo amplifier
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
Rated input
voltage AC [V]
Type E Combination motor controller
Input phase
200 to 240
3-phase
Model
MMP-T32
Rated voltage
AC [V]
Rated current [A]
(Heater design)
240
6.3
8
13
18
8
13
SCCR
[kA]
50
(2) For control circuit power supply
When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit
power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to
protect the branch circuit.
Servo amplifier
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
Molded-case circuit breaker
Voltage AC
Frame, rated current
[V]
50 A frame 5 A (Note)
240
Fuse (Class T)
Voltage AC
Current [A]
[V]
1
300
Fuse (Class K5)
Voltage AC
Current [A]
[V]
1
250
Note. When not using the servo amplifier as an EC/EN/UL/CSA standard compliant product, molded-case circuit breaker of
30 A frame can be used.
11 - 31
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.7 Power factor improving AC reactors
The following shows the advantages of using power factor improving AC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to be about 80%.
When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power
factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough
improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.
When using a combination of the rotary servo motor, linear servo motor, or direct drive motor, select a power
factor improving AC reactor tentatively, assuming one type of the servo motors are used for 2 or 3 axes.
After the tentative selections are made for all types of the servo motors, use the largest among all power
factor improving AC reactors.
Terminal assignment
R X S Y T Z
MCCB
4-d mounting hole
(Varnish is removed from front right mounting
hole (face and back side).) (Note 1)
3-phase
200 V AC to
240 V AC
Max. D
MCCB
H
(Note)
1-phase
200 V AC to
240 V AC
W1
Max. W (Note 2)
Servo amplifier
FR-HAL
MC R
X
L1
S
Y
L2
T
Z
L3
Servo amplifier
FR-HAL
MC R
X
L1
S
Y
L2
T
Z
L3
D2
D1
Note 1. Use this for grounding.
2. W ± 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K.
Note. For 1-phase 200 V AC to 240 V AC, connect the power
supply to L1 and L3. Leave L2 open.
11 - 32
11. OPTIONS AND PERIPHERAL EQUIPMENT
(1) For MR-J4W2
Total output of rotary servo
motors
450 W or less
From over 450 W to 600 W
From over 600 W to 1 kW
From over 1 kW to 20 kW
Total continuous thrust of linear
servo motors
150 N or less
From over 150 N to 240 N
From over 240 N to 300 N
From over 300 N to 720 N
Total output of direct drive
motors
100 W or less
From over 100 W to 377 W
From over 377 W to 545 W
From over 545 W to 838 W
Power factor improving AC
reactor
FR-HAL-0.75K
FR-HAL-1.5K
FR-HAL-2.2K
FR-HAL-3.7K
(2) For MR-J4W3
Total output of rotary servo
motors
450 W or less
From over 450 W to 600 W
From over 600 W to 1 kW
From over 1 kW to 20 kW
Total continuous thrust of linear
servo motors
150 N or less
From over 150 N to 240 N
From over 240 N to 300 N
From over 300 N to 450 N
Total output of direct drive
motors
Power factor improving AC
reactor
FR-HAL-0.75K
FR-HAL-1.5K
FR-HAL-2.2K
FR-HAL-3.7K
378 W or less
(3) Dimensions
Power factor
improving AC
reactor
FR-HAL-0.75K
FR-HAL-1.5K
FR-HAL-2.2K
FR-HAL-3.7K
W
104
104
115
(Note 1)
115
(Note 1)
Dimensions [mm]
D
W1
H
D1
(Note 1)
D2
d
Terminal
size
Mass
[kg]
84
84
99
99
74
77
56
61
44
50
M5
M5
M4
M4
0.8
1.1
40
115
77
71
57
M6
M4
1.5
40
115
83
81
67
M6
M4
2.2
Note 1. Maximum dimension. The dimension varies depending on the input/output lines.
2. Selection conditions of wire size are as follows.
600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Construction condition: One wire is constructed in the air
11.8 Relays (recommended)
The following relays should be used with the interfaces
Interface
Selection example
Digital input interface DI-1
Relay used for digital input command signals
To prevent defective contacts , use a relay for
small signal (twin contacts).
(Ex.) Omron : type G2A , MY
Small relay with 12 V DC or 24 V DC of rated
current 40 mA or less
(Ex.) Omron : type MY
Digital output (interface DO-1)
Relay used for digital output signals
11.9 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those
radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an
electronic device which handles small signals, the following general noise reduction techniques are required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.
11 - 33
11. OPTIONS AND PERIPHERAL EQUIPMENT
(1) Noise reduction techniques
(a) General reduction techniques
Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle
them together. Separate power lines from signal cables.
Use a shielded twisted pair cable for connection with the encoder and for control signal
transmission, and connect the external conductor of the cable to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11.)
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near the servo amplifier and the servo amplifier may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other
equipment against large exogenous noise and lightning surge, attaching a varistor to the power
input section of the equipment is recommended.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral devices located near the main
circuit cables, and those transmitted through the power supply cables.
Noises produced
by servo amplifier
Noises transmitted
in the air
Noise radiated directly
from servo amplifier
Route 1)
Noise radiated from the
power supply cable
Route 2)
Noise radiated from
servo motor cable
Route 3)
Magnetic induction
noise
Routes 4) and 5)
Static induction
noise
Route 6)
Noises transmitted
through electric
channels
11 - 34
Noise transmitted through
power supply cable
Route 7)
Noise sneaking from
grounding cable due to
leakage current
Route 8)
11. OPTIONS AND PERIPHERAL EQUIPMENT
5)
7)
7)
1)
Instrument
7)
2)
Receiver
Sensor
power
supply
Servo
amplifier
2)
3)
8)
6)
Sensor
4)
Servo motor
Noise transmission
route
M
3)
Suppression techniques
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo
amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted
through the air. The following techniques are required.
1) 2) 3)
4) 5) 6)
7)
8)
1. Provide maximum clearance between easily affected devices and the servo amplifier.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the
servo amplifier.
3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by
side or bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power lines or put lines in separate metal conduits.
When the power lines and the signal lines are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the
servo amplifier.
3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by
side or bundling them together.
4. Use shielded wires for signal and power lines or put lines in separate metal conduits.
When the power supply of peripheral devices is connected to the power supply of the servo amplifier
system, noises produced by the servo amplifier may be transmitted back through the power supply
cable and the devices may malfunction. The following techniques are required.
1. Install the radio noise filter (FR-BIF) on the power lines (Input lines) of the servo amplifier.
2. Install the line noise filter (FR-BSF01) on the power lines of the servo amplifier.
If the grounding wires of the peripheral equipment and the servo amplifier make a closed loop circuit,
leakage current may flow through, causing the equipment to malfunction. In this case, the
malfunction may be prevented by the grounding wires disconnected from the equipment.
11 - 35
11. OPTIONS AND PERIPHERAL EQUIPMENT
(2) Noise reduction techniques
(a) Data line filter (recommended)
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, GRFC-13 by Kitagawa
Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below. These impedances are reference values and not guaranteed values.
Impedance [Ω]
10 MHz to 100 MHz 100 MHz to 500 MHz
39 ± 1
Loop for fixing the
cable band
34 ± 1
13 ± 1
150
30 ± 1
80
[Unit: mm]
TDK
Product name Lot number
Outline drawing (ZCAT3035-1330)
(b) Surge killer (recommended)
Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo
amplifier. Use the following surge killer or equivalent.
ON
OFF
MC
MC
SK
Surge killer
Relay
Surge killer
This distance should be short
(within 20 cm).
(Ex.) CR-50500 Okaya Electric Industries)
250
0.5
50
(1/2 W)
Dimensions [Unit: mm]
Test voltage
Between terminals:
625 V AC, 50 Hz/60 Hz 60 s
Between terminal and case:
2000 V AC, 50 Hz/60 Hz 60 s
Band (clear)
Soldered
15 ± 1
CR-50500
6±1
300 or more
48 ± 1.5
AWG 18 Twisted wire
6±1
300 or more
Note that a diode should be installed to a DC relay or the like.
Maximum voltage: Not less than four times the drive voltage of the relay or
the like.
Maximum current: Not less than twice the drive current of the relay or the
like.
11 - 36
(18.5 + 2) ± 1
Rated
C
R
voltage
[µF ± 20%] [Ω ± 30%]
AC [V]
16 ± 1
3.6
(18.5 + 5) or less
+
RA
Diode
11. OPTIONS AND PERIPHERAL EQUIPMENT
(c) Cable clamp fitting AERSBAN-_SET
Generally, connecting the grounding of the shielded wire to the SD terminal of the connector
provides a sufficient effect. However, the effect can be increased when the shielded wire is
connected directly to the grounding plate as shown below.
Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable
sheath to expose the external conductor, and press that part against the grounding plate with the
cable clamp. If the cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the grounding plate.
[Unit: mm]
Strip the cable sheath of
the clamped area.
Cable
cutter
Grounding
plate
Cable clamp
(A, B)
40
cable
External conductor
Clamp section diagram
Dimensions
[Unit: mm]
[Unit: mm]
Grounding plate
2-φ5 hole
mounting hole
Clamp section diagram
30
17.5
24+ 00.3
35
A
10
7
3
0
24 -0.2
6
C
B ± 0.3
L or less
6
(Note) M4 screw
22
11
35
Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.
Model
A
B
C
Accessory fittings
Clamp fitting
L
AERSBAN-DSET
AERSBAN-ESET
100
86
30
Clamp A: 2 pcs.
A
70
70
56
Clamp B: 1 pc.
B
45
11 - 37
11. OPTIONS AND PERIPHERAL EQUIPMENT
(d) Line noise filter (FR-BSF01)
This filter is effective in suppressing noises radiated from the power supply side and output side of
the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It
especially affects the noises between 0.5 MHz and 500 MHz band.
Connection diagram
Dimensions [Unit: mm]
2
Example 1
MCCB MC
Power
supply
Line noise
filter
Servo amplifier
L1
L2
L3
(Number of passes: 4)
Example 2
MCCB MC
Servo amplifier
Power
supply
Line noise
filter
L1
L2
L3
Two filters are used
(Total number of passes: 4)
11 - 38
Approx. 65
4.5
11.25 ± 0.5
Approx. 22.5
The line noise filters can be mounted on lines of the main power
FR-BSF01 (for wire size 3.5 mm (AWG 12) or less)
supply (L1/L2/L3) and of the servo motor power (U/V/W). Pass
Approx. 110
each of the wires through the line noise filter an equal number of
2- 5
95 ± 0.5
times in the same direction. For wires of the main power supply,
the effect of the filter rises as the number of passes increases, but
generally four passes would be appropriate. For the servo motor
power lines, passes must be four times or less. Do not pass the
Approx. 65
grounding wire through the filter. Otherwise, the effect of the filter
will drop.
33
Wind the wires by passing through the filter to satisfy the required
number of passes as shown in Example 1. If the wires are too
thick to wind, use two or more filters to have the required number
of passes as shown in Example 2.
Place the line noise filters as close to the servo amplifier as
possible for their best performance.
11. OPTIONS AND PERIPHERAL EQUIPMENT
(e) Radio noise filter (FR-BIF)
This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the
input only.
Connection diagram
Dimensions [Unit: mm]
Make the connection cables as short as possible. Grounding is
always required.
When using the FR-BIF with a single-phase power supply, always
insulate the lead wires that are not used for wiring.
Terminal
block Servo amplifier
MC
L1
Power
supply
Leakage current: 4 mA
Green
Approx. 300
MCCB
Red White Blue
29
L2
5
hole
4
42
L3
7
29
58
Radio noise
filter
44
(f) Varistor for input power supply (recommended)
Varistors are effective to prevent exogenous noise and lightning surge from entering the servo
amplifier. When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON CHEMICON, are recommended. For detailed specification and usage of the varistors, refer to the
manufacturer catalog.
Permissible circuit
voltage
Varistor
AC [Vrms] DC [V]
TND20V-431K
TND20V-471K
275
300
350
385
Maximum rated
Surge
Energy
current
immunity
immunity
8/20 µs [A]
2 ms [J]
10000/1 time
7000/2 times
Static
Varistor voltage rating
Maximum
capacity
limit
(range)
Rated pulse
(reference
voltage
power
V1 mA
value)
195
215
[W]
1.0
[A]
[V]
[pF]
[V]
100
710
775
1300
1200
430 (387 to 473)
470 (423 to 517)
[Unit: mm]
T
H
D
Model
D
Max.
H
Max.
T
Max.
E
±1.0
L
Min.
(Note)
TND20V-431K
TND20V-471K
21.5
24.5
6.4
6.6
3.3
3.5
20
φd
±0.05
W
±1.0
0.8
10.0
W
E
L
Note. For special purpose items for lead length (L), contact the manufacturer.
d
11 - 39
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.10 Earth-leakage current breaker
(1) Selection method
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select an earth-leakage current breaker according to the following formula, and ground the servo
amplifier, servo motor, etc. securely.
To minimize leakage currents, make the input and output wires as short as possible, and keep a
distance of 30 cm or longer between the wires and ground.
Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 (A-axis) + Igm (A-axis) + Ig2 (B-axis) + Igm
(B-axis) + Ig2 (C-axis) + Igm (C-axis))} [mA]………(11.1)
Wire
Wire
NV
Noise filter
Servo
amplifier
Ig2
Wire
Ig2
Ig1 Ign
Wire
Iga
Ig2
A-axis
Igm
M
B-axis
Igm
M
Earth-leakage current breaker
Mitsubishi
Type
Electric
products
Models provided with
harmonic and surge
reduction techniques
C-axis
Igm
General models
NV-SP
NV-SW
NV-CP
NV-CW
NV-HW
BV-C1
NFB
NV-L
K
1
3
: Leakage current on the electric channel from the earth-leakage current breaker to the input
terminals of the servo amplifier (Found from Fig. 11.1.)
: Leakage current on the electric channel from the output terminals of the servo amplifier to the
servo motor (Found from Fig. 11.1.)
: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF)
: Leakage current of the servo amplifier (Found from table 11.3.)
: Leakage current of the servo motor (Found from table 11.2.)
Leakage current [mA]
Ig1
Ig2
Ign
Iga
Igm
M
120
100
80
60
40
20
0
2
5.5 14 38100
3.5 8 22 60 150
30 80
Cable size [mm2]
Fig. 11.1 Leakage current example (lg1, lg2) for CV cable run in metal conduit
Table 11.2 Servo motor’s leakage current example (lgm)
Servo motor power [kW]
Leakage current [mA]
0.05 to 1
0.1
11 - 40
11. OPTIONS AND PERIPHERAL EQUIPMENT
Table 11.3 Servo amplifier's leakage current example (Iga)
Servo amplifier
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
Leakage current [mA]
0.1
0.15
Table 11.4 Earth-leakage current breaker selection example
Servo amplifier
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
11 - 41
Rated sensitivity current of earthleakage current breaker [mA]
15
30
11. OPTIONS AND PERIPHERAL EQUIPMENT
(2) Selection example
Indicated below is an example of selecting an earth-leakage current breaker under the following
conditions.
2 mm2 × 5 m
Cable
M
2
2 mm × 5 m
Ig2
NV
Servo amplifier
MR-J4W3-222B
Cable
Ig2
Ig1
Iga
Cable
Ig2
A-axis servo motor
HG-KR23
Igm
M
B-axis servo motor
HG-KR23
Igm
M
C-axis servo motor
HG-KR23
Igm
Use an earth-leakage current breaker designed for suppressing harmonics/surges.
Find the terms of equation (11.1) from the diagram.
Ig1 = 20 •
5
= 0.1 [mA]
1000
Ig2 = 20 •
5
= 0.1 [mA]
1000
Ign = 0 (not used)
Iga = 0.15 [mA]
Igm = 0.1 [mA]
Insert these values in equation (11.1).
Ig ≥ 10 • {0.1 + 0 + 0.15 + 1 • (0.1 + 0.1 + 0.1 + 0.1 + 0.1 + 0.1)}
≥ 8.5 [mA]
According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity
current (Ig) of 8.5 mA or more.
An earth-leakage current breaker having Ig of 15 mA is used with the NV-SP/SW/CP/CW/HW series.
11 - 42
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.11 EMC filter (recommended)
POINT
For when multiple servo amplifiers are connected to one EMC filter, refer to
section 6.4 of "EMC Installation Guidelines".
It is recommended that one of the following filters be used to comply with EN standard's EMC directive.
Some EMC filters have large in leakage current.
(1) Combination with the servo amplifier
Recommended filter (Soshin Electric)
Servo amplifier
Model
MR-J4W2-22B
MR-J4W3-222B
HF3010A-UN (Note)
MR-J4W2-44B
HF3010A-UN2 (Note)
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-444B
HF3010A-UN (Note)
Rated current [A]
Rated voltage
[VAC]
Leakage current
[mA]
Mass [kg]
10
3.5
250
5
30
5.5
Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.
(2) Connection example
EMC filter
MCCB
(Note 1)
Power supply
Servo amplifier
MC
1
4
2
5
L2
3
6
L3
E
L11
L1
L21
1
2
3 (Note 2)
Surge protector
Note 1. Refer to section 1.3 for the power supply specification.
2. The example is when a surge protector is connected.
11 - 43
11. OPTIONS AND PERIPHERAL EQUIPMENT
(3) Dimensions
(a) EMC filter
HF3010A-UN/HF-3010A-UN2
[Unit: mm]
4-5.5 × 7
M4
110 ± 4
85 ± 2
3-M4
32 ± 2
3-M4
IN
Approx. 41
258 ± 4
65 ± 4
273 ± 2
288 ± 4
300 ± 5
HF3030A-UN
[Unit: mm]
6-R3.25 length: 8
44 ± 1
3-M5
85 ± 1
85 ± 1
210 ± 2
260 ± 5
11 - 44
125 ± 2
140 ± 1
155 ± 2
3-M5
M4
70 ± 2
140 ± 2
11. OPTIONS AND PERIPHERAL EQUIPMENT
(b) Surge protector
1
28.5 ± 1
4.2 ± 0.5
[Unit: mm]
11 ± 1
5.5 ± 1
RSPD-250-U4
Resin
200 +30
0
Lead
3
4.5 ± 0.5
2
28 ± 1
1
Case
41 ± 1
11 - 45
2
3
11. OPTIONS AND PERIPHERAL EQUIPMENT
11.12 Junction terminal block MR-TB26A
(1) Usage
Always use the junction terminal block (MR-TB26A) with the option cable (MR-TBNATBL_M) as a set.
To use a junction terminal block, mount it to the DIN rail.
MR - T BNA T B L 0 5M
Cable length
05: 0.5 m
1: 1 m
Terminal numbers on a junction terminal block correspond with the pin numbers on the CN3 connector
of a servo amplifier. The terminal symbol S is for the shield.
Servo amplifier
Junction terminal block
MR-TB26A
CN3
Junction terminal block cable
(MR-TBNATBL_M)
Ground the junction terminal block cable using the S terminal of the junction terminal block.
(2) Specifications
Junction terminal block
Item
Rating
Usable cables
Stranded wire
Solid wire
Wire insulator OD
Tool
Stripped length
11 - 46
MR-TB26A
32 V AC/DC 0.5 A
2
2
0.08 mm to 1.5 mm (AWG 28 to 14)
φ0.32 mm to 1.2 mm
φ3.4 mm or less
210-619 (WAGO) or equivalent
210-119SB (WAGO) or equivalent
5 mm to 6 mm
11. OPTIONS AND PERIPHERAL EQUIPMENT
(3) Dimensions
14
1
14
26
27
1
55
Approx. 35
(Note)
[Unit: mm]
26.6
23.6
Approx. 7.5
(Note)
Approx. 31.1 (Note)
57
Note. Values in parenthesis are the sizes when installed with a 35 mm DIN rail.
11 - 47
11. OPTIONS AND PERIPHERAL EQUIPMENT
MEMO
11 - 48
12. ABSOLUTE POSITION DETECTION SYSTEM
12. ABSOLUTE POSITION DETECTION SYSTEM
CAUTION
If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning]
has occurred, always perform home position setting again. Otherwise, it may
cause an unexpected operation.
If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short circuit of the battery,
the MR-BAT6V1 battery can become hot. Use the MR-BAT6V1 battery with case
to prevent getting burnt.
POINT
Refer to section 11.3 for the replacement procedure of the battery.
Disconnecting the encoder cable will erase the absolute position data. After
disconnecting the encoder cable, always execute home position setting and then
positioning operation.
12.1 Summary
12.1.1 Features
For normal operation, the encoder consists of a detector designed to detect a position within one revolution
and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the servo system controller power is on or off. Therefore, once
home position return is made at the time of machine installation, home position return is not needed when
power is switched on thereafter.
Even at a power failure or a malfunction, the system can be easily restored.
12.1.2 Structure
The following shows a configuration of the absolute position detection system. Refer to section 11.3 for each
battery connection.
Servo system controller
Servo amplifier
CN1A CN2
Battery
CN4
Servo motor
12.1.3 Parameter setting
Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system.
[Pr. PA03]
1
Absolute position detection system selection
0: Disabled (used in incremental system)
1: Enabled (used in absolute position detection system)
12 - 1
12. ABSOLUTE POSITION DETECTION SYSTEM
12.1.4 Confirmation of absolute position detection data
You can check the absolute position data with MR Configurator2. Choose "Monitor" and "ABS Data Display"
to open the absolute position data display screen.
12.2 Battery
12.2.1 Using MR-BAT6V1SET battery (only for MR-J4W2-0303B6)
(1) Configuration diagram
Position data
Current position
Home position data
Step-down
circuit
LS0
CYC0
(6 V
3.4 V)
LS
Detecting the
number of
revolutions
CYC
Detecting the
position at
one revolution
MR-BAT6V1SET-A
Battery
Servo motor
Cumulative revolution counter
(1 pulse/rev)
One-revolution counter
12 - 2
High speed
serial
communication
Position control
Servo amplifier
Speed control
Servo system controller
12. ABSOLUTE POSITION DETECTION SYSTEM
(2) Specifications
(a) Specification list
Item
Description
System
Maximum revolution range
(Note 1)
Maximum speed at power
failure [r/min]
(Note 2)
Battery backup time
Electronic battery backup type
Home position ± 32767 rev.
500
Approximately 10,000 hours/2 axes
(equipment power supply: off, ambient temperature: 20 °C) (Note 3)
Approximately 14,500 hours/2 axes
(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power
failure or the like.
2. The data-holding time by the battery using MR-BAT6V1SET-A. Replace the batteries within
three years since the operation start regardless of the power supply of the servo amplifier
on/off.
If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.
3. Even if absolute position detection system is used only with one axis, the battery backup time
will be the same.
12 - 3
12. ABSOLUTE POSITION DETECTION SYSTEM
12.2.2 Using MR-BT6VCASE battery case
POINT
One MR-BT6VCASE holds absolute position data up to eight axes servo motors.
Always install five MR-BAT6V1 batteries to an MR-BT6VCASE.
(1) Configuration diagram
Position data
Current position
Home position data
Step-down
circuit
LS0
CYC0
(6V
3.4 V )
LS
Detecting the
number of
revolutions
CYC
Detecting the
position within
one revolution
Position control
Servo amplifier
Speed control
Servo system controller
MR-BT6VCASE
Servo motor
High speed
serial
communication
MR-BAT6V1 × 5
Cumulative revolution counter
(1 pulse/rev)
Within one revolution counter
(2) Specification list
Item
System
Maximum revolution range
(Note 1)
Maximum speed at power
failure [r/min]
Rotary servo motor
Direct drive motor
Rotary servo motor
(Note 2)
Battery backup time
Direct drive motor
Description
Electronic battery backup type
Home position ± 32767 rev.
6000
(only when acceleration time until 6000 r/min is 0.2 s or more)
500
(only when acceleration time until 500 r/min is 0.1 s or more)
Approximately 40,000 hours/2 axes or less, 30,000 hours/3 axes, or
10,000 hours/8 axes
(equipment power supply: off, ambient temperature: 20 °C)
Approximately 55,000 hours/2 axes or less, 38,000 hours/3 axes, or
15,000 hours/8 axes
(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)
Approximately 10,000 hours/2 axes or less, 7,000 hours/3 axes, or
5,000 hours/4 axes
(equipment power supply: off, ambient temperature: 20 °C)
Approximately 15,000 hours/2 axes or less, 13,000 hours/3 axes, or
10,000 hours/4 axes
(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is
switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like.
2. The data-holding time by the battery using five MR-BAT6V1s. The battery life varies depending on the number of axes
(including axis for using in the incremental system). Replace the batteries within three years since the operation start
regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position
erased] may occur.
3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.
12 - 4
13. USING STO FUNCTION
13. USING STO FUNCTION
POINT
In the case of STO function of this servo amplifier, energies to servo motor are
interrupted in all axes at the same time.
In the torque control mode, the forced stop deceleration function is not available.
The MR-J4W2-0303B6 servo amplifier is not compatible with the STO function.
13.1 Introduction
This section provides the cautions of the STO function.
13.1.1 Summary
This servo amplifier complies with the following safety standards.
ISO/EN ISO 13849-1 category 3 PL e
IEC 61508 SIL 3
IEC/EN 61800-5-2
IEC/EN 62061 SIL CL3
13.1.2 Terms related to safety
The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts
off power supply in the servo amplifier.
The purpose of this function is as follows.
(1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1
(2) Preventing unexpected start-up
13.1.3 Cautions
The following basic safety notes must be read carefully and fully in order to prevent injury to persons or
damage to property.
Only qualified personnel are authorized to install, start-up, repair, or service the machines in which these
components are installed.
They must be familiar with all applicable local regulations and laws in which machines with these
components are installed, particularly the standards mentioned in this manual.
The staff responsible for this work must be given express permission from the company to perform start-up,
programming, configuration, and maintenance of the machine in accordance with the safety standards.
WARNING
Improper installation of the safety related components or systems may cause
improper operation in which safety is not assured, and may result in severe
injuries or even death.
Protective Measures
This servo amplifier satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by
preventing the energy supply from the servo amplifier to the servo motor. If an external force acts upon
the drive axis, additional safety measures, such as brakes or counterbalances must be used.
13 - 1
13. USING STO FUNCTION
13.1.4 Residual risks of the STO function
Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are
residual risks associated with the STO function. Mitsubishi Electric is not liable for any damages or injuries
caused by these risks.
(1) The STO function disables energy supply to the servo motor by electrical shut-off. The function does not
mechanically disconnect electricity from the motor. Therefore, it cannot prevent exposure to electric
shock. To prevent an electric shock, install a magnetic contactor or a molded-case circuit breaker to the
main circuit power supply (L1/L2/L3) of the servo amplifier.
(2) The STO function disables energy supply to the servo motor by electrical shut-off. It does not guarantee
the stop control or the deceleration control of the servo motor.
(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety
related component.
(4) In the safety circuit, use components that are confirmed safe or meet the required safety standards.
(5) The STO function does not guarantee that the drive part of the servo motor will not rotate due to external
or other forces.
(6) Safety is not assured until safety-related components of the system are completely installed or adjusted.
(7) When replacing this servo amplifier, confirm that the model name of servo amplifiers are exactly the
same as those being replaced. Once installed, make sure to verify the performance of the functions
before commissioning the system.
(8) Perform all risk assessments to the machine or the whole system.
(9) To prevent accumulation of malfunctions, perform function checks at regular intervals based on the risk
assessments of the machine or the system. Regardless of the system safety level, malfunction checks
should be performed at least once per year.
(10) If the upper and lower power modules in the servo amplifier are shorted and damaged simultaneously,
the servo motor may make a half revolution at a maximum. For a linear servo motor, the primary side
will move a distance of pole pitch.
(11) The STO input signals (STO1 and STO2) must be supplied from one power source. Otherwise, the
STO function may not function properly due to a sneak current, failing to bring the STO shut-off state.
(12) For the STO I/O signals of the STO function, supply power by using a safety extra low voltage (SELV)
power supply with the reinforced insulation.
13 - 2
13. USING STO FUNCTION
13.1.5 Specifications
(1) Specifications
Item
Specifications
Functional safety
STO (IEC/EN 61800-5-2)
EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3,
EN 62061 SIL CL3, EN 61800-5-2
Safety performance
(Certification standards) (Note 2)
Mean time to dangerous failure
(MTTFd)
Diagnostic converge (DC)
Average probability of dangerous
failures per hour (PFH)
[1/h]
Number of on/off times of STO
MTTFd ≥ 100 [years] (314a)
DC = Medium, 97.6 [%]
-9
6.4 × 10
1,000,000 times
LVD: EN 61800-5-1
CE marking
EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Note 1. This is the value required by safety standards.
2. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and
whether STO input diagnosis by TOFB output is performed or not. For details, refer to the Function
column of [Pr. PF18] in section 5.2.6.
(2) Function block diagram (STO function)
CN8
Shut-off signal (STO1)
Monitor signal (TOFB1)
Shut-off signal (STO2)
Monitor signal (TOFB2)
Base power
supply for
upper arm
Shutoff
Base power
supply for
lower arm
Shutoff
Power
module
M
(3) Operation sequence (STO function)
Servo motor speed
0 r/min
EM2 (Forced stop 2)
ON
OFF
ON
STO1/STO2
OFF
ON
Magnetic contactor
OFF
Base circuit
(Supplying energy to
the servo motor)
13 - 3
ON
OFF
(8 ms)
Servo motor
13. USING STO FUNCTION
13.1.6 Maintenance
This servo amplifier has alarms and warnings for maintenance that supports the Drive safety function. (Refer
to chapter 8.)
13.2 STO I/O signal connector (CN8) and signal layouts
13.2.1 Signal layouts
POINT
The pin assignment of the connectors is as viewed from the cable connector
wiring section.
Servo amplifier
STO I/O signal connector
CN8
2
13 - 4
1
4
3
STO1
STOCOM
6
5
TOFB1
STO2
8
7
TOFCOM
TOFB2
13. USING STO FUNCTION
13.2.2 Signal (device) explanations
(1) I/O device
Signal name
Connector
pin No.
STOCOM
STO1
CN8-3
CN8-4
STO2
CN8-5
TOFCOM
TOFB1
CN8-8
CN8-6
TOFB2
CN8-7
I/O
division
Description
Common terminal for input signal of STO1 and STO2
Inputs STO state 1.
STO state (base shut-off): Open between STO1 and STOCOM.
STO release state (in driving): Close between STO1 and STOCOM.
Be sure to turn off STO1 after the servo motor stops by the servo-off state or with forced
stop deceleration by turning off EM2 (Forced stop 2).
Inputs STO state 2.
STO state (base shut-off): Open between STO2 and STOCOM.
STO release state (in driving): Close between STO2 and STOCOM.
Be sure to turn off STO2 after the servo motor stops by the servo-off state or with forced
stop deceleration by turning off EM2 (Forced stop 2).
Common terminal for monitor output signal in STO state
Monitor output signal in STO1 state
STO state (base shut-off): Between TOFB1 and TOFCOM is closed.
STO release state (in driving): Between TOFB1 and TOFCOM is opened.
Monitor output signal in STO2 state
STO state (base shut-off): Between TOFB2 and TOFCOM is closed.
STO release state (in driving): Between TOFB2 and TOFCOM is opened.
DI-1
DI-1
DI-1
DO-1
DO-1
DO-1
(2) Signals and STO state
The following table shows the TOFB and STO states when the power is on in normal state and STO1
and STO2 are on (closed) or off (opened).
Input signal
State
STO1
STO2
Between TOFB1 and TOFCOM
(Monitoring STO1 state)
Between TOFB2 and TOFCOM
(Monitoring STO2 state)
Between TOFB1 and TOFB2
(Monitoring STO state of servo
amplifier)
Off
Off
On
On
Off
On
Off
On
On: STO state (base circuit shut-off)
On: STO state (base circuit shut-off)
Off: STO release state
Off: STO release state
On: STO state (base circuit shut-off)
Off: STO release state
On: STO state (base circuit shut-off)
Off: STO release state
On: STO state (base circuit shut-off)
Off: STO state (base circuit shut-off)
Off: STO state (base circuit shut-off)
Off: STO release state
(3) Test pulse of STO input signal
Set the test pulse off time inputted from outside to 1 ms or less.
13.2.3 How to pull out the STO cable
The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier.
While pressing knob 1) of the STO cable plug in the
direction of the arrow, pull out the plug 2).
(This figure shows the MR-J4-B servo amplifier. This
procedure also applies to the MR-J4W-B servo amplifier.)
2)
1)
13 - 5
13. USING STO FUNCTION
13.3 Connection example
POINT
Turn off STO (STO1 and STO2) after the servo motor stops by the servo off
state or with forced stop deceleration by turning off EM2 (Forced stop 2).
Configure an external sequence that has the timings shown as below using an
external device such as the MR-J3-D05 safety logic unit.
STO1/STO2
ON
OFF
EM2
ON
OFF
Servo motor
speed
0 r/min
If STO is turned off during operation, the servo motor is in dynamic brake stop
(stop category 0), and [AL. 63 STO timing error] will occur.
13.3.1 Connection example for CN8 connector
This servo amplifier is equipped with the connector (CN8) in accordance with the STO function. When this
connector is used with a certified external safety relay, power to the motor can be safely removed and
unexpected restart can be prevented. The safety relay used should meet the applicable safety standards
and have forcibly guided or mirror contacts for the purpose of error detection.
In addition, the MR-J3-D05 safety logic unit can be used instead of a safety relay for implementation of
various safety standards. Refer to app. 5 for details.
The following diagram is for source interface. For sink interface, refer to section 13.4.1.
Servo amplifier
Forced stop 2
CN3 Approx.
5.6 kΩ
EM2 10
DICOM
24 V DC
(Note 2)
STO1
STO2
(Note 2)
CN8
STO1
4
STO2
5
STOCOM
3
24 V DC
Door
(Note 3)
23
Approx.
3.0 kΩ
Approx.
3.0 kΩ
CN8 (Note 1)
6
TOFB1
8
TOFCOM
7
TOFB2
Open
Note 1. By using TOFB, whether the servo is in the STO state can be confirmed. For connection
examples, refer to section 13.3.2 to 13.3.4. The safety level depends on the setting value
of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by
TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in
section 5.2.6.
2. When using the STO function, turn off STO1 and STO2 at the same time. Turn off STO1
and STO2 after the servo motor stops by the servo off state or with forced stop
deceleration by turning off EM2 (Forced stop 2).
3. Configure the interlock circuit so that the door is open after the servo motor is stopped.
13 - 6
13. USING STO FUNCTION
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit
POINT
This connection is for source interface. For the other I/O signals, refer to the
connection examples in section 3.2.2.
(1) Connection example
24 V
(Note 2)
S2
RESA
MR-J3-D05
(Note 1) (Note 1)
SW2
SW1
(Note 2)
S4
RESB
S1
STOA
S3
STOB
EM2
(A-axis)
EM2
(B-axis)
CN9
1A
CN8A
SDI1A+
1B
SDI1A-
4A
SDO1A+
4B
SDO1A-
MC
Servo amplifier
CN8
Control circuit
STO1
4
STO2
CN10
3A
SDI2A+
3B
SDI2A-
1A
SRESA+
1B
SRESA-
6A
SDO2A+
6B
SDO2A-
8A
TOFA
5
STOCOM 3
TOFB1
6
TOFB2
7
TOFCOM 8
CN3
EM2 (A-axis)
M
Servo motor
CN9
2A
SDI1B+
2B
SDI1B-
MC
Servo amplifier
CN8
Control circuit
4
STO1
3A SDO1B+
CN8B
3B SDO1B-
STO2
CN10
4A
SDI2B+
4B
SDI2B-
STOCOM 3
2A SRESB+
FG
5
2B SRESB5A SDO2B+
TOFB1
6
TOFB2
7
TOFCOM 8
5B SDO2B8B
TOFB
7A
+24V
7B
0V
CN3
EM2 (B-axis)
M
Servo motor
0V
13 - 7
13. USING STO FUNCTION
Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.
2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.
(2) Basic operation example
The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2
of the servo amplifier via SDO1A and SDO2A of MR-J3-D05.
The switch status of STOB is input to SDI2B+ of MR-J3-D05, and then it will be input to STO1 and STO2
of the servo amplifier via SDO1B and SDO2B of MR-J3-D05.
A-axis shutdown 1 and 2
Energizing (close)
B-axis shutdown 1 and 2
Shut-off (open)
EM2 input
STO1, STO2
Servo amplifier
Servo motor speed
Stop
Shut off delay
Operation
Normal (close)
STO shut-off
Shut-off (open)
0 r/min
Servo motor drivable
13 - 8
STO status
13. USING STO FUNCTION
13.3.3 External I/O signal connection example using an external safety relay unit
POINT
This connection is for source interface. For the other I/O signals, refer to the
connection examples in section 3.2.2.
This connection example complies with the requirement of ISO/EN ISO 13849-1 category 3 PL d.
For details, refer to the safety relay module user’s manual.
24 V
S3
S2
Fuse
+24 V
Safety relay module
MELSEC
(QS90SR2S)
K3
XS0
Power
supply
XS1
S4
EMG
KM1
Z00
Z10
Z20
Z01
Z11
Z21
KM1
Control
circuit
KM1
24G
COM0
X0
COM1
X1
Servo amplifier
CN8
Control circuit
STO1
S1 or
EMG
(Note)
STO2
STOCOM
TOFB1
K3
TOFB2
TOFCOM
0V
20
S1: STO shut-off switch (STO switch)
S2: Start switch (STO release switch)
S3: On switch
S4: Off switch
KM1: Magnetic contactor
K3: Safety relay
EMG: Emergency stop switch
CN3
EM1
or
EM2
M
Servo motor
Note. To enable the STO function of the servo amplifier by using "Emergency switching off", change S1 to EMG. The stop category at
this time is "0". If STO is turned off while the servo motor is rotating, [AL. 63 STO timing error] will occur.
13 - 9
13. USING STO FUNCTION
13.3.4 External I/O signal connection example using a motion controller
POINT
This connection is for source interface. For the other I/O signals, refer to the
connection examples in section 3.2.2.
For MC-Y0B and PC-Y0B, design a sequence program to output MC-Y0B and
PC-Y0B after the servo motor stops.
This connection diagram is an example of STO circuit configured with a servo amplifier and motion
controller. Use the switch that complies with the requirement of ISO/EN ISO 13849-1 category 3 PL d as an
emergency stop switch. This connection example complies with the requirement of ISO/EN ISO 13849-1
category 3 PL d. The following shows an example of I/O (X and Y) signal assignment of the motion controller
safety signal module. For details, refer to the motion controller user’s manual.
24 V
CPU
(iQ platform compatible)
Motion controller
safety signal module
(Q173DSXY)
Door signal (MC)
B20
Q17_DSCPU
S1
MC-X00
A1
Shut-off
signal (MC)
B09
EMG
MC I/O
KM1
Servo amplifier
EM2
0V
CN8
Control circuit
STO1
MC-Y0B
B1
Shut-off verification
signal (M)
B19
24 V DC
TOFCOM
MC-X01
TOFB1
Shut-off verification
signal (PLC)
Programmable
controller CPU
(iQ platform
compatible)
B19
PLC I/O
TOFB2
PC-X01
Shut-off
signal (PLC)
B1
B09
Door signal (PLC)
B20
24 V DC
STOCOM
PC-Y0B
STO2
PC-X00
CN3
A1
KM1
0V
EM2
0V
M
S1: STO shut-off switch (STO switch)
KM1: Magnetic contactor
EMG: Emergency stop switch
Servo motor
13 - 10
13. USING STO FUNCTION
13.4 Detailed description of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 13.2. Refer to this section and make connection with the external device.
13.4.1 Sink I/O interface
(1) Digital input interface DI-1
This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink
(open-collector) type transistor output, relay switch, etc.
Servo amplifier
For transistor
STO1
STO2
Approx. 5 mA
Approx. 3.0 kΩ
Switch
TR
STOCOM
VCES ≤ 1.0 V
ICEO ≤ 100 µA
24 V DC ± 10%
MR-J4W2-_B: 350 mA
MR-J4W3-_B: 450 mA
(2) Digital output interface DO-1
This is a circuit in which the collector of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow to the collector terminal.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A
maximum of 5.2 V voltage drop occurs in the servo amplifier.
(a) When outputting two STO states by using each TOFB
Servo amplifier
TOFB1
Load
If polarity of diode is
reversed, servo amplifier
will malfunction.
TOFCOM
TOFB2
(Note)
24 V DC ± 10%
MR-J4W2-_B: 350 mA
MR-J4W3-_B: 450 mA
Load
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
13 - 11
13. USING STO FUNCTION
(b) When outputting two STO states by using one TOFB
Servo amplifier
TOFB1
Load
If polarity of diode is
reversed, servo amplifier
will malfunction.
TOFCOM
TOFB2
(Note)
24 V DC ± 10%
MR-J4W2-_B: 350 mA
MR-J4W3-_B: 450 mA
Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
13.4.2 Source I/O interface
In this servo amplifier, source type I/O interfaces can be used.
(1) Digital input interface DI-1
This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals from
source (open-collector) type transistor output, relay switch, etc.
Servo amplifier
STO1
STO2
Approx. 3.0 kΩ
Switch
STOCOM
Approx. 5 mA
VCES ≤ 1.0 V
ICEO ≤ 100 µA
24 V DC ± 10%
MR-J4W2-_B: 350 mA
MR-J4W3-_B: 450 mA
13 - 12
13. USING STO FUNCTION
(2) Digital output interface DO-1
This is a circuit in which the emitter of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow from the output terminal to a load.
A maximum of 5.2 V voltage drop occurs in the servo amplifier.
(a) When outputting two STO states by using each TOFB
Servo amplifier
TOFB1
Load
If polarity of diode is
reversed, servo amplifier
will malfunction.
TOFCOM
TOFB2
(Note)
24 V DC ± 10%
MR-J4W2-_B: 350 mA
MR-J4W3-_B: 450 mA
Load
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
(b) When outputting two STO states by using one TOFB
Servo amplifier
TOFB1
Load
If polarity of diode is
reversed, servo amplifier
will malfunction.
TOFCOM
TOFB2
(Note)
24 V DC ± 10%
MR-J4W2-_B: 350 mA
MR-J4W3-_B: 450 mA
Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
13 - 13
13. USING STO FUNCTION
MEMO
13 - 14
14. USING A LINEAR SERVO MOTOR
14. USING A LINEAR SERVO MOTOR
WARNING
When using the linear servo motor, read the "Linear Servo Motor Instruction
Manual" and the "Linear Encoder Instruction Manual".
The MR-J4W2-0303B6 servo amplifier is not compatible with linear servo motor.
14.1 Functions and configuration
14.1.1 Summary
The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for
high accuracy, high speed, and efficiency. Therefore, the number of systems using a linear servo motor for a
drive axis has been increasing. Since the linear servo system can obtain the characteristics of the high
speed and the high acceleration/deceleration greater than the ball screw drive system. The linear servo
system also does not have a ball screw wear which is a weak point in the ball screw drive system. This will
extend the life of the equipment. In addition, since a response error due to backlash and friction does not
occur, you can establish a high-accuracy system.
The following shows the differences between the linear servo motor and the rotary servo motor.
Category
Item
Differences
Linear servo motor
Rotary servo motor
External I/O signal
FLS (Upper stroke limit),
RLS (Lower stroke limit)
Motor pole
adjustment
Magnetic pole detection
Home position
return
Reference home position
1048576 pulses unit One servo motor
revolution unit
(initial value)
Absolute position
detection system
Absolute position encoder
battery (1 battery case (MRBT6VCASE) and 5 batteries
(MR-BAT6V1))
Not required
Required
Load to motor mass
ratio
mm/s unit
Load to motor
inertia ratio
r/min unit
Supported
Supported
None
Supported
None
Supported
Supported
Supported
Auto tuning
Load to motor inertia ratio
(J)
MR Configurator2
Motor speed
(SW1DNC-MRC2-_) (Data display and setting)
(Software version
Test
Positioning
1.19V or later)
operation operation
function
Motor-less
operation
JOG operation
Program
operation
Required (for
magnetic pole
detection)
Required
14 - 1
Remark
Not required
Automatically turns on in the
parameter setting.
Not required
(default setting)
Automatically executed at the first
servo-on after the power is turned
on.
For the absolute position linear
encoder, [Pr. PL01] can disable the
magnetic pole detection. The timing
of the magnetic pole detection can
be changed with [Pr. PL01]. (Refer
to (3) (a) of section 14.3.2.)
Home position return pitch can be
changed with parameter setting.
(Refer to section 14.3.3)
The following alarms and warnings
are not provided for the linear servo
motor.
[AL. 25 Absolute position erased]
[AL. 92 Battery cable
disconnection warning]
[AL. 9F Battery warning]
[AL. E3 Absolute position counter
warning]
14. USING A LINEAR SERVO MOTOR
14.1.2 Servo system with auxiliary equipment
CAUTION
Connecting a linear servo motor for different axis to the CNP3A, CNP3B, or
CNP3C connector may cause a malfunction.
POINT
Equipment other than the servo amplifier and linear servo motor are optional or
recommended products.
When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".
The configuration diagram is an example of MR-J4W3-222B. When using the other servo amplifiers, the
configuration will be the same as rotary servo motors except for connections of linear servo motors and
linear encoders. Refer to section 1.7 depending on servo amplifiers you use.
Personal
computer
MR Configurator2
CN5 (under the cover)
RS T
Power
supply
Molded-case
circuit breaker
(MCCB)
Magnetic
contactor
(MC)
Power factor
improving
reactor
(FR-HAL)
Line noise
filter
(FR-BSF01)
L1
L2
L3
CNP1
CN3
I/O signal
Safety relay or
MR-J3-D05 safety
logic unit
CN8
P+
C
D (Note 3)
Regenerative
option
CNP3A
CNP2
Servo system controller
or previous servo
amplifier CN1B
CN1A
U
W
V
CN1B
CNP3B
U
W
V
U
W
Next servo amplifier
CN1A or cap
(Note 4)
CN2A
CNP3C (Note 1)
SCALE
(Note 2)
CN2B
V
CN2C
(Note 1)
(Note 2)
CN4
(Note 2)
THM
(Note 4)
SCALE
THM
(Note 4)
SCALE
THM
Thermistor
L21
L11
C-axis linear
servo motor
Thermistor
Encoder
cable
Linear
encoder
B-axis linear
servo motor
Thermistor
Encoder
cable
Linear
encoder
A-axis linear
servo motor
Encoder
cable
Linear encoder
14 - 2
14. USING A LINEAR SERVO MOTOR
Note 1. This figure shows the 3-axis servo amplifier.
2. For the branch cable, use the MR-J4THCBL03M (optional).
3. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
4. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger
[AL. 16].
14.2 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 the linear servo motor securely.
Do not attempt to wire the servo amplifier and the linear servo motor until they
have been installed. Otherwise, it may cause an electric shock.
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.
Wire the equipment correctly and securely. Otherwise, the linear 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
24 V DC
Control output
signal
24 V DC
DOCOM
DOCOM
CAUTION
Servo amplifier
RA
For sink output interface
Control output
signal
RA
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 option)
with the power wire of the linear 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.
14 - 3
14. USING A LINEAR SERVO MOTOR
Connect the servo amplifier power output (U/V/W) to the linear servo motor power
input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise,
it may cause a malfunction.
Linear servo
motor
Servo amplifier
U
U
V
V
CAUTION
U
W
V
M
W
Linear servo
motor
Servo amplifier
W
U
V
M
W
Do not modify the equipment.
The cables such as power wires deriving from the primary side cannot stand the
long-term bending action. Avoid the bending action by fixing the cables to the
moving part, etc. Also, use the cable that stands the long-term bending action for
the wiring to the servo amplifier.
Connecting a linear servo motor for different axis to the CNP3A, CNP3B, or
CNP3C connector may cause a malfunction.
This chapter does not describe the following items. For details of the items, refer to each section of the
detailed description field.
Item
Input power supply circuit
Explanation of power supply system
Signal (device) explanations
Alarm occurrence timing chart
Interfaces
SSCNET III cable connection
Grounding
Switch setting and display of the servo
amplifier
14 - 4
Detailed explanations
Section 3.1
Section 3.3
Section 3.5
Section 3.7
Section 3.8
Section 3.9
Section 3.11
Section 4.3
14. USING A LINEAR SERVO MOTOR
14.3 Operation and functions
14.3.1 Startup
POINT
When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".
(1) Startup procedure
Start up the linear servo system in the following procedure.
Installation and wiring
Set the linear servo motor series and linear servo motor type.
(Refer to (2) in this section.)
(Note)
Set the linear encoder direction and the linear servo motor direction.
(Refer to (3) in this section.)
What is the type of the
linear encoder?
Incremental linear encoder
Absolute position linear encoder
(Note)
Set the linear encoder resolution. (Refer to (4) in this section.)
(Note)
Perform the magnetic pole detection. (Refer to (3) in section 14.3.2.)
Change the setting to disable the
magnetic pole detection.
(Refer to (3) in section 14.3.2.)
(Note)
Positioning operation check (Refer to section 14.3.4.)
Positioning operation check using the controller (Refer to section 14.3.5.)
Home position return operation (Refer to section 14.3.3.)
Positioning operation
Note. Use MR Configurator2.
(2) Set the linear servo motor series and linear servo motor type.
To use the linear servo motor, set the linear servo motor series and linear servo motor type with [Pr.
PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. (Refer to section 5.2.1.)
14 - 5
14. USING A LINEAR SERVO MOTOR
(3) Settings of the linear encoder direction and the linear servo motor direction
Set the first digit of [Pr. PC27] (Encoder pulse count polarity selection) so that the positive direction of
the linear servo motor matches with the increasing direction of the linear encoder feedback.
[Pr. PC27]
Encoder pulse count polarity selection
0: Linear servo motor positive direction and linear encoder increasing direction
1: Linear servo motor positive direction and linear encoder decreasing direction
(a) Parameter setting method
1) Confirm the positive direction of the linear servo motor. [Pr. PA14] determines the relation of the
travel direction of the linear servo motor under commands as shown below.
[Pr. PA14] setting
0
1
Travel direction of linear servo motor
Address increasing
Address decreasing
command
command
Positive direction
Negative direction
Negative direction
Positive direction
The positive/negative directions of the linear servo motor are as follows.
Negative
direction
Negative
direction
Positive
direction
Secondary side
Secondary
side
Positive
direction
Table
Primary
side
Positive
direction
Primary side
Secondary
side
Primary
side
Negative direction
LM-H3 series
LM-U2 series
LM-K2 series
2) Confirm the increasing direction of the linear encoder.
3) If the positive direction of the linear servo motor matches with the increasing direction of the
linear encoder, set [Pr. PC27] to "_ _ _ 0". If the positive direction of the linear servo motor does
not match with the increasing direction of the linear encoder, set [Pr. PC27] to "_ _ _ 1".
(b) Confirmation method
Confirm the positive direction of the linear servo motor and the increasing direction of the linear
encoder in the following procedure.
1) In servo-off status, move the linear servo motor in the positive direction manually.
2) Confirm the motor speed (in the positive and negative directions) at that time with MR
Configurator2.
14 - 6
14. USING A LINEAR SERVO MOTOR
3) When [Pr. PC27] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches
with the increasing direction of the linear encoder, if the linear servo motor operates in the
positive direction, the motor speed will be a positive value. If the positive direction of the linear
servo motor does not match with the increasing direction of the linear encoder, the motor speed
will be a negative value. When [Pr. PC27] is set to "_ _ _ 1" and the positive direction of the linear
servo motor matches with the increasing direction of the linear encoder, if the linear servo motor
operates in the positive direction, the motor speed will be a negative value.
(4) Linear encoder resolution setting
POINT
To enable the parameter value, cycle the power after setting.
If an incorrect value is set for [Pr. PL02] or [Pr. PL03], the linear servo motor
may not operate properly, or [AL. 27] or [AL. 42] may occur at the positioning
operation or the magnetic pole detection.
Set the ratio of the electronic gear to the linear encoder resolution with [Pr. PL02 Linear encoder
resolution - Numerator] and [Pr. PL03 Linear encoder resolution - Denominator].
(a) Parameter setting
Set the values that apply to the following equation.
[Pr. PL02 Linear encoder resolution - Numerator]
= Linear encoder resolution [µm]
[Pr. PL03 Linear encoder resolution - Denominator]
(b) Parameter setting example
When the linear encoder resolution is 0.5 µm
[Pr. PL02]
1
= Linear encoder resolution = 0.5 µm =
2
[Pr. PL03]
The following shows the simplified chart for the setting values of [Pr. PL02] and [Pr. PL03].
Setting
value
[Pr. PL02]
[Pr. PL03]
0.01
0.02
1
100
1
50
14 - 7
Linear encoder resolution [µm]
0.05
0.1
0.2
0.5
1
20
1
10
1
5
1
2
1.0
2.0
1
1
2
1
14. USING A LINEAR SERVO MOTOR
14.3.2 Magnetic pole detection
POINT
Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic
pole detection.
Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection.
When [Pr. PL01] is set to the initial value, perform the magnetic pole detection only at the first servo-on after
the power is turned on.
The magnetic pole detection includes the following two methods. Each method has advantages and
disadvantages. Select a magnetic pole detection method suitable for your usage.
The position detection method is selected in the initial setting.
Magnetic pole detection
Advantage
Position detection method
1. The magnetic pole detection has a
high degree of accuracy.
2. The adjustment procedure at the
magnetic pole detection is simple.
Minute position detection method
1. The travel distance at the
magnetic pole detection is small.
2. Even for equipment with small
friction, the magnetic pole
detection is available.
14 - 8
Disadvantage
1. The travel distance at the
magnetic pole detection is large.
2. For equipment with small friction,
the initial magnetic pole detection
error may occur.
1. The adjustment procedure at the
magnetic pole detection is
complex.
2. If a disturbance occurs during the
magnetic pole detection, [AL. 27
Initial magnetic pole detection
error] may occur.
14. USING A LINEAR SERVO MOTOR
(1) Magnetic pole detection method by using MR Configurator2
The following shows the magnetic pole detection procedure by using MR Configurator2.
(a) Magnetic pole detection by the position detection method
Magnetic pole detection
1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and
then cycle the servo amplifier power.
2) Turn "On (up)" the test operation select switch (SW2-1) of the servo amplifier, and then cycle the
power of the servo amplifier.
3) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic
pole detection method to "Position detection method".
4) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic
pole detection at first servo-on". (Note)
5) Cycle the servo amplifier power.
6) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".
7) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the
test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is carried out.
YES
Is [Pr. PL09] the final value?
NO
Has [AL. 27 Initial magnetic pole
detection error] occurred?
YES Reset the alarm or cycle the
servo amplifier power.
NO
Have [AL. 32 Overcurrent], [AL. 50
Overload 1], [AL. 51 Overload 2], and
[AL. E1 Overload warning 1]
occurred?
YES
NO
Cycle the servo amplifier power.
Reset the alarm or cycle the
servo amplifier power.
8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)
End
Note. For the incremental system, the [Pr. PL01] setting is not required.
14 - 9
Increase the value of [Pr. PL09]
by five.
Set an approximately 70% of the
value set for [Pr. PL09] as the
final setting value.
If [AL. 27 Initial magnetic pole
detection error] occurs with this
value, specify a value
intermediate between the value
set at [AL. E1 Overload warning
1] and the value set at [AL. 27
Initial magnetic pole detection
error] as the final setting value.
14. USING A LINEAR SERVO MOTOR
(b) Magnetic pole detection by the minute position detection method
Magnetic pole detection
1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and
then cycle the servo amplifier power.
2) Turn "On (up)" the test operation select switch (SW2-1) of the servo amplifier, and then cycle the
power of the servo amplifier.
3) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 4" to set the magnetic
pole detection method to "Minute position detection method".
4) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic
pole detection at first servo-on". (Note 1)
5) Cycle the servo amplifier power.
6) With [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection],
set the load to mass of the linear servo motor primary-side ratio. (Note 2)
7) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the
test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is carried out.
YES
Is the response by the
minute position detection method of
[Pr. PL17] the final value?
NO
Has an abnormal sound or
vibration occurred during the
magnetic pole detection?
YES
Decrease the response by the minute
position detection method of [Pr. PL17] by
two as the final setting value.
NO
Is the travel distance during
the magnetic pole detection
acceptable? (Note 3)
Not
acceptable Increase the response by the minute
position detection method of [Pr. PL17] by
one.
Acceptable
8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)
End
Note 1. When the linear encoder is an incremental type, the [Pr. PL01] setting is not required.
2. If the load to primary-side linear servo motor mass ratio is unknown, perform the magnetic pole
detection by the position detection method, and then perform the auto tuning to set an estimated value.
3. For the magnetic pole detection by the minute position detection method, the maximum travel distance
at the magnetic pole detection must be 0.5 mm or less. To shorten the travel distance, increase the
response by the minute position detection method in [Pr. PL17].
14 - 10
14. USING A LINEAR SERVO MOTOR
(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection
When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier
display (3-digit, 7-segment LED) shows the state as below.
Servo-off status
During the
magnetic pole
detection
Magnetic pole
detection
completion
(servo-on status)
The decimal point
blinks.
(2) Preparation for the magnetic pole detection
POINT
When the test operation mode is selected with the test operation select switch
(SW2-1), the SSCNET III/H communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
For the magnetic pole detection, use the test operation mode (positioning operation) of MR
Configurator2. Turn off the servo amplifier power, and set the test operation select switch (SW2-1) as
shown below. Turning on the power enables the test operation mode.
ON
1 2 3 4 5 6
MR-J4 2-axis servo amplifier
MR-J4 3-axis servo amplifier
ON
ON
1 2 3 4 5 6
1 2 3 4 5 6
Disabling control axis switch
Turn "OFF (down)".
Test operation select switch
Turn "ON (up)".
14 - 11
Disabling control axis switch
Turn "OFF (down)".
Test operation select switch
Turn "ON (up)".
14. USING A LINEAR SERVO MOTOR
(3) Operation at the magnetic pole detection
WARNING
Note that the magnetic pole detection automatically starts simultaneously with the
turning-on of the servo-on command.
CAUTION
If the magnetic pole detection is not executed properly, the linear servo motor
may operate unexpectedly.
POINT
Establish the machine configuration using FLS (Upper stroke limit) and RLS
(Lower stroke limit). Otherwise, the machine may be damaged due to a collision.
At the magnetic pole detection, whether the linear servo motor moves in the
positive or negative direction is unpredictable.
Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage
level], an overload, overcurrent, magnetic pole detection alarm, or others may
occur.
When performing the positioning operation from a controller, use the sequence
which confirms the normal completion of the magnetic pole detection and the
servo-on status, then outputs the positioning command. If the controller outputs
the positioning command before RD (Ready) turns on, the command may not be
accepted or a servo alarm may occur.
After the magnetic pole detection, check the positioning accuracy with the test
operation (positioning operation function) of MR Configurator2.
When the absolute position linear encoder is used, if a gap is generated to the
positional relation between the linear encoder and the linear servo motor,
perform the magnetic pole detection again.
The accuracy of the magnetic pole detection improves with no load.
An alarm may occur when the linear encoder is not mounted properly, or when
the linear encoder resolution setting ([Pr. PL02] and [Pr. PL03]) or the setting
value of [Pr. PL09 Magnetic pole detection voltage level] is incorrect.
For the machine that its friction becomes 30% or more of the continuous thrust,
the linear servo motor may not operate properly after the magnetic pole
detection.
For the horizontal shaft of the machine that its unbalanced thrust becomes 20%
or more of the continuous thrust, the linear servo motor may not operate
properly after the magnetic pole detection.
For the machine that multiple axes are connected like a tandem configuration, if
you try to perform the magnetic pole detection simultaneously for multiple axes,
the magnetic pole detection may not be executed. Perform the magnetic pole
detection for each axis. At this time, set the axes that the magnetic pole
detection is not performed for to servo-off.
14 - 12
14. USING A LINEAR SERVO MOTOR
(a) For the incremental linear encoder
POINT
For the incremental linear encoder, the magnetic pole detection is required
every time the power is turned on.
By turning on the servo-on command from the controller after the power-on, the magnetic pole
detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of
[Pr. PL01]) for executing the magnetic pole detection.
1) Timing chart
Servo-on command
ON
OFF
Base circuit
ON
OFF
RD (Ready)
ON
OFF
95 ms
15 s or less
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when FLS (Upper
stroke limit) and RLS (Lower stroke limit) are on.
2) Linear servo motor movement (when FLS (Upper stroke limit) and RLS (Lower stroke limit) are
on)
Servo-on position
(Magnetic pole detection start position)
RLS
(Note 1)
FLS
(Note 1)
(Note 2)
Magnetic pole detection completion position
Note 1. When you turn off FLS (Upper stroke limit) or RLS (Lower stroke limit) during the magnetic pole detection, the operation of the
magnetic pole detection is carried on to the opposite direction. When both FLS and RLS are off, [AL. 27 Initial magnetic pole
detection error] occurs.
2. The following shows the pitch against the magnetic pole.
Linear servo motor series
Pitch against magnetic pole
[mm]
14 - 13
LM-H3
48
LM-U2
Medium thrust
Large thrust
(Continuous thrust: (Continuous thrust:
Less than 400 N)
400 N or more)
30
60
LM-K2
48
14. USING A LINEAR SERVO MOTOR
3) Linear servo motor movement (when FLS (Upper stroke limit) or RLS (Lower stroke limit) is off)
When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.
The linear servo motor moves to a
magnetic pole detection start position
upon servo-on, and the magnetic pole
detection is executed.
Magnetic pole detection
start position
RLS
Servo-on
position
FLS
(Note)
Magnetic pole detection completion position
The linear servo motor reciprocates several times and returns
to the magnetic pole detection start position to complete the
magnetic pole detection and to go into the servo-lock status.
At this time, there may be a gap, approximately a quarter of
the pitch against magnetic pole, from the start position.
Note. For the pitch against magnetic pole, refer to (3) (a) 2) Note 2 in this section.
(b) For the absolute position linear encoder
POINT
The magnetic pole detection will be required with the following timings.
When the system is set up (at the first startup of equipment)
After a servo amplifier is replaced
After a linear servo motor (primary-side or secondary-side) is replaced
After a linear encoder (scale or head) is replaced or remounted
If a gap is generated to the positional relation between the linear encoder and
the linear servo motor, perform the magnetic pole detection again.
Perform the magnetic pole detection in the following procedure.
1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole
detection at first servo-on).
[Pr. PL01]
1
Magnetic pole detection at first servo-on (Initial value)
2) Execute the magnetic pole detection. (Refer to (3) (a) 1), 2) in this section.)
14 - 14
14. USING A LINEAR SERVO MOTOR
3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection disabled).
[Pr. PL01]
0
Magnetic pole detection disabled
After the magnetic pole detection, by disabling the magnetic pole detection function with [Pr. PL01],
the magnetic pole detection after each power-on is not required.
(4) Magnetic pole detection method setting
POINT
In the following cases, set the magnetic pole detection method to the minute
position detection method.
When a shorten travel distance at the magnetic pole detection is required
When the magnetic pole detection by the position detection method is not
completed
Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection
method selection).
[Pr. PL08]
Magnetic pole detection method selection
0: Position detection method
4: Minute position detection method
(5) Setting of the magnetic pole detection voltage level by the position detection method
For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09
Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection
method, the voltage level setting is not required.
(a) Guideline of parameter settings
Set the parameters by referring to the following table.
[Pr. PL09] setting
(guide value)
Servo status
Thrust at operation
Overload, overcurrent alarm
Magnetic pole detection alarm
Magnetic pole detection accuracy
Small ← Medium → Large
(10 or less (initial value) 50 or more)
Small
Seldom occurs
Frequently occurs
Low
Large
Frequently occurs
Seldom occurs
High
(b) Setting procedure
1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole
detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL.
E1 Overload warning 1], and [AL. EC Overload warning 2] occur. Increase the setting value by
five as a guide value. When these alarms and warnings occur during the magnetic pole detection
by using MR Configurator2, the test operation of MR Configurator2 automatically completes and
the servo-off status is established.
14 - 15
14. USING A LINEAR SERVO MOTOR
2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],
[AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload
warning 2] occurred as the final setting value. However, if [AL. 27 Initial magnetic pole detection
error] occurs with this value, specify a value intermediate between the value set at [AL. 50
Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC
Overload warning 2] and the value set at the magnetic pole detection alarm as the final setting
value.
3) Perform the magnetic pole detection again with the final setting value to check there is no
problem.
(c) Setting example
Linear encoder magnetic
pole detection
[Pr. PL09] setting
Alarm
30
35
40
45
65
70
Occurring
Not occurring
While increasing the setting value of [Pr. PL09], carry out the
magnetic pole detection repeatedly.
An alarm has occurred when the setting
value of [Pr. PL09] is set to "70".
In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70
× 0.7).
14.3.3 Home position return
POINT
The incremental linear encoder and the absolute position linear encoder have
different reference home positions at the home position return.
(1) Incremental linear encoder
CAUTION
If the resolution or the stop interval (the third digit of [Pr. PL01]) of the linear
encoder is large, it is very dangerous since the linear servo motor may crash into
the stroke end.
14 - 16
14. USING A LINEAR SERVO MOTOR
(a) When the linear encoder home position (reference mark) exists in the home position return direction
When an incremental linear encoder is used, the home position is the position per 1048576 pulses
(changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position
(reference mark) passed through first after a home position return start. Change the setting value of
[Pr. PL01] according to the linear encoder resolution.
[Pr. PL01]
Stop interval setting at the home position return
Setting
value Stop interval [pulse]
0
1
2
3
4
5
6
8192
131072
262144
1048576 (initial value)
4194304
16777216
67108864
The following shows the relation between the stop interval at the home position return and the linear
encoder resolution. For example, when the linear encoder resolution is 0.001 μm and the parameter
for the stop interval at the home position return, [Pr. PL01], is set to "_ 5 _ _" (16777216 pulses), the
stop interval is 16.777 mm. The value inside a bold box indicates the recommended stop interval for
each linear encoder resolution.
[Unit: mm]
Pr. PL01
Linear encoder
resolution [µm]
Stop interval
[pulse]
0.001
0.005
0.01
0.02
0.05
0.1
0.2
0.5
1
2
_0__
8192
0.008
0.041
0.082
0.164
0.410
0.819
1.638
4.096
8.192
16.384
_1__
131072
0.131
0.655
1.311
2.621
6.554
13.107
26.214
65.536
131.072
262.144
_2__
262144
0.262
1.311
2.621
5.243
13.107
26.214
52.429
131.072
262.144
524.288
_3__
1048576
1.049
5.243
10.486
20.972
52.429
104.858
209.715
524.288
1048.576
2097.152
_4__
4194304
4.194
20.972
41.943
83.886
209.715
419.430
838.861
2097.152
4194.304
8388.608
_5__
16777216
16.777
83.886
167.772
335.544
838.861
1677.722
3355.443
8388.608
16777.216
33554.432
_6__
67108864
67.109
335.544
671.089
1342.177
3355.443
6710.886
13421.773 33554.432 67108.864
134217.728
14 - 17
14. USING A LINEAR SERVO MOTOR
In the case of a proximity dog type home position return, the nearest reference home position after
proximity dog off is the home position.
Set one linear encoder home position in the full stroke, and set it in the position that can always be
passed through after a home position return start. LZ (Encoder Z-phase pulse) cannot be used.
When two or more reference marks exist during the full stroke of the linear encoder, select "Enabled
(_ _ 1 _)" of "Linear scale multipoint Z-phase input function selection" in [Pr. PC17].
Home position return direction
Home position return speed
Linear servo
motor
Creep speed
0 mm/s
Proximity dog
signal
ON
OFF
Reference home
position
(Note)
1048576 pulses
1048576 pulses × n
Linear servo motor
position
Linear encoder home position
Note. Changeable with [Pr. PL01].
14 - 18
Home position
14. USING A LINEAR SERVO MOTOR
(b) When the linear encoder home position does not exist in the home position return direction
POINT
To execute a home position return securely, start a home position return after
moving the linear servo motor to the opposite stroke end with JOG operation
from the controller and others.
Change the third digit value of [Pr. PL01] according to the linear encoder
resolution.
If the home position return is performed from the position where the linear encoder does not exist in
the home position return direction, a home position return error occurs on the controller. The error
contents differ according to the controller type. Move the linear servo motor to the stroke end on the
opposite side of the home position return direction with the JOG operation from the controller and
others, and then perform a home position return.
Home position return direction
Home position return speed
Linear servo
motor
Creep speed
0 mm/s
JOG operation
Proximity dog
signal
ON
OFF
Linear servo motor
position
Stroke end
Linear encoder home position
Home position returnable area
14 - 19
Home position
Home position non-returnable area
14. USING A LINEAR SERVO MOTOR
(2) Absolute position linear encoder
POINT
The data set type home position return can also be carried out.
When an absolute linear encoder is used, the reference home position is the position per 1048576
pulses (changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position
(absolute position data = 0).
In the case of a proximity dog type home position return, the nearest reference home position after
proximity dog off is the home position. The linear encoder home position can be set in any position. LZ
(Encoder Z-phase pulse) cannot be used.
Home position return direction
Home position return speed
Linear servo
motor
Proximity dog
signal
Creep speed
0 mm/s
ON
OFF
Reference home
position
(Note)
1048576 pulses
Linear servo motor
position
Linear encoder home position
1048576 pulses × n
Home position
Note. Changeable with [Pr. PL01].
14.3.4 Test operation mode in MR Configurator2
CAUTION
The test operation mode is designed for checking servo operation. It is not for
checking machine operation. Do not use this mode with the machine. Always use
the linear servo motor alone.
If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.
POINT
The content described in this section indicates the environment where the servo
amplifier and a personal computer are directly connected.
For the MR-J4 multi-axis servo amplifier, all axes go into the test operation
mode simultaneously, but only A-axis, B-axis, or C-axis can be operated.
When the test operation mode is selected with the test operation select switch
(SW2-1), the SSCNET III/H communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
By using a personal computer and MR Configurator2, you can execute the positioning operation, the output
signal (DO) forced output, and the program operation without connecting the servo system controller.
14 - 20
14. USING A LINEAR SERVO MOTOR
(1) Test operation mode type
(a) Positioning operation
Positioning operation can be performed without using the servo system controller. Use this operation
with the forced stop reset. This operation can be used independently of whether the servo is on or
off and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of MR Configurator2.
1) Operation pattern
Item
Initial value
Setting range
Travel distance [pulse]
Speed [mm/s]
Acceleration/decelerati
on time constant [ms]
1048576
10
0 to 99999999
0 to Maximum speed
1000
0 to 50000
Repeat pattern
Dwell time [s]
Number of repeats
[time]
2.0
Positive direction travel →
Negative direction travel
Positive direction travel →
Positive direction travel
Negative direction travel →
Positive direction travel
Negative direction travel →
Negative direction travel
0.1 to 50.0
1
1 to 9999
Positive direction travel →
Negative direction travel
2) Operation method
Operation
Positive direction travel
Negative direction travel
Pause
Stop
Forced stop
Screen control
Click "Positive Direction Movement".
Click "Reverse Direction Movement".
Click "Pause".
Click "Stop".
Click "Forced stop".
(b) Output signal (DO) forced output
Output signals can be switched on/off forcibly independently of the servo status. This function is
used for output signal wiring check, etc. Exercise control on the DO forced output screen of MR
Configurator2.
(c) Program operation
Positioning operation can be performed in two or more operation patterns combined, without using
the servo system controller. Use this operation with the forced stop reset. This operation may be
used independently of whether the servo is on or off and whether the servo system controller is
connected or not.
Exercise control on the program operation screen of MR Configurator2. For full information, refer to
the MR Configurator2 Installation Guide.
Operation
Start
Pause
Stop
Forced stop
14 - 21
Screen control
Click "Operation start".
Click "Pause".
Click "Stop".
Click "Forced stop".
14. USING A LINEAR SERVO MOTOR
(2) Operation procedure
1) Turn off the power.
2) Turn "ON (up)" SW2-1.
ON
1 2 3 4 5 6
MR-J4 2-axis servo amplifier
MR-J4 3-axis servo amplifier
ON
ON
1 2 3 4 5 6
1 2 3 4 5 6
Disabling control axis switch
Turn "OFF (down)".
Test operation select switch
Turn "ON (up)".
Disabling control axis switch
Turn "OFF (down)".
Test operation select switch
Turn "ON (up)".
Turning "ON (up)" SW2-1 during power-on will not enable the test operation mode.
3) Turn on the servo amplifier.
When initialization is over, the display shows the following screen.
Example: MR-J4 2-axis servo amplifier
After 1.6 s
After 0.2 s
Blinking
After 1.6 s
Blinking
After 0.2 s
4) Start operation with the personal computer.
14 - 22
14. USING A LINEAR SERVO MOTOR
14.3.5 Operation from controller
The linear servo can be used with any of the following controllers.
Servo system controller
Motion controller
Simple motion module
Model
R_MTCPU/Q17_DSCPU
RD77MS_/QD77MS_/LD77MS_
(1) Operation method
POINT
For the machine that multiple axes are connected like a tandem configuration, if
you try to perform the magnetic pole detection simultaneously for multiple axes,
the magnetic pole detection may not be executed. Perform the magnetic pole
detection for each axis. At this time, set the axes that the magnetic pole
detection is not performed for to servo-off.
For the system using the incremental linear encoder, the magnetic pole detection is automatically
performed at the first servo-on after the power-on. For this reason, when performing the positioning
operation, create the sequence which surely confirms the servo-on status as the inter lock condition of
the positioning command.
Also, some parameter settings and the home position return type differ according to the controller type.
14 - 23
14. USING A LINEAR SERVO MOTOR
(2) Servo system controller setting
(a) Setting precautions
The following parameters will be enabled by turning the servo amplifier power off and on again after
the controller writes the parameters to the servo amplifier.
Setting
Simple motion module
Motion controller
RD77MS_/QD77MS_/
R_MTCPU/Q17_DSCPU
LD77MS_
Setting item
Command resolution
Linear encoder resolution unit
Servo amplifier setting
Motor setting
PA01
PC01
PC03
PC27
(Note)
Symbol
**STY
ERZ
*ENRS
**COP9
PL01
**LIT1
PL02
**LIM
PL03
**LID
PL04
*LIT2
PL05
PL06
LB1
LB2
PL07
LB3
PL08
*LIT3
PL09
LPWM
PL17
LTSTS
PL18
IDLV
No.
Parameter
Positioning
control
parameter
MR-J4-B Linear
Automatic setting
Initial
value
Name
Operation mode
Error excessive alarm level
Encoder output pulse selection
Function selection C-9
Linear servo motor/DD motor function
selection 1
Linear encoder resolution - Numerator
Linear encoder resolution Denominator
Linear servo motor/DD motor function
selection 2
Position deviation error detection level
Speed deviation error detection level
Torque/thrust deviation error detection
level
Linear servo motor/DD motor function
selection 3
Magnetic pole detection voltage level
Magnetic pole detection - Minute
position detection method - Function
selection
Magnetic pole detection - Minute
position detection method Identification signal amplitude
Unit setting
Number of pulses (AP)
Travel distance (AL)
1000h
0
0000h
0000h
1040h
0301h
1000
1000
0003h
0
0
Set the items as required.
100
0010h
30
0000h
0
mm
Refer to (2) (b) in this section.
Note. The parameter whose symbol is preceded by * is enabled with the following conditions:
* : After setting the parameter, power off and on the servo amplifier or reset the controller.
**: After setting the parameter, cycle the power of the servo amplifier.
14 - 24
14. USING A LINEAR SERVO MOTOR
(b) Settings of the number of pulses (AP) and travel distance (AL)
User
Controller
Command
[mm]
AP
AL
Position feedback
[mm]
AL
AP
Speed feedback
[mm/s]
Servo amplifier
+
-
Differentiation
Linear servo
motor
Linear encoder
Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder in the following
conditions.
When the linear encoder resolution is 0.05 µm
Number of pulses (AP) [pulse]
=
1
20
=
0.05
1
14.3.6 Function
(1) Linear servo control error detection function
POINT
For the linear servo control error detection function, the position and speed
deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)
If the linear servo control gets unstable for some reasons, the linear servo motor may not operate
properly. To detect this state and to stop operation, the linear servo control error detection function is
used as a protective function.
The linear servo control error detection function has three different detection methods: the position
deviation, speed deviation, and thrust deviation. An error is detected when each method is enabled with
[Pr. PL04 Linear servo motor/DD motor function selection 2]. The detection level can be changed with
[Pr. PL05], [Pr. PL06], and [Pr. PL07].
Servo amplifier
Servo amplifier internal value
1) Model feedback position [mm]
3) Model feedback speed [mm/s]
5) Command thrust [%]
Linear encoder
2) Feedback position [mm]
4) Feedback speed [mm/s]
6) Feedback thrust [%]
Linear servo motor
Linear encoder
Figure 14.1 Outline of linear servo control error detection function
14 - 25
14. USING A LINEAR SERVO MOTOR
(a) Position deviation error detection
Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.
[Pr. PL04]
1
Position deviation error detection enabled
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 14.1, if
the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 mm to
1000 mm), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 50 mm. Replace the set value as required.
(b) Speed deviation error detection
Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.
[Pr. PL04]
2
Speed deviation error detection enabled
When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 14.1, if
the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 mm/s to
5000 mm/s), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 1000 mm/s. Replace the set value as required.
(c) Thrust deviation error detection level
Set [Pr. PL04] to "_ _ _ 4" to enable the thrust deviation error detection.
[Pr. PL04]
4
Thrust deviation error detection enabled
When you compare the command thrust ( 5)) and the feedback thrust ( 6)) in figure 14.1, if the
deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to
1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo
motor will stop. The initial value of this detection level is 100%. Replace the set value as required.
(d) Detecting multiple deviation errors
When setting [Pr. PL04] as shown below, multiple deviation errors can be detected. For the error
detection methods, refer to (1) (a), (b), (c) in this section.
[Pr. PL04]
Setting
value
1
2
3
4
5
6
7
Position deviation
error detection
14 - 26
Speed deviation
error detection
Thrust deviation
error detection
14. USING A LINEAR SERVO MOTOR
(2) Auto tuning function
POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000 mm/s is the acceleration/deceleration time constant of 5 s
or less.
The linear servo motor speed is 150 mm/s or higher.
The load to mass of the linear servo motor primary-side ratio is 100 times or
less.
The acceleration/deceleration thrust is 10% or less of the continuous thrust.
The auto tuning function during the linear servo motor operation is the same as that of the rotary servo
motor. However, the calculation method of the load to motor mass ratio (J ratio) differs. The load to
motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass
of the linear servo motor primary side.
Example) Mass of linear servo motor primary side
= 2 kg
Load mass (excluding the mass of the linear servo motor primary side) = 4 kg
Mass ratio
= 4/2 = 2 times
For the parameters set by the auto tuning function, refer to chapter 6.
(3) Machine analyzer function
POINT
Make sure to perform the machine analyzer function after the magnetic pole
detection. If the magnetic pole detection is not performed, the machine analyze
function may not operate properly.
The stop position at the completion of the machine analyzer function can be any
position.
14.3.7 Absolute position detection system
When the linear servo motor is used in the absolute position detection system, an absolute position linear
encoder is required. The linear encoder backs up the absolute position data. Therefore, the encoder battery
case and the battery need not be installed to the servo amplifier. Additionally, [AL. 25 Absolute position
erased], [AL. 92 Battery cable disconnection warning], [AL. 9F Battery warning], and [AL. E3 Absolute
position counter warning] are not provided for the linear servo motor.
14 - 27
14. USING A LINEAR SERVO MOTOR
14.4 Characteristics
14.4.1 Overload protection characteristics
An electronic thermal relay is built in the servo amplifier to protect the linear servo motor, servo amplifier and
linear servo motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 14.2. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken
line in the graph.
Use the linear servo motor with 70% or less of the effective load ratio when it is in the servo lock state or in a
small reciprocating motion.
This servo amplifier has solid-state linear servo motor overload protection. (The servo motor overload
current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
1000
1000
100
Operating
10
Operation time [s]
Operation time [s]
100
Servo-lock
1
0.1
0
Operating
10
Servo-lock
1
50
100
150
200
250
300
Load ratio [%]
0.1
0
100
200
Load ratio [%]
a. LM-H3 series
LM-K2 series
b. LM-U2 series
Fig. 14.2 Electronic thermal relay protection characteristics
14 - 28
300
400
14. USING A LINEAR SERVO MOTOR
14.4.2 Power supply capacity and generated loss
Calculate the generated loss and the power supply capacity of the servo amplifier under rated load from (1)
and (2) in this section. The calculated value will vary depending on the number of connected linear servo
motors and the capacities of the linear servo motors. For thermal design of an enclosed type cabinet, use
the values calculated in consideration for the worst operating conditions. The actual amount of generated
heat will be intermediate between values at rated torque and servo-off according to the duty used during
operation. When the linear servo motor is run at less than the rated speed, the power supply capacity will be
smaller than the calculated value, but the servo amplifier's generated heat will not change.
(1) Calculation method of power supply capacity
Calculate the power supply capacity for one servo amplifier from tables 14.1 and 14.2.
Table 14.1 Power supply capacity for
one servo amplifier at rated output
Servo amplifier
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
(Note)
Power supply capacity
[kVA]
Total power supply
capacity of connected
linear servo motors ((A)
in table 14.2)
Note. The power supply capacity will vary
according to the power supply impedance.
This value is applicable when the power
factor improving reactor is not used.
Table 14.2 Servo amplifier power supply
capacity for one linear servo motor
Linear servo motor
Power supply capacity
[kVA]
(A)
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
LM-U2PAB-05M-0SS0
0.9
0.9
1.3
1.9
1.3
0.5
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
LM-K2P1A-01M-2SS1
LM-K2P2A-02M-1SS1
0.9
0.9
0.5
1.0
1.3
0.9
1.3
Calculate the power supply capacity with equation 10.1 in (1) in section 10.2.
14 - 29
14. USING A LINEAR SERVO MOTOR
(2) Calculation method of the amount of heat generated by the servo amplifier
Calculate the amount of heat generated by one servo amplifier from tables 14.3 and 14.4.
Table 14.3 Amount of heat generated by one servo
amplifier at rated output
Table 14.4 Amount of heat generated by one
servo amplifier for one linear servo motor
(Note) Servo amplifier-generated heat [W]
Servo amplifier
With servo-off (C)
At rated output
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
20
20
20
20
20
MR-J4W3-444B
25
Sum of the total amount
of heat generated by the
servo amplifier for each
linear servo motor ((B) in
table 14.4) and the
amount of heat
generated by the servo
amplifier with servo-off
(C)
Note. Heat generated during regeneration is not included in the servo
amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 11.2.
Servo motor
Servo amplifiergenerated heat [W]
(B)
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
35
35
50
75
50
LM-U2PAB-05M-0SS0
25
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
LM-K2P1A-01M-2SS1
LM-K2P2A-02M-1SS1
35
35
25
40
50
35
50
Calculate the amount of heat generated by the servo amplifier with equation 10.2 in (2) in section 10.2.
14 - 30
14. USING A LINEAR SERVO MOTOR
CAUTION
The coasting distance is a theoretically calculated value which ignores the
running load such as friction. The calculated value is considered to be longer than
the actual distance. However, if an enough breaking distance is not obtained, the
linear servo motor may crash into the stroke end, which is very dangerous. Install
the anti-crash mechanism such as an air brake or an electric/mechanical stopper
such as a shock absorber to reduce the shock of moving parts. No linear servo
motor with an electromagnetic brake is available.
14.4.3 Dynamic brake characteristics
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to
stop in emergency.
For a machine operating at the recommended load to motor mass ratio or less,
the estimated number of usage times of the dynamic brake is 1000 times while
the machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to enable EM1 (Forced stop 1) after the linear servo motor stops when
using EM1 (Forced stop 1) frequently in other than emergency.
The approximate coasting distance from when the dynamic break is activated until when the linear servo
motor stops can be calculated with the equation below.
Lmax = V0 • (0.03 + M • (A + B • V02))
Lmax: Coasting distance of the machine [m]
V0: Speed when the brake is activated [m/s]
M: Full mass of the moving part [kg]
A: Coefficient (Refer to the following tables.)
B: Coefficient (Refer to the following tables.)
Linear servo motor
Coefficient A
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3D-48P-CSS0
LM-H3P7A-24P-ASS0
7.15 × 10
-3
2.81 × 10
-3
7.69 × 10
-3
1.02 × 10
-3
7.69 × 10
-3
Linear servo motor
Coefficient A
LM-K2P1A-01M-2SS1
LM-K2P2A-02M-1SS1
5.36 × 10
-2
2.49 × 10
-3
Coefficient B
-3
2.94 × 10
-3
1.47 × 10
-4
2.27 × 10
-4
2.54 × 10
-4
2.14 × 10
Coefficient B
-3
6.56 × 10
-3
1.02 × 10
14 - 31
Linear servo motor
Coefficient A
LM-U2PAB-05M-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0
LM-U2PBD-15M-1SS0
5.72 × 10
-2
2.82 × 10
-2
1.87 × 10
-2
3.13 × 10
-2
1.56 × 10
LM-U2PBF-22M-1SS0
4.58 × 10
Coefficient B
-2
1.72 × 10
-5
8.60 × 10
-5
5.93 × 10
-4
1.04 × 10
-5
5.18 × 10
-4
-2
1.33 × 10
-5
14. USING A LINEAR SERVO MOTOR
14.4.4 Permissible load to motor mass ratio when the dynamic brake is used
Use the dynamic brake under the load to motor mass ratio indicated in the following table. If the load to
motor mass ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the load
inertia moment may exceed the value, contact your local sales office.
The values of the permissible load to motor mass ratio in the table are the values when the linear servo
motor is used at the maximum speed.
Linear servo motor
Permissible load to motor mass ratio
[multiplier]
LM-H3 series
LM-U2 series
LM-K2 series
40
100
50
When actual speed does not reach the maximum speed of the servo motor, calculate the permissible load to
motor mass ratio at the time of using the dynamic brake by the following equation. (The upper limit is 300
times.)
Permissible load to motor mass ratio at the time of using the dynamic brake = Value in the table × (Servo
motor maximum speed2/Actual using speed2)
For example, when an actual using speed is 2 m/s or less for the LM-H3P2A-07P motor (maximum speed:
3.0 m/s), the equation will be as follows. Permissible load to motor mass ratio at the time of using the
dynamic brake = 40 × 32/22 = 90 [times]
14 - 32
15. USING A DIRECT DRIVE MOTOR
15. USING A DIRECT DRIVE MOTOR
CAUTION
When using the direct drive motor, read the "Direct Drive Motor Instruction
Manual".
POINT
Refer to section 1.3.3 for the software version of the servo amplifier that is
compatible with the direct drive servo system.
The number of connectable direct drive motors is limited for one MR-BT6VCASE
battery case. Refer to section 11.3 for details.
The MR-J4W2-0303B6 servo amplifier is not compatible with direct drive motor.
15.1 Functions and configuration
15.1.1 Summary
The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for
high accuracy and efficiency. Therefore, the number of systems using a direct drive motor for a drive axis
has been increasing. The direct drive servo system includes the following features.
(1) Performance
(a) The direct drive servo system ensures the high-rigidity and the high-torque. A high-resolution
encoder enables the high-accuracy control.
(b) The high-resolution encoder contributes to the high-indexer accuracy.
(c) Since reducer is no longer required, no backlash occurs. In addition, the settling time is reduced, and
the high-frequency operation is enabled.
(d) Since reducer is no longer required, the motor does not deteriorate with time by reducer.
(2) Mechanism
(a) The motor's low profile design contributes to compact moving part of the machine and a low center
of gravity for enhanced equipment stability.
(b) The motor has an inner rotor with hollow shaft which enables cables and pipes to be passed
through.
(c) Lubrication and the maintenance due to abrasion are not required.
15 - 1
15. USING A DIRECT DRIVE MOTOR
The following shows the differences between the direct drive motor and the rotary servo motor.
Category
Item
Differences
Direct drive motor
Rotary servo motor
External I/O signal
FLS (Upper stroke limit),
RLS (Lower stroke limit)
Required (for
magnetic pole
detection)
Required
Motor pole
adjustment
Magnetic pole detection
Absolute position
detection system
Absolute position encoder
battery
1 battery case (MRBT6VCASE) and 5 batteries
(MR-BAT6V1)
Required
Required
Absolute position storage
unit
(MR-BTAS01)
Required
Not required
15 - 2
Remark
Not required
Automatically turns on in the
parameter setting.
Not required
(default setting)
Automatically executed at the first
servo-on after the power is turned
on.
For the absolute position detection
system, [Pr. PL01] can disable the
magnetic pole detection. (Refer to
(3) (b) of 15.3.2.)
The number of connectable direct
drive motors is limited. Refer to
section 11.3 for details.
15. USING A DIRECT DRIVE MOTOR
15.1.2 Servo system with auxiliary equipment
CAUTION
Connecting a direct drive motor for different axis to the CNP3A, CNP3B, or
CNP3C connector may cause a malfunction.
POINT
Equipment other than the servo amplifier and direct drive motor are optional or
recommended products.
When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".
The configuration diagram is an example of MR-J4W3-222B. When using the other servo amplifiers, the
configuration will be the same as rotary servo motors except for connections of direct drive motors. Refer to
section 1.7 depending on servo amplifiers you use.
MR Configurator2
Personal
computer
CN5 (under the cover)
Power supply
Molded-case
circuit breaker
(MCCB)
Magnetic
contactor
(MC)
Power factor
improving
reactor
(FR-HAL)
Line noise
filter
(FR-BSF01)
RS T
L1
L2
L3
CNP1
P+
C
D (Note 3)
Regenerative
option
CNP3A
CN3
I/O signal
CN8
Safety relay or MR-J3-D05
safety logic unit
CNP2
Servo system controller or
previous servo amplifier
CN1B
CN1A
U
W
V
CN1B
CNP3B
U
W
V
U
W
Next servo amplifier
CN1A or cap
CN2A
CNP3C (Note 1)
CN2B
V
CN2C
(Note 1)
CN4
(Note 2)
Battery unit
L21
L11
C-axis direct
drive motor
(Note 4)
Absolute
position
storage unit
(Note 4) MR-BTAS01
Absolute position
storage unit
MR-BTAS01
(Note 4)
Absolute
position
storage unit
MR-BTAS01
B-axis direct
drive motor
A-axis direct
drive motor
15 - 3
15. USING A DIRECT DRIVE MOTOR
Note 1. This figure shows the 3-axis servo amplifier.
2. The battery unit consists of an MR-BT6VCASE battery case and five MR-BAT6V1 batteries. The battery unit is used in the
absolute position detection system. (Refer to chapter 12.)
3. Always connect P+ and D. When using the regenerative option, refer to section 11.2.
4. The absolute position storage unit is used for the absolute position detection system.
15.2 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 the direct drive motor securely.
Do not attempt to wire the servo amplifier and the direct drive 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.
Wire the equipment correctly and securely. Otherwise, the direct drive 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
24 V DC
Control output
signal
24 V DC
DOCOM
DOCOM
CAUTION
Servo amplifier
RA
For sink output interface
Control output
signal
RA
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 option)
with the power wire of the direct drive motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
15 - 4
15. USING A DIRECT DRIVE MOTOR
Connect the servo amplifier power output (U/V/W) to the power input of the direct
drive motor (U/V/W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Direct drive
motor
Servo amplifier
U
U
CAUTION
V
V
U
V
M
W
W
Direct drive
motor
Servo amplifier
W
U
V
M
W
Connecting a servo motor for different axis to the CNP3A, CNP3B, or CNP3C
connector may cause a malfunction.
This chapter does not describe the following items. For details of the items, refer to each section of the
detailed description field.
Item
Input power supply circuit
Explanation of power supply system
Signal (device) explanations
Alarm occurrence timing chart
Interfaces
SSCNET III cable connection
Grounding
Switch setting and display of the servo
amplifier
Parameters
Troubleshooting
Detailed explanation
Section 3.1
Section 3.3
Section 3.5
Section 3.7
Section 3.8
Section 3.9
Section 3.11
Section 4.3
Chapter 5
Chapter 8
15.3 Operation and functions
POINT
When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".
For the test operation, refer to section 4.4.
The Z-phase pulse of the direct drive motor must be turned on after power-on.
When the machine configuration does not allow one or more revolution of the
direct drive motor, install the direct drive motor so that the Z-phase pulse can be
turned on.
15 - 5
15. USING A DIRECT DRIVE MOTOR
15.3.1 Startup procedure
Start up the direct drive servo system in the following procedure.
Perform this procedure once at startup.
Set [Pr. PA01]. (Refer to section 3.14.)
Installation and wiring
Incremental system
Absolute position detection system
Absolute position
detection system?
Can you manually turn
on the Z-phase pulse of the
direct drive motor?
Yes
No
Execute the magnetic pole detection. (Refer to section 15.3.2.) (Note 1)
Turn on the Z-phase pulse of the
direct drive motor by using the JOG
operation. (Notes 1 and 2)
Turn on the Z-phase pulse of the
direct drive motor manually. (Note 3)
Change the setting to disable the
magnetic pole detection.
(Refer to section 15.3.2.)
Turn the servo amplifier power
supply off and on again. (Note 2)
Positioning operation check using the test operation mode (Note 1)
Positioning operation check using the controller (Refer to section 15.3.3.)
Home position return operation (Refer to the controller manual used.)
Positioning operation
Note 1. Use MR Configurator2.
2. For the absolute position detection system, always turn on the Z-phase pulse of the direct drive motor while the servo amplifier
power is on, and then turn the servo amplifier power supply off and on again. By turning off and on the power supply, the
absolute position becomes confirmed. Without this operation, the absolute position will not be regained properly, and a
warning will occur at the controller.
3. If the Z-phase pulse of the direct drive motor can be turned on manually, the Z-phase pulse does not have to be turned on by
the magnetic pole detection or the JOG operation.
For this operation, always connect the direct drive motor encoder and the servo amplifier, and turn on only the control circuit
power supply of the servo amplifier (L11/L21) (turn off the main circuit power supply L1, L2, and L3). Perform this operation by
considering the safety.
15 - 6
15. USING A DIRECT DRIVE MOTOR
15.3.2 Magnetic pole detection
POINT
The magnetic pole detection is not required for the configured absolute position
detection system where the Z-phase pulse of the direct drive motor can be
turned on manually.
For this operation, always connect the direct drive motor encoder and the servo
amplifier and turn on the control circuit power supply of the servo amplifier.
Perform this operation by considering the safety.
When performing a magnetic pole detection without using FLS (Upper stroke
limit) and RLS (Lower stroke limit), set [Pr. PL08 Linear servo motor/DD motor
function selection 3] to "_ 1 _ _" to disable FLS and RLS.
Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic
pole detection.
For the magnetic pole detection of vertical axis with direct drive motors, refer to
section 2.1 of "Direct Drive Motor Instruction Manual".
Before the positioning operation of the direct drive motor, make sure to perform the magnetic pole detection.
Before starting up the equipment, perform the test operation (positioning operation) of MR Configurator2.
15 - 7
15. USING A DIRECT DRIVE MOTOR
(1) Magnetic pole detection method by using MR Configurator2
The following shows the magnetic pole detection procedure by using MR Configurator2.
(a) Magnetic pole detection by the position detection method
Magnetic pole detection
1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and
then cycle the servo amplifier power.
2) Turn "On (up)" the test operation select switch (SW2-1) of the servo amplifier, and then cycle the
power of the servo amplifier.
3) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic
pole detection method to "Position detection method".
4) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic
pole detection at first servo-on". (Note)
5) Cycle the servo amplifier power.
6) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".
7) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the
test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is carried out.
YES
Is [Pr. PL09] the final value?
NO
Has [AL. 27 Initial magnetic pole
detection error] occurred?
YES Reset the alarm or cycle the
servo amplifier power.
NO
Have [AL. 32 Overcurrent], [AL. 50
Overload 1], [AL. 51 Overload 2], and
[AL. E1 Overload warning 1]
occurred?
YES
NO
Cycle the servo amplifier power.
Reset the alarm or cycle the
servo amplifier power.
8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)
End
Note. For the incremental system, the [Pr. PL01] setting is not required.
15 - 8
Increase the value of [Pr. PL09]
by five.
Set an approximately 70% of the
value set for [Pr. PL09] as the
final setting value.
If [AL. 27 Initial magnetic pole
detection error] occurs with this
value, specify a value
intermediate between the value
set at [AL. E1 Overload warning
1] and the value set at [AL. 27
Initial magnetic pole detection
error] as the final setting value.
15. USING A DIRECT DRIVE MOTOR
(b) Magnetic pole detection by the minute position detection method
Magnetic pole detection
1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and
turn the servo amplifier power off and on again.
2) Turn "On (up)" the test operation select switch (SW2-1) of the servo amplifier, and then cycle the
power of the servo amplifier.
3) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 4" to set the magnetic pole
detection method to "Minute position detection method".
4) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole
detection always enabled". (Note 1)
5) Turn the servo amplifier power off and on again.
6) Set the load inertia moment ratio of the direct drive motor with [Pr. PL17 Magnetic pole detection Minute position detection method - Function selection]. (Note 2)
7) Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test
operation mode on MR Configurator2. Set the moving distance to "0" at this time.
The magnetic pole detection is carried out.
YES
Is the response of the
minute position detection method
of [Pr. PL17] the final value?
NO
Has an abnormal sound or
vibration occurred during the
magnetic pole detection?
YES
Decrease the response of the minute
position detection method of [Pr. PL17] by
two as the final setting value.
NO
Is the moving distance
during the magnetic pole
detection acceptable?
(Note 3)
Not
acceptable Increase the response of the minute
position detection method of [Pr. PL17] by
one.
Acceptable
8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)
End
Note 1. For the incremental system, the [Pr. PL01] setting is not required.
2. If the load to direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the
position detection method, and then perform the auto tuning to set an estimated value.
3. For the magnetic pole detection by the minute position detection method, the maximum rotation angle
at the magnetic pole detection must be five degrees or less. To shorten the travel distance, increase
the response by the minute position detection method in [Pr. PL17].
15 - 9
15. USING A DIRECT DRIVE MOTOR
(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection
When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier
display (3-digit, 7-segment LED) shows the state as below.
Servo-off status
During the
magnetic
pole detection
Magnetic pole
detection
completed
(Servo-on status)
The decimal point blinks.
(2) Preparation for the magnetic pole detection
POINT
When the test operation mode is selected with the test operation select switch
(SW2-1), the SSCNET III/H communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
For the magnetic pole detection, use the test operation mode (positioning operation) of MR
Configurator2. Turn off the servo amplifier power, and set the test operation select switch (SW2-1) and
the disabling control axis switch (SW2-2, SW2-3, and SW2-4) as shown below. Turning on the power
enables the test operation mode.
SW2
ON
1 2 3 4 5 6
MR-J4 2-axis servo amplifier
MR-J4 3-axis servo amplifier
ON
ON
1 2 3 4 5 6
1 2 3 4 5 6
Disabling control axis switch
Turn "OFF (down)".
Test operation select switch
Turn "ON (up)".
15 - 10
Disabling control axis switch
Turn "OFF (down)".
Test operation select switch
Turn "ON (up)".
15. USING A DIRECT DRIVE MOTOR
(3) Operation at the magnetic pole detection
WARNING
Note that the magnetic pole detection automatically starts simultaneously with the
turning-on of the servo-on command.
CAUTION
If the magnetic pole detection is not executed properly, the direct drive motor may
operate unexpectedly.
POINT
Establish the machine configuration using FLS (Upper stroke limit) and RLS
(Lower stroke limit). Otherwise, the machine may be damaged due to a collision.
At the magnetic pole detection, whether the motor rotates in the forward or
reverse direction is unpredictable.
Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage
level], an overload, overcurrent, magnetic pole detection alarm, or others may
occur.
When performing the positioning operation from a controller, use the sequence
which confirms the normal completion of the magnetic pole detection and the
servo-on status, then outputs the positioning command. If the controller outputs
the positioning command before RD (Ready) turns on, the command may not be
accepted or a servo alarm may occur.
After the magnetic pole detection, check the positioning accuracy with the test
operation (positioning operation function) of MR Configurator2.
The accuracy of the magnetic pole detection improves with no load.
(a) Incremental system
POINT
For the incremental system, the magnetic pole detection is required every time
the power is turned on.
By turning on the servo-on command from the controller after the power-on, the magnetic pole
detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of
[Pr. PL01]) for executing the magnetic pole detection.
1) Timing chart
Servo-on command
ON
OFF
Base circuit
ON
OFF
RD (Ready)
ON
OFF
95 ms
15 s or less
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when FLS (Upper
stroke limit) and RLS (Lower stroke limit) are on.
15 - 11
15. USING A DIRECT DRIVE MOTOR
2) Direct drive motor movement (when FLS and RLS are on)
Center of the direct drive motor rotation part
(Note) RLS
FLS (Note)
Servo-on position (Magnetic pole detection start position)
Magnetic pole detection completion position
10 degrees or less
Note. When you turn off FLS (Upper stroke limit) or RLS (Lower stroke limit) during the
magnetic pole detection, the magnetic pole detection is carried on to the opposite
direction. When FLS and RLS are off, [AL. 27 Initial magnetic pole detection error]
occurs.
3) Direct drive motor movement (when FLS or RLS is off)
When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.
Center of the direct drive motor rotation part
FLS
RLS
Servo-on position
After the motor moves to the position where the stroke limit
(FLS or RLS) is set, the magnetic pole detection starts.
Magnetic pole detection
start position
Magnetic pole detection completion position
10 degrees or less
(b) Absolute position detection system
POINT
The magnetic pole detection is required in the following timings.
When the system is set up (at the first startup of equipment)
When the Z-phase pulse of the direct drive motor is not turned on at the
system setup (When the Z-phase pulse of the direct drive motor can be turned
on manually, the magnetic pole detection is not required.)
After a direct drive motor is replaced
When [AL. 25 Absolute position erased] has occurred
Turn on the Z-phase pulse of the direct drive motor in JOG operation from the
controller after the magnetic pole detection.
Perform the magnetic pole detection in the following procedure.
1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole
detection at first servo-on).
[Pr. PL01]
1
Magnetic pole detection at first servo-on (initial value)
15 - 12
15. USING A DIRECT DRIVE MOTOR
2) Execute the magnetic pole detection. (Refer to (2) (a) 1), 2) in this section.)
3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection disabled).
[Pr. PL01]
0
Magnetic pole detection disabled
After the magnetic pole detection, by turning on the Z-phase pulse of the direct drive motor in
JOG operation and by disabling the magnetic pole detection function with [Pr. PL01], the
magnetic pole detection after each power-on is not required.
(4) Magnetic pole detection method setting
Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection
method selection).
[Pr. PL08]
Magnetic pole detection method selection
0: Position detection method
4: Minute position detection method
(5) Setting of the magnetic pole detection voltage level by the position detection method
For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09
Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection
method, the voltage level setting is not required.
(a) Guideline of parameter settings
Set the parameters by referring to the following table.
[Pr. PL09] setting
(Guide value)
Servo status
Torques required for operation
Overload, overcurrent alarm
Magnetic pole detection alarm
Magnetic pole detection accuracy
Small ← Medium → Large
(10 or less (initial value) 50 or more)
Small
Seldom occurs
Frequently occurs
Low
Large
Frequently occurs
Seldom occurs
High
(b) Setting procedure
1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole
detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. E1 Overload warning
1], and [AL. EC Overload warning 2] occur. Increase the setting value by five as a guide value.
When these alarms and warnings occur during the magnetic pole detection by using MR
Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off
status is established.
15 - 13
15. USING A DIRECT DRIVE MOTOR
2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],
[AL. 51 Overload 2], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as
the final setting value. However, if [AL. 27 Initial magnetic pole detection error] occurs with this
value, specify a value intermediate between the value set at [AL. 50 Overload 1], [AL. 51
Overload 2], [AL. E1 Overload warning 1], or [AL. EC Overload warning 2] and the value set at
the magnetic pole detection alarm as the final setting value.
3) Perform the magnetic pole detection again with the final setting value.
(c) Setting example
Magnetic pole detection
[Pr. PL09] setting value
Alarm
30
35
40
45
65
70
Existent
Non-existent
While increasing the setting value of [Pr. PL09], carry out the
magnetic pole detection repeatedly.
An alarm has occurred when the setting
value of [Pr. PL09] is set to "70".
In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70
× 0.7).
15 - 14
15. USING A DIRECT DRIVE MOTOR
15.3.3 Operation from controller
To configure the absolute position detection system by using the direct drive motor, the battery unit (one
battery case (MR-BT6VCASE) and five batteries (MR-BAT6V1) ) and the absolute position storage unit (MRBTAS01) are required.
(1) Operation method
For the incremental system, the magnetic pole detection is automatically performed at the first servo-on
after the power-on. For this reason, when performing the positioning operation, create the sequence
which surely confirms the servo-on status as the inter lock condition of the positioning command.
Also, some parameter settings and the home position return differ according to the controller type.
(2) Servo system controller setting
The following parameters will be enabled by cycling the servo amplifier power after the controller writes
the parameters to the servo amplifier.
Set content
Simple motion module
Motion controller
RD77MS_/QD77MS_/
R_MTCPU/Q17_DSCPU
LD77MS_
Setting item
Servo amplifier setting
Motor setting
Parameter
No.
(Note)
Symbol
PA01
PC01
PC03
**STY
*ERZ
*ENRS
PL01
**LIT1
PL04
*LIT2
PL05
PL06
LB1
LB2
PL07
LB3
PL08
*LIT3
PL09
LPWM
PL17
LTSTS
PL18
IDLV
MR-J4-B DD
Automatic setting
Initial
value
Name
Operation mode
Error excessive alarm level
Encoder output pulse selection
Linear servo motor/DD motor function
selection 1
Linear servo motor/DD motor function
selection 2
Position deviation error detection level
Speed deviation error detection level
Torque/thrust deviation error detection
level
Linear servo motor/DD motor function
selection 3
Magnetic pole detection voltage level
Magnetic pole detection - Minute
position detection method - Function
selection
Magnetic pole detection - Minute
position detection method Identification signal amplitude
1000h
0
0000h
1060h
0301h
0003h
0
0
100
Set the items as required.
0010h
30
0000h
0
Note. The parameter whose symbol is preceded by * is enabled with the following conditions:
* : After setting the parameter, power off and on the servo amplifier or reset the controller.
**: After setting the parameter, cycle the power of the servo amplifier.
15 - 15
15. USING A DIRECT DRIVE MOTOR
15.3.4 Function
(1) Servo control error detection function
POINT
For the servo control error detection function, the position and speed deviation
error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)
If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To
detect this state and to stop operation, the servo control error detection function is used as a protective
function.
The servo control error detection function has three different detection methods: the position deviation,
speed deviation, and torque deviation. An error is detected when each method is enabled with [Pr. PL04
Linear servo motor/DD motor function selection 2]. The detection level can be changed with [Pr. PL05],
[Pr. PL06], and [Pr. PL07].
Direct drive motor
Servo amplifier
Servo amplifier internal value
1) Model feedback position [rev]
3) Model feedback speed [r/min]
5) Command torque [%]
Encoder
2) Feedback position [rev]
4) Feedback speed [r/min]
6) Feedback torque [%]
Encoder
Figure 15.1 Outline of servo control error detection function
(a) Position deviation error detection
Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.
[Pr. PL04]
1
Position deviation error detection enabled
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 15.1, if
the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 (0.01 rev)
to 1000 (10 rev)), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo
motor will stop. The initial value of this detection level is 0.09 rev. Replace the set value as required.
15 - 16
15. USING A DIRECT DRIVE MOTOR
(b) Speed deviation error detection
Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.
[Pr. PL04]
2
Speed deviation error detection enabled
When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 15.1, if
the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 r/min to
2000 r/min), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 100 r/min. Replace the set value as required.
(c) Torque deviation error detection level
Set [Pr. PL04] to "_ _ _ 4" to enable the torque deviation error detection.
[Pr. PL04]
4
Torque deviation error detection enabled
When you compare the command torque ( 5)) and the feedback torque ( 6)) in figure 15.1, if the
deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to
1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo
motor will stop. The initial value of this detection level is 100%. Replace the set value as required.
(d) Detecting multiple deviation errors
When setting [Pr. PL04] as shown below, multiple deviation errors can be detected. For the error
detection methods, refer to (1) (a), (b), (c) in this section.
[Pr. PL04]
Setting
value
1
2
3
4
5
6
7
Position deviation
error detection
15 - 17
Speed deviation
error detection
Torque deviation
error detection
15. USING A DIRECT DRIVE MOTOR
15.4 Characteristics
15.4.1 Overload protection characteristics
An electronic thermal relay is built in the servo amplifier to protect the servo amplifier, the direct drive motor,
and direct drive motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 15.2. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken
line in the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that
the unbalanced torque of the machine be kept at 70% or less of the motor's rated torque.
This servo amplifier has solid-state direct drive motor overload protection for each axis. (The direct drive
motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
1000
1000
Operating
Servo-lock
10
10
Servo-lock
1
1
0.1
0
Operating
100
Operation time [s]
Operation time [s]
100
50
100
150
200
250
300
(Note) Load ratio [%]
0.1
0
50
100
150
200
250
300
350
(Note) Load ratio [%]
TM-RFM002C20, TM-RFM004C20, TM-RFM006C20
TM-RFM006E20, TM-RFM012E20, TM-RFM018E20
TM-RFM012G20
TM-RFM040J10
TM-RG2M004E30
TM-RU2M004E30
TM-RG2M009G30
TM-RU2M009G30
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a direct drive
motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction
regardless of the electronic thermal relay protection.
Fig. 15.2 Electronic thermal protection characteristics
15 - 18
15. USING A DIRECT DRIVE MOTOR
15.4.2 Power supply capacity and generated loss
Calculate the generated loss and the power supply capacity of the servo amplifier under rated load from (1)
and (2) in this section. The calculated value will vary depending on the number of connected direct drive
motors and the capacities of the direct drive motors. For thermal design of an enclosed type cabinet, use the
values calculated in consideration for the worst operating conditions. The actual amount of generated heat
will be intermediate between values at rated torque and servo-off according to the duty used during
operation. When the direct drive motor is run at less than the rated speed, the power supply capacity will be
smaller than the calculated value, but the servo amplifier's generated heat will not change.
(1) Calculation method of power supply capacity
Calculate the power supply capacity for one servo amplifier from tables 15.1 and 15.2.
Table 15.1 Power supply capacity for
one servo amplifier at rated output
Servo amplifier
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
Power supply capacity
[kVA] (Note)
Total power supply
capacity of connected
direct drive motors ((A)
in table 15.2)
Note. The power supply capacity will vary
according to the power supply impedance.
This value is applicable when the power
factor improving reactor is not used.
Table 15.2 Servo amplifier power
supply capacity for one direct drive
motor
Servo motor
Power supply capacity
[kVA] (A) (Note)
TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM018E20
0.25
0.38
0.53
0.46
0.81
1.3
TM-RFM012G20
TM-RFM040J10
TM-RG2M004E30
TM-RU2M004E30
TM-RG2M009G30
TM-RU2M009G30
0.71
1.2
0.5 (0.7)
0.5 (0.7)
0.9
0.9
Note. The value inside ( ) applies when the torque
is increased.
Calculate the power supply capacity with equation 10.1 in (1) in section 10.2.
15 - 19
15. USING A DIRECT DRIVE MOTOR
(2) Calculation method of the amount of heat generated by the servo amplifier
Calculate the amount of heat generated by one servo amplifier from tables 15.3 and 15.4.
Table 15.3 Amount of heat generated by one servo amplifier at
rated output
Servo amplifier
Servo amplifier-generated heat [W] (Note)
With servo-off (C)
At rated output
MR-J4W2-22B
MR-J4W2-44B
20
20
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
20
20
20
25
Sum of the total amount of
heat generated by the servo
amplifier for each direct drive
motor ((B) in table 15.4) and
the amount of heat generated
by the servo amplifier with
servo-off (C)
Note. Heat generated during regeneration is not included in the servo amplifiergenerated heat. To calculate heat generated by the regenerative option,
refer to section 11.2.
Table 15.4 Amount of heat generated
by one servo amplifier for one direct
drive motor
Servo motor
Servo amplifiergenerated heat [W]
(B) (Note)
TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
25
35
40
40
TM-RFM012E20
50
TM-RFM018E20
50
TM-RFM012G20
50
TM-RFM040J10
50
TM-RG2M004E30
25 (35)
TM-RU2M004E30
25 (35)
TM-RG2M009G30
TM-RU2M009G30
35
35
Note. The value inside ( ) applies when the torque
is increased.
Calculate the amount of heat generated by the servo amplifier with equation 10.2 in (2) in section 10.2.
15 - 20
15. USING A DIRECT DRIVE MOTOR
15.4.3 Dynamic brake characteristics
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to
stop in emergency.
For a machine operating at the recommended load to motor inertia ratio or less,
the estimated number of usage times of the dynamic brake is 1000 times while
the machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to enable EM1 (Forced stop 1) after the direct drive motor stops when
using EM1 (Forced stop 1) frequently in other than emergency.
(1) Dynamic brake operation
(a) Calculation of coasting distance
Fig. 15.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 15.1 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant τ varies with the direct drive motor and machine operation speeds. (Refer to (1)
(b) in this section.)
EM1 (Forced stop 1)
ON
OFF
Machine
speed
Dynamic brake
time constant τ
V0
te
Time
Fig. 15.3 Dynamic brake operation diagram
Lmax =
V0
• te
60
1+
JL
JM
······················································································ (15.1)
Lmax: Maximum coasting distance ................................................................................................... [mm]
V0: Machine's fast feed speed ................................................................................................. [mm/min]
JM: Moment of inertia of direct drive motor ....................................................................... [× 10-4 kg•m2]
JL: Load moment of inertia converted into equivalent value on direct drive motor rotor .. [× 10-4 kg•m2]
τ: Dynamic brake time constant .......................................................................................................... [s]
te: Delay time of control section .......................................................................................................... [s]
There is internal relay delay time of about 10 ms
15 - 21
15. USING A DIRECT DRIVE MOTOR
(b) Dynamic brake time constant
The following shows necessary dynamic brake time constant τ for the equation (15.1).
Time constant τ [ms]
Time constant τ [ms]
30
25
002
20
004
15
10
006
5
0
0
100
300
200
Speed [r/min]
400
500
70
60
20
10
0
0
Time constant τ [ms]
Time constant τ [ms]
40
30
20
10
200
300
Speed [r/min]
400
500
80
70
60
50
40
30
20
10
0
0
TM-RFM_G20
Time constant τ [ms]
Time constant τ [ms]
25
20
15
10
5
100
200
300
400
500
040
50
100
150
Speed [r/min]
200
TM-RFM_J10
30
0
0
100
TM-RFM_E20
012
100
012
Speed [r/min]
60
0
0
006
30
TM-RFM_C20
50
018
50
40
200 300 400
Speed [r/min]
500
600
TM-RG2M004E30
TM-RU2M004E30
15 - 22
80
70
60
50
40
30
20
10
0
0
100
200 300 400
Speed [r/min]
TM-RG2M009G30
TM-RU2M009G30
500
600
15. USING A DIRECT DRIVE MOTOR
(2) Permissible load to motor inertia ratio when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load
inertia moment is higher than this value, the dynamic brake may burn. If there is a possibility that the
load inertia moment may exceed the value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum
rotation speed of the direct drive motor.
The value in the parenthesis shows the value at the rated speed of the direct drive motor.
Direct drive motor
TM-RFM_C20
TM-RFM_E20
TM-RFM_G20
TM-RFM_J10
TM-RG2M_E30
TM-RG2M_G30
TM-RU2M_E30
TM-RU2M_G30
15 - 23
Permissible load to motor inertia ratio
[multiplier]
100 (300)
50 (300)
50 (200)
20 (80)
15. USING A DIRECT DRIVE MOTOR
MEMO
15 - 24
16. FULLY CLOSED LOOP SYSTEM
16. FULLY CLOSED LOOP SYSTEM
POINT
The fully closed loop system is available for the MR-J4-W2-_B servo amplifiers
of which software version is A3 or later. It will not be available with MR-J4W3-_B.
When fully closed loop control system is used with this servo amplifier, "Linear
Encoder Instruction Manual" is needed.
Fully closed loop control system is available with position control mode.
When fully closed loop control system is configured with MR-J4W2-_B servo
amplifier, the following restrictions apply.
A/B/Z-phase differential output type encoder cannot be used.
The load-side encoder and servo motor encoder is compatible with only the
two-wire type. The four-wire type load-side encoder and servo motor encoder
cannot be used.
When you use the KG-KR and HG-MR series for driving and load-side
encoder, the optional four-wire type encoder cables (MR-EKCBL30M-L, MREKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used.
When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type
encoder cable according to app. 8.
The MR-J4W2-0303B6 servo amplifier is not compatible with the fully closed
loop system.
16.1 Functions and configuration
16.1.1 Function block diagram
A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the
load-side encoder unit.
+
Controller
(Servo motor side)
Droop pulses
(Servo motor side)
Cumulative
feedback pulses
Load-side
droop pulses
Cumulative load-side
feedback pulses
+
-
+
+
-
-
Servo motor
Servo motor-side cumulative S
feedback pulses
(load-side encoder resolution unit)
FBN
FBD
+
+
Dual
feedback filter
([Pr. PE08])
(Note 2)
- (Note 1, 2)
Fully closed loop selection
([Pr. PE01] and [Pr. PE08])
+
Load-side feedback pulses
Linear encoder
Encoder pulse setting
([Pr. PA15], [Pr. PA16]
and [Pr. PC03])
Fully closed loop control
error detection function
selection ([Pr. PE03])
Control
Monitor
Note 1. Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of [Pr.
PE01].
When semi closed loop control is selected, a control is always performed on the bases of the position data of the servo
motor encoder independently of whether the servo motor is at a stop or running.
2. When the fully closed loop system is enabled in [Pr. PE01], dual feedback control in which the servo motor feedback signal
and load-side encoder feedback signal are combined by the dual feedback filter in [Pr. PE08] is performed.
In this case, fully closed loop control is performed when the servo motor is at a stop, and semi closed loop control is
performed when the servo motor is operating to improve control performance. When "4500" is set as the filter value of [Pr.
PE08 Dual feedback filter], fully closed loop control is always performed.
16 - 1
16. FULLY CLOSED LOOP SYSTEM
The following table shows the functions of each control mode.
Control
Description
Feature
Semi closed loop control
Dual feedback control
Fully closed loop control
Position is controlled according to the servo motor-side data.
Since this control is insusceptible to machine influence (such as machine resonance),
Advantage
the gains of the servo amplifier can be raised and the settling time shortened.
If the servo motor side is at a stop, the side may be vibrating or the load-side accuracy
Disadvantage
not obtained.
Feature
Position is controlled according to the servo motor-side data and load-side data.
Control is performed according to the servo motor-side data during operation, and
Advantage
according to the load side-data at a stop in sequence to raise the gains during
operation and shorten the settling time. A stop is made with the load-side accuracy.
Feature
Position is controlled according to the load-side data.
Advantage
The load-side accuracy is obtained not only at a stop but also during operation.
Since this control is susceptible to machine resonance or other influences, the gains
Disadvantage
of the servo amplifier may not rise.
16 - 2
16. FULLY CLOSED LOOP SYSTEM
16.1.2 Selecting procedure of control mode
(1) Control mode configuration
In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
In addition, on the fully closed loop system, the semi closed loop control, fully closed loop control and
dual feedback control can be selected by the [Pr. PE08] settings.
Semi closed loop system
Semi closed
loop control
Operation mode selection
([Pr. PA01])
Semi closed/fully closed switching command
(Refer to the controller user's manual.)
"_ _ 0 _"
Servo amplifier
OFF
"_ _ 1 _"
(Refer to section 16.3.1 (2) (a))
ON
Fully closed loop
function selection 1
([Pr. PE01])
Fully closed loop system
Fully closed loop
dual feedback filter
([Pr. PE08])
"0"
"_ _ _ 1"
"_ _ _ 0"
(Refer to section 16.3.1 (2) (b))
Semi closed
loop control
"1 to 4499"
Dual feedback
control
"4500"
Fully closed
loop control
(2) Dual feedback filter equivalent block diagram
A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
+
Position
control unit
-
+
+
Servo motor
High-pass
filter
Linear encoder
Low-pass
filter
Fully closed
loop control
Semi closed
loop control
Frequency [rad/s]
Note. Set "ω" (a dual feedback filter band) with [Pr. PE08].
16 - 3
Dual feedback filter
Operation status
Control status
Servo motor during a stop Fully closed loop
control
Semi closed loop
control
16. FULLY CLOSED LOOP SYSTEM
16.1.3 System configuration
(1) For a linear encoder
Servo amplifier
SSCNET III/H controller
SSCNET III/H
Position command
Control signal
To the next servo amplifier
CN2A
CN2B
(Note)
Two-wire type serial interface compatible linear encoder
Load-side encoder signal
Servo motor encoder signal
Linear encoder head
Servo motor
Table
Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.
In that case, a battery is not required.
(2) For a rotary encoder
Servo amplifier
SSCNET III/H controller
SSCNET III/H
Drive part
Position command
Control signal
CN2A
To the next servo
amplifier
CN2B
Servo motor
Two-wire type rotary encoder
HG-KR or HG-MR servo motor
(4194304 pulses/rev)
16 - 4
16. FULLY CLOSED LOOP SYSTEM
16.2 Load-side encoder
POINT
Always use the load-side encoder cable introduced in this section. Using other
products may cause a malfunction.
For details of the load-side encoder specifications, performance and assurance,
contact each encoder manufacturer.
16.2.1 Linear encoder
Refer to "Linear Encoder Instruction Manual" for usable linear encoders.
16.2.2 Rotary encoder
When a rotary encoder is used for the load-side encoder, use HG-KR or HG-MR servo motor as an encoder.
Use a two-wire type encoder cable. Do not use MR-EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40M-H, or
MR-EKCBL50M-H as they are four-wire type.
16.2.3 Configuration diagram of encoder cable
Configuration diagram for servo amplifier and load-side encoder is shown below. Cables used vary,
depending on the load-side encoder.
(1) Linear encoder
Refer to Linear Encoder Instruction Manual for encoder cables for linear encoder.
MR-J4FCCBL03M branch cable
(Refer to section 16.2.4)
Servo amplifier
CN2
MOTOR
CN2A
CN2B
Encoder of rotary servo motor
Linear encoder
SCALE
Load-side
encoder
Encoder cable
(Refer to "Linear Encoder Instruction Manual".)
(2) Rotary encoder
Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders.
MR-J4FCCBL03M branch cable
(Refer to section 16.2.4)
Servo amplifier
CN2
MOTOR
CN2A
CN2B
(Note)
Encoder of rotary servo motor
SCALE
Servo motor
HG-KR
HG-MR
(Note)
Encoder cable
(Refer to "Servo Motor Instruction Manual (Vol. 3)".)
Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.
16 - 5
Load-side
encoder
16. FULLY CLOSED LOOP SYSTEM
16.2.4 MR-J4FCCBL03M branch cable
Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2A or
CN2B connector.
When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction
Manual".
0.3 m
(Note 1)
CN2A/CN2B
Plate
SD
P5
1
2
LG
2
LG
4
6
THM2
MRR
1
P5
3
MR
8
10
10
SEL
SEL
MXR
5
THM1
7
MX
(Note 2)
MOTOR
Plate SD
1
P5
2
LG
9
BAT
View seen from wiring side.
MR
MRR
THM1
THM2
MX
MXR
BAT
SEL
3
4
5
6
7
8
9
10
3
4
5
6
MR
MRR
THM1
THM2
9
10
BAT
SEL
(Note 2)
SCALE
Plate SD
1
P5
2
LG
8
6
THM2
4
2
LG
MRR
9
BAT
7
5
THM1
1
3 P5
MR
View seen from wiring side.
10
SEL
8
6
4
2
LG
MXR
3
4
9
10
Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)
2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)
16 - 6
MX
MXR
BAT
SEL
9
BAT
7
5
1
3 P5
MX
View seen from wiring side.
16. FULLY CLOSED LOOP SYSTEM
16.3 Operation and functions
16.3.1 Startup
(1) Startup procedure
Start up the fully closed loop system in the following procedure.
Completion of installation and wiring
Adjustment and operation check in semi closed loop system
Positioning operation check using MR Configurator2
Gain adjustment
Adjustment and operation check in fully closed loop system
Selection of fully closed loop system (Refer to (2) in this section.)
Setting of load-side encoder polarity (Refer to (3) in this section.)
Setting of load-side encoder electronic gear (Refer to (4) in this section.)
Confirmation of load-side encoder position data (Refer to (5) in this section.)
Positioning operation check using MR Configurator2
Gain adjustment
Adjustment of dual feedback switching filter.
(for dual feedback control) (Refer to (6) in this section.)
Positioning operation check using the controller (Refer to section 16.3.3.)
Home position return operation (Refer to section 16.3.2.)
Positioning operation
Completion of fully closed loop system startup
16 - 7
Check that the servo
equipment is normal.
Do as necessary.
16. FULLY CLOSED LOOP SYSTEM
(2) Selection of fully closed loop system
By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be
selected as shown in the following table.
[Pr. PA01]
[Pr. PE01]
Semi closed loop control/
fully closed loop control
switching signal
"_ _ 0 _"
Semi closed
loop system
(standard
control mode)
"_ _ 1 _ "
Fully closed
loop system
(fully closed
loop control
mode)
Command unit
Servo motor
encoder unit
"_ _ _ 0"
"_ _ _ 1"
Absolute position
detection system
Control System
Semi closed loop control
Load-side encoder Dual feedback
unit
control (fully closed loop
control)
(Note)
Off
Semi closed loop control
×
On
Dual feedback
control (fully closed loop
control)
×
Note. Applicable when the load-side encoder is set as the absolute position encoder.
(a) Operation mode selection
Select a operation mode.
[Pr. PA01]
1 0
0
Operation mode selection
Set value
Operation mode
Control unit
0
Semi closed loop system
(Standard control mode)
Servo motor-side
resolution unit
1
Fully closed loop system
(Fully closed loop control mode)
Load-side encoder
resolution unit
(b) Semi closed loop control/fully closed loop control selection
Select the semi closed loop control/fully closed loop control.
[Pr. PE01]
0 0 0
Fully closed loop control selection
0: Always enabled
1: Switching using the control command of controller
(switching between semi closed/fully closed)
Selection using the control
command of controller
Control method
OFF
ON
Semi closed loop control
Fully closed loop control
When the operation mode selection in [Pr. PA01] is set to "_ _ 1 _"
(fully closed loop system), this setting is enabled.
16 - 8
16. FULLY CLOSED LOOP SYSTEM
(3) Setting of load-side encoder polarity
CAUTION
Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr.
PC27]. An abnormal operation and a machine collision may occur if an incorrect
direction is set, which cause a fault and parts damaged.
POINT
"Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14
Rotation direction selection]. Make sure to set the parameter according to the
relationships between servo motor and linear encoder/rotary encoder.
Do not set an incorrect direction to "Encoder pulse count polarity selection" in
[Pr. PC27]. Doing so may cause [AL. 42 Fully closed loop control error] during
the positioning operation.
(a) Parameter setting method
Set the load-side encoder polarity to be connected to CN2A or CN2B connector in order to match
the CCW direction of servo motor and the increasing direction of load-side encoder feedback.
[Pr. PC27]
0 0 0
Encoder pulse count polarity selection
0: Load-side encoder pulse increasing direction in the servo motor CCW
1: Load-side encoder pulse decreasing direction in the servo motor CCW
Servo motor
Servo motor CCW direction
Linear encoder
Address increasing direction of linear encoder
(b) How to confirm the load-side encoder feedback direction
For the way of confirming the load-side encoder feedback direction, refer to (5) in this section.
16 - 9
16. FULLY CLOSED LOOP SYSTEM
(4) Setting of feedback pulse electronic gear
POINT
If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr.
PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal
operation may occur. Also, it may cause [AL. 42.1 Fully closed loop control error
by position deviation] during the positioning operation.
Set the numerator ([Pr. PE04] and [Pr. PE34]) and denominator ([Pr. PE05] and [Pr. PE35]) of the
electronic gear to the servo motor-side encoder pulse. Set the electronic gear so that the number of
servo motor encoder pulses per servo motor revolution is converted to the number of load-side encoder
pulses. The relational expression is shown below.
Number of motor encoder pulses per servo motor revolution
[Pr. PE04] × [Pr. PE34]
=
Number of load side encoder pulses per servo motor revolution
[Pr. PE05] × [Pr. PE35]
Select the load-side encoder so that the number of load-side encoder pulses per servo motor revolution
is within the following range.
4096 (212) ≤ Number of load-side encoder pulses per servo motor revolution ≤ 67108864 (226)
(a) When the servo motor is directly coupled with a ball screw and the linear encoder resolution is 0.05
μm
Conditions
Servo motor resolution: 4194304 pulses/rev
Servo motor reduction ratio: 1/11
Ball screw lead: 20 mm
Linear encoder resolution: 0.05 µm
Linear encoder
Linear encoder head
Geared servo motor
Table
Calculate the number of linear encoder pulses per ball screw revolution.
Number of linear encoder pulses per ball screw revolution
= Ball screw lead/linear encoder resolution
= 20 mm/0.05 µm = 400000 pulses
[Pr. PE04] × [Pr. PE34]
400000
1
3125
1
=
×
=
×
[Pr. PE05] × [Pr. PE35]
4194304 11 32768 11
16 - 10
16. FULLY CLOSED LOOP SYSTEM
(b) Setting example when using the rotary encoder for the load-side encoder of roll feeder
Conditions
Servo motor resolution: 4194304 pulses/rev
Pulley diameter on the servo motor side: 30 mm
Pulley diameter on the rotary encoder side: 20 mm
Rotary encoder resolution: 4194304 pulse/rev
Drive part
Pulley diameter
d2 = 20 mm
Servo motor
Pulley diameter
d1 = 30 mm
Rotary encoder
(HG-KR or HG-MR servo motor)
4194304 pulses/rev
When the pulley diameters or reduction ratios differ, consider that in calculation.
[Pr. PE04] × [Pr. PE34] 4194304 × 30 1 3
=
= ×
[Pr. PE05] × [Pr. PE35] 4194304 × 20 1 2
16 - 11
16. FULLY CLOSED LOOP SYSTEM
(5) Confirmation of load-side encoder position data
Check the load-side encoder mounting and parameter settings for any problems.
POINT
Depending on the check items, MR Configurator2 may be used.
Refer to section 16.3.6 for the data displayed on the MR Configurator2.
When checking the following items, the fully closed loop control mode must be set. For the setting of
control mode, refer to (2) in this section.
No.
1
2
3
4
Check item
Confirmation method and description
Read of load-side encoder position With the load-side encoder in a normal state (mounting, connection, etc.), the load-side
data
cumulative feedback pulses value is counted normally when the load-side encoder is
moved.
When it is not counted normally, the following factors can be considered.
1. An alarm occurred.
2. The installation of the load-side encoder was not correct.
3. The encoder cable was not wired correctly.
Read of load-side encoder home
With the home position (reference mark, or Z-phase) of the load-side encoder in a normal
position (reference mark, Z-phase) condition (mounting, connection, etc.), the value of load-side encoder information 1 is
cleared to 0 when the home position (reference mark, or Z-phase) is passed through by
moving the load-side encoder.
When it is not cleared, the following factors can be considered.
1. The installation of the load-side encoder was not correct.
2. The encoder cable was not wired correctly.
Confirmation of load-side encoder Confirm that the directions of the cumulative feedback pulses of servo motor encoder (after
gear) and the load-side cumulative feedback pulses are matched by moving the device
feedback direction
(load-side encoder) manually in the servo-off status. If mismatched, reverse the polarity.
(Setting of load-side encoder
polarity)
Setting of load-side encoder
When the servo motor and load-side encoder operate synchronously, the servo motor-side
electronic gear
cumulative feedback pulses (after gear) and load-side cumulative feedback pulses are
matched and increased.
If mismatched, review the setting of fully closed loop control feedback electronic gear ([Pr.
PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]) with the following method.
1) Check the servo motor-side cumulative feedback pulses (before gear).
2) Check the load-side cumulative feedback pulses.
3) Check that the ratio of above 1) and 2) has been that of the feedback electronic gear.
Command
Servo motor-side cumulative
feedback pulses (after gear)
2) Load-side cumulative
feedback pulses
16 - 12
+
Servo motor
-
3) Electronic
gear
1) Servo motor-side cumulative
feedback pulses (before gear)
Linear
encoder
16. FULLY CLOSED LOOP SYSTEM
(6) Setting of fully closed loop dual feedback filter
With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual
feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While
observing the servo operation waveform with the graph function, etc. of MR Configurator2, adjust the
dual feedback filter.
The dual feedback filter operates as described below depending on the setting.
[Pr. PE08] setting
Control mode
0
1
to
4499
4500
Semi closed loop
Dual feedback
Vibration
Settling time
Not frequently occurs
to
Frequently occurs
Long time
to
Short time
Fully closed loop
Increasing the dual feedback filter setting shortens the settling time, but increases servo motor vibration
since the motor is more likely to be influenced by the load-side encoder vibration. The maximum setting
of the dual feedback filter should be less than half of the PG2 setting.
Reduction of settling time: Increase the dual feedback filter setting.
Droop pulses
Command
Droop pulses
Command
Time
Time
Suppression of vibration: Decrease the dual feedback filter setting.
Droop pulses
Command
Droop pulses
Command
Time
16 - 13
Time
16. FULLY CLOSED LOOP SYSTEM
16.3.2 Home position return
(1) General instruction
Home position return is all performed according to the load-side encoder feedback data, independently
of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. In the
case of a home position return using a dog signal, the home position (reference mark) must be passed
through when an incremental type linear encoder is used, or the Z-phase be passed through when a
rotary encoder is used, during a period from a home position return start until the dog signal turns off.
(2) Load-side encoder types and home position return methods
(a) About proximity dog type home position return using absolute type linear encoder
When an absolute type linear encoder is used, the home position reference position is the position
per servo motor revolution to the linear encoder home position (absolute position data = 0).
In the case of a proximity dog type home position return, the nearest position after proximity dog off
is the home position.
The linear encoder home position may be set in any position.
Home position return direction
Home position return speed
Servo motor
speed
Proximity dog
signal
Creep speed
0 r/min
ON
OFF
Reference home
position
Equivalent to one servo motor revolution
Machine position
Linear encoder home position
16 - 14
Home position
16. FULLY CLOSED LOOP SYSTEM
(b) About proximity dog type home position return using incremental linear encoder
1) When the linear encoder home position (reference mark) exists in the home position return
direction
When an incremental linear encoder is used, the home position is the position per servo motor
revolution to the linear encoder home position (reference mark) passed through first after a home
position return start.
In the case of a proximity dog type home position return, the nearest position after proximity dog
off is the home position.
Set one linear encoder home position in the full stroke, and set it in the position that can always
be passed through after a home position return start.
Home position return direction
Home position return speed
Servo motor
speed
Creep speed
0 r/min
Proximity dog
signal
ON
OFF
Reference home
position
Equivalent to one servo motor revolution
Machine position
Linear encoder home position
Home position
2) When the linear encoder home position does not exist in the home position return direction
POINT
To execute a home position return securely, start a home position return after
moving the axis to the opposite stroke end by jog operation, etc. of the
controller.
A home position return cannot be made if the incremental linear encoder does
not have a linear encoder home position (reference mark). Always provide a
linear encoder home position (reference mark). (one place in the fully stroke)
16 - 15
16. FULLY CLOSED LOOP SYSTEM
If the home position return is performed from the position where the linear encoder home position
(reference mark) does not exist, a home position return error occurs on the controller side. The
error contents differ according to the controller type. When starting a home position return at the
position where the linear encoder home position (reference mark) does not exist in the home
position return direction, move the axis up to the stroke end on the side opposite to the home
position return direction by JOG operation, etc. of the controller once, then make a home position
return.
Home position return direction
Home position return speed
Servo motor
speed
Creep speed
0 r/min
JOG operation
Proximity dog
signal
ON
OFF
Machine position
Stroke end
Linear encoder home position
Home position returnable area
Home position
Home position non-returnable area
(c) About dog type home position return when using the rotary encoder of a serial communication servo
motor
The home position for when using the rotary encoder of a serial communication servo motor for the
load-side encoder is at the load-side Z-phase position.
Load-side encoder
Z-phase signal
ON
OFF
Reference home position
Equivalent to one servo motor revolution
Machine position
Servo amplifier
power-on position
Home position
(b) About data setting type (Common to all load-side encoders)
In the data setting type home position return method, pass through a home position (reference mark)
and the Z-phase signal of the rotary encoder, and then make a home position return.
When the machine has no distance of one servo motor encoder revolution until the Z-phase of the
rotary encoder is passed through, a home position return can be made by changing the home
position setting condition selection in [Pr. PC17] if the home position is not yet passed through.
16 - 16
16. FULLY CLOSED LOOP SYSTEM
16.3.3 Operation from controller
The fully closed loop control compatible servo amplifier can be used with any of the following controllers.
Category
Model
Motion controller
R_MTCPU/Q17_DSCPU
Simple motion module
RD77MS_/QD77MS_/
LD77MS_
Remark
Speed control (II) instructions (VVF and VVR) cannot
be used.
An absolute type linear encoder is necessary to configure an absolute position detection system under fully
closed loop control using a linear encoder. In this case, the encoder battery need not be installed to the
servo amplifier. When an rotary encoder is used, an absolute position detection system can be configured by
installing the encoder battery to the servo amplifier. In this case, the battery life will be shorter because the
power consumption is increased as the power is supplied to the two encoders of motor side and load side.
(1) Operation from controller
Positioning operation from the controller is basically performed like the semi closed loop control.
(2) Servo system controller setting
When using fully closed loop system, make the following setting.
[Pr. PA01], [Pr. PC17], [Pr. PE01], [Pr. PE03] to [Pr. PE05], [Pr. PE34] and [Pr. PE35] are written to the
servo amplifier and then are enabled using any of the methods indicated by
in Parameter enabled
conditions. [Pr. PE06] to [Pr. PE08] are enabled at setting regardless of the valid conditions.
Parameter enabled
conditions
Setting item
Command
resolution
Servo
parameter
Positioning
control
parameter
Controller
reset
MR-J4-B fully closed loop servo amplifier setting
Motor setting
Home position setting condition selection ([Pr. PC17])
Fully closed loop selection ([Pr. PA01] and [Pr. PE01])
Fully closed loop selection 2 ([Pr. PE03])
Fully closed loop control error detection speed deviation
error detection level
([Pr. PE06])
Fully closed loop control error detection position
deviation error detection level
([Pr. PE07])
Fully closed loop electronic gear numerator ([Pr. PE04]
and [Pr. PE34])
Fully closed loop electronic gear denominator ([Pr. PE05]
and [Pr. PE35])
Fully closed loop dual feedback filter ([Pr. PE08])
Unit setting
Number of pulses per revolution (AP)
Travel distance per revolution (AL)
Power
supply
Off→on
Settings
Motion
controller
R_MTCPU/
Q17_DSCPU
Simple motion
module
RD77MS_/
QD77MS_/
LD77MS_
Load-side encoder resolution
unit
MR-J4-B fully closed loop control
Automatic setting
Set the items as required.
Enabled at setting
regardless of the
enabled conditions
Enabled at setting
regardless of the
enabled conditions
mm/inch/degree/pulse
For the setting methods, refer to (2) (a), (b) in this section.
16 - 17
16. FULLY CLOSED LOOP SYSTEM
(a) When using a linear encoder (unit setting: mm)
Load-side encoder resolution unit
User
Control
Command
[mm]
AP
AL
Position feedback
[mm]
AL
AP
Servo amplifier
+
Servo motor
-
Linear encoder
Electronic
gear
Speed feedback
[r/min]
Differentiation
Load-side encoder
resolution unit
Servo motor speed
Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder per ball screw
revolution in the following conditions.
Ball screw lead: 20 mm
Linear encoder resolution: 0.05 µm
Number of linear encoder pulses (AP) per ball screw revolution
= Ball screw lead/linear encoder resolution = 20 mm/0.05 µm = 400000 pulses
Number of pulses per revolution [pulse] (AP)
400000 pulses
400000
=
=
Travel distance per revolution [µm] (AL)
20 mm
20000
(b) When using a rotary encoder (unit setting: degree)
Load-side encoder resolution unit
User
Control
Command
[degree]
AP
AL
Position feedback
[degree]
AL
AP
Servo amplifier
+
-
Electronic
gear
Speed feedback
[r/min]
Servo motor
Differentiation
Load-side encoder Servo motor speed
resolution unit
Rotary encoder
(HG-KR or HG-MR servo motor)
4194304 pulses/rev
Calculate the number of pulses (AP) and travel distance (AL) of the rotary encoder per servo motor
revolution in the following conditions.
Resolution of rotary encoder = Load-side resolution: 4194304 pulses/rev
Number of pulses per revolution [pulse] (AP)
4194304 pulses
524288
=
=
360 degrees
45
Travel distance per revolution [degree] (AL)
16 - 18
16. FULLY CLOSED LOOP SYSTEM
16.3.4 Fully closed loop control error detection functions
If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase
abnormally. The fully closed loop control error detection function is a protective function designed to predetect it and stop operation.
The fully closed loop control error detection function has two different detection methods, speed deviation
and position deviation, and errors are detected only when the corresponding functions are enabled by setting
[Pr. PE03 Fully closed loop function selection 2].
The detection level setting can be changed using [Pr. PE06] and [Pr. PE07].
(1) Parameter
Select the fully closed loop control error detection function.
[Pr. PE03]
Fully closed loop control error detection function
0: Disabled
1: Speed deviation error detection
2: Position deviation error detection
3: Speed deviation error, position deviation error detection
(Initial value)
(2) Fully closed loop control error detection functions
Servo motor
1) Servo motor-side feedback speed [r/min]
2) Servo motor-side feedback position [pulse]
(load side equivalent value)
3) Load-side feedback speed [r/min]
4) Load-side feedback position [pulse]
Linear encoder
(a) Speed deviation error detection
Set [Pr. PE03] to "_ _ _ 1" to enable the speed deviation error detection.
[Pr. PE03]
1
Speed deviation error detection
The function compares the servo motor-side feedback speed (1)) and load-side feedback speed (3)).
If the deviation is not less than the set value (1 r/min to the permissible speed) of [Pr. PE06 Fully
closed loop control speed deviation error detection level], the function generates [AL. 42.2 Servo
control error by speed deviation] and stops. The initial value of [Pr. PE06] is 400 r/min. Change the
set value as required.
16 - 19
16. FULLY CLOSED LOOP SYSTEM
(b) Position deviation error detection
Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection.
[Pr. PE03]
2
Position deviation error detection
Comparing the servo motor-side feedback position (2)) and load-side feedback position (4)), if the
deviation is not less than the set value (1 kpulses to 20000 kpulses) of [Pr. PE07 Fully closed loop
control position deviation error detection level], the function generates [AL. 42 42.1 Servo control
error by position deviation] and stops. The initial value of [Pr. PE07] is 100 kpulses. Change the set
value as required.
(c) Detecting multiple deviation errors
When setting [Pr. PE03] as shown below, multiple deviation errors can be detected. For the error
detection method, refer to (2) (a), (b) in this section.
[Pr. PE03]
Setting
value
Speed deviation Position deviation
error detection
error detection
1
2
3
16.3.5 Auto tuning function
Refer to section 6.3 for the auto tuning function.
16.3.6 Machine analyzer function
Refer to Help of MR Configurator2 for the machine analyzer function of MR Configurator2.
16.3.7 Test operation mode
Test operation mode is enabled by MR Configurator2.
For details on the test operation mode, refer to section 4.5.
Function
Item
JOG operation
Positioning operation
Test
operation
mode
Program operation
Output signal (DO)
forced output
Motor-less operation
Usability
Remark
It drives in the load-side encoder resolution unit
The fully closed loop system is operated in the load-side encoder resolution
unit.
For details, refer to section 4.5.1 (1) (c).
Refer to section 4.5.1 (1) (b).
16 - 20
16. FULLY CLOSED LOOP SYSTEM
16.3.8 Absolute position detection system under fully closed loop system
An absolute type linear encoder is necessary to configure an absolute position detection system under fully
closed loop control using a linear encoder. In this case, the encoder battery need not be installed to the
servo amplifier. When an rotary encoder is used, an absolute position detection system can be configured by
installing the encoder battery to the servo amplifier. In this case, the battery life will be shorter because the
power consumption is increased as the power is supplied to the two encoders of motor side and load side.
For the absolute position detection system with linear encoder, the restrictions mentioned in this section
apply. Enable the absolute position detection system with [Pr. PA03 Absolute position detection system] and
use this servo within the following restrictions.
(1) Using conditions
(a) Use an absolute type linear encoder with the load-side encoder.
(b) Select Always fully closed loop ([Pr. PA01] = _ _ 1 _ and [Pr. PE01] = _ _ _ 0).
(2) Absolute position detection range using encoder
Encoder type
Linear encoder
(Serial Interface)
Absolute position detection enabled range
Movable distance range of linear encoder (within 32-bit absolute position data)
(3) Alarm detection
The absolute position-related alarm ([AL. 25]) and warnings (AL. 92] and [AL. 9F]) are not detected.
16 - 21
16. FULLY CLOSED LOOP SYSTEM
16.3.9 About MR Configurator2
Using MR Configurator2 can confirm if the parameter setting is normal or if the servo motor and the loadside encoder operate properly.
This section explains the fully closed diagnosis screen.
Click "Monitor start" to constantly read the monitor display items from the servo amplifier.
Then, click "Monitor stop" to stop reading. Click "Parameter read" to read the parameter items from the servo
amplifier, and then click "Parameter write" to write them.
f)
k)
m)
c)
g)
i)
h)
j)
l)
Symbol
a)
b)
d)
Name
a)
Motor side cumu. feedback
pulses (after gear)
b)
Motor side droop pulses
c)
Cumu. Com. pulses
d)
Load side cumu. feedback
pulses
e)
Load side droop pulses
e)
Explanation
Unit
Feedback pulses from the servo motor encoder are counted and displayed. (load-side
encoder unit)
When the set value exceeds 999999999, it starts with 0.
Click "Clear" to reset the value to 0.
The "-" symbol is indicated for reverse.
Droop pulses of the deviation counter between a servo motor-side position and a
command are displayed.
The "-" symbol is indicated for reverse.
Position command input pulses are counted and displayed.
Click "Clear" to reset the value to 0.
The "-" symbol is indicated for reverse command.
Feedback pulses from the load-side encoder are counted and displayed.
When the set value exceeds 999999999, it starts with 0.
Click "Clear" to reset the value to 0.
The "-" symbol is indicated for reverse.
Droop pulses of the deviation counter between a load-side position and a command are
displayed.
The "-" symbol is indicated for reverse.
pulse
16 - 22
pulse
pulse
pulse
pulse
16. FULLY CLOSED LOOP SYSTEM
Symbol
Name
f)
Motor side cumu. feedback
pulses (before gear)
g)
Encoder information
h)
Polarity
i)
Z phase pass status
j)
Fully closed loop changing
device
k)
Parameter (Feedback pulse
electronic gear)
l)
Parameter (Dual feedback
filter)
Parameter (fully closed loop
selection)
m)
Explanation
Unit
Feedback pulses from the servo motor encoder are counted and displayed. (Servo
motor encoder unit)
When the set value exceeds 999999999, it starts with 0.
Click "Clear" to reset the value to 0.
The "-" symbol is indicated for reverse.
The load-side encoder information is displayed.
The display contents differ depending on the load-side encoder type.
ID: The ID No. of the load-side encoder is displayed.
Data 1: For the incremental type linear encoder, the counter from powering on is
displayed. For the absolute position type linear encoder, the absolute
position data is displayed.
Data 2: For the incremental type linear encoder, the distance (number of pulses) from
the reference mark (Z-phase) is displayed. For the absolute position type
linear encoder, "00000000" is displayed.
For address increasing direction in the servo motor CCW, it is indicated as "+" and for
address decreasing direction in the servo motor CCW, as "-".
If the fully closed loop system is "Disabled", the Z-phase pass status of the servo motor
encoder is displayed. If the fully closed loop system is "Enabled" or "Semi closed loop
control/fully closed loop control switching", the Z-phase pass status of the load-side
encoder is displayed.
Only if the fully closed loop system is "Semi closed loop control/fully closed loop control
switching", the device is displayed.
The state of the semi closed loop control/fully closed loop control switching bit and the
inside state during selection are displayed.
Display/set the feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and
[Pr. PE35]) for servo motor encoder pulses in this parameter. (Refer to section 16.3.1
(4).)
Display/set the band of [Pr. PE08 Fully closed loop dual feedback filter] in this
parameter.
Display/set the parameter for the fully closed loop control.
Click "Parameter setting" button to display the "Fully closed loop control - Basic"
window.
pulse
1)
2)
3)
1) Fully closed loop selection ([Pr. PE01])
Select "Always valid" or "Switching with the control command of controller" here.
2) Feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], [Pr. PE35])
Set the feedback pulse electronic gear.
3) Selection of encoder pulse count polarity ([Pr. PC27])
Select a polarity of the load-side encoder information.
16 - 23
16. FULLY CLOSED LOOP SYSTEM
MEMO
16 - 24
17. APPLICATION OF FUNCTIONS
17. APPLICATION OF FUNCTIONS
17.1 J3 compatibility mode
POINT
The J3 compatibility mode is compatible only with HG series servo motors.
The fully closed loop control in the J3 compatibility mode is available for the
servo amplifiers with software version A3 or later.
Specifications of the J3 compatibility mode of the servo amplifier with software
version A4 or earlier differ from those with software version A5 or later. Refer to
section 17.1.8.
The J3 compatibility mode is not compatible with the master-slave operation
function.
17.1.1 Outline of J3 compatibility mode
MR-J4W_-_B servo amplifiers and MR-J4-_B servo amplifiers have two operation mode: "J4 mode" is for
using all functions with full performance and "J3 compatibility mode" for using the conventional MR-J3-B
servo amplifiers.
When you connect an amplifier with SSCNET III/H communication for the first controller communication by
factory setting, the operation mode will be fixed to "J4 mode". For SSCNET communication, it will be fixed to
"J3 compatibility mode". When you set the mode back to the factory setting or change the mode, use the
application "MR-J4(W)-B mode selection".
The application "MR-J4(W)-B mode selection" is packed with MR Configurator2 of software version 1.12N or
later.
For the operating conditions of the application "MR-J4(W)-B mode selection", use MR Configurator2. (Refer
to section 11.4.)
17.1.2 Operation modes supported by J3 compatibility mode
The J3 compatibility mode supports the following operation modes.
Operation mode in J3 compatibility mode
MR-J3-B standard control mode (rotary servo motor)
MR-J3-B fully closed loop control mode
MR-J3-B linear servo motor control mode
MR-J3-B DD motor control mode
Model of MR-J3-_B
Model of MR-J3-_BS
Model of MR-J3W-_B
MR-J3-_B
MR-J3-_B-RJ006
MR-J3-_B-RJ004
MR-J3-_B-RJ080W
MR-J3-_BS
MR-J3-_BS
MR-J3W-_B
MR-J3W-_B
MR-J3W-_B
Each operation mode has the same ordering as conventional MR-J3-B series servo amplifiers and is
compatible with their settings.
In addition, the control response characteristic in the J3 compatibility mode will be the same as that of MR-J3
series.
17 - 1
17. APPLICATION OF FUNCTIONS
17.1.3 J3 compatibility mode supported function list
The following shows functions which are compatible with J4 mode and J3 compatibility mode. The letters
such as "A0" described after
and
mean servo amplifier software versions which compatible with each
function. Each function is used with servo amplifiers with these software versions or later.
Compatibility
( : J4 new, : Equivalent to J3,
MR-J4 series
J3 compatibility
J4 mode
mode
: Not available)
Function
Name
Basic specification
Speed frequency response
Encoder resolution
2.5 kHz
22 bits (Note 1)
2.1 kHz
18 bits (Note 1)
2.1 kHz
18 bits
Communication baud rate
150 Mbps
50 Mbps
50 Mbps
Maximum distance between stations
100 m
50 m
50 m
SSCNET III/H
communication or
SSCNET III
communication
Absolute position detection system
Fully closed loop control (Note 9)
Basic function
Encoder output pulses
Input/output
Control mode
Auto tuning
Filter function
Linear servo motor driving
A0
A0
A3
A3
(Two-wire type only) (Two-wire type only)
(Note 13)
(Note 13)
A0
A0
(Two-wire type/
(Two-wire type/
four-wire type only) four-wire type only)
(Note 13)
(Note 13)
Direct drive motor driving
A0
A0
Motor-less operation
Rotation direction selection/travel
direction selection
A/B-phase pulse output
Z-phase pulse output
Analog monitor output
A0 (Note 2)
A0 (Note 2)
A0
A0
A0 (Note 3)
A0 (Note 4)
A0 (Note 5)
A0 (Note 3)
A0 (Note 4)
A0 (Note 5)
Motor thermistor
A0
A0
Position control mode
Speed control mode
Torque control mode
Continuous operation to torque
control mode
Auto tuning mode 1
Auto tuning mode 2
2 gain adjustment mode 1
(interpolation mode)
2 gain adjustment mode 2
Manual mode
Machine resonance suppression filter
1
Machine resonance suppression filter
2
Machine resonance suppression filter
3
Machine resonance suppression filter
4
Machine resonance suppression filter
5
Shaft resonance suppression filter
Low-pass filter
Robust disturbance compensation
(Note 10)
Robust filter
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
B0 (Note 15)
A0
B0 (Note 15)
A0
B0 (Note 15)
A0
A0
B0 (Note 15)
A0
17 - 2
A0
A0
B0 (Note 15)
MR-J3/MR-J3W series
(Note 8)
MR-J3-_B-RJ006
MR-J3-_S
MR-J3-_B-RJ004
MR-J3W-_B
MR-J3-_B-RJ080W
MR-J3W-_B
(Note 4)
MR-J3-_B-RJ004
MR-J3-_B-RJ080W
MR-J3W-_B
17. APPLICATION OF FUNCTIONS
Function
Vibration suppression
control
Applied control
Adjustment function
Fully closed loop control
Linear compatible
Magnetic pole detection
Compatibility
( : J4 new, : Equivalent to J3,
MR-J4 series
J3 compatibility
J4 mode
mode
Name
Standard mode/3 inertia mode
Vibration suppression control 1
Vibration suppression control 2
Command notch filter
Gain switching
Slight vibration suppression control
Overshoot amount compensation
PI-PID switching control
Feed forward
Torque limit
Master-slave operation function
Scale measurement function
Model adaptive control disabled
Lost motion compensation function
Super trace control
One-touch tuning
Adaptive tuning
Vibration suppression control 1 tuning
Vibration suppression control 2 tuning
Fully closed loop electronic gear
Dual feedback control
A0
A0
A0
A0
A0
A0
A0
A0
A0
A0
A8 (Note 5)
A8 (Note 3)
B4
B4 (Note 5)
B4 (Note 5)
A0
A0
A0
A0
A3
A3
B0 (Note 15)
A0
B0 (Note 15)
A0
A0
A0
A0
A0
A0
A0
Semi closed/fully closed switching
loop control
A3
A3
A3
A3
A0
A0
A0
A0
Direct current exciting method
magnetic pole detection
A0
A0
Current detection method magnetic
pole detection
(Note 6)
A0
A0
A0
A0
A0
A0
A0
Fully closed loop control error
detection function
Linear servo control error detection
function
Servo motor series/types setting
function
Minute position detection method
magnetic pole detection
Initial magnetic pole detection error
detection function
Semi closed loop control two-wire
type/four-wire type selection
Encoder
Functional safety
: Not available)
MR-J3/MR-J3W series
(Note 8)
B4
(Note 5, 15)
B0 (Note 15)
A0
A0
B0 (Note 15)
A3
A3
MR-J3-_S
MR-J3-_B-RJ006
MR-J3-_B-RJ004
MR-J3W-_B
MR-J3-_B-RJ004
MR-J3-_B-RJ080W
MR-J3W-_B
MR-J3-_B-RJ004
MR-J3W-_B
MR-J3-_B-RJ004
MR-J3-_B-RJ080W
MR-J3W-_B
Serial interface compatible linear
encoder
A0
A0
Pulse train interface (A/B/Z-phase
differential output type) compatible
linear encoder
A5 (Note 14)
A5 (Note 14)
A0
A0
MR-J3-_S
MR-J3-_B-RJ006
MR-J3-_B-RJ004
MR-J3W-_B
MR-J3-_S
MR-J3-_B-RJ006
MR-J3-_B-RJ004
MR-J3-_S
A0
A0 (Note 12)
MR-J3-_S
A0
A0
MR-J3-_S
STO function
Forced stop deceleration function at
alarm occurrence
Vertical axis freefall prevention
function
17 - 3
17. APPLICATION OF FUNCTIONS
Function
Tough drive function
Diagnosis function
Controller
Others
Compatibility
( : J4 new, : Equivalent to J3,
MR-J4 series
J3 compatibility
J4 mode
mode
Name
SEMI-F47 function
Vibration tough drive
Instantaneous power failure tough
drive
3-digit alarm display
16 alarm histories supported
Drive recorder function
Machine diagnosis function
SSCNET III
SSCNET III/H
Home position return function
J4 mode/J3 compatibility mode
automatic identification (Note 11)
Power monitoring function
A0
A0
B0 (Note 15, 16)
B0 (Note 15)
A0
B0 (Note 15)
A0
A0
A0
A0
A0
(Note 7)
B0 (Note 15)
B0 (Note 15)
A0
A0
A0
A0
A0
A0
A0
B0 (Note 15)
: Not available)
MR-J3/MR-J3W series
(Note 8)
MR-J3W-_B
(Note 7)
Note 1. The value is at the HG series servo motor driving.
2. The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode, or DD motor
control mode.
3. It is not available with MR-J4W3-_B servo amplifiers.
4. It is not available with the MR-J3W-_B, MR-J4W2-_B, and MR-J4W3-_B servo amplifiers.
5. It is not available with the MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
6. The minute position detection method is available instead.
7. Alarm history will be saved up to six times.
8. The functions of the product with modified parts (GA) in the MR-J3-_B servo amplifiers are all covered by the J3 compatibility
mode of the MR-J4-_B servo amplifiers.
9. MR-J4W3-_B servo amplifiers do not support the fully closed loop control system.
10. For MR-J4 series, the robust filter and vibration tough drive are available instead.
11. The operation mode will be identified automatically at the first controller communication. You can change the operation mode
with the application "MR-J4(W)-B mode selection".
12. When MR-J4 is used as a replacement of MR-J3-_S, "Servo forced stop selection" in [Pr. PA04] will be "Disabled (_ 1 _ _)" in
the initial setting. Change the setting as necessary.
13. This is for MR-J4-_B servo amplifier. MR-J4-_B-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Zphase differential output method.
14. It is available with only MR-J4-_B-RJ servo amplifiers. It is not available with MR-J4-_B servo amplifiers.
15. This is available when the J3 extension function is enabled. Refer to section 17.1.9 for details.
16. For servo system controllers which are available with this, contact your local sales office.
17 - 4
17. APPLICATION OF FUNCTIONS
17.1.4 How to switch J4 mode/J3 compatibility mode
There are two ways to switch the J4 mode/J3 compatibility mode with the MR-J4W_-_B servo amplifier and
MR-J4-_B_(-RJ) servo amplifier.
(1) Mode selection by the automatic identification of the servo amplifier
J4 mode/J3 compatibility mode is identified automatically depending on the connected controller.
When the controller makes a connection request with SSCNET III/H communication, the mode will be
"J4 mode". For SSCNET communication, it will be "J3 compatibility mode".
For the J3 compatibility mode, standard control, linear servo motor control, or direct drive motor control
will be identified automatically with a motor (encoder) connected to the servo amplifier. For the J4 mode,
the operation mode will be the setting of [Pr. PA01].
Standard control
(rotary servo motor)
J4 mode
[Pr. PA01] setting
Linear servo motor
control
Factory setting
J4 mode/J3 compatibility
mode automatic
identification
Fully closed
loop control
Direct drive motor
control
Controller
connection check
Standard control
(rotary servo motor)
J3 compatibility
mode
Connected encoder
check (automatic
identification)
Fully closed
loop control
Linear servo motor
control
Direct drive motor
control
17 - 5
17. APPLICATION OF FUNCTIONS
(2) Mode selection using the application software "MR-J4(W)-B mode selection"
You can set the factory setting, J4 mode/J3 compatibility mode, and operation mode with the dedicated
application.
J4 mode/J3
compatibilitymode
automatic
identification
Factory setting
Standard control
(rotary servo motor)
J4 mode
Fully closed loop
control
Application
" MR-J4(W)-B mode
selection tool "
J3 compatibility
mode
Fixed to the J4 mode (Standard control (rotary servo
motor))
Fixed to the J4 mode (Fully closed loop control)
Linear servo motor
control
Fixed to the J4 mode (Linear servo motor control)
Direct drive motor
control
Fixed to the J4 mode (Direct drive motor control)
Standard control
(rotary servo motor)
Fixed to the J3 compatibility mode (Standard control
(rotary servo motor)) [Equivalent to MR-J3-B]
Fully closed loop
control
Fixed to the J3 compatibility mode (Fully closed loop
control) [Equivalent to MR-J3-B-RJ006]
Linear servo motor
control
Fixed to the J3 compatibility mode (Linear servo motor
control) [Equivalent to MR-J3-B-RJ004]
Direct drive motor
control
Fixed to the J3 compatibility mode (Direct drive motor
control) [Equivalent to MR-J3-B-RJ080W]
17.1.5 How to use the J3 compatibility mode
(1) Setting of the controller
To use in the J3 compatibility mode, select MR-J3 series in the system setting window.
Operation mode in J3 compatibility mode
MR-J3-B standard control mode (rotary servo motor)
MR-J3-B fully closed loop control mode
MR-J3-B linear servo motor control mode
MR-J3-B DD motor control mode
System setting
Select MR-J3-_B.
Select MR-J3-_B fully closed.
Select MR-J3-_B linear.
Select MR-J3-_B DDM.
(2) Setting of MR Configurator
To use in the J3 compatibility mode, make the system setting as follows.
Operation mode in J3 compatibility mode
MR-J3-B standard control mode (rotary servo motor)
MR-J3-B fully closed loop control mode
MR-J3-B linear servo motor control mode
MR-J3-B DD motor control mode
System setting
Select MR-J3-_B.
Select MR-J3-_B fully closed.
Select MR-J3-_B linear.
Select MR-J3-_B DDM.
Cautions for using MR Configurator
The gain search cannot be used. You can use the advanced gain search.
The C-axis of MR-J4W3-_B cannot be set with MR Configurator. Use MR Configurator2 for it.
17 - 6
17. APPLICATION OF FUNCTIONS
(3) Setting of MR Configurator2
To use in the J3 compatibility mode, make the system setting as follows.
Operation mode in J3 compatibility mode
MR-J3-B standard control mode (rotary servo motor)
MR-J3-B fully closed loop control mode
MR-J3-B linear servo motor control mode
MR-J3-B DD motor control mode
System setting
Select MR-J3-_B.
Select MR-J3-_B fully closed.
Select MR-J3-_B linear.
Select MR-J3-_B DDM.
Cautions for using MR Configurator2
Use MR Configurator2 with software version 1.12N or later. Older version than 1.12N cannot be used.
Information about existing models (MR-J3) cannot be updated with the parameter setting range
update function. Register a new model to use.
The alarm will be displayed by 3 digits.
The robust disturbance compensation cannot be used.
17.1.6 Cautions for switching J4 mode/J3 compatibility mode
The J3 compatibility mode of the operation mode is automatically identified by factory setting depending on a
connected encoder. If a proper encoder is not connected at the first connection, the system will not start
normally due to a mismatch with a set mode with the controller. (For the J4 mode, you can set the operation
mode with [Pr. PA01].) For example, if the controller is connected without connecting a linear encoder at
linear servo motor driving, the servo amplifier will be the standard control mode (rotary servo motor). The
system will not start because the controller is connected with the linear servo motor driving amplifier.
When the operation mode mismatches, the servo amplifier will display [AL. 3E.1 Operation mode error]. Set
the mode back to the factory setting or set correctly (J4 mode/J3 compatibility mode and operation mode)
using the application "MR-J4(W)-B mode selection".
17.1.7 Cautions for the J3 compatibility mode
The J3 compatibility mode are partly changed and has restrictions compared with MR-J3 series.
(1) The alarm display was changed from 2 digits (_ _) to 3 digits (_ _. _). The alarm detail number (._) is
displayed in addition to the alarm No (_ _). The alarm No. (_ _) is not changed.
(2) When the power of the servo amplifier is cut or fiber-optic cable is disconnected, the same type
communication can be cut regardless of connection order. When you power on/off the servo amplifier
during operation, use the connect/disconnect function of the controller. Refer to the following manuals
for detail.
MELSEC iQ-R Motion Controller Programming Manual (Common) (R16MTCPU/R32MTCPU) (IB0300237) "5.3.1 Connect/disconnect function of SSCNET communication"
Motion controller Q series Programming Manual COMMON (Q173D(S)CPU/Q172D(S)CPU) (IB0300134) "4.11.1 Connect/disconnect function of SSCNET communication"
MELSEC iQ-R Simple Motion Module User's Manual (Application)
(RD77MS2/RD77MS4/RD77MS8/RD77MS16) (IB-0300247) "8.12 Connect/disconnect function of
SSCNET communication"
MELSEC-Q QD77MS Simple Motion Module User's Manual (IB-0300185) "14.12 Connect/disconnect
function of SSCNET communication"
MELSEC-L LD77MH Simple Motion Module User's Manual (IB-0300172) "14.13 Connect/disconnect
function of SSCNET communication"
MELSEC-L LD77MS Simple Motion Module User's Manual (Positioning Control) (IB-0300211) "14.13
Connect/disconnect function of SSCNET communication"
17 - 7
17. APPLICATION OF FUNCTIONS
(3) The J3 compatibility mode has a functional compatibility. However, the operation timing may differ.
Check the operation timing on customer side to use.
(4) The J3 compatibility mode is not compatible with high-response control set by [Pr. PA01 Operation
mode].
(5) For MR-J3 series, a linear encoder was connected to the CN2L connector. For J4 (J3 compatibility
mode), it is connected to the CN2 connector. Therefore, set the two-wire/four-wire type of the linear
encoder in the J3 compatibility mode with [Pr. PC26], not with [Pr. PC04].
(6) When you use a linear servo motor, select linear servo motor with [Pr. PA17] and [Pr. PA18].
17 - 8
17. APPLICATION OF FUNCTIONS
17.1.8 Change of specifications of "J3 compatibility mode" switching process
(1) Detailed explanation of "J3 compatibility mode" switching
(a) Operation when using a servo amplifier before change of specifications
For the controllers in which "Not required" is described to controller reset in table 17.1, the mode will
be switched to "J3 compatibility mode" for all axes at the first connection. However, it takes about 10
s per axis for completing the connection.
For the controllers in which "Reset required" is described in table 17.1, the operation at the first
connection is shown in table 17.2. The LED displays will be "Ab." for all axes at the first connection
to the controller as shown in table 17.2. After that, resetting controller will change the 1-axis to "b01".
The 2-axis and later will not change from "Ab.". After that, one axis will be connected per two times
of controller reset.
Table 17.1 Controller reset required/not required list (before change of
specifications)
Controller
Motion controller
Simple motion module
Positioning module
Controller reset required/not required
Single-axis
Multi-axis connection
connection
Model
R_MTCPU
Q17_DSCPU
Q17_DCPU
Q17_HCPU
Q170MCPU
RD77MS_
QD77MS_
LD77MS_
QD75MH_
QD74MH_
LD77MH_
FX3U-20SSC-H
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Reset required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Reset required
Not required
Reset required
Table 17.2 Controller connection operation before change of specifications
Before change of specifications (software version A4 or earlier)
Controller
First connection of controller
A b .
A b .
A b .
Axis
No. 1
Axis
No. 2
Axis
No. 3
Controller
After controller reset
17 - 9
"Ab." is displayed and stops
"b01" is displayed on axis No. 1, "Ab." is
displayed on axis No. 2 and later.
b 0 1
A b .
A b .
Axis
No. 1
Axis
No. 2
Axis
No. 3
One axis is connected
per reset.
17. APPLICATION OF FUNCTIONS
(b) Operation when using a servo amplifier after change of specifications
For the controllers in which "Not required" is described to controller reset in table 17.3, the mode will
be switched to "J3 compatibility mode" for all axes at the first connection. It takes about 10 s for
completing the connection not depending on the number of axes.
For the controllers in which "Reset required" is described in table 17.3, the operation at the first
connection is shown in table 17.4. The servo amplifier's mode will be "J3 compatibility mode" and the
LED displays will be "rST" for all axes at the first connection to the controller as shown in table 17.4.
At the status, resetting controller once will change the display to "b##" (## means axis No.) for all
axes and all axes will be ready to connect.
(One controller reset enables to all-axis connection.)
Table 17.3 Controller reset required/not required list (after change of specifications)
Controller
Motion controller
Simple motion module
Positioning module
Controller reset required/not required
Single-axis
Multi-axis connection
connection
Model
R_MTCPU
Q17_DSCPU
Q17_DCPU
Q17_HCPU
Q170MCPU
RD77MS_
QD77MS_
LD77MS_
QD75MH_
QD74MH_
LD77MH_
FX3U-20SSC-H
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Reset required
Not required
Reset required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Reset required
Not required
Reset required
Table 17.4 Controller connection operation after change of specifications
After change of specifications (software version A5 or later)
Controller
First connection of controller
r S T
r S T
r S T
Axis
No. 1
Axis
No. 2
Axis
No. 3
Controller
After controller reset
"rST" is displayed only for the first connection.
All axes are connected by one reset.
b 0 1
b 0 2
b 0 3
Axis
No. 1
Axis
No. 2
Axis
No. 3
(c) Using servo amplifiers before and after change of specifications simultaneously
When using servo amplifiers before change of specifications and after change of specifications
simultaneously, controller reset is necessary for number of connecting axes of servo amplifiers.
17 - 10
17. APPLICATION OF FUNCTIONS
(2) Changing the mode to "J3 compatibility mode" by using the application "MR-J4(W)-B mode selection".
You can switch the servo amplifier's mode to "J3 compatibility mode" beforehand with the built-in
application software "MR-J4(W)-B mode selection" of MR Configurator2. Use it for a solution when it is
difficult to reset many times with your "Reset required" controller such as "QD74MH_".
The application "MR-J4(W)-B mode selection" has no expiration date.
Select "Change Mode".
Select "J3 Compatibility Mode".
Select "Operation Mode" for each axis.
17.1.9 J3 extension function
POINT
The J3 extension function is used with servo amplifiers with software version B0
or later.
To enable the J3 extension function, MR Configurator2 with software version
1.25B or later is necessary.
The J3 extension function of the amplifier differs from MR-J3-B in motion.
The J3 extension function is for using functions of J4 mode with J3 compatibility mode.
By enabling the J3 extension function, you will get control response which is equal to MR-J4 series using a
controller compatible with SSCNET III.
J4 mode
SSCNET III/H
communication
MR-J4-B function
J3 compatibility mode
J3 extension function enabled:
J3 extension function disabled:
[Pr. PX01] = "_ _ _ 1"
[Pr. PX01] = "_ _ _ 0"
SSCNET III communication
SSCNET III communication
The same parameter ordering as MRThe same parameter ordering as MRJ3-B
J3-B
MR-J4-B control function
Parameter added
17 - 11
17. APPLICATION OF FUNCTIONS
The following shows functions used with the J3 extension function.
Function
Gain switching function
(Vibration suppression control
2 and model loop gain)
Advanced vibration
suppression control II
Machine resonance
suppression filter 3
Machine resonance
suppression filter 4
Machine resonance
suppression filter 5
Shaft resonance suppression
filter
Robust filter
One-touch tuning
Tough drive function
SEMI-F47 function (Note)
Drive recorder function
Power monitoring function
Machine diagnosis function
Description
Detailed
explanation
You can switch gains during rotation/stop, and can use input devices to switch gains
during operation.
Section
17.1.9 (6)
This function suppresses vibration at the arm end or residual vibration.
Section
17.1.9 (5) (c)
This is a filter function (notch filter) which decreases the gain of the specific frequency
to suppress the resonance of the mechanical system.
Section
17.1.9 (5) (a)
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.
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.
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.
Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged
in the capacitor in case that an instantaneous power failure occurs during operation.
Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 200
V AC for the input power supply will not comply with SEMI-F47 standard.
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. PX30] 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 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 in the system of SSCNET III/H. Since the
servo amplifier sends data to a servo system controller, you can analyze the data and
display the data on a display.
From the data in the servo amplifier, this function estimates the friction and vibrational
component of the drive system in the equipment and recognizes an error in the
machine parts, including a ball screw and bearing.
MR Configurator2 is necessary for this function.
Note. For servo system controllers which are available with this, contact your local sales office.
17 - 12
Section
17.1.9 (5) (b)
[Pr. PX31]
Section
17.1.9 (4)
Section
17.1.9 (7)
[Pr. PX25]
[Pr. PX28]
Section
17.1.9 (8)
[Pr. PX29]
17. APPLICATION OF FUNCTIONS
The following shows how to use the J3 extension function.
(1) Settings of J3 extension function
POINT
To set the J3 extension function, connect a personal computer with MR
Configurator2 of software version 1.25B or later to the servo amplifier with USB
cable.
The extension control 2 parameters ([Pr. PX_ _ ]) cannot be set from a
controller.
To use the J3 the extension function, enable the setting of the extension control 2 parameters ([Pr. PX_
_ ]). Set as follows using MR Configurator2.
(a) Setting to enable the extension control 2 parameters ([Pr. PX_ _ ])
1) Open the "Project" menu and click "New" in MR Configurator2. The "New" window will be
displayed.
17 - 13
17. APPLICATION OF FUNCTIONS
2) Select "MR-J3-B extension function" of model selection in the "New" window and click "OK". The
"Extension function change" window will be displayed.
3) Click "Change to MR-J3-B extension function" in the "Extension function change" window and
click "OK". Now, you can set the extension control 2 parameters ([Pr. PX_ _ ]).
(b) Setting to enable the J3 extension function
To enable the J3 extension function, set [Pr. PX01] to "_ _ _ 1".
[Pr. PX01]
0 0 0
J3 extension function selection
0: Disabled
1: Enabled
17 - 14
17. APPLICATION OF FUNCTIONS
(2) Extension control 2 parameters ([Pr. PX_ _ ])
CAUTION
Never make a drastic adjustment or change to the parameter values as doing so
will make the operation unstable.
Do not change the parameter settings as described below. Doing so may cause
an unexpected condition, such as failing to start up the servo amplifier.
Changing the values of the parameters for manufacturer setting
Setting a value out of the range
Changing the fixed values in the digits of a parameter
When you write parameters with the controller, make sure that the control axis
No. of the servo amplifier is set correctly. Otherwise, the parameter settings of
another axis may be written, possibly causing the servo amplifier to be an
unexpected condition.
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.
Abbreviations of J3 compatibility mode indicate the followings.
Standard: Standard (semi closed loop system) use of the rotary servo motor
Full.: Fully closed loop system use of the rotary servo motor
Lin.: Linear servo motor use
DD: Direct drive (DD) motor use
**J3EX
XOP1
VRFTX
PX04
PX05
PX06
VRF21
VRF22
VRF23
PX07
VRF24
PX08
VRF21B
PX09
VRF22B
PX10
VRF23B
PX11
VRF24B
PX12
PX13
PX14
PG1B
*XOP2
OTHOV
J3 extension function
Function selection X-1
Vibration suppression control tuning mode (advanced
vibration suppression control II)
Vibration suppression control 2 - Vibration frequency
Vibration suppression control 2 - Resonance frequency
Vibration suppression control 2 - Vibration frequency
damping
Vibration suppression control 2 - Resonance frequency
damping
Vibration suppression control 2 - Vibration frequency after
gain switching
Vibration suppression control 2 - Resonance frequency after
gain switching
Vibration suppression control 2 - Vibration frequency
damping after gain switching
Vibration suppression control 2 - Resonance frequency
damping after gain switching
Model loop gain after gain switching
Function selection X-2
One-touch tuning - Overshoot permissible level
17 - 15
0000h
0000h
0000h
100.0
100.0
0.00
Each axis/
Common
Common
Each axis
Each axis
[Hz]
[Hz]
0.00
Each axis
Each axis
Each axis
Each axis
0.0
[Hz]
Each axis
0.0
[Hz]
Each axis
0.00
Each axis
0.00
Each axis
0.0
0001h
0
[rad/s]
[%]
Each axis
Each axis
Each axis
DD
PX01
PX02
PX03
Unit
Lin.
Name
Full.
Symbol
Standard
Initial
value
No.
J3
compatibility
mode
17. APPLICATION OF FUNCTIONS
PX15
PX16
PX17
PX18
PX19
PX20
PX21
PX22
PX23
PX24
PX25
PX26
PX27
PX28
PX29
PX30
PX31
PX32
PX33
PX34
PX35
PX36
PX37
PX38
PX39
PX40
PX41
PX42
PX43
PX44
PX45
PX46
PX47
PX48
PX49
PX50
PX51
PX52
PX53
PX54
PX55
PX56
PX57
PX58
PX59
PX60
PX61
PX62
PX63
PX64
For manufacturer setting
NH3
NHQ3
NH4
NHQ4
NH5
NHQ5
FRIC
*TDS
OSCL1
*OSCL2
CVAT
DRAT
DRT
XOP4
**STOD
Machine resonance suppression filter 3
Notch shape selection 3
Machine resonance suppression filter 4
Notch shape selection 4
Machine resonance suppression filter 5
Notch shape selection 5
For manufacturer setting
Machine diagnosis function - Friction judgment speed
Tough drive setting
Vibration tough drive - Oscillation detection level
Vibration tough drive function selection
SEMI-F47 function - Instantaneous power failure detection
time
Drive recorder arbitrary alarm trigger setting
Drive recorder switching time setting
Function selection X-4
For manufacturer setting
STO diagnosis error detection time
For manufacturer setting
17 - 16
0000h
0000h
4500
0000h
4500
0000h
4500
0000h
0000h
0
0000h
50
0000h
200
0000h
0
0000h
0
0.0
0.0
50
0
0
0
0
0000h
0
0
0
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
[Hz]
[Hz]
[Hz]
Each axis/
Common
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis
[r/min]/[mm/s] Each axis
Each axis
[%]
Each axis
Each axis
[ms]
Common
[s]
Common
Common
Each axis
[s]
Common
DD
Unit
Lin.
Initial
value
Name
Full.
Symbol
Standard
No.
J3
compatibility
mode
17. APPLICATION OF FUNCTIONS
(3) Extension control 2 parameters ([Pr. PX_ _ ]) detailed list
No.
Symbol
PX01
**J3EX
J3 extension function
Select enabled or disabled of the J3 extension function.
Setting
digit
___x
__x_
_x__
x___
PX02
XOP1
Initial
value
[unit]
Name and function
Explanation
J3 extension function selection
0: Disabled
1: Enabled
When you enable the J3 extension function selection,
setting of [Pr. PX01] to [Pr. PX35] will be enabled and
you will be able to also use functions in J4 mode with J3
compatibility mode. Additionally, the J3 extension
function of the amplifier differs from MR-J3-B in motion.
For manufacturer setting
___x
__x_
_x__
x___
Explanation
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.
Before changing the control mode with the controller
during the 3 inertia mode or low response mode, stop the
motor.
For manufacturer setting
17 - 17
Each/
common
Refer to Name and Common
function column.
Initial
value
0h
0h
0h
0h
Function selection X-1
Setting
digit
Setting
range
Initial
value
0h
0h
0h
0h
Refer to Name and
function column.
Each
axis
17. APPLICATION OF FUNCTIONS
Initial
value
[unit]
No.
Symbol
Name and function
PX03
VRFTX
Vibration suppression control tuning mode (advanced vibration suppression control
II)
This is used to set the vibration suppression control tuning. Refer to (5) (C) in this
section for details.
Setting
digit
___x
__x_
_x__
x___
PX04
VRF21
PX05
VRF22
PX06
VRF23
PX07
VRF24
Explanation
For manufacturer setting
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.
PX02 Function selection X-1].
0: Disabled
1: Automatic setting
2: Manual setting
For manufacturer setting
Refer to Name and
function column.
Each/
common
Each
axis
Initial
value
0h
0h
0h
0h
Vibration suppression control 2 - Vibration frequency
Set the vibration frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PX02].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
setting (_ _ 1 _)" in [Pr. PX03], this parameter will be set automatically. When
"Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Vibration suppression control 2 - Resonance frequency
Set the resonance frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PX02].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
setting (_ _ 1 _)" in [Pr. PX03], this parameter will be set automatically. When
"Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Vibration suppression control 2 - Vibration frequency damping
Set a damping of the vibration frequency for vibration suppression control 2 to
suppress low-frequency machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PX02].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
setting (_ _ 1 _)" in [Pr. PX03], this parameter will be set automatically. When
"Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Vibration suppression control 2 - Resonance frequency damping
Set a damping of the resonance frequency for vibration suppression control 2 to
suppress low-frequency machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PX02].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
setting (_ _ 1 _)" in [Pr. PX03], this parameter will be set automatically. When
"Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
17 - 18
Setting
range
100.0
[Hz]
0.1
to
300.0
Each
axis
100.0
[Hz]
0.1
to
300.0
Each
axis
0.00
0.00
to
0.30
Each
axis
0.00
0.00
to
0.30
Each
axis
17. APPLICATION OF FUNCTIONS
No.
PX08
PX09
PX10
PX11
Symbol
Name and function
VRF21B Vibration suppression control 2 - Vibration frequency after gain switching
Set the vibration frequency for vibration suppression control 2 when the gain
switching is enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PX04].
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
selection" in [Pr. PX02].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual
setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
When you set "0.0", the value will be the same as [Pr. PX04].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
VRF22B Vibration suppression control 2 - Resonance frequency after gain switching
Set the resonance frequency for vibration suppression control 2 when the gain
switching is enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PX05].
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
selection" in [Pr. PX02].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual
setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
When you set "0.0", the value will be the same as [Pr. PX05].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching
Set a damping of the vibration frequency for vibration suppression control 2 when
the gain switching is enabled.
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
selection" in [Pr. PX02].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual
setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
VRF24B Vibration suppression control 2 - Resonance frequency damping after gain
switching
Set a damping of the resonance frequency for vibration suppression control 2 when
the gain switching is enabled.
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode
selection" in [Pr. PX02].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual
setting (_ _ 2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
17 - 19
Initial
value
[unit]
Setting
range
Each/
common
0.0
[Hz]
0.0
to
300.0
Each
axis
0.0
[Hz]
0.0
to
300.0
Each
axis
0.00
0.00
to
0.30
Each
axis
0.00
0.00
to
0.30
Each
axis
17. APPLICATION OF FUNCTIONS
Initial
value
[unit]
No.
Symbol
Name and function
PX12
PG1B
PX13
*XOP2
Model loop gain after gain switching
Set the model loop gain when the gain switching is enabled.
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is
enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
Function selection X-2
Setting
digit
___x
__x_
_x__
x___
PX14
OTHOV
PX17
NH3
PX18
NHQ3
Explanation
One-touch tuning function selection
0: Disabled
1: Enabled
When the digit is "0", the one-touch tuning with MR
Configurator2 will be disabled.
For manufacturer setting
Initial
value
___x
__x_
_x__
x___
Explanation
Machine resonance suppression filter 3 selection
0: Disabled
1: Enabled
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
For manufacturer setting
17 - 20
Each/
common
0.0
to
2000.0
Each
axis
Refer to Name and
function column.
Each
axis
1h
0h
0h
0h
One-touch tuning - Overshoot permissible level
Set a permissible value of overshoot amount for one-touch tuning as a percentage
of the in-position range.
However, setting "0" will be 50%.
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. PX18].
Notch shape selection 3
Set the shape of the machine resonance suppression filter 3.
Setting
digit
0.0
[rad/s]
Setting
range
Initial
value
0h
0h
0h
0h
0
[%]
0
to
100
Each
axis
4500
[Hz]
10
to
4500
Each
axis
Refer to Name and
function column.
Each
axis
17. APPLICATION OF FUNCTIONS
No.
Symbol
PX19
NH4
PX20
NHQ4
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. PX20].
Notch shape selection 4
Set the shape of the machine resonance suppression filter 4.
Setting
digit
___x
__x_
_x__
x___
PX21
NH5
PX22
NHQ5
Initial
value
[unit]
Name and function
Explanation
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.
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
For manufacturer setting
___x
__x_
_x__
x___
Explanation
Machine resonance suppression filter 5 selection
0: Disabled
1: Enabled
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
For manufacturer setting
17 - 21
Each/
common
10
to
4500
Each
axis
Refer to Name and
function column.
Each
axis
Initial
value
0h
0h
0h
0h
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. PX22].
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. PX31], the
machine resonance suppression filter 5 is not available.
Setting
digit
4500
[Hz]
Setting
range
Initial
value
0h
0h
0h
0h
4500
[Hz]
10
to
4500
Refer to Name and
function column.
Each
axis
Each
axis
17. APPLICATION OF FUNCTIONS
Initial
value
[unit]
No.
Symbol
Name and function
PX24
FRIC
Machine diagnosis function - Friction judgment speed
Set a (linear) servo motor speed that divides a friction estimation area into high and
low during the friction estimation process of the machine diagnosis.
Setting "0" will set a value half of the rated speed.
When your operation pattern is under the rated speed, we recommend that you set
a half value of the maximum speed.
Setting
range
Each/
common
0 to
permissi
ble
speed
Each
axis
Refer to Name and
function column.
Each
axis
0
[r/min]/
[mm/s]
Maximum speed in operation
Forward rotation
direction
[Pr. PX24] setting
Servo motor 0 r/min
speed
(0 mm/s)
Reverse rotation
direction
PX25
*TDS
Operation pattern
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, CN3-13, and CN3-15
with [Pr. PD07] to [Pr. PD09].
For MR-J4W2-0303B6 servo amplifiers, MTTR (during tough drive) cannot be
assigned.
Setting
digit
___x
__x_
_x__
x___
Explanation
For manufacturer setting
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 exceeds the value of the oscillation level set in
[Pr. PX26].
Refer to (8) in this section for details.
SEMI-F47 function selection
0: Disabled
1: Enabled
Selecting "1" enables to avoid triggering [AL. 10
Undervoltage] using the electrical energy charged in the
capacitor in case that an instantaneous power failure
occurs during operation. In [Pr. PX28 SEMI-F47 function
- Instantaneous power failure detection time], set the time
until the occurrence of [AL. 10.1 Voltage drop in the
control circuit power].
For MR-J4W2-0303B6 servo amplifiers, this digit cannot
be used other than the initial value.
For manufacturer setting
17 - 22
Initial
value
0h
0h
0h
0h
17. APPLICATION OF FUNCTIONS
No.
Symbol
PX26
OSCL1
PX27
*OSCL2
Vibration tough drive - Oscillation detection level
Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression
filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration
tough drive is enabled.
However, setting "0" will be 50%.
Example: When you set "50" to the parameter, the filter will be readjusted at the
time of 50% or more oscillation level.
Vibration tough drive function selection
Setting
digit
___x
__x_
_x__
x___
PX28
CVAT
PX29
DRAT
Initial
value
[unit]
Name and function
Explanation
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 an oscillation continues at
a filter readjustment sensitivity level of [Pr. PX26].
The digit is continuously enabled regardless of the
vibration tough drive in [Pr. PX25].
For manufacturer setting
Initial
value
__xx
xx__
Explanation
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.
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.
0
to
100
Each
axis
Refer to Name and
function column.
Each
axis
0h
0h
0h
Initial
value
00h
00h
Setting example:
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".
17 - 23
Each/
common
0h
SEMI-F47 function - Instantaneous power failure detection time
Set the time until the occurrence of [AL. 10.1 Voltage drop in the control circuit
power].
This parameter setting range differs depending on the software version of the servo
amplifier as follows.
Software version C0 or later: Setting range 30 ms to 200 ms
Software version C1 or earlier: Setting range 30 ms to 500 ms
To comply with SEMI-F47 standard, it is unnecessary to change the initial value
(200 ms).
However, when the instantaneous power failure time exceeds 200 ms, and the
instantaneous power failure voltage is less than 70% of the rated input voltage, the
power may be normally turned off even if a value larger than 200 ms is set in the
parameter.
To disable the parameter, set "Disabled (_ 0 _ _)" of "SEMI-F47 function selection"
in [Pr. PX25].
Drive recorder arbitrary alarm trigger setting
Setting
digit
50
[%]
Setting
range
200
[ms]
30
to
500
Common
Refer to Name and Common
function column.
17. APPLICATION OF FUNCTIONS
No.
Symbol
PX30
DRT
PX31
XOP4
Drive recorder switching time setting
Set the 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.
Function selection X-4
Setting
digit
___x
__x_
_x__
x___
PX43
**STOD
Initial
value
[unit]
Name and function
Initial
value
Explanation
Robust filter selection
0: Disabled
1: Enabled
When you select "Enabled" of this digit, the machine
resonance suppression filter 5 set in [Pr. PX22] is not
available.
For manufacturer setting
0
Execute
Not execute
Execute
1 to 60
Not execute
Safety level
EN ISO 13849-1 category 3 PL d, IEC
61508 SIL 2, and EN 62061 SIL CL2
EN ISO 13849-1 category 3 PL e, IEC
61508 SIL 3, and EN 62061 SIL CL3
EN ISO 13849-1 category 3 PL d, IEC
61508 SIL 2, and EN 62061 SIL CL2
When the short-circuit connector is connected to the CN8 connector, set "0" in the
parameter.
This parameter is available with servo amplifiers with software version C1 or later.
17 - 24
-1
to
32767
Common
Refer to Name and
function column.
Each
axis
0h
0h
0h
The following shows safety levels at the time of parameter setting.
STO input diagnosis
by TOFB output
Each/
common
0h
STO diagnosis error detection time
Set the time from when an error occurs in the STO input signal or STO circuit until
the detection of [AL. 68.1 Mismatched STO signal error].
When 0 s is set, the detection of [AL. 68.1 Mismatched STO signal error] is not
performed.
Setting
value
0
[s]
Setting
range
0
[s]
0 to
60
Common
17. APPLICATION OF FUNCTIONS
(4) One-touch tuning
POINT
After the one-touch tuning is completed, "Gain adjustment mode selection" in
[Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr.
PB06 Load to motor inertia ratio/load to motor mass ratio], set "Gain adjustment
mode selection" in [Pr. PA08] to "Auto tuning mode 1 (_ _ _ 1)".
When executing the one-touch tuning, check the [Pr. PX13 One-touch tuning
function selection] is "_ _ _1" (initial value).
At start of the one-touch tuning, only when "Auto tuning mode 1 (_ _ _ 1)" or "2
gain adjustment mode 1 (interpolation mode) (_ _ _ 0)" of "Gain adjustment
mode selection" is selected in [Pr. PA08], [Pr. PB06 Load to motor inertia
ratio/load to motor mass ratio] will be estimated.
Execute the one-touch tuning while the servo system controller and the servo
amplifier are connected.
When executing the one-touch tuning in the test operation mode (SW2-1 is on),
write the tuning result to servo parameters of the servo system controller, and
then connect the servo system controller and the servo amplifier.
The amplifier command method can be used with the servo amplifier with
software version C1 or later and MR Configurator2 with software version 1.45X
or later.
When the one-touch tuning is executed, MR Configurator2 is required.
For MR-J4W2-0303B6 servo amplifier, one-touch tuning by the amplifier
command method will be available in the future.
The one-touch tuning includes two methods: the user command method and the amplifier command
method.
1) User command method
The user command method performs one-touch tuning by inputting commands from outside the
servo amplifier.
2) Amplifier command method
In the amplifier command method, when you simply input a travel distance (permissible travel
distance) that collision against the equipment does not occur during servo motor driving, a
command for the optimum tuning will be generated inside the servo amplifier to perform onetouch tuning.
Movable range
Limit switch
Permissible
travel distance
Permissible
travel distance
Limit switch
Moving
part
Servo motor
Tuning start position
17 - 25
Movable range at tuning
17. APPLICATION OF FUNCTIONS
The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment
mode selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other
parameters will be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning
response].
Table 17.5 List of parameters automatically set with one-touch tuning
Parameter
Symbol
Name
Parameter
Symbol
PA08
PA09
PB01
ATU
RSP
FILT
Auto tuning mode
Auto tuning response
Adaptive tuning mode (adaptive filter II)
PB18
LPF
PB19
VRF11
Vibration suppression control 1 Vibration frequency
PB02
VRFT
Vibration suppression control tuning
mode (advanced vibration suppression
control II)
PB20
VRF12
Vibration suppression control 1 Resonance frequency
PB06
PB07
PB08
PB09
PB10
PB12
PB13
PB14
PB15
PB16
GD2
PG1
PG2
VG2
VIC
OVA
NH1
NHQ1
NH2
NHQ2
Load to motor inertia ratio
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
Overshoot amount compensation
Machine resonance suppression filter 1
Notch shape selection 1
Machine resonance suppression filter 2
Notch shape selection 2
PB21
VRF13
Vibration suppression control 1 Vibration frequency damping
PB22
VRF14
Vibration suppression control 1 Resonance frequency damping
PB23
PX17
PX18
PX19
PX20
PX22
PX31
VFBF
NH3
NHQ3
NH4
NHQ4
NHQ5
XOP4
Low-pass filter selection
Machine resonance suppression filter 3
Notch shape selection 3
Machine resonance suppression filter 4
Notch shape selection 4
Notch shape selection 5
Function selection X-4
PB17
NHF
Shaft resonance suppression filter
17 - 26
Name
Low-pass filter setting
17. APPLICATION OF FUNCTIONS
(a) One-touch tuning flowchart
1) User command method
Make one-touch tuning as follows.
Start
Startup of the system
Operation
One-touch tuning start,
mode selection
Response mode selection
One-touch tuning execution
One-touch tuning in progress
One-touch tuning completion
Tuning result check
Start a system referring to chapter 4.
Rotate the servo motor by a servo system controller. (In the user command method, the onetouch tuning cannot be executed if the servo motor is not operating.)
Start one-touch tuning of MR Configurator2, and select "User command method".
Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning
window of MR Configurator2.
Press the start button during servo motor driving to execute one-touch tuning.
Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress
will be displayed in % in MR Configurator2.
When one-touch tuning is completed normally, the parameters described in table 17.5 will be
set automatically.
When the tuning is not completed normally, the tuning error will be displayed. (Refer to (4) (b) 5)
in this section.)
Check the tuning result.
When the tuning result is not satisfactory, you can return the parameter to the value before the
one-touch tuning or the initial value. (Refer to (4) (b) 8) in this section.)
End
17 - 27
17. APPLICATION OF FUNCTIONS
2) Amplifier command method
Make one-touch tuning as follows.
Start
Startup of the system
Movement to tuning start position
One-touch tuning start,
mode selection
Input of permissible
travel distance
Response mode selection
One-touch tuning execution
One-touch tuning in progress
One-touch tuning completion
Tuning result check
Controller reset
Servo amplifier power cycling
Start a system referring to chapter 4.
Move the moving part to the center of a movable range.
Start one-touch tuning of MR Configurator2, and select "Amplifier command method".
In the one-touch tuning window of MR Configurator2, input a maximum travel distance to move
the moving part at one-touch tuning.
Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning
window of MR Configurator2.
While the servo motor is stopped, press the start button to start one-touch tuning. After the
tuning is started, the servo motor will reciprocate automatically. Executing one-touch tuning
during servo motor rotation will cause an error. After one-touch tuning is executed using the
amplifier command method, control will not be performed by commands from the controller.
Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress
will be displayed in % in MR Configurator2.
One-touch tuning will be completed automatically after the tuning. When one-touch tuning is
completed normally, the parameters described in table 17.5 will be updated automatically.
When the tuning is not completed normally, the tuning error will be displayed. (Refer to section
(4) (b) 5) in this section.)
Check the tuning result.
When the tuning result is not satisfactory, you can return the parameter to the value before the
one-touch tuning or the initial value. (Refer to (4) (b) 8) in this section.)
After executing the one-touch tuning, resetting the controller or cycling the power of the servo
amplifier returns to the state in which control is performed from the controller.
End
17 - 28
17. APPLICATION OF FUNCTIONS
(b) Display transition and operation procedure of one-touch tuning
1) Command method selection
Select a command method from two methods in the one-touch tuning window of MR
Configurator2.
a)
b)
17 - 29
17. APPLICATION OF FUNCTIONS
a) User command method
It is recommended to input commands meeting the following conditions to the servo amplifier.
If one-touch tuning is executed while commands which do not meet the conditions are inputted
to the servo amplifier, the one-touch tuning error may occur.
One cycle time
Travel distance
Forward
Servo motor rotation
0 r/min
speed
Reverse
rotation Acceleration
time constant
Dwell time
Deceleration
time constant
Fig. 17.1 Recommended command for one-touch tuning in the user command method
Item
Travel distance
Description
Set 100 pulses or more in encoder unit. Setting less than 100 pulses will cause the one-touch tuning error
"C004".
Servo motor speed Set 150 r/min (mm/s) or higher. Setting less than 150 r/min (mm/s) may cause the one-touch tuning error "C005".
Acceleration time
constant
Deceleration time
constant
Set the time to reach 2000 r/min (mm/s) to 5 s or less.
Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10%
or more of the rated torque.
The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration
torque is larger, and the one-touch tuning result will be closer to the optimum value.
Dwell time
Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".
One cycle time
Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".
17 - 30
17. APPLICATION OF FUNCTIONS
b) Amplifier command method
Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed
loop control mode, and in the servo motor-side resolution unit for other control modes. In the
amplifier command method, the servo motor will be operated in a range between "current
value ± permissible travel distance". Input the permissible travel distance as large as possible
within a range that the movable part does not collide against the machine. Inputting a small
permissible travel distance decreases the possibility that the moving part will collide against
the machine. However, the estimation accuracy of the load to motor inertia ratio may be lower,
resulting in improper tuning.
Also, executing the one-touch tuning in the amplifier command method will generate a
command for the following optimum tuning inside the servo amplifier to start the tuning.
Servo motor
speed (Note)
Travel distance (Note)
Forward
Servo motor rotation
0 r/min
speed
Reverse
rotation
Dwell time (Note)
Acceleration
time constant
(Note)
Deceleration
time constant
(Note)
Note. It will be automatically generated in the servo amplifier.
Fig. 17.2 Command generated by one-touch tuning in the amplifier command method
Item
Description
An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible
travel distance with MR Configurator2.
A speed not exceeding 1/2 of the rated speed and overspeed alarm detection level ([Pr. PC08]) will be
Servo motor speed
automatically set.
Acceleration time
constant
An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of the
Deceleration time rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.
constant
Travel distance
Dwell time
A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.
17 - 31
17. APPLICATION OF FUNCTIONS
2) Response mode selection
Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.
Table 17.6 Response mode explanations
Response mode
High mode
Basic mode
Low mode
Explanation
This mode is for high-rigid system.
This mode is for standard system.
This mode is for low-rigid system.
17 - 32
17. APPLICATION OF FUNCTIONS
Refer to the following table for selecting a response mode.
Table 17.7 Guideline for response mode
Low mode
Response mode
Basic mode
High mode
Response
Machine characteristic
Guideline of corresponding machine
Low response
Arm robot
General machine
tool conveyor
Precision working
machine
Inserter
Mounter
Bonder
High response
3) One-touch tuning execution
POINT
For equipment in which overshoot during one-touch tuning is in the permissible
level of the in-position range, changing the value of [Pr. PX14 One-touch tuning
overshoot permissible level] will shorten the settling time and improve the
response.
When executing one-touch tuning in the amplifier command method, turn on
EM2. When you turn off EM2 during one-touch tuning, "C008" will be displayed
at status in error code, and the one-touch tuning will be canceled.
When executing the one-touch tuning in the amplifier command method, FLS
(Upper stroke limit) and RLS (Lower stroke limit) will be disabled. Thus, set a
permissible travel distance within a range where moving part collision never
occurs, or execute the one-touch tuning in a state in which the servo motor can
immediately stop in emergency.
When one-touch tuning is executed in the amplifier command method while
magnetic pole detection is not being performed, magnetic pole detection will be
performed, and then one-touch tuning will start after the magnetic pole detection
is completed.
After the response mode is selected in (4) (b) 2) in this section, clicking "Start" will start one-touch
tuning. If "Start" is clicked while the servo motor stops, "C002" or "C004" will be displayed at
status in error code. (Refer to (4) (b) 5) in this section for error codes.)
17 - 33
17. APPLICATION OF FUNCTIONS
Click "Start" to start the one-touch tuning in the amplifier command method with the servo-off, the
servo-on will be automatically enabled, and the one-touch tuning will start. In the one-touch
tuning by the amplifier command method, an optimum tuning command will be generated in the
servo amplifier after servo-on. Then, the servo motor will reciprocate, and the one-touch tuning
will be executed. After the tuning is completed or canceled, the servo amplifier will be the servooff status. When the servo-on command is inputted from outside, the amplifier will be the servoon status.
After one-touch tuning is executed using the amplifier command method, control will not be
performed by commands from the controller. To return to the state in which control is performed
by commands from the controller, reset the controller or cycle the power.
During processing of one-touch tuning, the progress will be displayed as follows. Tuning will be
completed at 100%.
17 - 34
17. APPLICATION OF FUNCTIONS
Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and
the following window will be displayed. Select whether or not to reflect the tuning result in the
project.
After the one-touch tuning is completed, "0000" will be displayed at status in error code. In
addition, settling time and overshoot amount will be displayed in "Adjustment result".
4) Stop of one-touch tuning
When "Stop" is clicked during one-touch tuning, the tuning will be stopped. At this time, "C000"
will be displayed at status in error code. When the one-touch tuning is stopped, the parameter
setting will be returned to the values at the start of the one-touch tuning. Stop the servo motor
before executing the one-touch tuning again. In addition, execute it after the moving part is
returned to the tuning start position.
17 - 35
17. APPLICATION OF FUNCTIONS
5) If an error occurs
If a tuning error occurs during tuning, one-touch tuning will be stopped. With that, the following
error code will be displayed in status. Check the cause of tuning error. When executing one-touch
tuning again, stop the servo motor once. In addition, after returning the moving part to the tuning
start position, execute it.
Display
Name
C000
C001
Tuning canceled
Overshoot exceeded
C002
Servo-off during tuning
C003
Control mode error
C004
Time-out
Error detail
"Stop" was clicked during one-touch tuning.
Overshoot amount is a value larger than the
one set in [Pr. PA10 In-position range] and
[Pr. PX14 One-touch tuning - Overshoot
permissible level].
The one-touch tuning was attempted in the
user command method during servo-off.
The servo amplifier will be servo-off status
during one-touch tuning.
1. The one-touch tuning was attempted while
the torque control mode was selected in
the control modes.
2. During one-touch tuning, the control mode
was attempted to change from the position
control mode to the speed control mode.
1. One cycle time during the operation has
been over 30 s.
2. The command speed is slow.
3. The operation interval of the continuous
operation is short.
C005
Load to motor inertia
ratio misestimated
1. The estimation of the load to motor inertia
ratio at one-touch tuning was a failure.
2. The load to motor inertia ratio was not
estimated due to an oscillation or other
influences.
17 - 36
Corrective action example
Increase the in-position range or overshoot
permissible level.
When executing one-touch tuning in the user
command method, turn to servo-on, and then
execute it.
Prevent the servo amplifier from being the
servo-off status during one-touch tuning.
Select the position control mode or speed
control mode for the control mode from the
controller, and then execute one-touch tuning.
Do not change the control mode during the
one-touch tuning.
Set one cycle time during the operation (time
from the command start to the next command
start) to 30 s or less.
Set the servo motor speed to 100 r/min or
higher. Error is less likely to occur as the
setting speed is higher.
When one-touch tuning by the amplifier
command is used, set a permissible travel
distance so that the servo motor speed is 100
r/min or higher. Set a permissible travel
distance to two or more revolutions as a guide
value to set the servo motor speed to 100
r/min.
Set the stop interval during operation to 200
ms or more. Error is less likely to occur as the
setting time is longer.
Drive the motor with meeting conditions as
follows.
The acceleration time constant/deceleration
time constant to reach 2000 r/min (mm/s) is
5 s or less.
Speed is 150 r/min (mm/s) or higher.
The load to servo motor (mass of linear
servo motor's primary side or direct drive
motor) inertia ratio is 100 times or less.
The acceleration/deceleration torque is
10% or more of the rated torque.
Set to the auto tuning mode that does not
estimate the load to motor inertia ratio as
follows, and then execute the one-touch
tuning.
Select "Auto tuning mode 2 (_ _ _ 2)",
"Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
Manually set [Pr. PB06 Load to motor
inertia ratio/load to motor mass ratio]
properly.
17. APPLICATION OF FUNCTIONS
Display
Name
Error detail
C006
Amplifier command start
error
C007
Amplifier command
generation error
One-touch tuning was attempted to start in
the amplifier command method under the
following speed condition.
Servo motor speed of one axis.: 20 r/min or
higher
1. One-touch tuning was executed in the
amplifier command method when the
permissible travel distance is set to 100
pulses or less in the encoder pulse unit, or
the distance is set not to increase the
servo motor speed to 150 r/min (mm/s) (50
r/min for direct drive motor) or higher at the
time of load to motor inertia ratio
estimation.
C008
Stop signal
C009
Parameter
C00A
Alarm
C00F
One-touch tuning
disabled
Corrective action example
Execute the one-touch tuning in the amplifier
command method while the servo motor is
stopped.
Set a permissible travel distance to 100
pulses or more in the encoder pulse unit, or a
distance so as to increase the servo motor
speed to 150 r/min (mm/s) (50 r/min for direct
drive motor) or higher at the time of load to
motor inertia ratio estimation, and then
execute the one-touch tuning. Set a
permissible travel distance to four or more
revolutions as a guide value.
Load to motor inertia ratio will be estimated
when "0000" or "0001" is set in [Pr. PA08
Auto tuning mode] at the start of one-touch
tuning.
If the permissible travel distance is short and
the servo motor speed cannot be increased to
150 r/min (mm/s) (50 r/min for direct drive
motor) or higher, select "Auto tuning mode 2
(_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
When estimating the load to motor inertia
ratio, set the overspeed alarm detection level
so that the speed becomes 150 r/min or
more.
2. An overspeed alarm detection level is set
so that the servo motor speed becomes
150 r/min (mm/s) (50 r/min for direct drive
motor) or less at the time of load to motor
inertia ratio estimation.
3. The torque limit has been set to 0.
Set the torque limit value to greater than 0.
EM2 was turned off during one-touch tuning in Review the one-touch tuning start position
the amplifier command method.
and permissible travel distance for the
amplifier command method.
After ensuring safety, turn on EM2.
Parameters for manufacturer setting have
Return the parameters for manufacturer
been changed.
setting to the initial values.
Start one-touch tuning when no alarm or
One-touch tuning was attempted to start in
warning occurs.
the amplifier command method during alarm
or warning.
Prevent alarm or warning from occurring
during one-touch tuning.
Alarm or warning occurred during one-touch
tuning by the amplifier command method.
"One-touch tuning function selection" in [Pr.
Select "Enabled (_ _ _ 1)".
PX13] is "Disabled (_ _ _ 0)".
6) If an alarm occurs
If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated. Remove the
cause of the alarm and execute one-touch tuning again. When executing one-touch tuning in the
amplifier command method again, return the moving part to the tuning start position.
7) If a warning occurs
If a warning which continues the motor driving occurs during one-touch tuning by the user
command method, the tuning will be continued. If a warning which does not continue the motor
driving occurs during the tuning, one-touch tuning will be stopped.
One-touch tuning will be stopped when warning occurs during one-touch tuning by the amplifier
command method regardless of the warning type. Remove the cause of the warning, and return
the moving part to the tuning start position. Then, execute the tuning again.
17 - 37
17. APPLICATION OF FUNCTIONS
8) Initializing one-touch tuning
Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to
return the parameter to the initial value. Refer to table 17.5 for the parameters which you can
initialize.
Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2
enables to return the parameter to the value before clicking "Start".
When the initialization of one-touch tuning is completed, the following window will be displayed.
(returning to initial value)
17 - 38
17. APPLICATION OF FUNCTIONS
(c) Caution for one-touch tuning
1) Caution common for user command method and amplifier command method
a) The tuning is not available in the torque control mode.
b) The one-touch tuning cannot be executed while an alarm or warning which does not continue
the motor driving is occurring.
c) The one-touch tuning cannot be executed during the following test operation mode.
Output signal (DO) forced output
Motor-less operation
d) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or
unusual noise may occur during the tuning.
2) Caution for amplifier command method
a) Starting one-touch tuning while the servo motor is rotating displays "C006" at status in error
code, and the one-touch tuning cannot be executed.
b) Start one-touch tuning when all connected servo motors are at a stop.
c) One-touch tuning is not available during the test operation mode. The following test operation
modes cannot be executed during one-touch tuning.
Positioning operation
JOG operation
Program operation
Machine analyzer operation
d) After one-touch tuning is executed, control will not be performed by commands from the servo
system controller. To return to the state in which control is performed from the servo system
controller, reset the controller or cycle the power of the servo amplifier.
e) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot,
set a value sufficient to prevent machine collision.
f) When Auto tuning mode 2, Manual mode, or 2 gain adjustment mode 2 is selected in [Pr.
PA08 Auto tuning mode], the load to motor inertia ratio will not be estimated. An optimum
acceleration/deceleration command will be generated by [Pr. PB06 Load to motor inertia
ratio/load to motor mass ratio] at the start of one-touch tuning. When the load to motor inertia
ratio is incorrect, the optimum acceleration/deceleration command may not be generated,
causing the tuning to fail.
g) When one-touch tuning is started by using USB communication, if the USB communication is
interrupted during the tuning, the servo motor will stop, and the tuning will also stop. The
parameter will return to the one at the start of the one-touch tuning.
h) When one-touch tuning is started via the controller, if communication between the controller
and the servo amplifier or personal computer is shut-off during the tuning, the servo motor will
stop, and the tuning will also stop. The parameter will return to the one at the start of the onetouch tuning.
i) When one-touch tuning is started during the speed control mode, the mode will be switched to
the position control mode automatically. The tuning result may differ from the one obtained by
executing tuning by using the speed command.
17 - 39
17. APPLICATION OF FUNCTIONS
(5) Filter setting
The following filters are available with the J3 extension function.
Speed
control
Command
pulse train
[Pr. PB18]
[Pr. PB13]
[Pr. PB15]
[Pr. PX17]
Low-pass
filter
setting
Machine
resonance
suppression
filter 1
Machine
resonance
suppression
filter 2
Machine
resonance
suppression
filter 3
Command +
filter
-
[Pr. PX19]
[Pr. PX20]
Machine
resonance
suppression
filter 4
Load
[Pr. PX21]
[Pr. PX31]
Machine
resonance
suppression
filter 5
[Pr. PB17]
Encoder
PWM
Shaft
resonance
suppression
filter
Robust filter
M
Servo motor
(a) Machine resonance suppression filter
POINT
The machine resonance suppression filter is a delay factor for the servo system.
Therefore, vibration may increase if you set an incorrect resonance frequency or
set notch characteristics too deep or too wide.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A wider notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine analyzer
on MR Configurator2. This allows the required notch frequency and notch
characteristics to be determined.
If a mechanical system has a unique resonance point, increasing the servo system response level
may cause resonance (vibration or unusual noise) in the mechanical system at that resonance
frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the
resonance of the mechanical system. The setting range is 10 Hz to 4500 Hz.
17 - 40
17. APPLICATION OF FUNCTIONS
Notch
characteristics
Response of
mechanical system
1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the
gain of the specific frequency to suppress the resonance of the mechanical system. You can set
the gain decreasing frequency (notch frequency), gain decreasing depth and width.
Machine resonance point
Frequency
Notch width
Notch depth
Notch frequency
Frequency
You can set five machine resonance suppression filters at most.
Filter
Setting parameter
Machine resonance
suppression filter 1
PB01/PB13/PB14
Machine resonance
suppression filter 2
Machine resonance
suppression filter 3
Machine resonance
suppression filter 4
PB15/PB16
Machine resonance
suppression filter 5
PX21/PX22
Precaution
The filter can be set automatically with
"Filter tuning mode selection" in [Pr.
PB01].
PX17/PX18
PX19/PX20
Parameter
Parameter that is
automatically
reset with vibration
adjusted with onetough drive function
touch tuning
PB13
PB01/PB13/PB14
PB15
PB15/PB16
PX17/PX18
Enabling the machine resonance
suppression filter 4 disables the shaft
resonance suppression filter.
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
Enabling the robust filter disables the
machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.
17 - 41
PX19/PX20
PX22
17. APPLICATION OF FUNCTIONS
2) Parameter
a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14])
Set the notch frequency, notch depth and notch width of the machine resonance suppression
filter 1 ([Pr. PB13] and [Pr. PB14])
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the
setting of the machine resonance suppression filter 1 is enabled.
b) Machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2
selection" in [Pr. PB16].
How to set the machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16]) is the same
as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
c) Machine resonance suppression filter 3 ([Pr. PX17] and [Pr. PX18])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3
selection" in [Pr. PX18].
How to set the machine resonance suppression filter 3 ([Pr. PX17] and [Pr. PX18]) is the same
as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
d) Machine resonance suppression filter 4 ([Pr. PX19] and [Pr. PX20])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4
selection" in [Pr. PX20]. However, enabling the machine resonance suppression filter 4
disables the shaft resonance suppression filter.
How to set the machine resonance suppression filter 4 ([Pr. PX19] and [Pr. PX20]) is the same
as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
e) Machine resonance suppression filter 5 ([Pr. PX21] and [Pr. PX22])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5
selection" in [Pr. PX22]. However, enabling the robust filter ([Pr. PX31]: _ _ _ 1) disables the
machine resonance suppression filter 5.
How to set the machine resonance suppression filter 5 ([Pr. PX21] and [Pr. PX22]) is the same
as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
17 - 42
17. APPLICATION OF FUNCTIONS
(b) Shaft resonance suppression filter
POINT
This filter is set properly by default according to servo motor you use and load
moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0"
(automatic setting) because changing "Shaft resonance suppression filter
selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may
lower the performance.
1) Function
When 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.
When you select "Automatic setting", the filter will be set automatically on the basis of the servo
motor you use and the load to motor inertia ratio. The disabled setting increases the response of
the servo amplifier for high resonance frequency.
2) Parameter
Set "Shaft resonance suppression filter selection" in [Pr. PB23].
[Pr. PB23]
0 0 0
Shaft resonance suppression filter selection
0: Automatic setting
1: Manual setting
2: Disabled
To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".
To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The
setting values are as follows.
Shaft resonance suppression filter setting frequency
selection
Setting value
Frequency [Hz]
Setting value
Frequency [Hz]
__00
__01
__02
__03
__04
__05
__06
__07
__08
__09
__0A
__0B
__0C
__0D
__0E
__0F
Disabled
Disabled
4500
3000
2250
1800
1500
1285
1125
1000
900
818
750
692
642
600
__10
__11
__12
__13
__14
__15
__16
__17
__18
__19
__1A
__1B
__1C
__1D
__1E
__1F
562
529
500
473
450
428
409
391
375
360
346
333
321
310
300
290
17 - 43
17. APPLICATION OF FUNCTIONS
(c) Advanced vibration suppression control II
POINT
This is enabled when "Gain adjustment mode selection" is "Auto tuning mode 2
(_ _ _ 2)" or "Manual mode (_ _ _ 3)" in [Pr. PA08].
The machine resonance frequency supported in the vibration suppression
control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range,
set manually.
Stop the servo motor before changing the vibration suppression control-related
parameters. Otherwise, it may cause an unexpected operation.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after vibration damping.
Vibration suppression control tuning may not make normal estimation if the
residual vibration at the servo motor side is small.
Vibration suppression control tuning sets the optimum parameter with the
currently set control gains. When the response setting is increased, set vibration
suppression control tuning again.
When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PX02].
17 - 44
17. APPLICATION OF FUNCTIONS
Servo motor side
Load side
Vibration suppression: off (normal)
t
Position
Position
1) Function
Vibration suppression control is used to further suppress load-side vibration, such as work-side
vibration and base shake. The servo motor-side operation is adjusted for positioning so that the
machine does not vibrate.
Servo motor side
Load side
Vibration suppression control: on
t
When the advanced vibration suppression control II ([Pr. PB02] and [Pr. PX03]) is executed, the
vibration frequency at load side is automatically estimated to suppress machine side vibration two
times at most.
In the vibration suppression control tuning mode, this mode shifts to the manual setting after the
positioning operation is performed the predetermined number of times. For manual setting, adjust
the vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control
2 with [Pr. PX04] to [Pr. PX07].
2) Parameter
Set the advanced vibration suppression control II ([Pr. PB02] and [Pr. PX03]).
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode
selection" in [Pr. PB02]. When you use two vibration suppression controls, set "Vibration
suppression control 2 tuning mode selection" in [Pr. PX03] in addition.
[Pr. PB02]
0 0 0
Vibration suppression control 1 tuning mode
Setting value Vibration suppression control 1 tuning mode selection Automatically set parameter
___0
Disabled
___1
Automatic setting
PB19/PB20/PB21/PB22
___2
Manual setting
[Pr. PX03]
0 0
0
Vibration suppression control 2 tuning mode
Setting value Vibration suppression control 2 tuning mode selection Automatically set parameter
__0_
Disabled
__1_
Automatic setting
PX04/PX05/PX06/PX07
__2_
Manual setting
17 - 45
17. APPLICATION OF FUNCTIONS
3) Vibration suppression control tuning procedure
The following flow chart is for the vibration suppression control 1. For the vibration suppression
control 2, set "_ _ 1 _" in [Pr. PX03] to execute the vibration suppression control tuning.
Vibration suppression control tuning
Operation
Yes
Is the target response
reached?
No
Increase the response setting.
Has vibration of workpiece
end/device increased?
No
Yes
Stop operation.
Execute or re-execute vibration
suppression control tuning.
(Set [Pr. PB02] to "_ _ _ 1".)
Resume operation.
Tuning ends automatically after
positioning operation is performed
the predetermined number of times.
([Pr. PB02] will be "_ _ _ 2" or
"_ _ _ 0".)
Has vibration
of workpiece end/device
been resolved?
Yes
No
Decrease the response until vibration
of workpiece end/device is resolved.
Using a machine analyzer or
considering load-side vibration
waveform, set the vibration
suppression control manually.
End
17 - 46
Factor
Estimation cannot be made as load-side vibration
has not been transmitted to the servo motor side.
The response of the model loop gain has
increased to the load-side vibration frequency
(vibration suppression control limit).
17. APPLICATION OF FUNCTIONS
4) Vibration suppression control manual mode
POINT
When load-side vibration does not show up in servo motor-side vibration, the
setting of the servo motor-side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external equipment, do not set the same value
but set different values to improve the vibration suppression performance.
Measure work-side vibration and device shake with the machine analyzer or external measuring
instrument, and set the following parameters to adjust vibration suppression control manually.
Setting item
Vibration suppression control - Vibration
frequency
Vibration suppression control - Resonance
frequency
Vibration suppression control - Vibration
frequency damping
Vibration suppression control - Resonance
frequency damping
Vibration suppression
control 1
Vibration suppression
control 2
[Pr. PB19]
[Pr. PX04]
[Pr. PB20]
[Pr. PX05]
[Pr. PB21]
[Pr. PX06]
[Pr. PB22]
[Pr. PX07]
Step 1. Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] or "Manual setting (_ _ 2 _)" of "Vibration suppression control 2
tuning mode selection" in [Pr. PX03].
Step 2. Set "Vibration suppression control - Vibration frequency" and "Vibration suppression
control - Resonance frequency" as follows.
However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency
have the following usable range and recommended range.
Vibration suppression
control
Vibration suppression
control 1
Vibration suppression
control 2
Usable range
Recommended setting range
[Pr. PB19] > 1/2π × (0.9 × [Pr. PB07])
[Pr. PB20] > 1/2π × (0.9 × [Pr. PB07])
When [Pr. PB19] < [Pr. PX04],
[Pr. PX04] > (5.0 + 0.1 × [Pr. PB07])
[Pr. PX05] > (5.0 + 0.1 × [Pr. PB07])
1.1 < [Pr. PX04]/[Pr. PB19] < 5.5
[Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PX04])
[Pr. PB19] > 1/2π × (1.5 × [Pr. PB07])
[Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])
17 - 47
When [Pr. PB19] < [Pr. PX04],
[Pr. PX04], [Pr. PX05] > 6.25 Hz
1.1 < [Pr. PX04]/[Pr. PB19] < 4
[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PX04])
17. APPLICATION OF FUNCTIONS
a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or
external equipment.
Vibration suppression control 2 Vibration frequency
(anti-resonance frequency)
[Pr. PX04]
Vibration suppression control 2 Resonance frequency
[Pr. PX05]
Gain characteristics
1 Hz
300 Hz
Resonance of more than
Vibration suppression control 1 300 Hz is not the target of control.
Vibration frequency
Vibration suppression control 1 (anti-resonance frequency)
Resonance frequency
[Pr. PB19]
[Pr. PB20]
Phase
-90 degrees
b) When vibration can be confirmed using monitor signal or external sensor
Motor-side vibration
(droop pulses)
External acceleration pickup signal, etc.
Position command frequency
t
Vibration cycle [Hz]
Vibration suppression control Vibration frequency
Vibration suppression control Resonance frequency
t
Vibration cycle [Hz]
Set the same value.
Step 3. Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration
suppression control - Resonance frequency damping".
(6) Gain switching function
You can switch gains with the function. You can switch gains during rotation and during stop, and can
use a control command from a controller to switch gains during operation.
(a) Use
The following shows when you use the function.
1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during
rotation.
2) You want to increase the gains during settling to shorten the stop settling time.
3) You want to change the gains using a control command from a controller to ensure stability of the
servo system since the load to motor inertia ratio varies greatly during a stop (e.g. a large load is
mounted on a carrier).
17 - 48
17. APPLICATION OF FUNCTIONS
(b) Function block diagram
The control gains, load to motor inertia ratio, and vibration suppression control settings are changed
according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain
switching condition].
CDP
[Pr. PB26]
Control command
from controller
Command pulse
frequency
+
-
Droop pulses
+
-
Model speed
+
-
Changing
Comparator
CDL
[Pr. PB27]
GD2
[Pr. PB06]
GD2B
[Pr. PB29]
PG1
[Pr. PB07]
PG1B
[Pr. PX12]
PG2
[Pr. PB08]
PG2B
[Pr. PB30]
VG2
[Pr. PB09]
VG2B
[Pr. PB31]
VIC
[Pr. PB10]
VICB
[Pr. PB32]
Enabled
GD2 value
Enabled
PG1 value
Enabled
PG2 value
Enabled
VG2 value
Enabled
VIC value
VRF11
[Pr. PB19]
VRF11B
[Pr. PB33]
VRF12
[Pr. PB20]
VRF12B
[Pr. PB34]
VRF13
[Pr. PB21]
VRF13B
[Pr. PB35]
VRF14
[Pr. PB22]
VRF14B
[Pr. PB36]
VRF21
[Pr. PX04]
VRF21B
[Pr. PX08]
VRF22
[Pr. PX05]
VRF22B
[Pr. PX09]
VRF23
[Pr. PX06]
VRF23B
[Pr. PX10]
VRF24
[Pr. PX07]
VRF24B
[Pr. PX11]
17 - 49
Enabled
VRF11 value
Enabled
VRF12 value
Enabled
VRF13 value
Enabled
VRF14 value
Enabled
VRF21 value
Enabled
VRF22 value
Enabled
VRF23 value
Enabled
VRF24 value
17. APPLICATION OF FUNCTIONS
(c) Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the
auto tuning mode.
1) Parameter for setting gain switching condition
Parameter
Symbol
PB26
PB27
CDP
CDL
Gain switching function
Gain switching condition
Name
Unit
PB28
CDT
Gain switching time constant
Description
Select a switching condition.
[kpulse/s] Set a switching condition values.
/[pulse]
/[r/min]
[ms]
Set the filter time constant for a gain switch at switching.
a) [Pr. PB26 Gain switching function]
Set the gain switching condition. Select the switching condition in the first to third digits.
[Pr. PB26]
0
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
Gain switching condition
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
b) [Pr. PB27 Gain switching condition]
Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop
pulses", or "Servo motor speed/linear servo motor speed" with the gain switching selection in
[Pr. PB26 Gain switching function].
Gain switching condition
Unit
Command frequency
Droop pulses
Servo motor speed/linear servo motor speed
[kpulse/s]
[pulse]
[r/min]/[mm/s]
c) [Pr. PB28 Gain switching time constant]
You can set the primary delay filter to each gain at gain switching. Use this parameter to
suppress shock given to the machine if the gain difference is large at gain switching, for
example.
17 - 50
17. APPLICATION OF FUNCTIONS
2) Switchable gain parameter
Loop gain
Parameter
Before switching
Symbol
Name
Parameter
After switching
Symbol
Name
PB29
GD2B
PG1
Load to motor inertia
ratio/load to motor mass
ratio
Model loop gain
PX12
PG1B
PB08
PG2
Position loop gain
PB30
PG2B
Speed loop gain
PB09
VG2
Speed loop gain
PB31
VG2B
Speed integral
compensation
PB10
VIC
Speed integral
compensation
PB32
VICB
Vibration suppression
control 1 - Vibration
frequency
PB19
VRF11
Vibration suppression
control 1 - Vibration
frequency
PB33
VRF11B
Vibration suppression
control 1 - Resonance
frequency
PB20
VRF12
Vibration suppression
control 1 - Resonance
frequency
PB34
VRF12B
Vibration suppression
control 1 - Vibration
frequency damping
PB21
VRF13
Vibration suppression
control 1 - Vibration
frequency damping
PB35
VRF13B
Vibration suppression
control 1 - Resonance
frequency damping
PB22
VRF14
Vibration suppression
control 1 - Resonance
frequency damping
PB36
VRF14B
Vibration suppression
control 2 - Vibration
frequency
PX04
VRF21
Vibration suppression
control 2 - Vibration
frequency
PX08
VRF21B
Vibration suppression
control 2 - Resonance
frequency
PX05
VRF22
Vibration suppression
control 2 - Resonance
frequency
PX09
VRF22B
Vibration suppression
control 2 - Vibration
frequency damping
PX06
VRF23
Vibration suppression
control 2 - Vibration
frequency damping
PX10
VRF23B
Vibration suppression
control 2 - Resonance
frequency damping
PX07
VRF24
Vibration suppression
control 2 - Resonance
frequency damping
PX11
VRF24B
Load to motor inertia
ratio/load to motor mass
ratio
Model loop gain
PB06
GD2
PB07
Position loop gain
17 - 51
Load to motor inertia
ratio/load to motor mass
ratio after gain switching
Model loop gain after gain
switching
Position loop gain after
gain switching
Speed loop gain after gain
switching
Speed integral
compensation after gain
switching
Vibration suppression
control 1 - Vibration
frequency after gain
switching
Vibration suppression
control 1 - Resonance
frequency after gain
switching
Vibration suppression
control 1 - Vibration
frequency damping after
gain switching
Vibration suppression
control 1 - Resonance
frequency damping after
gain switching
Vibration suppression
control 2 - Vibration
frequency after gain
switching
Vibration suppression
control 2 - Resonance
frequency after gain
switching
Vibration suppression
control 2 - Vibration
frequency damping after
gain switching
Vibration suppression
control 2 - Resonance
frequency damping after
gain switching
17. APPLICATION OF FUNCTIONS
a) [Pr. PB06] to [Pr. PB10]
These parameters are the same as in ordinary manual adjustment. Gain switching allows the
values of load to motor inertia ratio/load to motor mass ratio, model loop gain, position loop
gain, speed loop gain, and speed integral compensation to be switched.
b) [Pr. PB19] to [Pr. PB22]/[Pr. PX04] to [Pr. PX07]
These parameters are the same as in ordinary manual adjustment. You can switch the
vibration frequency, resonance frequency, vibration frequency damping, and resonance
frequency damping by switching gain during motor stop.
c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching]
Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to
motor inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia
ratio/load to motor mass ratio].
d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain
switching], and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of after switching position loop gain, speed loop gain and speed integral
compensation.
e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PX08] to [Pr.
PX11])/[Pr. PX12 Model loop gain after gain switching]
The gain switching vibration suppression control and gain switching model loop gain are used
only with control command from the controller.
You can switch the vibration frequency, resonance frequency, vibration frequency damping,
resonance frequency damping, and model loop gain of the vibration suppression control 1 and
vibration suppression control 2.
17 - 52
17. APPLICATION OF FUNCTIONS
(d) Gain switching procedure
This operation will be described by way of setting examples.
1) When you choose switching by control command from the controller
a) Setting example
Parameter
Symbol
Name
Setting value
Unit
PB06
GD2
4.00
[Multiplier]
PB07
PB08
PB09
PB10
PB19
PG1
PG2
VG2
VIC
VRF11
100
120
3000
20
50
[rad/s]
[rad/s]
[rad/s]
[ms]
[Hz]
PB20
VRF12
50
[Hz]
PB21
VRF13
PB22
VRF14
PX04
VRF21
PX05
VRF22
PX06
VRF23
PX07
VRF24
PB29
GD2B
PX12
PG1B
PB30
PG2B
PB31
VG2B
PB32
VICB
PB26
CDP
Load to motor inertia ratio/load to
motor mass ratio
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
Vibration suppression control 1 Vibration frequency
Vibration suppression control 1 Resonance frequency
Vibration suppression control 1 Vibration frequency damping
Vibration suppression control 1 Resonance frequency damping
Vibration suppression control 2 Vibration frequency
Vibration suppression control 2 Resonance frequency
Vibration suppression control 2 Vibration frequency damping
Vibration suppression control 2 Resonance frequency damping
Load to motor inertia ratio/load to
motor mass ratio after gain
switching
Model loop gain after gain
switching
Position loop gain after gain
switching
Speed loop gain after gain
switching
Speed integral compensation after
gain switching
Gain switching function
PB28
PB33
PB34
PB35
PB36
PX08
PX09
CDT
Gain switching time constant
VRF11B Vibration suppression control 1 Vibration frequency after gain
switching
VRF12B Vibration suppression control 1 Resonance frequency after gain
switching
VRF13B Vibration suppression control 1 Vibration frequency damping after
gain switching
VRF14B Vibration suppression control 1 Resonance frequency damping
after gain switching
VRF21B Vibration suppression control 2 Vibration frequency after gain
switching
VRF22B Vibration suppression control 2 Resonance frequency after gain
switching
17 - 53
0.20
0.20
20
[Hz]
20
[Hz]
0.10
0.10
10.00
[Multiplier]
50
[rad/s]
84
[rad/s]
4000
[rad/s]
50
[ms]
0001
(Switch by control command
from the controller.)
100
60
[ms]
[Hz]
60
[Hz]
0.15
0.15
30
[Hz]
30
[Hz]
17. APPLICATION OF FUNCTIONS
Parameter
PX10
PX11
Symbol
Name
Setting value
Unit
0.05
VRF23B Vibration suppression control 2 Vibration frequency damping after
gain switching
VRF24B Vibration suppression control 2 Resonance frequency damping
after gain switching
0.05
b) Switching timing chart
Control command
from controller
OFF
OFF
ON
After-switching gain
63.4%
Gain switching
Model loop gain
Load to motor inertia ratio/load to motor
mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
Vibration suppression control 1 - Vibration
frequency
Vibration suppression control 1 Resonance frequency
Vibration suppression control 1 - Vibration
frequency damping
Vibration suppression control 1 Resonance frequency damping
Vibration suppression control 2 - Vibration
frequency
Vibration suppression control 2 Resonance frequency
Vibration suppression control 2 - Vibration
frequency damping
Vibration suppression control 2 Resonance frequency damping
Before-switching gain
CDT = 100 ms
100
→
50
→
100
4.00
→
10.00
→
4.00
120
3000
20
→
→
→
84
4000
50
→
→
→
120
3000
20
50
→
60
→
50
50
→
60
→
50
0.20
→
0.15
→
0.20
0.20
→
0.15
→
0.20
20
→
30
→
20
20
→
30
→
20
0.10
→
0.05
→
0.10
0.10
→
0.05
→
0.10
17 - 54
17. APPLICATION OF FUNCTIONS
2) When you choose switching by droop pulses
The vibration suppression control after gain switching and model loop gain after gain switching
cannot be used.
a) Setting example
Parameter
Symbol
Name
Setting value
Unit
PB06
GD2
4.00
[Multiplier]
PB08
PB09
PB10
PB29
PG2
VG2
VIC
GD2B
120
3000
20
10.00
[rad/s]
[rad/s]
[ms]
[Multiplier]
PB30
PG2B
84
[rad/s]
PB31
VG2B
4000
[rad/s]
PB32
VICB
50
[ms]
PB26
CDP
Load to motor inertia ratio/load to
motor mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
Load to motor inertia ratio/load to
motor mass ratio after gain
switching
Position loop gain after gain
switching
Speed loop gain after gain
switching
Speed integral compensation after
gain switching
Gain switching selection
PB27
PB28
CDL
CDT
Gain switching condition
Gain switching time constant
0003
(switching by droop pulses)
50
100
[pulse]
[ms]
b) Switching timing chart
Command pulses
Droop pulses
Command pulses
Droop pulses
[pulse]
0
+CDL
-CDL
After-switching gain
63.4%
Gain switching
Before-switching gain
Load to motor inertia ratio/load to motor
mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
CDT = 100 ms
4.00
→
10.00
→
4.00
→
10.00
120
3000
20
→
→
→
84
4000
50
→
→
→
120
3000
20
→
→
→
84
4000
50
17 - 55
17. APPLICATION OF FUNCTIONS
3) When the gain switching time constant is disabled
a) Switching time constant disabled was selected.
The gain switching time constant is disabled. The time constant is enabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse],
and [Pr. PB28 (CDT)] = 100 [ms].
Command pulses
Droop pulses
+100 pulses
0
-100 pulses
Droop pulses [pulse]
Switching time constant
disabled
Switching at 0 ms
After-switching gain
After-switching gain
63.4%
Before-switching gain
Gain switching
Switching at 0 ms
CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)
b) Return time constant disabled was selected.
The gain switching time constant is enabled. The time constant is disabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr.
PB28 (CDT)] = 100 [ms].
CDP (Gain switching)
OFF
ON
OFF
After-switching gain
Return time constant disabled
Switching at 0 ms
Gain switching
63.4%
Before-switching gain
CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)
17 - 56
17. APPLICATION OF FUNCTIONS
(7) Tough drive function
POINT
Set enable/disable of the tough drive function with [Pr. PX25 Tough drive
setting]. (Refer to (2) in this section.)
This function makes the equipment continue operating even under the condition that an alarm occurs.
The vibration tough drive function and instantaneous power failure tough drive function are available with
the J3 extension function.
(a) Vibration tough drive function
This function prevents vibration by resetting a filter instantaneously when machine resonance occurs
due to varied machine resonance frequency caused by machine aging.
To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in
advance.
Set [Pr. PB13] and [Pr. PB15] as follows.
1) One-touch tuning execution (Refer to (4) in this section.)
2) Manual setting (Refer to (2) in this section.)
The vibration tough drive function operates when a detected machine resonance frequency is within
±30% for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine
resonance suppression filter 2].
To set a detection level of the function, set sensitivity in [Pr. PX26 Vibration tough drive - Oscillation
detection level].
POINT
Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is
performed constantly. However, the number of write times to the EEPROM is
limited to once per hour.
The vibration tough drive function does not reset [Pr. PX17 Machine resonance
suppression filter 3], [Pr. PX19 Machine resonance suppression filter 4], and [Pr.
PX21 Machine resonance suppression filter 5].
The vibration tough drive function does not detect a vibration of 100 Hz or less.
17 - 57
17. APPLICATION OF FUNCTIONS
The following shows the function block diagram of the vibration tough drive function.
The function detects machine resonance frequency and compares it with [Pr. PB13] and [Pr. PB15], and
reset a machine resonance frequency of a parameter whose set value is closer.
Filter
Setting parameter
Machine resonance
suppression filter 1
PB01/PB13/PB14
Machine resonance
suppression filter 2
Machine resonance
suppression filter 3
Machine resonance
suppression filter 4
PB15/PB16
Machine resonance
suppression filter 5
PX21/PX22
PB13
PB15
PX19/PX20
Enabling the machine resonance
suppression filter 4 disables the shaft
resonance suppression filter.
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
Enabling the robust filter disables the
machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.
Vibration tough drive
[Pr. PB13]
Command +
filter
-
The filter can be set automatically with
"Filter tuning mode selection" in [Pr.
PB01].
PX17/PX18
Updates the parameter
whose setting is the
closest to the machine
resonance frequency.
Command
pulse train
Parameter that is
reset with vibration
tough drive function
Precaution
[Pr. PB15]
Machine
resonance
suppression
filter 1
[Pr. PX17]
Machine
resonance
suppression
filter 2
Machine
resonance
suppression
filter 3
Load
[Pr. PX21]
[Pr. PX19]
[Pr. PX20]
Machine
resonance
suppression
filter 4
[Pr. PX31]
Machine
resonance
suppression
filter 5
[Pr. PB17]
Encoder
PWM
Shaft
resonance
suppression
filter
Robust filter
M
Servo motor
[Pr. PX26 Vibration tough drive - Oscillation detection level]
Torque
CALM
(AND malfunction)
ON
WNG
(Warning)
ON
MTTR
(During tough drive)
ON
Detects the machine resonance and reconfigures the filter automatically.
OFF
5s
OFF
During tough drive (MTTR) is not turned on in the vibration tough drive function.
OFF
17 - 58
17. APPLICATION OF FUNCTIONS
(b) Instantaneous power failure tough drive function
The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an
instantaneous power failure occurs during operation. When the instantaneous power failure tough
drive activates, the function will increase the immunity to instantaneous power failures using the
electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of
[AL. 10 Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the control circuit power]
detection time for the control circuit power supply can be changed by [Pr. PX28 SEMI-F47 function Instantaneous power failure detection time]. In addition, [AL. 10.2 Voltage drop in the main circuit
power] detection level for the bus voltage is changed automatically.
POINT
MBR (Electromagnetic brake interlock) will not turn off during the instantaneous
power failure tough drive.
When the load of instantaneous power failure is large, [AL. 10.2] caused by the
bus voltage drop may occur regardless of the set value of [Pr. PX28 SEMI-F47
function - Instantaneous power failure detection time].
The MR-J4W2-0303B6 servo amplifier is not compatible with instantaneous
power failure tough drive.
The setting range of [Pr. PX28 SEMI-F47 function - Instantaneous power failure
detection time] differs depending on the software version of the servo amplifier
as follows.
Software version C0 or later: Setting range 30 ms to 200 ms
Software version C1 or earlier: Setting range 30 ms to 500 ms
To comply with SEMI-F47 standard, it is unnecessary to change the initial value
(200 ms).
However, when the instantaneous power failure time exceeds 200 ms, and the
instantaneous power failure voltage is less than 70% of the rated input voltage,
the power may be normally turned off even if a value larger than 200 ms is set in
the parameter.
17 - 59
17. APPLICATION OF FUNCTIONS
1) Instantaneous power failure time of control circuit power supply > [Pr. PX28 SEMI-F47 function Instantaneous power failure detection time]
The alarm occurs when the instantaneous power failure time of the control circuit power supply
exceeds [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time].
MTTR (During tough drive) turns on after the instantaneous power failure is detected.
MBR (Electromagnetic brake interlock) turns off when the alarm occurs.
Instantaneous power failure time of the control circuit power supply
Control circuit ON (energization)
power supply OFF (power failure)
[Pr. PX28]
Bus voltage
Undervoltage level
(158 V DC)
CALM
(AND malfunction)
ON
OFF
WNG
(Warning)
ON
OFF
MTTR
(During tough drive)
ON
OFF
MBR
(Electromagnetic
brake interlock)
ON
OFF
Base circuit
ON
OFF
17 - 60
17. APPLICATION OF FUNCTIONS
2) Instantaneous power failure time of control circuit power supply < [Pr. PX28 SEMI-F47 function Instantaneous power failure detection time]
Operation status differs depending on how bus voltage decrease.
a) When the bus voltage decreases lower than 158 V DC within the instantaneous power failure
time of the control circuit power supply
[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than 158 V DC regardless
of the enabled instantaneous power failure tough drive.
Instantaneous power failure time of the control circuit power supply
Control circuit ON (energization)
power supply OFF (power failure)
[Pr. PX28]
Bus voltage
Undervoltage level
(158 V DC)
CALM
(AND malfunction)
ON
OFF
WNG
(Warning)
ON
OFF
MTTR
(During tough drive)
ON
OFF
MBR
(Electromagnetic
brake interlock)
ON
OFF
Base circuit
ON
OFF
17 - 61
17. APPLICATION OF FUNCTIONS
b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power
failure time of the control circuit power supply
The operation continues without alarming.
Instantaneous power failure time of the
control circuit power supply
Control circuit ON (energization)
power supply OFF (power failure)
[Pr. PX28]
Bus voltage
Undervoltage level
(158 V DC)
CALM
(AND malfunction)
ON
OFF
WNG
(Warning)
ON
OFF
MTTR
(During tough drive)
ON
OFF
MBR
(Electromagnetic
brake interlock)
ON
OFF
Base circuit
ON
OFF
17 - 62
17. APPLICATION OF FUNCTIONS
(8) Compliance with SEMI-F47 standard
POINT
The control circuit power supply of the MR-J4W_-_B 200 W or more servo
amplifier can comply with SEMI-F47 standard. However, a back-up capacitor
may be necessary for instantaneous power failure in the main circuit power
supply depending on the power supply impedance and operating situation. Be
sure to check them by testing the entire equipment using actual machines.
Use a 3-phase for the input power supply of the servo amplifier. Using a 1phase 200 V AC for the input power supply will not comply with SEMI-F47
standard.
The MR-J4W2-0303B6 servo amplifier is not compatible with SEMI-F47
standard.
The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag
immunity test" of MR-J4 series.
This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the
capacitor in case that an instantaneous power failure occurs during operation.
(a) Parameter setting
Setting [Pr. PX25] and [Pr. PX28] as follows will enable SEMI-F47 function.
Parameter
Setting
value
PX25
_1__
PX28
200
Description
Enable SEMI-F47 function selection.
Set the time [ms] until the occurrence of [AL. 10.1 Voltage drop in the control
circuit power].
Enabling SEMI-F47 function will change operation as follows.
1) The voltage will drop in the control circuit power at "Rated voltage × 50% or less". After 200 ms,
[AL. 10.1 Voltage drop in the control circuit power] will occur.
2) [AL. 10.2 Voltage drop in the main circuit power] will occur with 158 V DC or less in bus voltage.
3) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control
circuit power] occurs.
(b) Requirement of SEMI-F47 standard
Table 17.8 shows the permissible time of instantaneous power failure for instantaneous power
failure of SEMI-F47 standard.
Table 17.8 Requirement of SEMI-F47 standard
Instantaneous power
failure voltage
Permissible time of
instantaneous power
failure [s]
Rated voltage × 80%
Rated voltage × 70%
Rated voltage × 50%
1
0.5
0.2
17 - 63
17. APPLICATION OF FUNCTIONS
(c) Calculation of tolerance against instantaneous power failure
Table 17.9 shows tolerance against instantaneous power failure when instantaneous power failure
voltage is "rated voltage × 50%" and instantaneous power failure time is 200 ms.
Table 17.9 Tolerance against instantaneous power failure (instantaneous power
failure voltage = rated voltage × 50%, instantaneous power failure time = 200 ms)
Servo amplifier
Instantaneous
maximum output [W]
Tolerance against
instantaneous power
failure [W]
(voltage drop
between lines)
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-222B
MR-J4W3-444B
1400 (700 × 2)
2800 (1400 × 2)
5250 (2625 × 2)
6000 (3000 × 2)
2100 (700 × 3)
4200 (1400 × 3)
790
1190
2300
2400
970
1700
Instantaneous maximum output means power which servo amplifier can output in maximum torque
at rated speed. You can examine margins to compare the values of following conditions and
instantaneous maximum output.
Even if driving at maximum torque with low speed in actual operation, the motor will not drive with
the maximum output. This can be handled as a margin.
The following shows the conditions of tolerance against instantaneous power failure.
1) Delta connection
For the 3-phase (L1/L2/L3) delta connection, an instantaneous power failure occurs in the voltage
between a pair of lines (e.g. between L1 and L2) among voltages between three pairs of lines
(between L1 and L2, L2 and L3, or L3 and L1).
2) Star connection
For the 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure
occurs in the voltage between a pair of lines (e.g. between L1 and N) among voltages at six
locations, between three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1) and
between one of the lines and the neutral point (between L1 and N, L2 and N, or L3 and N).
17 - 64
17. APPLICATION OF FUNCTIONS
17.2 Scale measurement function
The scale measurement function transmits position information of a scale measurement encoder to the
controller by connecting the scale measurement encoder in semi closed loop control.
POINT
The scale measurement function is available only with MR-J4W2-_B. It will not
be available with MR-J4W3-_B.
The scale measurement function is available for the servo amplifiers of software
version A8 or later.
When a linear encoder is used as a scale measurement encoder for this servo
amplifier, "Linear Encoder Instruction Manual" is necessary.
When the scale measurement function is used for MR-J4W2-_B servo
amplifiers, the following restrictions apply.
A/B/Z-phase differential output type encoder cannot be used.
The scale measurement encoder and servo motor encoder are compatible
with only the two-wire type. The four-wire type load-side encoder and servo
motor encoder cannot be used.
When you use the HG-KR and HG-MR series for driving and load-side
encoder, the optional four-wire type encoder cables (MR-EKCBL30M-L, MREKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used.
When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type
encoder cable according to app. 9.
The scale measurement function compatible servo amplifier can be used with
any of the following controllers.
Motion controller R_MTCPU/Q17_DSCPU
For settings and restrictions of controllers compatible with the scale
measurement function, refer to user's manuals for each controller.
The MR-J4W2-0303B6 servo amplifier is not compatible with the scale
measurement function.
17.2.1 Functions and configuration
(1) Function block diagram
The following shows a block diagram of the scale measurement function. The control will be performed
per servo motor encoder unit for the scale measurement function.
+
Controller
(Servo motor)
droop pulses
+
-
+
-
Servo motor
Servo motor feedback pulses
(load-side resolution unit)
S
Scale measurement encoder
(Servo motor)
cumulative
feedback pulses
Cumulative
load-side
feedback pulses
Encoder pulse setting
([Pr. PA15], [Pr. PA16],
and [Pr. PC03])
Load-side feedback pulses
Control
Monitor
17 - 65
17. APPLICATION OF FUNCTIONS
(2) System configuration
(a) For a linear encoder
Servo amplifier
SSCNET III/H controller
SSCNET III/H
Position command
Control signal
To the next servo amplifier
CN2A
Two-wire type serial interface compatible linear encoder
CN2B
Load-side encoder signal
Servo motor encoder signal
Linear encoder head
Servo motor
Table
(b) For a rotary encoder
Servo amplifier
SSCNET III/H controller
SSCNET III/H
Servo motor encoder signal
Position command
Control signal
CN2A
To the next
servo amplifier
Drive part
CN2B
(Note)
(Note)
Servo motor
Load-side encoder signal
Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.
17 - 66
Two-wire type rotary encoder
HG-KR, HG-MR servo motor
(4194304 pulses/rev)
17. APPLICATION OF FUNCTIONS
17.2.2 Scale measurement encoder
POINT
Always use the scale measurement encoder cable introduced in this section.
Using other products may cause a malfunction.
For details of the scale measurement encoder specifications, performance and
assurance, contact each encoder manufacturer.
(1) Linear encoder
Refer to "Linear Encoder Instruction Manual" for usable linear encoders.
To use the scale measurement function in the absolute position detection system ([Pr. PA22] = 1_ _ _),
an absolute position linear encoder is required. In this case, you do not need to install the encoder
battery to the servo amplifier for backing up the absolute position data of the load side. To use a servo
motor in the absolute position detection system ([Pr. PA03] = _ _ _1), the encoder battery must be
installed to the servo amplifier for backing up the absolute position data of the servo motor side.
(2) Rotary encoder
When a rotary encoder is used as a scale measurement encoder, use the following servo motor as the
encoder.
Servo motors used as encoders
HG-KR
HG-MR
MR-J4W2-_B
Use a two-wire type encoder cable. Do not use MR-EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40MH, or MR-EKCBL50M-H as they are four-wire type.
When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to
app. 9.
To use the scale measurement function in the absolute position detection system ([Pr. PA22] = 1_ _ _),
the encoder battery must be installed to the servo amplifier for backing up the absolute position data of
the load side. In this case, the battery life will be shorter because the power consumption is increased as
the power is supplied to the two encoders of motor side and load side.
17 - 67
17. APPLICATION OF FUNCTIONS
(3) Configuration diagram of encoder cable
Configuration diagram for servo amplifier and scale measurement encoder is shown below. Cables vary
depending on the scale measurement encoder.
(a) Linear encoder
Refer to "Linear Encoder Instruction Manual" for encoder cables for linear encoder.
MR-J4FCCBL03M branch cable
(Refer to section 16.2.4.)
Servo amplifier
CN2
MOTOR
CN2A
CN2B
Encoder of rotary servo motor
Linear encoder
SCALE
Scale
measurement
encoder
Encoder cable
(Refer to "Linear Encoder Instruction Manual".)
(b) Rotary encoder
Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders.
MR-J4FCCBL03M branch cable
(Refer to section 16.2.4.)
Servo amplifier
CN2
MOTOR
CN2A
CN2B
(Note)
Encoder of rotary servo motor
SCALE
Servo motor
HG-KR
HG-MR
(Note)
Encoder cable
(Refer to "Servo Motor Instruction Manual (Vol. 3)".)
Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.
17 - 68
Scale
measurement
encoder
17. APPLICATION OF FUNCTIONS
(4) MR-J4FCCBL03M branch cable
Use MR-J4FCCBL03M branch cable to connect the scale measurement encoder to CN2A or CN2B
connector.
When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder
Instruction Manual".
0.3 m
SD
P5
LG
2
LG
4
6
THM2
MRR
1
P5
3
MR
8
THM1
7
MX
(Note 2)
MOTOR
Plate SD
1
P5
2
LG
10
10
SEL
SEL
MXR
5
(Note 1)
CN2A/CN2B
Plate
1
2
9
BAT
View seen from the wiring side.
MR
MRR
THM1
THM2
MX
MXR
BAT
SEL
3
4
5
6
7
8
9
10
3
4
5
6
MR
MRR
THM1
THM2
8
6
THM2
4
2
LG
MRR
9
BAT
7
5
THM1
1
3 P5
MR
View seen from the wiring side.
9
10
BAT
SEL
(Note 2)
SCALE
Plate SD
1
P5
2
LG
10
SEL
8
6
4
2
LG
MXR
3
4
9
10
Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)
2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)
17 - 69
MX
MXR
BAT
SEL
9
BAT
7
5
1
3 P5
MX
View seen from the wiring side.
17. APPLICATION OF FUNCTIONS
17.2.3 How to use scale measurement function
(1) Selection of scale measurement function
The scale measurement function is set with the combination of basic setting parameters [Pr. PA01] and
[Pr. PA22].
(1) Operation mode selection
The scale measurement function can be used during semi closed loop system (standard control
mode). Set [Pr. PA01] to "_ _ 0 _".
[Pr. PA01]
1 0
0
Operation mode selection
Setting value
0
Operation mode
Semi closed loop system
(standard control mode)
Control unit
Servo motor-side
resolution unit
(b) Scale measurement function selection
Select the scale measurement function. Select "1 _ _ _" (Used in absolute position detection system)
or "2 _ _ _" (Used in incremental system) according to the encoder you use.
[Pr. PA22]
0 0 0
Scale measurement function selection
0: Disabled
1: Used in absolute position detection system
2: Used in incremental system
(2) Selection of scale measurement encoder polarity
Select a polarity of the scale measurement encoder with the following "Encoder pulse count polarity
selection" of [Pr. PC27] as necessary.
POINT
"Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14
Rotation direction selection]. Make sure to set the parameter according to the
relationships between servo motor and linear encoder/rotary encoder.
17 - 70
17. APPLICATION OF FUNCTIONS
(a) Parameter setting method
Selection of the encoder pulse count polarity
This parameter is used to set the load-side encoder polarity to be connected to CN2L connector in
order to match the CCW direction of servo motor and the increasing direction of load-side encoder
feedback. Set this as necessary.
[Pr. PC27]
0 0 0
Encoder pulse count polarity selection
0: Load-side encoder pulse increasing direction in the servo motor CCW
1: Load-side encoder pulse decreasing direction in the servo motor CCW
Servo motor
Servo motor CCW direction
Linear encoder
Address increasing direction of linear encoder
(b) How to confirm the scale measurement encoder feedback direction
You can confirm the directions of the cumulative feedback pulses of servo motor encoder and the
load-side cumulative feedback pulses are matched by moving the device (scale measurement
encoder) manually in the servo-off status. If mismatched, reverse the polarity.
(3) Confirmation of scale measurement encoder position data
Check the scale measurement encoder mounting and parameter settings for any problems.
Operate the device (scale measurement encoder) to check the data of the scale measurement encoder
is renewed correctly. If the data is not renewed correctly, check the wiring and parameter settings.
Change the scale polarity as necessary.
17 - 71
17. APPLICATION OF FUNCTIONS
MEMO
17 - 72
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18. MR-J4W2-0303B6 SERVO AMPLIFIER
The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
Refer to the section of the detailed explanation field for details.
Item
Detailed explanation
Parameter
Normal gain adjustment
Special adjustment functions
Troubleshooting
Absolute position detection system
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 12
18.1 Functions and configuration
18.1.1 Summary
MR-J4W2-0303B6 servo amplifier is MELSERVO-J4W_-B series 48 V DC and 24 V DC power compatible
ultra small capacity servo amplifier.
The MR-J4W_-B servo amplifier is connected to controllers, including a servo system controller, on the fast
synchronization network SSCNET III/H. The servo amplifier directly receives a command from a controller to
drive a servo motor.
As the same as MR-J4W_-B servo amplifier, this servo amplifier supports the one-touch tuning and the realtime auto tuning. This enables you to easily adjust the servo gain according to the machine.
On the SSCNET III/H network, the stations are connected with a maximum distance of 100 m between them.
This allows you to create a large system.
The following shows the difference between this amplifier and MR-J4W_-_B.
Category
Power supply
The number of drive
axes
Functional safety
Encoder
Regenerative option
Analog monitor output
Dynamic brake
Operation mode
Function
Item
Differences
MR-J4W_-_B
MR-J4W2-0303B6
Main circuit power
supply
200 V AC
48 V DC/24 V DC
Control circuit power
supply
Number of axes
200 V AC
24 V DC
2 axes/3 axes
2 axes
Compatible
4194304 pulses/rev
Compatible
262144 pulses/rev
STO function
Encoder resolution
Regenerative option
selection
Output voltage range
Stop system
Fully closed loop
control mode
Linear servo motor
control mode
DD motor control mode
SEMI-F47 function
Instantaneous power
failure tough drive
Scale measurement
function
Stop with dynamic
brake
Compatible
Related parameter
[Pr. PC05] ([Pr. Po04] in J3
compatibility mode)
[Pr. PA02]
10 V ± 5 V
Stop with electronic
dynamic brake
[Pr. PC09]/[Pr. PC10]
[Pr. PF06]/[Pr. PF12]
[Pr. PA01]
Compatible
Compatible
Compatible
Compatible
[Pr. PA20]/[Pr. PF25]/[Pr. PX23]
Compatible
[Pr. PA22]
18 - 1
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.1.2 Function block diagram
The function block diagram of this servo is shown below.
48 V DC main circuit
power supply
Servo amplifier
RA
A-axis servo motor
Inverter (A)
PM
CNP1
+
Built-in
regenerative
resistor
Current
detector
Regenerative
CHARGE TR
lamp
CNP1
Circuit
48 V DC protector
U1
U
V1
V
W1
W
M
E1
0
B1 Electromagnetic
24 V DC B
brake
B2
RA
24
Control
circuit
power
supply
+
CN2A
24 V DC
Encoder
24 V DC main circuit
power supply
Circuit
protector
B-axis servo motor
Inverter (B)
CNP1
Current
detector
U2
U
V2
V
W2
W
M
E2
B1 Electromagnetic
24 V DC B
brake
B2
RA
Overcurrent
(A)
Regenerative
brake
Control (A)
Model position
control (A)
Current
detection
(A)
Virtual
encoder
Overcurrent
(B)
Overvoltage
Control (B)
Model speed
control (A)
Model position
control (B)
Virtual
encoder
Model speed
control (B)
Virtual
motor
Actual position
control (A)
Actual speed
control (A)
I/F
Control
Virtual
motor
Current
control (A)
Actual position
control (B)
USB
CN1A
CN1B
Servo system
controller or
servo amplifier
Servo
amplifier
or cap
Current
detection
(B)
CN5
Personal
computer
USB
18 - 2
Actual speed
control (B)
Stepdown
circuit
MR-BAT6V1SET-A
Battery
(absolute position
detection system)
Current
control (B)
D/A
CN3
Analog monitor
(two channels)
Encoder
CN4
24 V DC
CN2B
Base amplifier
Digital
I/O control
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.1 3 Servo amplifier standard specifications
Model
MR-J4W2-0303B6
Rated output
Output
Main circuit
power supply
input
Rated voltage
Rated current
(each axis)
Voltage
Rated current
Permissible voltage
fluctuation
Power supply capacity
Inrush current
Voltage
Rated current
[A]
Control circuit Permissible voltage
power supply fluctuation
Power consumption [W]
Inrush current
[A]
Voltage
Interface
power supply Current capacity
[A]
Reusable regenerative
energy (Note 6)
[J]
Moment of inertia J of
Capacitor
rotary servo motor
regeneration equivalent to the
permissible charging
amount (Note 7)
-4
2
[×10 kg•m ]
Control method
Permissible regenerative power of servo
amplifier built-in regenerative resistor
[W]
Dynamic brake (Note 3)
SSCNET III/H command
communication cycle (Note 4)
Communication function
A/B-phase
Encoder output pulses
Z-phase
Analog monitor
Protective functions
Compliance
with global
standards
CE marking
UL standard
Structure (IP rating)
Close mounting
DIN rail mounting (width: 35 mm)
30 W (A axis) + 30 W (B axis)
3-phase 13 V AC
2.4 A
48 V DC/24 V DC (Note 1)
For 48 V DC: 2.4 A
For 24 V DC: 4.8 A
For 48 V DC: 40.8 V DC to 55.2 V DC
For 24 V DC: 21.6 V DC to 26.4 V DC
Refer to section 18.7.2.
Refer to section 18.7.4.
24 V DC
0.5 A
21.6 V DC to 26.4 V DC
10 W
Refer to section 18.7.4.
24 V DC ± 10%
0.25 (Note 2)
0.9
0.18
Sine-wave PWM control, current control method
1.3
Built-in (electronic dynamic brake)
0.222 ms, 0.444 ms, 0.888 ms
USB: connection to a personal computer or others (MR Configurator2-compatible)
Compatible
Not compatible
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, and error excessive protection
LVD: EN 61800-5-1/EN 60950-1
EMC: EN 61800-3
UL 508C (NMMS2)
Natural cooling, open (IP20)
Possible (Note 5)
Possible
18 - 3
18. MR-J4W2-0303B6 SERVO AMPLIFIER
Model
Environment
Mass
Operation
Ambient
temperature Storage
Operation
Ambient
humidity
Storage
Ambience
Altitude
Vibration resistance
[kg]
MR-J4W2-0303B6
0 ˚C to 55 ˚C (non-freezing)
-20 ˚C to 65 ˚C (non-freezing)
5 %RH to 90 %RH (non-condensing)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
1000 m or less above sea level
2
5.9 m/s , at 10 Hz to 55 Hz (directions of X, Y and Z axes)
0.3
Note 1. Initial value is the 48 V DC. For 24 V DC, set [Pr. PC05] to "_ 1 _ _". The characteristics of the servo motor vary depending on
whether 48 V DC or 24 V DC is used. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".
2. 0.25 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.
3. This is an electronic dynamic brake. This will not operate during control circuit power supply off. In addition, It may not operate
depending on the contents of alarms and warnings. Refer to chapter 8 for details.
4. The communication cycle depends on the controller specifications and the number of axes connected.
5. When closely mounting the servo amplifiers, operate them at the ambient temperatures of 45 ˚C or lower, or the total effective
load ratio of 45 w or lower for the two axes.
6. Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the permissible charging
amount, decelerates from the rated speed to stop.
7. This is moment of inertia when the motor decelerates from the rated speed to stop. This will be moment of inertia for two axes
when two motors decelerate simultaneously. And this will be moment of inertia for each axis when multiple motors do not
decelerate simultaneously.
18.1.4 Combinations of servo amplifiers and servo motors
Servo amplifier
Servo motor
MR-J4W2-0303B6
HG-AK0136
HG-AK0236
HG-AK0336
18 - 4
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.1.5 Function list
The following table lists the functions of MR-J4W2-0303B6 servo amplifier. For details of the functions, refer
to each section indicated in the detailed explanation field.
Function
Model adaptive control
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
Shaft resonance suppression
filter
Adaptive filter II
Low-pass filter
Machine analyzer function
Robust filter
Slight vibration suppression
control
Auto tuning
Regenerative option
Alarm history clear
Output signal selection
(device settings)
Output signal (DO) forced
output
Test operation mode
Analog monitor output
MR Configurator2
Linear servo system
Direct drive servo system
One-touch tuning
SEMI-F47 function
Description
This realizes a high response and stable control following the ideal model. The
two-degree-of-freedom-model model adaptive control enables you to set a
response to the command and response to the disturbance separately.
Additionally, this function can be disabled. Refer to section 7.5 for disabling this
function.
This servo amplifier is used as a position control servo.
This servo amplifier is used as a speed control servo.
This servo amplifier is used as a torque control servo.
High-resolution encoder of 262144 pluses/rev is used for the encoder of the rotary
servo motor compatible with the MR-J4W2-0303B6 servo amplifier.
Setting a home position once makes home position return unnecessary at every
power-on.
Using an input device or gain switching conditions (including the servo motor
speed) switches gains.
This function suppresses vibration at the arm end or residual vibration of the
machine.
This is a filter function (notch filter) which decreases the gain of the specific
frequency to suppress the resonance of the mechanical system.
When a load is mounted to the servo motor shaft, resonance by shaft torsion
during driving may generate a mechanical vibration at high frequency. The shaft
resonance suppression filter suppresses the vibration.
Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
increased.
Analyzes the frequency characteristic of the mechanical system by simply
connecting an MR Configurator2 installed personal computer and servo amplifier.
MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response level that
load to motor inertia ratio is high for such as roll send axes.
Suppresses vibration of ±1 pulse generated at a servo motor stop.
Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.
This is not available with MR-J4W2-0303B6 servo amplifier.
Alarm history is cleared.
The output devices including ALM (Malfunction) and INP (In-position) 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.
Servo status is outputted in terms of voltage in real time.
Using a personal computer, you can perform the parameter setting, test operation,
monitoring, and others.
This is not available with MR-J4W2-0303B6 servo amplifier.
This is not available with MR-J4W2-0303B6 servo amplifier.
One click on a certain button on MR Configurator2 adjusts the gains of the servo
amplifier.
MR Configurator2 is necessary for this function.
This is not available with MR-J4W2-0303B6 servo amplifier.
18 - 5
Detailed
explanation
Chapter 12
Section 7.2
Section 7.1.5
Section 7.1.1
Section 7.1.3
Section 7.1.2
Section 7.1.4
[Pr. PE41]
[Pr. PB24]
Chapter 6
[Pr. PC21]
[Pr. PD07] to [Pr.
PD09]
Section 4.5.1 (1)
(d)
Section 4.5
Section 5.2.3
Section 11.4
Section 6.2
18. MR-J4W2-0303B6 SERVO AMPLIFIER
Function
Tough drive function
Drive recorder function
STO function
Servo amplifier life diagnosis
function
Power monitoring function
Machine diagnosis function
Fully closed loop system
Scale measurement function
J3 compatibility mode
Continuous operation to
torque control mode
Description
This function makes the equipment continue operating even under the condition
that an alarm occurs.
MR-J4W2-0303B6 servo amplifier is compatible with vibration tough drive. This is
not compatible with instantaneous power failure tough drive.
This function continuously monitors the servo status and records the status
transition before and after an alarm for a fixed period of time. You can check the
recorded data on the drive recorder window on MR Configurator2 by clicking the
"Graph" button.
However, the drive recorder will not operate on the following conditions.
1. You are using the graph function of MR Configurator2.
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 is not available with MR-J4W2-0303B6 servo amplifier.
Cumulative operation time can be checked. This function get hold of the
replacement time for parts of the servo amplifier including a capacitor before it
malfunctions.
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. Since the servo amplifier sends data to
a servo system controller, you can analyze the data and display the data on a
display with the SSCNET III/H system.
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 MR-J4W2-0303B6 servo amplifier.
This is not available with MR-J4W2-0303B6 servo amplifier.
This amplifier has "J3 compatibility mode" which compatible with the previous MRJ3-B series. Refer to section 17.1 for software versions.
This enables to smoothly switch the mode from position control mode/speed
control mode to torque control mode without stopping. This also enables to
decrease load to the machine and high quality molding without rapid changes in
speed or torque. For details of the continuous operation to torque control mode,
refer to the manuals for servo system controllers.
18 - 6
Detailed
explanation
Section 7.3
[Pr. PA23]
Section 17.1
[Pr. PB03]
Manual of servo
system
controllers.
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.1.6 Model definition
(1) Rating plate
The following shows an example of rating plate for explanation of each item.
AC SERVO
SER.A4X001001
MR-J4W2-0303B6
POWER: 30W×2 (A, B)
INPUT: 0.5A DC24V, 4.8A DC24V/2.4A DC48V
OUTPUT: 3PH13V 0-360Hz 2.4A×2 (A, B)
STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175
Max. Surrounding Air Temp.: 55°C
IP20
MSIP-REI-MEK-TC300A997G51
TOKYO 100-8310, JAPAN
MADE IN JAPAN
Serial number
Model
Capacity
Applicable power supply
Rated output current
Standard, Manual number
Ambient temperature
IP rating
KC certification number
The year and month of manufacture
Country of origin
(2) Model
The following describes what each block of a model name indicates. Not all combinations of the symbols
are available.
Special specifications
Symbol
Special specifications
MR-J4W2-0303B6 with a special coating
-EB
specification (3C2) (Note)
Series
Number of axes
Symbol Number of axes
W2
2
Note. Type with a specially-coated servo amplifier
board (IEC 60721-3-3 Class 3C2). Refer to
app. 13.2 for details.
Rated output
Rated output [W]
Symbol
A-axis B-axis
0303
30
30
Main circuit power supply
Symbol
Main circuit power supply
6
48 V DC/24 V DC
SSCNETIII/H interface
18 - 7
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.1.7 Parts identification
No.
(1)
(3)
(7)
Detailed
explanation
(1)
Display
The 3-digit, 7-segment LED shows the servo status and the
alarm number.
Section
18.5
(2)
Axis selection rotary switch (SW1)
Set the axis No. of the servo amplifier.
Section
18.5
(6)
(2)
Name/Application
Control axis setting switch (SW2)
The test operation switch, the disabling control axis switch, and
the auxiliary axis number setting switch are available.
(8)
(14) Side
(10)
(11)
(4)
(5)
(12)
(13)
ON
(9)
1 2 3 4 5 6
(3)
1
2
3
4
5
6
Test operation select switch
Disabling control axis switch for A-axis
Disabling control axis switch for B-axis
For manufacturer setting
Auxiliary axis number setting switch
Auxiliary axis number setting switch
Section
18.5
(4)
Control circuit power voltage error lamp (24 V ERROR)
When a voltage of the control circuit power voltage (24 V DC) is
out of permissible range, this will light in yellow.
(5)
Charge lamp (CHARGE)
When the main circuit is charged, this will light up. While this
lamp is lit, do not reconnect the cables.
(6)
USB communication connector (CN5)
Connect the personal computer.
Section
11.4
I/O signal connector (CN3)
Used to connect digital I/O signals.
Section
18.3.5
Section
18.3.6
(7)
(8)
SSCNET III cable connector (CN1A)
Used to connect the servo system controller or the previous axis
servo amplifier.
(9)
SSCNET III cable connector (CN1B)
Used to connect the next axis servo amplifier. For the final axis,
put a cap.
(10)
A-axis encoder connector (CN2A)
Used to connect the A-axis servo motor encoder.
(11)
B-axis encoder connector (CN2B)
Used to connect the B-axis servo motor encoder.
(12)
(13)
14 or
less
Section
18.4.3
Section
18.3.5
Section
18.3.6
Section
18.3.1
Section
18.3.2
Power and servo motor power output connector (CNP1)
Used to connect input power and servo motor power output line.
Section
18.3.1
Section
18.3.2
Battery connector (CN4)
Used to connect the battery for absolute position data backup.
Section
11.3
Chapter
12
Rating plate
18 - 8
Section
18.1.6 (1)
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.1.8 Configuration including peripheral equipment
CAUTION
Wrong wiring to CNP1 connector or connecting an encoder of wrong axis to
CN2A and CN2B may cause a malfunction.
POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.
MR Configurator2
Personal
computer
CN5
48 V DC main circuit power supply
48 V DC
power supply
+
-
CN3
24 V DC
power supply
-
I/O signal
+
CN1A
Servo system controller or
previous servo amplifier
CN1B
CN1B
Next servo amplifier CN1A or
cap
Circuit
protector
CN2A
24
0
PM
Relay
24 V DC main circuit power supply
CNP1
(Note)
CN2B
CNP1
CNP1
A-axis servo motor
CN4
24 V DC
power supply
-
+
B-axis servo motor
Circuit
protector
PM 0
MR-BAT6V1SET-A
24
Note. Refer to section 18.3.2 for details.
18 - 9
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.2 Installation
WARNING
To prevent electric shock, ground equipment securely.
CAUTION
Stacking in excess of the specified number of product packages is not allowed.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
Install the servo amplifier and the servo motor in a load-bearing place in
accordance with the Instruction Manual.
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 18.1.3.
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it
may cause a malfunction.
Do not drop or strike the servo amplifier. Isolate it from all impact loads.
Do not install or operate the servo amplifier which has been damaged or has any
parts missing.
When the equipment has been stored for an extended period of time, contact your
local sales office.
When handling the servo amplifier, be careful about the edged parts such as
corners of the servo amplifier.
The servo amplifier must be installed in a metal cabinet.
The equipment must be installed in the specified direction. Otherwise, it may
cause a malfunction.
Leave specified clearances between the servo amplifier and the cabinet walls or
other equipment. Otherwise, it may cause a malfunction.
When fumigants that contain halogen materials, such as fluorine, chlorine,
bromine, and iodine, are used for disinfecting and protecting wooden packaging
from insects, they cause malfunction when entering our products. Please take
necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation, such
as heat treatment. Additionally, disinfect and protect wood from insects before
packing the products.
The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
Refer to the section of the detailed explanation field for details.
Item
Keep out foreign materials
Encoder cable stress
SSCNET III cable laying
Inspection items
Parts having service life
18 - 10
Detailed explanation
Section 2.2
Section 2.3
Section 2.4
Section 2.5
Section 2.6
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.2.1 Installation direction and clearances
When using heat generating equipment, install them with full consideration of heat generation so that the
servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
(1) Installation of one servo amplifier
Cabinet
40 mm
or more
Cabinet
Wiring allowance
Servo amplifier 80 mm or more
Top
10 mm
or more
10 mm
or more
Bottom
40 mm
or more
18 - 11
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(2) Installation of two or more servo amplifiers
POINT
You can install MR-J4W2-0303B6 servo amplifiers without clearances between
them. When closely mounting the servo amplifiers, operate them at the ambient
temperatures of 45 ˚C or lower, or the total effective load ratio of 45 w or lower
for the two axes.
Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling
fan to prevent the internal temperature of the cabinet from exceeding the environmental conditions.
When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo
amplifiers in consideration of mounting tolerances.
Cabinet
5 mm
or more
Cabinet
100 mm
or more
1 mm
100 mm or more
1 mm
Top
30 mm
or more
30 mm
or more
30 mm
or more
Bottom
40 mm or more
40 mm or more
Leaving clearance
Mounting closely
18 - 12
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.2.2 Installation by DIN rail
To mount the servo amplifier to DIN rail, pull down the tab of hook. The hook may
come off when the tab is pushed down from the back side of the servo amplifier.
CAUTION
The following explains mounting and removing procedure of servo amplifier using DIN rail.
Mounting servo amplifier to DIN rail
Wall
Upper tab
DIN rail
Hook
1) Pull down the hook.
2) Hang the upper tab on the back of the servo amplifier
to the upper tab of DIN rail, and push toward to the
wall.
Wall
Upper tab
DIN rail
Hook
3) Push up the hook, and fix the servo amplifier.
18 - 13
18. MR-J4W2-0303B6 SERVO AMPLIFIER
Removing servo amplifier from DIN rail
Wall
Wall
Upper tab
Upper tab
DIN rail
DIN rail
Hook
1) Pull down the hook.
2) Pull the servo amplifier forward.
Wall
Upper tab
DIN rail
3) Lift up and remove the servo amplifier.
18 - 14
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.3 Signals and wiring
WARNING
A person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and check to see if the charge lamp turned off.
Otherwise, an electric shock may occur. In addition, when confirming whether the
charge lamp is off or not, always confirm it from the front of the servo amplifier.
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.
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
DOCOM
24 V DC
Control output
signal
RA
For sink output interface
CAUTION
Servo amplifier
DOCOM
24 V DC
Control output
signal
RA
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 (optional FR-BIF)
with the power line of the servo motor.
Do not modify the equipment.
Connect the servo amplifier power output (U/V/W) to the servo motor power input
(U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may
cause a malfunction.
Servo amplifier
U
V
W
U
Servo motor
V
W
Servo amplifier
U
M
V
W
U
V
Servo motor
M
W
Connecting a linear servo motor of the wrong axis to the CNP1 connector may
cause a malfunction.
18 - 15
18. MR-J4W2-0303B6 SERVO AMPLIFIER
The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
Refer to the section of the detailed explanation field for details.
Item
Forced stop deceleration function
SSCNET III cable connection
Servo motor with an electromagnetic brake
Detailed explanation
Section 3.6
Section 3.9
Section 3.10
18.3.1 Input power supply circuit
CAUTION
Connect a circuit protector between the power supply and power supply voltage
input terminals (24/PM) of the servo amplifier, in order to configure a circuit that
shuts down the power supply on the side of the servo amplifier’s power supply. If
a circuit protector is not connected, continuous flow of a large current may cause
a fire when the servo amplifier malfunctions.
When alarms are occurring in both axes of A and B, shut off the main circuit
power supply. Not doing so may cause a fire when a regenerative transistor
malfunctions or the like may overheat the built-in regenerative resistor.
Check the servo amplifier model, and then input proper voltage to the servo
amplifier power supply. If input voltage exceeds the upper limit of the
specification, the servo amplifier will break down.
Connecting a servo motor of the wrong axis to the CNP1 connector may cause a
malfunction.
POINT
Even if alarm has occurred, do not switch off the control circuit power supply.
When the control circuit power supply has been switched off, optical module
does not operate, and optical transmission of SSCNET III/H communication is
interrupted. Therefore, the next axis servo amplifier displays "AA" at the
indicator and turns into base circuit shut-off. The servo motor stops with starting
dynamic brake.
EM2 has the same function as EM1 in the torque control mode.
Configure the wiring so that the main circuit power supply is shut off and the servo-on command turned off
after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or an enabled controller
forced stop.
18 - 16
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(Note 3)
AND malfunction
RA1
48 V DC main circuit
power supply
Circuit
24 V DC protector
(Note 1) (Note 9)
RA2
Off
On
RA2
Emergency stop switch
24 V DC
RA2
Servo amplifier
CNP1
24
CNP1
U1
0
PM
48 V DC
(Note 1)
(Note 6)
A-axis servo motor
(Note 5)
U
V1
V
W1
E1
W
CN2A
(Note 2)
Encoder
cable
24 V DC main circuit
power supply
24 V DC Circuit
(Note 1) protector
(Note 9)
Encoder
(Note 7)
Main circuit
power supply
(Note 5)
U
V2
V
W2
E2
W
CN2B
(Note 4)
M
B-axis servo motor
CNP1
U2
Forced stop 2
Motor
(Note 2)
Encoder
cable
Motor
M
Encoder
CN3
EM2
CN3
DICOM
DOCOM
24 V DC (Note 8)
CALM
24 V DC (Note 8)
RA1
AND malfunction
(Note 3)
(Note 4)
Note 1. Use reinforced insulating type for 24 V DC and 48 V DC power supply.
2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
3. This circuit is an example of stopping all axes when an alarm occurs. If disabling CALM (AND malfunction) output with the
parameter, configure the circuit which switches off the main circuit power supply after detection of alarm occurrence on the
controller side.
4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
5. For connecting servo motor power output lines, refer to "Servo Motor Instruction Manual (Vol. 3)". Connecting a wrong axis
may cause a malfunction.
6. The noiseless grounding terminals
of E1 and E2 are connected in the servo amplifier. Be sure to ground from the noiseless
grounding terminal of CNP1 to the grounding terminal
of the cabinet.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
For 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.
9. Circuit protectors are required for protection of power supplies, wires, servo amplifiers and others. When not using a circuit
protector, configure an external protective circuit such as a power supply with protection function.
18 - 17
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.3.2 Explanation of power supply system
(1) Pin assignment
Servo amplifier
CNP1
6
24
5
PM
11
4
U1 W1
10
3
V1 E1
9
2
U2 W2
8
1
V2 E2
7
0
12
(2) Detailed explanation
Symbol
Connection target
(application)
24
PM
Description
Used to connect + of the control circuit power supply (24 V DC).
Used to connect + of the main circuit power supply (48 V DC/24 V DC).
Set [Pr. PC05] according to the specification of main circuit power supply.
Control circuit/main
circuit power supply
Parameter
Main circuit power supply
48 V DC
24 V DC
0
Noiseless grounding
U1/V1/W1/E1
A-axis servo motor
power output
U2/V2/W2/E2
B-axis servo motor
power output
[Pr. PC05 function selection C-2]
setting value
_ 0 _ _ (initial value)
_1__
Switch off - of the control circuit power supply and main circuit power supply.
Connect to the grounding terminal of the cabinet to ground.
Connect the servo amplifier power output (U1/V1/W1/E1) to the servo motor power input
(U/V/W/ ) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a
malfunction.
Connect the servo amplifier power output (U2/V2/W2/E2) to the servo motor power input
(U/V/W/ ) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a
malfunction.
18 - 18
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(3) Wiring CNP1
POINT
For the wire sizes used for wiring, refer to section 18.8.3.
(a) Connector
MR-J4W2-0303B6
servo amplifier
CNP1
Table 18.1 Connector and applicable wire
Connector
CNP1
Receptacle assembly
Applicable wire
size
Stripped length
[mm]
Manufacturer
DFMC 1,5/ 6-ST-3,5-LR
or equivalent
AWG 24 to 16
10
Phoenix Contact
18 - 19
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(b) Cable connection procedure
1) Fabrication on cable insulator
Refer to table 18.1 for stripped length of cable insulator. The appropriate stripped length of cables
depends on their type, etc. Set the length considering their fabrication status.
Insulator
Core
Stripped length 10 mm
Twist strands lightly and straighten them as follows.
Loose and bent strands
Twist and straighten
the strands.
You can also use a ferrule to connect with the connectors. When you use a ferrule, use the
following ferrules and crimp terminal.
Wire size
Ferrule model (Phoenix Contact)
For one
AWG 20
AI0.25-10YE
AWG 18
AI0.34-10TQ
AWG 18
AI0.5-10WH
AWG 16
AI0.75-10GY
For two
Crimping tool
(Phoenix Contact)
CRIMPFOX6
2) Inserting wire
When using solid wire, insert the wire to the end. When using stranded wire, insert the wire to the
end with pushing down the release button with a small flat head screwdriver, etc.
The following show a connection example when using stranded wire to the CNP 1 connector.
Release button
Stranded wire
18 - 20
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(c) Mounting connector
1) Mounting
Fit the CNP1 connector when the servo amplifier is fixed. While pushing the connector, make
sure that the connector is locked to the top and bottom of the socket. After that, check that the
connector cannot be pulled out.
Lock hook
Locked
Refer to the following example for a status of lock.
Locked
Locked
Unlocked
Good example
(Both are locked.)
Bad example
(Bottom is not locked.)
2) Disconnection
Pull out the CNP1 connector after unlocking the top and bottom of the connector.
18 - 21
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.3.3 Selection of main circuit power supply/control circuit power supply
The inrush current at power on will be large because a resistance for protecting inrush current is not built-in
in the main circuit power supply of the servo amplifier. The electric capacity of the main circuit capacitor is
approximately 630 μ F. When the load characteristic (overcurrent protection criteria) of the power unit is
current fold back method, the power cannot be started. Be careful when selecting a power. Especially when
the power is turned ON/OFF on the power unit output side, approximately 100 μs to 300 μs instantaneous
current will flowed at power on due to capacitor charge. Therefore, a power unit such as one which operates
overcurrent at 1 ms or less cannot be used.
A circuit to protect inrush current at power on is built-in in the control circuit power supply of servo amplifier.
In addition, when using main circuit power supply and control circuit power supply, use a reinforced
insulating type.
18.3.4 Power-on sequence
POINT
The voltage of analog monitor output, output signal, etc. may be unstable at
power-on.
(1) Power-on procedure
1) When wiring the power supply, use a circuit protector for the power supply (24/PM). Configure up
an external sequence so that the relay connected to PM turns off when an alarm occurs in both
axes of A and B.
2) Switch on the control circuit power supply (24/0) simultaneously with the main circuit power
supply (PM/0) or before switching on the main circuit power supply. If the control circuit power
supply is turned on with the main circuit power supply off, and then the servo-on command is
transmitted, [AL. E9 Main circuit off warning] will occur. Turning on the main circuit power supply
stops the warning and starts the normal operation.
3) The servo amplifier receives the servo-on command within 4 s after the main circuit power supply
is switched on.
(Refer to (2) in this section.)
(2) Timing chart
Servo-on command accepted
(4 s)
ON
Main circuit
Control circuit power supply OFF
Base circuit
ON
OFF
Servo-on command
(from controller)
ON
OFF
95 ms
18 - 22
10 ms
95 ms
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.3.5 I/O Signal Connection Example
POINT
EM2 has the same function as EM1 in the torque control mode.
(1) For sink I/O interface
10 m or less
10 m or less
(Note 15)
Main circuit
power supply
Servo amplifier
CN3
26
(Note 10)
24 V DC
DICOM
(Note 3, 4) Forced stop 2
A-axis FLS
A-axis RLS
A-axis DOG
(Note 14)
B-axis FLS
B-axis RLS
B-axis DOG
Servo system
controller
DI2-A
DI3-A
DI1-B
DI2-B
DI3-B
Personal
computer
DOCOM
(Note 2)
11 CALM
RA1
12
MBR-A
RA2
25
MBR-B
RA3
AND malfunction (Note 11)
Electromagnetic brake
interlock for A-axis
Electromagnetic brake
interlock for B-axis
(Note 13)
13
24
(Note 12)
3 LA-A
16 LAR-A
4 LB-A
17 LBR-A
5 LA-B
18 LAR-B
6
LB-B
19 LBR-B
2
1
15
14
Plate
(Note 6)
SSCNET III cable
(option)
(Note 5)
MR Configurator2
+
EM2
DI1-A
CN3
23
10
7
8
9
20
21
22
(Note 10)
24 V DC
Encoder A-phase pulse A-axis
(differential line driver)
Encoder B-phase pulse A-axis
(differential line driver)
Encoder A-phase pulse B-axis
(differential line driver)
Encoder B-phase pulse B-axis
(differential line driver)
MO1
LG
MO2
LG
SD
10 V DC ± 5 V Analog monitor 1
10 V DC ± 5 V Analog monitor 2
Servo amplifier
(Note 7)
CN1A
CN1A CN1B
CN1B
USB cable
MR-J3USBCBL3M
(option)
CN5
CNP1 (Note 1)
11
The last servo amplifier (Note 8)
(Note 7)
CN1A
(Note 9)
Cap
18 - 23
(Note 6)
SSCNET III cable
(option)
CN1B
18. MR-J4W2-0303B6 SERVO AMPLIFIER
Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal (
grounding terminal of the cabinet.
marked) of the servo amplifier to the
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-_. (Refer to section 11.4.)
6. Use SSCNET III cables listed in the following table.
Cable
Standard cord inside
cabinet
Standard cable
outside cabinet
Long-distance cable
Cable model
Cable length
MR-J3BUS_M
0.15 m to 3 m
MR-J3BUS_M-A
5 m to 20 m
MR-J3BUS_M-B
30 m to 50 m
7. The wiring after the second servo amplifier is omitted.
8. Up to 64 axes of servo amplifiers can be connected. The number of connectable axes depends on the controller you use.
Refer to section 18.5 for setting of axis selection.
9. Make sure to cap the unused CN1B connector.
10. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 250 mA.
250 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number
of I/O points. Refer to section 3.8.2 (1) that gives the current value necessary for the interface. 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. The
24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.
11. CALM (AND malfunction) turns on in normal alarm-free condition. (Normally closed contact)
12. In the initial setting, CINP (AND in-position) is assigned to the pin. You can change devices of the pin with [Pr. PD08].
13. You can change devices of these pins with [Pr. PD07] and [Pr. PD09].
14. Devices can be assigned for these signals with controller setting. For devices that can be assigned, refer to the controller
instruction manual. The following devices can be assigned for R_MTCPU, Q17_DSCPU, RD77MS_, QD77MS_, and
LD77MS_.
15. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
18 - 24
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(2) For source I/O interface
POINT
For notes, refer to (1) in this section.
10 m or less
10 m or less
(Note 15)
Main circuit
power supply
Servo amplifier
26
(Note 10)
24 V DC
DICOM
(Note 3, 4) Forced stop 2
A-axis FLS
A-axis RLS
A-axis DOG
(Note 14)
B-axis FLS
B-axis RLS
B-axis DOG
Servo system
controller
+
EM2
DI1-A
DI2-A
DI3-A
DI1-B
DI2-B
DI3-B
Personal
computer
CN3
23
10
7
8
9
20
21
22
DOCOM
(Note 2)
11 CALM
RA1
12
MBR-A
RA2
25
MBR-B
RA3
AND malfunction (Note 11)
Electromagnetic brake
interlock for A-axis
Electromagnetic brake
interlock for B-axis
(Note 13)
13
24
(Note 12)
3 LA-A
16 LAR-A
4 LB-A
17 LBR-A
5 LA-B
18 LAR-B
6
LB-B
19 LBR-B
2
1
15
14
Plate
(Note 6)
SSCNET III cable
(option)
(Note 5)
MR Configurator2
(Note 10)
24 V DC
CN3
Encoder A-phase pulse A-axis
(differential line driver)
Encoder B-phase pulse A-axis
(differential line driver)
Encoder A-phase pulse B-axis
(differential line driver)
Encoder B-phase pulse B-axis
(differential line driver)
MO1
LG
MO2
LG
SD
10 V DC ± 5 V Analog monitor 1
10 V DC ± 5 V Analog monitor 2
Servo amplifier
(Note 7)
CN1A
CN1A CN1B
CN1B
USB cable
MR-J3USBCBL3M
(option)
CN5
CNP1 (Note 1)
11
The last servo amplifier (Note 8)
(Note 7)
CN1A
(Note 9)
Cap
18 - 25
(Note 6)
SSCNET III cable
(option)
CN1B
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.3.6 Connectors and pin assignment
POINT
The pin assignment of the connectors is as viewed from the cable connector
wiring section.
For the CN3 connector, securely connect the external conductor of the shielded
cable to the ground plate and fix it to the connector shell.
Screw
Cable
Screw
Ground plate
CN3
1
2
CN2A
5B 5A
MO1
BAT SHD
4B 4A
LG P5
3B 3A
LB-A
2B 2A
6
1B 1A
MRR MR
LB-B
4
8
CN2B
5B 5A
DI2-A
BAT SHD
10
4B 4A
LG P5
3B 3A
EM2
2B 2A
12
1B 1A
MBR-A
MRR MR
LG
3
LA-A
5
LA-B
7
DI1-A
9
DI3-A
11
CALM
13
14
15
MO2
17
LBR-A
19
LBR-B
21
DI2-B
23
DICOM
25
MBR-B
LG
16
LAR-A
18
LAR-B
20
DI1-B
22
DI3-B
24
CINP
26
DOCOM
18 - 26
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.3.7 Signal (device) explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2 and section 18.3.9
(2).
The pin numbers in the connector pin No. column are those in the initial status.
(1) Input device
Device
Forced stop 2
Forced stop 1
Symbol
Connector
pin No.
EM2
EM1
DI1-A
CN3-10
(CN3-10)
CN3-7
DI2-A
CN3-8
DI-1
DI3-A
CN3-9
DI-1
DI1-B
CN3-20
DI-1
DI2-B
CN3-21
DI-1
DI3-B
CN3-22
DI-1
I/O
division
Function and application
For details of device, refer to section 3.5.1.
DI-1
DI-1
DI-1
(2) Output device
(a) Output device pin
The following shows the output device pins and parameters for assigning devices.
Parameter
Connector pin No.
CN3-12
CN3-25
CN3-11
CN3-24
A-axis
B-axis
[Pr. PD07]
[Pr. PD07]
[Pr. PD09]
[Pr. PD08]
[Pr. PD09]
[Pr. PD08]
Initial device
MBR-A
MBR-B
CALM
CINP
I/O division
Remark
DO-1
For A-axis
For B-axis
Common pin
Common pin
(b) Output device explanations
POINT
Initial letter and last letter with hyphen in device symbols mean target axis. Refer
to the following table.
Symbol
(Note)
Target axis
C___
A axis/B axis
X___
A axis/B axis
_ _ _ -A
A axis
Device for A axis
_ _ _ -B
B axis
Device for B axis
Description
When both axes of A and B meet a condition, the device will
be enabled (on or off).
When each axis of A or B meets a condition, the device will
be enabled (on or off).
Note. _ _ _ differs depending on devices.
18 - 27
18. MR-J4W2-0303B6 SERVO AMPLIFIER
Device
Symbol
Function and application
AND electromagnetic
For details of device, refer to section 3.5.2.
CMBR
brake interlock
OR electromagnetic
XMBR
brake interlock
Electromagnetic
brake interlock for AMBR-A
axis
Electromagnetic
brake interlock for BMBR-B
axis
AND malfunction
CALM
OR malfunction
XALM
Malfunction for A-axis
ALM-A
Malfunction for B-axis
ALM-B
AND in-position
CINP
OR in-position
XINP
In-position for A-axis
INP-A
In-position for B-axis
INP-B
AND ready
CRD
OR ready
XRD
Common ready for ARD-A
axis
Common ready for BRD-B
axis
AND speed reached
CSA
OR speed reached
XSA
Speed reached for ASA-A
axis
Speed reached for BSA-B
axis
AND limiting speed
CVLC
OR limiting speed
XVLC
Limiting speed for AVLC-A
axis
Limiting speed for BVLC-B
axis
AND zero speed
CZSP
detection
OR zero speed
XZSP
detection
Zero speed detection
ZSP-A
for A-axis
Zero speed detection
ZSP-B
for B-axis
AND limiting torque
CTLC
OR limiting torque
XTLC
Limiting torque for ATLC-A
axis
Limiting torque for BTLC-B
axis
AND warning
CWNG
OR warning
XWNG
Warning for A-axis
WNG-A
Warning for B-axis
WNG-B
AND battery warning
CBWNG
OR battery warning
XBWNG
Battery warning for A- BWNG-A
axis
Battery warning for B- BWNG-B
axis
18 - 28
18. MR-J4W2-0303B6 SERVO AMPLIFIER
Device
Symbol
AND variable gain
selection
OR variable gain
selection
Variable gain
selection for A-axis
Variable gain
selection for B-axis
AND absolute position
undetermined
OR absolute position
undetermined
Absolute position
undetermined for Aaxis
Absolute position
undetermined for Baxis
CCDPS
Function and application
For details of device, refer to section 3.5.2.
XCDPS
CDPS-A
CDPS-B
CABSV
XABSV
ABSV-A
ABSV-B
(3) Output signal
Signal name
Symbol
Connector
Pin No.
Encoder A-phase
pulse A
(differential line driver)
Encoder B-phase
pulse A
(differential line driver)
Encoder A-phase
pulse B
(differential line driver)
Encoder B-phase
pulse B
(differential line driver)
LA-A
LAR-A
CN3-3
CN3-16
LB-A
LBR-A
CN3-4
CN3-17
LA-B
LAR-B
CN3-5
CN3-18
LB-B
LBR-B
CN3-6
CN3-19
Symbol
Connector
Pin No.
Digital I/F
Power supply input
DICOM
CN3-23
Digital I/F
Common
DOCOM
CN3-26
Control common
LG
Shield
SD
CN3-1
CN3-14
Plate
Function and application
Refer to section 3.5.3 for details of signal.
(4) Power supply
Signal name
Function and application
Input 24 V DC (24 V DC ± 10% 250 mA) for I/O interface. The power supply capacity
changes depending on the number of I/O interface points to be used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of the 24 V DC external power supply.
Common terminal of input signal such as EM2 of the servo amplifier. This is separated
from LG.
For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of the 24 V DC external power supply.
This is for encoder output pulses (differential line driver).
Connect the external conductor of the shielded wire.
18 - 29
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(5) Analog monitor output
Symbol
Connector
pin No.
Analog monitor 1
MO1
CN3-2
Analog monitor 2
MO2
CN3-15
Signal name
I/O
division
Function and application
This is used to output the data set in [Pr. PC09] to between MO1 and LG in
terms of voltage.
Output voltage: 10 V ± 5 V
Resolution: 10 bits or equivalent
This signal outputs the data set in [Pr. PC10] to between MO2 and LG in
terms of voltage.
Output voltage: 10 V ± 5 V
Resolution: 10 bits or equivalent
Analog
output
Analog
output
(6) Analog monitor
POINT
A voltage of analog monitor output may be irregular at power-on.
The servo status can be outputted to two channels in terms of voltage.
(a) Setting
Change the following digits of [Pr. PC09] and [Pr. PC10].
[Pr. PC09]
0
Analog monitor 1 output selection
(the signal provided to the output across MO1 and LG)
Analog monitor 1 output axis selection
0: A-axis
1: B-axis
[Pr. PC10]
0
Analog monitor 2 output selection
(the signal provided to the output across MO2 and LG)
Analog monitor 2 output axis selection
0: A-axis
1: B-axis
[Pr. PC11] and [Pr. PC12] can be used to set the offset voltages to the analog output voltages.
Setting value is -9999 mV to 9999 mV.
Parameter
Description
PC11
Set the offset voltage of MO1 (Analog monitor 1).
PC12
Set the offset voltage of MO2 (Analog monitor 2).
18 - 30
Setting range [mV]
-9999 to 9999
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(b) Set content
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 (6) (c) in this section for detection point.
Setting
value
00
Output item
Setting
Description
Servo motor speed
(10 V ± 4 V/max.
speed)
value
CCW direction
14 [V]
01
10 [V]
Output item
Description
Torque
(10 V ± 4 V/max.
torque)
14 [V]
10 [V]
Power running in
CW direction
CW direction
6 [V]
6 [V]
Maximum speed 0 Maximum speed
02
Servo motor speed
(10 V + 4 V/max.
speed)
Maximum torque 0 Maximum torque
03
CW direction 14 [V]
CCW direction
Torque
(10 V + 4 V/max.
torque)
Power running in
CW direction
14 [V]
Power running in
CCW direction
10 [V]
10 [V]
Maximum speed 0 Maximum speed
04
Current command
(Note 4)
(10 V ± 4 V/max.
current command)
CCW direction
14 [V]
Maximum torque 0 Maximum torque
05
10 [V]
Speed command
(Note 2)
(10 V ± 4 V/max.
speed)
CW direction
10 [V]
CW direction
Maximum current command
(Maximum torque command)
Servo motor-side
droop pulses (Note 1,
2, 3)
(10 V ± 5 V/100
pulses)
0
6 [V]
Maximum current command
(Maximum torque command)
CCW direction
15 [V]
Maximum speed 0 Maximum speed
07
10 [V]
CW direction
Servo motor-side
droop pulses (Note 1,
2, 3)
(10 V ± 5 V/1000
pulses)
100 [pulse]
Servo motor-side
droop pulses (Note 1,
2, 3)
(10 V ± 5 V/10000
pulses)
0
10 [V]
CW direction
5 [V]
100 [pulse]
CCW direction
15 [V]
1000 [pulse]
09
10 [V]
CW direction
Servo motor-side
droop pulses (Note 1,
2, 3)
(10 V ± 5 V/100000
pulses)
0
10000 [pulse]
Feedback position
(10 V ± 5 V/1 Mpulse)
0
10 [V]
CW direction
CCW direction
100000 [pulse]
0B
10 [V]
CW direction
Feedback position
(10 V ± 5 V/10
Mpulses)
0
100000 [pulse]
CCW direction
15 [V]
10 [V]
CW direction
5 [V]
1 [Mpulse]
CCW direction
5 [V]
10000 [pulse]
15 [V]
1000 [pulse]
15 [V]
5 [V]
0A
CCW direction
15 [V]
5 [V]
08
CCW direction
14 [V]
6 [V]
06
Power running in
CCW direction
0
5 [V]
1 [Mpulse]
18 - 31
10 [Mpulse]
0
10 [Mpulse]
18. MR-J4W2-0303B6 SERVO AMPLIFIER
Setting
value
0C
Output item
Setting
Description
Feedback position
(10 V ± 5 V/100
Mpulses)
value
CCW direction
15 [V]
0D
Output item
Bus voltage
(10 V + 5 V/100 V)
10 [V]
Description
15 [V]
10 [V]
CW direction
5 [V]
100 [Mpulse]
0E
Speed command 2
(Note 2)
(10 V ± 4 V/ max.
speed)
0
0
100 [Mpulse]
CCW direction
14 [V]
17
10 [V]
CW direction
Internal temperature of
encoder
(10 V ± 5 V/±128 °C)
100 [V]
CCW direction
15 [V]
10 [V]
CW direction
6 [V]
5 [V]
Maximum speed 0 Maximum speed
-128 [°C]
0
128 [°C]
Note 1. Encoder pulse unit
2. This cannot be used in the torque control mode.
3. This cannot be used in the speed control mode.
4. For details on the value of the maximum current command (maximum torque) for 10 V ±4 V, refer to (d) in this section.
18 - 32
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(c) Analog monitor block diagram
Speed
command
Position command
received from
servo system
controller
Droop
pulses
Differentiation
+
-
Current
command
Speed
command 2
Speed
Position command +
control
+
-
Speed
control
-
+
Bus voltage
Current
detector
Current
control
PWM
M Servo motor
Current feedback
Encoder
Internal
temperature
of encoder
Differentiation
Position feedback
data returned to
servo system
controller
Position feedback
+
-
Feedback position
standard position (Note)
Servo motor
speed
Torque
Feedback
position
Note. The feedback position is outputted based on the position data passed between servo system controller and servo amplifier. [Pr.
PC13] and [Pr. PC14] can set up the standard position of feedback position that is outputted 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
PC13
PC14
Description
Set the lower-order four digits of the standard position of
feedback position
Set the upper-order four digits of the standard position of
feedback position
Setting range
-9999 to 9999 [pulse]
-9999 to 9999 [10000 pulses]
(d) Maximum current command (maximum torque) for analog monitor 10 V ±4 V
Values of the maximum current command (maximum torque) when the analog monitor is 10 V ±4 V
are listed.
The current command (torque) outputs the maximum current command (maximum torque) at 10 V
±4 V. The maximum current command (maximum torque) may not match the rated current/maximum
current ratio since it is created from the torque current in the servo amplifier.
Servo motor
HG-AK0136
HG-AK series HG-AK0236
HG-AK0336
Servo amplifier/drive unit
MR-J4W2-0303B6
MR-J4W2-0303B6
MR-J4W2-0303B6
18 - 33
Maximum current command
(maximum torque) [%]
380
380
363
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.3.8 Alarm occurrence timing chart
CAUTION
When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting
operation.
When alarms are occurring in both axes of A and B, shut off the main circuit
power supply. Not doing so may cause a fire when a regenerative transistor
malfunctions or the like may overheat the built-in regenerative resistor.
POINT
In the torque control mode, the forced stop deceleration function is not available.
To deactivate the alarm, cycle the control circuit power or give the error reset or CPU reset command from
the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.
(1) When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(a) When the forced stop deceleration function is enabled
When an all-axis stop alarm occurs, all axes will be the operation status below. When a
corresponding axis stop alarm occurs, only the axis will be the operation status below. You can
normally operate the axis that any alarm is not occurring.
Alarm occurrence
Model speed command 0
and equal to or less than
zero speed (Note 1)
Servo motor
speed
0 r/min
Base circuit
(Energy supply to
the servo motor)
Dynamic brake
operation time
(Note 2)
ON
OFF
Servo amplifier
display
MBR
(Electromagnetic
brake interlock)
Command is not received.
No alarm
Alarm No.
ON
OFF
ON (Not occurring)
CALM
(AND malfunction) OFF (Occurring)
Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop
deceleration of the servo motor.
2. If the servo motor speed is 5 r/min or higher at this point, the electric dynamic brake will operate continuously
for the time period set by [Pr. PF12].
18 - 34
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(b) When the forced stop deceleration function is not enabled
When an all-axis stop alarm occurs, all axes will be the operation status below. When a
corresponding axis stop alarm occurs, only the axis will be the operation status below. You can
normally operate the axis that any alarm is not occurring.
Alarm occurrence
Braking by the dynamic brake
Dynamic brake
+ Braking by the electromagnetic
brake
Braking by the electromagnetic
brake
Dynamic brake
operation time
Servo motor
speed
0 r/min
Base circuit
(energy supply to
the servo motor)
ON
OFF
Servo amplifier
display
No alarm
MBR
(Electromagnetic
brake interlock)
Alarm No.
Operation delay time of the electromagnetic brake
ON
OFF
ON (Not occurring)
CALM
(AND malfunction) OFF (Occurring)
(c) When SSCNET III/H communication is shut-off
When SSCNET III/H communication is shut-off, all axes will be the operation status below. The
display of servo amplifier differs by the shut off status of communication (d1 or E7).
SSCNET III/H communication
has broken.
Model speed command 0
and equal to or less than
zero speed (Note 1)
Servo motor
speed
0 r/min
Base circuit
(energy supply to
the servo motor)
ON
OFF
Servo amplifier
display
MBR
(Electromagnetic
brake interlock)
Dynamic brake
operation time
(Note 2)
No alarm (d1 or E7)
AA
ON
OFF
ON (Not occurring)
CALM
(AND malfunction) OFF (Occurring)
Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration
of the servo motor.
2. If the servo motor speed is 5 r/min or higher at this point, the electric dynamic brake will operate continuously
for the time period set by [Pr. PF12].
18 - 35
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(2) When you do not use the forced stop deceleration function
POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
The timing chart that shows the servo motor condition when an alarm or SSCNETIII/H communication shutoff occurs is the same as (1) (b) in this section.
18.3.9 Interfaces
The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
Refer to the section of the detailed explanation field for details.
Item
Detailed description of interfaces (excluding analog
output)
Source I/O interface
18 - 36
Detailed explanation
Section 3.8.2
Section 3.8.3
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(1) Internal connection diagram
Servo amplifier
(Note 4)
24 V DC
CN3
(Note 4)
24 V DC
(Note 2)
(Note 1)
CN3
26
DOCOM
12
MBR-A
25
MBR-B
DICOM
23
EM2
10
DI1-A
7
11 CALM
DI2-A
8
24
DI3-A
9
Approx.
5.6 kΩ
CN3
3
16
4
17
5
18
6
19
14
DI1-B 20
DI2-B 21
DI3-B 22
Approx.
5.6 kΩ
(Note 3)
RA
(Note 2)
RA
LA-A
LAR-A
LB-A
LBR-A
LA-B
LAR-B
Differential line
driver output
(35 mA or lower)
LB-B
LBR-B
LG
CN3
Analog monitor
2
MO1
15
MO2
1
LG
Insulated
10 V DC
10 V DC ± 5 V
±5V
A-axis servo motor
Encoder
CN2A
1A
1B
4B
CNP1
9
MR
MRR
LG
E1
M
B-axis servo motor
USB
CN5
D2
D+
3
GND 5
Encoder
CN2B
1A
1B
4B
CNP1
7
CNP1
11
MR
MRR
LG
E2
M
Note 1. Signal can be assigned for these pins with the controller setting.
For contents of signals, refer to the instruction manual of the controller.
2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
3. In the initial setting, CINP (AND in-position) is assigned to the pin. You can change devices of the pin with [Pr. PD08].
4. 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.
The 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.
18 - 37
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(2) Detailed description of interfaces (analog output)
Servo amplifier
MO1
(MO2)
LG
Output voltage: 10 V DC ± 5 V (Note)
Maximum output current: 1 mA
Resolution: 10 bits or equivalent
Note. Output voltage range varies depending on the output contents.
18 - 38
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.3.10 Grounding
WARNING
Ground the servo amplifier and servo motor securely.
To prevent an electric shock, always connect the noiseless grounding terminal
(marked ) of the servo amplifier to the grounding terminal of the cabinet.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt
and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to "EMC Installation Guidelines".
Cabinet
48 V DC main circuit
power supply
Servo amplifier
CNP1
24 V DC Circuit
(Note 1) protector
A-axis servo motor
CN2A
24
Encoder
0
48 V DC
(Note 1)
PM
CNP1
U1
U
V1
V
W1
W
M
(Note 2)
E1
Servo system
controller
24 V DC main circuit
power supply
24 V DC Circuit
(Note 1) protector
RA
B-axis servo motor
CN3
CN2B
Encoder
CNP1
U2
CNP1
Grounding terminal
U
V2
V
W2
W
M
(Note 2)
E2
Outer
box
Note 1. For power supply specifications, refer to section 18.1.3.
2. Connect
of servo motor to E1 and E2 of the CNP1 connector. Do not connect the wire directly to the grounding terminal of
the cabinet.
18 - 39
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.4 Startup
WARNING
Do not operate the switches with wet hands. Otherwise, it may cause an electric
shock.
CAUTION
Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier and servo motor may be hot while the power is on and for
some time after power-off. Take safety measures such as providing covers to
avoid accidentally touching them by hands and parts such as cables.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
Refer to the section of the detailed explanation field for details.
Item
Startup
Switch setting and display of the servo amplifier
(excluding a part)
Test operation
Test operation mode
18 - 40
Detailed explanation
Section 4.2
Section 4.3
Section 4.4
Section 4.5
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.4.1 Startup procedure
When switching power on for the first time, follow this section to make a startup.
01. Wiring check
02. Setting of main circuit
power supply selection
1. Turning on of control
circuit power supply
2. Setting of 24 V DC
main circuit power
supply with [Pr. PC05]
3. Turning off of control
circuit power supply
4. Turning on of control
circuit power supply
Check of [Pr. PC05]
03. Recheck of main circuit power
supply voltage and wiring
04. Surrounding environment check
05. Turning on of main circuit
power supply
Check that the servo amplifiers and servo motors are wired correctly. (Refer
to section 18.4.4.)
Set the main circuit power supply selection (48 V DC or 24 V DC) to servo
amplifier. Set [Pr. PC05] according to the flow of 02-1 to 02-4.
Set this setting only when using 24 V DC.
(The initial value of the main circuit power supply selection is 48 V DC.
When using 48 V DC, turn on the control circuit power supply and go to step
03.)
To set the parameter to servo amplifier, turn on the control circuit power
supply. At this time, do not turn on the main circuit power supply.
Change [Pr. PC05] of both A axis and B axis to "24 V DC (_ 1 _ _)".
Make sure to set both A axis and B axis.
To reflect the parameter setting, turn off the control circuit power supply.
Turn on the control circuit power supply on again, and check that the [Pr.
PC05] of both A axis and B axis are changed to "24 V DC (_ 1 _ _)".
At this time, do not turn on the main circuit power supply.
Make sure that the main circuit power supply voltage of the servo amplifier to
be turned on matches with the voltage set by [Pr. PC05] and that the servo
amplifiers and servo motors are wired correctly by visual inspection, DO
forced output function (section 4.5.1), etc.
Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 18.4.4.)
Turn on the main circuit power.
06. Axis No. settings
Confirm that the control axis No. set with the auxiliary axis number setting
switches (SW2-5 and SW2-6) and with the axis selection rotary switch
(SW1) match the control axis No. set with the servo system controller. (Refer
to section 4.3.1 (3).)
07. Parameter setting
Set the parameters as necessary, such as the used operation mode. (Refer
to chapter 5.)
08. Test operation of the servo
motor alone in test
operation mode
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 section 4.5.)
09. Test operation of the servo
motor alone by commands
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.
10. Test operation with the servo
motor and machine connected
After connecting the servo motor with the machine, check machine motions
with sending operation commands from the servo system controller.
11. Gain adjustment
Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
12. Actual operation
Stop
Stop giving commands and stop operation.
18 - 41
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.4.2 Troubleshooting when "24V ERROR" lamp turns on
(1) When overvoltage is applied to the control circuit in the servo amplifier, power supply to the circuit will be
shut off and the "24V ERROR" lamp will turn on. Then, the 3-digit, 7-segment LED on display will turn
off. Immediately turn off the power and check the wiring, etc. to the main circuit power supply (48 V DC).
(2) If the "24V ERROR" lamp turns on with the 3-digit, 7-segment LED on, the control circuit power supply
voltage (24 V DC) may be failure. Check that the voltage of the control circuit power supply is 21.6 V DC
or more.
18.4.3 Wiring check
(1) Power supply system wiring
Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring
The power supplied to the power input terminals (24/0/PM) of the servo amplifier should satisfy the
defined specifications. (Refer to section 18.1.3)
(b) Connection of servo amplifier and servo motor
1) Check that each A axis servo motor and B axis servo motor is connected to CNP1 connector of
servo amplifier. Additionally, the servo amplifier power output (U/V/W) should match in phase with
the servo motor power input terminals (U/V/W).
Servo amplifier
A-axis servo motor
U1
U
V1
V
W1
W
M
E1
CNP1
B-axis servo motor
U2
U
V2
V
W2
W
M
E2
2) The power supplied to the servo amplifier should not be connected to the servo motor power
terminals (U/V/W). Doing so will fail the servo amplifier and servo motor.
Servo amplifier
Servo motor
M
24 V DC
24
0
PM
U
48 V DC
18 - 42
V
W
18. MR-J4W2-0303B6 SERVO AMPLIFIER
3) The noiseless grounding terminal of the servo motor should be connected to the E1 terminal and
E2 terminal of the servo amplifier.
Servo amplifier
E1/E2
Servo motor
M
4) The encoder of the A axis and B axis servo motors should be connected respectively to the
CN2A and CN2B connectors of the servo amplifier.
(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. You can use the function
to check the wiring. In this case, switch on the control circuit power supply only.
For details of I/O signal connection, refer to section 18.3.5.
(b) A voltage exceeding 24 V DC is not applied to the pins of the CN3 connector.
(c) Between plate and DOCOM of the CN3 connector should not be shorted.
Servo amplifier
CN3
DOCOM
Plate
18.4.4 Surrounding environment
(1) Cable routing
(a) The wiring cables should not be stressed.
(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4)
(c) The connector of the servo motor should not be stressed.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
18 - 43
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.5 Switch setting and display of the servo amplifier
Switching to the test operation mode, deactivating control axes, and setting control axis No. are enabled with
switches on the servo amplifier.
On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the
servo system controller at power-on, and the axis number, and diagnose a malfunction at occurrence of an
alarm.
The control axis setting switches of MR-J4W2-0303B6 servo amplifier are aligned vertically unlike other MRJ4 2-axis servo amplifiers; however, the use of each number switch is the same.
ON
1 2 3 4 5 6
1
2
3
4
5
6
Application
Test operation select switch
Disabling control axis switch for A-axis
Disabling control axis switch for B-axis
For manufacturer setting
Auxiliary axis number setting switch
Auxiliary axis number setting switch
The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
Refer to the section of the detailed explanation field for details.
Item
Switches
Scrolling display
Status display of an axis
18 - 44
Detailed explanation
Section 4.3.1
Section 4.3.2
Section 4.3.3
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.6 Dimensions
[Unit: mm]
Approx. 80
30
100
168
6
Approx.
37.5
CNP1
6
Approx.
27.4
Approx. 51
With MR-BAT6V1SET-A
Mass: 0.3 [kg]
Mounting screw
Screw size: M5
Tightening torque: 1.87
[N•m]
Terminal
CNP1
6
24
5
PM
11
4
U1 W1
10
3
V1 E1
9
2
U2 W2
8
1
V2 E2
7
12
2-M5 screw
156
Approx. 168
Approx.
6
Approx.
30
Approx. 6
Approx.
6
0
Mounting hole process drawing
18 - 45
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.7 Characteristics
The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
Refer to the section of the detailed explanation field for details.
Item
Detailed explanation
Cable bending life
Section 10.4
18.7.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo
motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 18.1. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken
line in the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque
of the machine should be kept at 70% or less of the rated torque.
This servo amplifier has a servo motor overload protection for each axis. (The servo motor overload current
(full load current) is set on the basis of 120% rated current of the servo amplifier.)
1000
Operation
Operation time [s]
100
Servo-lock
10
1
0.1
0
50
100
150
200
250
300
350
400
(Note) Load ratio [%]
HG-AK0136/HG-AK0236/HG-AK0336
Note. If operation that generates torque more than 100% of the rating is performed with an
abnormally high frequency in a servo motor stop status (servo-lock status) or in a 30
r/min or less low-speed operation status, the servo amplifier may malfunction
regardless of the electronic thermal protection.
Fig. 18.1 Electronic thermal protection characteristics
18 - 46
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.7.2 Power supply capacity and generated loss
Table 18.3 indicates the required power supply capacities for main circuit and losses generated under rated
load of the servo amplifier. For thermal design of an enclosed type cabinet, use the values in the table in
consideration for the worst operating conditions. The actual amount of generated heat will be intermediate
between values at rated torque and servo-off according to the duty used during operation. When operating
the servo motor under the rated speed, required power supply capacities for main circuit will be less than the
value of the table.
The values in the table show when the same servo motors are used for both A axis and B axis. When using
different servo motors, estimate the values with an average of the two motors.
Table 18.3 Power supply capacity and generated heat per servo amplifier at
rated output
Servo motor
(×2)
HG-AK0136
HG-AK0236
HG-AK0336
Main circuit (48 V DC/24 V
DC)
Required power supply
capacity [W]
460
720
960
(Note) Servo amplifier-generated heat [W]
At rated output
With servo-off
13
19
27
3
3
3
Note. Heat generated during regeneration is not included in the servo amplifier-generated heat.
18.7.3 Dynamic brake characteristics
POINT
The dynamic brake of MR-J4W2-0303B6 is an electronic type.
Do not use dynamic brake to stop in a normal operation as it is the function to
stop in emergency.
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1
(Forced stop 1) frequently in other than emergency.
The time constant "τ" for the electronic dynamic brake will be shorter than that of
normal dynamic brake. Therefore, coasting distance will be longer than that of
normal dynamic brake. For how to set the electronic dynamic brake, refer to [Pr.
PF06] and [Pr. PF12].
18 - 47
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(1) Dynamic brake operation
(a) Calculation of coasting distance
Fig. 18.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation (18.1) to calculate an approximate coasting distance to a stop. The dynamic
brake time constant τ varies with the servo motor and machine operation speeds. (Refer to (1) (b) of
this section.)
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than
a maximum coasting distance calculated with the following equation.
EM1 (Forced stop 1)
ON
OFF
Dynamic brake
time constant τ
V0
Machine speed
te
Time
Fig. 18.2 Dynamic brake operation diagram
Lmax =
V0
• te +
60
1+
JL
JM
··························································································· (18.1)
Lmax: Maximum coasting distance ······················································································
[mm]
V0: Machine's fast feed speed ····················································································· [mm/min]
JM: Moment of inertia of the servo motor ································································· [× 10-4 kg•m2]
JL: Load moment of inertia converted into equivalent value on servo motor shaft ············· [× 10-4 kg•m2]
τ: Dynamic brake time constant ···························································································· [s]
t1: Delay time of control section ···························································································· [s]
The processing delay time about 3.5 ms.
(b) Dynamic brake time constant
The following shows necessary dynamic brake time constant τ for equation (18.1).
Dynamic brake time
constant τ [s]
0.0025
0136
0.0020
0236
0.0015
0.0010
0336
0.0005
0
0
1000 2000 3000 4000 5000 6000
Speed [r/min]
HG-AK series
18 - 48
18. MR-J4W2-0303B6 SERVO AMPLIFIER
(2) Permissible load to motor inertia when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is
higher than this value, the servo amplifier and the servo motor may burn. If there is a possibility that the
ratio may exceed the value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum
rotation speed of the servo motor.
Servo motor
Permissible load to motor
inertia ratio [multiplier]
HG-AK0136
HG-AK0236
HG-AK0336
30
18.7.4 Inrush currents at power-on of main circuit and control circuit
POINT
The inrush current values can change depending on frequency of turning on/off
the power and ambient temperature.
Since large inrush currents flow in the power supplies, use circuit protector. For circuit protectors, it is
recommended that the inertia delay type, which is not tripped by an inrush current, be used. Refer to section
18.8.4 for details of the circuit protector.
This following table indicates the inrush current (reference data) when the power of output side of power unit
is turned on in the conditions: main circuit of 55.2 V DC, control circuit of 26.4 V DC, and wiring length of 1 m.
Servo amplifier
MR-J4W2-0303B6
Inrush current
Main circuit power supply (PM/0)
Control circuit power supply (24/0)
220 A (attenuated to approx. 2 A in 1 ms)
600 mA (attenuated to approx. 100 mA in 500 ms)
18 - 49
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.8 Options and peripheral equipment
WARNING
Before connecting options and peripheral equipment, turn off the power and wait
until the charge lamp turns off. Otherwise, an electric shock may occur. In
addition, when confirming whether the charge lamp is off or not, always confirm it
from the front of the servo amplifier.
CAUTION
Use the specified peripheral equipment and options to prevent a malfunction or a
fire.
POINT
We recommend using HIV wires to wire the servo amplifiers, options, and
peripheral equipment. Therefore, the recommended wire sizes may differ from
those used for the previous servo amplifiers.
The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
Refer to the section of the detailed explanation field for details.
Item
SSCNET III cable
Battery
MR Configurator2
Relay (recommended)
Noise reduction techniques
Junction terminal block MR-TB26A
18 - 50
Detailed explanation
Section 11.1.2
Section 11.3
Section 11.4
Section 11.8
Section 11.9
Section 11.12
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.8.1 Cable/connector sets
POINT
The IP rating indicated for cables and connectors is their protection against
ingress of dust and raindrops when they are connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all
components.
Please purchase the cable and connector options indicated in this section for the servo motor.
18.8.2 Combinations of cable/connector sets
Personal
computer
5)
CN5
Servo amplifier
Servo amplifier
CN5
9)
8)
6) 7)
CN3
CN3
CN1A
CN1A
CN1B
2) 3) 4)
CN1B
CN2A
2) 3) 4)
CN2A Cap
(packed with the
CN2B servo amplifier)
CN2B
CNP1
Servo system
controller
CN4
CNP1
CN4
(Note)
(Note)
1) Packed with the
servo amplifier
Battery
HG-AK servo motor
Note. Refer to "Servo Motor Instruction Manual (Vol. 3)" for servo motor power cables and encoder cables.
18 - 51
18. MR-J4W2-0303B6 SERVO AMPLIFIER
No.
Product name
1)
CNP1 connector
Model
Description
Remark
Supplied
with servo
amplifier
2)
SSCNET III
cable
MR-J3BUS_M
Cable length:
0.15 m to 3 m
(Refer to section
11.1.2.)
MR-J3BUS_M-A
Cable length:
5 m to 20 m
(Refer to section
11.1.2.)
MR-J3BUS_M-B
Cable length:
30 m to 50 m
(Refer to section
11.1.2.)
MR-J3USBCBL3M
Cable length: 3 m
3)
SSCNET III
cable
4)
SSCNET III
cable
5)
USB cable
6)
Connector set
MR-J2CMP2
7)
Connector set
MR-ECN1
8)
Junction terminal MR-TBNATBL_M
block cable
Cable length:
0.5,1 m
(Refer to section
11.12)
9)
Junction terminal MR-TB26A
block
DFMC 1,5/ 6-ST-3,5-LR or equivalent
(Phoenix Contact)
Applicable wire size: AWG 24 to 16
Insulator OD: to 2.9 mm
Connector: PF-2D103
Connector: PF-2D103
(JAE)
(JAE)
Standard
cord
inside
cabinet
Standard
cable
outside
cabinet
Connector: CF-2D103-S
(JAE)
Connector: CF-2D103-S
(JAE)
Longdistance
cable
CN5 connector
mini-B connector (5 pins)
Personal computer connector
A connector
Junction terminal block connector
Connector: 10126-6000EL
Shell kit: 10326-3210-000
(3M or equivalent)
Connector: 10126-3000PE
Shell kit: 10326-52F0-008
(3M or equivalent)
Connector: 10126-3000PE
Shell kit: 10326-52F0-008
(3M or equivalent)
Servo amplifier-side connector
Connector: 10126-6000EL
Shell kit: 10326-3210-000
(3M or equivalent)
For
connection
with PC-AT
compatible
personal
computer
Quantity: 1
Refer to section 11.12.
18 - 52
Quantity:
20
For
junction
terminal
block
connection
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.8.3 Selection example of wires
POINT
Refer to section 11.1.2 for SSCNET III cable.
To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
Selection conditions of wire size are as follows.
Construction condition: Single wire set in midair
Wire length: 30 m or less
The voltage drops because of the cable conductor resistance. Especially for
main circuit/control circuit power supply wiring, wire to secure the required input
voltage at servo amplifier input section. It is recommended that the cable length
be as short as possible.
(1) Wires for power supply wiring
The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section.
1) Main/control circuit power supply lead
24 V DC
Servo amplifier
power supply
+
24
U1
-
0
V1
PM
W1
48 V DC
power supply
M
E1
+
2) Servo motor power lead
-
U2
V2
W2
M
E2
The following shows the wire size selection example.
Table 18.4 Wire size selection example (HIV wire)
2
Wire [mm ]
Servo amplifier
1) 24/0/PM/
MR-J4W2-0303B6
AWG 16
2) U1/V1/W1/E1
U2/V2/W2/E2
(Note)
AWG 19
Note. The wire size shows applicable size of the servo amplifier connector. For wires
connecting to the servo motor, refer to "Servo Motor Instruction Manual (Vol. 3)".
18 - 53
18. MR-J4W2-0303B6 SERVO AMPLIFIER
18.8.4 Circuit protector
Power supply specification
Circuit protector (Note)
Control circuit power supply (24 V DC)
Main circuit power supply (48 V DC)
Main circuit power supply (24 V DC)
CP30-BA 1P 1-M 1A
CP30-BA 1P 1-M 5A
CP30-BA 1P 1-M 10A
Note. For operation characteristics, use an intermediate speed type.
18 - 54
APPENDIX
APPENDIX
App. 1 Auxiliary equipment manufacturer (for reference)
Names given in the table are as of Mar. 2017.
Manufacturer
NEC TOKIN
Kitagawa Industries
JST
Junkosha
Contact information
NEC TOKIN Corporation
Kitagawa Industries Co., Ltd.
J.S.T. Mfg. Co., Ltd.
Purchase from Toa Electric Industrial Co. Ltd.,
Nagoya Branch
3M
Seiwa Electric Mfg. Co. Ltd.
Soshin Electric Co., Ltd.
TE Connectivity Ltd. Company
TDK Corporation
Molex
3M
SEIWA ELECTRIC
Soshin Electric
TE Connectivity
TDK
Molex
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations
on the Transport of Dangerous Goods
United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter
Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium
metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation
Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the
International Maritime Organization (IMO).
To comply the instruction and code, we have modified the indication on the package for general-purpose AC
servo batteries.
The above change will not affect the function and performance of the product.
(1) Target model
(a) Battery (cell)
Model
ER6
ER17330
Option model
Type
Lithium
content
Mass of
battery
MR-J3BAT
MR-BAT
Cell
Cell
0.65 g
0.48 g
16 g
13 g
A6BAT
Cell
0.48 g
13 g
App. - 1
Remark
Cells with more than 0.3 grams of
lithium content must be handled as
dangerous goods (Class 9)
depending on packaging
requirements.
APPENDIX
(b) Battery unit (assembled battery)
Model
ER6
Option model
MR-J2M-BT
MR-BAT6V1
CR17335A
MR-BAT6V1SET(-A)
MR-BAT6V1BJ
Lithium
content
Type
Assembled
battery
(Seven)
Assembled
battery (Two)
Assembled
battery (Two)
Assembled
battery (Two)
Mass of
battery
4.55 g
112 g
1.20 g
34 g
1.20 g
34 g
1.20 g
34 g
Remark
Assembled batteries with more than
two grams of lithium content must be
handled as dangerous goods (Class
9) regardless of packaging
requirements.
Assembled batteries with more than
0.3 grams of lithium content must be
handled as dangerous goods (Class
9) depending on packaging
requirements.
(2) Purpose
Safer transportation of lithium metal batteries.
(3) Change in regulations
The following points are changed for lithium metal batteries in transportation by sea or air based on the
revision of Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition, and IATA
Dangerous Goods Regulations 54th Edition (effective January 1, 2013). For lithium metal batteries, cells
are classified as UN3090, and batteries contained in or packed with equipment are classified as
UN3091.
(a) Transportation of lithium metal batteries alone
Packaging requirement
Less than eight cells per package with
less than one gram of lithium content
Less than two assembled batteries per
package with less than two grams of
lithium content
More than eight cells per package with
less than one gram of lithium content
More than two assembled batteries per
package with less than two grams of
lithium content
Cells with more than one gram of lithium
content
Assembled batteries with more than two
grams of lithium content
Classification
Main requirement
UN3090 PI968 Section II
The package must pass a 1.2 m drop test, and the
handling label with battery illustration (size: 120 ×
110 mm) must be attached on the package.
UN3090 PI968 Section IB
The package must pass a 1.2 m drop test, and the
handling label with battery illustration (size: 120 ×
110 mm) must be attached on the package.
The Class 9 hazard label must be attached or
others to comply with dangerous goods (Class 9).
UN3090 PI968 Section IA
The package must be compliant with Class 9
Packages, and the Class 9 hazard label must be
attached or others to comply with dangerous
goods (Class 9).
App. - 2
APPENDIX
(b) Transportation of lithium metal batteries packed with or contained in equipment
1) For batteries packed with equipment, follow the necessary requirements of UN3091 PI969.
Batteries are classified into either Section II/Section I depending on the lithium content/packaging
requirements.
2) For batteries contained in equipment, follow the necessary requirements of UN3091 PI970.
Batteries are classified into either Section II/Section I depending on the lithium content/packaging
requirements.
The special handling may be unnecessary depending on the number of batteries and gross mass
per package.
Fig. app. 1 Example of Mitsubishi Electric label with battery illustration
(4) Details of the package change
The following caution is added to the packages of the target batteries.
"Containing lithium metal battery. Regulations apply for transportation."
(5) Transportation precaution for customers
For sea or air transportation, attaching the handling label (fig. app. 1) must be attached to the package
of a Mitsubishi Electric cell or battery. In addition, attaching it to the outer package containing several
packages of Mitsubishi Electric cells or batteries is also required. When the content of a package must
be handled as dangerous goods (Class 9), the Shipper's Declaration for Dangerous Goods is required,
and the package must be compliant with Class 9 Packages. Documentations like the handling label in
the specified design and the Shipper's Declaration for Dangerous Goods are required for transportation.
Please attach the documentations to the packages and the outer package.
The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually.
When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the
customers. Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.
App. - 3
APPENDIX
App. 3 Symbol for the new EU Battery Directive
Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery
is explained here.
Note. This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and
components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately
from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the
battery or accumulator contains a heavy metal at a certain concentration.
This will be indicated as follows.
Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)
In the European Union there are separate collection systems for used batteries and accumulators. Please,
dispose of batteries and accumulators correctly at your local community waste collection/recycling center.
Please, help us to conserve the environment we live in!
App. - 4
APPENDIX
App. 4 Compliance with global standards
App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)
STO function (Refer to IEC 61800-5-2:2007 4.2.2.2 STO.)
The MR-J4 servo amplifiers have the STO
function. The STO function shuts down energy to servo motors, thus removing torque. This function
electronically cuts off power supply in the servo amplifier. In addition, MR-J4-03A6 and MR-J4W2-0303B6
don’t support this function.
App. 4.2 About safety
This chapter explains safety of users and machine operators. Please read the section carefully before
mounting the equipment.
App. 4.2.1 Professional engineer
Only professional engineers should mount MR-J4 servo amplifiers.
Here, professional engineers should meet all the conditions below.
(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk
based on past experience.
(2) Persons who have read and familiarized himself/herself with this installation guide and operating
manuals for the protective devices (e.g. light curtain) connected to the safety control system.
App. 4.2.2 Applications of the devices
MR-J4 servo amplifiers comply with the following standards.
IEC/EN 61800-5-1, IEC/EN 61800-3, IEC/EN 60204-1
ISO/EN ISO 13849-1 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO) (Except for MRJ4-03A6 and MR-J4W2-0303B6. Refer to section app. 4.8.1 for compatible models.)
MR-J4 servo amplifiers can be used with the MR-D30 functional safety unit, MR-J3-D05 safety logic unit, or
safety PLCs. (except for MR-J4-03A6 and MR-J4W2-0303B6)
App. 4.2.3 Correct use
Use the MR-J4 servo amplifiers within specifications. Refer to each instruction manual for specifications
such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is
used in any other way or if modifications are made to the device, even in the context of mounting and
installation.
WARNING
It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and
terminals immediately after power off.
If you need to get close to the moving parts of the machine for inspection or
others, ensure safety by confirming the power off, etc. Otherwise, it may cause an
accident.
App. - 5
APPENDIX
(1) Peripheral device and power wiring
The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 14.
(a) Power Wiring (local wiring and crimping tool)
The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at
75 °C/60 °C.
Table app. 1 Recommended wires
75 °C/60 °C stranded wire [AWG] (Note 2)
Servo amplifier (Note 7)
L1/L2/L3
MR-J4-03A6/MR-J4W2-0303B6
MR-J4-10_(1)/MR-J4-20_(1)/MR-J4-40_(1)/MR-J4-60_(4)/
MR-J4-70_/MR-J4-100_(4)/MR-J4-200_(4) (T)/
MR-J4-350_4
MR-J4-200_ (S)
MR-J4-350_
MR-J4-500_ (Note 1)
MR-J4-700_ (Note 1)
MR-J4-11K_ (Note 1)
MR-J4-15K_ (Note 1)
MR-J4-22K_ (Note 1)
MR-J4-500_4 (Note 1)
MR-J4-700_4 (Note 1)
MR-J4-11K_4 (Note 1)
MR-J4-15K_4 (Note 1)
MR-J4-22K_4 (Note 1)
MR-J4W_-_B
19/- (Note 5)
L11/L21
P+/C
14/14
14/14
14/14
12/12
10: a/10: a
8: b/8: b
6: d/4: f
4: f/3: f
1: h/-: 14: c/14: c
12: a/12: a
10: e/10: e
8: l/8: l
6: m/4: m
14/14 (Note 4)
14: c/14: c
12: a/12: a
12: e/12: e
10: e/10: e
10: i/10: i
14: c/14: c
14: c/14: c
14: k/14: k
12: e/12: e
12: i/12: i
14/14
14/14
U/V/W/
(Note 3)
19/- (Note 6)
14/14
12/12
10: b/10: b
8: b/8: b
4: f/4: f
3: g/2: g
1: j/-: 12: a/10: a
10: a/10: a
8: l/8: l
6: d/4: d
6: n/4: n
14/14
Note 1. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.
2. Alphabets in the table indicate crimping tools. Refer to table app. 2 for the crimp terminals and crimping tools.
3. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of
the servo amplifiers.
4. Use the crimp terminal c for the PE terminal of the servo amplifier.
5. This value is of 24/0/PM/
for MR-J4-03A6 and MR-J4W2-0303B6.
6. This value is of U/V/W/E for MR-J4-03A6 and MR-J4W2-0303B6.
7. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.
Table app. 2 Recommended crimp terminals
Servo amplifier-side crimp terminals
Crimp terminal
Applicable tool
(Note 2)
a
FVD5.5-4
YNT-1210S
b (Note 1)
8-4NS
YHT-8S
c
FVD2-4
YNT-1614
d
FVD14-6
YF-1
e
FVD5.5-6
YNT-1210S
f
FVD22-6
YF-1
g
FVD38-6
YF-1
h
R60-8
YF-1
i
FVD5.5-8
YNT-1210S
j
CB70-S8
YF-1
k
FVD2-6
YNT-1614
l
FVD8-6
YF-1
m
FVD14-8
YF-1
n
FVD22-8
YF-1
Symbol
Manufacturer
JST
(J.S.T. Mfg. Co.,
Ltd.)
Note 1. Coat the crimping part with an insulation tube.
2. Some crimp terminals may not be mounted depending on the size. Make sure to
use the recommended ones or equivalent ones.
App. - 6
APPENDIX
(b) Selection example of MCCB and fuse
Use T class fuses or molded-case circuit breaker (UL 489 Listed MCCB) as the following table. The
T class fuses and molded-case circuit breakers in the table are selected examples based on rated
I/O of the servo amplifiers. When you select a smaller capacity servo motor to connect it to the servo
amplifier, you can also use smaller capacity T class fuses or molded-case circuit breaker than ones
in the table. For selecting ones other than Class T fuses and molded-case circuit breakers below
and selecting a Type E Combination motor controller, refer to each servo amplifier instruction
manual.
Servo amplifier (100 V class)
Molded-case circuit breaker (120 V AC)
Fuse (300 V)
NV50-SVFU-15A (50 A frame 15 A)
20 A
Molded-case circuit breaker (240 V AC)
Fuse (300 V)
NF50-SVFU-5A (50 A frame 5 A)
10 A
NF50-SVFU-10A (50 A frame 10 A)
15 A
NF50-SVFU-15A (50 A frame 15 A)
30 A
NF50-SVFU-20A (50 A frame 20 A)
40 A
NF50-SVFU-30A (50 A frame 30 A)
NF50-SVFU-40A (50 A frame 40 A)
NF100-CVFU-60A (100 A frame 60 A)
NF100-CVFU-80A (100 A frame 80 A)
NF225-CWU-125A (225 A frame 125 A)
60 A
80 A
125 A
150 A
300 A
MR-J4-10_1/MR-J4-20_1/MR-J4-40_1
Servo amplifier (200 V class) (Note)
MR-J4-10_/MR-J4-20_/MR-J4-40_/MR-J4-60_ (T)/MR-J4-70_ (T)/
MR-J4W2-22B (T)
MR-J4-60_ (S)/MR-J4-70_ (S) /MR-J4-100_ (T)/MR-J4W2-22B
(S)/
MR-J4W2-44B (T)/MR-J4W2-77B (T)/MR-J4W3-222B/
MR-J4W3-444B (T)
MR-J4-100_ (S)/MR-J4-200_ (T)/MR-J4W2-44B (S)/
MR-J4W2-1010B
MR-J4-200_ (S)/MR-J4-350_/MR-J4W2-77B (S)/
MR-J4W3-444B (S)
MR-J4-500_
MR-J4-700_
MR-J4-11K_
MR-J4-15K_
MR-J4-22K_
Note. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.
Servo amplifier (400 V class)
Molded-case circuit breaker (480 V AC)
Fuse (600 V)
NF100-HRU-5A (100 A frame 5 A)
NF100-HRU-10A (100 A frame 10 A)
NF100-HRU-10A (100 A frame 10 A)
NF100-HRU-15A (100 A frame 15 A)
NF100-HRU-20A (100 A frame 20 A)
NF100-HRU-30A (100 A frame 30 A)
NF100-HRU-40A (100 A frame 40 A)
NF100-HRU-60A (100 A frame 60 A)
10 A
15 A
20 A
30 A
40 A
60 A
80 A
125 A
MR-J4-60_4/MR-J4-100_4
MR-J4-200_4
MR-J4-350_4
MR-J4-500_4
MR-J4-700_4
MR-J4-11K_4
MR-J4-15K_4
MR-J4-22K_4
(c) Power supply
This servo amplifier can be supplied from star-connected supply with grounded neutral point of
overvoltage category III (overvoltage category II for 1-phase servo amplifiers, MR-J4-03A6, and MRJ4W2-0303B6) set forth in IEC/EN 60664-1. For the interface power supply, use an external 24 V
DC power supply with reinforced insulation on I/O terminals.
In case of MR-J4-03A6 and MR-J4W2-0303B6, use DC power supplies of reinforced insulation type
to main circuit, control circuit, and UL listed (recognized) 48 V DC/24 V DC power supplies which
can generate more than 1.2 A/2.4 A per axis.
App. - 7
APPENDIX
(d) Grounding
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the
servo amplifier to the protective earth (PE) of the cabinet. Do not connect two grounding cables to
the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.
This product can cause a DC current in the protective earthing conductor. To protect direct/indirect
contact using an earth-leakage current breaker (RCD), only an RCD of type B can be used for the
power supply side of the product.
The MR-J4-700_4 is high protective earthing conductor current equipment, the minimum size of the
protective earthing conductor must comply with the local safety regulations.
PE
terminals
PE
terminals
(2) EU compliance
The MR-J4 servo amplifiers are designed to comply with the following directions to meet requirements
for mounting, using, and periodic technical inspections: Machinery directive (2006/42/EC), EMC directive
(2014/30/EU), and Low-voltage directive (2014/35/EU).
(a) EMC requirement
MR-J4 servo amplifiers comply with category C3 in accordance with EN 61800-3. As for I/O wires
(max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 50 m),
use shielded wires and ground the shields. Install an EMC filter and surge protector on the primary
side for input and output of 200 V class and for output of 400 V class servo amplifiers. In addition,
use a line noise filter for outputs of the 11 kW and 15 kW of 400 V class servo amplifiers. The
following shows recommended products.
EMC filter: Soshin Electric HF3000A-UN series, TF3000C-TX series, COSEL FTB series
Surge protector: Okaya Electric Industries RSPD series
Line noise filter: Mitsubishi Electric FR-BLF
MR-J4 Series are not intended to be used on a low-voltage public network which supplies domestic
premises; radio frequency interference is expected if used on such a network. The installer shall
provide a guide for Installation and use, including recommended mitigation devices. To avoid the risk
of crosstalk to signal cables, the installation instructions shall either recommend that the power
interface cable be segregated from signal cables.
Use the DC power supply installed with the amplifiers in the same cabinet. Do not connect the other
electric devices to the DC power supply.
(b) For Declaration of Conformity (DoC)
Hereby, MITSUBISHI ELECTRIC EUROPE B.V., declares that the servo amplifiers are in
compliance with the necessary requirements and standards (2006/42/EC, 2014/30/EU, and 2014/35/
EU). For the copy of Declaration of Conformity, contact your local sales office.
App. - 8
APPENDIX
(3) USA/Canada compliance
This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 14.
(a) Installation
The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet
so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed
in the metal cabinet. Additionally, mount the servo amplifier on a cabinet that the protective earth
based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should
be used in open type (UL 50) and overvoltage category shown in table in section app. 4.8.1. The
servo amplifier needs to be installed at or below pollution degree 2. For connection, use copper
wires.
(b) Short-circuit current rating (SCCR)
Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical
Amperes, 500 Volts Maximum (Not More Than 5 kA rms Symmetrical Amperes, 48 Volts Maximum
for MR-J4-03A6 and MR-J4W2-0303B6). For SCCR when using a Type E Combination motor
controller, refer to each servo amplifier instruction manual.
(c) Overload protection characteristics
The MR-J4 servo amplifiers have solid-state servo motor overload protection. (It is set on the basis
(full load current) of 120% rated current of the servo amplifier.)
(d) Over-temperature protection for motor
Motor Over temperature sensing is not provided by the drive.
Integral thermal protection(s) is necessary for motor and refer to app. 4.4 for the proper connection.
(e) Branch circuit protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the
Canada Electrical Code and any applicable provincial codes.
(4) South Korea compliance
This product complies with the Radio Wave Law (KC mark). Please note the following to use the
product.
이 기기는 업무용 (A급) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며,
가정외의 지역에서 사용하는 것을 목적으로 합니다.
(The product is for business use (Class A) and meets the electromagnetic compatibility requirements.
The seller and the user must note the above point, and use the product in a place except for home.)
In addition, use an EMC filter, surge protector, ferrite core, and line noise filter on the primary side for
inputs. Use a ferrite core and line noise filter for outputs. Use a distance greater than 30 m between the
product and third party sensitive radio communications for an MR-J4-22K_(4).
App. - 9
APPENDIX
App. 4.2.4 General cautions for safety protection and protective measures
Observe the following items to ensure proper use of the MR-J4 servo amplifiers.
(1) For safety components and installing systems, only qualified personnel and professional engineers
should perform.
(2) When mounting, installing, and using the MELSERVO MR-J4 servo amplifier, always observe standards
and directives applicable in the country.
(3) The item about noises of the test notices in the manuals should be observed.
App. 4.2.5 Residual risk
(1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
(2) Perform all risk assessments and safety level certification to the machine or the system as a whole.
(3) If the upper and lower power modules in the servo amplifier are shorted and damaged simultaneously,
the servo motor may make a half revolution at a maximum.
(4) Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed. Only trained engineers should install and operate the equipment. (ISO 138491 Table F.1 No. 5)
(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1 Table F.1 No.
1)
(6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).
(7) Keep the required clearance/creepage distance depending on voltage you use.
App. 4.2.6 Disposal
Disposal of unusable or irreparable devices should always occur in accordance with the applicable countryspecific waste disposal regulations. (Example: European Waste 16 02 14)
App. 4.2.7 Lithium battery transportation
To transport lithium batteries, take actions to comply with the instructions and regulations such as the United
Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime
Organization (IMO).
The batteries (MR-BAT6V1SET, MR-BAT6V1SET-A, MR-BAT6V1, and MR-BAT6V1BJ) are assembled
batteries from two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods
(Class 9) of the UN Recommendations.
App. - 10
APPENDIX
App. 4.3 Installation direction and clearances
CAUTION
The devices must be installed in the specified direction. Not doing so may cause
a malfunction.
Mount the servo amplifier on a cabinet which meets IP54 in the correct direction
to maintain pollution degree 2.
The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not
have a protective cover. Touching the resistor (including wiring/screw hole area)
may cause a burn injury and electric shock. Even if the power was shut-off, be
careful until the bus voltage discharged and the temperature decreased because
of the following reasons.
It may cause a burn injury due to very high temperature without cooling.
It may cause an electric shock due to charged capacitor of the servo amplifier.
To adapt your machine using MR-J4-03A6 or MR-J4W2-0303B6 to IEC/EN 60950-1, either supply the
amplifier with a power supply complying with the requirement of 2.5 stated in IEC/EN 60950-1 (Limited
Power Source), or cover the amplifier and motors connected to the outputs with a fire enclosure.
Cabinet
Top
10 mm or
more
(Note 2)
Servo amplifier
40 mm or
more
Cabinet
80 mm or longer
for wiring
10 mm or
more
Servo amplifier
40 mm or
more
(Note 1)
Bottom
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and
ground will be 120 mm or more.
2. When mounting MR-J4-500_, maintain a minimum clearance of 25 mm on the left
side.
App. - 11
APPENDIX
App. 4.4 Electrical Installation and configuration diagram
WARNING
CAUTION
Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or
damages to the product before starting the installation or wiring.
The installation complies with IEC/EN 60204-1. The voltage supply to machines
must be 20 ms or more of tolerance against instantaneous power failure as
specified in IEC/EN 60204-1.
Connecting a servo motor for different axis to U, V, W, or CN2_ of the servo
amplifier may cause a malfunction.
Securely connect the cables in the specified method and tighten them with the
specified torque. Otherwise, the servo motor may operate unexpectedly.
The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.
(1) 3-phase input for MR-J4 1-axis servo amplifier
(3-phase
230 V AC)
MCCB
or fuse
MC
Power
(Note 1)
supply
MCCB
(3-phase
or fuse
400 V AC)
Transformer (Note 3)
(star-connected)
To protective equipment
(Thermal signal) (Note 2)
L1 L2 L3
L11
L21
Servo amplifier
P+
C
D
NCN8
STO
CN1
Controller
CN2 Encoder cable
PE
U/V/W/PE
Servo motor
Cabinet side
Machine side
Encoder
Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
2. Please use a thermal sensor, etc. for thermal protection of the servo motor.
3. For 400 V class, a step-down transformer is not required.
App. - 12
APPENDIX
(2) 1-phase input for MR-J4 1-axis servo amplifier
(1-phase
230 V AC)
MC
MCCB
or fuse
Servo amplifier
P+
C
D
NCN8
STO
CN1
Controller
CN2 Encoder cable
L1 L2 L3
(Note 2)
L11
L21
Power
(Note 1)
supply
MCCB
(3-phase
(Note 2) or fuse
400 V AC)
PE
Transformer
U/V/W/PE
(star-connected)
To protective equipment
(Thermal signal) (Note 3)
Cabinet side
Machine side
Servo motor
Encoder
Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
2. When using a 100 V class servo amplifier, step down the power supply voltage to
100 V and connect the main circuit power supply lines to L1 and L2. For 1-phase
200 V AC servo amplifiers, connect the lines to L1 and L3.
3. Please use a thermal sensor, etc. for thermal protection of the servo motor.
(3) Main circuit 48 V DC input for MR-J4 1-axis servo amplifier
Servo amplifier
24 V DC
CNP1
48 V DC
To protective equipment
(Thermal signal) (Note)
24
0
PM
U/V/W/E
Servo motor
CN1
Controller
CN2 Encoder cable
Cabinet side
Machine side
Encoder
Note. Please use a thermal sensor, etc. for thermal protection of the servo motor.
The connectors described by rectangles are safely separated from the main circuits described by circles.
The connected motors will be limited as follows.
(1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric)
(2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA)
App. - 13
APPENDIX
App. 4.5 Signal
App. 4.5.1 Signal
The following shows MR-J4-10B signals as a typical example. For other servo amplifiers, refer to each servo
amplifier instruction manual.
STO I/O signal
connector
CN8
1
2
CN3
1
2
LG
DI1
3
4
4
STO1
3
STOCOM
6
TOFB1
5
STO2
8
TOFCOM
7
TOFB2
DOCOM
MO1
6
5
DICOM
LA
7
8
LB
LZ
9
10
INP
DICOM
11
12
DI2
14
MO2
16
LAR
18
LZR
20
LG
13
MBR
15
ALM
17
LBR
19
DI3
EM2
App. 4.5.2 I/O device
Input device
Symbol
EM2
STOCOM
STO1
STO2
Device
Forced stop 2
Common terminal for input signals STO1/STO2
STO1 state input
STO2 state input
Connector
Pin No.
CN3
20
3
4
5
CN8
Output device
Symbol
TOFCOM
TOFB1
TOFB2
Device
Common terminal for monitor output signal in STO state
Monitor output signal in STO1 state
Monitor output signal in STO2 state
Connector
Pin No.
CN8
8
6
7
Connector
Pin No.
CN3
5, 10
3
Plate
Power supply
Symbol
DICOM
DOCOM
SD
Device
Digital I/F power supply input
Digital I/F common
Shield
App. - 14
APPENDIX
App. 4.6 Maintenance and service
WARNING
To avoid an electric shock, only qualified personnel should attempt inspections.
For repair and parts replacement, contact your local sales office.
App. 4.6.1 Inspection items
It is recommended that the following points periodically be checked.
(1) Check for loose terminal block screws. Retighten any loose screws.(Except for MR-J4-03A6 and MRJ4W2-0303B6)
Servo amplifier
MR-J4-10_(1)/MR-J4-20_(1)/
MR-J4-40_(1)/MR-J4-60_(4)/
MR-J4-70_/MR-J4-100_(4)/
MR-J4-200_(4)/MR-J4-350_(4)
MR-J4-500_
MR-J4-700_(4)/MR-J4-500_4
MR-J4-11K_(4)/MR-J4-15K_(4)
MR-J4-22K_(4)
MR-J4W_-_B
L1
L2
L3
N-
P3
Tightening torque [N•m]
P4
P+
C
D
L11
L21
U
V
W
PE
1.2
1.2
1.2
3.0
6.0
0.8
0.8
1.2
1.2
1.2
1.2
3.0
6.0
1.2
(2) Servo motor bearings, brake section, etc. for unusual noise.
(3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to
operating conditions.
(4) Check that the connectors are securely connected to the servo motor.
(5) Check that the wires are not coming out from the connector.
(6) Check for dust accumulation on the servo amplifier.
(7) Check for unusual noise generated from the servo amplifier.
(8) Check the servo motor shaft and coupling for connection.
(9) Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
App. - 15
APPENDIX
App. 4.6.2 Parts having service life
Service life of the following parts is listed below. However, the service life varies depending on operation and
environment. If any fault is found in the parts, they must be replaced immediately regardless of their service
life. For parts replacement, please contact your local sales office.
Part name
Life guideline
Smoothing capacitor
(Note 3) 10 years
Number of power-on,
forced stop and controller forced stop times: 100,000 times
Number of on and off for STO: 1,000,000 times
10,000 hours to 30,000 hours (2 years to 3 years)
Approximately 20,000 hours (equipment power supply: off,
ambient temperature: 20 °C)
5 years from date of manufacture
Relay
Cooling fan
(Note 1) Battery backup time
(Note 2) Battery life
Note 1. The time is for using MR-J4 1-axis servo amplifier with an rotary servo motor using MR-BAT6V1SET, MR-BAT6V1SET-A, or
MR-BAT6V1BJ. For details and other battery backup time, refer to chapter 12.
2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the
connection status.
3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation in
normal air-conditioned environment (40 °C surrounding air temperature or less for use at the maximum 1000 m above sea
level, 30 °C or less for over 1000 m to 2000 m).
App. - 16
APPENDIX
App. 4.7 Transportation and storage
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the limited number of product packages is not allowed.
Do not hold the front cover to transport the servo amplifier. Otherwise, it may
drop.
For detailed information on transportation and handling of the battery, refer to
app. 2 and app. 3.
Install the product in a load-bearing place of servo amplifier and servo motor in
accordance with the instruction manual.
Do not put excessive load on the machine.
When you keep or use it, please fulfill the following environment.
Item
Environment
Operation
[°C]
Ambient
Transportation (Note) [°C]
temperature
Storage (Note)
[°C]
Ambient
Operation, transportation,
humidity
storage
0 to 55 Class 3K3 (IEC/EN 60721-3-3)
-20 to 65 Class 2K4 (IEC/EN 60721-3-2)
-20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Test condition
Vibration
resistance
Operation
Transportation (Note)
Storage
Pollution degree
IP rating
Altitude
Operation, storage
Transportation
5 %RH to 90 %RH
10 Hz to 57 Hz with constant amplitude of 0.075 mm
2
57 Hz to 150 Hz with constant acceleration of 9.8 m/s to IEC/EN 61800-5-1
(Test Fc of IEC 60068-2-6)
2
5.9 m/s
Class 2M3 (IEC/EN 60721-3-2)
Class 1M2 (IEC/EN 60721-3-2)
2
IP20 (IEC/EN 60529), Terminal block IP00
Open type (UL 50)
Max. 2000 m above sea level
Max. 10000 m above sea level
Note. In regular transport packaging
App. - 17
APPENDIX
App. 4.8 Technical data
App. 4.8.1 MR-J4 servo amplifier
MR-J4-10_/
MR-J4-20_/
MR-J4-40_/
MR-J4-60_/
MR-J4-70_/
MR-J4-100_/
MR-J4-200_/
MR-J4W2-22B/
MR-J4W2-44B/
MR-J4W2-77B/
MR-J4W3-222B/
MR-J4W3-444B
MR-J4-350_/
MR-J4-500_/
MR-J4-700_/
MR-J4W2-1010B/
MR-J4-11K_/
MR-J4-15K_/
MR-J4-22K_
Main circuit (line
voltage)
3-phase or
1-phase
200 V AC to
240 V AC,
50 Hz/60 Hz
(Note 2)
3-phase
200 V AC to
240 V AC,
50 Hz/60 Hz
(Note 2)
Control circuit (line
voltage)
1-phase 200 V AC to 240 V AC,
50/60 Hz (Note 2)
Item
Power
supply
Interface (SELV)
Control method
Safety observation function (STO)
IEC/EN 61800-5-2 (Note 3)
Mean time to dangerous failure
Effectiveness of fault monitoring
of a system or subsystem
Average probability of dangerous
failures per hour
Mission time
Response performance
Pollution degree
Overvoltage category
Protective class
Short-circuit current rating
(SCCR)
MR-J4-10_1/
MR-J4-20_1/
MR-J4-40_1
MR-J4-60_4/
MR-J4-100_4/
MR-J4-200_4/
MR-J4-350_4/
MR-J4-500_4/
MR-J4-700_4/
MR-J4-11K_4/
MR-J4-15K_4/
MR-J4-22K_4
MR-J4-03A6/
MR-J4W2-0303B6
1-phase
100 V AC to
120 V AC,
50 Hz/60 Hz
3-phase
380 V AC to
480 V AC,
50 Hz/60 Hz
48 V DC or
24 V DC
1-phase
1-phase
100 V AC to
380 V AC to
24 V DC
120 V AC,
480 V AC,
50 Hz/60 Hz
50 Hz/60 Hz
24 V DC (required current capacity: MR-J4-_A_, 500 mA; MR-J4-_B_, 300 mA;
MR-J4W2-_B_, 350 mA; MR-J4W3-_B, 450 mA; MR-J4-_ GF_, 300 mA)
Sine-wave PWM control, current control method
EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3,
EN 62061 SIL CL 3, and EN 61800-5-2
MTTFd ≥ 100 [years] (314a)
DC = Medium, 97.6 [%]
-9
PFH = 6.4 × 10 [1/h]
TM = 20 [years]
8 ms or less (STO input off → energy shut off)
2 (IEC/EN 60664-1)
1-phase 100 V AC/200 V AC: II (IEC/EN 60664-1),
3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1)
I (IEC/EN 61800-5-1)
100 kA
II
(IEC/EN 60664-1)
III
(IEC/EN 61800-5-1)
5 kA (Note 1)
Note 1. For the use in US/Canada, constitute a branch circuit including the power supply which endures SCCR of 5 kA minimum in the
industrial cabinet.
2. For MR-J4-_-RJ, 283 V DC to 340 V DC are also supported.
3. Servo amplifiers manufactured in June 2015 or later comply with SIL 3 requirements. However, MR-J4-_A_/MR-J4-_B_ servo
amplifiers manufactured in China comply with SIL 3 requirements from the December 2015 production.
App. - 18
APPENDIX
App. 4.8.2 Dimensions/mounting hole process drawing
Servo amplifier
H
Front
Side
W
D
W
MR-J4-03A6
MR-J4-10_(1)/MR-J4-20_(1) (Note)
MR-J4-40_(1)/MR-J4-60_ (Note)
MR-J4-70_/MR-J4-100_
MR-J4-200_(4)
MR-J4-350_
MR-J4-500_
MR-J4-700_
MR-J4-11K_(4)/MR-J4-15K_(4)
MR-J4-22K_(4)
MR-J4-60_4/MR-J4-100_4
MR-J4-350_4
MR-J4-500_4
MR-J4-700_4
MR-J4W2-0303B6
MR-J4W2-22B/MR-J4W2-44B
MR-J4W2-77B/MR-J4W2-1010B
MR-J4W3-222B/MR-J4W3-444B
Variable dimensions [mm]
H
D
30
40 (50)
40 (50)
60
90
90
105
172
220
260
60
105
130
172
30
60
85
85
100
168
168
168
168
168
250
300
400
400
168
250
250
300
168
168
168
168
Mass [kg]
90
135 (155)
170 (155)
185
195
195
200
200
260
260
195
200
200
200
100
195
195
195
0.2
0.8 (1.0)
1.0
1.4
2.1
2.3
4.0
6.2
13.4
18.2
1.7
3.6
4.3
6.5
0.3
1.4
2.3
2.3
Note. The value in the parenthesis shows the value of MR-J4-_GF_.
a1
e1
Servo amplifier
f
MR-J4-03A6
MR-J4-10_(1)/MR-J4-20_(1)/
MR-J4-40_(1)/MR-J4-60_
MR-J4-70_/MR-J4-100_
MR-J4-200_(4)/MR-J4-350_
MR-J4-500_
MR-J4-700_
MR-J4-11K_(4)/MR-J4-15K_(4)
MR-J4-22K_(4)
MR-J4-60_4/MR-J4-100_4
MR-J4-350_4
MR-J4-500_4
MR-J4-700_4
MR-J4W2-0303B6
MR-J4W2-22B/MR-J4W2-44B
MR-J4W2-77B/MR-J4W2-1010B
MR-J4W3-222B/MR-J4W3-444B
a
c
d1
b
c
a
d
e
e
e1
Screw
size
f
4
4
M4
Variable dimensions [mm]
a1
b
c
90 ± 0.5
5
6
6
156 ± 0.5
6
12
6
6
6
12
12
12
6
6
6
6
6
6
6
12
45
6
6
12
12
12
6
6
6
6
6
6
6
156 ± 0.5
156 ± 0.5
235 ± 0.5
285 ± 0.5
380 ± 0.5
376 ± 0.5
156 ± 0.5
235 ± 0.5
235 ± 0.5
285 ± 0.5
156 ± 0.5
156 ± 0.5
156 ± 0.5
156 ± 0.5
6
6
7.5
7.5
10
12
6
7.5
7.5
7.5
6
6
6
6
App. - 19
d
d1
M5
42 ± 0.3
78 ± 0.3
93 ± 0.5
160 ± 0.5
196 ± 0.5
236 ± 0.5
42 ± 0.3
93 ± 0.5
118 ± 0.5
160 ± 0.5
73 ± 0.3
73 ± 0.3
93 ± 0.5
160 ± 0.5
196 ± 0.5
236 ± 0.5
93 ± 0.5
118 ± 0.5
160 ± 0.5
M5
M5
M5
M5
M5
M10
M5
M5
M5
M5
M5
M5
M5
M5
APPENDIX
App. 4.9 Check list for user documentation
MR-J4 installation checklist for manufacturer/installer
The following items must be satisfied by the initial test operation at least. The manufacturer/installer must
be responsible for checking the standards in the items.
Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
1. Is it based on directive/standard applied to the machine?
Yes [ ], No [ ]
2. Is directive/standard contained in Declaration of Conformity (DoC)?
Yes [ ], No [ ]
3. Does the protection instrument conform to the category required?
Yes [ ], No [ ]
4. Are electric shock protective measures (protective class) effective?
Yes [ ], No [ ]
5. Is the STO function checked (test of all the shut-off wiring)?
Yes [ ], No [ ]
Checking the items will not be instead of the first test operation or periodic inspection by professional
engineers.
App. - 20
APPENDIX
App. 5 MR-J3-D05 Safety logic unit
App. 5.1 Contents of the package
Open packing, and confirm the content of packing.
Contents
MR-J3-D05 Safety logic unit
Connector for CN9 1-1871940-4 (TE Connectivity)
Connector for CN10 1-1871940-8 (TE Connectivity)
MR-J3-D05 Safety Logic Unit Installation Guide
Quantity
1
1
1
1
App. 5.2 Terms related to safety
App. 5.2.1 Stop function for IEC/EN 61800-5-2
(1) STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.)
This function is integrated into the MR-J4 series servo amplifiers.
The STO function shuts down energy to servo motors, thus removing torque. This function electronically
cuts off power supply in servo amplifiers for MR-J4 series servo amplifiers.
The purpose of this function is as follows.
1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1
2) Preventing unexpected start-up
(2) SS1 function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.3C Safe stop 1 temporal delay.)
SS1 is a function which initiates the STO function when the previously set delay time has passed after
the servo motor starts decelerating. The delay time can be set with MR-J3-D05.
The purpose of this function is as follows. This function is available by using an MR-J4 series servo
amplifier with MR-J3-D05.
Controlled stop according to stop category 1 of IEC/EN 60204-1
App. 5.2.2 Emergency operation for IEC/EN 60204-1
(1) Emergency stop (Refer to IEC/EN 60204-1: 2005 9.2.5.4.2 Emergency Stop.)
Emergency stop must override all other functions and actuation in all operation modes. Power to the
machine driving part which may cause a hazardous state must be either removed immediately (stop
category 0) or must be controlled to stop such hazardous state as soon as possible (stop category 1).
Restart must not be allowed even after the cause of the emergency state has been removed.
(2) Emergency switching off (Refer to IEC/EN 60204-1: 2005 9.2.5.4.3 Emergency Switching OFF.)
Removal of input power to driving device to remove electrical risk and to meet above mentioned safety
standards.
App. - 21
APPENDIX
App. 5.3 Cautions
The following basic safety notes must be read carefully and fully in order to prevent injury to persons or
damage to property.
Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed.
They must be familiar with all applicable local safety regulations and laws in which machines with these
components are installed, particularly the standards and guidelines mentioned in this Instruction Manual and
the requirements mentioned in ISO/EN ISO 13849-1, IEC 61508, IEC/EN 61800-5-2, and IEC/EN 60204-1.
The staff responsible for this work must be given express permission from the company to perform start-up,
programming, configuration, and maintenance of the machine in accordance with the safety standards.
WARNING
Improper installation of the safety related components or systems may cause
improper operation in which safety is not assured, and may result in severe
injuries or even death.
Protective Measures
As described in IEC/EN 61800-5-2, the Safe Torque Off (STO) function only prevents the MFR-J4 series
servo amplifier from supplying energy to the servo motor. Therefore, if an external force acts upon the
drive axis, additional safety measures, such as brakes or counter-weights must be used.
App. 5.4 Residual risk
Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are
residual risks associated with the STO/EMG function. Mitsubishi Electric is not liable for any damages or
injuries caused by the residual risks.
(1) The SS1 function only guarantees the delay time before STO/EMG is engaged. Proper setting of this
delay time is the full responsibility of the company and/or individuals responsible for installation and
commissioning of the safety related system. The system, as a whole, must pass safety standards
certification.
(2) When the SS1 delay time is shorter than the required servo motor deceleration time, if the forced stop
function is malfunctioning, or if STO/EMG is engaged while the servo motor is still rotating; the servo
motor will stop with the dynamic brake or freewheeling.
(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety
related component.
(4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
The Mitsubishi Electric safety related components mentioned in this manual are certified by Certification
Body as meeting the requirements of ISO/EN ISO 13849-1 Category 3, PL d and IEC 61508 SIL 2.
(5) Safety is not assured until safety-related components of the system are completely installed or adjusted.
(6) When replacing a servo amplifier etc. or MR-J3-D05, confirm that the new equipment is exactly the
same as those being replaced. Once installed, be sure to verify the performance of the functions before
commissioning the system.
App. - 22
APPENDIX
(7) Perform all risk assessments and safety level certification to the machine or the system as a whole.
It is recommended that a Certification Body final safety certification of the system be used.
(8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as
deemed necessary by the applicable safety standard. Regardless of the system safety level, malfunction
checks should be performed at least once per year.
(9) If the upper and lower power modules in the servo amplifier are shorted and damaged simultaneously,
the servo motor may make a half revolution at a maximum. For a linear servo motor, the primary side will
move a distance of pole pitch.
App. 5.5 Block diagram and timing chart
(1) Function block diagram
A-axis circuit
+24V
SRESA+ SRESA-
TOF1A
TOF2A
TOFA
STO1A+ STO2A+
SDO1A+ SDO2A+
Safety logic
TIMER1
DCDC
power
B-axis circuit
TIMER2
0V
SDI1A-
SDI2A-
SDI1B-
SDI2B-
STO1A-
STO2A-
SDO1A-
SDO2A-
SW1 SW2
(2) Operation sequence
Power supply
SDI
SRES
STO
15 ms or longer
A-axis shutdown 1 and 2
Energizing (close)
B-axis shutdown 1 and 2
Shut-off (open)
A-axis EMG start/reset
Release (close)
B-axis EMG start/reset
Normal (open)
50 ms or longer
10 ms or shorter
Shut off delay (SW1 and SW2) (Note)
A-axis STO state 1 and 2 Normal (close)
B-axis STO state 1 and 2 Shut-off (open)
STO status
Control enabled
STO status
Control enabled
Note. Refer to App. 5.10.
App. 5.6 Maintenance and disposal
MR-J3-D05 safety logic unit is equipped with LED displays to check errors for maintenance.
Please dispose this unit according to your local laws and regulations.
App. 5.7 Functions and configuration
App. 5.7.1 Summary
MR-J3-D05 has two systems in which the each system has SS1 function (delay time) and output of STO
function.
App. - 23
APPENDIX
App. 5.7.2 Specifications
Safety logic unit model
MR-J3-D05
Voltage
Permissible
Control circuit
voltage fluctuation
power supply
Power supply
[A]
capacity
Compatible system
Shut-off input
Shut-off release input
Feedback input
Input type
24 V DC
Shut-off output
Output method
Delay time
setting
Functional safety
Standards certified
by CB
Safety
performance
Compliance
with global
standards
Structure
Environment
Mass
Response
performance
(when delay time
is set to 0 s)
(Note 4)
Mean time to
dangerous failure
(MTTFd)
Diagnosis
converge (DC avg)
Average
probability of
dangerous failures
per hour (PFH)
CE marking
Ambient
temperature
Ambient humidity
Ambience
Altitude
Vibration
resistance
[kg]
24 V DC ± 10%
0.5 (Note 1, 2)
2 systems (A-axis, B-axis independent)
4 points (2 points × 2 systems)
SDI_: (source/sink compatible) (Note 3)
2 points (1 point × 2 systems) SRES_: (source/sink compatible) (Note 3)
2 points (1 point × 2 systems) TOF_: (source compatible) (Note 3)
Photocoupler insulation, 24 V DC (external supply), internal limited resistance 5.4 kΩ
STO_: (source compatible) (Note 3)
8 points (4 point × 2 systems)
SDO_: (source/sink compatible) (Note 3)
Photocoupler insulation, open-collector type
Permissible current: 40 mA/1 output, Inrush current: 100 mA/1 output
A-axis: Select from 0 s, 1.4 s, 2.8 s, 5.6 s, 9.8 s, or 30.8 s.
B-axis: Select from 0 s, 1.4 s, 2.8 s, 9.8 s, or 30.8 s.
Accuracy: ±2%
STO, SS1 (IEC/EN 61800-5-2)
EMG STOP, EMG OFF IEC/EN 60204-1
EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2,
EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2
10 ms or less (STO input off → shut-off output off)
516 years
93.1%
-9
4.75 × 10 [1/h]
LVD: EN 61800-5-1
EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Natural-cooling, open (IP rating: IP 00)
0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)
5 %RH to 90 %RH (non-condensing), storage: 5 %RH to 90 %RH (non-condensing)
Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Max. 1000 m above sea level
2
5.9 m/s at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
0.2 (including CN9 and CN10 connectors)
Note 1. Inrush current of approximately 1.5 A flows instantaneously when turning the control circuit power supply on. Select an
appropriate capacity of power supply considering the inrush current.
2. Power-on duration of the safety logic unit is 100,000 times.
3. _: in signal name indicates a number or axis name.
4. For the test pulse input, contact your local sales office.
App. - 24
APPENDIX
App. 5.7.3 When using MR-J3-D05 with an MR-J4 series servo amplifier
(1) System configuration diagram
POINT
MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
MR-J3-D05
Servo amplifier
Power
supply
Magnetic
contactor
CN3
L1
L2
L3
MCCB
EM2 (Forced stop 2)
CN8
STO cable
MR-D05UDL3M-B
STO switch
CN9
U
V
W
STO release switch
CN10
FG
Servo motor
App. - 25
APPENDIX
(2) Connection example
24 V
(Note 2)
S2
RESA
MR-J3-D05
(Note 1) (Note 1)
SW2
SW1
(Note 2)
S4
RESB
S1
STOA
EM2
(A-axis)
S3
STOB
EM2
(B-axis)
CN9
CN8A
1A
SDI1A+
1B
SDI1A-
4A
SDO1A+
4B
SDO1A-
Servo amplifier
CN8
CN10
3A
SDI2A+
3B
SDI2A-
1A
SRESA+
1B
SRESA-
6A
SDO2A+
6B
SDO2A-
8A
TOFA
MC
STO1
4
STO2
5
Control circuit
STOCOM 3
TOFB1
6
TOFB2
7
TOFCOM 8
CN3
EM2 (A-axis)
M
Servo motor
CN9
2A
SDI1B+
2B
SDI1B-
Servo amplifier
3A SDO1B+
CN8B
CN8
3B SDO1B-
STO1
4
CN10
STO2
5
4A
SDI2B+
4B
SDI2B-
Control circuit
STOCOM 3
2A SRESB+
FG
MC
2B SRESB5A SDO2B+
TOFB1
6
TOFB2
7
TOFCOM 8
5B SDO2B8B
TOFB
7A
+24V
7B
0V
CN3
EM2 (B-axis)
M
Servo motor
0V
Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.
2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.
App. - 26
APPENDIX
App. 5.8 Signal
App. 5.8.1 Connector/pin assignment
(1) CN8A
Device
Symbol
Pin No.
A-axis STO1
STO1ASTO1A+
1
4
A-axis STO2
STO2ASTO2A+
5
6
A-axis STO state
TOF2A
TOF1A
7
8
Device
Symbol
Pin No.
B-axis STO1
STO1BSTO1B+
1
4
B-axis STO2
STO2BSTO2B+
5
6
B-axis STO state
TOF2B
TOF1B
7
8
Device
Symbol
Pin No.
A-axis shutdown 1
SDI1A+
SDI1A-
1A
1B
B-axis shutdown 1
SDI1B+
SDI1B-
2A
2B
A-axis SDO1
SDO1A+
SDO1A-
4A
4B
B-axis SDO1
SDO1B+
SDO1B-
3A
3B
Function/Application
Outputs STO1 to A-axis driving device.
Outputs the same signal as A-axis STO2.
STO state (base shutdown): Between STO1A+ and STO1A- is opened.
STO release state (in driving): Between STO1A+ and STO1A- is closed.
Outputs STO2 to A-axis driving device.
Outputs the same signal as A-axis STO1.
STO state (base shutdown): Between STO2A+ and STO2A- is opened.
STO release state (in driving): Between STO2A+ and STO2A- is closed.
Inputs STO state of A-axis driving device.
STO state (base shutdown): Open between TOF2A and TOF1A.
STO release state (in driving): Close between TOF2A and TOF1A.
I/O
division
O
O
I
(2) CN8B
Function/Application
Outputs STO1 to B-axis driving device.
Outputs the same signal as B-axis STO2.
STO state (base shutdown): Between STO1B+ and STO1B- is opened.
STO release state (in driving): Between STO1B+ and STO1B- is closed.
Outputs STO2 to B-axis driving device.
Outputs the same signal as B-axis STO1.
STO state (base shutdown): Between STO2B+ and STO2B- is opened.
STO release state (in driving): Between STO2B+ and STO2B- is closed.
Inputs STO state of B-axis driving device.
STO state (base shutdown): Open between TOF2B and TOF1B.
STO release state (in driving): Close between TOF2B and TOF1B.
I/O
division
O
O
I
(3) CN9
Function/Application
Connect this device to a safety switch for A-axis driving device.
Input the same signal as A-axis shutdown 2.
STO state (base shutdown): Open between SDI1A+ and SDI1A-.
STO release state (in driving): Close between SDI1A+ and SDI1A-.
Connect this device to a safety switch for B-axis driving device.
Input the same signal as B-axis shutdown 2.
STO state (base shutdown): Open between SDI1B+ and SDI1B-.
STO release state (in driving): Close between SDI1B+ and SDI1B-.
Outputs STO1 to A-axis driving device.
Outputs the same signal as A-axis SDO2.
STO state (base shutdown): Between SDO1A+ and SDO1A- is opened.
STO release state (in driving): Between SDO1A+ and SDO1A- is closed.
Outputs STO1 to B-axis driving device.
Outputs the same signal as B-axis SDO2.
STO state (base shutdown): Between SDO1B+ and SDO1B- is opened.
STO release state (in driving): Between SDO1B+ and SDO1B- is closed.
App. - 27
I/O
division
DI-1
DI-1
DO-1
DO-1
APPENDIX
(4) CN10
Device
Symbol
Pin No.
Function/Application
A-axis shutdown 2
SDI2A+
SDI2A-
3A
3B
B-axis shutdown 2
SDI2B+
SDI2B-
4A
4B
A-axis EMG
start/reset
SRESA+
SRESA-
1A
1B
B-axis EMG
start/reset
SRESB+
SRESB-
2A
2B
A-axis SDO2
SDO2A+
SDO2A-
6A
6B
B-axis SDO2
SDO2B+
SDO2B-
5A
5B
Control circuit
power supply
Control circuit
power GND
A-axis STO state
B-axis STO state
+24V
7A
Connect this device to a safety switch for A-axis driving device.
Input the same signal as A-axis shutdown 1.
STO state (base shutdown): Open between SDI2A+ and SDI2A-.
STO release state (in driving): Close between SDI2A+ and SDI2A-.
Connect this device to a safety switch for B-axis driving device.
Input the same signal as B-axis shutdown 1.
STO state (base shutdown): Open between SDI2B+ and SDI2B-.
STO release state (in driving): Close between SDI2B+ and SDI2B-.
Signal for releasing STO state (base shutdown) on A-axis driving device.
Releases STO state (base shutdown) on A-axis driving device by switching between
SRESA+ and SRESA- from on (connected) to off (opened).
Signal for releasing STO state (base shutdown) on B-axis driving device.
Releases STO state (base shutdown) on B-axis driving device by switching between
SRESB+ and SRESB- from on (connected) to off (opened).
Outputs STO2 to A-axis driving device.
Outputs the same signal as A-axis STO1.
STO state (base shutdown): Between SDO2A+ and SDO2A- is opened.
STO release state (in driving): Between SDO2A+ and SDO2A- is closed.
Outputs STO2 to B-axis driving device.
Outputs the same signal as B-axis SDO1.
STO state (base shutdown): Between SDO2B+ and SDO2B- is opened.
STO release state (in driving): Between SDO2B+ and SDO2B- is closed.
Connect + side of 24 V DC.
0V
7B
Connect - side of 24 V DC.
TOFA
TOFB
8A
8B
TOFA is internally connected with TOF2A.
TOFB is internally connected with TOF2B.
App. 5.8.2 Interfaces
In this servo amplifier, source type I/O interfaces can be used.
(1) Sink I/O interface (CN9, CN10 connector)
(a) Digital input interface DI-1
This is an input circuit whose photocoupler cathode side is the input terminal.
Transmit signals from sink (open-collector) type transistor output, relay switch, etc.
MR-J3-D05
For transistor
SRESA-,
etc.
Approximately
5 mA
About 5.4 kΩ
Switch
SRESA+,
etc.
TR
VCES 1.0 V
ICEO 100 µA
24 V DC ± 10%
200 mA
App. - 28
I/O
division
DI-1
DI-1
DI-1
DI-1
DO-1
DO-1
APPENDIX
(b) Digital output interface DO-1
This is a circuit in which the collector of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow to the collector terminal.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an
inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum
current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in
the MR-J3-D05.
MR-J3-D05
If polarity of diode is
reversed, MR-J3-D05
will malfunction.
Load
SDO2B+,
etc.
SDO2B-,
etc.
(Note) 24 V DC ± 10%
200 mA
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
(2) Source I/O interfaces (CN9, CN10 connector)
(a) Digital input interface DI-1
This is an input circuit whose photocoupler anode side is the input terminal.
Transmit signals from source (open-collector) type transistor output, relay switch, etc.
MR-J3-D05
SRESA-,
etc.
About 5.4 kΩ
Switch
SRESA+,
etc.
Approximately 5 mA
VCES 1.0 V
ICEO 100 µA
24 V DC ± 10%
200 mA
(b) Digital output interface DO-1
This is a circuit in which the emitter of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow from the output terminal to a load.
A maximum of 2.6 V voltage drop occurs in the MR-J3-D05.
MR-J3-D05
SDO2B+,
etc.
Load
If polarity of diode is
reversed, MR-J3-D05
will malfunction.
SDO2B-,
etc.
(Note) 24 V DC ± 10%
200 mA
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
App. - 29
APPENDIX
App. 5.8.3 Wiring CN9 and CN10 connectors
Handle with the tool with care when connecting wires.
(1) Wire strip
(a) Use wires with size of AWG 24 to 20 (0.22 mm2 to 0.5 mm2) (recommended electric wire: UL 1007)
and strip the wires to make the stripped length 7.0 mm ± 0.3 mm. Confirm the stripped length with
gauge, etc. before using the wires.
(b) If the stripped wires are bent, loose or too thick due to twisting too much, fix the wires by twisting
lightly, etc. Then, confirm the stripped length before using the wires. Do not use excessively
deformed wires.
(c) Smooth out the wire surface and stripped insulator surface.
(2) Connecting wires
Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires
are connected with inserted connector, the connector and the printed board may malfunction.
(a) Using extraction tool (1891348-1 or 2040798-1)
1) Dimensions and mass
[Unit: mm]
7
100
15
Mass: Approx. 20 g
App. - 30
APPENDIX
2) Connecting wires
a) Confirm the model number of the housing, contact and tool to be used.
b) Insert the tool diagonally into the receptacle assembly.
c) Insert the tool until it hits the surface of the receptacle assembly. At this
stage, the tool is vertical to the receptacle assembly.
d) Insert wires in the wiring hole till the end. The wires should be slightly
twisted in advance to prevent it from being loose.
It is easy to insert the wire if the wire is inserted diagonally while twisting
the tool.
e) Remove the tool.
App. - 31
APPENDIX
(b) Using a screwdriver
To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force.
Be cautious when connecting.
1) Applicable screwdriver
Diameter: 2.3 mm ± 0.05 mm
Length: 120 mm or less
Width: 2.3 mm, Blade thickness: 0.25 mm
Angle in tip of the blade: 18 ± 1 degrees
Diameter: 2.5 mm ± 0.05 mm
Length: 120 mm or less
Width: 2.5 mm, Blade thickness: 0.3 mm
Angle in tip of the blade: 12 ± 1 degrees
φ2.5 mm ± 0.05 mm
φ2.3 mm ± 0.05 mm
12° ± 1°
18° ± 1°
0.25 mm
0.3 mm
2.3 mm
2.5 mm
Screwdriver diameter: φ2.3 mm
Screwdriver diameter: φ2.5 mm
2) Connecting wires
a) Insert a screwdriver in the front slot a little diagonally, and depress the spring. While
depressing the spring, insert the wires until they hit the end. Note that the housing and spring
may be damaged if the screwdriver is inserted strongly. Never insert the screwdriver in the
wire hole. Otherwise, the connector will be damaged.
b) Pull the screwdriver out while pressing the wires. Connecting wires is completed.
c) Pull the wire lightly to confirm that the wire is surely connected.
d) To remove the wires, depress the spring by the screwdriver in the same way as connecting
wires, and then pull the wires out.
Tool insertion slot
Screw driver
App. - 32
APPENDIX
(3) Connector insertion
Insert the connector all the way straight until you hear or feel clicking. When removing the connector,
depress the lock part completely before pulling out. If the connector is pulled out without depressing the
lock part completely, the housing, contact and/or wires may be damaged.
(4) Applicable wire
Applicable wire size is listed below.
Wire size
2
mm
AWG
0.22
0.34
0.50
24
22
20
(5) Others
(a) Fix a wire tie at least distance of "A" × 1.5 away from the end of the connector.
A
A × 1.5 or more
(b) Be sure that wires are not pulled excessively when the connector is inserted.
App. 5.8.4 Wiring FG
Bottom face
Wire range
Single wire: φ0.4 mm to 1.2 mm (AWG 26 to AWG 16)
Stranded wire: 0.2 mm2 to 1.25 mm2 (AWG 24 to AWG 16),
wire φ0.18 mm or more
Lead wire
App. - 33
APPENDIX
App. 5.9 LED display
I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis.
MR-J3-D05
A
LED
LED
Column Column
A
B
Definition
B
SRES
SDI1
SDI2
TOF
SDO1
SDO2
SW
FAULT
Monitor LED for start/reset
Off: The start/reset is off. (The switch contact is opened.)
On: The start/reset is on. (The switch contact is closed.)
Monitor LED for shut-off 1
SDI1
Off: The shut-off 1 is off. (The switch contact is closed.)
On: The shut-off 1 is on. (The switch contact is opened.)
Monitor LED for shut-off 2
SDI2
Off: The shut-off 2 is off. (The switch contact is closed.)
On: The shut-off 2 is on. (The switch contact is opened.)
Monitor LED for STO state
TOF
Off: Not in STO state
On: In STO state
Monitor LED for SDO1
SDO1
Off: Not in STO state
On: In STO state
Monitor LED for SDO2
SDO2
Off: Not in STO state
On: In STO state
Monitor LED for confirming shutdown delay setting
SW
Off: The settings of SW1 and SW2 do not match.
On: The settings of SW1 and SW2 match.
FAULT LED
FAULT Off: Normal operation (STO monitoring state)
On: Fault has occurred.
Power supply
POWER Off: Power is not supplied to MR-J3-D05.
On: Power is being supplied to MR-J3-D05.
SRES
POWER
A-axis
B-axis
App. 5.10 Rotary switch setting
Rotary switch is used to shut off the power after control stop by SS1 function.
Set the delay time from when the STO shut off switch is pressed until when STO output is performed. Set the
same setting for SW1 and SW2. The following table shows the delay time to be set according to the setting
value of the rotary switch.
Setting cannot be changed while power is on. Notify users that setting cannot be changed by putting a seal
or by another method so that end users will not change the setting after the shipment.
0 to F in the following table is the set value of the rotary switches (SW1 and SW2).
Rotary switch setting and delay time at A-axis/B-axis [s]
B-axis
A-axis
0s
1.4 s
2.8 s
5.6 s
9.8 s
30.8 s
0s
1.4 s
2.8 s
5.6 s
9.8 s
30.8 s
0
1
-
2
5
8
-
3
6
9
B
D
4
7
A
C
E
F
App. - 34
APPENDIX
App. 5.11 Troubleshooting
When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate
action.
Event
Power is not supplied.
FAULT LED is on.
Definition
Cause
Power LED does not turn on 1. 24 V DC power supply is
although power is supplied.
malfunctioning.
2. Wires between MR-J3-D05 and 24
V DC power supply are
disconnected or are in contact with
other wires.
3. MR-J3-D05 is malfunctioning.
FAULT LED of A-axis or B- 1. The delay time settings are not
axis is on, and will not turn
matched.
off.
2. Switch input error
3. TOF signal error
4. MR-J3-D05 is malfunctioning.
App. - 35
Action
Replace the 24 V DC power supply.
Check the wiring.
Replace the MR-J3-D05.
Check the settings of the rotary
switch.
Check the wiring or sequence of the
input signals.
Check the connection with the servo
amplifier.
Replace the MR-J3-D05.
APPENDIX
App. 5.12 Dimensions
22.5
19.5
Approx. 80
φ5 mounting hole 9.75
6
Approx. 22.5
9.75
12
5
Rating plate
86
80
Approx. 5
[Unit: mm]
5
Approx. 192
182
5
FG
Assignment
CN8A
Mounting hole process drawing
Mounting screw
CN8B
Screw size: M4
7
TOF2A
8
TOF1A
7
TOF2B
8
TOF1B
5
STO2A-
6
STO2A+
5
STO2B-
6
STO2B+
3
4
STO1A+
3
4
STO1B+
1
STO1A-
2
1
STO1B-
2
CN9
Approx. 5
168
192
182
2-M4 screw
Tightening torque: 1.2 N•m
Mass: 0.2 [kg]
CN10
1A
SDI1A+
1B
SDI1A-
1A
1B
SRESA+ SRESA-
2A
SDI1B+
2B
SDI1B-
2A
2B
SRESB+ SRESB-
3A
3B
SDO1B+ SDO1B-
3A
SDI2A+
3B
SDI2A-
4A
4B
SDO1A+ SDO1A-
4A
SDI2B+
4B
SDI2B-
5A
5B
SDO2B+ SDO2B6A
6B
SDO2A+ SDO2A7A
+24 V
7B
0V
8A
TOFA
8B
TOFB
App. - 36
APPENDIX
App. 5.13 Installation
Follow the instructions in this section and install MR-J3-D05 in the specified direction. Leave clearances
between MR-J3-D05 and other equipment including the cabinet.
Cabinet
Cabinet
MR-J3-D05
MR-J3-D05
10 mm or
longer
Other device
100 mm or longer
10 mm or
longer
40 mm or
longer
10 mm or
longer
Cabinet
30 mm or
longer
40 mm or
longer
80 mm or longer
for wiring
Top
30 mm or
longer
MR-J3-D05
40 mm or
longer
Bottom
App. 5.14 Combinations of cable/connector
POINT
MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
Servo amplifier
MR-J3-D05
2)
1)
Servo amplifier
CN9
CN10
MR-J3-D05
attachment
connector
App. - 37
2)
CN8
CN8
APPENDIX
No.
Name
1) Connector
2) STO cable
Model
Description
MR-J3-D05
attachment
connector
Connector for CN9: 1-1871940-4
(TE Connectivity)
MR-D05UDL3M-B Connector set: 2069250-1
Cable length: 3 m (TE Connectivity)
Connector for CN10: 1-1871940-8
(TE Connectivity)
COMPLIANCE WITH THE MACHINERY DIRECTIVES
The MR-J3-D05 complies with the safety components laid down in the directive 2006/42/EC (Machinery).
App. - 38
APPENDIX
App. 6 EC declaration of conformity
The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit complies with the safety component laid
down in the Machinery directive.
App. - 39
APPENDIX
This certificate is valid until 2017-02-28. After March 2017, use the certificate shown on the previous page.
App. - 40
APPENDIX
App. - 41
APPENDIX
App. 7 How to replace servo amplifier without magnetic pole detection
CAUTION
Be sure to write the magnetic pole information of the servo amplifier before the
replacement to the servo amplifier after the replacement. If the information before
and after replacement are different, the servo motor may operate unexpectedly.
When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole
detection cannot be performed unavoidably, write the magnetic pole information from the servo amplifier
before the replacement to the one after the replacement using MR Configurator2.
(1) Procedures
(a) Read the magnetic pole information of the servo amplifier before the replacement.
(b) Write the read magnetic pole information to the servo amplifier after the replacement.
(c) Perform the test operation with the torque limit for ensuring the safety, and confirm that there is no
trouble.
(2) Migration method of the magnetic pole information
(a) How to read the magnetic pole information from the servo amplifier before the replacement
1) Open the project in MR Configurator2, select "MR-J4-B" for model, and select "Linear" for
operation mode. Tick the "Multi axis" box and select one from A-axis to C-axis from the menu.
2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis"
and then "Linear diagnosis".
3) Click the "Magnetic pole information" button ( 1) in figure) to open the magnetic pole information
window.
4) Click "Read All" of the magnetic pole information window. ( 2) in figure)
5) Confirm the data 1 and data 2 ( 3) in figure) of the magnetic pole information window and take
notes.
(b) How to write the magnetic pole information to the servo amplifier after the replacement
1) Open the project in MR Configurator2, select "MR-J4-B" for model, and select "Linear" for
operation mode. Tick the "Multi axis" box and select one from A-axis to C-axis from the menu.
2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis"
and then "Linear diagnosis".
3) Click the "Magnetic pole information" button ( 1) in Figure) to open the magnetic pole information
window.
4) Input the value of the magnetic pole information taken notes to the data 1 and data 2 ( 3) in
figure) of the magnetic pole information window.
5) Click "Write All" ( 4) in figure) of the magnetic pole information window.
App. - 42
APPENDIX
6) Cycle the power of the servo amplifier.
2)
3)
4)
1)
App. 8 Two-wire type encoder cable for HG-MR/HG-KR
Use a two-wire type encoder cable for the fully closed loop control of the MR-J4W2-_B servo amplifiers.
For MR-EKCBL_M-_ encoder cables for HG-MR and HG-KR, up to 20 m cables are two-wire type.
Therefore, when you need a longer encoder cable of two-wire type than 20 m, fabricate one using MRECNM connector set. Use the internal wiring diagram in the section to fabricate a cable up to 50 m.
App. 8.1 Configuration diagram
Fabricate a two-wire type
encoder cable.
Servo amplifier
CN2A
CN2B
CN2
MOTOR
Servo motor
HG-KR
HG-MR
For driving
SCALE
Servo motor
HG-KR
HG-MR
For load-side
encoder
App. - 43
APPENDIX
App. 8.2 Connector set
Connector set
MR-ECNM
1) Servo amplifier-side connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
2
LG
4
6
8
10
2
LG
MRR
1
P5
3
MR
5
7
2) Servo motor-side connector
Connector set: 54599-1019
(Molex)
9
or
BAT
4
6
8
10
5
7
9
Housing: 1-172161-9
Connector pin: 170359-1
(TE Connectivity or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industrial)
MRR
1
3
P5 MR
BAT
1
2
3
MR MRR BAT
4
5
6
CONT
View seen from wiring side. (Note)
View seen from wiring side. (Note)
Note. Keep open the pins shown with
. Especially, pin 10 is provided
for manufacturer adjustment. If it is connected with any other pin, the
servo amplifier cannot operate normally.
7
P5
8
LG
9
SHD
View seen from wiring side.
App. 8.3 Internal wiring diagram
Servo amplifier-side
connector
P5
LG
MR
MRR
BAT
SD
Servo motor-side
connector
1
2
7
8
P5
LG
3
4
9
Plate
1
2
3
9
MR
MRR
BAT
SHD
(Note)
Note. Always make connection for use in an absolute position detection system. Wiring is
not necessary for use in an incremental system.
App. - 44
APPENDIX
App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System &
Service
POINT
For the details of the SSCNET III cables, contact your local sales office.
Do not look directly at the light generated from CN1A/CN1B connector of servo
amplifier or the end of SSCNET III cable. The light can be a discomfort when it
enters the eye.
The cable is available per 1 m up to 100 m. The number of the length (1 to 100) will be in the underscore in
the cable model.
Cable model
SC-J3BUS_M-C
Cable length
1 m to 100 m
Bending life
Application/remark
1 to 100
Ultra-long
bending life
Using long distance
cable
App. 10 CNP_crimping connector
1) 2)
CNP1
CNP2
No.
1)
2)
Name
Connector set
Connector set
Model
Definition
Number of
parts
1 each
MR-J3WCNP12-DM
For CNP1
Receptacle housing:
J43FSS-03V-KX
Receptacle contact:
MR-J3WCNP12-DM- BJ4F-71GF-M3.0
(JST)
10P
Applicable wire
2
2
Wire size: 1.25 mm to 2.0 mm
(AWG 16 to 14)
Insulator OD: 2.0 mm to 3.8 mm
The crimping tool (YRF-1130) is
required.
App. - 45
For CNP2
Receptacle housing:
F32FMS-06V-KXY
Receptacle contact:
BF3F-71GF-P2.0
(JST)
Applicable wire
2
2
Wire size: 1.25 mm to 2.0 mm
(AWG 16 to 14)
Insulator OD: 2.4 mm to 3.4 mm
The crimping tool (YRF-1070) is
required.
10 each
APPENDIX
App. 11 Recommended cable for servo amplifier power supply
The following information is as of September 2015. For the latest information, contact the manufacturer.
Manufacturer: Mitsubishi Electric System & Service
<Sales office> FA PRODUCT DIVISION mail: oss-ip@melsc.jp
(1) Specifications
1 Primary-side power cable
Name
Model
Wire size
1) Main circuit power supply
SC-EMP01CBL_M-L
AWG 14 × 3 pcs.
2) Control circuit power supply
SC-ECP01CBL_M-L
AWG 16 × 2 pcs.
3) Regenerative option
Built-in regenerative resistor
4)
short circuit connector
SC-ERG01CBL_M-L
AWG 14 × 2 pcs.
SC-ERG02CBL01M-L
AWG 14 × 1 pcs.
Insulator
material
PVC
(red, white,
blue)
PVC
(red, white)
PVC
(black)
Minimum
Insulator
bend
OD [mm]
radius
[mm]
30
Approx.
3.6
30
Approx.
3.2
30
-
Applicable
standard
(wire part)
UL
1063/MTW
Approx.
3.6
A symbol "_" in the model name indicates a cable length.
Motor-side power cable
Material
Name
5)
Direct connection to
rotary servo (up to 10
6) m)
Model
Wire size
Standard SC-EPWS1CBL_M-*-L
AWG 18 × 4C
Long
bending SC-EPWS1CBL_M-*-H
life
AWG 19 × 4C
Linear servo (up to 10
m)
Linear servo (more
Standard SC-EPWS2CBL_M-L
than 10 m)/junction
8) connection to rotary
servo
(more than 10 m)
Linear servo (up to 10
9)
m)
Long
Linear servo (more
bending SC-EPWS2CBL_M-H
than 10 m)/junction
life
10)
connection to rotary
servo (more than 10 m)
7)
Minimum
Overall
bend
diameter
Outer
radius
Insulator
[mm]
sheath
[mm]
Applicable
standard
(wire part)
50
Approx.
6.2
UL 13/CL3
40
Approx.
5.7
UL AWM
2103
50
Approx.
6.2
UL 13/CL3
90
Approx.
11.1
UL AWM
2501
40
Approx.
5.7
UL AWM
2103
75
Approx.
10.5
UL AWM
2501
ETFE
AWG 18 × 4C
AWG 16 × 4C
PVC
AWG 19 × 4C
PVBC
(black)
ETFE
AWG 14 × 4C
A symbol "_" in the model name indicates a cable length.
A symbol "*" in the model name is "A1" or "A2". A1: Load-side lead, A2: Opposite to load-side lead.
The characters "-H" or "-L" at the end of a model name indicate a bending life. A model name with the
characters "-H" has a long bending life, and "-L" has a standard bending life.
App. - 46
APPENDIX
(2) Dimensions
[Unit: mm]
Amplifier side
Power side
Amplifier side
L [m]
24
Power side
Amplifier side
L [m]
23
30
30
8
8
9
Amplifier side
23
23
2 3
5)/6) [SC-EPWS1CBL_M-*-L/
SC-EPWS1CBL_M-*-H]
Amplifier side
Regenerative
option side
1
3
2 3
2
4) [SC-ERG02CBL01M-L]
L [m]
23
1
1
34
3) [SC-ERG01CBL_M-L]
2) [SC-ECP01CBL_M-L]
1) [SC-EMP01CBL_M-L]
7)/8)/9)/10) [SC-EPWS2CBL_M-L/
SC-EPWS2CBL_M-H]
Motor side
L [m]
200
Amplifier side
30
23
Motor side
L [m]
200
200
20
Cable OD : 7) Standard
8) Standard
9) Long bending life
10) Long bending life
10
14
25
20
10
8
2 3
30
1
Cable OD : 5) Standard
About φ6.2
6) Long bending life About φ5.7
10 m or shorter
11 m to 30 m
10 m or shorter
11 m to 30 m
A symbol "_" in the model name indicates a cable length.
A symbol "*" in the model name is "A1" or "A2". A1: Load-side lead, A2: Opposite to load-side lead.
App. - 47
About φ6.2
About φ11.1
About φ5.7
About φ10.5
APPENDIX
App. 12 Special specification
App. 12.1 Amplifier without dynamic brake
App. 12.1.1 Summary
This section explains servo amplifiers without dynamic brakes Items not given in this section will be the
same as MR-J4W_-_B_.
App. 12.1.2 Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are
available.
MR - J 4W2 - 2 2 B - ED
SSCNETIII/H interface
Series
Rated output
Rated output [kW]
Symbol
A-axis B-axis C-axis
0.2
22
0.2
0.4
44
0.4
77
0.75
0.75
1
1
1010
0.2
0.2
222
0.2
0.4
444
0.4
0.4
Number of axes
Number
Symbol of axes
W2
2
W3
3
Special specifications
Symbol
Special specifications
Standard
None
-ED
Without a dynamic brake
App. 12.1.3 Specifications
The dynamic brake built-in the servo amplifier is removed.
Take safety measures such as making another circuit in case of an emergency stop, alarm, and servo motor
stop at power supply shut-off.
When the following servo motors are used, the electronic dynamic brake can start at an alarm occurrence.
Series
Servo motor
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
Setting the following parameter disables the electronic dynamic brake.
Servo amplifier
MR-J4W_-_B-ED
Parameter
Setting value
[Pr. PF06]
___2
When "2 _ _ _" (initial value) is set in [Pr. PA04], an forced stop deceleration can start at an alarm
occurrence. Setting "0 _ _ _" in [Pr. PA04] disables the forced stop deceleration.
App. - 48
APPENDIX
App. 12.2 Special coating-specification product (IEC 60721-3-3 Class 3C2)
App. 12.2.1 Summary
This section explains servo amplifiers with a special coating specification. Items not given in this section will
be the same as MR-J4W_-_B_.
App. 12.2.2 Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are
available.
MR - J 4W2 - 2 2 B
Series
Number of axes
Symbol Number of axes
W2
2
W3
3
Rated output
Rated output [kW]
Symbol
A-axis B-axis C-axis
0303
0.03
0.03
22
0.2
0.2
44
0.4
0.4
77
0.75
0.75
1010
1
1
222
0.2
0.2
0.2
444
0.4
0.4
0.4
App. - 49
- EB
Special coating-specification product (3C2)
Power supply
Power supply
Symbol
None 3-phase 200 V AC to 240 V AC
6
48 V DC/24 V DC
SSCNET III/H interface
APPENDIX
App. 12.3.3 Specifications
(1) Special coating
Using the MR-J4 series in an atmosphere containing a corrosive gas may cause its corrosion with time,
resulting in a malfunction. For the printed circuit board of the servo amplifiers with a special coating
specification, a urethane coating agent is applied to some parts capable of being coated technically
(except LEDs, connectors, terminal blocks, etc.) to improve the resistance to corrosive gases. Use a
servo amplifier with a special coating specification specifically for applications susceptible to corrosive
gases, including tire manufacturing and water treatment. Although the special coating-specification
products have the improved resistance to corrosive gases, proper operations in environments
mentioned above are not guaranteed. Therefore, perform periodic inspections for any abnormality.
(2) Standard for corrosive gases
In IEC 60721-3-3, corrosive gases refer to sea salt, sulfur dioxide, hydrogen sulfide, chlorine, hydrogen
chloride, hydrogen fluoride, ammonia, ozone, and nitrogen oxides shown in the environmental
parameter column of the table below.
The table also shows the corrosive gas concentrations defined in IEC 60721-3-3, Class 3C2.
Environmental parameter
a) Sea salt
b) Sulfur dioxide
c) Hydrogen sulfide
d) Chlorine
e) Hydrogen chloride
f) Hydrogen fluoride
g) Ammonia
h) Ozone
i) Nitrogen oxides
Unit
None
3
3
cm /m
3
3
cm /m
3
3
cm /m
3
3
cm /m
3
3
cm /m
3
3
cm /m
3
3
cm /m
3
3
cm /m
3C2
Mean value
Maximum value
Salt mist
0.11
0.071
0.034
0.066
0.012
1.4
0.025
0.26
0.37
0.36
0.1
0.33
0.036
4.2
0.05
0.52
The special coating-specification products have the improved corrosion resistance in environments with
corrosive gas concentrations conforming to IEC 60721-3-3, Class 3C2. We tested typical models and
confirmed that their corrosive gas resistance was improved, compared with the standard models.
App. - 50
APPENDIX
App. 13 Driving on/off of main circuit power supply with DC power supply
App. 13.1 Connection example
The following is common in 200 W or more MR-J4W_-_B servo amplifiers. For the signals and wiring that
are not described in this section, refer to section 3.1.
AND malfunction
RA1
OFF
Emergency stop switch
MCCB
MC
ON
MC
SK
Servo amplifier
24 V DC (Note 7, 8)
MC (Note 3)
L1
Power supply
(Note 1)
L2
(Note 4)
Main circuit
power supply
(Note 2) Forced stop 2
L3
CN3
EM2
DICOM
24 V DC (Note 6)
(Note 5)
Short-circuit connector
(Packed with the servo amplifier)
CN8
CN3
24 V DC (Note 6)
DOCOM
CALM
RA1
AND malfunction
(Note 2)
Note 1. For the power supply specifications, refer to section 1.3.
2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
3. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
4. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
5. When not using the STO function, attach the short-circuit connector came with a servo amplifier.
6. 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.
7. Driving the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements.
8. Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply. Always use the power supply
designed exclusively for the magnetic contactor.
App. - 51
APPENDIX
App. 13.2 Magnetic contactor
Use a magnetic contactor with an operation delay time (interval between current being applied to the coil
until closure of contacts) of 80 ms or less.
(1) For MR-J4W2
Total output of rotary servo
motors
300 W or less
From over 300 W to 600 W
From over 600 W to 1 kW
From over 1 kW to 2 kW
Total continuous thrust of linear
servo motors
150 N or less
From over 150 N to 300 N
From over 300 N to 720 N
Total output of direct drive
motors
100 W or less
From over 100 W to 252 W
From over 252 W to 838 W
Magnetic
contactor
SD-N11
SD-N21
(2) For MR-J4W3
Total output of rotary servo
motors
450 W or less
From over 450 W to 800 W
From over 800 W to 1.5 kW
Total continuous thrust of linear
servo motors
150 N or less
From over 150 N to 300 N
From over 300 N to 450 N
App. - 52
Total output of direct drive
motors
252 W or less
From over 252 W to 378 W
Magnetic
contactor
SD-N11
SD-N21
APPENDIX
App. 14 Optional data monitor function
The optional data monitor function is used to monitor data in the servo amplifier with the servo system
controller. In the optional data monitor function, data types of registered monitor and transient command can
be set.
For details of usage, unit of data type, and others, refer to the manuals for servo system controllers.
App. 14.1 Registered monitor
Data type
Effective load ratio
Regenerative load ratio
Peak load ratio
Position feedback
Encoder position within one revolution
Encoder multiple revolution counter
Load inertia moment ratio
Load mass ratio
Model loop gain
Main circuit bus voltage
Cumulative current value
Servo motor speed
Servo motor speed
Selected droop pulse
Module power consumption
Module integral power consumption
Instantaneous torque
Instantaneous thrust
Load-side encoder information 1
Load-side encoder information 2
Z-phase counter
Servo motor thermistor temperature
Disturbance torque
Disturbance thrust
Description
The continuous effective load current is displayed.
The effective value is displayed considering a rated current as 100%.
The ratio of regenerative power to permissible regenerative power is displayed in %.
The maximum torque generated is displayed.
The highest value in the past 15 s is displayed, with the rated torque being 100%.
Feedback pulses from the servo motor encoder are counted and displayed.
The position in servo motor-side 1-revolution is displayed in the encoder pulse unit.
When the value exceeds the maximum number of pulses, it resets to 0.
The rotation amount of the servo motor is displayed. The value is counted up by one per
servo motor revolution.
The set ratio of the load inertia moment to the servo motor shaft inertia moment is
displayed.
The load to mass of the linear servo motor primary-side ratio is displayed.
The model loop gain value is displayed.
The voltage of main circuit converter (between P+ and N-) is displayed.
The cumulative current value of the servo motor is displayed.
The servo motor speed is displayed.
The linear servo motor speed is displayed at linear servo motor driving.
The droop pulse set in [Pr. PE10] is displayed.
The module power consumption is displayed.
The positive value is displayed in power running. The negative value is displayed in
regeneration.
The module integral power consumption is displayed.
The instantaneous torque is displayed.
The value of torque being occurred is displayed in real time considering a rated torque as
100%.
The instantaneous thrust is displayed at linear servo motor driving.
The value of thrust being occurred is displayed in real time considering a continuous thrust
as 100%.
When an incremental type linear encoder is used for the load-side encoder, the Z-phase
counter of the load-side encoder is displayed by encoder pulses.
When an absolute position type linear encoder is used for the load-side encoder, the
encoder absolute position is displayed.
When an incremental type linear encoder is used for the load-side encoder, the display
shows 0.
When an absolute position type linear encoder is used for the load-side encoder, the
display shows 0.
When a rotary encoder is used for the load-side encoder, the display shows the multirevolution counter value of the encoder.
The Z-phase counter is displayed in the encoder pulse unit.
For an incremental type linear encoder, the Z-phase counter is displayed. The value is
counted up from 0 based on the home position (reference mark).
For an absolute position type linear encoder, the encoder absolute position is displayed.
The thermistor temperature is displayed for the servo motor with a thermistor.
For the servo motor without thermistor, "9999" is displayed.
For the servo motor with a thermistor, refer to each servo motor instruction manual.
The difference between the torque necessary to drive the servo motor and the actually
required torque (Torque current value) is displayed as the disturbance torque.
The difference between the thrust necessary to drive the linear servo motor and the
actually required thrust (Thrust current value) is displayed as the disturbance thrust.
App. - 53
APPENDIX
Data type
Overload alarm margin
Error excessive alarm margin
Settling time
Overshoot amount
Servo motor side/load-side position
deviation
Servo motor side/load-side speed
deviation
Internal temperature of encoder
Servo command value
Torque command
Description
The margins to the levels which trigger [AL. 50 Overload 1] and [AL. 51 Overload 2] are
displayed in percentage.
The margin to the level which triggers the error excessive alarm is displayed in units of
encoder pulses.
The error excessive alarm occurs at 0 pulses.
The time (Settling time) after command is completed until INP (In-position) turns on is
displayed.
The overshoot amount during position control is displayed in units of encoder pulses.
During fully closed loop control, a deviation between servo motor side position and loadside position is displayed.
The number of pulses displayed is in the load-side encoder pulse unit.
During fully closed loop control, a deviation between servo motor side speed and load-side
speed is displayed.
The internal temperature of encoder is displayed. "0" is displayed for the linear servo
motor. When an encoder communication error occurs, the last value will be displayed
before the error.
This is available with servo amplifiers with software version C4 or later.
The position command from the controller is displayed.
The torque command from the controller is displayed.
App. 14.2 Transient command
Data type
Motor serial number (First 8 characters)
Motor serial number (Last 8 characters)
Servo motor ID (SSCNET III)/Encoder ID
Servo motor ID (SSCNET III/H)
Encoder resolution
Servo amplifier serial number (First 8
characters)
Servo amplifier serial number (Last 8
characters)
Servo amplifier recognition information
(First 8 characters)
Servo amplifier recognition information
(Last 8 characters)
Servo amplifier software number (First 8
characters)
Servo amplifier software number (Last 8
characters)
Power ON cumulative time
Inrush relay ON/OFF number
Read alarm history number
Alarm history/Detail #1, #2
Alarm history/Detail #3, #4
Alarm history/Detail #5, #6
Alarm history/Detail #7, #8
Alarm history/Detail/Occurrence time
Alarm occurrence time #1, #2
Alarm occurrence time #3, #4
Alarm occurrence time #5, #6
Alarm occurrence time #7, #8
Alarm history clear command
Description
The servo motor serial number is displayed.
The serial number is not displayed for linear servo motors.
This data type is available with servo amplifier with software version C9 or later.
The servo motor ID and encoder ID sent from the encoder are displayed.
The types of the connected servo motor and encoder can be checked by referring to the
ID.
For details, refer to "Servo Motor Instruction Manual (Vol. 3)".
The servo motor ID sent from the encoder is displayed.
The type of the connected servo motor can be checked by referring to the ID.
For details, refer to "Servo Motor Instruction Manual (Vol. 3)".
The encoder resolution is displayed.
The servo amplifier serial number is displayed.
The servo amplifier name is displayed.
The software version of the servo amplifier is displayed.
The cumulative time after power on of the servo amplifier is displayed.
The number of on and off for inrush relay of the servo amplifier is displayed.
The maximum number of alarm histories of the connected servo amplifier is displayed.
The alarm history/detail #1, #2 are displayed. (Hexadecimal)
The alarm history/detail #3, #4 are displayed. (Hexadecimal)
The alarm history/detail #5, #6 are displayed. (Hexadecimal)
The alarm history/detail #7, #8 are displayed. (Hexadecimal)
The alarm history data of specific number # is displayed.
The alarm occurrence time #1, #2 are displayed.
The alarm occurrence time #3, #4 are displayed.
The alarm occurrence time #5, #6 are displayed.
The alarm occurrence time #7, #8 are displayed.
Used for alarm history clear.
App. - 54
APPENDIX
Data type
Home position [command unit]
Main circuit bus voltage
Regenerative load ratio
Effective load ratio
Peak load ratio
Estimate inertia moment ratio
Model loop gain
LED display
Load-side encoder information 1
Load-side encoder information 2
Speed feedback
Servo motor thermistor temperature
Z-phase counter
Module power consumption
Module integral power consumption
Disturbance torque
Instantaneous torque
Overload alarm margin
Error excessive alarm margin
Settling time
Overshoot amount
Servo motor side/load-side position
deviation
Servo motor side/load-side speed
deviation
Internal temperature of encoder
Machine diagnostic status
Friction estimation data
Vibration estimation data
Description
The home position is displayed.
The voltage of main circuit converter (between P+ and N-) is displayed.
The ratio of regenerative power to permissible regenerative power is displayed in %.
The continuous effective load current is displayed.
The effective value is displayed considering a rated current as 100%.
The maximum torque generated is displayed.
The highest value in the past 15 s is displayed, with the rated torque being 100 %.
The set ratio of the load inertia moment to the servo motor shaft inertia moment is
displayed.
The model loop gain value is displayed.
The value shown on the 7-segment LED display of the servo amplifier is displayed.
When an incremental type linear encoder is used for the load-side encoder, the Z-phase
counter of the load-side encoder is displayed by encoder pulses.
When an absolute position type linear encoder is used for the load-side encoder, the
encoder absolute position is displayed.
When an incremental type linear encoder is used for the load-side encoder, the display
shows 0.
When an absolute position type linear encoder is used for the load-side encoder, the
display shows 0.
When a rotary encoder is used for the load-side encoder, the display shows the multirevolution counter value of the encoder.
The servo motor speed is displayed.
The thermistor temperature is displayed for the servo motor with a thermistor.
For the servo motor without thermistor, "9999" is displayed.
For the servo motor with a thermistor, refer to each servo motor instruction manual.
The Z-phase counter is displayed in the encoder pulse unit.
For an incremental type linear encoder, the Z-phase counter is displayed. The value is
counted up from 0 based on the home position (reference mark).
For an absolute position type linear encoder, the encoder absolute position is displayed.
The module power consumption is displayed.
The positive value is displayed in power running. The negative value is displayed in
regeneration.
The module integral power consumption is displayed.
The difference between the torque necessary to drive the servo motor and the actually
required torque (Torque current value) is displayed as the disturbance torque.
The instantaneous torque is displayed.
The value of torque being occurred is displayed in real time considering a rated torque as
100%.
The margins to the levels which trigger [AL. 50 Overload 1] and [AL. 51 Overload 2] are
displayed in percentage.
The margin to the level which triggers the error excessive alarm is displayed in units of
encoder pulses.
The error excessive alarm occurs at 0 pulses.
The time (Settling time) after command is completed until INP (In-position) turns on is
displayed.
The overshoot amount during position control is displayed in units of encoder pulses.
During fully closed loop control, a deviation between servo motor side position and loadside position is displayed.
The number of pulses displayed is in the load-side encoder pulse unit.
During fully closed loop control, a deviation between servo motor side speed and load-side
speed is displayed.
The internal temperature of encoder is displayed. "0" is displayed for the linear servo
motor. When an encoder communication error occurs, the last value will be displayed
before the error.
This is available with servo amplifiers with software version C4 or later.
The current status of the machine diagnostic function is displayed.
The friction estimation data estimated by the machine diagnostic function is displayed.
The vibration estimation data estimated by the machine diagnostic function is displayed.
App. - 55
APPENDIX
App. 15 STO function with SIL 3 certification
The MR-J4 series general-purpose AC servo amplifiers now comply with safety integrity level 3 (SIL 3) of the
IEC 61508:2010 functional safety standard.
App. 15.1 Target models
MR-J4 series AC servo amplifiers (excluding MR-J4-03A6(-RJ) and MR-J4W2-0303B6)
App. 15.2 Change of the compliance
The target MR-J4 servo amplifiers now comply with SIL 3 (Table app. 3).
Table app. 3 Compliance with SIL 3
Before change
Safety performance
(Standards certified by CB)
EN ISO 13849-1 category 3 PL d,
IEC 61508 SIL 2,
EN 62061 SIL CL 2,
EN 61800-5-2 STO function
After change
EN ISO 13849-1 category 3 PL e,
IEC 61508 SIL 3,
EN 62061 SIL CL 3,
EN 61800-5-2 STO function
App. 15.3 Schedule
For the products manufactured in Japan, this change has been made sequentially from the June 2015
production.
For the products manufactured and sold in China, this change has been made sequentially from the
December 2015 production.
There may be cases where both the former and new products exist in the distribution stage.
App. 15.4 Use with SIL 3
Set the safety level with [Pr. PF18 STO diagnosis error detection time].
To use the servo amplifier with SIL 3, set [Pr. PF18 STO diagnosis error detection time] within the range of 1
to 60, connect the TOFB output (CN8) of the servo amplifier to the input of a SIL 3-certified controller and
execute the diagnosis. SIL 3 functional safety of the servo amplifiers is certified by TÜV SÜD.
App. 15.5 Use with SIL 2 (as conventional)
The servo amplifiers are still capable of SIL 2 as before regardless of whether the STO diagnosis function is
enabled or not.
Either of the conventionally-used TÜV Rheinland certification or the new TÜV SÜD certification may be
used.
App. - 56
APPENDIX
App. 15.6 How to check the country of origin, and the year and month of manufacture
The country of origin, and the year and month of manufacture are indicated on the packaging box (Fig. app.
2) and the rating plate (Fig. app. 3).
Manufacture month
and year
Country of origin
Fig. app. 2 Indication example on the packaging box
AC SERVO
SER.A45001001
MODEL MR-J4-10B
POWER :100W
INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz
OUTPUT: 3PH170V 0-360Hz 1.1A
STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175
Max. Surrounding Air Temp.: 55°C
IP20
KCC-REI-MEK-TC300A624G51
DATE:2014-05
Serial number
Model
Capacity
Applicable power supply
Rated output current
Conforming standard, manual number
Ambient temperature
IP rating
Manufacture month and year
TOKYO 100-8310, JAPAN
MADE IN JAPAN
Country of origin
Fig. app. 3 Indication example on the rating plate
App. - 57
APPENDIX
App. 16 Status of general-purpose AC servo products for compliance with the China RoHS
directive
(1) Summary
The China RoHS directive: 电子信息产品污染控制管理办法 (Management Methods for Controlling
Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS
directive was replaced by the following China RoHS directive: 电器电子产品有害物质限制使用管理办法
(Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and
Electronic Products). The succeeding China RoHS directive has been in effect since July 1, 2016.
The China RoHS directive restricts the use of six hazardous substances (lead, mercury, cadmium,
hexavalent chromium, polybrominated biphenyls (PBB), and polybrominated diphenyl ethers (PBDE))
and other hazardous substances specified by the State (currently no applicable substances). The EU
RoHS directive (2011/65/EU) also restricts the use of the above six hazardous substances.
(2) Status of our products for compliance with the China RoHS directive
The following tables show the content of six hazardous substances in our products and EnvironmentFriendly Use Period marks. Table app. 4 is created based on the standard SJ/T11364.
Table app. 4 Names and the content of hazardous substances in the products
Substance name
Threshold standard
Hazardous substance (Note 1)
Lead
(Pb)
Mercury
(Hg)
Cadmium
(Cd)
Hexavalent
chromium
(Cr(VI))
PBB
PBDE
Threshold of cadmium: 0.01 wt% (100 ppm),
Threshold of substances other than cadmium: 0.1 wt% (1000 ppm)
Part name
Servo amplifier
Servo system
controller
EnvironmentFriendly Use
Period mark
(Note 2)
Remark
Mounting board
Heat sink
Resin cabinet
Plate and screw
Servo motor
Bracket
Mounting board
Resin cabinet
Core and cable
Cable product
Cable
Including
connector set
Connector
Optional unit
Mounting board
Resin cabinet
Plate and screw
Note 1.
: Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit
requirement of GB/T26572.
: Indicates that said hazardous substance contained in at least one of the homogeneous materials for this part is above the
limit requirement of GB/T26572.
2. Indications based on "Marking for the restriction of the use of hazardous substances in electrical and electronic product"
[SJ/T11364-2014]
Indicates that a certain hazardous substance is contained in the product manufactured or sold in China.
Observe safety and usage precautions for the product, and use it within a limited number of years from the
production date. Thereby, any of the hazardous substances in the product does not cause environmental
pollution, or seriously affect human health or property.
Indicates that no certain hazardous substance is contained in the product.
App. - 58
APPENDIX
(3) Difference between the China RoHS directive and the EU RoHS directive
The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a
product complies with the EU RoHS directive, a hazardous substance in the product may be considered
to be above the limit requirement (marked " ") in the China RoHS directive.
The following shows some restriction exemptions and their examples according to the EU RoHS
directive.
Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to
0.35% lead by weight, lead as an alloying element in aluminum containing up to 0.4% lead by weight,
and copper alloy containing up to 4% lead by weight, e.g. brass-made insert nuts
Lead in high melting temperature type solders (i.e. lead-based alloys containing 85% by weight or
more lead)
Electrical and electronic components containing lead in a glass or ceramic other than dielectric
ceramic in capacitors, e.g. piezoelectronic devices
Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip
resistors
(4) Status of our products for compliance with the China RoHS directive (Chinese)
The following shows table app. 4 in Chinese according to "Management Methods for the Restriction of
the Use of Hazardous Substances in Electrical and Electronic Products".
表附.5 产品中所含有害物质的名称及含量
物质名称
阈值
铅
基准 (Pb)
有害物质 (注1)
汞
(Hg)
镉
(Cd)
六价铬
(Cr(VI))
PBB
PBDE
阈值:镉:0.01wt%(100ppm)、
镉以外:0.1wt%(1000ppm)、
部件名称
伺服放大
器
环境保护
使用期限标识
(注2)
备注
电路板组件
散热片
伺服系统
控制器
伺服电机
树脂壳体
金属板、螺丝
托架
电路板组件
树脂壳体
铁心、电线
电缆
加工品
选件
模块
电线
包括连接器组
件
连接器
电路板组件
树脂壳体
金属板、螺丝
注
1.
: 表示该有害物质在该部件所有均质材料中的含量均在GB/T26572规定的限量要求以下。
: 表示该有害物质在该部件的至少一种均质材料中的含量超出GB/T26572规定的限量要求。
2. 根据“电子电气产品有害物质限制使用标识要求”、[SJ/T11364-2014]的表示
该标志表示在中国制造/销售的产品中含有特定有害物质。
只要遵守本产品的安全及使用方面的注意事项,从生产日算起的环保使用期限内不会造成环境污染或对人体、财
产产生深刻的影响。
该标志表示制造的产品中不含有特定有害物质。
App. - 59
REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision Date
*Manual Number
Revision
Mar. 2012
SH(NA)030105ENG-A
First edition
Jun. 2012
SH(NA)030105ENG-B
4. Additional instructions
The sentences are added.
(2) Wiring
4. Additional instructions
The sentences are added.
(3) Test run and adjustment
COMPLIANCE WITH CE
The reference is changed.
MARKING
COMPLIANCE WITH
The reference is changed.
UL/CSA STANDARD
COMPLIANCE WITH KC
Added.
MARK
Section 1.2
The diagram is changed.
Section 1.3.1
The table is changed. Note 8 is added.
Section 1.3.2
The table is changed. Note 7 and 8 is added.
Section 1.4
The item of the drive recorder function is changed. The item of
the fully closed loop system is changed.
Section 1.6
The diagram is changed.
Section 1.7
Note is changed.
Section 2.6
The explanation of relay lifetime is changed.
Chapter 3
The sentences are added to CAUTION.
Section 3.1
The sentences are added to CAUTION. Note 12 is added.
Section 3.2.1
Note 20 is added.
Section 3.2.2
Note 20 is added.
Section 3.3.3 (2) (a)
The ferrule is added.
Section 3.4
The diagram is added.
Section 3.5.2 (2)
The sentences of INP (In-position) are added. CLDS (During
fully closed loop control) is added.
Section 3.7.1 (3)
The sentences are added.
Section 3.8.2 (1)
The sentences are changed.
Section 3.8.2 (2)
The sentences are added.
Section 3.8.3 (1)
The sentences are added.
Section 3.8.3 (2)
The sentences are added.
Section 4.1.2 (1) (b) 1)
The sentences are changed.
Section 4.1.2 (1) (b) 4)
Added.
Section 4.3.3 (1)
The diagram is changed.
Section 4.5.2 (1) (b)
Note is added. [AL. 20 Encoder normal communication error 1
(ABZ input)] in the table is deleted.
Section 5.1
POINT is changed and Note is deleted.
Section 5.1.1
PA25 is changed from "For manufacturer setting".
Section 5.1.6
PF06 and PF12 are changed from "For manufacturer setting".
Section 5.2.1
The sentences are added to PA01 and PA20, and PA25 is
added.
Section 5.2.3
The sentences of PC01 are changed and sentences are
added to PC03.
Section 5.2.4
The table of PD07 is changed.
Section 5.2.5
The sentences are added to PE08.
Section 5.2.6
PF06 and PF12 are added.
Chapter 6
The sentences in POINT are changed.
Section 6.2.2 (4)
The part of table is changed.
Chapter 7
The sentences in POINT are changed.
Section 7.3.1
The sentences are added to POINT.
Revision Date
*Manual Number
Jun. 2012
SH(NA)030105ENG-B
Revision
Section 8.1
The column of the fully closed loop control is added. [AL. 13.2],
[AL. 1E.2], [AL. 1F.2], [AL. 21.4], [AL. 42.8], [AL. 42.9], [AL.
42.A], [AL. 70], [AL. 71], [AL. 72], and [AL. E8.2] are added.
Section 8.2
The troubleshooting for the MR-J4W3 servo amplifiers with
software version A2 or below.
Section 10.3
POINT is added.
Section 11.2.2
The title is changed.
Section 11.4
Note is changed.
Section 12.2
The sentences are added to POINT.
Section 13.1.5
The value in table is changed.
Section 13.3.2 (1)
The diagram is changed.
Section 13.3.2 (2)
Added.
Section 13.3.3
The part of diagram is changed.
Section 13.4.1 (1)
The sentences are changed.
Section 13.4.1 (2)
The sentences are added.
Section 13.4.1 (2) (a)
Note is changed.
Section 13.4.2 (1)
The sentences are added.
Section 13.4.2 (2)
The sentences are added.
Section 14.1.2
CAUTION is changed.
Section 14.2
CAUTION is added.
Section 14.3.1 (1)
The diagram is added.
Section 14.3.1 (2)
"Set the linear servo motor series and linear servo motor type"
is added.
Section 14.3.2 (3) (a)
POINT and sentences are changed.
Section 14.3.2 (3) (b)
POINT is changed.
Section 14.4.4
The table is changed and the sentences are added. CAUTION
is changed.
Section 15.2
CAUTION is added.
Section 15.3.2 (3) (a)
POINT and sentences are changed.
Section 15.3.2 (3) (b)
POINT is changed.
Section 15.4.3 (2)
The table is changed.
Chapter 16
"Available in the future" is deleted. The sentences in POINT
are changed.
Sep. 2012
SH(NA)030105ENG-C
Section 16.1.1
The sentences of Note 2 are changed.
Section 16.1.2 (1)
The part of diagram is changed.
Section 16.3.1 (5)
The part of table is changed.
Appendix. 4
The sentences are changed.
Appendix. 5
The sentences are changed.
Appendix. 6
The sentences are changed.
Appendix. 7.7.3 (1)
POINT and diagram are changed.
Appendix. 7.7.3 (2)
The diagram is changed.
Appendix. 7.7.3 (3)
Deleted.
Appendix. 7.7.3 (4)
Deleted.
Appendix. 7.8.1 (1)
The pin number is changed and Note is deleted.
Appendix. 7.8.1 (2)
CAUTION is deleted.
Appendix. 7.8.2
The sentences are changed.
Appendix. 7.12
The diagram is added.
Appendix. 7.14
POINT is changed.
Appendix. 8
TUV certificate of MR-J4 series is added.
Appendix. 10.1
The diagram is changed.
Appendix. 13 (1)
The wire size of 6) is changed.
Appendix. 14
Added.
Section 3.2.1
The diagram is changed.
Section 3.2.2
The diagram is changed.
Section 3.10.2 (1) (b)
The diagram is changed.
Section 13.3.1
The sentences are changed.
Revision Date
*Manual Number
Sep. 2012
SH(NA)030105ENG-C
Feb. 2013
SH(NA)030105ENG-D
Revision
Section 13.4.1 (1)
The diagram is changed.
Section 13.4.2 (1)
The diagram is changed.
4. Additional instructions
The diagram is partially changed.
COMPLIANCE WITH CE
Deleted.
MARKING
COMPLIANCE WITH
Deleted.
UL/CSA STANDARD
COMPLIANCE WITH KC
Deleted.
MARK
Compliance with global
Added.
standards
Section 1.3.1
The table is partially changed.
Section 1.3.2
The table is partially changed.
Section 1.3.3
The table is changed. HG-UR and HG-JR are added.
Section 1.4
The table is partially changed.
Chapter 3
The diagram in CAUTION is partially changed.
Section 3.1
The diagram is partially changed.
Section 3.3.2
POINT is added.
Section 3.4
The pin name is changed. The table is deleted.
Section 3.5.2
The table is partially changed.
Section 3.6
The sentences are added to POINT.
Section 3.6.2
The sentences are partially changed.
Section 3.6.3
The sentences are partially changed.
Section 3.8.1
The diagram is partially changed.
Section 3.10.1 (1)
The diagram is partially changed.
Section 4.3.2 (1)
The diagram is partially changed.
Chapter 5
The sentences are added to CAUTION.
Section 5.1
POINT is partially changed.
Section 5.1.4
The operation mode in [Pr. PD12] is changed.
Section 5.1.6
The name of [Pr. PF25] is changed.
Section 5.2.1
The name of the third digit is changed.
Section 5.2.2
The sentences in [Pr. PB17], [Pr. PB33] to [Pr. PB36], and [Pr.
PB56] to [Pr. PB60] are partially changed.
Section 5.2.3
The table in [Pr. PC03] is partially changed.
The sentences are added to the fourth digit in [Pr. PC04].
The sentences are added to [Pr. PC05].
Section 5.2.6
The name of [Pr. PF25] is changed.
Section 5.2.7
The note is added to the first digit in [Pr. PL04].
Section 6.2.2 (2)
POINT is added.
Section 6.2.2 (4)
The table is partially changed.
Section 6.2.2 (5)
The sentences are added.
Section 6.3.1 (1)
POINT is partially changed.
Section 7.3.2
CAUTION is deleted. The name of [Pr. PF25] is changed.
Section 7.4
Added.
Chapter 8
The sentences are added to POINT.
Section 8.1
Error reset of watchdog is changed.
Section 10.1
HG-UR and HG-JR are added.
Section 10.2
HG-UR and HG-JR are added.
Section 10.3.1 (2)
HG-UR and HG-JR are added.
Section 10.3.2
HG-UR and HG-JR are added.
Chapter 11
POINT is added.
Section 11.4 (1)
The table is partially changed.
Section 11.4 (2)
The table is partially changed.
Section 11.5 (1)
The diagram is partially changed.
Section 11.9 (1) (c)
The table is partially changed.
Revision Date
*Manual Number
Feb. 2013
SH(NA)030105ENG-D
Revision
Section 13.2.2 (2)
The table is partially changed.
Section 13.2.2 (3)
The sentences are partially changed.
Section 14.2
The diagram is partially changed.
Section 14.3.5 (2) (a)
The table is partially changed.
Section 15.2
The diagram is partially changed. The table is partially
changed.
Aug. 2013
Dec. 2013
SH(NA)030105ENG-E
SH(NA)030105ENG-F
Section 15.3.3 (2)
The table is partially changed.
Section 16.1.3
The diagram is partially changed.
Section 16.2.1
The sentences are added. The table is deleted.
Section 16.3.1 (1)
The diagram is partially changed.
Section 16.3.1 (3)
Added.
Section 16.3.1 (5)
The table is partially changed.
Section 16.3.1 (6)
The table is partially changed.
Section 16.3.5
Added.
Section 16.3.6
Added.
Appendix. 4
The contents are entirely changed.
Appendix. 12.1
The sentences are partially changed.
Appendix. 12.5 (3)
The sentences are partially changed.
Appendix. 12.8
Added.
The scale measurement function is added.
4. Additional instructions
CAUTION is added.
Section 1.3.1
Note 10 is added.
Section 1.3.2
Note 10 is added.
Section 1.4
A function is added.
Section 1.5
The sentences are added.
Section 1.6
The table is changed. Note 2 is added.
Section 5.1.1
PA22 is added.
Section 5.1.3
The operation mode of PC27 is changed.
Section 5.1.4
PD11 is added.
Section 5.2.1
PA22 is added.
Section 5.2.4
PD11 is added.
Section 5.2.6
PF23 is partially changed.
Section 7.1.5 (4)
Table is added.
Section 7.4 (3)
The table is partially changed.
Section 8.1
The table is partially changed.
Section 8.2
The table is changed. Note 8 is added.
Section 11.4.2
The table is changed.
Section 11.4.3
Added.
Section 11.6 (1) (a)
The table is partially changed.
Section 11.6 (1) (b)
The table is partially changed.
Section 11.7 (1)
The table is partially changed.
Section 14.1.1
The table is partially changed.
Section 14.1.2
The illustration is partially changed.
Section 15.3.2
POINT is added.
Chapter 17
Added.
App. 4
The sentences are added.
App. 12
Moved to chapter 17.
Functions are added. Descriptions of batteries are changed.
Section 1.1
Table is added.
Section 1.3.1
Note is added.
Section 1.3.2
Note is added.
Section 1.4
A function is added.
Section 1.5 (2)
Special specification is added.
Section 3.3.2 (1)
The sentences are changed.
Section 3.3.2 (2)
Note is added.
Section 3.3.3
POINT is added.
Revision Date
*Manual Number
Dec. 2013
SH(NA)030105ENG-F
Revision
Section 3.10.1 (2)
Partially changed.
Section 3.10.2 (1)
Partially changed.
Section 4.5.2 (b)
The table is partially changed.
Chapter 5
PA20, PA22, PB24, PE10, PF06, PF25, and PF31 are
partially changed.
Section 6.2
POINT is added.
Section 7.1.1 (1)
Partially changed.
Section 7.1.3
POINT is added.
Section 7.1.4 (1)
The sentence is added.
Section 7.2.3 (1)
The title is changed.
Section 7.3
The sentence is added.
Section 7.3.1
Partially changed.
Section 7.3.2
Partially changed.
Section 7.4
Partially changed.
Chapter 8
POINT is added.
The table is changed.
Note is partially changed.
Oct. 2014
SH(NA)030105ENG-G
Section 10.5
POINT is added. Partially changed.
Section 11.3
Partially changed.
Section 11.4.2
Partially changed.
Section 11.6
Partially changed.
Section 11.9 (2)
Partially changed.
Section 11.11
Partially changed.
Section 12.2 (1)
Partially changed.
Section 12.2 (2)
POINT is changed.
Section 13.3.4
The table is partially changed.
Section 14.4.1
The sentence is added.
Chapter 15
POINT is added.
Section 15.1.1
The table is partially changed.
Section 17.1.2
Partially changed.
Section 17.1.3
Partially changed.
Section 17.1.4
Partially changed.
Section 17.1.7
Added.
Section 17.2
POINT is partially changed.
App. 1
The table is changed.
App. 2 (1)
Partially changed.
App. 4.2.3
Partially changed.
App. 4.3
Note is added.
App. 4.4
Note is added.
App. 4.6.1
Partially changed.
App. 4.6.2
Partially changed.
App. 4.7
Partially changed.
App. 4.8.1
Partially changed.
App. 4.8.2
Partially changed.
App. 4.8.3
Partially changed.
App. 12
Added.
Functional addition
Section 1.4
A function is added.
Section 1.5
Partially changed.
Section 3.3.2
Partially changed.
Section 3.8.1
Partially changed.
Section 3.10.1
CAUTION is changed.
Section 3.10.2
Partially changed.
Section 4.3.1
POINT is added.
Section 5.1.2
Partially added.
Revision Date
*Manual Number
Oct. 2014
SH(NA)030105ENG-G
Apr. 2015
Sep. 2015
SH(NA)030105ENG-H
SH(NA)030105ENG-J
Revision
Section 5.1.3
Partially added.
Section 5.1.5
Partially added.
Section 5.2.2
Partially changed. Partially added.
Section 5.2.3
Partially changed. Partially added.
Section 5.2.5
Partially changed. Partially added.
Section 7.2.3
Partially changed.
Section 7.2.4
Partially changed.
Section 7.5
Added.
Chapter 8
Partially changed.
Section 8.2
Partially added.
Section 8.3
Partially added.
Section 9.1
Partially changed.
Section 11.3
Partially changed.
Section 11.4.2
Partially changed.
Section 12.2
Partially changed.
Section 14.1.2
Partially added.
Section 14.3.2
POINT is added.
Section 15.1.2
Partially added.
Section 15.3.2
POINT is added.
Section 17.1.3
Partially changed.
Section 17.1.9
Added.
Section 17.2
Partially changed.
App. 4
Partially changed.
Addition of MR-J4W2-0303B6
Chapter 1
POINT is added.
Section 1.4
Partially added.
Section 3.1
CAUTION is added.
Section 3.3.3
Partially changed.
Section 3.7.1
Partially changed.
Chapter 5
POINT is added.
Section 5.1
Partially changed.
Section 5.2
Partially changed.
Section 7.3.2
POINT is added.
Section 7.4
POINT is added.
Section 7.5
POINT is added.
Chapter 8
Partially changed.
Section 11.3
Partially changed.
Section 11.6
Partially changed.
Chapter 12
Partially changed.
Chapter 13
POINT is added.
Section 13.3.3
Partially changed.
Chapter 14
POINT is added.
Chapter 15
POINT is added.
Chapter 16
POINT is added.
Chapter 17
Partially changed.
Chapter 18
Added.
App. 13
Added.
The contents of the one-touch tuning are changed, and operable environment is changed to
maximum altitude of 2000 m above sea level.
1. To prevent electric shock, Partially changed.
note the following
4. Additional instructions (1)
The altitude is changed.
Section 1.3
Partially changed.
Section 1.5 (2)
Partially added.
Section 2.7
Added.
Revision Date
*Manual Number
Sep. 2015
SH(NA)030105ENG-J
Revision
Section 3.2.1
Partially changed.
Section 3.7.1
Partially changed.
Section 5.1.6
[Pr. PF18] is added.
Section 5.2.2
Partially changed.
Section 5.2.3
Partially changed.
Section 5.2.6
[Pr. PF18] is added.
The sentences are added to [Pr. PF25].
Section 7.2.3
Note is added.
Section 7.3.2
POINT is added.
Section 8.2
[AL. 68] is added.
Partially changed.
May 2016
SH(NA)030105ENG-K
Section 11.1.3
Partially changed.
Section 11.3.3
POINT is added.
Section 11.4.2
Partially changed.
Section 11.6 (2)
Partially changed.
Section 13.1.1
Partially changed.
Section 13.1.5
Partially changed.
Section 13.3.1
Partially changed.
Section 13.3.3
Partially changed.
Section 14.3.3
Partially added.
Section 14.3.5
Partially added.
Section 15.3.3
Partially added.
Section 16.3.3
Partially added.
Section 17.1.7
Partially added.
Section 17.1.8
Partially added.
Section 17.1.9
Partially added.
Section 17.2
POINT is partially changed.
Section 18.1.6 (2)
Partially added.
Section 18.3.1
Partially changed.
Section 18.3.4
Partially changed.
Section 18.3.7
Partially changed.
Section 18.3.8
Partially changed.
Section 18.4.1
Partially changed.
Section 18.7.4
Partially changed.
App. 1
Partially changed.
App. 2
Partially changed.
App. 4
Partially changed.
App. 12
Partially added.
App. 14
Added.
Adaptive filter II is improved.
3. To prevent injury, note the Partially changed.
following
4. Additional instructions (2), Partially added.
(5), (6)
DISPOSAL OF WASTE
Partially added.
Section 1.6
Partially changed.
Section 1.6
Partially changed.
Section 2.5
Partially added.
Section 3.1
CAUTION is partially changed.
Chapter 4
CAUTION is partially changed.
Section 4.1.2
Partially changed.
Section 4.3.3
Partially changed.
Section 4.5.2
Partially changed.
Section 5.2.2
Partially added to PB01.
Section 5.2.3
Partially added to PC05.
Revision Date
*Manual Number
May 2016
SH(NA)030105ENG-K
Mar. 2017
SH(NA)030105ENG-L
Revision
Section 5.2.6
PF18 is partially changed.
Section 6.2
POINT is added.
Section 6.2.2
Partially changed.
Section 6.2.3
Partially changed.
Section 7.1.2
Partially changed.
Section 7.2.3
Partially changed.
Section 8.2
Partially changed.
Section 8.3
Partially changed.
Chapter 9
Partially changed.
Section 10.5
POINT is partially changed.
Section 11.2.2
Note is added.
Section 11.3.4
Partially changed.
Section 11.4
Partially changed.
Section 11.11
Partially changed.
Section 13.1
Partially changed.
Section 13.3.2
Partially changed.
Section 14.3.2
Partially changed.
Section 17.1.3
Note is partially changed.
Section 17.1.9
Partially changed.
Section 17.2.2
Partially changed.
Section 18.4
POINT is partially changed.
Section 18.7.3
Partially changed.
App. 1
Partially changed.
App. 4
Partially changed.
App. 5.7.3
Partially changed.
App. 6
Partially added.
App. 14
Partially added.
App. 15
Added.
TM-RG2M series / TM-RU2M series direct drive motor is added.
4. Additional instructions
(1) Transportation and
Partially changed.
installation
Section 1.3.1
Partially changed.
Section 1.3.2
Partially changed.
Section 1.3.3
Added direct drive motor.
Section 3.5.1
Partially changed.
Section 3.5.2
Partially changed.
Section 4.1.2
Partially changed.
Chapter 5
CAUTION is changed.
Section 6.2
POINT is added.
Section 6.2.2
Partially changed.
Section 6.2.3
Partially added.
Section 8.2
Partially changed.
Section 8.3
Partially changed.
Chapter 11
The title is changed.
Section 11.1.1
Partially changed.
Section 11.1.3
Partially changed.
Section 11.2.2
Partially changed.
Section 11.3.4
Partially changed.
Section 11.4.2
Partially changed. Partially added.
Section 11.6
Partially added.
Section 11.10
Partially changed.
Section 13.3.3
The diagrams are partially changed.
Chapter 15
POINT is added.
Section 15.3.2
Partially changed.
Revision Date
*Manual Number
Revision
Mar. 2017
SH(NA)030105ENG-L
Section 15.4.1
The diagram is added.
Section 15.4.2
Partially added.
Section 15.4.3 (1)
The diagram is added.
Section 15.4.3 (2)
Partially added.
Section 17.1
Partially changed.
Section 17.1.9 (2)
CAUTION is changed. Partially added.
Section 17.1.9 (3)
Partially added.
Section 17.1.9 (4)
POINT is added. Partially changed.
Section 18.1.3
Partially changed.
Section 18.3.7 (6)
Partially added.
App. 4
Partially changed.
App. 5
Partially changed.
App. 6
The diagram is changed. Partially added.
App. 14
Partially changed and partially added.
App. 16
Newly 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.
 2012 MITSUBISHI ELECTRIC CORPORATION
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