Mitsubishi Electric MR-J4-20B(-RJ) Instruction Manual

MODEL MR-J4-B INSTRUCTIONMANUAL

MODEL

CODE

1CW805

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH(NA)030106ENG-P(1710)MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications are subject to change without notice.

General-Purpose AC Servo

SSCNET /H Interface

MODEL

MR-J4-_B_(-RJ)

SERVO AMPLIFIER

INSTRUCTION MANUAL

P

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.

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

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

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

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

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

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

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

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

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

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

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.

Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely.

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

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

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

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

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

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

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

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

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

2. To prevent fire, note the following

CAUTION

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

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

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

Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a molded-case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

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

A - 2

3. To prevent injury, note the following

CAUTION

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

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

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur.

The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.

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

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

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

Manual.

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

The equipment must be installed in the specified direction.

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

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

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

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

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

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

Item

Ambient temperature

Ambient

Operation

Storage

Operation

Environment

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

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

Ambience

Altitude

Vibration resistance

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

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

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

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

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

The servo amplifier must be installed in a metal cabinet.

A - 3

CAUTION

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

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

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

(2) Wiring

CAUTION

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

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

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

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

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

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

Servo amplifier

U

V

W

U

Servo motor

V

M

W

Servo amplifier

U

V

W

U

Servo motor

V

M

W

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

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

Servo amplifier

24 V DC

Servo amplifier

24 V DC

DOCOM DOCOM

Control output signal RA


For sink output interface For source output interface

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

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

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

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

A - 4

(3) Test run and adjustment

CAUTION

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

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

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

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

(4) Usage

CAUTION

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

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

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

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

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

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

Use the servo amplifier with the specified servo motor.

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

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

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

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

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

A - 5

(5) Corrective actions

CAUTION

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

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

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

Contacts must be opened when ALM

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

Contacts must be opened with the emergency stop switch.

Servo motor

RA

B 24 V DC

Electromagnetic brake

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

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

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

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

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

(6) Maintenance, inspection and parts replacement

CAUTION

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

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

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

(7) General instruction

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

A - 6

DISPOSAL OF WASTE

Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the

EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes

Write to the EEP-ROM due to device changes

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. 14 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.

«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.

Relevant manuals

Manual name

MELSERVO MR-D30 Instruction Manual (Note 5)

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

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

Manual No.

SH(NA)030132ENG

SH(NA)030153ENG

SH(NA)030109ENG

SH(NA)030113ENG

SH(NA)030110ENG

SH(NA)030112ENG

SH(NA)030111ENG

IB(NA)67310ENG

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

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

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

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

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

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

A - 7

«Wiring»

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

«U.S. customary units»

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

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

Length

Torque

Moment of inertia

Load (thrust load/axial load)

Temperature

1 [mm] 0.03937 [inch]

1 [N•m] 141.6 [oz•inch]

1 [(× 10 -4 kg•m 2 )] 5.4675

1 [N]

N [°C] × 9/5 + 32

0.2248 [lbf]

N [°F]

A - 8

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-52

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

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

1.3 Servo amplifier standard specifications ........................................................................................... 1-13

1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-19

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

1.6 Model designation ............................................................................................................................ 1-23

1.7 Structure .......................................................................................................................................... 1-24

1.7.1 Parts identification ..................................................................................................................... 1-24

1.7.2 Removal and reinstallation of the front cover............................................................................ 1-37

1.8 Configuration including peripheral equipment ................................................................................. 1-39

2. INSTALLATION 2- 1 to 2- 8

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

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

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

2.4 SSCNET III cable laying ................................................................................................................... 2- 4

2.5 Inspection items ................................................................................................................................ 2- 6

2.6 Parts having service life .................................................................................................................... 2- 7

2.7 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level ................................................................................................................................. 2- 8

3. SIGNALS AND WIRING 3- 1 to 3-46

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

3.1.1 200 V class ................................................................................................................................. 3- 4

3.1.2 400 V class ................................................................................................................................ 3-10

3.1.3 100 V class ................................................................................................................................ 3-14

3.2 I/O signal connection example ......................................................................................................... 3-15

3.2.1 For sink I/O interface ................................................................................................................. 3-15

3.2.2 For source I/O interface ............................................................................................................ 3-17

3.3 Explanation of power supply system ............................................................................................... 3-18

3.3.1 Signal explanations ................................................................................................................... 3-18

3.3.2 Power-on sequence .................................................................................................................. 3-19

3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-20

3.4 Connectors and pin assignment ...................................................................................................... 3-24

3.5 Signal (device) explanations ............................................................................................................ 3-26

3.5.1 Input device ............................................................................................................................... 3-26

3.5.2 Output device ............................................................................................................................ 3-27

3.5.3 Output signal ............................................................................................................................. 3-28

3.5.4 Power supply ............................................................................................................................. 3-28

3.6 Forced stop deceleration function ................................................................................................... 3-29

3.6.1 Forced stop deceleration function ............................................................................................. 3-30

3.6.2 Base circuit shut-off delay time function ................................................................................... 3-31

3.6.3 Vertical axis freefall prevention function ................................................................................... 3-32

3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-32

3.7 Alarm occurrence timing chart ......................................................................................................... 3-33

1

3.7.1 When you use the forced stop deceleration function ................................................................ 3-33

3.7.2 When you do not use the forced stop deceleration function ..................................................... 3-34

3.8 Interfaces ......................................................................................................................................... 3-35

3.8.1 Internal connection diagram ...................................................................................................... 3-35

3.8.2 Detailed explanation of interfaces ............................................................................................. 3-36

3.8.3 Source I/O interfaces ................................................................................................................ 3-38

3.9 SSCNET III cable connection .......................................................................................................... 3-39

3.10 Servo motor with an electromagnetic brake .................................................................................. 3-41

3.10.1 Safety precautions .................................................................................................................. 3-41

3.10.2 Timing chart ............................................................................................................................ 3-42

3.11 Grounding ...................................................................................................................................... 3-46

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- 6

4.2 Startup .............................................................................................................................................. 4- 6

4.3 Switch setting and display of the servo amplifier .............................................................................. 4- 8

4.3.1 Switches ..................................................................................................................................... 4- 8

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 .............................................................................................. 4-18

5. PARAMETERS 5- 1 to 5-56

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

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

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

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

5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 6

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 5- 7

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 5- 8

5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ................................................ 5- 9

5.2 Detailed list of parameters ............................................................................................................... 5-11

5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 5-11

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-22

5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-35

5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-42

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 5-48

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-51

5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-53

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

2

6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2

6.2 One-touch tuning .............................................................................................................................. 6- 3

6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 5

6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 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 7-38

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

7.2.4 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 ...................................................................................................... 7-33

7.6 Lost motion compensation function ................................................................................................. 7-34

7.7 Super trace control .......................................................................................................................... 7-37

8. TROUBLESHOOTING 8- 1 to 8-16

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

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

8.3 Warning list ...................................................................................................................................... 8-12

8.4 Troubleshooting at power on ........................................................................................................... 8-15

9. DIMENSIONS 9- 1 to 9-22

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

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

10. CHARACTERISTICS 10- 1 to 10-16

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

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

3

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

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

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

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

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

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-110

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

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

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

11.1.3 SSCNET III cable ................................................................................................................... 11- 7

11.1.4 Battery cable/junction battery cable ....................................................................................... 11- 9

11.2 Regenerative options ................................................................................................................... 11-10

11.2.1 Combination and regenerative power ................................................................................... 11-10

11.2.2 Selection of regenerative option ........................................................................................... 11-12

11.2.3 Parameter setting .................................................................................................................. 11-15

11.2.4 Connection of regenerative option ........................................................................................ 11-15

11.2.5 Dimensions ........................................................................................................................... 11-20

11.3 FR-BU2-(H) brake unit ................................................................................................................. 11-24

11.3.1 Selection................................................................................................................................ 11-24

11.3.2 Brake unit parameter setting ................................................................................................. 11-25

11.3.3 Connection example ............................................................................................................. 11-26

11.3.4 Dimensions ........................................................................................................................... 11-34

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

11.5 FR-CV-(H) power regeneration common converter .................................................................... 11-41

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

11.5.2 Selection................................................................................................................................ 11-42

11.6 Junction terminal block PS7DW-20V14B-F (recommended) ...................................................... 11-50

11.7 MR Configurator2 ........................................................................................................................ 11-51

11.7.1 Specifications ........................................................................................................................ 11-51

11.7.3 Precautions for using USB communication function ............................................................. 11-53

11.8 Battery .......................................................................................................................................... 11-54

11.8.1 Selection of battery ............................................................................................................... 11-54

11.8.2 MR-BAT6V1SET battery ....................................................................................................... 11-54

11.8.3 MR-BAT6V1BJ battery for junction battery cable ................................................................. 11-58

11.8.4 MR-BT6VCASE battery case ................................................................................................ 11-62

11.8.5 MR-BAT6V1 battery .............................................................................................................. 11-68

11.9 Selection example of wires .......................................................................................................... 11-69

11.10 Molded-case circuit breakers, fuses, magnetic contactors ....................................................... 11-73

11.11 Power factor improving DC reactors .......................................................................................... 11-76

11.12 Power factor improving AC reactors .......................................................................................... 11-78

11.13 Relay (recommended) ............................................................................................................... 11-81

11.14 Noise reduction techniques ....................................................................................................... 11-82

11.15 Earth-leakage current breaker ................................................................................................... 11-89

11.16 EMC filter (recommended) ........................................................................................................ 11-92

11.17 External dynamic brake ............................................................................................................. 11-99

11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) ........................................................ 11-105

4

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6

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

12.1.2 Structure ................................................................................................................................. 12- 2

12.1.3 Parameter setting ................................................................................................................... 12- 2

12.1.4 Confirmation of absolute position detection data ................................................................... 12- 2

12.2 Battery ........................................................................................................................................... 12- 3

12.2.1 Using MR-BAT6V1SET battery .............................................................................................. 12- 3

12.2.2 Using MR-BAT6V1BJ battery for junction battery cable ........................................................ 12- 4

12.2.3 Using MR-BT6VCASE battery case ....................................................................................... 12- 5

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

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

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

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

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

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

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

13.1.6 Maintenance ........................................................................................................................... 13- 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 ........................ 13-10

13.3.4 External I/O signal connection example using a motion controller ....................................... 13-11

13.4 Detailed description of interfaces ................................................................................................ 13-12

13.4.1 Sink I/O interface ................................................................................................................... 13-12

13.4.2 Source I/O interface .............................................................................................................. 13-14

14. USING A LINEAR SERVO MOTOR 14- 1 to 14-34

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- 6

14.3 Operation and functions ................................................................................................................ 14- 8

14.3.1 Startup .................................................................................................................................... 14- 8

14.3.2 Magnetic pole detection ........................................................................................................ 14-11

14.3.3 Home position return ............................................................................................................. 14-20

14.3.4 Test operation mode in MR Configurator2 ............................................................................ 14-24

14.3.5 Operation from controller ...................................................................................................... 14-25

14.3.6 Function................................................................................................................................. 14-27

14.3.7 Absolute position detection system ....................................................................................... 14-29

14.4 Characteristics ............................................................................................................................. 14-30

14.4.1 Overload protection characteristics ...................................................................................... 14-30

14.4.2 Power supply capacity and generated loss .......................................................................... 14-31

5

14.4.3 Dynamic brake characteristics .............................................................................................. 14-32

14.4.4 Permissible load to motor mass ratio when the dynamic brake is used ............................... 14-33

15. USING A DIRECT DRIVE MOTOR 15- 1 to 15-22


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

15.1.2 Servo system with auxiliary equipment .................................................................................. 15- 2

15.2 Signals and wiring ......................................................................................................................... 15- 3


15.3.1 Startup procedure .................................................................................................................. 15- 5

15.3.2 Magnetic pole detection ......................................................................................................... 15- 6


15.3.4 Function................................................................................................................................. 15-15

15.4 Characteristics ............................................................................................................................. 15-17

15.4.1 Overload protection characteristics ...................................................................................... 15-17

15.4.2 Power supply capacity and generated loss .......................................................................... 15-19

15.4.3 Dynamic brake characteristics .............................................................................................. 15-20

16. FULLY CLOSED LOOP SYSTEM 16- 1 to 16-26


16.1.1 Function block diagram .......................................................................................................... 16- 1

16.1.2 Selecting procedure of control mode ..................................................................................... 16- 3

16.2 Load-side encoder ........................................................................................................................ 16- 6

16.2.1 Linear encoder ....................................................................................................................... 16- 6

16.2.3 Configuration diagram of encoder cable ................................................................................ 16- 6

16.2.4 MR-J4FCCBL03M branch cable ............................................................................................ 16- 8


16.3.1 Startup .................................................................................................................................... 16- 9

16.3.2 Home position return ............................................................................................................. 16-16


16.3.4 Fully closed loop control error detection functions................................................................ 16-21

16.3.5 Auto tuning function .............................................................................................................. 16-22

16.3.6 Machine analyzer function .................................................................................................... 16-22

16.3.7 Test operation mode ............................................................................................................. 16-22

16.3.8 Absolute position detection system under fully closed loop system ..................................... 16-23

16.3.9 About MR Configurator2 ....................................................................................................... 16-24

17. APPLICATION OF FUNCTIONS 17- 1 to 17-82

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- 2

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- 8

6

17.1.8 Change of specifications of "J3 compatibility mode" switching process ................................ 17- 9

17.1.9 J3 extension function ............................................................................................................ 17-11

17.2 Master-slave operation function .................................................................................................. 17-69

17.3 Scale measurement function ....................................................................................................... 17-73

17.3.1 Functions and configuration .................................................................................................. 17-73

17.3.2 Scale measurement encoder ................................................................................................ 17-76

17.3.3 How to use scale measurement function .............................................................................. 17-80

APPENDIX App.- 1 to App.-74

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

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

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

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

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

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

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

App. 7 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 Analog monitor ..................................................................................................................... App.-45

App. 11 Special specification ............................................................................................................. App.-57

App. 12 Driving on/off of main circuit power supply with DC power supply ...................................... App.-61

App. 13 Optional data monitor function ............................................................................................. App.-63

App. 14 STO function with SIL 3 certification .................................................................................... App.-66

App. 15 When using the servo amplifier with the DC power supply input ......................................... App.-68

App. 16 Status of general-purpose AC servo products for compliance with the China RoHS directive ................................................................................................................................ App.-73

7

MEMO

8

1. FUNCTIONS AND CONFIGURATION


1.1 Summary

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

MR-J4-_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.

MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) highresolution absolute encoder. In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and more accurate control is enabled as compared to MELSERVO-J3 series.

MR-J4-_B_ servo amplifier operates MELSERVO-J4 series compatible rotary servo motors, linear servo motors, and direct drive motors as standard.

With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to the machine.

The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN series, have been improved. The MR-J4 servo amplifier supports the improved functions. Additionally, the preventive maintenance support function detects an error in the machine parts. This function provides strong support for the machine maintenance and inspection.

SSCNET III/H achieves high-speed communication of 150 Mbps full duplex with high noise tolerance due to the SSCNET III optical cables. Large amounts of data are exchanged in real-time between the controller and the servo amplifier. Servo monitor information is stored in the upper information system and is used for control.

On the SSCNET III/H network, the stations are connected with a maximum distance of 100 m between them.

This allows you to create a large system.

The MR-J4-_B_ servo amplifier supports the STO (Safe Torque Off) function. When the 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 SS1 (Safe Stop 1), SS2 (Safe Stop 2), SOS (Safe Operating Stop), SLS (Safely-

Limited Speed), SBC (Safe Brake Control) and SSM (Safe Speed Monitor) functions.

The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain adjustment, and others.

In MELSERVO-J4 series, servo amplifiers with CN2L connector is also available as MR-J4-_B_-RJ. By using

CN2L connector, an A/B/Z-phase differential output method external encoder can be connected to the servo amplifier. In a fully closed loop system, a four-wire type external encoder is connectable as well. The following table indicates the communication method of the external encoder compatible with MR-J4-_B_ and

MR-J4-_B_-RJ servo amplifiers.

1 - 1


Table 1.1 Connectors to connect external encoders

Operation mode

Linear servo motor system

External encoder communication method

Two-wire type

Four-wire type

A/B/Z-phase differential output method

Connector

MR-J4-_B_ MR-J4-_B_-RJ

CN2 (Note 1) CN2 (Note 1)

CN2L (Note 6)

Two-wire type

CN2

(Note 2, 3, 4)

Fully closed loop system

Four-wire type


CN2L

Two-wire type

CN2

(Note 2, 3, 5)

Scale measurement function

Four-wire type


CN2L (Note 5)

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

2. The MR-J4FCCBL03M branch cable is necessary.

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

MR-J4-_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. Connect a thermistor to CN2.

1 - 2


1.2 Function block diagram

The function block diagram of this servo is shown below.

POINT

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

(1) 200 V class

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

(Note 6)

Power factor improving

DC reactor

Regenerative option

(Note 2)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

P4 (Note 4)

Relay

P+ C

(Note 1)

D N-

+

Regenerative

TR

Dynamic brake circuit

Current encoder

U

V

W

U

V

W

Servo motor

M

STO switch

L11

L21

+

Cooling fan

(Note 3)

CHARGE lamp

Control circuit power supply

STO circuit

Base amplifier

Voltage detection

Overcurrent protection

Current detection

RA

24 V DC

B1

B


B2

Encoder

Position command input Model position control

Model speed control

Virtual encoder

Virtual motor

Model position Model speed Model torque

Stepdown circuit

Battery

(for absolute position detection system)

Actual position control

Actual speed control

Current control

(Note 5)

External encoder

USB D/A

I/F Control

CN1A CN1B CN5 CN3

Servo system controller or servo amplifier

Servo amplifier or cap

Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

1 - 3


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

2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.

Refer to section 1.3 for the power supply specifications.

3. Servo amplifiers MR-J4-70B(-RJ) or more have a cooling fan.

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

P2 of MR-J3 servo amplifiers.

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

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

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

1 - 4


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

(Note 4)


DC reactor

Regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier P3

MC

L1

Diode stack

L2

U

L3

U U

P4 (Note 2) P+

Relay

+

Regenerative

TR

C N-

STO switch

L11

L21


Current encoder

+

CHARGE lamp

Cooling fan


STO circuit

Base amplifier

Voltage detection


Current detection

Servo motor

U

V

W

U

V

W

M

RA B1

24 V DC B


B2

Encoder


Model speed control

Virtual motor

Virtual encoder




Current control

CN1A

I/F Control

CN1B

USB

CN5

Stepdown circuit

Battery


D/A

CN3

(Note 3)

External encoder



Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

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






1 - 5


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

(Note 5)


DC reactor

External regenerative resistor or regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier P3

MC

L1

Diode stack

L2

U

L3

U U

P4 (Note 2) P+

Thyristor

+

Regenerative

TR

C N-

STO switch

L11

L21

Current encoder

+

Cooling fan

CHARGE lamp


STO circuit

Base amplifier

Voltage detection


Current detection

U

V

W

(Note 4, 6)

External dynamic brake (optional)

Servo motor

U

V

W

M

RA B1

24 V DC B


B2

Encoder


Model speed control

Virtual encoder

Virtual motor


Stepdown circuit

Battery




Current control

(Note 3)

External encoder

USB D/A

CN1A

I/F Control

CN1B CN5 CN3



Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

1 - 6






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



6. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD09]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

1 - 7


(2) 400 V class

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

(Note 5)


DC reactor

Regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

L11

L21

P4 (Note 3)

Relay

P+ C

+


+

Cooling fan

(Note 2)

Regenerative

TR

Charge lamp

STO circuit

STO switch Base amplifier

D

Voltage detection

N-


Current detector


Current detection

Servo motor

U

V

W

U

V

W

M

RA

24 V DC

B1

B


B2

Encoder


Model speed control

Virtual motor

Virtual encoder




Current control

Stepdown circuit

Battery

(For absolute position detection system)

External encoder

(Note 4)

CN1A

IF Control

CN1B

USB

CN5

D/A

CN3



Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

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

2. Servo amplifiers MR-J4-200B4(-RJ) or more have a cooling fan.



4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector.



1 - 8


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

(Note 4)


DC reactor

Regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

STO switch

L11

L21

P4 (Note 2)

Relay

P+

+


+

Regenerative

TR

Charge lamp

Cooling fan

C N-


Current detector

STO circuit

Base amplifier

Voltage detection


Current detection

Servo motor

U

V

W

U

V

W

M

Stepdown circuit

RA

24 V DC

B1

B


B2

Encoder


Model speed control

Virtual encoder

Virtual motor




Current control

Battery


External encoder

(Note 3)

CN1A

IF Control

CN1B

USB

CN5

D/A

CN3



Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control







1 - 9


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

(Note 5)


DC reactor

External regenerative resistor or regenerative option

(Note 1)

Power supply

MCCB

Servo amplifier

MC

L1

P3

Diode stack

L2

U

L3

U U

STO switch

L11

L21

P4 (Note 2)

Thyristor

P+ C N-

+


+

Regenerative

TR

Charge lamp

Cooling fan

Current detector

STO circuit

Base amplifier

Voltage detection


Current detection

U

V

W

(Note 4, 6)

External dynamic brake

(optional)

Servo motor

U

V

W

M

RA

24 V DC

B1

B


B2

Encoder


Model speed control

Virtual motor

Virtual encoder


Stepdown circuit

Battery




Current control

External encoder

(Note 3)

USB D/A

IF Control

CN1A CN1B CN5 CN3



Personal computer

USB

Analog monitor

(2 channels)

Digital I/O control

1 - 10






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




1 - 11


(3) 100 V class

Regenerative option

Servo amplifier

MCCB

(Note 2)

Power supply

MC

L1

L2

U

Relay

+

+

P+ C

(Note 1)

D N-

Charge lamp

Regenerative TR

STO switch


Current encoder

L11

L21

Diode stack

+


STO circuit

Base amplifier

Voltage detection


Current detection

Servo motor

U

V

W

U

V

W

M

RA

24 V DC

B1

B


B2

Encoder


Model speed control

Virtual encoder

Virtual motor


Stepdown circuit

Battery




Current control

External encoder

(Note 3)

IF Control

USB D/A

CN1A CN1B CN5 CN3



Personal computer

USB

Analog monitor

(two channel)

Digital I/O control

Note 1. The built-in regenerative resistor is not provided for MR-J4-10B1(-RJ).

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


1 - 12


1.3 Servo amplifier standard specifications

(1) 200 V class

Rated voltage

Output

Rated current

Voltage/

Frequency

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

3-phase 170 V AC

[A]

At AC input

1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0

3-phase or 1-phase

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

3-phase or 1phase 200 V

AC to 240 V

AC, 50 Hz/60

Hz (Note 13)

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

At DC input

(Note 16)

283 V DC to 340 V DC

Rated current

(Note 11)

3.2

Main circuit power supply input

Permissible voltage fluctuation

At AC input

At DC input

(Note 16)

Permissible frequency fluctuation

3-phase or 1-phase

170 V AC to 264 V AC

3-phase or 1phase 170 V

AC to 264 V

AC (Note 13)


Within ±5%

3-phase 170 V AC to 264 V AC

Control circuit power supply input

Interface power supply

Control method

Power supply capacity

[kVA]

Inrush current

Voltage/

Frequency

Rated current


[A]

At AC input

At DC input

(Note 16)

[A]

At AC input

At DC input

(Note 16)


Power consumption [W]

Inrush current

Voltage

[A]

Current capacity [A]

0.2

Refer to section 10.2.






Within ±5%

30


24 V DC ± 10%

0.3 (including CN8 connector signals) (Note 1)

Sine-wave PWM control, current control method

0.3

45

Dynamic brake Built-in

External option

(Note 9, 12)

SSCNET III/H communication cycle

(Note 8)

Fully closed loop control


Load-side encoder interface (Note 5)

Communication function

Encoder output pulses

Analog monitor

Protective functions

Functional safety

0.222 ms, 0.444 ms, 0.888 ms

Compatible (Note 7)

Compatible (Note 10)

Mitsubishi Electric high-speed serial communication

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

Compatible (A/B/Z-phase pulse)

Two channels

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

STO (IEC/EN 61800-5-2)

1 - 13


Safety performance

Standards certified by CB

(Note 14)

Response performance

Test pulse input (STO)

(Note 3)

Mean time to dangerous failure (MTTFd)

Diagnostic coverage (DC)

Average probability of dangerous failures per hour (PFH)

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

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

MTTFd ≥ 100 [years] (314a)

DC = Medium, 97.6 [%]

PFH = 6.4 × 10 -9 [1/h]


CE marking

UL standard

Structure (IP rating)

Close mounting

(Note 2)

3-phase power supply input

1-phase power supply input

LVD: EN 61800-5-1

EMC: EN 61800-3

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

Natural cooling, open (IP20)

UL 508C

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

Possible Impossible

Possible Impossible

Ambient temperature

Ambient humidity

Operation

Storage


Environment

Ambience


Altitude 2000 m or less above sea level (Note 15)

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

Mass [kg] 1.0 2.1 2.3 4.0 6.2 13.4 18.2

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

I/O points.

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

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

4. Except for the terminal block.

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

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

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

MR Configurator2.

8. The communication cycle depends on the controller specifications and the number of axes connected.

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

10. For the compatible version for the scale measurement function, refer to table 1.1. Check the software version of the servo amplifier with MR Configurator2.

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


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

14. 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.

15. Follow the restrictions in section 2.7 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.

16. The DC power supply input is available only with MR-J4-_B-RJ servo amplifiers. For the connection example of the power circuit when a DC input is used, refer to app. 15.

1 - 14


(2) 400 V class

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

Output


Rated voltage

Rated [A]

Voltage/Frequency

Rated [A]




[kVA]

Inrush current

Voltage/Frequency

[A]

3-phase 323 V AC






0.2






Voltage


Control method

Dynamic brake

SSCNET III/H communication cycle (Note 5)






Analog monitor

30

24 V DC ± 10%



Built-in

45


Compatible

Compatible (Note 7)

0.222 ms, 0.444 ms, 0.888 ms

External option (Note 6, 8)





Two channels


STO (IEC/EN 61800-5-2) Functional safety


(Note 9)



Safety performance



(Note 2)


Diagnosis converge (DC)

Average probability of dangerous failures per hour

(PFH)

CE marking

UL standard





DC = Medium, 97.6 [%]

PFH = 6.4 × 10 -9 [1/h]

LVD: EN 61800-5-1

EMC: EN 61800-3

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

UL 508C

Natural cooling, open

(IP20)

Force cooling, open

(IP20)

Force cooling, open (IP20) (Note 3)

Impossible

1 - 15


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

Ambient temperature

Ambient humidity

Operation

Storage


Environment

Ambience


2000 m or less above sea level (Note 10) Altitude


Mass 13.4 18.2


I/O points.


3. Except for the terminal block.

4. MR-J4-B4 servo amplifier is compatible only with two-wire type. MR-J4-B4-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.

5. The communication cycle depends on the controller specifications and the number of axes connected.

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





1 - 16


(3) 100 V class

Model: MR-J4-_(-RJ)

Output

Rated voltage

Rated current

Voltage/Frequency

Rated current


[A]

[A]





[kVA]

Inrush current

Voltage/Frequency

[A]

Rated current


[A]


Power consumption [W]


Inrush current

Voltage

Control method

Dynamic brake

SSCNET III/H communication cycle

(Note 6)


[A]






Analog monitor


Functional safety


(Note 8)



(Note 3)

Safety performance


Diagnostic coverage (DC)


10B1

1.1

3.0

20B1

3-phase 170 V AC

1.5


5.0





0.4


30


24 V DC ± 10%



Built-in

0.222 ms, 0.444 ms, 0.888 ms





DC = Medium, 97.6 [%]

PFH = 6.4 × 10 -9 [1/h]

40B1

2.8

9.0

Compatible (Note 5)

Compatible (Note 7)




Two channels


STO (IEC/EN 61800-5-2)



CE marking

UL standard


Close mounting (Note 2)

LVD: EN 61800-5-1

EMC: EN 61800-3

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

UL 508C

Natural cooling, open (IP20)

Possible

1 - 17


Model: MR-J4-_(-RJ) 10B1 20B1 40B1

Ambient temperature

Ambient humidity

Operation

Storage

Operation

Storage

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)


Environment

Ambience


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


Mass [kg] 0.8 1.0


I/O points.

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


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

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

MR Configurator2.

6 The communication cycle depends on the controller specifications and the number of axes connected.




1 - 18


1.4 Combinations of servo amplifiers and servo motors

POINT

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

When you use the MR-J4-100B(-RJ) or MR-J4-200B(-RJ) with the 1-phase 200

V AC input, contact your local sales office for the torque characteristics of the

HG-UR series, HG-RR series, and HG-JR series servo motors.

(1) 200 V class

Servo amplifier

MR-J4-20B(-RJ)

MR-J4-40B(-RJ)

MR-J4-60B(-RJ)

MR-J4-70B(-RJ)

MR-J4-100B(-RJ)

MR-J4-200B(-RJ)

MR-J4-350B(-RJ)

MR-J4-500B(-RJ)

MR-J4-700B(-RJ)

MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

MR-J4-22KB(-RJ)

Rotary servo motor

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

Linear servo motor

(primary side)

Direct drive motor

13 13

23 23

121

201

152

202

73 (Note 2)

103 (Note 2)

153

203

TM-RFM002C20

TM-RG2M002C30 (Note 1)

TM-RU2M002C30 (Note 1)

TM-RG2M004E30 (Note 1)

TM-RU2M004E30 (Note 1)

43 43

LM-H3P2A-07P-BSS0

LM-H3P3A-12P-CSS0

LM-K2P1A-01M-2SS1

LM-U2PAD-10M-0SS0

LM-U2PAF-15M-0SS0

TM-RFM004C20

TM-RG2M004E30 (Note 1, 3)

TM-RU2M004E30 (Note 1, 3)

TM-RG2M009G30 (Note 1)

TM-RU2M009G30 (Note 1)

51

52

LM-H3P3B-24P-CSS0

LM-H3P3C-36P-CSS0

73 73 LM-H3P7A-24P-ASS0

LM-K2P2A-02M-1SS1

81

102

53 (Note 2)

103

TM-RFM006E20

TM-RFM012E20

TM-RFM012G20

TM-RFM040J10

LM-U2PBF-22M-1SS0

TM-RFM018E20

301

352

152

103

153

153 (Note 2)

353

LM-U2PAB-05M-0SS0

LM-U2PBB-07M-1SS0

LM-H3P3D-48P-CSS0

LM-H3P7B-48P-ASS0

LM-H3P7C-72P-ASS0

LM-FP2B-06M-1SS0

LM-K2P1C-03M-2SS1

LM-U2P2B-40M-2SS0

LM-H3P7D-96P-ASS0

LM-K2P2C-07M-1SS1

LM-K2P3C-14M-1SS1

LM-U2P2C-60M-2SS0

TM-RFM048G20

TM-RFM072G20

TM-RFM120J10

421

502

352

502

353

503

353 (Note 2)

503

503 (Note 2)

702

601

701M

703

LM-FP2D-12M-1SS0

LM-FP4B-12M-1SS0

LM-K2P2E-12M-1SS1

LM-K2P3E-24M-1SS1

LM-U2P2D-80M-2SS0

LM-FP2F-18M-1SS0

LM-FP4D-24M-1SS0

801

12K1

11K1M

903

15K1

15K1M

20K1

25K1

22K1M

TM-RFM240J10

LM-FP4F-36M-1SS0

LM-FP4F-48M-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. This combination increases the rated torque and the maximum torque.

1 - 19


(2) 400 V class

Servo amplifier

Rotary servo motor Linear servo motor

MR-J4-60B4(-RJ) 524

MR-J4-100B4(-RJ)

1024

534

534 (Note)

734

1034

MR-J4-200B4(-RJ)

MR-J4-350B4(-RJ)

MR-J4-500B4(-RJ)

1524

2024

3524

5024

734 (Note)

1034 (Note)

1534

2034

1534 (Note)

2034 (Note)

3534

3534 (Note)

5034

MR-J4-700B4(-RJ)

7024

5034 (Note)

6014

701M4

7034

MR-J4-11KB4(-RJ) 8014

12K14

11K1M4

9034

MR-J4-15KB4(-RJ) 15K14

15K1M4

MR-J4-22KB4(-RJ) 20K14

25K14 LM-FP5H-60M-1SS0

22K1M4

Note. This combination is for increasing the maximum torque of the servo motor to 400%.

(3) 100 V class

Rotary servo motor Linear servo motor

Servo amplifier Direct drive motor

MR-J4-10B1(-RJ) 053

13

MR-J4-20B1(-RJ)

053

13

LM-U2PAB-05M-0SS0

LM-U2PBB-07M-1SS0

23 23

MR-J4-40B1(-RJ) LM-H3P2A-07P-BSS0

LM-H3P3A-12P-CSS0

LM-U2PAD-10M-0SS0

LM-U2PAF-15M-0SS0

Note 1. This is available with servo amplifiers with software version C8 or later.

2. This combination increases the rated torque and the maximum torque.

TM-RFM002C20

TM-RG2M002C30 (Note 1)

TM-RU2M002C30 (Note 1)

TM-RG2M004E30 (Note 1)

TM-RU2M004E30 (Note 1)

TM-RFM004C20

TM-RG2M004E30 (Note 1, 2)

TM-RU2M004E30 (Note 1, 2)

TM-RG2M009G30 (Note 1)

TM-RU2M009G30 (Note 1)

1 - 20


1.5 Function list

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

Model adaptive control

Position control mode

Speed control mode

Torque control mode

High-resolution encoder

Absolute position detection system

Gain switching function

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

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.

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

Chapter 12

Section 7.2

Advanced vibration suppression control II

Machine resonance suppression filter

Shaft resonance suppression filter

Adaptive filter II

Low-pass filter

Machine analyzer function

Robust filter

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

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

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

Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

Suppresses high-frequency resonance which occurs as servo system response is increased.

Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator2 installed personal computer and servo amplifier.

MR Configurator2 is necessary for this function.

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

Section 7.1.5

Section 7.1.1

Section 7.1.3

Section 7.1.2

Section 7.1.4

[Pr. PE41]

Slight vibration suppression control

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

Auto tuning

Brake unit

Power regeneration converter

Regenerative option

Alarm history clear

Output signal selection

(device settings)

Output signal (DO) forced output

Test operation mode

Analog monitor output

MR Configurator2

Linear servo system

Direct drive servo system

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

Used when the regenerative option cannot provide enough regenerative power.

Can be used for the 5 kW or more servo amplifier.

Used when the regenerative option cannot provide enough regenerative power.

Can be used for the 5 kW or more servo amplifier.

Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

Alarm history is cleared.

Section 6.3

Section 11.3

Section 11.4

Section 11.2

The output devices including ALM (Malfunction) and DB (Dynamic brake interlock) can be assigned to certain 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


[Pr. PC21]

[Pr. PD07] to

[Pr. PD09]

Section 4.5.1

(1) (d)

Section 4.5

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

[Pr. PC09],

[Pr. PC10]

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

Section 11.7

Linear servo system can be configured using a linear servo motor and linear encoder. Chapter 14

Direct drive servo system can be configured to drive a direct drive motor. Chapter 15

1 - 21



One-touch tuning

SEMI-F47 function (Note)

Tough drive function

Drive recorder function

STO function

Servo amplifier life diagnosis function

Power monitoring function

Machine diagnosis function

Master-slave operation function


J3 compatibility mode

Continuous operation to torque control mode

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

This is used with servo amplifiers with software version A3 or later. Check the software version of the servo amplifier with MR Configurator2.

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

Configurator2.


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

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

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

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

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

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. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.


This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. For the SSCNET III/H system, MR Configurator2 can display the data, including the power consumption.

Since the servo amplifier can send the data to a 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.


The function transmits a master axis torque to slave axes using driver communication and the torque as a command drives slave axes by torque control.


The function transmits position information of a scale measurement encoder to the controller by connecting the scale measurement encoder in semi closed loop control.


This amplifier has "J3 compatibility mode" which compatible with the previous MR-J3-

B series. Refer to section 17.1 for software versions.

Chapter 16

Section 6.2

[Pr. PA20]

[Pr. PF25]

Section 7.4

Section 7.3

[Pr. PA23]

Section 17.2

Section 17.3

Section 17.1

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.

[Pr. PB03]

Refer to the servo system controller manual used.

Lost motion compensation function

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

Super trace control

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

Note. For servo system controllers which are available with this, contact your local sales office.

Section 7.6

Section 7.7

1 - 22


1.6 Model designation

(1) Rating plate

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

AC SERVO

SER.A45001001

MODEL MR-J4-10B

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

Standard, Manual number

Ambient temperature

IP rating

KC certification number, The year and month of manufacture

TOKYO 100-8310, JAPAN MADE IN JAPAN

Country of origin

(2) Model

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

M R - J 4 - 6 0 B 4 - R J

Series

Rated output

Symbol Rated output [kW]

10

20

0.1

0.2

40

60

70

100

200

350

500

700

11K

15K

22K

0.4

0.6

0.75

1

2

3.5

5

7

11

15

22

SSCNETIII/H interface

Special specifications

Symbol

None

-RJ

-ED

-RU

-PX

-RZ

-EB

-KS


Standard

Fully closed loop control four-wire type/load-side encoder

A/B/Z-phase input compatible/Compatible with MR-D30 functional safety unit

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

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

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

MR-J4-_B_-RJ without regenerative resistor (Note 1)

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

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

Power supply

Symbol

None

1

4

Power supply

3-phase or 1-phase




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

Refer to app. 11.2 for details.

2. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. Refer to app. 11.1 for details.

3. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to app. 11.3 for details.

1 - 23


(4)

(5)

(13)

(6)

(15)

(7)

(8)

(16)

(9)

(17)

(18)

(14)

Side

(10)

1.7 Structure

1.7.1 Parts identification

(1) 200 V class


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

(1)

(3)

(11)

Bottom (12)

(2)

Inside of the display cover

(20) (19)

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

(Note

2)

Display

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

Axis selection rotary switch (SW1)

Used to set the axis No. of servo amplifier.

Control axis setting switch (SW2)

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

USB communication connector (CN5)

Connect with the personal computer.

I/O signal connector (CN3)

Used to connect digital I/O signals.

STO input signal connector (CN8)

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

SSCNET III cable connector (CN1A)

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

SSCNET III cable connector (CN1B)

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

Encoder connector (CN2)

Used to connect the servo motor encoder.

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

Section 4.3

Section

11.7

Section 3.2

Section 3.4

Chapter 13

App. 5

Section 3.2

Section 3.4

Section 3.4

"Servo

Motor

Instruction

Manual

(Vol. 3)"

(10)

Battery connector (CN4)

Used to connect the battery for absolute position data backup.

(11)

Battery holder

Install the battery for absolute position data backup.

(12) Protective earth (PE) terminal

(13)

Main circuit power connector (CNP1)

Connect the input power supply.

(14) Rating plate

(15)

(16)

(17)

(18)

(Note

1, 2)

Control circuit power connector (CNP2)

Connect the control circuit power supply and regenerative option.

Servo motor power output connector (CNP3)

Connect the servo motor.

Charge lamp

When the main circuit is charged, this will light.

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

External encoder connector (CN2L)

Refer to table 1.1 for connections of external encoders.

Chapter 12

Section

12.2

Section 3.1

Section 3.3

Section 1.6

Section 3.1

Section 3.3

Section 3.4

"Linear

Encoder

Instruction

Manual"

(19)

(20)

Optional unit connector 1 (CN7)

This is for connecting the optional unit. This connector is attached only on MR-J4-_B_-RJ.



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

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 - 24


(1)

(3)

(2)

Side

(4)

(5)

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

The broken line area is the same as

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

(7)

(6)

Detailed

(1)



(2) Rating plate

(3)

(4)

Servo motor power connector (CNP3)




(5)

(6)

Charge lamp



Protective earth (PE) terminal

(7)

Section 3.1

Section 3.3

Section 1.6

Section 3.1

Section 3.3

Battery holder


Section 3.1

Section 3.3

Section

12.2

1 - 25

(6)

(7)

(8)


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

POINT

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

(1)

(2)

(3)

(Note)

(4)

Side

(5)

Detailed



(1)

Control circuit terminal block (TE2)

Used to connect the control circuit power supply.

(2)

(3)

Main circuit terminal block (TE1)


Battery holder


(4) Rating plate

(5)

(6)

(7)

(8)

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

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

Servo motor power supply terminal block (TE4)


Charge lamp




Section 3.1

Section 3.3

Section

12.2

Section 1.6

Section 3.1

Section 3.3

Section 3.1

Section 3.3

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

1 - 26

(1)

(2)


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

POINT

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

(7)

(6)

(5)

(Note)

Detailed


MR-J4-200B4(-RJ) or less.

(1)

(2)

Power factor improving reactor terminal block (TE3)

Used to connect the DC reactor.


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

(3)




(5)

Battery holder


(6) Rating plate

(7)

Charge lamp



Section 3.1

Section 3.3

Section

12.2

Section 1.6

(4)

(3)


1 - 27


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

POINT


(5)

(Note)

Detailed



(1)

(2)

Power factor improving reactor terminal block (TE1-

2)

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

Main circuit terminal block (TE1-1)

Used to connect the input power supply and servo motor.

(3)




(5)

Battery holder


(6) Rating plate

Charge lamp

(7) When the main circuit is charged, this will light.


Section 3.1

Section 3.3

Section

12.2

Section 1.6


1 - 28


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

POINT


(7)

(5)

(Note)

(6)

(2)

(3)

Detailed



(1)

(2)

Power factor improving reactor terminal block (TE1-

2)




(3)




(5)

Battery holder


(6) Rating plate

Charge lamp



Section 3.1

Section 3.3

Section

12.2

Section 1.6

(1)

(4)


1 - 29


(2) 400 V class


The diagram is for MR-J4-60B4-RJ.

(1)

(3)

(17)

(4)

(5)

(6)

(13)

(15)

(7)

(8)

(16)

(9)

(18)

(14)

Side

(10) (11)

Bottom

(12)

(20) (19)

(2)


(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

(Note

2)

Display





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













Section 4.3

Section 11.7

Section 3.2

Section 3.4

Chapter 13

App. 5

Section 3.2

Section 3.4

Section 3.4

"Servo

Motor

Instruction

Manual

(Vol. 3)"

(10)

(11)



Battery holder



(13)



(14) Rating plate


(15) Connect the control circuit power supply and regenerative option.

(16)

(17)

(18)

(Note

1, 2)



Charge lamp




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

Chapter 12

Section

12.2

Section 3.1

Section 3.3

Section 1.6

Section 3.1

Section 3.3

Section 3.4

"Linear

Encoder

Instruction

Manual"

(19)

(20)





Note 1. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector.


1 - 30


(1)

(7)

(3)

(2)

Side

(4)

(5)

(b) MR-J4-350B4(-RJ)



Detailed

(1)



(2) Rating plate

(3)

(4)





(5)

(6)

Charge lamp




Section 3.1

Section 3.3

Section 1.6

Section 3.1

Section 3.3

Section 3.1

Section 3.3

(7)

Battery holder


Section 12.2

(6)

1 - 31


(c) MR-J4-500B4(-RJ)

POINT


(6)

(3)

(Note)

(4)

(5)

(1)

Detailed



(1)

(2)





(3)

Battery holder


(4) Rating plate

(5)

(6)

(7)

Power factor improving reactor terminal block

(TE3)

Used to connect a power factor improving DC reactor.

Charge lamp




Section 3.1

Section 3.3

Section 12.2

Section 1.6

Section 3.1

Section 3.3

Section 3.1

Section 3.3

(2)

(7)


1 - 32


(d) MR-J4-700B4(-RJ)

POINT


(7)

(6)

(5)

(Note)

Detailed



(1)

(2)


(TE3)

Used to connect the DC reactor.



(3)




(5)

Battery holder


(6) Rating plate

Charge lamp



Section 3.1

Section 3.3

Section 12.2

Section 1.6

(1)

(2)

(4)

(3)


1 - 33


(3)

(4)

(1)

(5)

(Note)

(2)

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

POINT


(7)

(6)

Detailed



(1)

(2)


(TE1-2)




(3)




(5)

Battery holder


(6) Rating plate

Charge lamp



Section 3.1

Section 3.3

Section 12.2

Section 1.6


1 - 34


(f) MR-J4-22KB4(-RJ)

POINT


(7)

(5)

(Note)

(6)

(2)

(3)

Detailed



(1)

(2)


(TE1-2)




(3)




(5)

Battery holder


(6) Rating plate

Charge lamp



Section 3.1

Section 3.3

Section 12.2

Section 1.6

(1)

(4)


1 - 35


(4)

(5)

(13)

(6)

(15)

(7)

(8)

(16)

(9)

(17)

(18)

(14)

Side

(10)

(3) 100 V class


(1)

(3)

(11)

Bottom (12)

(2)


(20) (19)

Detailed

(1)

(2)

(3)

(4)

(5)

Display





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





(6)

(7)





(8)

(9)

(Note

2)




Used to connect the servo motor encoder.


Section 4.3

Section

11.7

Section 3.2

Section 3.4

Chapter 13

App. 5

Section 3.2

Section 3.4

Section 3.4

"Servo

Motor

Instruction

Manual

(Vol. 3)"

(10)



(11)

Battery holder



(13)



(14) Rating plate

(15)

(16)

(17)





Charge lamp



(18)

(Note

1, 2)


Refer to table 1.1 for connections of external encoders.

Chapter 12

Section

12.2

Section 3.1

Section 3.3

Section 1.6

Section 3.1

Section 3.3

Section 3.4

"Linear

Encoder

Instruction

Manual"

(19)

(20)





Note 1. This is for MR-J4-_B1-RJ servo amplifier. MR-J4-_B1 servo amplifier does not have CN2L connector.


1 - 36


1.7.2 Removal and reinstallation of the front cover

WARNING

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

The following shows how to remove and reinstall the front cover of MR-J4-700B(-RJ) to MR-J4-22KB(-RJ) and MR-J4-500B4(-RJ) to MR-J4-22KB4(-RJ).

The diagram is for MR-J4-700B.

(1) Removal of the front cover

A)

A)

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

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

3) Pull out the front cover to remove.

1 - 37


(2) Reinstallation of the front cover

Front cover setting tab A)

A)

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

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

Setting tab

3) Press the cover against the terminal box until the installing knobs click.

1 - 38


1.8 Configuration including peripheral equipment

CAUTION


POINT

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

When using the MR-J4-_B-RJ servo amplifier with the DC power supply input, refer to app. 15.

1 - 39


(1) 200 V class


The diagram is for MR-J4-20B-RJ.

(Note 2)

Power supply

R S T

Molded-case circuit breaker

(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)

D (Note 5)

U

V

W

Junction terminal block

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

Servo system controller or previous servo amplifier

CN1B

Next servo amplifier CN1A or cap

Power factor improving DC reactor

(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery

Servo motor

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


2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to section 1.3 for the power supply specifications.

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

4. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector.

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

1 - 40


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

(Note 2)

Power supply

R S T


(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)

U

V

W


(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

D (Note 5)

CN5

MR Configurator2

Personal computer

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery




CN1B


Servo motor







1 - 41


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

(Note 2)

Power supply

R S T


(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)


(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

D (Note 5)

U

V

W

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery




CN1B


Servo motor







1 - 42


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

(Note 2)

Power supply

R S T


(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)


(FR-HEL)

P4

L21

L11

P3

L3

L2

L1

P+ C

(Note 5) Regenerative option

U V W

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery




CN1B


Servo motor







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

1 - 43


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

(Note 2)

Power supply


(MCCB)

R S T

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1


(FR-HEL)

P3

P4

L21

L11

U V W

P+ C


CN5

MR Configurator2

Personal computer

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery




CN1B


Servo motor








1 - 44


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

R S T

(Note 2)

Power supply


(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1


(FR-HEL)

P3

P4

L21

L11

U V W

P+ C


CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery




CN1B


Servo motor








1 - 45


(2) 400 V class


The diagram is for MR-J4-60B4-RJ and MR-J4-100B4-RJ.

(Note 2)

Power supply

R S T


(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)

CN3

CN8

CN1A


To safety relay or

MR-J3-D05 safety logic unit

Servo system controller or previous servo amplifier CN1B

Next servo amplifier

CN1A or cap


(FR-HEL-H)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

D (Note 5)

U

V

W

CN1B

CN2

CN2L (Note 4)

CN4

Battery

Servo motor



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


4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4-

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

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

1 - 46


(b) MR-J4-350B4(-RJ)

(Note 2)

Power supply

R S T


(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)


(FR-HEL-H)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

D (Note 5)

U

V

W

CN5

MR Configurator2

Personal computer

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery


To safety relay or




CN1A or cap

Servo motor








1 - 47


(c) MR-J4-500B4(-RJ)

(Note 2)

Power supply

R S T


(MCCB)

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)


(FR-HEL-H)

P3

P4

CN5

MR Configurator2

Personal computer

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery


To safety relay or




CN1A or cap

L3

L2

L1

L21

L11

U V W

P+ C


Servo motor









1 - 48


(d) MR-J4-700B4(-RJ)

(Note 2)

Power supply


(MCCB)

R S T

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)


(FR-HEL-H)

P4

L21

L11

P3

L3

L2

L1

P+ C


U V W

CN5

MR Configurator2

Personal computer

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery


To safety relay or




CN1A or cap

Servo motor









1 - 49


(e) MR-J4-11K4B(-RJ)/MR-J4-15K4B(-RJ)

(Note 2)

Power supply


(MCCB)

R S T CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1


(FR-HEL-H)

P3

P4

L21

L11

U V W

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery


To safety relay or




CN1A or cap

P+ C


Servo motor









1 - 50


(f) MR-J4-22K4B(-RJ)

CN5

MR Configurator2

Personal computer

(Note 2)

Power supply


(MCCB)

R S T

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BLF)

L3

L2

L1


(FR-HEL-H)

P3

P4

L21

L11

U V W

P+ C


CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery


To safety relay or




CN1A or cap

Servo motor









1 - 51


(3) 100 V class


(Note 2)

Power supply

R T


(MCCB)

CN5

MR Configurator2

Personal computer

(Note 3)

Magnetic contactor

(MC)

Power factor improving AC reactor

(FR-HAL)

Line noise filter

(FR-BSF01)

(Note 1)

Regenerative option

P+

C

L1

L2

(Note 1)

D (Note 5)

U

V

W

CN3

CN8

CN1A

CN1B

CN2

CN2L (Note 4)

CN4

Battery




CN1B


L11

L21

Servo motor

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

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


4. This is for MR-J4-_B1-RJ servo amplifier. MR-J4-_B1 servo amplifier does not have CN2L connector. Refer to Table 1.1 and

Linear Encoder Instruction Manual for the compatible external encoders.

1 - 52

2. INSTALLATION

2. INSTALLATION

WARNING

To prevent electric shock, ground each equipment securely.

CAUTION

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


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

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

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

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

Provide 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 apply heavy impact on the servo amplifiers and the servo motors.

Otherwise, injury, malfunction, etc. may occur.

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

When the 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.

POINT

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

2 - 1

2. INSTALLATION

2.1 Installation direction and clearances

CAUTION

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

Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction.

(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier

Cabinet Cabinet

40 mm or more

Servo amplifier

Wiring allowance

80 mm or more

10 mm or more

(Note 2)

10 mm or more Top

Bottom

40 mm or more

(Note 1)

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

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

2 - 2

2. INSTALLATION

(b) Installation of two or more servo amplifiers

POINT

Close mounting is possible depending on the capacity of the servo amplifier.

Refer to section 1.3 for availability of close mounting.

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

CNP3 connectors cannot be removed.

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

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

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

Cabinet Cabinet

100 mm or more

10 mm or more

(Note 2)

1 mm

100 mm or more

1 mm

30 mm or more

30 mm or more

30 mm or more

Top

Bottom

40 mm or more

(Note 1)

40 mm or more

Leaving clearance Mounting closely


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

(2) Others

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

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

2 - 3

2. INSTALLATION

2.2 Keeping out of foreign materials

(1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or a cooling fan installed on the ceiling.

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

2.3 Encoder cable stress

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

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

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

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

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

2.4 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 SSCNET III cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of servo amplifier. When closing the door of cabinet, pay careful attention for avoiding the case that SSCNET III cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius. For the minimum bend radius, refer to section

11.1.3.

2 - 4

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 basically 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 (plastic).

In addition, MR-J3BUS_M-B cable (silica glass) 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

Cable

Bundle material

Recommended product: NK clamp SP type

(NIX, INC)

2 - 5

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 11.1.3.

(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 and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

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

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

CAUTION

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

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

It is recommended that the following points periodically be checked.

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

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

(3) Check that the connector is securely connected to the servo amplifier.

(4) Check that the wires are not coming out from the connector.

2 - 6

2. INSTALLATION

(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 depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your local sales office.

Part name Life guideline

Smoothing capacitor

Relay

Cooling fan

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

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


(1) Smoothing capacitor

The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 40 °C or less).

(2) Relays

Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of their life when the power has been turned on, 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 10,000 hours to 30,000 hours. Normally, therefore, the cooling fan must be replaced in a few years of continuous operation as a guideline. If unusual noise or vibration is found during inspection, the cooling fan must also be replaced.

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

2 - 7

2. INSTALLATION

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

(1) Effective load ratio and regenerative load ratio

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

[%]

100

95

0

0 1000

Altitude

2000 [m]

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

(2) Input voltage

Generally, a withstand voltage decreases as increasing altitude; however, there is no restriction on the withstand voltage. Use in the same manner as in 1000 m or less. (Refer to section 1.3.)

(3) Parts having service life

(a) Smoothing capacitor

The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 30 °C or less).

(b) Relay

There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.6.)

(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 - 8

3. SIGNALS AND WIRING


WARNING

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

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


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



CAUTION

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

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

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier

24 V DC

Servo amplifier

24 V DC

DOCOM DOCOM



For sink output interface For source output interface

Use a noise filter, etc. to minimize the influence of electromagnetic interference.

Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.

Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF(-

H)) with the power line of the servo motor.

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

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

Do not modify the equipment.

3 - 1


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

V

W

U

Servo motor

V

W

M

Servo amplifier

U

V

W

U

Servo motor

V

W

M


Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.

POINT

When you use a linear servo motor, replace the following words in the left to the words in the right.

Load to motor inertia ratio → Load mass

(Servo motor) speed → (Linear servo motor) speed

3 - 2


3.1 Input power supply circuit

CAUTION

Always connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.

Check the servo amplifier model, and then input proper voltage to the servo amplifier power supply. If input voltage exceeds the upper limit, the servo amplifier will break down.

The servo amplifier has a built-in surge absorber (varistor) to reduce exogenous noise and to suppress lightning surge. Exogenous noise or lightning surge deteriorates the varistor characteristics, and the varistor may be damaged. To prevent a fire, use a molded-case circuit breaker or fuse for input power supply.


The N- terminal is not a neutral point of the power supply. Incorrect wiring will cause a burst, damage, etc.

POINT

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.

Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's.

When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.


Configure the 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 - 3


3.1.1 200 V class

(1) Using 3-phase 200 V AC to 240 V AC power supply for MR-J4-10B(-RJ) to MR-J4-350B(-RJ)

(Note 4)

Malfunction

RA1

OFF

ON

MC

Emergency stop switch

MC

SK

3-phase

200 V AC to

240 V AC

MCCB

(Note 10)

MC

(Note 7)

(Note 1)

L2

Servo amplifier

CNP1

L1

(Note 11)

CNP3

U

L3 V

NW

P3

P4

(Note 6)

U

V

W

Servo motor

Motor

M

(Note 2)

CNP2

P+

C

D

L11

L21

(Note 11)

CN2

(Note 3)

Encoder cable

Encoder

(Note 5) Forced stop 2

(Note 8)

Main circuit power supply

24 V DC (Note 12)

(Note 9)

Short-circuit connector

(Packed with the servo amplifier)

CN3

EM2

DICOM

CN8

CN3

DOCOM

24 V DC (Note 12)

ALM

RA1

Malfunction (Note 4) (Note 5)

Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.

3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction

Manual (Vol. 3)".

4. If disabling ALM (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.

5. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.

6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".

7. 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.

8. Configure 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 the short-circuit connector came 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. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

3 - 4


(2) Using 1-phase 200 V AC to 240 V AC power supply for MR-J4-10B(-RJ) to MR-J4-200B(-RJ)

POINT

Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's.

When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.

(Note 4)

Malfunction

RA1

OFF

ON

MC

1-phase

200 V AC to

240 V AC

MCCB

(Note 10)


MC

(Note 7)

(Note 1)

MC

L2

Servo amplifier

CNP1

L1

(Note 11)

CNP3

U

L3 V

NW

P3

P4

(Note 2)

CNP2

P+

C

D

L11

L21

(Note 11)

CN2

(Note 8)

Main circuit power supply CN3

EM2


DICOM

SK

(Note 6)

(Note 3)

Encoder cable

CN3

DOCOM

24 V DC (Note 12)

24 V DC (Note 12)

(Note 9)



CN8

ALM

RA1

U

V

W

Servo motor

Motor

M

Encoder




Manual (Vol. 3)".







10. When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded-case circuit breaker. (Refer to section 11.10.)



3 - 5


(3) MR-J4-500B(-RJ)

3-phase

200 V AC to

240 V AC

MCCB

(Note 10)

(Note 4)

Malfunction

RA1

OFF

ON


Servo amplifier

MC

(Note 7)

MC

L1

L2

L3

N-

(Note 11)

U

V

W

L11

L21

MC

SK

(Note 6)

Servo motor

U

V

W

Motor

M

(Note 1)

(Note 2)

(Note 8)



24 V DC (Note 12)

(Note 9)



D

CN3

EM2

DICOM

CN8

P3

P4

P+

C

(Note 11)

CN2

(Note 3)

Encoder cable

Encoder

CN3

DOCOM

24 V DC (Note 12)

ALM RA1




Manual (Vol. 3)".










3 - 6


(4) MR-J4-700B(-RJ)

3-phase

200 V AC to

240 V AC

MCCB

(Note 10)

(Note 4)

Malfunction

RA1

OFF


Servo amplifier

MC

(Note 7)

ON

MC

(Note 2)

L1

L2

L3

(Note 11)

Built-in regenerative resistor

U

V

P+ W

C

L11

L21

(Note 1)

N-

P3

P4

(Note 11)

CN2

MC

SK

(Note 6)

(Note 3)

Encoder cable

Servo motor

U

V

W

Motor

M

Encoder

(Note 8)



24 V DC (Note 12)

(Note 9)



CN3

EM2

DICOM

CN8

CN3

DOCOM

24 V DC (Note 12)

ALM RA1





Manual (Vol. 3)".










3 - 7


(5) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ)

(Note 4)

Malfunction

RA1

OFF

ON

MC


MCCB

MC

(Note 7)

MC

SK

(Note 15, 16)

External dynamic brake (optional)

3-phase

200 V AC to

240 V AC

(Note 10)

(Note 2)

L1

L2

L3

P+

C

Servo amplifier

(Note 11)

U

V

W

(Note 6)

U

V

W

Servo motor

Motor

M

L11

L21

(Note 1)

N-

P3

P4

(Note 11)

CN2

(Note 3)

Encoder cable

Encoder

(Note 14)

Cooling fan power supply

Cooling fan

BU

BV

BW

(Note 13)

MCCB

(Note 8)



24 V DC (Note 12)

(Note 9)



CN3

EM2

DICOM

CN8

CN3

DOCOM

24 V DC (Note 12)

ALM

RA1


3 - 8




3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual

(Vol. 3)".










13. For the servo motor with a cooling fan.

14. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".

15. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. For wiring of the external dynamic brake, refer to section 11.17.


3 - 9


3.1.2 400 V class

(1) MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ)

(Note 4)

Malfunction

RA1

3-phase

380 V AC to

480 V AC

(Note 12)

Step-down transformer

MCCB

(Note 10)

OFF

ON

MC


(Note 7)

MC

(Note 1)

L1

Servo amplifier

CNP1

N-

(Note 11)

CNP3

U

L2 V

W L3

P3

P4

(Note 2)

CNP2

P+

C

D

L11

L21

(Note 11)

CN2

(Note 8)



24 V DC (Note 13)

(Note 9)



CN3

EM2

DICOM

CN8

CN3

DOCOM

ALM

MC

SK

(Note 6)

(Note 3)

Encoder cable

U

V

W

Servo motor

Motor

M

Encoder

24 V DC (Note 13)

RA1

(Note 4)

Malfunction

(Note 5)



Manual (Vol. 3)".








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

12. Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class.


3 - 10


(2) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ)

(Note 4)

Malfunction

RA1

3-phase

380 V AC to

480 V AC

(Note 12)


MCCB

(Note 10)

OFF


Servo amplifier

(Note 7)

MC

ON

MC

(Note 2)

L1

L2

L3

(Note 11)

Built-in

U regenerative resistor

V

P+ W

C

L11

L21

MC

SK

(Note 6)

(Note 11)

CN2 (Note 3)

Encoder cable

(Note 1)

N-

P3

P4


(Note 8)


24 V DC (Note 13)

(Note 9)



CN3

EM2

DICOM

CN8

U

V

W

Servo motor

Motor

M

Encoder

CN3

DOCOM

ALM

24 V DC (Note 13)

RA1

(Note 4)

Malfunction

(Note 5)




Manual (Vol. 3)".











3 - 11


(3) MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ)

(Note 4)

Malfunction

RA1

OFF

3-phase

380 V AC to

480 V AC

(Note 12)


MCCB

(Note 10)

ON


Servo amplifier

(Note 7)

MC

MC

L1

L2

L3

P+

C

(Note 2)

(Note 11)

U

V

W

L11

L21

(Note 1)

N-

P3

P4

MC

SK

(Note 16, 17)


(optional)

(Note 6)

(Note 11)

CN2

(Note 3)

Encoder cable

U

V

W

Servo motor

Motor

M

Encoder

(Note 14)

Cooling fan power supply

BU

BV

Cooling fan

BW

(Note 13)

MCCB


(Note 8)


24 V DC (Note 15)

(Note 9)



CN3

EM2

DICOM

CN8

CN3

DOCOM

ALM

24 V DC (Note 15)

RA1

(Note 4)

Malfunction

(Note 5)

3 - 12




3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual

(Vol. 3)".


5. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3 in MR-J4-_B(-RJ) Servo Amplifier

Instruction Manual.







12. Stepdown transformer is required for coil voltage of magnetic contactor more than 200 V class servo amplifiers.

13. For the servo motor with a cooling fan.

14. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".


16. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. For wiring of the external dynamic brake, refer to section 11.17.


3 - 13


3.1.3 100 V class

1-phase

100 V AC to

120 V AC

MCCB

(Note 10)

(Note 4)

Malfunction

RA1

MC

(Note 7)

(Note 1)

MC


Servo amplifier

CNP1

L1

(Note 11)

Unassigned

CNP3

U

L2 V

N-

Unassigned

W

Unassigned

(Note 2)

OFF

CNP2

P+

C

D

L11

L21

ON

(Note 11)

CN2


(Note 8)


24 V DC (Note 12)

(Note 9)



CN3

EM2

DICOM

CN8

MC

SK

(Note 6)

(Note 3)

Encoder cable

Servo motor

U

V

W

Motor

M

Encoder

CN3

DOCOM

24 V DC (Note 12)

ALM RA1


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


Manual (Vol. 3)".







10. When wires used for L11 and L21 are thinner than wires used for L1 and L2, use a molded-case circuit breaker. (Refer to section 11.10.)



3 - 14


3.2 I/O signal connection example

POINT


3.2.1 For sink I/O interface

Servo amplifier

CN8

(Note 16)



(Note 3, 4)

Forced stop 2

(Note 14)

FLS

RLS

DOG

(Note 5)

MR Configurator2

+

Personal computer

10 m or less

(Note 15)


(Note 10) 24 V DC

EM2

DI1

DI2

DI3

DICOM

DICOM

USB cable

MR-J3USBCBL3M

(option)

CN3

20

(Note 12)

CN3

(Note 12)

3

10 m or less

24 V DC (Note 10)

DOCOM

(Note 2)

13 MBR

RA1

2

9 INP

RA2

12 15 ALM

RA3

19

5

10

CN5

6 LA

16 LAR

7 LB

17 LBR

8 LZ

18 LZR

11 LG

(Note 17)

Electromagnetic brake interlock

In-position

Malfunction (Note 11)

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse


Encoder Z-phase pulse


Control common

(Note 13)

4

1

14

MO1

LG

MO2

Analog monitor 1

DC ± 10 V

Analog monitor 2

DC ± 10 V

Servo system controller

(Note 6)

SSCNET III cable

(option)

Plate SD

2 m or less

CN1A CN1B

Servo amplifier

(Note 7)

CN1A

(Note 1)

CN1B

The last servo amplifier (Note 8)

(Note 7)

CN1A

(Note 6)

SSCNET III cable

(option)

(Note 9)

Cap

CN1B

3 - 15


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 11.7.)

6. Use SSCNET III cables listed in the following table.

Cable Cable model Cable length

Standard cord inside cabinet

Standard cable outside cabinet

Long-distance cable

MR-J3BUS_M

MR-J3BUS_M-A

MR-J3BUS_M-B

0.15 m to 3 m

5 m to 20 m

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 4.3.1 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 300 mA. 300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section

3.8.2 (1) 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.

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

13. You can change devices of these pins with [Pr. PD07], [Pr. PD08], 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_ and QD77MS_.

FLS: Upper stroke limit

RLS: Lower stroke limit

DOG: Proximity dog



17. When you use a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake mechanism.

3 - 16


3.2.2 For source I/O interface

POINT

For notes, refer to section 3.2.1.

Servo amplifier

CN8

(Note 14)

(Note 5)

(Note 3, 4)

Forced stop 2

FLS

RLS

DOG

MR Configurator2

+

(Note 16)



Personal computer

10 m or less

(Note 15)


(Note 10) 24 V DC

EM2

DI1

DI2

DI3

DICOM

DICOM

USB cable

MR-J3USBCBL3M

(option)

(Note 12)

CN3

3 DOCOM

(Note 12)

CN3

20

13 MBR

2

9 INP

12

19

15 ALM

10 m or less

24 V DC (Note 10)

RA1

RA2

RA3

5

10

6 LA

16 LAR

7 LB

17 LBR

8 LZ

18 LZR

11 LG

CN5

4

1

14

MO1

LG

MO2

(Note 2)


In-position

Malfunction (Note 11)

Encoder A-phase pulse


Encoder B-phase pulse


Encoder Z-phase pulse


Control common

Analog monitor 1

Analog monitor 2

(Note 13)


(Note 6)

SSCNET III cable

(option)

Plate SD

2 m or less

CN1A CN1B

Servo amplifier

(Note 7)

CN1A

(Note 1)

CN1B

The last servo amplifier (Note 8)

(Note 7)

CN1A

(Note 6)

SSCNET III cable

(option)

(Note 9)

Cap

CN1B

3 - 17


3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT

For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS.


Symbol

L1/L2/L3

P3/P4

Connection target

(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.

Power

(-RJ) to

MR-J4-200B

(-RJ)

MR-J4-350B

(-RJ) to

MR-J4-22KB

(-RJ)

MR-J4-60B4

(-RJ) to

MR-J4-22KB4

(-RJ)

MR-J4-10B1 to

MR-J4-40B1

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

L1/L3

L1/L2/L3

3-phase 380 V AC to

480 V AC, 50 Hz/60 Hz

1-phase 100 V AC to

120 V AC, 50 Hz/60 Hz

L1/L2/L3

L1/L2

When not using the power factor improving DC reactor, connect P3 and P4. (factory-wired)

When using the power factor improving DC reactor, disconnect P3 and P4, and connect the power factor improving DC reactor to P3 and P4. Additionally, the power factor improving DC reactor cannot be used for the 100 V class servo amplifiers.

Refer to section 11.11 for details.

(1) 200 V class/100 V class

1) MR-J4-500B(-RJ) or less and MR-J4-40B1(-RJ) or less

When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factorywired)

When using a regenerative option, disconnect P+ and D, and connect the regenerative option to P+ and C.

2) MR-J4-700B(-RJ) to MR-J4-22KB(-RJ)

MR-J4-700B(-RJ) to MR-J4-22KB(-RJ) do not have D.

When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factorywired)

When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative resistor. And then connect wires of the regenerative option to P+ and C.

1) MR-J4-350B4(-RJ) or less

When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factorywired)

When using a regenerative option, disconnect P+ and D, and connect the regenerative option to P+ and C.

2) MR-J4-500B4(-RJ) to MR-J4-22KB4(-RJ)

MR-J4-500B4(-RJ) to MR-J4-22KB4(-RJ) do not have D.

When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factorywired)

When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative resistor. And then connect wires of the regenerative option to P+ and C.


3 - 18


Symbol

L11/L21

U/V/W

N-

Connection target

(application)

Description


Servo motor power output


Power regeneration common converter

Brake unit

Supply the following power to L11 and L21.

Power MR-J4-22KB(-RJ)

MR-J4-60B4(-RJ) to

MR-J4-22KB4(-RJ)

MR-J4-10B1 to

MR-J4-40B1

1-phase 200 V AC to

240 V AC, 50 Hz/60 Hz

1-phase 380 V AC to

480 V AC, 50 Hz/60 Hz

L11/L21

L11/L21

1-phase 100 V AC to

120 V AC, 50 Hz/60 Hz

L11/L21

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

This terminal is used for a power regeneration converter, power regeneration common converter and brake unit.

Refer to section 11.3 to 11.5 for details.

Protective earth (PE)

Connect it to the grounding terminal of the servo motor and to the protective earth (PE) of the cabinet for grounding.

3.3.2 Power-on sequence

POINT

The output signal, etc. may be unstable 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.

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 3 s to 4 s after the main circuit power supply is switched on.

(Refer to (2) in this section.)

3 - 19


(2) Timing chart

Main circuit


ON

OFF

Base circuit

Servo-on command

(from controller)

ON

OFF

ON

OFF

Servo-on command accepted

(Note 1)

(3 s to 4 s)

95 ms (Note 2) 10 ms 95 ms

Note 1. This range will be "5 s to 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.

3.3.3 Wiring CNP1, CNP2, and CNP3

POINT

For the wire sizes used for wiring, refer to section 11.9.

When wiring, remove the power connectors from the servo amplifier.

Insert only one wire or ferrule to each wire insertion hole.

MR-J4-500B(-RJ) or more and MR-J4-500B4(-RJ) or more do not have these connectors.

Use the servo amplifier power connector for wiring CNP1, CNP2, and CNP3.

(1) Connector

(a) MR-J4-10B(-RJ) to MR-J4-100B(-RJ)

Servo amplifier

CNP1

CNP2

CNP3

Table 3.1 Connector and applicable wire

Applicable wire Stripped

CNP1 06JFAT-SAXGDK-H7.5



AWG 18 to 14 3.9 mm or shorter 9

Open tool

J-FAT-OT (N)

or

J-FAT-OT

Manufacturer

JST

3 - 20


(b) MR-J4-200B(-RJ)/MR-J4-350B(-RJ)

MR-J4-200B(-RJ)

Servo amplifier

CNP1

CNP2

CNP3

CNP1

CNP3

CNP2

MR-J4-350B(-RJ)

Servo amplifier



CNP1 06JFAT-SAXGFK-XL

CNP3 03JFAT-SAXGFK-XL

AWG 16 to 10

CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14

(c) MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ)

4.7 mm or shorter

3.9 mm or shorter

11.5

9

Servo amplifier

(Note)

Open tool Manufacturer

J-FAT-OT-EXL JST

CNP1

CNP2

CNP3

Note. A pin for preventing improper connection is inserted to N- of CNP1 connector.



CNP1 06JFAT-SAXGDK-HT10.5

CNP2 05JFAT-SAXGDK-HT7.5 AWG 16 to 14

CNP3 03JFAT-SAXGDK-HT10.5

3.9 mm or shorter 10

Open tool

J-FAT-OT-XL

Manufacturer

JST

3 - 21


(d) MR-J4-10B1(-RJ) to MR-J4-40B1(-RJ)

Servo amplifier

CNP1

CNP2

CNP3



Open tool Manufacturer


CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14


3.9 mm or shorter 9

J-FAT-OT (N)

or

J-FAT-OT

JST

(2) Cable connection procedure

(a) Fabrication on cable insulator

Refer to table 3.1 to 3.4 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status.

Insulator

Core

Stripped length

Twist strands lightly and straighten them as follows.

Loose and bent strands Twist and straighten the strands.

3 - 22


You can also use a ferrule to connect with the connectors. When using a ferrule, select a ferrule and crimping tool listed in the table below.

Servo amplifier

MR-J4-10B(-RJ) to

MR-J4-100B(-RJ)

MR-J4-200B(-RJ) to

MR-J4-350B(-RJ)

MR-J4-60B4(-RJ) to

MR-J4-350B4(-RJ)

MR-J4-10B1(-RJ) to

MR-J4-40B1(-RJ)

Wire size

AWG 16

AWG 14

AWG 16

AWG 14

AWG 12

AWG 16

AWG 14

AWG 16

AWG 14

Ferrule model (Phoenix Contact)

For one For two

AI1.5-10BK

AI2.5-10BU

AI1.5-10BK

AI-TWIN2×1.5-10BK

AI-TWIN2×1.5-10BK

AI2.5-10BU

AI4-10GY

AI1.5-10BK

AI2.5-10BU

AI1.5-10BK

AI2.5-10BU

AI-TWIN2×2.5-10BU

AI-TWIN2×1.5-10BK

AI-TWIN2×1.5-10BK

Crimping tool

(Phoenix Contact)

CRIMPFOX-ZA3

(b) Inserting wire

Insert only one wire or ferrule to each wire insertion hole.

Insert the open tool as follows and push it down to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the wire insertion depth, and make sure that the cable insulator will not be caught by the spring and that the conductive part of the stripped wire will not be exposed.

Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.

In addition, make sure that no conductor wire sticks out of the connector.

The following shows a connection example of the CNP3 connector for MR-J4-200B(-RJ) and MR-J4-

350B(-RJ).

1) Push down the open tool.

3) Release the open tool to fix the wire.

2) Insert the wire.

3 - 23


3.4 Connectors and pin assignment

POINT

The pin assignment of the connectors is as viewed from the cable connector wiring section.

For the STO I/O signal connector (CN8), refer to chapter 13.

For the 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

3 - 24


The servo amplifier front view shown is that of the MR-J4-20B or less. Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers.

The frames of the CN2 and CN3 connectors are connected to the protective earth terminal in the servo amplifier.

CN5 (USB connector)

Refer to section 11.7

CN3

CN8

For the STO I/O signal connector, refer to section 13.2.

(Note 2) CN2

2

LG

1

P5

4

MRR

6

THM2 8

MXR

3

MR

5

THM1 7

MX

10

9

BAT

CN1A

Connector for SSCNET III cable for previous servo amplifier axis

CN1B

Connector for SSCNET III cable for next servo amplifier axis

2

DI1

4

MO1

6

LA

1

LG

12

3

DI2

DOCOM

14

5

MO2

16

DICOM

7

LAR

8

LB

18

LZ

9

LZR

10

INP

20

DICOM

EM2

11

LG

13

MBR

15

ALM

17

LBR

19

DI3

CN4

(Battery connector)

Refer to section 11.8

(Note 1, 2) CN2L

(for using serial encoder)

2

LG 4

MRR2

1

P5 3

MR2

6

5

10

8

MXR2

7

MX2

9

BAT

(Note 1, 2) CN2L

(for using A/B/Z-phase pulse encoder)

2

LG

1

P5

4

PAR

6

PBR

3

PA

5

PB

8

PZR

10

PSEL

9

7

PZ

Note 1. The MR-J4-_B_ servo amplifiers have CN2L connectors. This CN2L is a connector of 3M.

When using any other connector, refer to each servo motor instruction manual.

2. Refer to table 1.1 for connections of external encoders.

3 - 25


3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2.

The pin numbers in the connector pin No. column are those in the initial status.

3.5.1 Input device

Device Symbol

Forced stop 2 EM2

Function and application

CN3-20 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] setting

EM2/EM1

Deceleration method

EM2 or EM1 is off Alarm occurred

I/O division

DI-1

Forced stop 1

0 0 _ _

2 0 _ _

0 1 _ _

2 1 _ _

EM1

EM2

Not using

EM2 and

EM1

Not using

EM2 and

EM1

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

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





EM2 and EM1 are mutually exclusive.


EM1 (CN3-20) 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, 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.

DI-1

DI-1 devices can be assigned for MR-J4 compatible controller (R_MTCPU,

CN3-19

DI-1

DI-1

3 - 26


3.5.2 Output device

(1) Output device pin

The following shows the output device pins and parameters for assigning devices.

Connector pin No. Parameter Initial device I/O division

CN3-9 [Pr. DO-1

(2) Output device explanations

Device Symbol


Malfunction

In-position

Dynamic brake interlock

Ready

Speed reached

Limiting speed

Zero speed detection


MBR 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.

ALM 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 after 2.5 s to 3.5 s after power-on.

INP When the number of droop pulses is in the in-position range, INP will turn on. The in-position range can be changed using [Pr. PA10]. When the in-position range is increased, INP may be on during low-speed rotation.

The device cannot be used in the speed control mode, torque control mode, and for continuous operation to torque control mode.

DB When using the signal, enable it by the setting of [Pr. PD07] to [Pr. PD09].

DB turns off when the dynamic brake needs to operate. When using the external dynamic brake on the servo amplifier of 11 kW or more, this device is required. (Refer to section 11.17.)

For the servo amplifier of 7 kW or less, it is not necessary to use this device.

The external dynamic brake cannot be used with 11 kW or more servo amplifier for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD09].

Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

RD

SA

Enabling servo-on to make the servo amplifier ready to operate will turn on RD.

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.

VLC 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.

ZSP ZSP turns on when the servo motor speed is zero speed (50 r/min) or less. Zero speed can be changed with [Pr. PC07].

Forward rotation direction

OFF level

70 r/min

ON level

50 r/min

Servo motor speed

0 r/min

Reverse rotation direction

ZSP

(Zero speed detection)

ON level

-50 r/min

OFF level

-70 r/min

ON

OFF

1)

2)

3)

4)

20 r/min

(Hysteresis width)

[Pr. PC07]

[Pr. PC07]

20 r/min

(Hysteresis width)

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].

3 - 27


Device

Limiting torque

Warning

Battery warning

Symbol Function and application

TLC 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.

WNG When warning has occurred, WNG turns on. When a warning is not occurring, WNG will turn off in

2.5 s to 3.5 s after power-on.

BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has occurred. When the battery warning is not occurring, BWNG will turn off in 2.5 s to 3.5 s after power-on.

CDPS CDPS will turn on during variable gain. Variable gain selection

Absolute position undetermined

During tough drive

During fully closed loop control

3.5.3 Output signal

ABSV ABSV turns on when the absolute position is undetermined.

The device cannot be used in the speed control mode and torque control mode.

MTTR When a tough drive is enabled in [Pr. PA20], activating the instantaneous power failure tough drive will turn on MTTR.

CLDS CLDS turns on during fully closed loop control.

Signal name

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Encoder Z-phase pulse (differential line driver)

Analog monitor 1

Analog monitor 2

3.5.4 Power supply

Symbol

LA

LAR

LB

LBR

LZ

LZR

MO1

MO2

Connector pin No.


CN3-6

CN3-16

CN3-7

CN3-17

CN3-8

CN3-18

These devices output pulses of encoder output set in [Pr. PA15] and [Pr. PA16] in the 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.

The encoder zero-point signal is output in the differential line driver type. One pulse is output per servo motor revolution. This turns on when the zero-point position is reached. (negative logic)

The minimum pulse width is about 400 μ s. For home position return using this pulse, set the creep speed to 100 r/min or less.

CN3-4 This is used to output the data set in [Pr. PC09] to between MO1 and LG in terms of voltage.

Resolution: 10 bits or equivalent

CN3-14 This signal output the data set in [Pr. PC10] to between MO2 and LG in terms of voltage.


Signal name

Digital I/F power supply input

Symbol

Connector pin No.


Digital I/F common

Monitor common

Shield

CN3-10 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.

DOCOM CN3-3 Common terminal of input signal such as EM2 of the servo amplifier. This is separated from LG.

LG CN3-1

CN3-11

For sink interface, connect - of 24 V DC external power supply.

For source interface, connect + of 24 V DC external power supply.

Common terminal of MO1 and MO2.

Pins are connected internally.

SD Plate Connect the external conductor of the shielded wire.

3 - 28


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 chapter 8.)

When SSCNET III/H communication shut-off occurs, forced stop deceleration will operate. (Refer to section 3.7.1 (3).)

In the torque control mode, the forced stop deceleration function is not available.

Disable the forced stop deceleration function for a machine in which multiple axes are connected together, such as a tandem structure. If an alarm occurs with the forced stop deceleration function disabled, the servo motor will stop with the dynamic brake.

3 - 29


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 drive. The servo amplifier life may be shortened.

(1) Connection diagram

Servo amplifier

24 V DC

(Note)

Forced stop 2

DICOM

EM2

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section

3.8.3.

(2) Timing chart

When EM2 (Forced stop 2) is turned 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.

EM2 (Forced stop 2)

ON

OFF (Enabled)

Ordinary operation

Forced stop deceleration

Dynamic brake

+


Rated Speed

Servo motor speed

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

0 r/min

ON

OFF

ON

OFF (Enabled)

Command

Deceleration time

[Pr. PC24]

Zero speed

([Pr. PC07])

3 - 30


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)

ON

OFF (Enabled)

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

Servo motor speed

0 r/min

(Electromagnetic brake interlock) will turn off, and then after the delay time set in

[Pr. PC02], the servo amplifier will be base circuit shut-off status.

Base circuit


MBR


ON

OFF

ON

OFF (Enabled)

[Pr. PC02]

(2) Adjustment

While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay time in [Pr. PC02], and set the value to approximately 1.5 times of the smallest delay time in which the servo motor shaft does not freefall.

3 - 31


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 μ m due to the backlash of the servo motor electromagnetic brake.

The vertical axis freefall prevention function is enabled with the following conditions.

Other than "0" is set to [Pr. PC31 Vertical axis freefall prevention compensation amount].

EM2 (Forced stop 2) turned off, an alarm occurred, or SSCNET III/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)

Position Travel distance

Base circuit


MBR


Actual operation of electromagnetic brake

ON

OFF

ON

OFF (Enabled)

Disabled

Enabled

Set the base circuit shut-off delay time. ([Pr. PC02])

(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 - 32


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.

POINT


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].

Disable the forced stop deceleration function for a machine in which multiple axes are connected together, such as a tandem structure. If an alarm occurs with the forced stop deceleration function disabled, the servo motor will stop with the dynamic brake.

(1) When the forced stop deceleration function is enabled

Alarm occurrence

Servo motor speed

(Note)

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

0 r/min

Controller command is not received.

Base circuit


Servo amplifier display

MBR


ALM (Malfunction)

ON

OFF

ON

OFF

ON (no alarm)

OFF (alarm)

No alarm Alarm No.

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

3 - 33


(2) When the forced stop deceleration function is not enabled

Alarm occurrence

Servo motor speed

Braking by the dynamic brake

Dynamic brake

+ Braking by the electromagnetic brake

0 r/min

Base circuit



MBR


ALM (Malfunction)

ON

OFF

ON

OFF

ON (no alarm)

OFF (alarm)

No alarm Alarm No.

Operation delay time of the electromagnetic brake

(3) When SSCNET III/H communication shut-off occurs

The dynamic brake may operate depending on the communication shut-off status.

SSCNET III/H communication has broken.

Servo motor speed

(Note)


0 r/min

Base circuit



MBR


ALM (Malfunction)

ON

OFF

ON

OFF

ON (no alarm)

OFF (alarm)

No alarm (d1 or E7) AA

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

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 SSCNET III/H communication shutoff occurs is the same as section 3.7.1 (2).

3 - 34


3.8 Interfaces

3.8.1 Internal connection diagram

POINT

Refer to section 13.3.1 for the CN8 connector.

Servo amplifier

Forced stop 2

EM2

CN3

Approximately

6.2 k

20

CN3

3

DOCOM

(Note 3)

(Note 1)

(Note 5)

24 V DC

DI1 2

DI2 12

DI3 19

Approximately

6.2 k

DICOM

5

DICOM 10

13

9

15

MBR

(Note 2)

INP

ALM

Isolated

(Note 5)

24 V DC

RA

RA

USB

CN5

D2

D+ 3

GND 5

(Note 3)

17

8

18

11

CN3

6

16

7

LA

LAR

LB

LBR

LZ

LZR

LG

CN3

Differential line driver output

(35 mA or less)

Analog monitor

4 MO1

14 MO2

±10 V DC

1 LG

CN2

7

4

2

8

3

MX

MXR

MR

MRR

LG

PE

Servo motor

Encoder

M

±10 V DC

(Note 4, 6) CN2L

7

8

3

4

2

MX2

MXR2

MR2

MRR2

LG

External encoder

Encoder

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. The signal cannot be used in the speed control mode and torque control mode.


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


6. Refer to table 1.1 for connections of external encoders.

3 - 35


3.8.2 Detailed explanation of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external device.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink

(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink input. Refer to section 3.8.3 for source input.

Servo amplifier

For transistor

Approximately

5 mA

EM2, etc.

Switch

Approximately

6.2 k Ω

TR

DICOM

V

CES

I

CEO

1.0 V

100 µA

24 V DC ± 10%

300 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 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

ALM, etc.

Load

If polarity of diode is reversed, servo amplifier will malfunction.

DOCOM

(Note) 24 V DC ± 10%

300 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 - 36


(3) Encoder output pulses DO-2 (differential line driver type)

(a) Interface

Maximum output current: 35 mA

Servo amplifier

LA

(LB, LZ)

Am26LS32 or equivalent

Servo amplifier

LA

(LB, LZ)

150 Ω

LAR

(LBR, LZR)

SD

LG

LAR

(LBR, LZR)

SD

(b) Output pulse

100 Ω

High-speed photocoupler

LA

Servo motor CCW rotation

LAR

LB

T

LBR

/2

LZ

LZR

Time cycle (T) is determined by the settings of

[Pr. PA15] and [Pr. PC03].

400 µs or more

(4) Analog output

Servo amplifier

MO1

(MO2)

LG

Output voltage: ±10 V

Maximum output current: 1 mA


Note. Output voltage range varies depending on the output contents.

3 - 37


3.8.3 Source I/O interfaces

In this servo amplifier, source type I/O interfaces can be used.


This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.

Servo amplifier

For transistor

EM2, etc.

TR Switch

Approximately

6.2 k Ω

DICOM

Approximately

5 mA

V

CES

1.0 V

I

CEO

100 µA

24 V DC ± 10%

300 mA


This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, current will be applied from the output to a load.

A maximum of 2.6 V voltage drop occurs in the servo amplifier.

Servo amplifier

ALM, etc.

Load


DOCOM

(Note) 24 V DC ± 10%

300 mA


3 - 38


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.

The first axis servo amplifier The second axis servo amplifier The last axis servo amplifier

Controller

SSCNET III cable

CN1A

SSCNET III cable

CN1B

CN1A

SSCNET III cable

CN1B

CN1A

CN1B

Cap

(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 - 39


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 - 40


3.10 Servo motor with an electromagnetic brake

3.10.1 Safety precautions

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

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

RA

B

U

24 V DC


CAUTION

The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.

Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly.

Do not use the 24 V DC interface power supply for the electromagnetic brake.

Always use the power supply designed exclusively for the electromagnetic brake.

Otherwise, it may cause a malfunction.

When using EM2 (Forced stop 2), use MBR (Electromagnetic brake interlock) for operating the electromagnetic brake. Operating the electromagnetic brake without using MBR during deceleration to a stop will saturate servo motor torques at the maximum value due to brake torque of the electromagnetic brake. This can result in delay of the deceleration to a stop from a set value.

POINT

Refer to "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Refer to "Servo Motor Instruction Manual (Vol. 3)" for the selection of a surge absorber for the electromagnetic brake.

Note the following when the servo motor with an electromagnetic brake is used.

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

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

3 - 41



Servo amplifier

DOCOM

MBR

(Note 2)

24 V DC

RA1

24 V DC

MBR

RA1

ALM

(Malfunction)

(Note 1)

B1

U

B2

Servo motor

B

Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.

2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

(2) Setting

In [Pr. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR (Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in section 3.10.2.

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

Servo motor speed

0 r/min

Base circuit

ON

OFF

MBR


Servo-on command

(from controller)

(Note 1)

ON

OFF

ON

OFF

Ready-on command

(from controller)

ON

OFF

Approx. 95 ms

Approx. 95 ms

(Note 3)


Operation command

(from controller)


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 - 42


(b) Off/on of the forced stop command (from controller) or EM2 (Forced stop 2)

POINT


Servo motor speed

(Note 2)


0 r/min

Base circuit


ON

OFF

Forced stop command

(from controller) or EM2

(Forced stop 2)

MBR


(Note 1)

Disabled (ON)

Enabled (OFF)

ON

OFF

ALM (Malfunction)

ON (no alarm)

OFF (alarm)



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

Approx. 10 ms

Dynamic brake

Dynamic brake

+ Electromagnetic brake


Servo motor speed

Base circuit

0 r/min

ON

OFF

MBR


(Note 2)

ON

OFF

Alarm

[AL. 10 Undervoltage]

No alarm

Alarm

Main circuit


ON

OFF

(Note 1)


Note 1. Variable according to the operation status.

2. ON: Electromagnetic brake is not activated.


3 - 43


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

POINT


Servo motor speed


Base circuit


MBR


The time until a voltage drop is detected.


Dynamic brake

Dynamic brake



0 r/min

Approx. 10 ms

ON

OFF (Note 2)

ON

OFF

(Note 1)

ON

OFF


ALM (Malfunction)

ON (no alarm)

OFF (alarm)



2. Variable according to the operation status.

(f) Ready-off command from controller

Approx. 10 ms

Dynamic brake

Dynamic brake



Servo motor speed

Base circuit

0 r/min

ON

OFF

MBR


Ready-on command

(from controller)

(Note)

ON

OFF

ON

OFF


Note. ON: Electromagnetic brake is not activated.


3 - 44


(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 1)

Servo motor speed

Dynamic brake

Dynamic brake



Electromagnetic brake has released.

Base circuit

0 r/min

ON

OFF

Approx. 10 ms Approx. 210 ms


Approx. 210 ms

MBR


Forced stop command

(from controller) or

EM1 (Forced stop 1)

(Note)

ON

OFF

ON (Disabled)

OFF (Enabled)

Note. ON: Electromagnetic brake is not 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.

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

Approx. 10 ms

Dynamic brake

Dynamic brake



Servo motor speed

Base circuit

0 r/min

ON

OFF

MBR


Alarm

(Note 2)

ON

OFF

[AL. 10 Undervoltage]

No alarm

Alarm


ON

OFF

(Note 1)


Note 1. Variable according to the operation status.

2. ON: Electromagnetic brake is not activated.


3 - 45


(f) Ready-off command from controller

It is the same as (1) (f) in this section.

3.11 Grounding

WARNING


To prevent an electric shock, always connect the protective earth (PE) terminal

(marked ) of the servo amplifier to the protective earth (PE) of the cabinet.

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.

To conform to the EMC Directive, refer to "EMC Installation Guidelines".

Cabinet

Servo amplifier

Servo motor

MCCB MC

CN2

(Note)

Power supply

L1

L2

L3

L11

L21

Encoder

U

V

W

U

V

W

M

CN1A

Ensure to connect the wire to the

PE terminal of the servo amplifier.

Do not connect the wire directly to the grounding of the cabinet.


Outer box

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

3 - 46

4. STARTUP

4. STARTUP

WARNING

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

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

CAUTION

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

The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

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


POINT


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

Actual operation

Stop

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 (SW2-3 and SW2-4) 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.)

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

1) The power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.)

2) When the power factor improving DC reactor is not used, between P3 and P4 should be connected.

Servo amplifier

P3

(Note)

P4

Note. The 100 V class servo amplifiers do not have P3 and P4.

(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U/V/W) should match in phase with the servo motor power input terminals (U/V/W).

Servo amplifier

U

U

Servo motor

V

V

M

W

W

2) The power supplied to the servo amplifier should not be connected to the servo motor power terminals (U/V/W). Otherwise, the servo amplifier and servo motor will malfunction.

Servo amplifier

L1 U

L2 V

L3 W

U

Servo motor

V

W

M

3) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.

Servo amplifier Servo motor

M

4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable.

4 - 3

4. STARTUP

(c) When you use an option and auxiliary equipment

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

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

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

Twisted wires cable should be used. (Refer to section 11.2.4.) b) When you use a regenerative option for 7 kW or more servo amplifiers

For 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.

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

Twisted wires cable should be used. (Refer to section 11.2.4.) c) When you use a brake unit and power regeneration converter for 5 kW or more servo amplifiers

For 5 kW or less servo amplifiers, the lead wire between P+ terminal and D terminal should not be connected.

For 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.

Brake unit, power regeneration converter should be connected to P+ terminal and N- terminal. (Refer to section 11.3 and 11.4.)

Twisted wires cable should be used when wiring is over 5 m and equal to or less than 10 m using a brake unit. (Refer to section 11.3) d) When you use a power regeneration common converter

For 5 kW or less servo amplifiers, the lead wire between P+ terminal and D terminal should not be connected.

For 7 kW servo amplifiers, the lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.

The wire of power regeneration common converter should be connected to P4 terminal and

N- terminal. (Refer to section 11.5.) e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to section 11.11.)


DC reactor

Servo amplifier

P3

(Note)

P4

Note. Always disconnect between P3 and P4 terminals.

2) 400 V class a) When you use a regenerative option for 3.5 kW or less servo amplifiers


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

Twisted wires cable should be used. (Refer to section 11.2.4.)

4 - 4

4. STARTUP b) When you use a regenerative option for 5 kW or more servo amplifiers

For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.


Twisted wires cable should be used. (Refer to section 11.2.4.) c) When you use a brake unit and power regeneration converter for 5 kW or more servo amplifiers

For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.

Brake unit, power regeneration converter should be connected to P+ terminal and N- terminal. (Refer to section 11.3 and 11.4.)

Twisted wires cable should be used when wiring is over 5 m and equal to or less than 10 m using a brake unit. (Refer to section 11.3) d) When you use a power regeneration common converter for 11 kW or more servo amplifiers

Power regeneration common converter should be connected to P4 terminal and N- terminal.

(Refer to section 11.5.) e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to section 11.11.)


DC reactor

Servo amplifier

P3

(Note)

P4

Note. Always disconnect between P3 and P4.

3) 100 V class



Twisted wires cable 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 - 5

4. STARTUP

4.1.3 Surrounding environment

(1) Cable routing

(a) The wiring cables should not be stressed.

(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)

(c) The connector of the servo motor should not be stressed.

(2) Environment

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

4.2 Startup

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

(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, turn 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 - 6

4. STARTUP

(4) Home position return

Always perform home position return before starting positioning operation.

(5) Stop

Turn off the servo-on command after the servo motor has stopped, and then switch the power off.

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop.

Refer to section 3.10 for the servo motor with an electromagnetic brake.

Operation/command

Servo-off command


Servo amplifier

Ready-off command

Forced stop command

Alarm occurrence

EM2 (Forced stop 2) off

STO (STO1, STO2) off

The base circuit is shut off and the servo motor coasts.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.

The servo motor decelerates to a stop with the command. [AL.

E7 Controller forced stop warning] occurs.

The servo motor decelerates to a stop with the command. With some alarms, however, the dynamic brake operates to bring the servo motor to a stop. (Refer to section 8. (Note))

The servo motor decelerates to a stop with the command. [AL.

E6 Servo forced stop warning] occurs. EM2 has the same function as EM1 in the torque control mode. Refer to section 3.5 for EM1.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.

Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier

Instruction Manual (Troubleshooting)" for details of alarms and warnings.

4 - 7

4. STARTUP

4.3 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 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.

The following explains the test operation select switch, the disabling control axis switch, 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

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. 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 switch.

ON

1 2 3 4


Set to the "OFF (down)" position.

Test operation select switch

Set to the "ON (up)" position.

4 - 8

4. STARTUP

(2) Disabling control axis switch (SW2-2)

Turning "ON (up)" the 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.

ON

1 2 3 4


(3) Switches for setting control axis No.

POINT

The control axis No. set to the auxiliary axis number setting switches (SW2-3 and SW2-4) 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 (SW2-3 and SW2-4)

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.)


5

6

7

8 9

A

B

D

3

2

1 0

F

E

4 - 9

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.


ON

1 2 3 4


ON

1 2 3 4


Control axis No.


0 1

1 2

2 3

3 4

4 5

5 6

6 7

7 8

2 3 4

9 10

A 11

B 12

C 13

D 14

E 15

F 16


Control axis No.


0 33

1 34

2 35

3 36

4 37

5 38

6 39

7 40

2 3 4

9 42

A 43

B 44

C 45

D 46

E 47

F 48


Control axis No.

0 17

1 18

2 19

3 20

4 21

5 22

6 23

7 24

8 25

9 26

A 27

B 28

C 29

D 30

E 31

F 32


Control axis No.

0 49

1 50

2 51

3 52

4 53

5 54

6 55

7 56

8 57

9 58

A 59

B 60

C 61

D 62

E 63

F 64

4 - 10

4. STARTUP

4.3.2 Scrolling display

(1) Normal display

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

After 1.6 s

Status Blank

After 0.2 s

Status

(1 digit)

Axis No.

(2 digits)

"b"

"C"

"d"

: Indicates ready-off and servo-off status.

: Indicates ready-on and servo-off status.

: Indicates ready-on and servo-on status.

(2) Alarm display

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

After 0.8 s After 0.8 s

Status Alarm No.

After 0.2 s

Blank

Status

(1 digit)

Axis No.

(2 digits)

Alarm No.

(2 digits)

Alarm detail

(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)

(Note)

Ready-off and servo-off

(Note)

Ready-on

When alarm occurs, its alarm code appears.

(Note)

Servo-on

Ready-on and servo-off

Ready-on and servo-on

Ordinary operation

Servo system controller power off

Servo system controller power on

Note.

Axis

No. 1

Axis

No. 2

Axis

No. 64

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

When an alarm No. or warning No. is displayed

Example: When [AL. 50 Overload 1] occurs at axis No. 1

Blinking

After 0.8 s

Blinking

After 0.8 s

Blank

Example: When [AL. E1 Overload warning 1] occurs at axis No. 1

Blinking

After 0.8 s

Blinking

After 0.8 s

Blank

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

4 - 12

4. STARTUP

(2) Indication list

Indication Status

Initializing System check in progress

Description

A b

A b .

A C

Initializing

Initializing

Initializing

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 (SW2-3 and

SW2-4) 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", and "Ab"

The servo system controller is malfunctioning.

During initial setting for communication specifications

Initial setting for communication specifications completed, and then it synchronized with servo system controller.

During initial parameter setting communication with servo system controller A d Initializing

A E Initializing

During the servo motor/encoder information and telecommunication with servo system controller

During initial signal data communication with servo system controller A F Initializing

A H Initializing

The process for initial data communication with the servo system controller is completed.

A A Initializing

The power supply of servo system controller is turned off during the power supply of servo amplifier is on.

(Note 1) b # # Ready-off The ready-off signal from the servo system controller was received.

(Note 1) d # #

(Note 1) C # #

(Note 2) *

8

* *

8 8

Servo-on

Servo-off

Alarm and warning

CPU error

The ready-off signal from the servo system controller was received.

The ready-off signal from the servo system controller was received.

The alarm No. and the warning No. that occurred is displayed. (Refer to section 8.

(Note 4))

CPU watchdog error has occurred.

(Note 1) b # # .

(Note 3) d # # .

Test operation mode

C # # .

Note 1. The meanings of ## are listed below.

JOG operation, positioning operation, program operation, output signal (DO) forced output, or motor-less operation was set.

## Description

01 to

64

Axis No. 1 to

Axis No. 64

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

3. Requires the MR Configurator2.

4. 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

Test operation of the servo motor alone by commands

Test operation with the servo motor and machine connected

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.

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.

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



(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 initial value Setting range

Speed [r/min]

Acceleration/deceleration time constant [ms]

200

1000

0 to max. speed

0 to 50000

2) Operation method

When the check box of "Rotation only while the CCW or CW button is being pushed." is checked.

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.



Click "Forward".

Click "Reverse".

Forced 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.


Item

Travel distance [pulse]

Speed [r/min]


Repeat pattern

Dwell time [s]

Number of repeats [time] initial value

4000

200

1000

Fwd. rot. (CCW) to rev. rot. (CW)

2.0

1

Setting range

0 to 99999999

0 to max. speed

0 to 50000

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



Click "Forward".

Click "Reverse".


(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 details, refer to Help of

MR Configurator2.


(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

1 2 3 4

Set SW2-1 to "ON (up)".

ON

1 2 3 4

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.

After 1.6 s

Blinking

After 0.2 s

When an alarm or warning also occurs during the test operation, the decimal point on the first digit will blink as follows.

After 0.8 s After 0.8 s

Blinking

After 0.2 s

Blinking

4) Start operation with the personal computer.

4 - 17

4. STARTUP

4.5.2 Motor-less operation in controller

POINT

Use motor-less operation which is available by making the servo system controller servo parameter setting.

Connect the servo system controller to the servo amplifier before the motor-less 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.

(1) Motor-less operation

Without connecting the servo motor to the 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 0

Load to motor inertia ratio [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


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.

Set SW2-1 to "OFF (down)".

ON

1 2 3 4

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


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

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. Check the software version of the servo amplifier using MR

Configurator2.

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.

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 servo amplifier with software version B3 or later, the parameter initial values for the manufacturer setting are partially changed.

5 - 1

5. PARAMETERS

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

No. Symbol Name

PA03 *ABS Absolute position detection system

PA04 *AOP1 Function selection A-1

PA05 For manufacturer setting

PA06

PA07

PA08 ATU Auto tuning mode

PA09 RSP Auto tuning response


PA12

PA13

PA14 *POL Rotation direction selection/travel direction selection

PA15 *ENR Encoder output pulses

PA16 *ENR2 Encoder output pulses 2

PA17 **MSR Servo motor series setting

PA18 **MTY Servo motor type setting

PA19 *BLK Parameter writing inhibit

PA20 *TDS Tough drive setting


PA22 **PCS Position control composition selection

PA23 DRAT Drive recorder arbitrary alarm trigger setting

PA24 AOP4 Function selection A-4

PA25 OTHOV One-touch tuning - Overshoot permissible level



PA28

PA29

PA30

PA31

PA32

Operation mode

Initial value

Unit

0001h

0000h

0000h

0000h

0

0000h

0000h

0000h

1000.0

0000h

0

4000

1

0000h

0000h

00ABh

0000h

1000h

0000h

0000h

2000h

10000

1

1

0001h

16

1600 [pulse]

1000.0

[pulse/rev]

[%]

0000h

0000h

0000h

0000h

5 - 2

5. PARAMETERS

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

Operation mode

No. Symbol Name

Initial value

Unit

PB01 FILT Adaptive tuning mode (adaptive filter II)

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

PB03 TFBGN Torque feedback loop gain

PB04 FFC Feed forward gain

PB05 For manufacturer setting

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

PB07 PG1 Model loop gain

PB08 PG2 Position loop gain

PB09 VG2 Speed loop gain

PB10 VIC Speed integral compensation

PB11 VDC Speed differential compensation

PB12 OVA Overshoot amount compensation

PB13 NH1 Machine resonance suppression filter 1

PB14 NHQ1 Notch shape selection 1



PB17 NHF Shaft resonance suppression filter

PB18 LPF Low-pass filter setting

PB19 VRF11 Vibration suppression control 1 - Vibration frequency

PB20 VRF12 Vibration suppression control 1 - Resonance frequency

PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping

PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping

PB23 VFBF Low-pass filter selection

PB24 *MVS Slight vibration suppression control

PB25 *BOP1 Function selection B-1

PB26 *CDP Gain switching function

PB27 CDL Gain switching condition

PB28 CDT Gain switching time constant

PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching

PB30 PG2B Position loop gain after gain switching

PB31 VG2B Speed loop gain after gain switching

PB32 VICB Speed integral compensation after gain switching

PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching

PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching

PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching

PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching


PB38

PB39

PB40

PB41

PB42

PB43

PB44

PB45 CNHF Command notch filter

0000h

0000h

18000

0

500

7.00

[rad/s]

[%]

[Multiplier]

15.0

37.0

823

33.7

[rad/s]

[rad/s]

[rad/s]

[ms]

980

0 [%]

4500

0000h

[Hz]

[Hz] 4500

0000h

0000h

3141

100.0

[rad/s]

[Hz]

100.0

0.00

[Hz]

0.00

0000h

0000h

0000h

0000h

10 [kpulse/s]/

[pulse]/

[r/min]

1

7.00

[ms]

[Multiplier]

0.0

0

0.0

[rad/s]

[rad/s]

[ms]

0.0 [Hz]

0.0 [Hz]

0.00

0.00

1600

0.00

0.00

0.00

0

0

0000h

0.00

0000h

5 - 3

5. PARAMETERS

Operation mode

No. Symbol

PC01 ERZ Error excessive alarm level

PC03 *ENRS Encoder output pulse selection

PC04 **COP1 Function selection C-1


PC06 *COP3 Function selection C-3

PC08 OSL Overspeed alarm detection level

Name

PC09 MOD1 Analog monitor 1 output


PC11 MO1 Analog monitor 1 offset


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

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

PC15 For manufacturer setting

PC16





5 - 4

Initial value

Unit







PB52 VRF21 Vibration suppression control 2 - Vibration frequency

PB53 VRF22 Vibration suppression control 2 - Resonance frequency







PB60 PG1B Model loop gain after gain switching


PB62

PB63

PB64

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

4500 [Hz]

0000h

4500 [Hz]

0000h

4500 [Hz]

0000h

100.0 [Hz]

100.0

0.00

[Hz]

0.00

0.0 [Hz]

0.0 [Hz]

0.00

0.00

0.0

0.0

0000h

0000h

0000h

[rad/s]

Operation mode

No. Symbol Name

Initial value

Unit

0000h

0001h

0

0

0

0

0

0000h

0000h

0000h

0000h

0000h

0

0

0000h

0000h

[rev]/

[mm]

[ms]

0000h

0000h

50 [r/min]/

[mm/s]

0 [r/min]/

[mm/s]

[mV]

[mV]

[pulse]

[10000 pulses]

5. PARAMETERS

Operation mode

No. Symbol Name

Initial value

Unit

PC21 *BPS Alarm history clear


PC23

PC24 RSBR Forced stop deceleration time constant




0000h

0

0000h

100

0

0000h

0000h

[ms]

(Note)


PC29 *COPB Function selection C-B


PC31 RSUP1 Vertical axis freefall prevention compensation amount

0000h

0000h

0

0


PC33

PC34

PC35

PC36

PC37

PC38 ERW Error excessive warning level


PC40

PC41

PC42

PC43

PC44

PC45

PC46

PC47

PC48

PC49

PC50

PC51

PC52

PC53

PC54

PC55

PC56

PC57

PC58

PC59

PC60

PC61

PC62

0000h

0

100

0000h

0000h

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

PC63 0000h

PC64 0000h

Note. It is available when the scale measurement function is enabled ([Pr. PA22] is "1 _ _ _" or "2 _ _ _").

[0.0001 rev]/

[0.01 mm]

(Note)

[rev]/[mm]

5 - 5

5. PARAMETERS

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

No. Symbol Name

PD01 For manufacturer setting

PD02 *DIA2 Input signal automatic on selection 2


PD04

PD05

PD06

PD07 *DO1 Output device selection 1



PD10

PD11 *DIF

For manufacturer setting

Input filter setting (Note)

PD12 *DOP1 Function selection D-1



PD15 *IDCS Driver communication setting

PD16 *MD1 Driver communication setting - Master - Transmit data selection 1



PD19

PD20 *SLA1 Driver communication setting - Slave - Master axis No. selection 1


PD22

PD23

PD24

PD25

PD26

PD27

PD28

PD29

PD30

PD31

TLC Master-slave operation - Torque command coefficient on slave

VLC Master-slave operation - Speed limit coefficient on slave

PD32 VLL Master-slave operation - Speed limit adjusted value on slave


PD34

PD35

PD36

PD37

PD38

PD39

PD40

PD41

PD42

PD43

PD44

PD45

PD46

PD47

PD48

Note. Refer to the servo system controller instruction manual for the setting.

5 - 6

Operation mode

Initial value

Unit

0000h

0000h

0000h

0000h

0000h

0

0

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0020h

0021h

0022h

0000h

0005h

0004h

0003h

0000h

0004h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0

0

0000h

[r/min]

5. PARAMETERS

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

Operation mode

No. Symbol Name

Initial value

Unit

PE01 **FCT1 Fully closed loop function selection 1

PE02 For manufacturer setting

PE03 *FCT2 Fully closed loop function selection 2

PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator

PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator

PE06 BC1 Fully closed loop control - Speed deviation error detection level

PE07 BC2 Fully closed loop control - Position deviation error detection level

PE08 DUF Fully closed loop dual feedback filter


PE10 FCT3 Fully closed loop function selection 3


PE12

PE13

PE14

PE15

PE16

PE17

PE18

PE19

PE20

PE21

PE22

PE23

PE24

PE25

PE26

PE27

PE28

PE29

PE30

PE31

PE32

PE33

PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator

PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator


PE37

PE38

PE39

PE40

PE41 EOP3 Function selection E-3


PE43

PE44 LMCP Lost motion compensation positive-side compensation value selection

PE45 LMCN Lost motion compensation negative-side compensation value selection

PE46 LMFLT Lost motion filter setting

PE48

PE49

PE50

*LMOP Lost motion compensation function selection

LMCD

LMCT

Lost motion compensation timing

Lost motion compensation non-sensitive band

0000h

0111h

20

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0003h

1

1

400

100

10

0000h

0000h

0000h

0000h

[kpulse]

[rad/s]

[r/min]

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

1

1

0.0

0.00

0.00

20

0000h

0000h

0

0.0

0 [0.01%]

0 [0.01%]

0 [0.1 ms]

0 [0.01%]

0000h

0 [0.1 ms]

0 [pulse]/

[kpulse]

5 - 7

5. PARAMETERS

No. Symbol Name


PE52

PE53

PE54

PE55

PE56

PE57

PE58

PE59

PE60

PE61

PE62

PE63

PE64

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

No. Symbol Name

PF01 For manufacturer setting

PF02

PF03

PF04

PF05

PF06 *FOP5 Function selection F-5


PF08

PF09

PF10

PF11

PF12 DBT Electronic dynamic brake operating time


PF14

PF15

PF16

PF17

PF18 **STOD STO diagnosis error detection time


PF20

PF21

PF22

DRT Drive recorder switching time setting


PF23 OSCL1 Vibration tough drive - Oscillation detection level

PF24 *OSCL2 Vibration tough drive function selection

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


PF27

PF28

5 - 8

Operation mode

Initial value

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0.00

0.00

0.00

0.00

Unit

Operation mode

Initial value

Unit

0000h

0

0000h

0000h

0

200

50

0000h

200

0

0

0

0000h

0000h

0000h

0

0000h

0000h

0000h

0000h

0

0

0

2000

0000h

10

0000h

0000h

[ms]

[s]

[s]

[%]

[ms]

5. PARAMETERS

No. Symbol Name


PF30

PF31 FRIC Machine diagnosis function - Friction judgment speed


PF33

PF34

PF35

PF36

PF37

PF38

PF39

PF40

PF41

PF42

PF43

PF44

PF45

PF46

PF47

PF48

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

Operation mode

Initial value

Unit

0000h

0

0

50

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0000h

0000h

0000h

0000h

[r/min]/

[mm/s]

Operation mode

No. Symbol Name

Initial value

Unit

PL01 **LIT1 Linear servo motor/DD motor function selection 1

PL02 **LIM Linear encoder resolution - Numerator

PL03 **LID Linear encoder resolution - Denominator

PL04 *LIT2 Linear servo motor/DD motor function selection 2

PL05 LB1 Position deviation error detection level

PL06 LB2 Speed deviation error detection level

PL07 LB3 Torque/thrust deviation error detection level


PL09 LPWM Magnetic pole detection voltage level

PL10 For manufacturer setting

PL11

PL12

PL13

PL14

PL15

PL16

PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection

PL18 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude

0301h

1000

1000

0003h

0

[µm]

[µm]

[mm]/

[0.01 rev]

0

100

0010h

30

5

100

[r/min]/

[mm/s]

[%]

[%]

500

0000h

0

20

0

0000h

0 [%]

5 - 9

5. PARAMETERS

No. Symbol

PL19 For manufacturer setting

PL20

PL21

PL22

PL23

PL24

PL25

PL26

PL27

PL28

PL29

PL30

PL31

PL32

PL33

PL34

PL35

PL36

PL37

PL38

PL39

PL40

PL41

PL42

PL43

PL44

PL45

PL46

PL47

PL48

Name

Operation mode

Initial value

0

0

0

0

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Unit

5 - 10

5. PARAMETERS

5.2 Detailed list of parameters

POINT

Set a value to each "x" in the "Setting digit" columns.

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

No. Symbol Name and function

Select a operation mode.

Setting digit

Explanation

_ _ _ x For manufacturer setting

_ _ x _ Operation mode selection

0: Standard control mode

1: Fully closed loop control mode

4. Linear servo motor control mode

6: DD motor control mode

Setting other than above will result in [AL. 37 Parameter error]. The fully closed loop system is available for the MR-J4-_B_(-RJ) servo amplifiers of which software version is A3 or later.

_ x _ _ For manufacturer setting x _ _ _ Compatibility mode selection

To change this digit, use an application software "MR-J4(W)-B mode selection". When you change it without the application, [AL.

3E Operation mode error] will occur.

0: J3 compatibility mode

1: J4 mode

Initial value

[unit]

Setting range

Refer to the

"Name and function" column.

Initial value

0h

0h

0h

1h

5 - 11

5. PARAMETERS


0h

0h

Initial value

[unit]

Setting range

Refer to the


Used to select the regenerative option.

Incorrect setting may cause the regenerative option to burn.

If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter error] occurs.

Setting digit

Explanation

Initial value

00h _ _ x x Regenerative option selection

00: Regenerative option is not used.

For servo amplifier of 100 W, regenerative resistor is not used.

For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used.

Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11 kW to 22 kW.

01: FR-RC-(H)/FR-CV-(H)/FR-BU2-(H)

When you use FR-RC-(H) or FR-CV-(H), "Mode 2 (_ _ _ 1)" of

"Undervoltage alarm detection mode selection" in [Pr. PC20].

02: MR-RB032

03: MR-RB12

04: MR-RB32

05: MR-RB30

06: MR-RB50 (Cooling fan is required.)

08: MR-RB31

09: MR-RB51 (Cooling fan is required.)

0B: MR-RB3N

0C: MR-RB5N (Cooling fan is required.)

80: MR-RB1H-4

81: MR-RB3M-4 (Cooling fan is required.)

82: MR-RB3G-4 (Cooling fan is required.)


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


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


FA: When the supplied regenerative resistors or the regenerative option is cooled by the cooling fan to increase the ability with the servo amplifier of 11 kW to 22 kW.

_ x _ _ For manufacturer setting x _ _ _

5 - 12

5. PARAMETERS

No. Symbol

Setting value

Name and function

PA03 *ABS Absolute position detection system

Set this parameter when using the absolute position detection system.

Setting

Explanation digit

_ _ _ x Absolute position detection system selection

0: Disabled (used in incremental system)

1: Enabled (used in absolute position detection system)

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _


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

Setting

Explanation digit


_ _ x _

_ x _ _ Servo forced stop selection

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

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

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

0: Forced stop deceleration function disabled (EM1)

2: Forced stop deceleration function enabled (EM2)

Refer to table 5.1 for details.

Table 5.1 Deceleration method

0 0 _ _

2 0 _ _

EM2/EM1

EM1

EM2

0 1 _ _ Not using

EM2 and

EM1

2 1 _ _ Not using

EM2 and

EM1

Initial value

[unit]

Setting range

Refer to the


Initial value

0h

0h

0h

0h

Refer to the


Initial value

0h

0h

0h

2h

Deceleration method

EM2 or EM1 is off

Controller forced stop is enabled/Alarm occurred







5 - 13

5. PARAMETERS


PA08 ATU Auto tuning mode

Select the gain adjustment mode.

Setting digit

Explanation

_ _ _ x Gain adjustment mode selection

0: 2 gain adjustment mode 1 (interpolation mode)

1: Auto tuning mode 1

2: Auto tuning mode 2

3: Manual mode

4: 2 gain adjustment mode 2

Refer to table 5.2 for details.


_ x _ _ x _ _ _

Table 5.2 Gain adjustment mode selection value

_ _ _ 0 mode

2 gain adjustment mode 1

(interpolation mode)

Automatically adjusted parameter

[Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]

[Pr. PB08 Position loop gain]

[Pr. PB09 Speed loop gain]

[Pr. PB10 Speed integral compensation]

_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]

[Pr. PB07 Model loop gain]




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


_ _ _ 3 Manual mode



_ _ _ 4 2 gain adjustment mode 2




Initial value

[unit]

Setting range

Refer to the


Initial value

1h

0h

0h

0h

5 - 14

5. PARAMETERS


Initial value

[unit]

16

Setting range

PA09 RSP Auto tuning response

Set a response of the auto tuning.

Machine characteristic

Setting value Response

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

Guideline for machine resonance frequency [Hz]

Setting value


Response


3.6

52.9

59.6

Set an in-position range per command pulse.

1 to 40

67.1

75.6

85.2

95.9

108.0

121.7

137.1

154.4

173.9

195.9

220.6

248.5

279.9

315.3

355.1

400.0

446.6

501.2

571.5

642.7

1600

[pulse]

0 to

65535

5 - 15

5. PARAMETERS


PA14 *POL Rotation direction selection/travel direction selection

Select the rotation direction or travel direction of command input pulses of the rotary servo motor, linear servo motor and direct drive motor.

For the setting for the master-slave operation function, refer to section 17.2.

Servo motor rotation direction/linear servo motor travel

Setting value direction address Positioning address increase 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.

Initial value

[unit]

0

Setting range

0 to 1

Forward rotation (CCW)

Reverse rotation (CW)

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

Secondary side

Primary side

Primary side

Negative direction

LM-H3/LM-F series LM-U2 series LM-K2 series

PA15 *ENR Encoder output pulses

Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4)

To set a numerator of the electronic gear, select "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC03].

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

PA16 *ENR2 Encoder output pulses 2

Set a denominator of the electronic gear for the A/B-phase pulse output. To set a denominator of the electronic gear, select "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of

"Encoder output pulse setting selection" in [Pr. PC03].

4000

[pulse/ rev]

1 to

65535

65535

5 - 16

5. PARAMETERS


Initial value

[unit]

Setting range

PA17 **MSR Servo motor series setting

When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA18] at a time.

Refer to the following table for settings.

Linear servo motor series

Linear servo motor

(primary side) [Pr. PA17] setting [Pr. PA18] setting

LM-H3

LM-U2

LM-F

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

00BBh

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

00B4h

LM-U2P2B-40M-2SS0

LM-U2P2C-60M-2SS0

LM-U2P2D-80M-2SS0

LM-FP2B-06M-1SS0

(natural cooling)

LM-FP2D-12M-1SS0

(natural cooling)

LM-FP2F-18M-1SS0

(natural cooling)

LM-FP4B-12M-1SS0

(natural cooling)

LM-FP4D-24M-1SS0

(natural cooling)

LM-FP4F-36M-1SS0

(natural cooling)

LM-FP4H-48M-1SS0

(natural cooling)

LM-FP5H-60M-1SS0

(natural cooling)

LM-FP2B-06M-1SS0

(liquid cooling)

LM-FP2D-12M-1SS0

(liquid cooling)

00B2h

LM-FP2F-18M-1SS0

(liquid cooling)

LM-FP4B-12M-1SS0

(liquid cooling)

LM-FP4D-24M-1SS0

(liquid cooling)

LM-FP4F-36M-1SS0

(liquid cooling)

LM-FP4H-48M-1SS0

(liquid cooling)

LM-FP5H-60M-1SS0

(liquid cooling)

2401h

2601h

4201h

4401h

4601h

4801h

5801h

2202h

2402h

2602h

4202h

4402h

4602h

4802h

5802h the

"Name and function"

2101h

3101h

3201h

3301h

3401h

7101h

7201h

7301h

7401h

A201h

A401h

A601h

B201h

B401h

2601h

2201h

2301h

2401h

2201h

5 - 17

5. PARAMETERS


PA17 **MSR


Linear servo motor

(primary side)

LM-K2P1A-01M-2SS1

LM-K2P1C-03M-2SS1

LM-K2P2A-02M-1SS1

LM-K2P2E-12M-1SS1

Parameter the

"Name

1101h and function"

1301h column.

2101h

LM-K2 LM-K2P2C-07M-1SS1 00B8h 2301h

2501h

LM-K2P3C-14M-1SS1

LM-K2P3E-24M-1SS1

3301h

3501h

PA18 **MTY Servo motor type setting

When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA17] at a time.

Refer to the table of [Pr. PA17] for settings.

Initial value

[unit]

Setting range the

"Name and function" column of [Pr.

PA17].

PA19 *BLK Parameter writing inhibit

Select a reference range and writing range of the parameter.

Refer to table 5.3 for settings.

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

PA19

Setting operation

PA PB PC PD PE PF PL the


Other than below

000Ah

000Bh

000Ch

000Fh

00AAh

Reading

Writing

Only

Writing 19

Reading

Writing

Reading

Writing

Reading

Writing

Reading

Writing

Writing

(initial value)

100Bh

100Ch

100Fh

10AAh

10ABh

Reading

Writing 19

Reading

Writing 19

Reading

Writing 19

Reading

Writing 19

Reading

Writing 19

5 - 18

5. PARAMETERS


PA20 *TDS Tough drive setting

Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation.

You can assign MTTR (During tough drive) to pins CN3-9, CN3-13 and CN3-15 with [Pr.

PD07] to [Pr. PD09].

Initial value

[unit]

Setting

Refer to the

"Name and range function" column.

Setting digit

Explanation


_ _ x _ Vibration tough drive selection

0: Disabled

1: Enabled

Selecting "1" enables to suppress vibrations by automatically changing setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] in case that the vibration exceed the value of the oscillation level set in [Pr. PF23].


_ x _ _ SEMI-F47 function selection

0: Disabled

1: Enabled

Selecting "1" enables to avoid occurring [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. Set the time of until [AL. 10.1 Voltage drop in the control circuit power] occurs in [Pr.

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


Initial value

0h

0h

0h

0h

Initial value

Refer to the


1h

Setting digit

Explanation

_ _ _ x One-touch tuning function selection

0: Disabled

1: Enabled

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


_ x _ _ x _ _ _

0h

0h

0h

5 - 19

5. PARAMETERS


Initial value

[unit]

Setting range

PA22 **PCS Position control composition selection

Setting digit

Explanation


_ _ x _ Super trace control selection

0: Disabled

2: Enabled

This parameter setting is used with servo amplifier with software version B4 or later.

_ x _ _ For manufacturer setting x _ _ _ Scale measurement function selection

0: Disabled

1: Used in absolute position detection system

2: Used in incremental system

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].

PA23 DRAT Drive recorder arbitrary alarm trigger setting

Initial value

Refer to the


0h

0h

0h

0h

Initial value

Refer to the


00h

Setting digit

Explanation

_ _ x x Alarm detail No. setting

Set the digits when you execute the trigger with arbitrary alarm detail No. for the drive recorder function.

When these digits are "0 0", only the arbitrary alarm No. setting will be enabled. x x _ _ Alarm No. setting

Set the digits when you execute the trigger with arbitrary alarm No. for the drive recorder function.

When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled.

00h

To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0".

To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5 0 0 3".

PA24 AOP4 Function selection A-4

Setting digit

Explanation

_ _ _ x Vibration suppression function 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.

Initial value

Refer to the


0h

_ _ x _

_ x _ _ x _ _ _

For manufacturer setting 0h

0h

0h

5 - 20

5. PARAMETERS


Initial value

[unit]

Setting range

PA25 OTHOV One-touch tuning - Overshoot permissible level

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

However, setting "0" will be 50%.


Setting digit

Explanation

0

[%]

0 to 100

Initial value

Refer to the


0h _ _ _ x Torque limit function selection at instantaneous power failure

(instantaneous power failure tough drive selection)

0: Disabled

1: Enabled

When an instantaneous power failure occurs during operation, you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration. You can also delay the time until [AL. 10.2 Voltage drop in the main circuit power] occurs with instantaneous power failure tough drive function. Doing this will enable you to set a longer time in [Pr. PF25 SEMI-F47 function -

Instantaneous power failure detection time].

To enable the torque limit function at instantaneous power failure, select "Enabled (_ 1 _ _)" of "SEMI-F47 function selection" in [Pr.

PA20].

This parameter setting is used with servo amplifier with software version A6 or later.


_ x _ _ x _ _ _

0h

0h

0h

5 - 21

5. PARAMETERS

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


PB01 FILT Adaptive tuning mode (adaptive filter II)

Set the adaptive tuning.

Setting digit

Explanation

_ _ _ x 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


_ x _ _ x _ _ _ Tuning accuracy selection

0: Standard

1: High accuracy

The frequency is estimated more accurately in the high accuracy mode compared to the standard mode. However, the tuning sound may be larger in the high accuracy mode.

This digit is available with servo amplifier with software version C5 or later.

Initial value

[unit]

Setting range

Refer to the


Initial value

0h

0h

0h

0h

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

This is used to set the vibration suppression control tuning. Refer to section 7.1.5 for details.

Setting

Explanation

Initial digit value

Refer to the


_ _ _ x Vibration suppression control 1 tuning mode selection

Select the tuning mode of the vibration suppression control 1.

0: Disabled


2: Manual setting

_ _ x _ Vibration suppression control 2 tuning mode selection

Select the tuning mode of the vibration suppression control 2. To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24 Function selection A-4].

0: Disabled


2: Manual setting


0h

0h

0h

0h

PB03 TFBGN Torque feedback loop gain

This is used to 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.

PB04 FFC Feed forward gain

Set the feed forward gain.

When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. When the super trace control is enabled, constant speed and uniform acceleration/deceleration droop pulses will be almost 0. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the acceleration time constant up to the rated speed.

18000

[rad/s]

0

[%]

0 to

18000

0 to 100

5 - 22

5. PARAMETERS


PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

This is used to set the load to motor inertia ratio or load to motor mass ratio. Setting a value considerably different from the actual load moment of inertia or load mass may cause an unexpected operation such as an overshoot.

The setting of the parameter will be the automatic setting or manual setting depending on the

[Pr. PA08] setting. Refer to the following table for details. When the parameter is automatic setting, the value will vary between 0.00 and 100.00.

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 (interpolation mode))

_ _ _ 1 (Auto tuning mode 1)


_ _ _ 3 (Manual mode)

_ _ _ 4 (2 gain adjustment mode 2)

Automatic setting

Manual setting

PB07 PG1 Model loop gain

Set the response gain up to the target position.

Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and noise.

For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited.

Refer to section 7.1.5 (4) for details.


[Pr. PA08] setting. Refer to the following table for details.






_ _ _ 4 (2 gain adjustment mode 2)

Manual setting

Automatic setting

Manual setting

PB08 PG2 Position loop gain

This is used to set the gain of the position loop.

Set this parameter to increase the position response to level load disturbance.

Increasing the setting value will also increase the response level to the load disturbance but will be liable to generate vibration and noise.


[Pr. PA08] setting. Refer to the following table for details.






Automatic setting

Manual setting

_ _ _ 4 (2 gain adjustment mode 2) Automatic setting

PB09 VG2 Speed loop gain

This is used to set the gain of the speed loop.

Set this parameter when vibration occurs on machines of low rigidity or large backlash.

Increasing the setting value will also increase the response level but will be liable to generate vibration and noise.


[Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.

PB10 VIC Speed integral compensation

This is used to set the integral time constant of the speed loop.

Decreasing the setting value will increase the response level but will be liable to generate vibration and noise.


[Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.

Initial value

[unit]

7.00

Multiplier

Setting range

0.00 to

300.00

823

[rad/s]

37.0

[rad/s]

15.0

[rad/s]

33.7

[ms]

20 to

65535

1.0 to

2000.0

1.0 to

2000.0

0.1 to

1000.0

5 - 23

5. PARAMETERS


Initial value

[unit]

Setting range

PB11 VDC Speed differential compensation

This is used to set the differential compensation.

To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching control selection" in [Pr. PB24].

PB12 OVA Overshoot amount compensation

Set a viscous friction torque in percentage to the rated torque at servo motor rated speed. Or, set a percentage of viscous friction force against the continuous thrust at linear servo motor rated speed.

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


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

When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be adjusted automatically by adaptive tuning.

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


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

Explanation

Initial value

0

[%]

4500

[Hz]

1000

0 to 100

10 to

4500

Refer to the



_ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

_ x _ _ Notch width selection

0: α = 2

1: α = 3

2: α = 4

3: α = 5

0h x _ _ _ For manufacturer setting 0h



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

0h

0h

4500

[Hz]



Setting digit

Explanation

Initial value

10 to

4500

Refer to the


_ _ _ x Machine resonance suppression filter 2 selection

0: Disabled

1: Enabled


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4

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

0h

0h

0h

0h

5 - 24

5. PARAMETERS

PB18 LPF


Initial value

[unit]

Setting range

PB17 NHF Shaft resonance suppression filter

This is used for setting the shaft resonance suppression filter.

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

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

Explanation

Initial value

Refer to the


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

This is used for setting the shaft resonance suppression filter.


Set the value closest to the frequency you need.

_ x _ _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB x _ _ _ For manufacturer setting

Table 5.4 Shaft resonance suppression filter setting frequency selection

0h

0h

Disabled

Disabled

4500

3000

2250

1800

1500

1285

1125

1000

900

818

750

692

642

600

Setting value

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

Frequency [Hz] value

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

_ _ 0 C

_ _ 0 D

_ _ 0 E

_ _ 0 F

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]

562

529

500

473

450

428

409

391

375

360

346

333

321

310

300

290

_ _ 0 _ (Initial value) Automatic setting

_ _ 1 _ Setting value enabled

_ _ 2 _ Setting value disabled

3141

[rad/s]

100 to

18000

5 - 25

5. PARAMETERS


Initial value

[unit]

Setting range

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

When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _

_ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.

100.0

[Hz]

0.1 to

300.0

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


_ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.


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


_ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.


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


_ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.

PB23 VFBF Low-pass filter selection

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

Setting digit

Explanation

_ _ _ x Shaft resonance suppression filter selection


1: Manual setting

2: Disabled

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

_ _ x _ Low-pass filter selection


1: Manual setting

2: Disabled


Initial value

0h

0h

100.0

[Hz]

0.1 to

300.0

0.00 0.00 to

0.30

0.00 0.00 to

0.30

Refer to the


0h

0h

5 - 26

5. PARAMETERS


PB24 *MVS Slight vibration suppression control

Select the slight vibration suppression control and PI-PID switching control.

Setting digit

Explanation

_ _ _ x Slight vibration suppression control selection

0: Disabled

1: Enabled

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

Slight vibration suppression control cannot be used in the speed control mode.

_ _ x _ 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.


PB25 *BOP1 Function selection B-1

Select enabled/disabled of model adaptive control.

This parameter is supported with software version B4 or later.

Setting

Explanation digit

_ _ _ x Model adaptive control selection

0: Enabled (model adaptive control)

2: Disabled (PID control)


_ x _ _ x _ _ _

Initial value

[unit]

Setting range

Refer to the


Initial value

0h

0h

0h

0h

Refer to the


Initial value

0h

0h

0h

0h

5 - 27

5. PARAMETERS


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

Explanation

Initial value

Initial value

[unit]

Setting range

Refer to the


_ _ _ x 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

_ _ x _ Gain switching condition selection

0: Gain after switching is enabled with gain switching condition or more

1: Gain after switching is enabled with gain switching condition or less

_ x _ _ 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. x _ _ _ For manufacturer setting

0h

0h

0h

0h

PB27 CDL Gain switching condition

This is used to set the value of gain switching (command frequency, droop pulses, and servo motor speed/linear servo motor speed) selected in [Pr. PB26].

The set value unit differs depending on the switching condition item. (Refer to section 7.2.3.)

The unit "r/min" will be "mm/s" for linear servo motors.


This is used to set the time constant until the gains switch in response to the conditions set in

[Pr. PB26] and [Pr. PB27].

PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching

This is used to set the load to motor inertia ratio/load to motor mass ratio for when gain switching is enabled.

This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08].

10

[kpulse/s]

/[pulse]

/[r/min]

1

[ms]

7.00

[Multiplier]

0 to

65535

0 to 100

0.00 to

300.00

5 - 28

5. PARAMETERS


PB30 PG2B 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].


PB31 VG2B 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].


PB32 VICB 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].



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.


Set the resonance frequency for vibration suppression control 1 when the gain switching is enabled.


This parameter will be enabled only when the following conditions are fulfilled.



_ 2)".


_ 1)".



Set a damping of the vibration frequency for vibration suppression control 1 when the gain switching is enabled.




_ 2)".


_ 1)".



Set a damping of the resonance frequency for vibration suppression control 1 when the gain switching is enabled.




_ 2)".


_ 1)".


Initial value

[unit]

0.0

[rad/s]

Setting range

0.0 to

2000.0

0

[rad/s]

0.0

[ms]

0.0

[Hz]

0.0

[Hz]

0 to

65535

0.0 to

5000.0

0.0 to

300.0

0.0 to

300.0

0.00 0.00 to

0.30

0.00 0.00 to

0.30

5 - 29

5. PARAMETERS


PB45 CNHF Command notch filter

Set the command notch filter.

Setting digit

Explanation

_ _ x x Command notch filter setting frequency selection

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

_ x _ _ Notch depth selection

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

Table 5.5 Command notch filter setting frequency selection

Frequency value [Hz]

_ _ 0 E

_ _ 0 F

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

_ _ 0 C

_ _ 0 D

Setting value

112

107

102

97

93

160

150

140

132

125

118

90

86

83

80

77

75

72

Disabled _ _ 2 0

2250

1125

_ _ 2 1

_ _ 2 2

750

562

_ _ 2 3

_ _ 2 4

450

375

321

281

250

225

204

187

173

_ _ 2 5

_ _ 2 6

_ _ 2 7

_ _ 2 8

_ _ 2 9

_ _ 2 A

_ _ 2 B

_ _ 2 C

_ _ 2 D

_ _ 2 E

_ _ 2 F

_ _ 3 0

_ _ 3 1

_ _ 3 2

_ _ 3 3

_ _ 3 4

_ _ 3 5

_ _ 3 6

_ _ 3 7

_ _ 3 8

_ _ 3 9

_ _ 3 A

_ _ 3 B

_ _ 3 C

_ _ 3 D

_ _ 3 E

_ _ 3 F

Frequency

[Hz]

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

53

51

48

46

45

43

41

40

38

70

66

62

59

56

Setting Frequency value [Hz]

_ _ 4 E

_ _ 4 F

_ _ 5 0

_ _ 5 1

_ _ 5 2

_ _ 5 3

_ _ 5 4

_ _ 5 5

_ _ 5 6

_ _ 5 7

_ _ 5 8

_ _ 5 9

_ _ 5 A

_ _ 5 B

_ _ 5 C

_ _ 5 D

_ _ 5 E

_ _ 5 F

_ _ 4 0

_ _ 4 1

_ _ 4 2

_ _ 4 3

_ _ 4 4

_ _ 4 5

_ _ 4 6

_ _ 4 7

_ _ 4 8

_ _ 4 9

_ _ 4 A

_ _ 4 B

_ _ 4 C

_ _ 4 D

7.0

6.7

6.4

6.1

5.9

9.4

9.1

8.8

8.3

7.8

7.4

5.6

5.4

5.2

5.0

4.9

4.7

4.5

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

Initial value

[unit]

Setting range

Refer to the


Initial value

00h

0h

0h

5 - 30

5. PARAMETERS

No. Symbol

PB45 CNHF

Name and function

Table 5.6 Notch depth selection

Initial value

[unit]

Setting range

Refer to the

"Name and function" column. Setting value

Depth [dB]

_ 0 _ _

_ 1 _ _

-40.0

-24.1

_ 2 _ _

_ 3 _ _

_ 4 _ _

_ 5 _ _

_ 6 _ _

_ 7 _ _

-18.1

-14.5

-12.0

-10.1

-8.5

-7.2

Setting value

_ 8 _ _

_ 9 _ _

_ A _ _

_ B _ _

_ C _ _

_ D _ _

_ E _ _

_ F _ _

Depth [dB]

-6.0

-5.0

-4.1

-3.3

-2.5

-1.8

-1.2

-0.6






Setting

Explanation digit


0: Disabled

1: Enabled


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4

3: α = 5

4500

[Hz]

0h

0h

10 to

4500

Refer to the


Initial value

0h x _ _ _ For manufacturer setting 0h




4500

[Hz]

10 to

4500

5 - 31

5. PARAMETERS




Setting

Explanation digit


0: Disabled

1: Enabled

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


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4


Initial value

[unit]

Setting range

Refer to the


Initial value

0h

0h

0h

0h




4500

[Hz]

10 to

4500



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

Setting

Explanation digit

Initial value


0: Disabled

1: Enabled


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4


Refer to the


0h

0h

0h

0h

100.0

[Hz]

0.1 to

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

To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _

_ 1)" in [Pr. PA24].


1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.

The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.

5 - 32

5. PARAMETERS




_ 1)" in [Pr. PA24].


1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.

The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.




_ 1)" in [Pr. PA24].


1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.




_ 1)" in [Pr. PA24].


1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.


Set 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].




2 _)".


_ 1)".






[Pr. PA24].




2 _)".


_ 1)".


Initial value

[unit]

100.0

[Hz]

Setting range

0.1 to

300.0

0.0

[Hz]

0.0

[Hz]

0.30

0.30

0.0 to

300.0

0.0 to

300.0

5 - 33

5. PARAMETERS


Initial value

[unit]

Setting range




[Pr. PA24].




2 _)".


_ 1)".





[Pr. PA24].




2 _)".


_ 1)".


PB60 PG1B Model loop gain after gain switching

Set the model loop gain when the gain switching is enabled.





_ 1)".


0.0

[rad/s]

0.30

0.30

0.0 to

2000.0

5 - 34

5. PARAMETERS

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


Initial value

[unit]

Setting range


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.

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

PC02 MBR Electromagnetic brake sequence output

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

0

[rev]/

[mm]

(Note)

0

[ms]

0 to

1000

0 to

1000


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

Setting

Explanation digit

_ _ _ x 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

Servo motor rotation direction/

Setting linear servo motor travel direction value

CCW or positive direction CW or negative direction

Refer to the


Initial value

0h

0

A-phase

B-phase

A-phase

B-phase

1

A-phase

B-phase

A-phase

B-phase

_ _ x _ Encoder output pulse setting selection

0: Output pulse setting

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

1: Division ratio setting

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

4: A/B-phase pulse through output setting

For linear servo motors, selecting "0" will output as division ratio setting because the output pulse setting is not available.

Setting "4" will be enabled only when A/B/Z-phase differential output linear encoder is used. And "Encoder output pulse phase selection (_ _ _ x)" will be disabled. When another encoder is connected, [AL. 37 Parameter error] will occur. Selecting "Standard control mode (_ _ 0 _)" in [Pr. PA01 Operation mode] will trigger

[AL. 37 Parameter error].

_ x _ _ Selection of the encoders for encoder output pulse

This is used for selecting an encoder for servo amplifier output.

0: Servo motor encoder

1: Load-side encoder

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

Selecting "1" in other than fully closed loop system or standard control system (scale measurement function: enabled) triggers [AL.

37 Parameter error]. x _ _ _ For manufacturer setting

0h

0h

0h

5 - 35

5. PARAMETERS


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

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

PC08 OSL Overspeed alarm detection level

This is used to set an overspeed alarm detection level.

When you set a value more than "servo motor maximum speed × 120%" or "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.

Setting range


Select the encoder cable communication method selection.

Setting digit

Explanation


_ _ x _

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

0: Two-wire type

1: Four-wire type

When using an encoder of A/B/Z-phase differential output method, set "0".

Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. Or [AL. 20 Encoder initial communication error 1] will occur. Setting "1" will trigger [AL. 37] while "Fully closed loop control mode (_ _ 1 _)" is selected in [Pr. PA01] (except MR-J4-

_B_-RJ).


Set the motor-less operation and [AL. 9B Error 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.

Setting digit

Explanation

Initial value

Refer to the


Initial value

0h

0h

0h

0h

Refer to the


_ _ _ x Motor-less operation selection

0: Disabled

1: Enabled


_ x _ _ x _ _ _ [AL. 9B Error excessive warning] selection

0: [AL. 9B Error excessive warning] disabled

1: [AL. 9B Error excessive warning] enabled

The setting of this digit is used by servo amplifier with software version B4 or later.

0h

0h

0h

0h


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

Explanation

Initial value


_ _ x _

_ x _ _ x _ _ _ Error excessive alarm/error excessive warning level unit selection

0: Per 1 rev or 1 mm

1: Per 0.1 rev or 0.1 mm

2: Per 0.01 rev or 0.01 mm

3: Per 0.001 rev or 0.001 mm

Refer to the


0h

0h

0h

0h

Initial value

[unit]

50

[r/min]/

[mm/s]

0

[r/min]/

[mm/s]

0 to

10000

0 to

20000

5 - 36

5. PARAMETERS



Select a signal to output to MO1 (Analog monitor 1). Refer to app. 11.3 for detection point of output selection.

Setting digit

Explanation

Initial value

Initial value

[unit]

Setting range

Refer to the


00h _ _ x x Analog monitor 1 output selection



0h

0h

Table 5.7 Analog monitor setting value

Setting value

Item

Operation mode (Note 1)

_ _ 0 0 (Linear) servo motor speed

(±8 V/max. speed)

_ _ 0 1 Torque or thrust

(±8 V/max. torque or max. thrust)

_ _ 0 2 (Linear) servo motor speed

(+8 V/max. speed)

_ _ 0 3 Torque or thrust

(+8 V/max. torque or max. thrust)

_ _ 0 4 Current command (±8 V/max. current command)

_ _ 0 5 Speed command (±8 V/max. speed)

_ _ 0 6 Servo motor-side droop pulses (±10 V/100 pulses) (Note 2)




_ _ 0 A Feedback position (±10 V/1 Mpulse) (Note 2)

_ _ 0 B Feedback position (±10 V/10 Mpulses) (Note 2)

_ _ 0 C Feedback position (±10 V/100 Mpulses) (Note 2)

_ _ 0 D Bus voltage (200 V class and 100 V class: +8 V/400 V, 400 V class: +8 V/800 V)

_ _ 0 E Speed command 2 (±8 V/max. speed)

_ _ 1 0 Load-side droop pulses (±10 V/100 pulses) (Note 2)




_ _ 1 4 Load-side droop pulses (±10 V/1 Mpulse) (Note 2)

_ _ 1 5 Servo motor-side/load-side position deviation

(±10 V/100000 pulses)

_ _ 1 6 Servo motor-side/load-side speed deviation

(±8 V/max. speed)

_ _ 1 7 Internal temperature of encoder (±10 V/±128 ˚ C)

Note 1. Items with are available for each operation mode.




D.D.: Direct drive (D.D.) motor use

2. Encoder pulse unit

5 - 37

5. PARAMETERS


Initial value

[unit]

Setting range


Select a signal to output to MO2 (Analog monitor 2). Refer to app. 11.3 for detection point of output selection.

Setting digit

Explanation

Initial value

_ _ x x Analog monitor 2 output selection

Refer to [Pr. PC09] for settings.


0h

0h

Refer to the


01h


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



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

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

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

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

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

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


This is used to select a home position setting condition.

Setting digit

Explanation

_ _ _ x Selection of home position setting condition

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

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

Initial value

0

[mV]

0

[mV]

0

[pulse]

0

[10000 pulses]

-999 to

999

-999 to

999

-9999 to

9999

-9999 to

9999

Refer to the


0h

0h _ _ x _ Linear encoder multipoint Z-phase input function selection

When two or more reference marks exist in the fully stroke, set "1".

0: Disabled

1: Enabled

This parameter is used by servo amplifier with software version A5 or later.



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

Setting digit

Explanation


_ _ x _

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

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

1: Detection with servo-on command

0h

0h

Refer to the


Initial value

0h

0h

0h

0h

5 - 38

5. PARAMETERS



This is used to select an undervoltage alarm detection method.

Setting

Explanation digit

_ _ _ x [AL. 10 Undervoltage] detection method selection

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

0: [AL. 10] not occurrence

1: [AL. 10] occurrence

When using the MR-J4-_B-RJ servo amplifier with the DC power supply input, set "1".


_ x _ _ Undervoltage alarm selection

Select the 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) x _ _ _ For manufacturer setting

PC21 *BPS Alarm history clear

Used to clear the alarm history.

Setting digit

Explanation

_ _ _ x 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.


_ x _ _ x _ _ _

Initial value

[unit]

Setting range

Refer to the


Initial value

0h

0h

0h

0h

Refer to the


Initial value

0h

0h

0h

0h

5 - 39

5. PARAMETERS


PC24 RSBR Forced stop deceleration time constant

This is used to set deceleration time constant when you use the forced stop deceleration function.

Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Setting "0" will be 100 ms.


Dynamic brake deceleration Rated speed

Servo motor speed

(Linear servo motor speed)

Initial value

[unit]

100

[ms]

Setting range

0 to

20000

0 r/min

(0 mm/s)

[Pr. PC24]

[Precautions]

If the servo motor torque or linear servo motor thrust is saturated at the maximum torque during forced stop deceleration because the set time is too short, the time to stop will be longer than the set time constant.

[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced stop deceleration, depending on the set value.

After an alarm that leads to a forced stop deceleration, if an alarm that does not lead to a forced stop deceleration occurs or if the control circuit power supply is cut, dynamic braking will start regardless of the deceleration time constant setting.

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


Used to select the communication method of the encoder cable to be connected to the CN2L connector of MR-J4-_B_-RJ.

Setting digit

Explanation

Initial value


_ _ x _

_ x _ _ x _ _ _ Load-side encoder communication method

0: Two-wire type

1: Four-wire type

When using a load-side encoder of A/B/Z-phase differential output method, set "0".

Setting "1" by using a servo amplifier other than MR-J4-_B_-RJ will trigger [AL. 37].

Refer to the


0h

0h

0h

0h

5 - 40

5. PARAMETERS


Initial value

[unit]

Setting range


This is used to select a polarity of the linear encoder or load-side encoder.

Setting

Explanation digit

Refer to the


Initial value

0h _ _ _ x Encoder pulse count polarity selection

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


_ x _ _ Selection of A/B/Z-phase input interface encoder Z-phase connection judgment function

This is used to select a non-signal detection of A/B/Z-phase input interface encoder pulse train signal used as linear encoder or loadside encoder.

This digit is enabled only when you use an A/B/Z-phase input interface encoder.

Detection of disconnection

Setting value Z-phase-side non-signal

Standard (scale measurement enabled)

Alarm status


Linear servo system

0 Enabled

[AL. 71.6]

(Z-phase)

1 Disabled x _ _ _ For manufacturer setting

[AL. 71.6]

(Z-phase)

[AL. 20.6]

(Z-phase)

0h

0h

PC29 *COPB Function selection C-B

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

Setting

Explanation digit


_ _ x _

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

0: Enabled

1: Disabled

0h

Initial value

0h

0h

0h

Refer to the


0h

PC31 RSUP1 Vertical axis freefall prevention compensation amount

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

Set it per servo motor rotation amount or linear servo motor travel distance.

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.

0

[0.0001 rev]/

[0.01 mm]

-25000 to

25000

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. PC02].

5 - 41

5. PARAMETERS


PC38 ERW 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. Setting "0" will be "1 rev", and setting over 200 rev will be clamped with 200 rev. Set this per mm for linear servo motors.

Setting "0" will be 50 mm.

When an error reaches the set value, [AL. 9B Error excessive warning] will occur. When the error decreases lower than the set value, the warning will be canceled automatically. The minimum pulse width of the warning signal is 100 [ms].

Set as follows.: [Pr. 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.

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


Initial value

[unit]

0

[rev]/

[mm]

Initial value

Initial value

[unit]

Setting range

Refer to the


0h

PD02 *DIA2 Input signal automatic on selection 2

Setting digit

Explanation

HEX. BIN.

_ _ _ x _ _ _ x FLS (Upper stroke limit) selection

0: Disabled

1: Enabled

_ _ x _ RLS (Lower stroke limit) selection

0: Disabled

1: Enabled

_ _ x _

_ x _ _


For manufacturer setting x _ _ _

Convert the setting value into hexadecimal as follows.

0h

0h

0h

Setting range

0 to

1000

0 0 0

Signal name

FLS (Upper stroke limit) selection

RLS (Lower stroke limit) selection

Initial value

BIN HEX

0

0

0

0

0

BIN 0: Use for an external input signal.

BIN 1: Automatic on

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 - 42

5. PARAMETERS



You can assign any output device to the CN3-13 pin. MBR (Electromagnetic brake interlock) is assigned as the initial value.

Initial value

[unit]

Setting range

Refer to the


Setting digit

Explanation

_ _ x x Device selection



Table 5.8 Selectable output devices

Initial value

05h

0h

0h

Setting value

_ _ 0 0

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 C

_ _ 0 F

_ _ 1 0

_ _ 1 1

_ _ 1 7

Output device

Always off

RD (Ready)

ALM (Malfunction)

INP (In-position)

MBR (Electromagnetic brake interlock)

DB (Dynamic 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)


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

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

Setting

Explanation

Initial digit value

Refer to the


04h _ _ x x Device selection

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



0h

0h

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

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

Setting

Explanation

Initial digit value

Refer to the


_ _ x x Device selection

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


0h

0h

03h

5 - 43

5. PARAMETERS


PD11 *DIF Input filter setting

Select the input filter.

Setting digit

Explanation

_ _ _ x 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]


_ x _ _ x _ _ _


Setting digit


_ _ x _

Explanation

_ x _ _ x _ _ _ Servo motor or linear servo motor thermistor enabled/disabled selection

0: Enabled

1: Disabled

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



Select the INP (In-position) on condition.


Setting digit

Explanation


_ _ x _

_ x _ _ INP (In-position) on condition selection

Select a condition that INP (In-position) is turned on.

0: Droop pulses are within the in-position range.

1: The command pulse frequency is 0, and droop pulses are within the in-position range.

When the position command is not inputted for about 1 ms, the command pulse frequency is decided as 0. x _ _ _ For manufacturer setting

Initial value

[unit]

Setting range

Refer to the


Initial value

4h

0h

0h

0h

Initial value

0h

0h

0h

0h

Refer to the


Refer to the


Initial value

0h

0h

0h

0h

5 - 44

5. PARAMETERS



Setting digit

Explanation


_ _ x _ Selection of output device at warning occurrence

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

Servo amplifier output

Setting value

(Note 1) Device status

0

WNG

ALM

1

0

1

0

Warning occurrence

1

WNG

ALM

1

0

1

0

Warning occurrence (Note 2)

Initial value

[unit]

Setting range

Initial value

Refer to the


0h

0h

Note 1. 0: Off

1: On warning, the forced stop deceleration is performed.


0h

0h

PD15 *IDCS Driver communication setting

This parameter is used to select master/slave axis for the driver communication.

This is available only when the forced stop deceleration function is disabled. When the forced stop deceleration function is enabled, [AL. 37] will occur.


Setting

Explanation digit

Initial value

Refer to the


0h _ _ _ x Master axis operation selection

Setting "1" other than in standard control mode and fully closed loop control mode will trigger [AL. 37].

0: Disabled (not using master-slave operation function)

1: Enabled (this servo amplifier: master axis)

_ _ x _ Slave axis operation selection

Setting "1" other than in standard control mode will trigger [AL. 37].

0: Disabled (not using master-slave operation function)

1: Enabled (this servo amplifier: slave axis)


0h

0h

0h

Master-slave operation function Setting value used 0000

Master 0001

Used

Slave 0010

5 - 45

5. PARAMETERS



This parameter is used to select transmit data from master axis to slave axis.

When setting this amplifier as master axis ([Pr. PD15] is "_ _ 0 1".), select "_ _ 3 8 (torque command)" with this parameter.


Setting digit

Explanation

Initial value

00h _ _ x x Transmission data selection

00: Disabled

38: Torque command


0h

0h

Initial value

[unit]

Setting

range

Refer to the



This parameter is used to select transmit data from master axis to slave axis.

When setting this amplifier as master axis ([Pr. PD15] is "_ _ 0 1".), select "_ _ 3 A (speed limit command)" with this parameter.


Setting digit

Explanation

Initial value

Refer to the


_ _ x x Transmission data selection

00: Disabled

3A: speed limit command

_ x _ _ x _ _ _


00h

0h

0h

PD30

PD20 *SLA1 Driver communication setting - Slave - Master axis No. selection 1

Select a master axis when this amplifier is slave axis.

When setting this amplifier as slave axis ([Pr. PD15] is "_ _ 1 0".), set the axis No. of the servo amplifier of master. Refer to section 4.3.1 for details of axis Nos. Setting "0" disables this parameter.


TLC Master-slave operation - Torque command coefficient on slave

This parameter is used to set a internal torque command coefficient to torque command value received from master axis.

This parameter is enabled when this amplifier is set as slave axis ([Pr. PD15] is "_ _ 1 0".).

The maximum value is 500. Setting over 500 will be 500.

Setting 100 [%] means multiplication of one. The torque ratio will be 100 (master) to 100

(slave).

Setting 90 [%] means multiplication of 0.9. The torque ratio will be 100 (master) to 90 (slave).


0

0 [%]

0 to 32

0 to 500

5 - 46

5. PARAMETERS

No. Symbol

PD31

Name and function

VLC Master-slave operation - Speed limit coefficient on slave

This parameter is used to set a internal speed limit value coefficient to speed limit command value received from master axis.


The maximum value is 500. Setting over 500 will be 500.

Setting 100 [%] means multiplication of one.

Setting example: [Pr. PD31 (VLC)] = 140 [%], [Pr. PD32 (VLL)] = 300 [r/min], and master side acceleration/deceleration at 1000 [r/min]

Speed command from master side × VLC [%]

1400 r/min

Speed limit value of slave side

VLL

0

300 r/min

1000 r/min

Speed limit command from master side (driver communication)

Initial value

[unit]

Setting

range

0 [%] 0 to 500

PD32


VLL Master-slave operation - Speed limit adjusted value on slave

This parameter is used to set a minimum value for internal speed limit value.


The speed limit value will not be this setting value or lower.

This parameter ensures torque control range at low speed driving (avoid area likely to reach speed limit). Set 100 to 500 [r/min] normally as a reference.

Refer to [Pr. PD31] for the setting example.


0 [r/min] 0 to

32767

5 - 47

5. PARAMETERS

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


PE01 **FCT1 Fully closed loop function selection 1

Setting digit

Explanation

_ _ _ x Fully closed loop function selection

0: Always enabled

1: Switching with the control command of controller

(switching semi./full.)

Initial value

[unit]

Setting range

Initial value

Refer to the


0h

Switching with the control command of controller

Off

On

Control method

Semi closed loop control


_ _ x _

_ x _ _ x _ _ _

To enable the digit, select "Fully closed loop control mode (_ _ 1 _)" of "operation mode selection" in [Pr. PA01].

When "Absolute position detection system selection" is "Enabled (_

_ _ 1)" in [Pr. PA03], setting "1" will trigger [AL. 37 Parameter error].


PE03 *FCT2 Fully closed loop function selection 2

Setting digit

Explanation

_ _ _ x 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

_ _ x _ Position deviation error detection system selection

0: Continuous detection system

1: Detection system at stop (detected with command set to "0")

_ x _ _ For manufacturer setting x _ _ _ Fully closed loop control error reset selection

0: Reset disabled (reset by powering off/on enabled)

1: Reset enabled

0h

0h

0h

Initial value

3h

Refer to the


0h

0h

0h

PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator

This is used to 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.

PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator

This is used to set a denominator of electronic gear for the servo motor encoder pulse at the fully closed loop control.


PE06 BC1 Fully closed loop control - Speed deviation error detection level

This is used to set [AL. 42.9 Fully closed loop control error by speed deviation] of the fully closed loop control error detection.

When the speed deviation between the servo motor encoder and load-side encoder becomes larger than the setting value, the alarm will occur.

PE07 BC2 Fully closed loop control - Position deviation error detection level

This is used to 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.

400

[r/min]

100

[kpulse]

65535

65535

1 to

50000

1 to

20000

5 - 48

5. PARAMETERS


PE08 DUF Fully closed loop dual feedback filter

This is used to set a dual feedback filter band.


PE10 FCT3 Fully closed loop function selection 3

Setting digit


Explanation

_ _ x _ Fully closed loop control - Position deviation error detection level -

Unit selection

0: 1 kpulse unit

1: 1 pulse unit

_ x _ _ Droop pulse monitor selection for controller display



2: Deviation between the servo motor and load side x _ _ _ Cumulative feedback pulses monitor selection for controller display



The setting of this digit is used for the fully closed loop system and scale measurement function.

Initial value

0h

0h

0h

Initial value

[unit]

10

[rad/s]

Setting

Refer to the

"Name and range

0 to

4500 function" column.

0h

0h

0h

0h

PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator

This is used to set a numerator of electronic gear for the servo motor encoder pulse at the fully closed loop control.



65535

PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator

This is used to set a denominator of electronic gear for the servo motor encoder pulse at the fully closed loop control.



PE41 EOP3 Function selection E-3

Setting digit

Explanation

Initial value

65535

Refer to the


_ _ _ x Robust filter selection

0: Disabled

1: Enabled

When you select "Enabled" of this digit, the machine resonance suppression filter 5 set in [Pr. PB51] is not available.


_ x _ _ x _ _ _

0h

PE44 LMCP Lost motion compensation positive-side compensation value selection

Set the lost motion compensation for when reverse rotation (CW) switches to forward rotation

(CCW) in increments of 0.01% assuming the rated torque as 100%.


PE45 LMCN Lost motion compensation negative-side compensation value selection

Set the lost motion compensation for when forward rotation (CCW) switches to reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%.


0

[0.01%]

0

[0.01%]

0 to

30000

0 to

30000

5 - 49

5. PARAMETERS


PE46 LMFLT Lost motion filter setting

Set the time constant of the lost motion compensation filter in increments of 0.1 ms.

If the time constant is "0", the torque is compensated with the value set in [Pr. PE44] and [Pr.

PE45]. If the time constant is other than "0", the torque is compensated with the high-pass filter output value of the set time constant, and the lost motion compensation will continue.


0

[0.1 ms]

0 to

30000

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.


PE48 *LMOP Lost motion compensation function selection

Select the lost motion compensation function.


Setting

Explanation value

0

[0.01%]

-10000 to

10000

Refer to the


Initial value

0h _ _ _ x Lost motion compensation selection

0: Disabled

1: Enabled

_ _ x _ Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit

1: 1 kpulse unit


0h

0h

0h

PE49 LMCD Lost motion compensation timing

Set the lost motion compensation timing in increments of 0.1 ms.

You can delay the timing to perform the lost motion compensation for the set time.


PE50 LMCT Lost motion compensation non-sensitive band

Set the lost motion compensation non-sensitive band. When the fluctuation of the droop pulse is the setting value or less, the speed will be 0. Setting can be changed in [Pr. PE48]. Set the parameter per encoder unit.


Initial value

[unit]

0

[0.1 ms]

0

[pulse]/

[kpulse]

Setting range

0 to

30000

0 to

65535

5 - 50

5. PARAMETERS

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


PF06 *FOP5 Function selection F-5

Setting digit

Explanation

_ _ _ x Electronic dynamic brake selection

0: Automatic (enabled only for specified servo motors)

2: Disabled

Refer to the following table for the specified servo motors.

PF21

Initial value

[unit]

Setting range

Initial value

Refer to the


0h

Series

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

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

HG-SR HG-SR51/HG-SR52


_ x _ _ x _ _ _

0h

0h

0h

2000

[ms]

0 to

10000 Set an operating time for the electronic dynamic brake.

Set the time from when an error occurs in the STO input signal or STO circuit until the detection of [AL. 68.1 Mismatched STO signal error].

When 0 s is set, the detection of [AL. 68.1 Mismatched STO signal error] is not performed.

The following shows safety levels at the time of parameter setting. value TOFB output

Safety level

0

[s]

0 to

60

0

Execute EN ISO 13849-1 Category 3 PL d, IEC 61508

SIL 2, EN 62061 SIL CL2

1 to 60

Execute

Not execute

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


When the short-circuit connector is connected to the CN8 connector, set "0" in the parameter.

When MR-D30 functional safety unit is used, the parameter is not available.

For safety levels at the time of using MR-D30, refer to "MR-D30 Instruction Manual".

This parameter is available with servo amplifiers with software version C1 or later.

DRT Drive recorder switching time setting

This is used to set a drive recorder switching time.

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

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

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

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

0

[s]

-1 to

32767

5 - 51

5. PARAMETERS


PF23 OSCL1 Vibration tough drive - Oscillation detection level

This is used to set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration tough drive is enabled.


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

PF24 *OSCL2 Vibration tough drive function selection

Setting digit

Explanation

50

[%]

0 to 100

Initial value

Refer to the


0h _ _ _ x Oscillation detection alarm selection

0: [AL. 54 Oscillation detection] will occur at oscillation detection.

1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.

2: Oscillation detection function disabled

Select alarm or warning when a oscillation continues at a filter readjustment sensitivity level of [Pr. PF23].

The digit is continuously enabled regardless of the vibration tough drive in [Pr. PA20].

_ _ x _

_ x _ _ x _ _ _

For manufacturer setting 0h

0h

0h

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

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

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].

PF31 FRIC Machine diagnosis function - Friction judgment speed

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

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

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

Initial value

[unit]

200

[ms]

0

[r/min]/

[mm/s]

Setting range

30 to

500

0 to permiss

-ible speed

Maximum speed in operation


[Pr. PF31] setting

Servo motor speed

0 r/min

(0 mm/s)

Operation pattern


5 - 52

5. PARAMETERS

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


Initial value

[unit]

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

Explanation

Initial value

Refer to the


1h _ _ _ x Linear servo motor/DD motor magnetic pole detection selection

The setting value "0" will be enabled only with absolute position linear encoders.

0: Magnetic pole detection disabled

1: Magnetic pole detection at first servo-on

5: Magnetic pole detection at every servo-on


_ x _ _ Stop interval selection at the home position return

Set a stop interval of the home position returning.

The digit is enabled only for linear servo motors.

0: 2 13 (= 8192) pulses

1: 2 17 (= 131072) pulses

2: 2 18 (= 262144) pulses

3: 2 20 (= 1048576) pulses

4: 2 22 (= 4194304) pulses

5: 2 24 (= 16777216) pulses

6: 2 26 (= 67108864) pulses x _ _ _ For manufacturer setting

0h

3h

0h

PL02 **LIM Linear encoder resolution - Numerator

Set a linear encoder resolution with the settings of [Pr. PL02] and [Pr. PL03].

Set the numerator in [Pr. PL02].

This is enabled only for linear servo motors.

PL03 **LID Linear encoder resolution - Denominator

Set a linear encoder resolution with the settings of [Pr. PL02] and [Pr. PL03].

Set the denominator in [Pr. PL03].

This is enabled only for linear servo motors.

1000

[ μ m]

1000

[ μ m]

Setting range

1 to

65535

1 to

65535

5 - 53

5. PARAMETERS



This is used to select a detection function and detection controller reset condition of [AL. 42

Servo control error].

Initial value

[unit]

Setting range

Refer to the


Setting digit

Explanation

_ _ _ x [AL. 42 Servo control error] detection function selection

Refer to the following table.

Setting value

Torque/thrust deviation error

(Note)

Speed deviation error (Note)

Position deviation error

(Note)

0

1

2

Disabled

3

4

5

6

Enabled

7

Disabled

Enabled

Disabled

Enabled

Initial value

3h

Disabled

Enabled

Disabled

Enabled

Disabled

Enabled

Disabled

Enabled

Note. Refer to chapter 14 and 15 for details of each deviation error.


_ x _ _ x _ _ _ [AL. 42 Servo control error] detection function controller reset condition selection

0: Reset disabled (reset by powering off/on enabled)

1: Reset enabled

0h

0h

0h

PL05 LB1 Position deviation error detection level

This is used to set the position deviation error detection level of the servo control error detection.

When the deviation between a model feedback position and actual feedback position is larger than the setting value, [AL. 42 Servo control error] will occur.

However, when "0" is set, the level vary depending on the operation mode in [Pr. PA01].

Linear servo motor: 50 mm

Direct drive motor: 0.09 rev

0

[mm]/

[0.01 rev]

0

[mm/s]/

[r/min]

PL06 LB2 Speed deviation error detection level

This is used to set the speed deviation error detection level of the servo control error detection.

When the deviation between a model feedback speed and actual feedback speed is larger than the setting value, [AL. 42 Servo control error] will occur.

However, when "0" is set, the level vary depending on the operation mode in [Pr. PA01].

Linear servo motor: 1000 mm/s

Direct drive motor: 100 r/min

PL07 LB3 Torque/thrust deviation error detection level

This is used to set the torque/thrust deviation error detection level of the servo control error detection.

When the deviation between a current command and current feedback is larger than the setting value, [AL. 42.3 Servo control error by torque/thrust deviation] will occur.

100

[%]


Setting digit

Explanation

_ _ _ x Magnetic pole detection method selection

0: Position detection method

4: Minute position detection method

Initial value

0h

0 to

1000

0 to

5000

0 to

1000

Refer to the



_ x _ _ Magnetic pole detection - Stroke limit enabled/disabled selection

0: Enabled

1: Disabled x _ _ _ For manufacturer setting

1h

0h

0h

5 - 54

5. PARAMETERS


Initial value

[unit]

Setting range


This is used to 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.

30

[%]

0 to 100

PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection

To enable the parameter, select "Minute position detection method (_ _ _ 4)" in [Pr. PL08].

Setting Initial

Explanation digit value

Refer to the


0h _ _ _ x Response selection

Set a response of the minute position detection method.

When reducing a travel distance at the magnetic pole detection, increase the setting value. Refer to table 5.9 for settings.

_ _ x _ Load to motor mass ratio/load to motor inertia ratio selection

Select a load to mass of the linear servo motor primary-side ratio or load to mass of the direct drive motor inertia ratio used at the minute position detection method. Set a closest value to the actual load.



0h

0h

0h

Table 5.9 Response of minute position detection method at magnetic pole detection

_ _ _ 0

_ _ _ 1

_ _ _ 2

_ _ _ 3

_ _ _ 4

_ _ _ 5

_ _ _ 6

_ _ _ 7

Low response

Middle response

Setting value

_ _ _ 8

_ _ _ 9

_ _ _ A

_ _ _ B

_ _ _ C

_ _ _ D

_ _ _ E

_ _ _ F

Response

Middle response

High response

Table 5.10 Load to motor mass ratio/load to motor inertia ratio

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

PL18 IDLV 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.

0

[%]

0 to 100

5 - 55

5. PARAMETERS

MEMO

5 - 56

6. NORMAL GAIN ADJUSTMENT


POINT

In the torque control mode, you do not need to make gain adjustment.

Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly. In addition, make gain adjustment with a safety margin considering characteristic differences of each machine. It is recommended that generated torque during operation is under

90% of the maximum torque of the servo motor.



Torque

(Servo motor) speed

→

→

Thrust

(Linear servo motor) speed

For the vibration suppression control tuning mode, the setting range of [Pr.

PB07] is limited. For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited. Refer to section 7.1.5 (4) for details.

6.1 Different adjustment methods

6.1.1 Adjustment on a single servo amplifier

The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment, execute "Auto tuning mode 2" and "Manual mode" in this order.

(1) Gain adjustment mode explanation

Gain adjustment mode [Pr. PA08] setting

Estimation of load to motor inertia ratio

Automatically set parameters

Manually set parameters

Auto tuning mode 1

(initial value)

_ _ _ 1 Always estimated RSP ([Pr. PA09])

Auto tuning mode 2

Manual mode

_ _ _ 2

_ _ _ 3

Fixed to [Pr. PB06] value

GD2 ([Pr. PB06])

PG1 ([Pr. PB07])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

PG1 ([Pr. PB07])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

GD2 ([Pr. PB06])

RSP ([Pr. PA09])



_ _ _ 0 Always estimated GD2 ([Pr. PB06])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

GD2 ([Pr. PB06])

PG1 ([Pr. PB07])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

PG1 ([Pr. PB07])

RSP ([Pr. PA09])

2 gain adjustment mode 2 _ _ _ 4 Fixed to [Pr. PB06] value PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

GD2 ([Pr. PB06])

PG1 ([Pr. PB07])

RSP ([Pr. PA09])

6 - 1


(2) Adjustment sequence and mode usage

Start

Interpolation made for 2 or more axes?

No

The load fluctuation is large during driving?

No

One-touch tuning

Yes

Yes

Finished normally?

Yes

No

Adjustment OK?

Yes

No



Handle the error

Yes

Error handling is possible?

No

Auto tuning mode 1

Yes

Adjustment OK?

No

Auto tuning mode 2

Yes

Adjustment OK?

No


Yes

Adjustment OK?

No

Manual mode

End

6.1.2 Adjustment using MR Configurator2

This section explains the functions and adjustment using the servo amplifier with MR Configurator2.

Function Description Adjustment

Machine analyzer With the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from a personal computer to the servo and measuring the machine response.

You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter.

6 - 2


6.2 One-touch tuning

POINT

After the one-touch tuning is completed, "Gain adjustment mode selection" in

[Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr.

PB06 Load to motor inertia ratio/load to motor mass ratio] again, 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.

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

Permissible travel distance


Limit switch Limit switch

Moving part

Servo motor

Tuning start position

Movable range at tuning

6 - 3


The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment mode selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other parameters will be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning response].

Table 6.1 List of parameters automatically set with one-touch tuning

Parameter Symbol

PA08

PA09

PB01

Name

ATU Auto tuning mode

RSP Auto tuning response

FILT Adaptive tuning mode (adaptive filter II)

Vibration suppression control tuning

Parameter Symbol

PB18 LPF

Name


PB06

PB07

PB08

PB09

PB10

PB12

PB13

PB14

PB15

PB16

PB17

GD2

PG1

PG2

VG2 control II)

Load to motor inertia ratio

Model loop gain

Position loop gain

Speed loop gain

VIC Speed integral compensation

OVA Overshoot amount compensation

NH1 Machine resonance suppression filter 1

NHQ1 Notch shape selection 1



NHF Shaft resonance suppression filter

PB23

PB46

PB47

PB48

PB49

PB51

PE41

VFBF Low-pass filter selection






EOP3 Function selection E-3

6 - 4


6.2.1 One-touch tuning flowchart

(1) User command method

Make one-touch tuning as follows.

Start

Startup of the system

Start a system referring to chapter 4.

Operation

One-touch tuning start, mode selection

Response mode selection

One-touch tuning execution

One-touch tuning in progress

One-touch tuning completion

Tuning result check

Rotate the servo motor by a 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.

Click "Start" during servo motor driving to execute one-touch tuning.

Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress will be displayed in % in MR Configurator2.

When one-touch tuning is completed normally, the parameters described in table 6.1 will be set automatically.

When the tuning is not completed normally, the tuning error will be displayed. (Refer to section

6.2.2 (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


(2) Amplifier command method


Start



Movement to tuning start position


Input of permissible travel distance

Move the moving part to the center of a movable range.

Start one-touch tuning of MR Configurator2, and select "Amplifier command method".

In the one-touch tuning window of MR Configurator2, input a maximum travel distance to move the moving part at one-touch tuning.





Tuning result check

Controller reset

Servo amplifier power cycling


While the servo motor is stopped, click "Start" to start one-touch tuning. After the tuning is started, the servo motor will reciprocate automatically. Executing one-touch tuning during servo motor rotation will cause an error. After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller.


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).)


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


6.2.2 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


(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

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Acceleration time constant

Deceleration time constant

Dwell time

Fig. 6.1 Recommended command for one-touch tuning in the user command method

Item Description

Travel distance

Set 100 pulses or more in encoder unit. Setting less than 100 pulses will cause the one-touch tuning error

"C004".

Servo motor speed Set 150 r/min (mm/s) or higher. Setting less than 150 r/min (mm/s) may cause the one-touch tuning error "C005".



Dwell time

Set the time to reach 2000 r/min (mm/s) to 5 s or less.

Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10% or more of the rated torque.

The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration torque is larger, and the one-touch tuning result will be closer to the optimum value.

Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".

One cycle time Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".

6 - 8


(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)

Dwell time (Note)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation


(Note)


(Note)

Note. It will be automatically generated in the servo amplifier.

Fig. 6.2 Command generated by one-touch tuning in the amplifier command method

Item Description

Travel distance



An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible travel distance with MR Configurator2.

Servo motor speed

A speed not exceeding 1/2 of the rated speed and overspeed alarm detection level ([Pr. PC08]) will be automatically set.

An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of the rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.

Dwell time A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.

6 - 9


(2) Response mode selection

Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.

Response mode

High mode

Basic mode

Low mode

Table 6.2 Response mode explanations

Explanation

This mode is for high-rigid system.

This mode is for standard system.

This mode is for low-rigid system.

6 - 10


Refer to the following table for selecting a response mode.

Low mode

Table 6.3 Guideline for response mode

Response mode

Basic mode High mode

Response


Guideline of corresponding machine

Low response

Arm robot

Precision working machine

General machine tool conveyor

Inserter

Mounter

Bonder

High response

(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.)

Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier command method, an optimum tuning command will be generated in the servo amplifier after 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.

6 - 11


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%.

Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and the following window will be displayed. Select whether or not to reflect the tuning result in the project.

6 - 12


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


(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 Error detail Corrective action example

C000

C001

C002

C003

C004

Tuning canceled

Overshoot exceeded

"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].

Servo-off during tuning 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.

Control mode error

Time-out

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.

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.

C005 Load to motor inertia ratio misestimated

2. The command speed is slow.

3. The operation interval of the continuous operation is short.

1. The estimation of the load to motor inertia ratio at one-touch tuning was a failure.

2. The load to motor inertia ratio was not estimated due to an oscillation or other influences.

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 - 14


Display

C006

C008

C009

C00A

Name

Amplifier command start error generation error

Stop signal

Parameter

Alarm

Error detail

One-touch tuning was attempted to start in the amplifier command method under the following speed condition.

Servo motor speed: 20 r/min or higher

1. One-touch tuning was executed in the amplifier command method when the permissible travel distance is set to 100 pulses or less in the encoder pulse unit, or the distance is set not to increase the servo motor speed to 150 r/min (mm/s) (50 r/min for direct drive motor) or higher at the time of load to motor inertia ratio estimation.

2. 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.

EM2 was turned off during one-touch tuning in the amplifier command method.

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.

Parameters for manufacturer setting have been changed.

One-touch tuning was attempted to start in the amplifier command method during alarm or warning.

Alarm or warning occurred during one-touch tuning by the amplifier command method.

"One-touch tuning function selection" in [Pr.

PA21] is "Disabled (_ _ _ 0)".

Set the torque limit value to greater than 0.

Review the one-touch tuning start position and permissible travel distance for the amplifier command method.

After ensuring safety, turn on EM2.

Return the parameters for manufacturer setting to the initial values.

Start one-touch tuning when no alarm or warning occurs.

Prevent alarm or warning from occurring during one-touch tuning.

Select "Enabled (_ _ _ 1)". disabled

(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


(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


6.2.3 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) 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

(c) 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.

(d) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot, set a value sufficient to prevent machine collision.

(e) 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.

(f) 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.

(g) 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.

(h) 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


6.3 Auto tuning

6.3.1 Auto tuning mode

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.

(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.

In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains automatically.

The following parameters are automatically adjusted in the auto tuning mode 1.

Parameter Symbol Name

PB06

PB07

PB08

PB09

PB10

GD2 Load to motor inertia ratio/load to motor mass ratio

PG1 Model loop gain

PG2 Position loop gain

VG2 Speed loop gain


POINT

The auto tuning mode 1 may not be performed properly if all of the following conditions are not satisfied.

The acceleration/deceleration time constant to reach 2000 r/min (mm/s) is 5 s or less.



The acceleration/deceleration torque is 10% or more of the rated torque.

Under operating conditions which will impose sudden disturbance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor inertia ratio in [Pr. PB06].

The following parameters are automatically adjusted in the auto tuning mode 2.


PB07

PB08

PB09

PB10

PG1 Model loop gain


VG2 Speed loop gain


6 - 18


6.3.2 Auto tuning mode basis

The block diagram of real-time auto tuning is shown below.

Command +

-

Loop gain

PG1, PG2,

VG2, VIC

Automatic setting

+

-

Current control

Current feedback

M

Load moment of inertia

Encoder

Servo motor

Gain table

Set 0 or 1 to turn on.

Real-time auto tuning section

Switch

Position/speed feedback

Load to motor inertia ratio estimation section

Speed feedback

[Pr. PA08]

0 0 0

[Pr. PA09]

Gain adjustment mode selection Response level setting

[Pr. PB06 Load to motor inertia ratio/ load to motor mass ratio]

When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of estimation are written to [Pr. PB06 Load to motor inertia ratio/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


6.3.3 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?

Yes

End

No

To 2 gain adjustment mode 2

6 - 20


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]

Setting value


Response


Reference

(setting value of

MR-J3)

Setting


1 Low

2 3.6 response

3

4 6.6

5 10.0 25

6 11.3 26

7 12.7 27

8 14.3 28

9 16.1 29

7

30

31

19 Middle 52.9 15

32

33

34

35

36

37

38

39 High

Guideline for frequency [Hz]

67.1

85.2

Reference

(setting value of

MR-J3)

17

19

108.0

121.7

137.1

154.4

173.9

195.9

220.6

21

22

23

24

25

248.5

279.9

315.3

355.1

400.0

446.6

26

27

28

29

30

31

32

501.2

571.5

642.7

6 - 21


6.4 Manual mode

If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually.

POINT

If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. (Refer to section

7.2 to 7.3.)

(1) For speed control

(a) Parameter

The following parameters are used for gain adjustment.

Parameter Symbol

PB06

PB07

PB09

PB10

Name


PG1 Model loop gain

VG2 Speed loop gain


(b) Adjustment procedure

Step Operation Description

1 Brief-adjust with auto tuning. Refer to section 6.2.3.

2

Change the setting of auto tuning to the manual mode ([Pr.

PA08]: _ _ _ 3).

3

4

5

6

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 small value to the model loop gain.

Set a large value to the speed integral compensation.

Increase the speed loop gain within the vibration- and unusual noise-free range, and return slightly if vibration takes place.

Decrease the speed integral compensation within the vibrationfree range, and return slightly if vibration takes place.

Increase the speed loop gain.

Decrease the time constant of the speed integral compensation.

7

8

Increase the model loop gain, and return slightly if overshoot takes place.

If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 7.

Increase the model loop gain.

Suppression of machine resonance

Refer to section 7.2 and

7.3.

9 While checking the motor status, fine-adjust each gain. Fine

6 - 22


(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]

This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.

Speed loop gain

Speed loop response frequency [Hz] =

(1 + Load to motor inertia ratio) × 2

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load to motor inertia ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation setting [ms] ≥

2000 to 3000

Speed loop gain/(1 + Load to motor inertia ratio)

3) [Pr. PB07 Model loop gain]

This parameter determines the response level to a speed command. Increasing the value improves trackability to a speed command, but a too high value will make overshoot liable to occur at settling.

Speed loop gain

Model loop gain guideline ≤

(1 + Load to motor inertia ratio)

×

(2) For position control

(a) Parameter

The following parameters are used for gain adjustment.

Parameter Symbol

1

8

Name

PB06

PB07

PB08

PB09

PB10


PG1 Model loop gain


VG2 Speed loop gain


6 - 23


(b) Adjustment procedure

Step Operation

1

2

3

4

5

6

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 small value to the model loop gain and the position loop gain.

Set a large value to the speed integral compensation.

Increase the speed loop gain within the vibration- and unusual noise-free range, and return slightly if vibration takes place.

Decrease the speed integral compensation within the vibrationfree range, and return slightly if vibration takes place.

7

8

9

10

Increase the position loop gain, and return slightly if vibration takes place.

Increase the model loop gain, and return slightly if overshoot takes place.

If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8.

While checking the settling characteristic and motor status, fineadjust each gain.

Description

Increase the speed loop gain.

Decrease the time constant of the speed integral compensation.

Increase the position loop gain.

Increase the model loop gain.

Suppression of machine resonance

Refer to section 7.2 and

7.3.

Fine adjustment

(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]

This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.

Speed loop gain

Speed loop response frequency [Hz] =

(1 + Load to motor inertia ratio) × 2

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load to motor inertia ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation setting [ms]

2000 to 3000

≥

Speed loop gain/(1 + Load to motor inertia ratio)

6 - 24


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.

Speed loop gain

Position loop gain guideline ≤


×

1

8

4) [Pr. PB07 Model loop gain]

This parameter determines the response level to a position command. Increasing the value improves trackability to a position command, but a too high value will make overshoot liable to occur at settling.

Speed loop gain

Model loop gain guideline ≤


×

6.5 2 gain adjustment mode

1

8

The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command trackability. Other parameters for gain adjustment are set automatically.

(1) 2 gain adjustment mode 1 (interpolation mode)

The 2 gain adjustment mode 1 manually set the model loop gain that determines command trackability.

The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for gain adjustment to optimum gains using auto tuning response.

The following parameters are used for 2 gain adjustment mode 1.

(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.


PB06

PB08

PB09

PB10



VG2 Speed loop gain


(b) Manually adjusted parameter

The following parameters are adjustable manually.

Parameter Symbol

PA09

PB07

RSP

PG1

Auto tuning response

Model loop gain

Name

6 - 25


(2) 2 gain adjustment mode 2

Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load to motor inertia ratio in [Pr. PB06].

The following parameters are used for 2 gain adjustment mode 2.

(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.


PB08

PB09

PB10


VG2 Speed loop gain


(b) Manually adjusted parameter

The following parameters are adjustable manually.

Parameter Symbol

PA09

PB06

PB07

RSP

GD2

PG1


Name

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 Operation

1

2

3

4

Set to the auto tuning mode.

During operation, increase the response level setting value in [Pr.

PA09], and return the setting if vibration occurs.

Check value of the model loop gain and the load to motor inertia ratio in advance.

Set the 2 gain adjustment mode 1 ([Pr. PA08]: _ _ _ 0).

Description

Select the auto tuning mode 1.

Adjustment in auto tuning mode 1.

Check the upper setting limits.

Select the 2 gain adjustment mode 1

(interpolation mode).

5

6

7

When the load to motor inertia ratio is different from the design value, select the 2 gain adjustment mode 2 ([Pr. PA08]: _ _ _ 4) and then set the load to motor inertia ratio manually in [Pr. PB06].

Set the model loop gain of all the axes to be interpolated to the same value. At that time, adjust to the setting value of the axis, which has the smallest model loop gain.

Considering the interpolation characteristic and motor status, fine-adjust the model loop gain and response level setting.

Check the load to motor inertia ratio.

Set model loop gain.

Fine adjustment

6 - 26


(4) Parameter adjustment

[Pr. PB07 Model loop gain]

This parameter determines the response level of the position control loop. Increasing the value improves trackability to a position command, but a too high value will make overshoot liable to occur at settling.

Number of droop pulses is determined by the following expression.

Number of droop pulses [pulse] =

Position command frequency [pulse/s]

Model loop gain setting

Position command frequency differs depending on the operation mode.

Rotary servo motor and direct drive motor:

Position command frequency

Speed [r/min]

=

60

× Encoder resolution (number of pulses per servo motor revolution)

Linear servo motor:

Position command frequency = Speed [mm/s] ÷ Encoder resolution (travel distance per pulse)

6 - 27


MEMO

6 - 28

7. SPECIAL ADJUSTMENT FUNCTIONS


POINT

The functions given in this chapter need not be used normally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6.



Torque

(Servo motor) speed

→

→

Thrust

(Linear servo motor) speed

7.1 Filter setting

The following filters are available with MR-J4 servo amplifiers.

Command pulse train

Command filter

+

-

Speed control

[Pr. PB18]


[Pr. PB13]

Machine resonance suppression filter 1

[Pr. PB15]


[Pr. PB46]


[Pr. PB49]

[Pr. PB48]


[Pr. PB17]


[Pr. PE41]

[Pr. PB50]


Robust filter

PWM

Load

M

Servo motor

Encoder

7 - 1


7.1.1 Machine resonance suppression filter

POINT

The machine resonance suppression filter is a delay factor for the servo system.

Therefore, vibration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide.

If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal.

A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

A wider notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

The machine characteristic can be grasped beforehand by the machine analyzer on MR Configurator2. This allows the required notch frequency and notch characteristics to be determined.

If a mechanical system has a unique resonance point, increasing the servo system response level may cause resonance (vibration or unusual noise) in the mechanical system at that resonance frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system. The setting range is 10 Hz to 4500 Hz.

7 - 2


(1) Function

The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width.

Machine resonance point

Frequency

Notch width

Notch depth

Frequency

Notch frequency

You can set five machine resonance suppression filters at most.


Precaution

Parameter that is reset with vibration tough drive function

Parameter automatically adjusted with onetouch tuning

PB13 PB01/PB13/PB14 PB01/PB13/PB14 The filter can be set automatically with

"Filter tuning mode selection" in [Pr.

PB01].

PB15/PB16 PB15 PB15/PB16 Machine resonance suppression filter 2



PB46/PB47

PB48/PB49

PB46/PB47

PB48/PB49


PB50/PB51

Enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter.

Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation.

The shaft resonance suppression filter is enabled for the initial setting.

Enabling the robust filter disables the machine resonance suppression filter 5.

The robust filter is disabled for the initial setting.

PB51

7 - 3


(2) Parameter

(a) Machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14])

Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1

([Pr. PB13]/[Pr. PB14])

When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.

(b) Machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in

[Pr. PB16].

How to set the machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).

(c) Machine resonance suppression filter 3 ([Pr. PB46]/[Pr. PB47])


[Pr. PB47].


(d) Machine resonance suppression filter 4 ([Pr. PB48]/[Pr. PB49])


[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter.


(e) Machine resonance suppression filter 5 ([Pr. PB50]/[Pr. PB51])


[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance suppression filter 5.


7 - 4


7.1.2 Adaptive filter II

POINT

The machine resonance frequency which adaptive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually.

When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds.

When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated. After filter generation, the adaptive tuning mode automatically shifts to the manual setting.

Adaptive tuning generates the optimum filter with the currently set control gains.

If vibration occurs when the response setting is increased, execute adaptive tuning again.

During adaptive tuning, a filter having the best notch depth at the set control gain is generated. To allow a filter margin against machine resonance, increase the notch depth in the manual setting.

Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics.

Adaptive tuning in the high accuracy mode is available with servo amplifiers with software version C5 or later. The frequency is estimated more accurately in the high accuracy mode compared to the standard mode. However, the tuning sound may be larger in the high accuracy mode.

(1) Function

Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.

Machine resonance point Machine resonance point

Frequency Frequency

Frequency

Notch frequency

When machine resonance is large and frequency is low

Frequency

Notch frequency

When machine resonance is small and frequency is high

7 - 5


(2) Parameter

Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].

[Pr. PB01]

0 0

Filter tuning mode selection

Setting value

Filter tuning mode selection

0

1

2

Disabled

Automatic setting

Manual setting

Tuning accuracy selection (Note)

0: Standard

1: High accuracy

Automatically set parameter

PB13/PB14

Note. This digit is available with servo amplifier with software version C5 or later.

(3) Adaptive tuning mode procedure

Adaptive tuning

Operation

Is the target response reached?

Increase the response setting.

In the standard mode

Has vibration or unusual noise occurred?

Execute or re-execute adaptive tuning in the standard mode.

(Set [Pr. PB01] to "0 _ _ 1".)

In the high accuracy mode

Execute or re-execute adaptive tuning in the high accuracy mode.

(Set [Pr. PB01] to "1 _ _ 1".)

Tuning ends automatically after the predetermined period of time.

([Pr. PB01] will be "_ _ _ 2" or "_ _ _

0".)

Has vibration or unusual noise been resolved?

If assumption fails after tuning is executed at a large vibration or oscillation, decrease the response setting temporarily down to the vibration level and execute again.

Decrease the response until vibration or unusual noise is resolved.

Using the machine analyzer, set the filter manually.

Factor

The response has increased to the machine limit.

The machine is too complicated to provide the optimum filter.

End

7 - 6


7.1.3 Shaft resonance suppression filter

POINT

This filter is set properly by default according to servo motor you use and load moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0"

(automatic setting) because changing "Shaft resonance suppression filter selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may lower the performance.

(1) Function


When you select "Automatic setting", the filter will be set automatically on the basis of the motor you use and the load to servo motor inertia ratio. The disabled setting increases the response of the servo amplifier for high resonance frequency.

(2) Parameter

Set "Shaft resonance suppression filter selection" in [Pr. PB23].

[Pr. PB23]

0 0 0

Shaft resonance suppression filter selection


1: Manual setting

2: Disabled

To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".

To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting values are as follows.

Shaft resonance suppression filter setting frequency selection

Setting value

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

_ _ 0 C

_ _ 0 D

_ _ 0 E

_ _ 0 F

Frequency [Hz]

Disabled

Disabled

4500

3000

2250

1800

1500

1285

1125

1000

900

818

750

692

642

600

Setting value

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

Frequency [Hz]

428

409

391

375

360

346

333

321

310

300

290

562

529

500

473

450

7 - 7


7.1.4 Low-pass filter

(1) Function

When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a default. The filter frequency of the low-pass filter is automatically adjusted to the value in the following equation.

VG2

Filter frequency ([rad/s]) =

1 + GD2

× 10

However, when an automatically adjusted value is smaller than VG2, the filter frequency will be the VG2 value. To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr.

PB23].

(2) Parameter

Set "Low-pass filter selection" in [Pr. PB23].

[Pr. PB23]

0 0 0

Low-pass filter selection


1: Manual setting

2: Disabled

7.1.5 Advanced vibration suppression control II

POINT

The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is

"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)".

The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range, set manually.

Stop the servo motor before changing the vibration suppression control-related parameters. Otherwise, it may cause an unexpected operation.

For positioning operation during execution of vibration suppression control tuning, provide a stop time to ensure a stop after vibration damping.

Vibration suppression control tuning may not make normal estimation if the residual vibration at the servo motor side is small.

Vibration suppression control tuning sets the optimum parameter with the currently set control gains. When the response setting is increased, set vibration suppression control tuning again.

When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].

7 - 8


(1) Function

Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not vibrate.

Servo motor side

Load side t

Vibration suppression: off (normal)

Servo motor side

Load side t

Vibration suppression control: on

When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine side vibration two times at most.

In the vibration suppression control tuning mode, this mode shifts to the manual setting after the positioning operation is performed the predetermined number of times. For manual setting, adjust the vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.

PB52] to [Pr. PB55].

(2) Parameter

Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].

When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning mode selection" in addition.

[Pr. PB02]

0 0

Vibration suppression control 1 tuning mode

Setting value

Vibration suppression control 1 tuning mode selection

_ _ _ 0

_ _ _ 1

_ _ _ 2

Disabled

Automatic setting

Manual setting


Setting value

Vibration suppression control 2 tuning mode selection

_ _ 0 _

_ _ 1 _

_ _ 2 _

Disabled

Automatic setting

Manual setting


PB19/PB20/PB21/PB22


PB52/PB53/PB54/PB55

7 - 9


(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.


Operation

Yes Is the target response reached?

No


Has vibration of workpiece end/device increased?

No

Yes

Stop operation.

Execute or re-execute vibration suppression control tuning.

(Set [Pr. PB02] to "_ _ _ 1".)

Resume operation.

Tuning ends automatically after positioning operation is performed the predetermined number of times.

([Pr. PB02] will be "_ _ _ 2" or

"_ _ _ 0".)

Has vibration of workpiece end/device been resolved?

No

Yes

Decrease the response until vibration of workpiece end/device is resolved.

Using a machine analyzer or considering load-side vibration waveform, set the vibration suppression control manually.

Factor

Estimation cannot be made as load-side vibration has not been transmitted to the servo motor side.

The response of the model loop gain has increased to the load-side vibration frequency

(vibration suppression control limit).

End

7 - 10


(4) Vibration suppression control manual mode

POINT

When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibration frequency does not produce an effect.

When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external equipment, do not set the same value but set different values to improve the vibration suppression performance.

The setting range of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53] varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled.

Measure work-side vibration and device shake with the machine analyzer or external measuring instrument, and set the following parameters to adjust vibration suppression control manually.

Setting item

Vibration suppression control 1


Vibration suppression control - Vibration frequency

Vibration suppression control - Resonance frequency

Vibration suppression control - Vibration frequency damping

Vibration suppression control - Resonance frequency damping

[Pr. PB19]

[Pr. PB20]

[Pr. PB21]

[Pr. PB22]

[Pr. PB52]

[Pr. PB53]

[Pr. PB54]

[Pr. PB55]

7 - 11


Step 1 Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or

"Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr.

PB02].

Step 2 Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control -

Resonance frequency" as follows.

However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency have the following usable range and recommended range.

Vibration suppression control


Usable range Recommended setting range

[Pr. PB19] > 1/2 π × (1.5 × [Pr. PB07])

[Pr. PB20] > 1/2 π × (1.5 × [Pr. PB07])


[Pr. PB19] > 1/2 π × (0.9 × [Pr. PB07])

[Pr. PB20] > 1/2 π × (0.9 × [Pr. PB07])

When [Pr. PB19] < [Pr. PB52],

[Pr. PB52] > (5.0 + 0.1 × [Pr. PB07])

[Pr. PB53] > (5.0 + 0.1 × [Pr. PB07])

1.1 < [Pr. PB52]/[Pr. PB19] < 5.5

[Pr. PB07] < 2 π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])

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]


Resonance frequency

[Pr. PB53]

Gain characteristics

Phase

-90 degrees

1 Hz 300 Hz


Vibration frequency


[Pr. PB19]

Resonance of more than

300 Hz is not the target of control.


Resonance frequency

[Pr. PB20]

7 - 12


(b) When vibration can be confirmed using monitor signal or external sensor

Motor-side vibration

(droop pulses)


External acceleration pickup signal, etc.

t

Vibration cycle [Hz]

Vibration suppression control -

Vibration frequency


Resonance frequency

Set the same value.


Step 3 Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration suppression control - Resonance frequency damping".

7.1.6 Command notch filter

POINT

By using the advanced vibration suppression control II and the command notch filter, the load-side vibration of three frequencies can be suppressed.

The frequency range of machine vibration, which can be supported by the command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to the machine vibration frequency and within the range.

When [Pr. PB45 Command notch filter] is changed during the positioning operation, the changed setting is not reflected. The setting is reflected approximately 150 ms after the servo motor stops (after servo-lock).

(1) Function

Command notch filter has a function that lowers the gain of the specified frequency contained in a position command. By lowering the gain, load-side vibration, such as work-side vibration and base shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be set. t

Load side t

Command notch filter: disabled

Load side t

Command notch filter: enabled

7 - 13


(2) Parameter

Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency, set the closest value to the vibration frequency [Hz] at the load side.

[Pr. PB45]

0

Notch depth

Setting value

Depth

[dB]

E

F

C

D

A

B

8

9

6

7

4

5

2

3

0

1

-8.5

-7.2

-6.0

-5.0

-4.1

-3.3

-2.5

-1.8

-1.2

-0.6

-40.0

-24.1

-18.1

-14.5

-12.0

-10.1

Command notch filter setting frequency

Setting value

Frequency

[Hz]

Setting value

Frequency

[Hz]

Setting value

1C

1D

1E

1F

18

19

1A

1B

14

15

16

17

10

11

12

13

0C

0D

0E

0F

08

09

0A

0B

04

05

06

07

00

01

02

03

3C

3D

3E

3F

38

39

3A

3B

34

35

36

37

30

31

32

33

2C

2D

2E

2F

28

29

2A

2B

24

25

26

27

20

21

22

23

80

77

75

72

93

90

86

83

140

132

125

118

112

107

102

97

281

250

225

204

187

173

160

150

Disabled

2250

1125

750

562

450

375

321

5C

5D

5E

5F

58

59

5A

5B

54

55

56

57

50

51

52

53

4C

4D

4E

4F

48

49

4A

4B

44

45

46

47

40

41

42

43

23.4

22.5

21.6

20.8

20.1

19.4

18.8

18.2

35.2

33.1

31.3

29.6

28.1

26.8

25.6

24.5

40

38

37

36

46

45

43

41

56

53

51

48

70

66

62

59

Frequency

[Hz]

5.0

4.9

4.7

4.5

5.9

5.6

5.4

5.2

7.0

6.7

6.4

6.1

8.8

8.3

7.8

7.4

11.7

11.3

10.8

10.4

10.0

9.7

9.4

9.1

17.6

16.5

15.6

14.8

14.1

13.4

12.8

12.2

7 - 14


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


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]

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

CDL

[Pr. PB27]

+

-

+

-

+

-

Comparator

Changing

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]

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 - 16


7.2.3 Parameter

When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.

(1) Parameter for setting gain switching condition

Parameter Symbol Name Unit Description

PB26

PB27

PB28

CDP Gain switching function

CDL Gain switching condition

CDT Gain switching time constant

[kpulse/s]

/[pulse]

/[r/min]

Select a switching condition.

Set a switching condition values.

[ms] Set the filter time constant for a gain change at switching.

(a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first to third digits.

[Pr. PB26]

0

Gain switching selection

0: Disabled



3: Droop pulses


Gain switching condition



Gain switching time constant disabling condition selection (Note)



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.


Command frequency

Droop pulses

Servo motor speed/linear servo motor speed

Unit

[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. This parameter is used to suppress shock given to the machine if the gain difference is large at gain switching, for example.

7 - 17


(2) Switchable gain parameter

Loop gain

Before switching


PB06 Load to motor inertia ratio/load to motor mass ratio

Model loop gain PB07


PG1 Model loop gain

PB08

PB09


VG2 Speed 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 - Resonance frequency damping compensation control 1 - Vibration frequency control 1 - Resonance frequency control 1 - Vibration frequency damping control 1 - Resonance frequency damping control 2 - Vibration frequency control 2 - Resonance frequency control 2 - Vibration frequency damping control 2 - Resonance frequency damping

After switching

Parameter Symbol

PB29

Name

PB60

PB30

PB31

GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching

PG1B Model loop gain after gain switching

PG2B Position loop gain after gain switching

VG2B Speed loop gain after gain switching compensation after gain switching control 1 - Vibration frequency after gain switching control 1 - Resonance frequency after gain switching control 1 - Vibration frequency damping after gain switching control 1 - Resonance frequency damping after gain switching control 2 - Vibration frequency after gain switching control 2 - Resonance frequency after gain switching control 2 - Vibration frequency damping after gain switching 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, model loop gain, position 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


(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


7.2.4 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


PB06

PB07

PB08

PB09

PB10

PB20

PB22

PB53

PB55

PB29

PB60

PB30

PB31

PB32

PB26

PB28

PB34

PB36

PB57

PB59


PG1 Model loop gain


VG2 Speed loop gain


Unit

4.00 [Multiplier]

100

120

[rad/s]

[rad/s]

3000 [rad/s]

20 [ms]

50 [Hz] frequency

VRF12 Vibration suppression control 1 -

Resonance frequency

50 [Hz] frequency after gain switching

VRF22B Vibration suppression control 2 -

Resonance frequency after gain switching

0.20 frequency damping


Resonance frequency damping

0.20 frequency damping after gain switching


Resonance frequency damping after gain switching

20 [Hz] frequency


Resonance frequency

20 [Hz]

0.10 frequency damping






VG2B Speed loop gain after gain switching

VICB Speed integral compensation after gain switching


0.10

10.00 [Multiplier]

50

84

[rad/s]

[rad/s]

4000 [rad/s]

50 [ms]

CDT Gain switching time constant frequency after gain switching



0001

(Switch by control command from the controller.)

100 [ms]

60 [Hz]

60 [Hz]

0.15

0.15

30 [Hz]

30 [Hz]

0.05 frequency damping after gain switching



0.05

7 - 20


(b) Switching timing chart


OFF

Gain switching

Before-switching gain

ON

After-switching gain

63.4%

CDT = 100 ms

OFF

Model loop gain


Position loop gain

Speed loop gain




Resonance frequency






Resonance frequency




100

4.00

120

3000

20

50

50

0.20

0.20

20

20

0.10

0.10

→ 50 → 100

→ 10.00 → 4.00

→ 84 → 120

→ 4000 → 3000

→ 50 → 20

→ 60 → 50

→ 60 → 50

→ 0.15 → 0.20

→ 0.15 → 0.20

→ 30 → 20

→ 30 → 20

→ 0.05 → 0.10

→ 0.05 → 0.10

(2) When you choose switching by droop pulses

The vibration suppression control after gain switching and model loop gain after gain switching cannot be used.

(a) Setting example

Parameter Symbol Name Unit

PB06 4.00 [Multiplier]

PB08

PB09

PB10

PB29

PB30

PB31

PB32

PB26

PB27

PB28



VG2 Speed loop gain






CDP Gain switching selection



120

3000

[rad/s]

[rad/s]

20 [ms]

10.00 [Multiplier]

84 [rad/s]

4000 [rad/s]

50 [ms]

0003

(switching by droop pulses)

50

100

[pulse]

[ms]

7 - 21


(b) Switching timing chart

Command pulses Droop pulses

Command pulses

Droop pulses

[pulse]

0

+CDL

-CDL

Gain switching



63.4%

CDT = 100 ms


Position loop gain

Speed loop gain


4.00 → 10.00 → 4.00 → 10.00

120 → 84 → 120 → 84

3000 → 4000 → 3000 → 4000

20 → 50 → 20 → 50

(3) When the gain switching time constant is disabled

(a) Switching time constant disabled was selected.

The gain switching time constant is disabled. The time constant is enabled at gain return.

The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.

PB28 (CDT)] = 100 [ms].

Command pulses

Droop pulses

Droop pulses [pulse]

+100 pulses

0

-100 pulses

Switching time constant disabled

Switching at 0 ms



63.4%

Gain switching

Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)

CDT = 100 ms


Switching at 0 ms

7 - 22


(b) Return time constant disabled was selected.

The gain switching time constant is enabled. The time constant is disabled at gain return.

The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28

(CDT)] = 100 [ms].

OFF OFF

CDP (Gain switching) ON


Return time constant disabled

Switching at 0 ms

63.4%


Gain switching

CDT = 100 ms

Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)

7 - 23


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.)


The tough drive functions are the vibration tough drive and the instantaneous power failure tough drive.

7.3.1 Vibration tough drive function

This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to varied vibration frequency caused by machine aging.

To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.

Set [Pr. PB13] and [Pr. PB15] as follows.

(1) One-touch tuning execution (section 6.1)

(2) Manual setting (section 4.2.2)

The vibration tough drive function operates when a detected machine resonance frequency is within ±30% for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance suppression filter 2].

To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation detection level].

POINT

Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is performed constantly. However, the number of write times to the EEPROM is limited to once per hour.

The vibration tough drive function does not reset [Pr. PB46 Machine resonance suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr.

PB50 Machine resonance suppression filter 5].

The vibration tough drive function does not detect a vibration of 100 Hz or less.

7 - 24


The following shows the function block diagram of the vibration tough drive function.

The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a parameter whose set value is closer.

Precaution



PB01/PB13/PB14 The filter can be set automatically with


PB01].

PB15/PB16

PB13

PB15 Machine resonance suppression filter 2



PB46/PB47

PB48/PB49


PB50/PB51






Updates the parameter whose setting is the closest to the machine resonance frequency.

Vibration tough drive

Command pulse train

Command filter

+

-

[Pr. PB13]


[Pr. PB15]


[Pr. PB46]


Load

[Pr. PB49]

[Pr. PB48]


[Pr. PB17]


[Pr. PE41]

[Pr. PB50]


Robust filter

PWM M

Servo motor

Encoder

Torque

ALM

(Malfunction)

WNG

(Warning)

MTTR

(During tough drive)

ON

OFF

ON

OFF

ON

OFF

5 s

[Pr. PF23 Vibration tough drive - Oscillation detection level]

Detects the machine resonance and reconfigures the filter automatically.

During tough drive (MTTR) is not turned on in the vibration tough drive function.

7 - 25


7.3.2 Instantaneous power failure tough drive function

The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the tolerance against instantaneous power failure using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL. 10

Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the control circuit power] detection time for the control circuit power supply can be changed by [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. In addition, [AL. 10.2 Voltage drop in the main circuit power] detection level for the bus voltage is changed automatically.

POINT

MBR (Electromagnetic brake interlock) will not turn off during the instantaneous power failure tough drive.

When selecting "Enabled (_ _ _ 1)" for "Torque limit function selection at instantaneous power failure" in [Pr. PA26], if an instantaneous power failure occurs during operation, you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration. You can also delay the time until the occurrence of [AL. 10.2 Voltage drop in the main circuit power].

Doing this will enable you to set a longer time in [Pr. PF25 SEMI-F47 function -


When the load of instantaneous power failure is large, [AL. 10.2] caused by the bus voltage drop may occur regardless of the set value of [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time].

The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr.

PD09]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

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.



To comply with SEMI-F47 standard, it is unnecessary to change the initial value

(200 ms).


7 - 26


(1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function -

Instantaneous power failure detection time]

The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds

[Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time].

MTTR (During tough drive) turns on after detecting the instantaneous power failure.

MBR (Electromagnetic brake interlock) turns off when the alarm occurs.

Instantaneous power failure time of the control circuit power supply


ON (energization)

OFF (power failure)

[Pr. PF25]

Bus voltage

Undervoltage level

(Note)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Note. Refer to table 7.1 for the undervoltage level.

7 - 27


(2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function -


Operation status differs depending on how bus voltage decrease.

(a) When the bus voltage decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply

[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than Undervoltage level regardless of the enabled instantaneous power failure tough drive.



ON (energization)

OFF (power failure)

[Pr. PF25]

Bus voltage

Undervoltage level

(Note)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF


7 - 28


(b) When the bus voltage does not decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply

The operation continues without alarming.



ON (energization)

OFF (power failure)

[Pr. PF25]

Bus voltage

Undervoltage level

(Note)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF


7 - 29


7.4 Compliance with SEMI-F47 standard

POINT

The control circuit power supply of the servo amplifier can be possible to comply with SEMI-F47 standard. However, a back-up capacitor may be necessary for instantaneous power failure in the main circuit power supply depending on the power supply impedance and operating situation.

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

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



Be sure to perform actual machine tests and detail checks for power supply instantaneous power failure of SEMI-F47 standard with your equipment.

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.


Setting [Pr. PA20] and [Pr. PF25] as follows will enable SEMI-F47 function.

Parameter

Setting value

Description

PA20 _ 1 _ _ Enable SEMI-F47 function selection.

Enabling SEMI-F47 function will change operation as follows.

(a) The voltage will drop in the control circuit power with "Rated voltage × 50% or less". 200 ms later,

[AL. 10.1 Voltage drop in the control circuit power] will occur.

(b) [AL. 10.2 Voltage drop in the main circuit power] will occur when bus voltage is as follows.

Table 7.1 Voltages which trigger [AL. 10.2 Voltage drop in the main circuit power]

Servo amplifier

MR-J4-10B(-RJ) to

MR-J4-700B(-RJ)

MR-J4-11KB(-RJ) to

MR-J4-22KB(-RJ)

MR-J4-60B4(-RJ) to

MR-J4-22KB4(-RJ)

Bus voltage which triggers alarm

158 V DC

200 V DC

380 V DC

(c) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit power] occurs.

7 - 30


(2) Requirements conditions of SEMI-F47 standard

Table 7.2 shows the permissible time of instantaneous power failure for instantaneous power failure of

SEMI-F47 standard.

Table 7.2 Requirements conditions of SEMI-F47 standard

Instantaneous power failure voltage

Rated voltage × 80%



Permissible time of instantaneous power failure [s]

1

0.5

0.2

(3) Calculation of tolerance against instantaneous power failure

Table 7.3 shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage × 50%" and instantaneous power failure time is 200 ms.

Table 7.3 Tolerance against instantaneous power failure

(instantaneous power failure voltage = rated voltage × 50%, instantaneous power failure time = 200 ms)

Servo amplifier

Instantaneous maximum output [W]

Tolerance against instantaneous power failure [W]

(voltage drop between lines)

MR-J4-10B(-RJ) 350

MR-J4-20B(-RJ) 700

MR-J4-40B(-RJ) 1400

MR-J4-60B(-RJ) 2100

MR-J4-70B(-RJ) 2625

MR-J4-100B(-RJ) 3000

MR-J4-200B(-RJ) 5400

MR-J4-350B(-RJ) 10500

MR-J4-500B(-RJ) 15000

MR-J4-700B(-RJ) 21000

MR-J4-11KB(-RJ) 40000

MR-J4-15KB(-RJ) 50000

MR-J4-22KB(-RJ) 56000

MR-J4-60B4(-RJ) 1900

MR-J4-100B4(-RJ) 3500

MR-J4-200B4(-RJ) 5400

MR-J4-350B4(-RJ) 10500

MR-J4-500B4(-RJ) 15000

MR-J4-700B4(-RJ) 21000

MR-J4-11KB4(-RJ) 40000

MR-J4-15KB4(-RJ) 50000

MR-J4-22KB4(-RJ) 56000

250

420

630

410

1150

1190

2040

2600

4100

5900

2600

3500

4300

190

200

350

730

890

1500

2400

3200

4200

7 - 31


Instantaneous maximum output means power which servo amplifier can output in maximum torque at rated speed. You can examine margins to compare the values of following conditions and instantaneous maximum output.

Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the maximum output. This can be handled as a margin.

The following shows the conditions of tolerance against instantaneous power failure.

(a) Delta connection

For the 3-phase (L1/L2/L3) delta connection, an instantaneous power failure occurs in the voltage between a pair of lines (e.g. between L1 and L2) among voltages between three pairs of lines

(between L1 and L2, L2 and L3, or L3 and L1).

(b) Star connection

For the 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure occurs in the voltage between a pair of lines (e.g. between L1 and N) among voltages at six locations, between three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1) and between one of the lines and the neutral point (between L1 and N, L2 and N, or L3 and N).

7 - 32


7.5 Model adaptive control disabled

POINT

Change the parameters while the servo motor stops.

When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operation status of the servo motor.

This is used with servo amplifiers with software version B4 or later. Check the software version of the servo amplifier with MR Configurator2.

(1) Summary

The servo amplifier has a model adaptive control. The servo amplifier has a virtual motor model and drives the servo motor following the output of the motor model in the model adaptive control. At model adaptive control disabled, the servo amplifier drives the motor with PID control without using the model adaptive control.

The following shows the available parameters at model adaptive control disabled.


PB08

PB09

PB10

PG2

VG2

VIC

Position loop gain

Speed loop gain



Set [Pr. PB25] to "_ _ _ 2".

(3) Restrictions

The following functions are not available at model adaptive control disabled.

Function Explanation

Forced stop deceleration function

([Pr. PA04])

Disabling the model adaptive control while the forced stop deceleration function is enabled, [AL. 37] will occur.

The forced stop deceleration function is enabled at factory setting. Set [Pr. PA04] to "0 _ _ _" (Forced stop deceleration function disabled).


([Pr. PB02]/[Pr. PB19]/[Pr. PB20])


([Pr. PB02]/[Pr. PB52]/[Pr. PB53])

The vibration suppression control uses the model adaptive control. Disabling the model adaptive control will also disable the vibration suppression control.

Overshoot amount compensation

([Pr. PB12])

Super trace control

([Pr. PA22])

The overshoot amount compensation uses data used by the model adaptive control. Disabling the model adaptive control will also disable the overshoot amount compensation.

The super trace control uses the model adaptive control.

Disabling the model adaptive control will also disable the super trace control.

7 - 33


7.6 Lost motion compensation function

POINT

The lost motion compensation function is enabled only in the position control mode.

The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting.

This function is effective when a high follow-up performance is required such as drawing an arc with an X-Y table.

Compensation

Travel direction

The locus before compensation The locus after compensation


Setting [Pr. PE44] to [Pr. PE50] enables the lost motion compensation function.

(a) Lost motion compensation function selection ([Pr. PE48])


0

[Pr. PE48]

0

Lost motion compensation selection

0: Lost motion compensation disabled

1: Lost motion compensation enabled

Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit

1: 1 kpulse unit

(b) Lost motion compensation ([Pr. PE44]/[Pr. PE45])

Set the same value for the lost motion compensation for each of when the forward rotation switches to the reverse rotation and when the reverse rotation switches to the forward rotation. When the heights of protrusions differ depending on the travel direction, set the different compensation for each travel direction. Set a value twice the usual friction torque and adjust the value while checking protrusions.

(c) Torque offset ([Pr. PE47])

For a vertical axis, unbalanced torque occurs due to the gravity. Although setting the torque offset is usually unnecessary, setting unbalanced torque of a machine as a torque offset cancels the unbalanced torque. The torque offset does not need to be set for a machine not generating unbalanced torque. The torque offset cannot be used for linear servo motors and direct drive motors.

Set 0.00%.

7 - 34


(d) Lost motion compensation timing ([Pr. PE49])

You can set the delay time of the lost motion compensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.

(e) Lost motion compensation non-sensitive band ([Pr. PE50])

When the travel direction reverses frequently around the zero speed, unnecessary lost motion compensation is triggered by the travel direction switching. By setting the lost motion compensation non-sensitive band, the speed is recognized as 0 when the fluctuation of the droop pulse is the setting value or less. This prevents unnecessary lost motion compensation.

When the value of this parameter is changed, the compensation timing is changed. Adjust the value of Lost motion compensation timing ([Pr. PE49]).

(f) Lost motion filter setting ([Pr. PE46])

Changing the value of this parameter is usually unnecessary. When a value other than 0.0 ms is set in this parameter, the high-pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues.

(2) Adjustment procedure of the lost motion compensation function

(a) Measuring the load current

Measure the load currents during the forward direction feed and reverse direction feed with MR

Configurator2.

(b) Setting the lost motion compensation

Calculate the friction torque from the measurement result of (2) (a) in this section and set a value twice the friction torque in [Pr. PE44] and [Pr. PE45] as lost motion compensation.

Friction torque [%] =

|(load current during feed in the forward rotation direction [%]) -

(load current during feed in the reverse rotation direction [%])|

2

(c) Checking protrusions

Drive the servo motor and check that the protrusions are corrected.

7 - 35


(d) Adjusting the lost motion compensation

When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are eliminated. Different values can be set as the compensation for each of when the forward rotation

(CCW) switches to the reverse rotation (CW) and when the reverse rotation (CW) switches to the forward rotation (CCW).

Compensation

Travel direction


(e) Adjusting the lost motion compensation timing

When the machine has low rigidity, the speed loop gain is set lower than the standard setting value, or the servo motor is rotating at high speed, quadrant projections may occur behind the quadrant change points. In this case, you can suppress the quadrant projections by delaying the lost motion compensation timing with [Pr. PE49 Lost motion compensation timing]. Increase the setting value of

[Pr. PE49] from 0 ms (Initial value) by approximately 0.5 ms to adjust the compensation timing.

Compensation

Travel direction

Before timing delay compensation After timing delay compensation

(f) Adjusting the lost motion compensation non-sensitive band

When the lost motion is compensated twice around a quadrant change point, set [Pr. PE50 Lost motion compensation non-sensitive band]. Increase the setting value so that the lost motion is not compensated twice. Setting [Pr. PE50] may change the compensation timing. Adjust the lost motion compensation timing of (2) (e) in this section.

Compensation

Travel direction


7 - 36


7.7 Super trace control

(1) Summary

In the normal position control, droop pulses are generated against the position control command from the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However, droop pulses generated during acceleration/deceleration cannot be suppressed.

With the ideal model in the servo amplifier, the super trace control enables to set constant speed and uniform acceleration/deceleration droop pulses to almost 0 that cannot be coped with by the feed forward gain.

Control Position command (the same command) Droop pulses

Normal control

Time

Time

Droop pulses are always generated.

Feed forward gain

Super trace control

Time

Time

Time

Droop pulses are generated during acceleration/ deceleration.

Time

Droop pulses are almost 0 including the time of acceleration or deceleration.

7 - 37


(2) Adjustment procedure

POINT

In the super trace control, droop pulses are near 0 during the servo motor control. Thus, the normal INP (In-position) may always be turned on. Be sure to set "INP (In-position) on condition selection" in [Pr. PD13] to " _ 1 _ _".

When you use the super trace control, it is recommended that the acceleration time constant up to the rated speed be set to 1 s or more.

The following shows the adjustment procedure.

Step Operation

1

2

3

4

5

6

Execute the gain adjustment with one-touch tuning, auto tuning, etc. Refer to chapter 6 for details.

Change the setting of auto tuning mode to the manual mode ([Pr.

PA08]: _ _ _ 3).

Change the setting of feed forward gain ([Pr. PB04]), and adjust that droop pulses will be 0 at a constant speed.

Set the setting of INP (In-position) on condition selection ([Pr.

PD13]) to " _ 1 _ _".

Enable the super trace control. ([Pr. PA22]: _ _ 2 _)

Change the setting of model loop gain ([Pr. PB07]), and adjust droop pulses during acceleration/deceleration.

7 - 38

8. TROUBLESHOOTING

8. TROUBLESHOOTING

POINT

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

As soon as an alarm occurs, 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 and warning are displayed. When an alarm or warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM will turn off.

8.1 Explanation for the lists

(1) No./Name/Detail No./Detail name

Indicates each No./Name/Detail No./Detail name of alarms or warnings.

(2) Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or

"EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.

(3) Alarm deactivation

After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated with alarm reset, CPU reset, or cycling the power.

Alarm deactivation Explanation

Alarm reset

CPU reset

Cycling the power

1. 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

12

14

No. Name

No.

Detail name

10.1

10 Undervoltage

10.2

11 Switch setting error

11.1

Voltage drop in the control circuit power

Voltage drop in the main circuit power

Axis number setting error/

Station number setting error

Stop method

(Note

2, 3)

Alarm deactivation

Alarm reset

CPU reset

Cycling the power

EDB

SD

DB

15

Memory error 1

(RAM)

Control process error

Memory error 2

(EEP-ROM)

12.1 RAM error 1

12.2 RAM error 2

12.3 RAM error 3

12.4 RAM error 4

12.5 RAM error 5

12.6 RAM error 6

14.1 Control process error 1









14.A Control process error 10

14.B Control process error 11

15.1 EEP-ROM error at power on

15.2

15.4

EEP-ROM error during operation

Home position information read error

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

16

Encoder initial communication error 1

16.7

16.8

16.A

Encoder initial communication -

Transmission data error 3


Incompatible encoder (Note 6)


Process error 1

DB

DB

DB

DB

DB

DB

DB

DB

8 - 2

8. TROUBLESHOOTING

No. Name

19

1A

1B

1E

1F

20

21

Memory error 3

(Flash-ROM)

Servo motor combination error

Converter error



Encoder normal communication error 1


No.

Detail name

17.1 Board error 1

17.3 Board error 2

17.4 Board error 3

17.7 Board error 7

17.8 Board error 6 (Note 6)

17.9 Board error 8

19.1 Flash-ROM error 1



EDB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

Stop method

(Note

2, 3)

Alarm deactivation

Alarm reset

CPU reset

Cycling the power

DB

1A.2

Servo motor control mode combination error

DB

DB

1B.1 Converter unit error DB

DB

1E.2 Load-side encoder malfunction DB

DB

1F.2 Incompatible load-side encoder DB

Encoder normal

EDB error 1

Encoder normal

EDB error 2

Encoder normal

EDB

20.5

20.6 error 3

Encoder normal communication - Transmission data error 1

Encoder normal communication - Transmission data error 2

Encoder normal

EDB

EDB

EDB data error 3

Encoder normal

EDB error 4

Encoder normal

EDB error 5

21.1 Encoder data error 1

21.2 Encoder data update error

21.3 Encoder data waveform error

21.4 Encoder non-signal error

21.5 Encoder hardware error 1

21.6 Encoder hardware error 2

21.9 Encoder data error 2

EDB

EDB

EDB

EDB

EDB

EDB

EDB

8 - 3

8. TROUBLESHOOTING

No. Name

24

25

Main circuit error

Absolute position erased

No.

Detail name

24.1

24.2

25.1

25.2

Ground fault detected by hardware detection circuit

Ground fault detected by software detection function

Servo motor encoder -


Scale measurement encoder -


Stop method

(Note

2, 3)

Alarm deactivation

Alarm reset

CPU reset

Cycling the power

DB

DB

DB

DB

DB

DB

DB

27

Initial magnetic pole detection error

27.4

Initial magnetic pole detection -

Estimated error

DB

DB

DB

DB

28

2A

2B

30 Regenerative error 30.2 Regeneration signal error

31

Linear encoder error 2

Linear encoder error 1

Encoder counter error

Overspeed

28.1

Linear encoder - Environment error

2A.1 Linear encoder error 1-1








2B.1 Encoder counter error 1

2B.2 Encoder counter error 2

30.1 Regeneration heat error

31.1 Abnormal motor speed

Overcurrent detected at

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

DB

DB

DB

SD

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



DB

32.2

32 Overcurrent

32.3

(during operation)

Overcurrent detected at software detection function

(during operation)

Overcurrent detected at hardware detection circuit

(during a stop)

Overcurrent detected at

DB

DB

DB

33 Overvoltage

(during a stop)

33.1 Main circuit voltage error EDB

8 - 4

8. TROUBLESHOOTING

No. Name

34

SSCNET receive error 1

No.

Detail name

34.1 SSCNET receive data error

Stop method

(Note

2, 3)

SD

Alarm deactivation

Alarm reset

CPU reset

Cycling the power

(Note 5)

34.2

34.3

SSCNET connector connection error

SSCNET communication data error

SD

SD

34.4 Hardware error signal detection SD

34.5

34.6

SSCNET receive data error

(safety observation function)

SSCNET communication data error (safety observation function)

SD

SD

35

Command frequency error

35.1 Command frequency error SD

36

SSCNET receive error 2

36.1

36.2

Continuous communication data error

Continuous communication data error (safety observation function)

37.1 Parameter setting range error

SD

SD

37.3 Point table setting error

DB

DB

DB

DB

DB

3A

3D

3E

42

45

39.2 error

Instruction argument external error

39.3 Register No. error

39.4

Non-correspondence instruction error

Inrush current suppression circuit error

3A.1

Inrush current suppression circuit error

Parameter setting error for driver communication

Operation mode error

Servo control error

(for linear servo motor and direct drive motor)

3D.1

3D.2

Parameter combination error for driver communication on slave

Parameter combination error for driver communication on master

3E.1 Operation mode error

3E.6 Operation mode switch error

42.1

42.2

42.3

Servo control error by position deviation

Servo control error by speed deviation

Servo control error by torque/thrust deviation

Fully closed loop control error

(for fully closed loop control)

Main circuit device overheat

42.8

42.9

42.A

45.1

45.2

Fully closed loop control error by position deviation

Fully closed loop control error by speed deviation

Fully closed loop control error by position deviation during command stop

Main circuit device overheat error 1

Main circuit device overheat error 2

DB

DB

EDB

DB

DB

DB

DB

EDB (Note 4) (Note 4)






SD

SD

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

8 - 5

8. TROUBLESHOOTING

No. Name

46

Servo motor overheat

No.

Detail name

46.3 Thermistor disconnected error

46.4 Thermistor circuit error

47.1 Cooling fan stop error

Stop method

(Note

2, 3)

SD

Alarm deactivation

Alarm reset

CPU reset

Cycling the power


SD

SD

SD

DB

DB

SD






Cooling fan error

SD

50.3

51.1

Thermal overload error 4 during operation

Thermal overload error 3 during operation

52.1 Excess droop pulse 1


SD

SD

SD

SD

SD

SD

DB

DB

SD

SD

SD

54

Oscillation detection


54.1 Oscillation detection error

EDB

EDB

56.2 Over speed during forced stop EDB

Forced stop error

EDB

61

63

64

Operation error

Functional safety unit setting error

61.1 Point table setting range error

STO timing error 63.2 STO2 off

63.5 STO by functional safety unit

64.3 Operation mode setting error

DB

DB

DB

DB

64.1 STO input error DB

64.2 Compatibility mode setting error DB

DB









8 - 6

8. TROUBLESHOOTING

No. Name

No.

Detail name

Stop method

(Note

2, 3)

Alarm deactivation

Alarm reset

CPU reset

Cycling the power

SD

SD

SD

65

Functional safety unit connection error

65.4

Functional safety unit communication error 4

SD

SD

SD

SD

DB


66

Encoder initial communication error (safety observation function)

66.2 observation function)


Receive data error 2 (safety observation function)

Encoder initial communication - observation function)



Encoder initial communication - observation function)

Encoder normal

67.2 function)

Encoder normal communication - Receive data error 2 (safety observation function)

Encoder normal

67


(safety observation function) error 3 (safety observation function)

Encoder normal function)

Encoder normal function)

68

STO diagnosis error

68.1 Mismatched STO signal error

69.1

Forward rotation-side software limit detection - Command excess error

Reverse rotation-side software limit detection - Command excess error

Forward rotation stroke end detection - Command excess error

Reverse rotation stroke end detection - Command excess error

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

SD

SD

SD

SD

SD

SD

8 - 7

8. TROUBLESHOOTING

No. Name

No.

Detail name

70.1

Load-side encoder initial communication - Receive data error 1

Load-side encoder initial error 2

Load-side encoder initial error 3

Load-side encoder initial malfunction (Note 6)

Load-side encoder initial data error 1

Load-side encoder initial

Load-side encoder initial communication

70.7 data error 2

Load-side encoder initial communication - Transmission data error 3


70 encoder (Note 6)


Stop method

(Note

2, 3)

Alarm deactivation

Alarm reset

CPU reset

Cycling the power

DB

DB

DB

DB

DB

DB

DB

DB

DB

1


DB

2


DB

3


DB

4


DB

5


DB

6

Load-side encoder normal

EDB error 1


EDB error 2


EDB

71

Load-side encoder normal communication error 1

71.5

71.6 error 3

Load-side encoder normal communication - Transmission data error 1

Load-side encoder normal communication - Transmission data error 2


EDB

EDB

EDB data error 3


EDB error 4


EDB error 5

8 - 8

8. TROUBLESHOOTING

No. Name

No.

Detail name

Stop method

(Note

2, 3)

72.1 Load-side encoder data error 1 EDB

Alarm deactivation

Alarm reset

CPU reset

Cycling the power

EDB

72.3

Load-side encoder data waveform error

EDB

Load-side encoder communication error 2

Load-side encoder hardware error 1

EDB

EDB

72.9 Load-side encoder data error 2 EDB

74.1 Option card error 1 DB

74.2 Option card error 2

74 Option card error 1 74.3 Option card error 3


DB

DB

DB

75 Option card error 2


75.3 Option card connection error

75.4 Option card disconnected

DB

EDB

DB

EDB

DB

(Note 7)

79

Functional safety unit diagnosis error

79.3

Abnormal temperature of functional safety unit

79.4 Servo amplifier error

79.5 Input device error

79.6 Output device error

79.7 Mismatched input signal error

79.8 Position feedback fixing error

7A.1

Parameter verification error


DB

SD

SD

SD

SD

SD

DB

(Note 7)

DB

DB error


DB

Functional safety unit

DB observation function)

7B

Encoder diagnosis error

7B.2

Encoder diagnosis error 2

(safety observation function) function)

DB

DB

DB

7C

Functional safety unit communication diagnosis error

7C.1

Functional safety unit communication setting error


Functional safety unit function)


DB

SD

(Note 7)

SD

(Note 7)

7D

Safety observation error

82

Master-slave operation error 1

7D.1 Stop observation error

7D.2 Speed observation error

DB

DB

(Note 3)

(Note 7)

82.1 Master-slave operation error 1 EDB

8 - 9

8. TROUBLESHOOTING

No. Name

84

85

86

Network module initialization error

Network module error

Network communication error

No.

Detail name

Stop method

(Note

2, 3)

Alarm deactivation

Alarm reset

CPU reset

Cycling the power

84.1

84.2

Network module undetected error

Network module initialization error 1

DB

DB

84.3

Network module initialization error 2

85.1 Network module error 1

DB

SD



SD

SD

86.1 Network communication error 1 SD



8A

USB communication time-out error/serial communication time-out error/Modbus RTU communication time-out error

8A.1

8A.2

USB communication time-out error/serial communication time-out error

Modbus RTU communication time-out error

SD

SD

SD

8D

CC-Link IE communication error

8D.3 Master station setting error 1

8D.5 Master station setting error 2

SD

DB

DB

SD

SD

8D.9 Synchronization error 1

8D.A Synchronization error 2

USB communication receive receive error

USB communication checksum

SD

SD

SD

SD

SD

8E

USB communication error/serial communication error/Modbus RTU communication error

8E.3

8E.4

8E.5 checksum error

USB communication character error/serial communication character error

USB communication command error/serial communication command error

USB communication data number error/serial communication data number error

SD

SD

SD

SD

88888 Watchdog 8888._

SD

SD

DB

8 - 10

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.


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


HG-AK HG-AK0136/HG-AK0236/HG-AK0336

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].

4. The alarm can be canceled by setting as follows:

For the fully closed loop control: set [Pr. PE03] to "1 _ _ _".

When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _".

5. 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 - 11

8. TROUBLESHOOTING

8.3 Warning list

No. Name

Detail

No.

Detail name

90.1 Home position return incomplete

Home position warning

90.5

91

Servo amplifier overheat warning

(Note 1)

91.1

Main circuit device overheat warning

92

Battery cable disconnection

92.1

Encoder battery cable disconnection warning

Stop method

(Note 2,

3)

93

ABS data transfer warning

96

Home position

93.1

95.1 STO1 off detection

95.2 STO2 off detection

95.3

96.2

ABS data transfer requirement warning during magnetic pole detection

STO warning 1 (safety observation function)

Command input warning at home positioning

97

Positioning specification warning

97.1

Program operation disabled warning

97.2 Next station position warning

98.1

Forward rotation-side software stroke limit reached

98

Software limit

99.1 Forward rotation stroke end off

99 Stroke limit warning

99.2 Reverse rotation stroke end off

9A

Optional unit input data error warning

99.4 Upper stroke limit off

99.5 Lower stroke limit off

9A.1 Optional unit input data sign error

9A.2 Optional unit BCD input data error

9B.1 Excess droop pulse 1 warning

9B

Error excessive warning

9B.3 Excess droop pulse 2 warning

Error excessive warning during 0 torque limit

9C Converter error 9C.1 Converter unit error

CC-Link IE warning

1

9D.2 Master station setting warning

(Note

4, 5)

(Note

4, 5)

(Note 5)

(Note 5)

DB

DB

DB

DB

DB

8 - 12

8. TROUBLESHOOTING

No.

9E

Name

Detail

No.

Detail name

CC-Link IE warning

2

9E.1 CC-Link IE communication warning

Stop method

(Note 2,

3)

E0

Excessive regeneration warning

E0.1 Excessive regeneration warning

E1 Overload warning 1

E1.4

Thermal overload warning 4 during operation

E2

Servo motor overheat warning

Absolute position counter warning

E2.1 Servo motor temperature warning

E3.2 Absolute position counter warning

E5

ABS time-out warning

Servo forced stop warning

E5.1 Time-out during ABS data transfer

E5.2 ABSM off during ABS data transfer

E5.3 SON off during ABS data transfer

E6.1 Forced stop warning warning

E7.1 Controller forced stop warning

E8

Cooling fan speed reduction warning

E8.1

Decreased cooling fan speed warning

E8.2 Cooling fan stop

E9.1

Servo-on signal on during main circuit off

E9

Main circuit off warning

Bus voltage drop during low speed operation

E9.4 Converter unit forced stop

EA

ABS servo-on warning

EA.1 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

SD

SD

SD

SD

DB

DB

DB

DB

DB

8 - 13

8. TROUBLESHOOTING

No. Name

Detail

No.

Detail name

ED

Output watt excess warning

ED.1 Output watt excess warning

F0 Tough drive warning

F0.1

Instantaneous power failure tough drive warning

F0.3 Vibration tough drive warning

F2

Drive recorder -

Miswriting warning

F2.1

Drive recorder - Area writing timeout warning

Drive recorder - Data miswriting warning

F3

Oscillation detection warning

F3.1 Oscillation detection warning

F4.4

Target position setting range error warning

Stop method

(Note 2,

3)

F5

F6

Simple cam function - Cam data miswriting warning

F5.1

Cam data - Area writing time-out warning

F5.2 Cam data - Area miswriting warning

F5.3 Cam data checksum error

F6.1

Cam axis one cycle current value restoration failed

Simple cam

Cam axis feed current value restoration failed function - Cam F6.3 Cam unregistered error control warning Cam control data setting range error

F6.5 Cam No. external error

F6.6 Cam control inactive

F7.1 Vibration failure prediction warning

F7

Machine diagnosis warning

F7.2 Friction failure prediction warning

Total travel distance failure prediction warning

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

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

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

Coasts for MR-J4-03A6(-RJ) 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. 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 Description Cause Checkpoint Action

AA Communication with the servo system controller has disconnected.

The power of the servo system controller was turned off.

A SSCNET III cable was disconnected.

Check the power of the servo system controller.

Switch on the power of the servo system controller.

Replace the SSCNET III cable of the corresponding axis.

Ab Initialization communication with the servo system controller has not completed.

The power of the servo amplifier was turned off.

The control axis is disabled.

The setting of the axis

No. is incorrect.

"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.

Check if the disabling control axis switch (SW2-2) is on.

Check that the other servo amplifier is not assigned to the same axis No.

Check the setting and axis No. of the servo system controller.

Connect it correctly.

Check the power of the servo amplifier.

Replace the servo amplifier of the corresponding axis.

Turn off the disabling control axis switch (SW2-2).

Set it correctly.

Set it correctly. Axis No. does not match with the axis No. set to the servo system controller.

Information about the servo series has not set in the simple motion module.

Check the value set in Servo series (Pr 100) in the simple motion module.

Set it correctly.

Ab

AC or

Communication between servo system controller and servo amplifier are repeating connection and shut-off. does not match.

A SSCNET III cable was disconnected.

The power of the servo amplifier was turned off.

The servo amplifier is malfunctioning.

An MR-J4-_B_(-RJ) servo amplifier or MR-J4W_-_B servo amplifier which is set to J3 compatibility mode is connected to the

SSCNET III/H network.

Check the communication cycle 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

"Ab" is displayed in the corresponding axis and following axes.

Check if the connectors (CNIA,

CNIB) are unplugged.

"Ab" is displayed in an axis and the following axes.

"Ab" is displayed in an axis and the following axes.

Check if "J3 compatibility mode" is set using "MR-J4(W)-B mode selection" which came with MR

Configurator2.

Set it correctly.

Replace the SSCNET III cable of the corresponding axis.

Connect it correctly.

Ab

Check the power of the servo amplifier.

Replace the servo amplifier of the corresponding axis.

Select "J4 mode" with "MR-

J4(W)-B mode selection".

AC

Ad b##.

(Note)

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

Note. ## indicates axis No.

Test operation mode has been enabled.

Operation mode for manufacturer setting is enabled.

Test operation setting switch

(SW2-1) is turned on.

Check if all of the control axis setting switches (SW2) are on.

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

Set the control axis setting switches (SW2) correctly.

8 - 15

8. TROUBLESHOOTING

MEMO

8 - 16

9. DIMENSIONS

9. DIMENSIONS

9.1 Servo amplifier

POINT

Only MR-J4-_B_-RJ are shown for dimensions. MR-J4-_B_ does not have

CN2L, CN7 and CN9 connectors. The dimensions of MR-J4-_B_ are not different from those of MR-J4-_B_-RJ except CN2L, CN7 and CN9 connectors.

9 - 1

9. DIMENSIONS

(1) 200 V class

(a) MR-J4-10B(-RJ)/MR-J4-20B(-RJ)

Lock knob

φ 6 mounting hole 6

40

Approx. 80 135

[Unit: mm]

PE

Approx. 38.5

6

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

L11

L21

CNP3

U

V

W

PE

Terminal

Screw size: M4

Tightening torque: 1.2 [N•m]

9 - 2

With

MR-BAT6V1SET

Approx. 69.3

4

Mass: 0.8 [kg]

Mounting screw

Screw size: M5


Approx. 40

6 2-M5 screw

Mounting hole process drawing

9. DIMENSIONS

(b) MR-J4-40B(-RJ)/MR-J4-60B(-RJ)

φ 6 mounting hole

Lock knob

6

40

Approx. 80 170

[Unit: mm]

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

L11

L21

CNP3

U

V

W

PE

Terminal

Approx. 38.5

6

PE

With

MR-BAT6V1SET

Approx. 69.3

5

Mass: 1.0 [kg]

Mounting screw

Screw size: M5


Approx. 40

6

2-M5 screw

Screw size: M4



9 - 3

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

9. DIMENSIONS

(c) MR-J4-70B(-RJ)/MR-J4-100B(-RJ)

φ 6 mounting hole

Lock knob

60

12 Approx. 80

[Unit: mm]

185

Exhaust

Terminal

PE

6

12 42

Approx. 38.5

With

MR-BAT6V1SET

Approx. 69.3

Cooling fan air intake

6

Mass: 1.4 [kg]

Mounting screw

Screw size: M5


Approx. 60

3-M5 screw

Screw size: M4


Approx. 12 42 ± 0.3

Approx. 6


9 - 4

L11

L21

CNP3

U

V

W

PE

CNP1

L1

L2

L3

N-

P3

P4

CNP2

P+

C

D

9. DIMENSIONS

(d) MR-J4-200B(-RJ)

[Unit: mm]

φ 6 mounting hole

Lock knob

45

90

85

Terminal

Approx. 80

PE

6

6 78

Approx. 38.5

6

With

MR-BAT6V1SET

Approx. 69.3


6

Mass: 2.1 [kg]

Mounting screw

Screw size: M5


Approx. 90

195

Exhaust

3-M5 screw

Screw size: M4


Approx. 6 78 ± 0.3

Approx. 6


9 - 5

9. DIMENSIONS

(e) MR-J4-350B(-RJ)

φ 6 mounting hole

Lock knob

45

90

85

Approx. 80 195

Exhaust

CNP1

L1

L2

L3

N-

P3

P4

CNP3

U

V

W

CNP2

P+

C

D

L11

L21

PE

PE

6

6 78

Approx. 38.5

6

With

MR-BAT6V1SET


Approx. 69.3

Terminal

6

Mass: 2.3 [kg]

Mounting screw

Screw size: M5


Approx. 90

Screw size: M4


6

(R)

φ 13 hole

Mounting hole dimensions

3-M5 screw

Approx. 6 78 ± 0.3

Approx. 6


9 - 6

[Unit: mm]

9. DIMENSIONS

(f) MR-J4-500B(-RJ)

[Unit: mm]

TE2

L11

L21

TE1

TE3

P3

P4

P+

C

TE4

L1

L2

L3

N-

D

U

V

W

PE

Approx. 25

2φ 6 mounting hole

6

105

93 6

Approx. 80

Approx. 28

200

Cooling fan exhaust

6

6

With

MR-BAT6V1SET

Intake

TE2

TE1

TE3

TE4

PE pprox. 34

Terminal

TE2 Screw size: M3.5


TE1 Screw size: M4


TE3 Screw size: M4


TE4 Screw size: M4


PE Screw size: M4


Approx. 6

Mass: 4.0 [kg]

Mounting screw

Screw size: M5


Approx. 105

93 ± 0.5

Approx. 6

4-M5 screw


9 - 7

9. DIMENSIONS

(g) MR-J4-700B(-RJ)

[Unit: mm]

2φ 6 mounting hole 6

172

160 6

Approx. 80 200

Approx. 28

Cooling fan exhaust

6

6

With

MR-BAT6V1SET

Intake

TE3

TE1

PE

Built-in regenerative resistor lead terminal fixing screw

Screw size: M4


TE2

Terminal

TE3 N- P3 P4

TE1 L1 L2 L3 P+ C U V W TE2

L11 L21

PE

TE3 Screw size: M4


TE1 Screw size: M4




PE Screw size: M4


Approx. 6

Mass: 6.2 [kg]

Mounting screw

Screw size: M5


Approx. 172

160 ± 0.5

Approx. 6

4-M5 screw


9 - 8

9. DIMENSIONS

(h) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)

[Unit: mm]


220

196 12

Approx. 80 260

Approx. 28

Cooling fan exhaust

10.5

6

With

MR-BAT6V1SET

188 Intake

224.2

237.4

24.2

TE2

11

60 78.5

25.5

57.9

5 × 25.5 (= 127.5)

22.8

PE

TE1-1

TE1-2

Terminal

TE1-1 L1 L2 L3 U V W

TE1-2 P3 P4 P+ C N-

PE

TE2 L11 L21

TE1-1 Screw size: M6




TE2 Screw size: M4


PE Screw size: M6


Approx. 139.5

Approx. 12

Mass: 13.4 [kg]

Mounting screw

Screw size: M5


Approx. 220

196 0.5

Approx. 12

4-M5 screw

10 Mounting hole process drawing

9 - 9

9. DIMENSIONS

(i) MR-J4-22KB(-RJ)

[Unit: mm]

2φ 12 mounting hole

12

260

236 12

Approx. 80

260

Approx. 28

Cooling fan exhaust

12 With

MR-BAT6V1SET

188.5

223.4

Intake

235.4

TE2

32.7

11

25.5

22.8

59.9

5 × 25.5 (= 127.5)

TE1-1

TE1-2

PE

Terminal


TE1-2 P3 P4 P+ C N-

PE TE2 L11 L21





TE2

PE

Screw size: M4


Screw size: M8


9 - 10

Approx. 12

Mass: 18.2 [kg]

Mounting screw

Screw size: M10


Approx. 260

236 ± 0.5

Approx. 12

4-M10 screw


L11

L21

CNP3

U

V

W

PE

CNP1

N-

L1

L2

L3

P3

P4

CNP2

P+

C

D

9. DIMENSIONS

(2) 400 V class

(a) MR-J4-60B4(-RJ)/MR-J4-100B4(-RJ)

φ 6 mounting hole

Lock knob

60

12 Approx. 80

[Unit: mm]

185

Exhaust

Terminal

PE

6

12 42

Approx. 38.5

With

MR-BAT6V1SET

Approx. 69.3


6

Mass: 1.7 [kg]

Mounting screw

Screw size: M5


Approx. 60

Screw size: M4


3-M5 screw

42 ± 0.3

Approx. 12 Approx. 6


9 - 11

L11

L21

CNP3

U

V

W

PE

CNP1

N-

L1

L2

L3

P3

P4

CNP2

P+

C

D

9. DIMENSIONS

(b) MR-J4-200B4(-RJ)

[Unit: mm]

φ 6 mounting hole

Lock knob

45

90

85

Terminal

Approx. 80 195

Exhaust

PE

6

6 78

Approx. 38.5

6

With

MR-BAT6V1SET


Approx. 69.3

6 ox. 6

Mass: 2.1 [kg]

Mounting screw

Screw size: M5


Approx. 90

Screw size: M4


3-M5 screw

Approx. 6 78 ± 0.3

Approx. 6


9 - 12

9. DIMENSIONS

(c) MR-J4-350B4(-RJ)

[Unit: mm]

2φ 6 mounting hole

Lock knob

CNP1

CNP2

CNP3

6

105

93 6

Approx. 80

Approx. 28

200

Cooling fan exhaust

6

With

MR-BAT6V1SET

6 Intake

CNP1

N-

L1

L2

L3

P3

P4

CNP2

P+

C

D

L11

L21

CNP3

U

V

W

PE

Terminal

Screw size: M4


9 - 13

Approx. 6

Mass: 3.6 [kg]

Mounting screw

Screw size: M5


Approx. 105

93 ± 0.5

Approx. 6

4-M5 screw


9. DIMENSIONS

(d) MR-J4-500B4(-RJ)

[Unit: mm]

Approx. 28

Approx. 200 6

130

118

TE2

L11 L21

TE3

Terminal

N- P3 P4

TE1 L1 L2 L3 P+ C U V W

PE



TE3 Screw size: M4


TE1 Screw size: M4


PE Screw size: M4


Approx. 80

Approx. 28

200

Cooling fan exhaust

6

With

MR-BAT6V1SET

TE2

TE1

TE3

Intake

PE


Screw size: M4


Approx. 6

Mass: 4.3 [kg]

Mounting screw

Screw size: M5


Approx. 130

118 ± 0.5

Approx. 6

4-M5 screw


9 - 14

9. DIMENSIONS

(e) MR-J4-700B4(-RJ)

[Unit: mm]


172

160 6

Approx. 80 200

Approx. 28

Cooling fan exhaust

6

6

With

MR-BAT6V1SET

Intake

TE3

TE1

PE


Screw size: M4


TE2

Terminal

TE3 N- P3 P4

TE1 L1 L2 L3 P+ C U V W TE2

L11 L21

PE

TE3 Screw size: M4


TE1 Screw size: M4




PE Screw size: M4


Approx. 6

Mass: 6.5 [kg]

Mounting screw

Screw size: M5


Approx. 172

160 0.5

Approx. 6

4-M5 screw


9 - 15

9. DIMENSIONS

(f) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)

[Unit: mm]


220

196 12

Approx. 80 260

Approx. 28

Cooling fan exhaust

10.5

6

With

MR-BAT6V1SET

188 Intake

224.2

237.4

24.2

TE2

11

60 78.5

25.5

57.9

5 × 25.5 (= 127.5)

22.8

PE

TE1-1

TE1-2

Terminal


TE1-2 P3 P4 P+ C N-

PE

TE2 L11 L21





TE2 Screw size: M4


PE Screw size: M6


Approx. 139.5

Approx. 12

Mass: 13.4 [kg]

Mounting screw

Screw size: M5


Approx. 220

196 0.5

Approx. 12

4-M5 screw

10 Mounting hole process drawing

9 - 16

9. DIMENSIONS

(g) MR-J4-22KB4(-RJ)

[Unit: mm]


12

260

236 12

Approx. 80

260

Approx. 28

Cooling fan exhaust

12 With

MR-BAT6V1SET

188.5

223.4

Intake

235.4

TE2

32.7

11

25.5

22.8

59.9

5 × 25.5 (= 127.5)

TE1-1

TE1-2

PE

Terminal


TE1-2 P3 P4 P+ C N-

PE TE2 L11 L21





TE2

PE

Screw size: M4


Screw size: M8


9 - 17

Approx. 12

Mass: 18.2 [kg]

Mounting screw

Screw size: M10


Approx. 260

236 ± 0.5

Approx. 12

4-M10 screw


9. DIMENSIONS

(3) 100 V class

(a) MR-J4-10B1(-RJ)/MR-J4-20B1(-RJ)

Lock knob

φ 6 mounting hole 6

40

Approx. 80 135

[Unit: mm]

CNP1

L1

L2

N-

CNP2

P+

C

D

L11

L21

CNP3

U

V

W

PE

Terminal

Approx. 38.5

6

PE

With

MR-BAT6V1SET Approx. 69.3

4

Mass: 0.8 [kg]

Mounting screw

Screw size: M5


Approx. 40

2-M5 screw

6

Screw size: M4



9 - 18

9. DIMENSIONS

(b) MR-J4-40B1(-RJ)

φ 6 mounting hole

Lock knob

6

40

Approx. 80

170

[Unit: mm]

PE

6

Approx. 38.5

CNP1

L1

L2

N-

CNP2

P+

C

D

L11

L21

CNP3

U

V

W

PE

Terminal

Screw size: M4


With

MR-BAT6V1SET

Approx. 69.3

5

Mass: 1.0 [kg]

Mounting screw

Screw size: M5


Approx. 40

2-M5 screw

6


9 - 19

9. DIMENSIONS

9.2 Connector

(1) CN1A/CN1B connector

F0-PF2D103

4.8

17.6 ± 0.2

20.9 ± 0.2

8

(2) Miniature delta ribbon (MDR) system (3M)

(a) One-touch lock type

1.7

2.3

F0-PF2D103-S

4.8

17.6 ± 0.2

20.9 ± 0.2

E

A C

8

[Unit: mm]

[Unit: mm]

1.7

2.3

Logo, etc., are indicated here.

B 12.7

Each type of dimension

A B C D E

10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0

9 - 20

9. DIMENSIONS

(b) Jack screw M2.6 type

This is not available as option.

A C

[Unit: mm]

E

F

Logo, etc., are indicated here.

B

12.7

kit

Each type of dimension

A B C D E F

10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 27.4

(3) SCR connector system (3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

[Unit: mm]

39.5

34.8

9 - 21

9. DIMENSIONS

MEMO

9 - 22

10. CHARACTERISTICS

10. CHARACTERISTICS

POINT

For the characteristics of the linear servo motor and the direct drive motor, refer to sections 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. (The servo motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)

10 - 1

10. CHARACTERISTICS

The following table shows combinations of each servo motor and graph of overload protection characteristics.

Rotary servo motor

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

Graph of overload protection characteristics

053

13

23

43

73

053

13

23

43

73

51

81

52

102

73

103

201

152

202

301

352

202

103

153

203

73 (Note)

103 (Note)

153 (Note)

203 (Note)

353

Characteristics c

502

702

502

353

503

353 (Note)

601

701M

503 (Note)

703

Characteristics d

1024

12K1

15K1

20K1

25K1

11K1M

15K1M

22K1M

903

734

1034

2024

3524

7024

1034

(Note)

1534

(Note)

2034

(Note)

3534

(Note)

6014

701M4

5034

(Note)

7034

12K14

15K14

20K14

25K14

11K1M4

15K1M4

22K1M4

9034

Note. This combination is for increasing the maximum torque of the servo motor to 400%.

10 - 2

10. CHARACTERISTICS

The following graphs show overload protection characteristics.

1000 1000

Operating

100

100

Servo-lock

10

1

10

1

Servo-lock

Operating

0.1

0

1000

50 100 150 200 250

(Note 1, 2) Load ratio [%]

300 350

Characteristics a

0.1

0 50 100 150 200 250

(Note 1, 2, 3) Load ratio [%]

300 350 400

Characteristics b

1000

Operating Operating

100 100

Servo-lock

10

Servo-lock

10

1 1

0.1

0 50 100 150 200 250


300 350 400

Characteristics c

0.1

0 50 100 150 200 250


300 350 400

Characteristics d

10 - 3

10. CHARACTERISTICS

10000

1000

Operating

100

Servo-lock

10

1

0 50 100 150 200

(Note 1) Load ratio [%]

250 300

Characteristics e

Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.

2. The load ratio ranging from 300% to 350% applies to the HG-KR servo motor.

3. The operation time at the load ratio of 300% to 400% applies when the maximum torque of HG-JR servo motor is increased to

400% of rated torque.

Fig. 10.1 Electronic thermal protection characteristics

10 - 4

10. CHARACTERISTICS

10.2 Power supply capacity and generated loss

(1) Amount of heat generated by the servo amplifier

Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.

For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the servo motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.

Table 10.1 Power supply capacity and generated loss per servo motor at rated output


(Note 1)


[kVA]

(Note 2) Servo amplifier-generated heat [W]

At rated output

At rated output

[Generated heat in the cabinet when cooled outside the cabinet] (Note 3)

With servo-off

Area required for heat dissipation

[m 2 ]

MR-J4-10B(-RJ)

MR-J4-20B(-RJ)

MR-J4-40B(-RJ)

MR-J4-60B(-RJ)

MR-J4-70B(-RJ)

MR-J4-100B(-RJ)

MR-J4-200B(-RJ)

MR-J4-350B(-RJ)

MR-J4-500B(-RJ)

MR-J4-700B(-RJ)

25 6.0

10 - 5

10. CHARACTERISTICS


(Note 1)


[kVA]

(Note 2) Servo amplifier-generated heat [W]

At rated output

At rated output

[Generated heat in the cabinet when cooled outside the cabinet] (Note 3)

With servo-off


[m 2 ]

MR-J4-11KB(-RJ)

HG-JR11K1M 16 530 160 45 11.0

MR-J4-15KB(-RJ)

HG-JR15K1M 22 640 195 45 13.0

HG-JR22K1M 33 850 260 55 17.0

MR-J4-22KB(-RJ)

MR-J4-60B4(-RJ)

18 0.8

MR-J4-100B4(-RJ) HG-JR734 1.3 60 18 1.2

MR-J4-200B4(-RJ)

MR-J4-350B4(-RJ)

MR-J4-500B4(-RJ)

MR-J4-700B4(-RJ)

HG-JR701M4 10 300

20 1.8

20 2.6

25 3.9

25 6.0

25 6.0

MR-J4-11KB4(-RJ)

HG-JR11K1M4 16 530 160 45 11.0

MR-J4-15KB4(-RJ)

MR-J4-22KB4(-RJ)

HG-JR12K14 18 570 170 45 11.5

HG-JR15K1M4 22 640 195 45 13.0

HG-JR15K14 22 640 195 45 12.8

HG-JR22K1M4 33 850 260 55 17.0

HG-JR20K14 30 800 240 55 16.0

HG-JR25K14 38 900 270 55 19.0

MR-J4-10B1(-RJ)

MR-J4-20B1(-RJ)

MR-J4-40B1(-RJ)

Note 1. The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power factor improving AC reactor or power factor improving DC reactor is not used.

2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 11.2.

3. This value is applicable when the servo amplifier is cooled by using the panel through attachment.

10 - 6

10. CHARACTERISTICS

(2) Heat dissipation area for an enclosed type cabinet

The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 °C at the ambient temperature of 40 °C. (With an approximately 5 °C safety margin, the system should operate within a maximum 55 °C limit.) The necessary cabinet heat dissipation area can be calculated by equation 10.1.

A =

K •

P

T

················································································································· (10.1)

A: Heat dissipation area [m 2 ]

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 10.1, assume that P is the sum of all losses generated in the cabinet. Refer to table 10.1 for heat generated by the servo amplifier. "A" indicates the effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra amount must be added to the cabinet's surface area. The required heat dissipation area will vary with the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a cooling fan should be considered. Table 10.1 lists the cabinet dissipation area for each servo amplifier

(guideline) when the servo amplifier is operated at the ambient temperature of 40 °C under rated load.

(Outside the cabinet) (Inside the cabinet)

Air flow

Fig. 10.2 Temperature distribution in an enclosed type cabinet

When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the temperature slope inside and outside the cabinet will be steeper.

10 - 7

10. CHARACTERISTICS

10.3 Dynamic brake characteristics

CAUTION

The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance. If an enough braking distance is not provided, a moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.

POINT

Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency.

For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.

Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1

(Forced stop 1) frequently in other than emergency.

Servo motors for MR-J4 may have the different coasting distance from that of the previous model.

The electronic dynamic brake operates in the initial state for the HG series servo motors of 600 W or smaller capacity. The time constant " τ " for the electronic dynamic brake will be shorter than that of normal dynamic brake. Therefore, coasting distance will be longer than that of normal dynamic brake. For how to set the electronic dynamic brake, refer to [Pr. PF06] and [Pr. PF12].

10 - 8

10. CHARACTERISTICS

10.3.1 Dynamic brake operation

(1) Calculation of coasting distance

Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ varies with the servo motor and machine operation speeds. (Refer to (2) (a), (b) in this section.)

A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a maximum coasting distance calculated with the following equation.

ON

EM1 (Forced stop 1)

OFF

Dynamic brake time constant τ

Machine speed

V

0 t e

Time

Fig. 10.3 Dynamic brake operation diagram

L max

=

V

0

60

• t e

+

J

L

M

··························································································· (10.2)

L max

: Maximum coasting distance ······················································································ [mm]

V

0

: Machine's fast feed speed ····················································································· [mm/min]

J

M

: Moment of inertia of the servo motor ··································································· [× 10 -4 kg•m 2 ]

J

L

: Load moment of inertia converted into equivalent value on servo motor shaft ·············· [× 10 -4 kg•m 2 ]

τ : Dynamic brake time constant ···························································································· [s] t e

: Delay time of control section ···························································································· [s]

For the servo amplifier of 7 kW or less, there is internal relay delay time of about 10 ms. For the servo amplifier of 11 kW to 22 kW, there is delay caused by magnetic contactor built into the external dynamic brake (about 50 ms) and delay caused by the external relay.

10 - 9

10. CHARACTERISTICS

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 10.2.

(a) 200 V class

50 50

40 40

30 73

43

20

053

23

10

13

0

0 1000 2000 3000 4000 5000 6000

Speed [r/min]

30 73 43

20

23

10 053

0

13

0 1000 2000 3000 4000 5000 6000

Speed [r/min]

260

220

180

140

100

60

20

0

0

HG-MR series

100

80

60 51 81

40

121

201

20

421

301

0

0 250 500 750 1000 1250 1500

Speed [r/min]

100

90

80

70

60

50

40

30

20

10

0

0

HG-SR 1000 r/min series

25K1

15K1

20K1

500

12K1

1000

601

1500

Speed [r/min]

801

2000

HG-JR1000 r/min series

73

903

53

503

353

703

103

203 153

1000 2000 3000 4000 5000 6000

Servo motor speed [r/min]

350

300

250

200

150

100

50

0

0

HG-KR series

102

52

202

352

152 502

702

500 1000 1500 2000 2500 3000

Speed [r/min]


40

30

20

10

0

0

80

70

60

50

701M

22K1M

15K1M

11K1M

500 1000 1500 2000 2500 3000

Speed [r/min]


18

16

14

12

10 103 503

8

6

153

4

2

353

203

0

0 500 1000 1500 2000 2500 3000


HG-JR3000 r/min series HG-RR series

10 - 10

10. CHARACTERISTICS

100

90

80

70

60

50

40

30

20

10

0

0

72

152

352

502

202

500 1000 1500 2000


HG-UR series

(b) 400 V class

100

80

3524

524

60

40 5024

2024

20

1024

1524

7024

0

0 500 1000 1500 2000 2500 3000

Speed [r/min]

HG-SR series

70

60

50

40

11K1M4

30

20

10

0

0

701M4

22K1M4

15K1M4

500 1000 1500 2000 2500 3000

Speed [r/min]


60

50

40

30

15K14

25K14

20

10

0

0

20K14

12K14

6014

500 1000

Speed [r/min]

1500

8014

2000


120

100

7034

80 534

9034

60

3534

1034

40

20

5034

0

2034

1534 734

0 1000 2000 3000 4000 5000 6000

Speed [r/min]


10 - 11

10. CHARACTERISTICS

10.3.2 Permissible load to motor inertia when the dynamic brake is used

Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia moment is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor. The value in the parenthesis shows the value at the rated speed.

Permissible load to motor inertia Permissible load to motor inertia

Servo motor ratio [multiplier] ratio [multiplier]

HG-MR23

HG-SR51

HG-JR703

HG-JR11K1M

HG-SR52

HG-SR152

HG-SR352

HG-SR1024

HG-SR2024

HG-JR12K1 (30)

HG-JR15K1

HG-JR25K1

HG-JR734

HG-JR3534

HG-JR7034

20 (30) (Note)

HG-UR72

HG-UR202

HG-RR103

HG-JR15K1M4

HG-JR6014

HG-JR15K14

10

HG-RR353

Note. When the maximum torque is increased to 400%, the permissible load to motor inertia ratio at the maximum speed of the servo motor is 25 times.

10 - 12

10. CHARACTERISTICS

10.4 Cable bending life

The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.

1 × 10 8

5 × 10 7 a

1 × 10 7

5 × 10 6

1 × 10 6

5 × 10 5

1 × 10 5

5 × 10 4 a: Long bending life encoder cable

Long bending life motor power cable

Long bending life electromagnetic brake cable

SSCNET III cable using long distance cable b: Standard encoder cable

Standard motor power cable

Standard electromagnetic brake cable

SSCNET III cable using inside panel standard cord

SSCNET III cable using outside panel standard cable

1 × 10 4

5 × 10 3 b

1 × 10 3

4 7 10 20 40

Bend radius [mm]

70 100 200

10 - 13

10. CHARACTERISTICS

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

POINT

For a servo amplifier of 600 W or less, the inrush current values can change depending on frequency of turning on/off the power and ambient temperature.

Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and magnetic contactors. (Refer to section 11.10.)

When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used.

(1) 200 V class

The following shows the inrush currents (reference data) that will flow when 240 V AC servo amplifier) is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m. Even when you use a 1phase 200 V AC power supply with MR-J4-10B(-RJ) to MR-J4-200B(-RJ), the inrush currents of the main circuit power supply is the same.

Servo amplifier

Inrush currents (A

0-P

)

Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21)

MR-J4-10B(-RJ)

MR-J4-20B(-RJ)

MR-J4-40B(-RJ)

MR-J4-60B(-RJ)

MR-J4-70B(-RJ)

MR-J4-100B(-RJ)

MR-J4-200B(-RJ)

MR-J4-350B(-RJ)

MR-J4-500B(-RJ)

MR-J4-700B(-RJ)

MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

MR-J4-22KB(-RJ)

30 A (attenuated to approx. 3 A in 20 ms)








20 A to 30 A

(attenuated to approx. 1 A in 20 ms)

34 A


42 A


(2) 400 V class

The following shows the inrush currents (reference data) that will flow when 480 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m.

Inrush currents (A

0-P

)

Servo amplifier

Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21)

MR-J4-60B4(-RJ)

MR-J4-100B4(-RJ)

MR-J4-200B4(-RJ)

MR-J4-350B4(-RJ)

MR-J4-500B4(-RJ)

MR-J4-700B4(-RJ)

MR-J4-11KB4(-RJ)

MR-J4-15KB4(-RJ)

MR-J4-22KB4(-RJ)

65 A


80 A


100 A


65 A


68 A


339 A


339 A


339 A


40 A to 50 A


41 A


38 A


10 - 14

10. CHARACTERISTICS

(3) 100 V class

The following shows the inrush currents (reference data) that will flow when 120 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m.

Servo amplifier

Inrush currents (A

0-P

)

Main circuit power supply (L1/L2) Control circuit power supply (L11/L21)

MR-J4-10B1(-RJ)

MR-J4-20B1(-RJ)

MR-J4-40B1(-RJ)

38 A


20 A to 30 A

(attenuated to approx. 0 A in 1 ms to 2 ms)

10 - 15

10. CHARACTERISTICS

MEMO

10 - 16

11. OPTIONS AND PERIPHERAL EQUIPMENT


WARNING

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

CAUTION

Use the specified 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.

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.

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

11 - 1


11.1.1 Combinations of cable/connector sets

For MR-J4-_B_ servo amplifier


Personal computer

5)

8)

Safety logic unit

MR-J3-D05

CN9

CN10

2) 3) 4)

Servo amplifier

7)

8)

Servo amplifier

1) (packed with the servo amplifier)

(Note 1)

CNP1

CNP2

CNP3

CN5

CN3 6)

CN8

CN1A

(Note 2)

CN1B

CN2

CN4

2) 3) 4)

Battery

11)

CN5

CN3

(Note 2)

CN8

CN1A

CN1B

CN2

Cap

(packed with the servo amplifier)

CN4

10) Battery unit

MR-BT6VCASE and

MR-BAT6V1 battery

Servo motor

To 24 V DC power supply for electromagnetic brake

Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for servo motor power supply, electromagnetic brake, and encoder.

Refer to "Linear Encoder Instruction Manual" about options for linear encoder.

To CN2

Power connector

Brake connector

Encoder connector

Linear servo motor

Linear encoder

Power connector

To CN2

The connection method changes depending on incremental system and absolute position detection system.

Refer to "Direct Drive Motor Instruction Manual" about options for direct drive motor power and encoder.

Encoder connector

Direct drive motor

Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. When not using the STO function, attach the short-circuit connector ( 9)) came with a servo amplifier.

11 - 2


For MR-J4-_B_-RJ servo amplifier


Personal computer

8)

Safety logic unit

MR-J3-D05

CN9

5) CN10

2) 3) 4)

Servo amplifier

7)

8)

Servo amplifier

1) (packed with the servo amplifier)

(Note 1)

CNP1

CN5

CN3 6)

CNP2

CNP3

CN8

CN1A

(Note 2)

CN1B

CN2

CN2L

CN4

2) 3) 4)

Battery

11)

CN5

CN3

(Note 2)

CN8

CN1A

CN1B

CN2

CN2L

CN4

Cap


10) Battery unit

MR-BT6VCASE and

MR-BAT6V1 battery

Servo motor

To 24 V DC power supply for electromagnetic brake

Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for servo motor power supply, electromagnetic brake, and encoder.

Refer to "Linear Encoder Instruction Manual" about options for linear encoder.

To CN2

Power connector

Brake connector

Encoder connector

Linear servo motor

Linear encoder

Power connector

To CN2

The connection method changes depending on incremental system and absolute position detection system.

Encoder connector

Direct drive motor

Refer to "Direct Drive Motor Instruction Manual" about options for direct drive motor power and encoder.

Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. When not using the STO function, attach the short-circuit connector ( 9)) came with a servo amplifier.

11 - 3


1) Servo amplifier power connector set

2) SSCNET III cable

3) SSCNET III cable

4) SSCNET III cable

5) USB cable

Model Description

CNP1 Connector:

06JFAT-SAXGDK-H7.5

(JST)

CNP2 Connector:

05JFAT-SAXGDK-H5.0

(JST)

Applicable wire size: 0.8 mm 2 to 2.1 mm 2

(AWG 18 to 14)

Insulator OD: to 3.9 mm

CNP3 Connector:

03JFAT-SAXGDK-H7.5

(JST)

Open tool

J-FAT-OT (N) or

J-FAT-OT

(JST)

Remark

Supplied with 200 V class and

100 V class servo amplifiers of 1 kW or less

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

CNP1 Connector:

06JFAT-SAXGFK-XL

(JST)

(CNP1 and CNP3)

Applicable wire size:

1.25 mm 2 to 5.5 mm 2

(AWG 16 to 10)


CNP2 Connector:

05JFAT-SAXGDK-H5.0

(JST)

(CNP2)

Applicable wire size:

0.8 mm 2 to 2.1 mm 2

(AWG 18 to 14)


CNP3 Connector:

03JFAT-SAXGFK-XL

(JST)

Open tool

Quantity: 1

Model: J-FAT-OT-EXL

(JST)

Supplied with 400 V class servo amplifiers of 3.5 kW or less

CNP1 connector:

06JFAT-SAXGDK-

HT10.5

CNP2 connector:

05JFAT-SAXGDK-

HT7.5

(JST) (JST)

Applicable wire size: 1.25 mm 2 to 2.1 mm 2

CNP3 connector:

03JFAT-SAXGDK-

HT10.5

(JST)

(AWG 16 to 14)


Connector: PF-2D103

(JAE)

Open tool

J-FAT-OT-XL

(JST)

Connector: PF-2D103

(JAE)

MR-J3BUS_M

Cable length:

0.15 m to 3 m

(Refer to section

11.1.3.)

MR-J3BUS_M-A

Cable length:

5 m to 20 m

(Refer to section

11.1.3.)

MR-J3BUS_M-B

Cable length:

30 m to 50 m

(Refer to section

11.1.3.)

MR-J3USBCBL3M

Cable length: 3 m

Connector: CF-2D103-S

(JAE)

CN5 connector mini-B connector (5 pins)

Connector: CF-2D103-S

(JAE)

Personal computer connector

A connector

Standard cord inside cabinet

Standard cable outside cabinet

Longdistance cable

For connection with PC-AT compatible personal computer

11 - 4


7) Junction terminal block

(recommended)

Model Description

Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

MR-J2HBUS_M

PS7DW-20V14B-F

(Toho Technology)

Remark

8) STO cable MR-D05UDL3M-B

Junction terminal block PS7DW-20V14B-F is not option. For using the junction terminal block, option MR-J2HBUS_M is necessary. Refer to section 11.6 for details.

Connector set: 2069250-1

(TE Connectivity)

Connection cable for the CN8 connector

9) Short-circuit connector

10) Battery MR-BT6V1CBL_M Housing: PAP-02V-O

Cable length:

0.3/1 m

(Refer to section

11.1.4.)

Contact: SPHD-001G-P0.5

(JST)

Supplied with servo amplifier


Shell kit: 10314-52F0-008

(3M or equivalent)

For connection with battery unit cable

MR-BT6V2CBL_M

Cable length:

0.3/1 m

(Refer to section

11.1.4.)

Housing: PAP-02V-O


(JST)

Housing: PALR-02VF-O

Contact: SPAL-001GU-P0.5

(JST)

For battery junction

Housing: PAP-02V-O


(JST)

11 - 5


11.1.2 MR-D05UDL3M-B STO cable

This cable is for connecting an external device to the CN8 connector.

Cable model Cable length

(1) Configuration diagram

Servo amplifier

Application

MR-D05UDL3M-B

CN8

(2) Internal wiring diagram

(Note)

Yellow (with black dots)

Yellow (with red dots)

Gray (with black dots)

Gray (with red dots)

White (with black dots)

White (with red dots)

3

4

1

2

5

6

7

8

Plate

STOCOM

STO1

STO2

TOFB1

TOFB2

TOFCOM

Shield

CN8 connector

2

1

4 6 8

3 5 7

Viewed from the connection part

Note. Do not use the two core wires with orange insulator (with red or black dots).

11 - 6


11.1.3 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. 10 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 1 m 3 m 5 m 10 m 20 m 30 m 40 m 50 m life

Application/remark

(Note)

MR-J3BUS_M-B

Long

Using long distance cable life

Note. For cable of 30 m or shorter, contact your local sales office.

(2) Specifications

Description

SSCNET III cable model

SSCNET III cable length

Optical cable

(cord)

Minimum bend radius

Tension strength

0.15 m

70 N

25 mm

0.3 m to 3 m

140 N

5 m to 20 m

Enforced covering cable:

50 mm

Cord: 25 mm

420 N

(Enforced covering cable)

30 m to 50 m

Enforced covering cable:

50 mm

Cord: 30 mm

980 N

(Enforced covering cable)

Temperature range for use

(Note)

Ambience

-40 °C to 85 °C

Indoors (no direct sunlight), no solvent or oil

-20 °C to 70 °C

4.4 ± 0.1

4.4 ± 0.4

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 - 7


(3) Dimensions

(a) MR-J3BUS015M

Protective tube

Approx.

6.7

Approx.

15

Approx.

13.4

150 +50

- 0

Approx.

37.65

[Unit: mm]

(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)

Approx. 100 Approx. 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).

SSCNET III cable

MR-J3BUS5M-A to MR-J3BUS20M-A

MR-J3BUS30M-B to MR-J3BUS50M-B

Variable dimensions [mm]

A B

100

150

30

50

[Unit: mm]

Protective tube

(Note)

Approx. A Approx. B Approx. B Approx. A

L

Note. Dimension of connector part is the same as that of MR-J3BUS015M.

11 - 8


11.1.4 Battery cable/junction battery cable

(1) Model explanations

The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available.

Cable length

Cable model Bending life Application/remark

0.3 m 1 m

(2) MR-BT6V1CBL_M

(a) Appearance

2) 1)

3)

(b) Internal wiring diagram

BT

LG

1

2

2)

(3) MR-BT6V2CBL_M

(a) Appearance

4)

2)

5)

1)

3)

(b) Internal wiring diagram

BT

LG

1

2

4)

Components Description

1) Cable

2) Connector

3) Connector

VSVC 7/0.18 × 2C

Housing: PAP-02V-O

Contact: SPHD-001G-P0.5 (JST)


Shell kit: 10314-52F0-008 (3M or equivalent)

1)

White

Black

3)

7

14

Plate

BT

LG

SD

Components Description

1) Cable

2) Cable

VSVC 7/0.18 × 2C

3) Connector Housing: PAP-02V-O

4) Connector Contact: SPHD-001G-P0.5 (JST)

5) Connector

Housing: PALR-02VF-O

Contact: SPAL-001GU-P0.5 (JST)

1) 3)

White

Black

White

Black

1 BT

2 LG

1 BT

2 LG

2) 5)

11 - 9


11.2 Regenerative options

CAUTION

Do not use servo amplifiers with regenerative options other than the combinations specified below.

Otherwise, it may cause a fire.

11.2.1 Combination and regenerative power

The power values in the table are resistor-generated powers and not rated powers.

(1) 200 V class

Regenerative power [W]

Servo amplifier


MR-RB032

[40 Ω ]

MR-RB12

[40 Ω ]

MR-RB30

[13 Ω ]

MR-RB3N

[9 Ω ]

MR-RB31

[6.7 Ω ]

MR-RB32

[40 Ω ]

(Note 1)

MR-RB50

[13 Ω ]

MR-J4-10B

(-RJ)

MR-J4-20B

(-RJ)

MR-J4-40B

(-RJ)

MR-J4-60B

(-RJ)

MR-J4-70B

(-RJ)

MR-J4-100B

(-RJ)

MR-J4-200B

(-RJ)

MR-J4-350B

(-RJ)

MR-J4-500B

(-RJ)

MR-J4-700B

(-RJ)

30

(Note 1)

MR-RB5N

[9 Ω ]

(Note 1)

MR-RB51

[6.7 Ω ]

20 30 100 300

20 30 100 300

100 300 500

100

130

170

300

300

300

500

500

500

Servo amplifier

(Note 2) Regenerative power [W]

External regenerative resistor (accessory)

MR-RB5R

[3.2 Ω ]

MR-RB9F

[3 Ω ]

MR-RB9T

[2.5 Ω ]

MR-J4-11KB

(-RJ)

MR-J4-15KB

(-RJ)

500 (800)

850 (1300)

500

(800)

850

(1300)

MR-J4-22KB

850 (1300)

(-RJ)

Note 1. Always install a cooling fan.

850

(1300)

2. Values in parentheses assume the installation of a cooling fan.

11 - 10


(2) 400 V class

Servo amplifier


MR-

RB1H-4

[82 Ω ]

(Note 1)

MR-

RB3M-4

[120 Ω ]


(Note 1)

MR-

RB3G-4

[47 Ω ]

(Note 1)

MR-

RB5G-4

[47 Ω ]

(Note 1)

MR-

RB34-4

[26 Ω ]

(Note 1)

MR-

RB54-4

[26 Ω ]

(Note 1)

MR-

RB3U-4

[22 Ω ]

(Note 1)

MR-

RB5U-4

[22 Ω ]

MR-J4-200B4(-RJ) 100

MR-J4-350B4(-RJ) 100

300 500

300 500

Servo amplifier

(Note 2) Regenerative power [W]

External regenerative resistor

(accessory)

MR-RB5K-4

[10 Ω ]

MR-RB6K-4

[10 Ω ]

MR-J4-11KB4(-RJ) 500 (800) 500 (800)

MR-J4-15KB4(-RJ) 850 (1300) 850 (1300)

MR-J4-22KB4(-RJ) 850 (1300) 850 (1300)

Note 1. Always install a cooling fan.

2. Values in parentheses assume the installation of a cooling fan.

(3) 100 V class

Servo amplifier



MR-RB032

[40 Ω ]

MR-RB12

[40 Ω ]

MR-J4-10B1(-RJ) 30

MR-J4-20B1(-RJ) 10 30 100

MR-J4-40B1(-RJ) 10 30 100

11 - 11


11.2.2 Selection of regenerative option

(1) Rotary servo motor and direct drive motor

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.

(a) Regenerative energy calculation

V tf (1 cycle)

Up

Time

M

Friction torque

T

F

(+)

Down

1) t psa1 t

1 t psd1 t

2

(Power running)

2) 4)

5) t psa2 t

3 t

4 t psd2

8)

T

U

6)

3)

(Regeneration)

(-)

7)

Formulas for calculating torque and energy in operation

Regenerative power

1)

Torque applied to servo motor [N•m]

(Note)

T

1

=

(J

L

/ η + J

M

) • V

9.55 • 10 4

•

1 t psa1

+ T

U

+ T

F

Energy E [J]

E

1

=

0.1047

2

• V • T

1

• t psa1

2) T

2

= T

U

+ T

F

3)

E

2

= 0.1047 • V • T

2

• t

1

T

3

=

-(J

L

• η + J

M

) • V

9.55 • 10 4

•

1 t psd1

+ T

U

+ T

F

E

3

=

0.1047

2

• V • T

3

• t psd1

4), 8)

5)

T

4,

T

8

= T

U

T

5

=

(J

L

/ η + J

M

) • V

9.55 • 10 4

•

1 t psa2

- T

U

+ T

F

E

4

, E

8

≥ 0 (No regeneration)

E

5

=

0.1047

2

• V • T

5

• t psa2

6) T

6

= -T

U

+ T

F

7)

E

6

= 0.1047 • V • T

6

• t

3

T

7

=

-(J

L

• η + J

M

) • V

9.55 • 10 4

• t

1 psd2

- T

U

+ T

F

E

7

=

0.1047

2

• V • T

7

• t psd2

Note. η : Drive system efficiency

From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.

11 - 12


(b) Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.

Servo amplifier

Inverse efficiency [%]

Capacitor charging [J] amplifier

Inverse efficiency [%]

Capacitor charging [J]

MR-J4-10B(-RJ) 55 9 MR-J4-60B4(-RJ) 85 12

MR-J4-20B(-RJ) 75 9 85 12

MR-J4-200B(-RJ) 85 36

MR-J4-350B(-RJ) 85 40

MR-J4-500B(-RJ) 90 45

MR-J4-700B(-RJ) 90 70 MR-J4-10B1(-RJ) 55 4

MR-J4-11KB(-RJ) 90 120 MR-J4-20B1(-RJ) 75

MR-J4-22KB(-RJ) 90 250

4

MR-J4-15KB(-RJ) 90 170 MR-J4-40B1(-RJ) 85 10

Inverse efficiency ( η m

): Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Efficiency varies with the speed and generated torque. Since the characteristics of the electrolytic capacitor change with time, allow for approximately 10% higher inverse efficiency.

Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option.

ER [J] = η m

• Es - Ec

Calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf [s] to select the necessary regenerative option.

PR [W] = ER/tf

11 - 13


(2) Linear servo motor

(a) Thrust and energy calculation

Linear servo motor secondary-side (magnet)

V

M

1

M

2

Load

F t

Feed speed

V

2)

1)

Positive direction

3)

Linear servo motor primary-side (coil)

4)

Linear servo motor

5)

Negative direction

6) t psa1 t

1 t psd1 t

2 t psa2 t

3

7) t psd2

8)

Time t

4

The following shows equations of the linear servo motor thrust and energy at the driving pattern above.

Section Thrust F of linear servo motor [N]

1) F

1

= (M

1

+ M

2

) • V/t psa1

+ F t

2) F

2

= F

1

3) F

3

= -(M

1

+ M

2

) • V/t psd1

+ F t

4), 8) F

4,

F

8

= 0

5) F

5

= (M

1

+ M

2

) • V/t psa2

+ F t

6) F

6

= F t

7) F

7

= -(M

1

+ M

2

) • V/t psd2

+ F t

Energy E [J]

E

1

= V/2 • F

1

• t psa1

E

2

= V • F

2

• t

1

E

3

= V/2 • F

3

• t psd1

E

4

, E

8

= 0 (No regeneration)

E

5

= V/2 • F

5

• t psa2

E

6

= V • F

6

• t

3

E

7

= V/2 • F

7

• t psd2

From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.

(b) Losses of servo motor and servo amplifier in regenerative mode

For inverse efficiency and capacitor charging energy, refer to (1) (b) in this section.

(c) Regenerative energy calculation

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative resistor.

ER [J] = η • Es - Ec

From the total of ER's whose subtraction results are positive and one-cycle period, the power consumption PR [W] of the regenerative option can be calculated with the following equation.

PR [W] = total of positive ER's/one-cycle operation period (tf)

Select a regenerative option from the PR value. Regenerative option is not required when the energy consumption is equal to or less than the built-in regenerative energy.

11 - 14


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.

For servo amplifier of 100 W, regenerative resistor is not used.

For servo amplifier of 0.2 kW to 7 kW, built-in regenerative

resistor is used.

Supplied regenerative resistors or regenerative option is used

with the servo amplifier of 11 kW to 22 kW.

01: FR-BU2/FR-BU2-H/FR-RC/FR-RC-H/FR-CV/FR-CV-H

02: MR-RB032

03: MR-RB12

04: MR-RB32

05: MR-RB30

06: MR-RB50 (Cooling fan is required)

08: MR-RB31

09: MR-RB51 (Cooling fan is required)

0B: MR-RB3N

0C: MR-RB5N (Cooling fan is required)

80: MR-RB1H-4

81: MR-RB3M-4 (Cooling fan is required.)







FA: When the supplied regenerative resistors or the regenerative

option is cooled by the cooling fan to increase the ability with

the servo amplifier of 11 kW to 22 kW.

11.2.4 Connection of regenerative option

POINT

When MR-RB50, MR-RB51, MR-RB5N, MR-RB3M-4, MR-RB3G-4, MR-RB5G-

4, MR-RB34-4, MR-RB54-4, MR-RB5K-4, or MR-RB6K-4 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer.

For the wire sizes used for wiring, refer to section 11.9.

The regenerative option generates heat of 100 ˚ C higher than the ambient temperature. Fully consider heat dissipation, installation position, 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 with a maximum length of 5 m for a connection with the servo amplifier.

11 - 15


(1) MR-J4-500B(-RJ) or less/MR-J4-350B4(-RJ) or less

Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and

G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.

Always remove the lead from across P+ to D.

Servo amplifier Regenerative option

P+

P

C

C

D

G3

(Note 3)

G4

5 m or less

(Note 1, 2)

Cooling fan

Note 1. When using the MR-RB50, MR-RB5N, MR-RB51, MR-RB3M-4, MR-RB3G-4, or

MR-RB5G-4, forcibly cool it with a cooling fan (1.0 m 3 /min or more, 92 mm × 92 mm).

2. When the ambient temperature is more than 55 °C and the regenerative load ratio is more than 60% in MR-RB30, MR-RB31, MR-RB32, and MR-RB3N, forcefully cool the air with a cooling fan (1.0 m 3 /min or more, 92 mm × 92 mm). A cooling fan is not required if the ambient temperature is 35 °C or less. (A cooling fan is required for the shaded area in the following graph.)

A cooling fan is required.

100

60

A cooling fan is not required.

0

0 35

Ambient temperature [°C]

55

3. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs.

G3-G4 contact specifications

Maximum voltage: 120 V AC/DC

Maximum current: 0.5 A/4.8 V DC

Maximum capacity: 2.4 VA

11 - 16


(2) MR-J4-500B4(-RJ)/MR-J4-700B(-RJ)/MR-J4-700B4(-RJ)

Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.

Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor.

Servo amplifier Regenerative option

P+

P

C

C

G3

(Note 2)

G4

5 m or less

(Note 1)

Cooling fan

Note 1. When using the MR-RB51, MR-RB34-4, MR-RB54-4, MR-RB3U-4, or MR-RB5U-

4, forcibly cool it with a cooling fan (1.0 m 3 /min or more, 92 mm × 92 mm).

2. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs.

G3-G4 contact specifications




When using the regenerative option, remove the servo amplifier's built-in regenerative resistor wires

(across P+ to C), fit them back to back, and secure them to the frame with the accessory screw as shown below.

Accessory screw


11 - 17


(3) MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ)/MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ) (when using the supplied regenerative resistor)

CAUTION

The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protective cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock. Even if the power was shut-off, be careful until the bus voltage discharged and the temperature decreased because of the following reasons.

It may cause a burn injury due to very high temperature without cooling.

It may cause an electric shock due to charged capacitor of the servo amplifier.

Do not use servo amplifiers with external regenerative resistors other than the combinations specified below. Otherwise, it may cause a fire.

When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors

(4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative resistors burn.

Install the resistors at intervals of about 70 mm. Cooling the resistors with two cooling fans (1.0 m 3 /min or more, 92 mm × 92 mm) improves the regeneration capability. In this case, set "_ _ F A" in [Pr. PA02].

5 m or less

Servo amplifier

P+

C

(Note) Series connection

Cooling fan

Note. The number of resistors connected in series depends on the resistor type. The thermal sensor is not mounted on the attached regenerative resistor. An abnormal heating of resistor may be generated at a regenerative circuit failure. Install a thermal sensor near the resistor and establish a protective circuit to shut off the main circuit power supply when abnormal heating occurs. The detection level of the thermal sensor varies according to the settings of the resistor. Set the thermal sensor in the most appropriate position on your design basis, or use the thermal sensor built-in regenerative option. (MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, or MR-RB6K-4)

Servo amplifier Regenerative resistor Symbol (Note)


Resultant resistance [ Ω ]

Number of resistors

MR-J4-11KB(-RJ) GRZG400-0.8

Ω GR400 800 3.2

4



Ω

Ω

GR400

GR400

850 1300

3

2.5

MR-J4-11KB4(-RJ) GRZG400-2.5

Ω GR400 800 10

5

4

MR-J4-15KB4(-RJ)

GRZG400-2 Ω GR400 5

MR-J4-22KB4(-RJ)

Note. The following shows an indication example of symbol.

Symbol

GR400 R80K

Regenerative resistor

11 - 18


(4) MR-J4-11KB-PX to MR-J4-22KB-PX/MR-J4-11KB-RZ to MR-J4-22KB-RZ/MR-J4-11KB4-PX to MR-J4-

22KB4-PX/MR-J4-11KB4-RZ to MR-J4-22KB4-RZ (when using the regenerative option)

The MR-J4-11KB-PX to MR-J4-22KB-PX, MR-J4-11KB-RZ to MR-J4-22KB-RZ, MR-J4-11KB4-PX to

MR-J4-22KB4-PX, and MR-J4-11KB4-RZ to MR-J4-22KB4-RZ servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the regenerative option

MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, and MR-RB6K-4.

Cooling the regenerative option with cooling fans improves regenerative capability. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.

5 m or less

Servo amplifier

Regenerative option

P+

C

P

C

(Note)

G3

G4

Configure up a circuit which shuts off main circuit power when thermal protector operates.

Note. G3-G4 contact specifications




Servo amplifier

MR-J4-11KB-PX

MR-J4-11KB-RZ

MR-J4-15KB-PX

MR-J4-15KB-RZ

MR-J4-22KB-PX

MR-J4-22KB-RZ

MR-J4-11KB4-PX

MR-J4-11KB4-RZ

MR-J4-15KB4-PX

MR-J4-15KB4-RZ

MR-J4-22KB4-PX

MR-J4-22KB4-RZ

Regenerative option

Resistance

[ Ω ]


Without cooling fans

With cooling fans

800

MR-RB5K-4 10 500 800

11 - 19


When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option.

Top

MR-RB5R/MR-RB9F/MR-RB9T/

MR-RB5K-4/MR-RB6K-4

Bottom

TE1

2 cooling fans

(1.0 m 3 /min or more,

92 mm × 92 mm)

Mounting screw

4-M3

TE1 terminal block

G4 G3 C P

11.2.5 Dimensions

(1) MR-RB12

TE1

15

40

36

φ 6 mounting hole

6

Approx. 20

5

149

169

[Unit: mm]

TE1 terminal

G3

G4

P

C

Applicable wire size: 0.2 mm 2 to 2.5 mm 2 (AWG 24 to

12)

Tightening torque: 0.5 to 0.6 [N•m]

Mounting screw

Screw size: M5


Mass: 1.1 [kg]

2

11 - 20


(2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR-RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4

[Unit: mm]

Terminal block

Cooling fan mounting screw (2-M4 screw)

P

C

G3

G4

10

7

90

100

A

101.5

82.5

318

B

Intake

Terminal screw size: M4


Mounting screw

Screw size: M6


Regenerative option

Variable dimensions

A B

Mass

[kg]

MR-RB30

MR-RB31

MR-RB32

MR-RB3N

MR-RB34-4

MR-RB3M-4

MR-RB3G-4

MR-RB3U-4

(3) MR-RB50/MR-RB51/MR-RB5N/MR-RB54-4/MR-RB5G-4/MR-RB5U-4

[Unit: mm]

Terminal block


On opposite side

P

49 82.5

7 × 14 slotted hole

C

G3

G4

17 335

23 341

2.9

2.3

200

B

A 12

7

108

120

Intake

8

Approx. 30



Mounting screw

Screw size: M6


Regenerative option

Variable dimensions

A B

Mass

[kg]

MR-RB50

MR-RB51

MR-RB5N

MR-RB54-4

MR-RB5G-4

MR-RB5U-4

17 217

23 223

5.6

11 - 21


(4) MR-RB032

[Unit: mm]

TE1 terminal

φ 6 mounting hole

30

15

G3

G4

P

C

TE1

5

Applicable wire size: 0.2 mm 2 to 2.5 mm 2 (AWG 24 to

12)


Mounting screw

Screw size: M5


Mass: 0.5 [kg]

6 1.6

Approx. 20 99

119

(5) MR-RB5R/MR-RB9F/MR-RB9T/MR-RB5K-4/MR-RB6K-4

[Unit: mm]


15

15

10

230

260

230

Cooling fan intake

15 197

215

15


2.3

15

TE1 terminal block

G4 G3 C P



Mounting screw

Screw size: M8


Regenerative option

Mass

[kg]

MR-RB5R 10

MR-RB9F

11

MR-RB9T

MR-RB5K-4 10

MR-RB6K-4 11

82.5

82.5

11 - 22


(6) MR-RB1H-4

[Unit: mm]

15

40

36

φ 6 mounting hole

TE1 terminal

G3

G4

P

C

Applicable wire size: AWG 24 to 10


Mounting screw

Screw size: M5


Mass: 1.1 [kg]

6 6 2

Approx. 24 149

173

(7) GRZG400-0.8

Ω /GRZG400-0.6

Ω /GRZG400-0.5

Ω /GRZG400-2.5

Ω /GRZG400-2.0

Ω (standard accessories)

10

Approx.

φ C

Approx. A

Approx. 2.4

[Unit: mm] Regenerative resistor

Variable dimensions

GRZG400-0.8

Ω 10 5.5 39

Mounting

Tightening torque

[N•m]

GRZG400-0.6

Ω

16 8.2 46

GRZG400-0.5

Ω

GRZG400-2.5

Ω

10 5.5 39

Approx. 330

9.5

GRZG400-2.0

Ω

385

411

40

Approx.

φ 47

Mass

[kg]

11 - 23


11.3 FR-BU2-(H) brake unit

POINT

Use a 200 V class brake unit and a resistor unit with a 200 V class servo amplifier, and a 400 V class brake unit and a resistor unit with a 400 V class servo amplifier. Combination of different voltage class units cannot be used.

When a brake unit and a resistor unit are installed horizontally or diagonally, the heat dissipation effect diminishes. Install them on a flat surface vertically.

The temperature of the resistor unit case will be higher than the ambient temperature by 100 ˚ C or over. Keep cables and flammable materials away from the case.

Ambient temperature condition of the brake unit is between -10 ˚ C and 50 ˚ C.

Note that the condition is different from the ambient temperature condition of the servo amplifier (between 0 ˚ C and 55 ˚ C).

Configure the circuit to shut down the power-supply with the alarm output of the brake unit and the resistor unit under abnormal condition.

Use the brake unit with a combination indicated in section 11.3.1.

For executing a continuous regenerative operation, use FR-RC-(H) power regeneration converter or FR-CV-(H) power regeneration common converter.

Brake unit and regenerative options (Regenerative resistor) cannot be used simultaneously.

Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient regenerative capability.

When using the brake unit, set [Pr. PA02] to "_ _ 0 1".

When using the brake unit, always refer to the FR-BU2 Instruction Manual.

11.3.1 Selection

Use a combination of servo amplifier, brake unit and resistor unit listed below.

Number of Permissible

Brake unit Resistor unit connected units continuous power [kW]


200 V class

FR-BU2-15K FR-BR-15K



Applicable servo amplifier (Note 3)

1 0.99 8 MR-J4-500B(-RJ)

(Note 1)

2 (parallel) 1.98 4 MR-J4-500B(-RJ)

MR-J4-700B(-RJ)

MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

1 1.99 4 MR-J4-500B(-RJ)

MR-J4-700B(-RJ)

MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

1 3.91 2 MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

MR-J4-22KB(-RJ)

11 - 24


Brake unit Resistor unit

Number of connected units

Permissible continuous power [kW]


Applicable servo amplifier (Note 3)

400 V class

FR-BU2-H30K FR-BR-H30K

FR-BU2-H55K FR-BR-H55K

FR-BU2-H75K MT-BR5-H75K

1

1

1

1.99

3.91

7.5

16 MR-J4-500B4(-RJ)

MR-J4-700B4(-RJ)

MR-J4-11KB4(-RJ)

(Note 2)

8 MR-J4-11KB4(-RJ)

MR-J4-15KB4(-RJ)

MR-J4-22KB4(-RJ)

6.5 MR-J4-22KB4(-RJ)

Note 1. Only when using servo motor HG-RR353/HG-UR352

2. When HG-JR11K1M4 servo motor is used, limit the torque during power running to 180% or less, or the servo motor speed to 1800 r/min or less.

3. When the brake unit is selected by using the capacity selection software, a brake unit other than the combinations listed may be shown. Refer to the combinations displayed on the capacity selection software for detailed combinations.

11.3.2 Brake unit parameter setting

Whether a parameter can be changed or not is listed below.

Parameter Change

No. Name possible/ impossible

Remark

0

1

2

Brake mode switchover

Monitor display data selection

Input terminal function selection 1

3 Input terminal function selection 2

77 Parameter write selection

78 Cumulative energization time carrying-over times

Impossible Do not change the parameter.

Possible Refer to the FR-BU2 Instruction Manual.

Impossible Do not change the parameter.

ECL Alarm history clear

C1 For manufacturer setting

11 - 25


11.3.3 Connection example

POINT


Connecting PR terminal of the brake unit to the P+ terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit.

(1) Combination with FR-BR-(H) resistor unit

(a) When connecting a brake unit to a servo amplifier

1) 200 V class

ALM

RA1

OFF

ON

MC

MC

SK


Servo amplifier

MCCB

(Note 9)

MC

(Note 1)

Power supply

L1

L2

L3

L11

L21

CN3

3

DOCOM

24 V DC (Note 12)

15 ALM

RA1

(Note 10)


24 V DC (Note 12)

(Note 11)

EM2

CN3

20

DICOM

5

DICOM

10

P3

P4

P+

(Note 7)

N-

C

(Note 3)

(Note 2)

FR-BR

P

PR

(Note 5) TH1

TH2

FR-BU2

PR

P/+

N/-

(Note 4)

MSG

SD

A

B

BUE

SD

(Note 8)

C

(Note 6)

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

2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.

3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.

4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo amplifier and brake unit malfunction.

5. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A

Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.

6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A

Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.

7. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier.



11. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.


11 - 26


2) 400 V class

ALM

RA1

OFF

ON

MC

MC

SK


(Note 1)

Power supply


MCCB

(Note 9)

MC

Servo amplifier

(Note 11)

(Note 10)


EM2

CN3

20

24 V DC (Note 12)

DICOM 5

DICOM

10

L1

L2

L3

L11

L21

CN3

(Note 7)

3

15

P3

P4

P+

N-

C

DOCOM

ALM

24 V DC (Note 12)

(Note 3)

RA1

(Note 2)

P

PR

FR-BR-H

(Note 5) TH1

TH2

FR-BU2-H

PR

P/+

N/-

(Note 4)

MSG

SD

A

B

BUE

SD

(Note 6)

C

(Note 8)


2. For the servo amplifier of 5 kW and 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.












11 - 27


(b) When connecting two brake units to a servo amplifier

POINT

To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction.

Always connect the terminals for master/slave (MSG to MSG, SD to SD) between the two brake units.

Do not connect the servo amplifier and brake units as below. Connect the cables with a terminal block to distribute as indicated in this section.

Servo amplifier Brake unit Servo amplifier Brake unit

P+

N-

P/+

N/-

Brake unit

P/+

N/-

P+

N-

P/+

N/-

Brake unit

P/+

N/-

Connecting two cables to

P+ and N- terminals

Passing wiring

11 - 28


ALM

RA1

OFF

ON

MC

MC

SK


(Note 1)

Power supply

MCCB

(Note 12)


24 V DC (Note 14)

(Note 11)

MC

(Note 13)

EM2

CN3

20

DICOM

5

DICOM

10

L1

L2

L3

L11

L21

Servo amplifier

CN3

3

DOCOM

24 V DC (Note 14)

15 ALM RA1

P3

P4

P+

(Note 7)

(Note 3)

(Note 10)

N-

C

(Note 2)

Terminal block

FR-BR

P

PR

(Note 5) TH1

TH2

FR-BU2

PR

P/+

N/-

(Note 9)

(Note 4)

MSG

SD

A

B

BUE

SD

(Note 8)

C

(Note 6)

P

PR

FR-BR

(Note 5) TH1

TH2

FR-BU2

PR

P/+

N/-

(Note 9)

(Note 4)

MSG

SD

A

B

BUE

SD

(Note 8)

C

(Note 6)










9. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in servo amplifier and brake unit malfunction.

10. For connecting P+ and N- terminals of the servo amplifier to the terminal block, use the cable indicated in (4) (b) in this section.





11 - 29


(2) Combination with MT-BR5-(H) resistor unit

(a) 200 V class

ALM

RA1

OFF

ON

MC


MC

SK

RA2

(Note 1)

Power supply

MCCB

(Note 10)


24 V DC (Note 12)

(Note 9)

MC

(Note 11)

Servo amplifier

L1

L2

L3

L11

L21

CN3

3

DOCOM

15 ALM

24 V DC (Note 12)

RA1

CN3

EM2 20

DICOM

DICOM

5

10

P3

P4

P+

(Note 7)

N-

C

(Note 3)

(Note 2)

P

PR

MT-BR5

(Note 5) TH1

TH2

FR-BU2

PR

P/+

N/-

(Note 4)

MSG

SD

A

B

BUE

SD

(Note 8)

C

(Note 6)

SK

RA2


2. Do not connect a supplied regenerative resistor to the P+ and C terminals.



5. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A

Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.








11 - 30


(b) 400 V class

ALM

RA1

OFF

ON

MC


MC

SK

RA2

(Note 1)

Power supply


MCCB

(Note 8)

MC

Servo amplifier

(Note 10)

(Note 9)


EM2

CN3

20

24 V DC

(Note 11)

DICOM

DICOM

5

10

L1

L2

L3

L11

L21

CN3

3

DOCOM

15 ALM

24 V DC (Note 11)

RA1

P3

P4

P+

(Note 6)

N-

(Note 2)

P

PR

MT-BR5-H

(Note 4) TH1

TH2

FR-BU2-H

PR

P/+

N/-

(Note 3)

MSG

SD

A

B

BUE

SD

C

(Note 7)

(Note 5)

SK

RA2

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



4. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A

Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.








11 - 31


(3) Connection instructions

Keep the wires between the servo amplifier and the brake unit, and between the resistor unit and the brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter.

The wires should not exceed 10 m even when the wires are twisted. If wires exceeding 5 m without twisted or exceeding 10 m with or without twisted are used, the brake unit may malfunction.

Servo amplifier Servo amplifier

Brake unit Resistor unit Brake unit Resistor unit

P+

N-

P/+

N/-

P

PR

P

PR

P+

N-

Twist

P/+

N/-

P

PR

Twist

P

PR

5 m or less 5 m or less 10 m or less 10 m or less

(4) Wires

(a) Wires for the brake unit

For the brake unit, HIV wire (600 V Grade heat-resistant polyvinyl chloride insulated wire) is recommended.

1) Main circuit terminal

N/P/+ PR

Brake unit

Main circuit terminal screw size

Crimp terminal

N/-, P/+,

PR,

Tightening torque

[N•m]

Wire size

N/-, P/+, PR,

HIV wire

[mm 2 ]

AWG

Terminal block

200 V class

400 V class

FR-BU2-15K M4 5.5-4 1.5

FR-BU2-30K M5 5.5-5 2.5

FR-BU2-H30K M4

FR-BU2-H55K M5

5.5-4

5.5-5

1.5

2.5

3.5

5.5

3.5

5.5

12

10

6

12

10

6

11 - 32


2) Control circuit terminal

POINT

Under tightening can cause a cable disconnection or malfunction. Over tightening can cause a short circuit or malfunction due to damage to the screw or the brake unit.

A B C

PC BUE SD

RES SD MSG MSG

SD SD

Jumper

Insulator

Core

Terminal block 6 mm

Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it.

Screw size: M3

Tightening torque: 0.5 N•m to 0.6 N•m

Wire size: 0.3 mm 2 to 0.75 mm 2

Screw driver: Small flat-blade screwdriver

(Tip thickness: 0.4 mm/Tip width 2.5 mm)

(b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of the brake unit

Brake unit

Wire size

HIV wire [mm 2 ] AWG

FR-BU2-15K 8 8

(5) Crimp terminals for P+ and N- terminals of servo amplifier

(a) Recommended crimp terminals

POINT

Some crimp terminals may not be mounted depending on the size. Make sure to use the recommended ones or equivalent ones.

200 V class

Servo amplifier Brake unit


Crimp terminal (Manufacturer)

2 8-4NS (JST) (Note 2)

MR-J4-700B(-RJ) FR-BU2-15K 2 8-4NS (JST) (Note 2)

MR-J4-11KB(-RJ) FR-BU2-15K 2 (JST)



(Note 1)

Applicable tool a b a b a c a d c a d d

11 - 33


Servo amplifier Brake unit


Crimp terminal (Manufacturer)

400 V class

(Note 1)

Applicable tool a a a a a a d

Note 1. Symbols in the applicable tool field indicate applicable tools in (4) (b) in this section.

2. Coat the crimping part with an insulation tube.

(b) Applicable tool

Symbol

Crimp terminal a

FDV5.5-S4

FDV5.5-6 b 8-4NS c FVD8-6 d

FVD14-6

FVD14-8

Servo amplifier-side crimp terminals

Applicable tool

YNT-1210S

YHT-8S

YF-1

E-4

YF-1

E-4

YNE-38 DH-111

DH-121

YNE-38 DH-112

DH-122

JST

11.3.4 Dimensions

(1) FR-BU2-(H) brake unit

FR-BU2-15K

[Unit: mm]

φ 5 hole

(Screw size: M4)

6 56

68

5

6

Rating plate

18.5

52

132.5

62

4

11 - 34


FR-BU2-30K/FR-BU2-H30K

2φ 5 hole

(Screw size: M4)

[Unit: mm]

Rating plate

6 96

108

5

6 18.5

52

129.5

59

FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K

5

[Unit: mm]

2φ 5 hole

(Screw size: M4)

6 158

170

5

6

Rating plate

18.5

52

142.5

72

5

11 - 35


(2) FR-BR-(H) resistor unit

2φ C

(Note)

[Unit: mm]

Control circuit terminal

Main circuit terminal

(Note)

Approx. 35

C

W1 ± 1

C

Approx. 35

For FR-BR-55K/FR-BR-H55K, an eyebolt is placed on two locations.

(Refer to the following diagram. )

Eyebolt

204

200 V class

400 V class

(3) MT-BR5-(H) resistor unit

W ± 5

Note. Ventilation ports are provided on both sides and the top. The bottom is open.

W W1 H H1 H2 H3 D D1 C

Approximate mass [kg]

FR-BR-15K 170 100 450 410 20 432 220 3.2 6

FR-BR-30K 340 270 600 560 20 582 220 4 10

15

30

FR-BR-55K 480 410 700 620 40 670 450 3.2 12

FR-BR-H30K 340 270 600 560 20 582 220 4 10

FR-BR-H55K 480 410 700 620 40 670 450 3.2 12

70

30

70

Resistance

[Unit: mm]


NP

200 V class

400 V class

Resistor unit

M6

M4

193

37 60

480

510

10 21

189

4 φ 15 mounting hole 7.5

75 300

450

75

7.5

11 - 36


11.4 FR-RC-(H) power regeneration converter

POINT

When using the FR-RC-(H) power regeneration converter, set [Pr. PA04] to

"0 0 _ _" to enable EM1 (Forced stop 1).

When using the FR-RC-(H) power regeneration converter, refer to "Power

Regeneration Converter FR-RC Instruction Manual (IB(NA)66330)".

When using the FR-RC-(H) power regeneration converter, set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC20] to

"_ _ _ 1".

(1) Selection

The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the 5 kW to 22 kW.


Nominal regenerative power [kW]

Servo amplifier

500

300

MR-J4-500B(-RJ)

MR-J4-700B(-RJ)

MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

200

100

FR-RC-H30K 30

MR-J4-15KB4(-RJ)

50

30

20

0 50 75 100

Nominal regenerative power [%]

150

11 - 37


(2) Connection example

POINT

In this configuration, only the STO function is supported. The forced stop deceleration function is not available.

(a) 200 V class

Servo amplifier

(Note 7)

(Note 5)

Power supply

MCCB MC

L11

L21

Power factor improving reactor

(Note 10)

(Note 8)

L1

L2

L3

CN3

EM1 Forced stop 1

(Note 6)

24 V DC (Note 9)

DICOM

CN3

24 V DC (Note 9)

DOCOM

ALM

RA

Malfunction

(Note 3)

(Note 8)

FR-RC

B C

ALM

RA

Ready

RD

SE

P3 P4 N-

(Note 4)

C

N/P/+

(Note 2)

P+

5 m or less

RDY output

A

B

C

R/L1

S/L2

T/L3

Alarm output

B

C

RX

R

SX

S

TX

(Note 1)

Phase detection terminals

T


FR-RC

Operation ready

OFF

ON

Forced stop 1

(Note 6)

MC

MC

SK

11 - 38


Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC will not operate.




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

6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with external circuit at EM1 (Forced stop 1) off.




10. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual

(IB(NA)66330)".

(b) 400 V class

Servo amplifier

(Note 7)

L11

L21

MCCB MC


(Note 10)

(Note 5)

Power supply


(Note 8)

Forced stop 1

(Note 6)

24 V DC

(Note 9)

L1

L2

L3

CN3

EM1

DICOM

CN3

DOCOM

ALM

(Note 9)

24 V DC

RA

Malfunction

(Note 3)

(Note 8)

FR-RC-H

B C

Lady

(Note 2)

RD

SE

P3 P4 N-

(Note 4)

C

N/P/+

P+

RDY output

5 m or shorter

A

B

Alarm output

C

R/L1

S/L2

T/L3

B

C

RX

R

SX

S

TX

(Note 1)

Phase detection terminals

ALM

RA

Forced stop 1

(Note 6)

T


FR-RC-H

OFF

Operation ready

ON

MC

MC

SK

11 - 39


Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC-H will not operate.

2. When using the servo amplifier of 7 kW and 5 kW, make sure to disconnect the wiring of built-in regenerative resistor across the P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.




6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with external circuit at EM1 (Forced stop 1) off.




10. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual

(IB(NA)66330)".

(3) Dimensions

2φ D hole

Mounting foot (removable)

Mounting foot

(movable)

Rating plate

Front cover

Display panel window

Cooling fan

AA

A

D F K

C

Heat generation area outside mounting dimension


FR-RC-15K

FR-RC-30K

FR-RC-55K

FR-RC-H15K

FR-RC-H30K

FR-RC-H55K

[Unit: mm]

A AA B BA C D E EE K F


270 200 450 432 195 10 10 8 3.2 87

340 270 600 582 195 10 10 8 3.2 90

480 410 700 670 250 12 15 15 3.2 135

19

31

55

340 270 600 582 195 10 10 8 3.2 90

480 410 700 670 250 12 15 15 3.2 135

31

55

11 - 40


(4) Mounting hole machining dimensions

The following shows mounting hole dimensions for mounting the heat generation area of the power regeneration converter outside a cabinet as measures against heat generation when the converter is mounted in an enclosed type cabinet.

[Unit: mm]

(AA) (2φ D hole)


(Mounting hole)

FR-RC-H15K

FR-RC-H30K

330 562 10 270 582 a

11.5 FR-CV-(H) power regeneration common converter

POINT

For details of the power regeneration common converter FR-CV-(H), refer to the

FR-CV Installation Guide (IB(NA)0600075).

Do not supply power to the main circuit power supply terminals (L1/L2/L3) of the servo amplifier. Otherwise, the servo amplifier and FR-CV-(H) will malfunction.

Connect the DC power supply between the FR-CV-(H) and servo amplifier with correct polarity. Connection with incorrect polarity will fail the FR-CV-(H) and servo amplifier.

Two or more FR-CV-(H)s cannot be installed to improve regeneration capability.

Two or more FR-CV-(H)s cannot be connected to the same DC power supply line.

When using FR-CV-(H), set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop

1).

When using the FR-CV-(H) power regeneration common converter, set [Pr. PA02] to "_ _ 0 1" and set [Pr.

PC20] to "_ _ _ 1".

11 - 41


11.5.1 Model designation


F R C V H 7 .

5 K

Capacity

Symbol Capacity [kW]

7.5K

11K

15K

7.5

11

15

22K

30K

37K

55K

22

30

37

55

Symbol

None

H

Voltage class

200 V class

400 V class

11.5.2 Selection

(1) 200 V class

FR-CV power regeneration common converter can be used for the 200 V class servo amplifier of 100 W to 22 kW. The following shows the restrictions on using the FR-CV.

(a) Up to six servo amplifiers can be connected to one FR-CV.

(b) FR-CV capacity [W] ≥ Total of rated capacities [W] × 2 of servo amplifiers connected to FR-CV

(c) The total of used servo motor rated currents should be equal to or less than the applicable current

[A] of the FR-CV.

(d) Among the servo amplifiers connected to the FR-CV, the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity [W].

The following table lists the restrictions.

Item

FR-CV-_

7.5K 11K 15K 22K 30K 37K 55K

Maximum number of connected servo amplifiers

Total of connectable servo amplifier capacities [kW]

Total of connectable servo motor rated currents [A]

Maximum servo amplifier capacity [kW]

6

3.75 5.5 7.5 11 15 18.5 27.5

3.5 5 7 11 15 15 22

When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).


Dedicated stand-alone reactor

FR-CV-7.5K(-AT) FR-CVL-7.5K

FR-CV-11K(-AT) FR-CVL-11K




FR-CV-37K FR-CVL-37K

FR-CV-55K FR-CVL-55K

11 - 42


(2) 400 V class

FR-CV-H power regeneration common converter can be used for the servo amplifier of 11 kW to 22 kW.

The following shows the restrictions on using the FR-CV-H.

(a) Up to two servo amplifiers can be connected to one FR-CV-H.

(b) FR-CV-H capacity [W] ≥ Total of rated capacities [W] × 2 of servo amplifiers connected to FR-CV-H.

(c) The total of used servo motor rated currents should be equal to or less than the applicable current

[A] of the FR-CV-H.

(d) Among the servo amplifiers connected to the FR-CV-H, the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity [W].

The following table lists the restrictions.

Item

FR-CV-H_

22K 30K 37K 55K

Maximum number of connected servo amplifiers

Total of connectable servo amplifier capacities [kW]

Total of connectable servo motor rated currents [A]

Maximum servo amplifier capacity [kW]

1 2

43 57 71 110

11 15 15 22

When using the FR-CV-H, always install the dedicated stand-alone reactor (FR-CVL-H).


Dedicated stand-alone reactor

FR-CV-H22K(-AT) FR-CVL-H22K

FR-CV-H30K(-AT) FR-CVL-H30K

FR-CV-H37K FR-CVL-H37K

FR-CV-H55K FR-CVL-H55K

11 - 43



POINT

In this configuration, only the STO function is supported. The forced stop deceleration function is not available.

(a) 200 V class

3-phase

200 to

230 V AC

MCCB

(Note 7)

MC

R/L11

S/L21

T/L31

FR-CVL

R2/L12

S2/L22

T2/L32

FR-CV

R2/L1

S2/L2

T2/L3

P/L+

N/L-

(Note 3)

Servo amplifier

L11 U

L21 V

W

CN2

P4

N-

(Note 5)

Servo motor

U

V

W

24 V DC (Note 8)

R/L11

S/L21

T/MC1

P24

SD

RDYB

RDYA

(Note 2)


DOCOM

ALM

24 V DC (Note 8)

RA2

RA1

(Note 1)

RA2 EM1 OFF ON

SE

MC

MC

SK

A

B

C

RA1 (Note 1) (Note 4)

RA1

(Note 1, 6)

EM1

EM1

DICOM

24 V DC (Note 8)

Note 1. Configure a sequence that will shut off main circuit power in the following.

An alarm occurred at FR-CV or servo amplifier.

EM1 (Forced stop 1) is enabled.

2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV is ready.

3. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).

4. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR-CV. When the servo system controller does not have an emergency stop input, use the forced stop input of the servo amplifier to make a stop as shown in the diagram.

5. When using FR-CV, always disconnect wiring between P3 and P4 terminals.

6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).



11 - 44


(b) 400 V class

3-phase

380 V AC to

480 V AC

MCCB

(Note 6)

MC


FR-CVL-H

R/L11

S/L21

T/L31

R2/L12

S2/L22

T2/L32

RA1

(Note 1)

RA2 EM1 OFF

ON

MC

MC

SK

FR-CV-H

R2/L1

S2/L2

T2/L3

P/L+

N/L-

R/L11

S/L21

T/MC1

P24

SD

RDYB

(Note 2)

RDYA

24 V DC (Note 7)


SE

A

B

C

RA1

(Note 1)

(Note 3)

RA1

(Note 1, 5)

EM1

EM1

24 V DC (Note 7)

DICOM

Servo amplifier

L11

L21

U

V

W

Servo motor

U

V

W

CN2

P4

(Note 4)

N-

DOCOM

ALM

24 V DC (Note 7)

RA2

Note 1. Configure a sequence that will shut off main circuit power in the following.

An alarm occurred at FR-CV-H or servo amplifier.

EM1 (Forced stop 1) is enabled.

2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV-H is ready.

3. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR-CV-H. When the servo system controller does not have an emergency stop input, use the forced stop input of the servo amplifier to make a stop as shown in the diagram.

4. When using FR-CV-H, always disconnect wiring between P3 and P4 terminals.

5. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).



11 - 45


(4) Selection example of wires used for wiring

POINT

Selection conditions of wire size are as follows.

600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)

Construction condition: Single wire set in midair

(a) Wire size

1) Between P and P4, and between N and N-

The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals) between the FR-CV and servo amplifier.

Total of servo amplifier capacities [kW]

1 or less

2

5

7

11

15

22

Wire [mm 2 ]

2 (AWG 14)

3.5 (AWG 12)

5.5 (AWG 10)

8 (AWG 8)

14 (AWG 6)

22 (AWG 4)

50 (AWG 2)

The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals) between the FR-CV-H and servo amplifier.

Total of servo amplifier capacities [kW]

11

15

22

Wire [mm 2 ]

8 (AWG 8)

8 (AWG 8)

14 (AWG 6)

(2) Grounding

For grounding, use the wire of the size equal to or greater than that indicated in the following table, and make it as short as possible.


FR-CV-7.5K to FR-CV-15K

FR-CV-22K/FR-CV-30K

FR-CV-37K/FR-CV-55K

FR-CV-H22K/FR-CV-H30K

FR-CV-H37K/FR-CV-H55K

Grounding wire size

[mm 2 ]

8 (AWG 8)

22 (AWG 4)

38 (AWG 2)

8 (AWG 8)

14 (AWG 6)

11 - 46


(b) Example of selecting the wire sizes

1) 200 V class

When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P4 and N-. Also, connect the servo amplifiers in the order of larger to smaller capacities.

Wire as short as possible.

FR-CV-55K

R2/L1 P/L+

S2/L2 N/L-

T2/L3

50 mm 2 22 mm 2 Servo amplifier (15 kW)

P4

N-

(Note)

First unit:

50 mm 2 assuming that the total of servo amplifier capacities is 27.5 kW since 15 kW + 7 kW + 3.5 kW

+ 2.0 kW = 27.5 kW.

22 mm 2

8 mm 2

R/L11

S/L21

T/MC1

8 mm 2

3.5 mm 2

Servo amplifier (7 kW)

P4

N-

(Note)

Second unit:

22 mm 2 assuming that the total of servo amplifier capacities is 15 kW since 7 kW + 3.5 kW + 2.0 kW =

12.5 kW.

Servo amplifier (3.5 kW)

P4

N-

(Note)

Third unit:

8 mm 2 assuming that the total of servo amplifier capacities is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW.

3.5 mm 2

3.5 mm 2 Servo amplifier (2 kW)

P4

N-

(Note)

Fourth unit:

3.5 mm 2 assuming that the total of servo amplifier capacities is 2 kW since 2.0 kW = 2.0 kW.

Junction terminals

Overall wiring length 5 m or less

Note. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).

2) 400 V class

When connecting two servo amplifiers of 11 kW, always use junction terminals for wiring the servo amplifier terminals P4, N-.

FR-CV-H55K

R2/L1 P/L+

S2/L2 N/L-

T2/L3

22 mm 2

Wire as short as possible.

8 mm 2 Servo amplifier (11 kW)

P4

N-

First unit: 22 mm 2 assuming that total capacity of servo amplifiers is 22 kW since

11 kW + 11 kW = 22 kW.

R/L11

S/L21

T/MC1

8 mm 2

8 mm 2

Junction terminals

Total wire length: 5 m or less

Servo amplifier (11 kW)

P4

N-

Second unit: 8 mm 2 assuming that total capacity of servo amplifiers is 11 kW since

11 kW = 11 kW.

11 - 47


(5) Other precautions

(a) When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Do not use the power factor improving AC reactor (FR-HAL-(H)) or power factor improving DC reactor (FR-

HEL-(H)).

(b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them. In this case, interference can be reduced by installing the radio noise filter (FR-BIF(-H)) or line noise filter (FR-BSF01, FR-BLF).

(c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo amplifiers should be 5 m or less, and the wiring must be twisted.

(6) Specifications

Power regeneration common converter FR-CV-_

Item

7.5K 11K 15K 22K 30K 37K 55K

Total of connectable servo amplifier capacities

Maximum servo amplifier capacity

[kW] 3.75

[kW]

Total of connectable servo motor rated currents

Regenerative braking torque

Short-time rating

Continuous rating

Rated input AC voltage/frequency

Permissible AC voltage fluctuation

3.5

5.5

5

Total capacity of applicable servo motors, 300% torque, 60 s (Note 1)

100% torque

3-phase 200 V AC to 220 V AC, 50 Hz, 200 V AC to 230 V AC, 60 Hz

3-phase 170 V AC to 242 V AC, 50 Hz, 170 V AC to 253 V AC, 60 Hz

7.5

7

11

11

±5%

15

15

18.5

15

27.5

22



(Note 2)

IP rating (JEM 1030), cooling method Open type (IP00), forced cooling

Ambient temperature -10 ˚ C to 50 ˚ C (non-freezing)

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

Ambience

Altitude, vibration resistance

Molded-case circuit breaker or earthleakage current breaker

Magnetic contactor

30AF

30A

S-N20

S-T21


1000 m or less above sea level, 5.9 m/s 2

50AF

50A

100AF

75A

100AF

100A

125AF

125A

125AF

125A

225AF

175A

S-N35

S-T35

S-N50

S-T50

S-N65

S-T65

S-N80

S-T80

S-N95

S-T100

S-N125

11 - 48


Power regeneration common converter FR-CV-H_

Item

Total of connectable servo amplifier capacities

Maximum servo amplifier capacity

Total of connectable servo motor rated currents

[kW] 11

[kW]

22K 30K 37K 55K

11

15

15

185

15

27.5

22

Regenerative braking torque

Short-time rating

Continuous rating

Rated input AC voltage/frequency

Total capacity of applicable servo motors, 300% torque, 60 s

(Note 1)

100% torque


Permissible AC voltage fluctuation 3-phase 323 V AC to 528 V AC, 50 Hz/60 Hz


Power supply capacity (Note 2) [kVA]

IP rating (JEM 1030), cooling method

Ambient temperature

Ambient humidity

Ambience

Altitude, vibration resistance

Molded-case circuit breaker or earthleakage current breaker

Magnetic contactor

41

±5%

52 66

Open type (IP00), forced cooling

-10 ˚ C to 50 ˚ C (non-freezing)

100



50AF

50A

1000 m or less above sea level, 5.9 m/s 2

60AF

60A

100AF

75A

100AF

100A

S-N25

S-T25

S-N35

S-T35

S-N50

S-T50

S-N65

S-T65

Note 1. This is the time when the protective function of the FR-CV-(H) is activated. The protective function of the servo amplifier is activated in the time indicated in section 10.1.

2. The specified value is the power supply capacity of FR-CV-(H). The total power supply capacities of the connected servo amplifiers are actually required.

11 - 49


11.6 Junction terminal block PS7DW-20V14B-F (recommended)

(1) Usage

Always use the junction terminal block (PS7W-20V14B-F (Toho Technology)) with the option cable (MR-

J2HBUS_M) as a set. A connection example is shown below.

Servo amplifier

Cable clamp

(AERSBAN-ESET)


PS7DW-20V14B-F

CN3

MR-J2HBUS_M

Ground the junction terminal block cable on the junction terminal block side with the supplied cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to section 11.14, (2) (c).

(2) Connection of MR-J2HBUS_M cable and junction terminal block

Servo amplifier

CN3 (Note) MR-J2HBUS_M CN


PS7DW-20V14B-F

Terminal block

13

14

15

16

9

10

11

12

17

18

19

5

6

7

8

3

4

1

2

20

Shell

LG

DI1

DOCOM

MO1

DICOM

LA

LB

LZ

INP

DICOM

LG

DI2

MBR

MO2

ALM

LAR

LBR

LZR

DI3

EM2

SD

16

17

18

13

14

15

19

20

Shell

5

6

7

8

3

4

1

2

9

10

11

12

13

14

15

16

9

10

11

12

17

18

19

5

6

7

8

3

4

1

2

20 20

Shell Shell

13

14

15

16

9

10

11

12

17

18

19

5

6

7

8

3

4

1

2

13

14

15

16

9

10

11

12

17

18

19

5

6

7

8

3

4

1

2

20

LG

DI1

DOCOM

MO1

DICOM

LA

LB

LZ

INP

DICOM

LG

DI2

MBR

MO2

ALM

LAR

LBR

LZR

DI3

EM2

E SD

Connector: 52316-2019 (Molex)

Shell kit: 52370-2070 (Molex)

Note. Symbol indicating cable length is put in _.

05: 0.5 m

1: 1 m

5: 5 m

11 - 50


(3) Dimensions of junction terminal block

7.62

63

54

44.11

φ 4.5

TB.E ( φ 6)

M3 × 5L

6.2

1.42

M3 × 6L

[Unit: mm]

11.7 MR Configurator2

POINT

The MR-J4-_B_-RJ servo amplifier is supported with software version 1.19V or later.

MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer.

11.7.1 Specifications

Item Description

Monitor

Diagnosis

Test operation

Display all, I/O monitor, graph, and ABS data display

Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life diagnosis, machine diagnosis, fully closed loop diagnosis (Note 2), and linear diagnosis (Note 3)

JOG operation (Note 4), positioning operation, motor-less operation (Note 1), DO forced output, and program operation

Others

Servo assistant, parameter setting range update, machine unit conversion setting, and 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 - 51


11.7.2 System configuration

(1) Components

To use this software, the following components are required in addition to the servo amplifier and servo motor.

Equipment Description

(Note 1, 2, 3, 4, 5)

Personal computer

OS

CPU

(recommended)

Microsoft ® Windows ® 10 Home

Microsoft ® Windows ® 10 Pro

Microsoft ® Windows ® 10 Enterprise

Microsoft ® Windows ® 10 Education

Microsoft ® Windows ® 8.1 Enterprise

Microsoft ® Windows ® 8.1 Pro

Microsoft ® Windows ® 8.1


Microsoft ® Windows ® 8 Pro

Microsoft ® Windows ® 8


Microsoft ® Windows ® 7 Ultimate

Microsoft ® Windows ® 7 Professional

Microsoft ® Windows ® 7 Home Premium

Microsoft ® Windows ® 7 Starter

Microsoft ® Windows Vista ® Enterprise

Microsoft ® Windows Vista ® Ultimate

Microsoft ® Windows Vista ® Business

Microsoft ® Windows Vista ® Home Premium

Microsoft ® Windows Vista ® Home Basic

Microsoft ® Windows ® XP Professional, Service Pack3 or later

Microsoft ® Windows ® XP Home Edition, Service Pack3 or later

Desktop personal computer: Intel ® Celeron ® processor 2.8 GHz or more

Laptop personal computer: Intel ® Pentium ® M processor 1.7 GHz or more

Memory

(recommended)

Hard Disk

Communication interface

512 MB or more (for 32-bit OS) and 1 GB or more (for 64-bit OS)

1 GB or more

USB port

Browser Windows ® Internet Explorer ® 4.0 or more

Display

One whose resolution is 1024 × 768 or more and that can provide a high color (16 bit) display.

Connectable with the above personal computer.

Keyboard

Mouse

Printer




USB cable MR-J3USBCBL3M

Note 1. On some personal computers, MR Configurator2 may not run properly.

2. The following functions cannot be used.

Windows Program Compatibility mode

Fast User Switching

Remote Desktop

Large Fonts Mode (Display property)

DPI settings other than 96 DPI (Display property)

For 64-bit operating system, this software is compatible with Windows ® 7 and Windows ® 8.

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.

Windows ® 8 or later is used, the following functions cannot be used.

Hyper-V

Modern UI style

11 - 52


(2) Connection with servo amplifier

Servo amplifier

CN5

USB cable

MR-J3USBCBL3M

(Option)

To USB connector

Personal computer

11.7.3 Precautions for using USB communication function

Note the following to prevent an electric shock and malfunction of the servo amplifier.

(1) Power connection of personal computers

Connect your personal computer with the following procedures.

(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire, use a three-pin socket or ground the grounding wire.

2) When your personal computer has two-core plug and has no grounding wire, connect the personal computer to the servo amplifier with the following procedures. a) Disconnect the power plug of the personal computer from an AC power socket. b) Check that the power plug was disconnected and connect the device to the servo amplifier. c) Connect the power plug of the personal computer to the AC power socket.

(b) When you use a personal computer with battery

You can use as it is.

(2) Connection with other devices using servo amplifier communication function

When the servo amplifier is charged with electricity due to connection with a personal computer and the charged servo amplifier is connected with other devices, the servo amplifier or the connected devices may malfunction. Connect the servo amplifier and other devices with the following procedures.

(a) Shut off the power of the device for connecting with the servo amplifier.

(b) Shut off the power of the servo amplifier which was connected with the personal computer and check the charge lamp is off.

(c) Connect the device with the servo amplifier.

(d) Turn on the power of the servo amplifier and the device.

11 - 53


11.8 Battery

POINT

Refer to app. 2 and 3 for battery transportation and the new EU Battery

Directive.

This battery is used to construct an absolute position detection system. Refer to chapter 12 for construction of the absolute position detection system.

11.8.1 Selection of battery

The available batteries vary depending on servo amplifiers. Select a required battery.

(1) Applications of the batteries

MR-BAT6V1SET

MR-BAT6V1BJ

Battery

Battery for junction battery cable

For absolute position data backup

For transporting a servo motor and machine apart

For absolute position data backup of multi-axis servo motor

MR-BAT6V1

MR-BAT6V1

(2) Combinations of batteries and the servo amplifier

Model MR-J4-_B_(-RJ)

MR-BAT6V1SET

MR-BAT6V1BJ

MR-BT6VCASE

11.8.2 MR-BAT6V1SET battery

POINT

For the specifications and year and month of manufacture of the built-in MR-

BAT6V1 battery, refer to section 11.8.5.

(1) Parts identification and dimensions

[Unit: mm]

28 69.3

Rating plate

Connector for servo amplifier

Case

Mass: 34 [g] (including MR-BAT6V1 battery)

11 - 54


(2) Battery mounting

Connect as follows.

Servo amplifier

Encoder cable

CN2

CN4

MR-BAT6V1SET

Servo motor

(3) Battery replacement procedure

WARNING

Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and

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

CAUTION

The internal circuits of the servo amplifier may be damaged by static electricity.

Always take the following precautions.

Ground human body and work bench.

Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.

POINT

Replacing battery with the control circuit power off will erase the absolute position data.

Before replacing batteries, check that the new battery is within battery life.

Replace the battery while only control circuit power is on. Replacing battery with the control circuit power on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.

11 - 55


(a) Battery installation and removal procedure

1) Installation procedure

POINT

For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.

Install a battery, and insert the plug into the CN4 connector.

Install a battery, and insert the plug into the CN4 connector.

For the servo amplifier with a battery holder on the bottom

2) Removal procedure

For the servo amplifier with a battery holder on the front

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 - 56


(4) Replacement procedure of the built-in battery

When the MR-BAT6V1SET reaches the end of its life, replace the MR-BAT6V1 battery in the MR-

BAT6V1SET.

1) While pressing the locking part, open the cover.

Cover

Locking part

2) Replace the battery with a new MR-BAT6V1.

MR-BAT6V1

Projection

3) Press the cover until it is fixed with the projection of the locking part to close the cover.

11 - 57


11.8.3 MR-BAT6V1BJ battery for junction battery cable

POINT

MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors.

MR-BAT6V1BJ cannot be used for fully closed loop system and scale measurement function.

(1) Parts identification and dimensions

[Unit: mm]

34.8

69.3

Orange: Connector for servo amplifier

Rating plate

Black: Connector for branch cable

Case

Mass: 66 [g]

(2) Year and month of manufacture of battery

Production year and month are indicated in a serial number (SERIAL) on the rating plate. The second digit from left in the number indicates the first digit of the year, the third digit from left indicates a month

(Oct: X, Nov: Y, Dec.: Z). For November 2013, the serial is like, "SERIAL: _ 3Y _ _ _ _ _ _".

(3) Specification list

Item Description

Battery pack

Nominal voltage

Nominal capacity

Storage temperature

Lithium content

Mercury content

Dangerous goods class

[V]

[mAh]

[°C]

Operating temperature [°C]

[g]

2CR17335A (CR17335A × 2 pcs. in series)

6

1650

0 to 55

0 to 55

1.2

Less than 1 ppm

Not subject to the dangerous goods (Class 9)

Refer to app. 2 for details.

Operating humidity and storage humidity


(Note) Battery life 5 years from date of manufacture

Mass [g] 66

Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.

11 - 58



Connect the MR-BAT6V1BJ using the MR-BT6VCBL03M junction battery cable as follows.

Servo amplifier

MR-BT6VCBL03M Encoder cable

CN2

CN4

MR-BAT6V1BJ Black: Connector for branch cable

Orange: Connector for servo amplifier HG series servo motors

(5) Transporting a servo motor and machine apart

POINT

Be sure to connect the connector for branch cable connection (black) when transporting a servo motor and machine apart. When the connector for branch cable connection (black) is not connected to the MR-BT6VCBL03M junction battery cable, no alarm will occur. However, the absolute position data will be erased when you transport a servo motor and machine apart.

When you transport a servo motor and machine apart, disconnect only CN2 and CN4 of the servo amplifier. When other connectors or cables are disconnected between the servo motor and battery, the absolute position data will be deleted.

Servo amplifier

CN2

CN4

Disconnect only CN2 and CN4.

MR-BT6VCBL03M Encoder cable

MR-BAT6V1BJ Black: Connector for branch cable

Orange: Connector for servo amplifier

HG series servo motors

11 - 59



WARNING



CAUTION





The battery built in MR-BAT6V1BJ cannot be replaced. Do not disassemble the

MR-BAT6V1BJ. Otherwise, it may cause a malfunction.

POINT

To replace the MR-BAT6V1BJ, follow the procedures given in this section to avoid erasing absolute position data.


For MR-BAT6V1BJ, the battery can be replaced with the control circuit power supply off.

(a) Battery installation and removal procedure

The battery installation and removal procedure to the servo amplifier are the same as for the MR-

BAT6V1SET battery. Refer to (3) of section 11.8.2.

(b) Preparation for replacing MR-BAT6V1BJ

Prepare a new MR-BAT6V1BJ as follows.

Model

MR-BAT6V1BJ

Number and use

1 for replacement

Remark

Battery within two years from the production date.

(c) Procedures of replacing MR-BAT6V1BJ

Replace the product as follows regardless of on/off of the control circuit power supply. When it is replaced with other procedures, the absolute position data will be erased.

1) Remove the connector for branch cable connection (black) of the old MR-BAT6V1BJ.

Servo amplifier

Orange

CN2

CN4

Old MR-BAT6V1BJ

MR-BT6VCBL03M

Black

Orange

New MR-BAT6V1BJ

11 - 60


2) Connect the connector for branch cable connection (black) of the new MR-BAT6V1BJ.

Servo amplifier

Orange

CN2

CN4

Old MR-BAT6V1BJ

MR-BT6VCBL03M

Black

Orange

New MR-BAT6V1BJ

3) Remove the connector for servo amplifier (orange) of the old MR-BAT6V1BJ. When the control circuit power supply is on, performing 3) without [AL. 9F.1 Low battery] will trigger [AL. 9F.1].

Servo amplifier

Orange CN2

CN4

Old MR-BAT6V1BJ

MR-BT6VCBL03M

Black

Orange

New MR-BAT6V1BJ

4) Remove the old MR-BAT6V1BJ from servo amplifier and mount the new MR-BAT6V1BJ. When the control circuit power supply is on, [AL. 9F.1] will occur after 3).

Servo amplifier

Orange

Old MR-BAT6V1BJ

Black

Orange

CN2

CN4

New MR-BAT6V1BJ

MR-BT6VCBL03M

Black

5) Mount the connector for servo amplifier (orange) of the new MR-BAT6V1BJ. When the control circuit power supply is on, [AL. 9F.1] will be canceled.

Servo amplifier

Orange CN2

CN4

MR-BT6VCBL03M

Black

New MR-BAT6V1BJ

11 - 61


11.8.4 MR-BT6VCASE battery case

POINT

The battery unit consists of an MR-BT6VCASE battery case and five MR-

BAT6V1 batteries.

For the specifications and year and month of manufacture of MR-BAT6V1 battery, refer to section 11.8.5.

MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. A battery case does not have any batteries. Please prepare MR-BAT6V1 batteries separately.

(1) The number of connected servo motors

One MR-BT6VCASE holds absolute position data up to eight axes servo motors. For direct drive motors, up to four axes can be connected. Servo motors and direct drive motors in the incremental system are included as the axis Nos. Linear servo motors are not counted as the axis Nos. Refer to the following table for the number of connectable axes of each servo motor.

Servo motor Number of axes

0 1 2 3 4 5 6 7 8

4 4 4 4 4 3 2 1 0

(2) Dimensions

[Unit: mm]

2- 5 mounting hole 2-M4 screw

25

Approx. 70 130

4.6

5

Approx. 25

5


Mounting screw

Screw size: M4

[Mass: 0.18 kg]

11 - 62



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. However, it cannot be used for MR-J4W2-0303B6.

(a) When using 1-axis servo amplifier

Servo amplifier

CN1A

MR-BT6VCASE

CN10

CN1B

CN4

Cap

MR-BT6V1CBL_M

(b) When using up to 8-axis servo amplifiers

Servo amplifier

(First)

Servo amplifier

(Second)

Servo amplifier

(Last)

CN4

MR-BT6VCASE

CN10

CN4

MR-BT6V2CBL_M

MR-BT6V1CBL_M

CN4

MR-BT6V2CBL_M

11 - 63



WARNING



CAUTION





POINT

Replacing battery with the control circuit power off will erase the absolute position data.


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 - 64


(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

MR-BT6VCASE

MR-BAT6V1

Quantity Remark

1 MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries.

5 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.

Cover Remove the cover.

CON2

CON3

CON1

CON4

CON5

BAT1

Parts identification

BAT2 BAT3

BAT4 BAT5

11 - 65

11. OPTIONS AND PERIPHERAL EQUIPMENT b) Mounting MR-BAT6V1

Securely mount a 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 - 66

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.

While pressing the lock release lever, pull out the connector.

Battery cable

11 - 67


11.8.5 MR-BAT6V1 battery

The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET and a 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 a

MR-BAT6V1 battery.

Rating plate 2CR17335A WK17

11-04

6V 1650mAh

The year and month of manufacture

Item Description

Battery pack

Nominal voltage

Nominal capacity

Storage temperature

Operating temperature

Lithium content

Mercury content

Dangerous goods class

[V]

[mAh]

[°C]

[°C]

[g]

2CR17335A (CR17335A × 2 pcs. in series)

6

1650

0 to 55

0 to 55

1.2

Less than 1 ppm

Not subject to the dangerous goods (Class 9)

Refer to app. 2 for details.

Operating humidity and storage humidity

(Note) Battery life


5 years from date of manufacture

Mass [g] 34

Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.

11 - 68


11.9 Selection example of wires

POINT

Refer to section 11.1.3 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.

For the selection example when the MR-J4-_B-RJ servo amplifier is used with the DC power supply input, refer to app. 15.3.



Wire length: 30 m or less

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

1) Main circuit power supply lead

Power supply

Servo amplifier

L1

L2

L3

U

V

W

M

2) Control circuit power supply lead

L11

L21

4) Servo motor power supply lead

5) Power regeneration converter lead


Regenerative option

N-

3) Regenerative option lead

C

P+

11 - 69


(1) Example of selecting the wire sizes

Use the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following shows the wire size selection example.

(a) 200 V class

Table 11.1 Wire size selection example (HIV wire)

Servo amplifier

1) L1/L2/L3/ 2) L11/L21 3) P+/C

4) U/V/W/

(Note 3)

MR-J4-10B(-RJ)

MR-J4-20B(-RJ)

MR-J4-40B(-RJ)

MR-J4-60B(-RJ)

MR-J4-70B(-RJ)

MR-J4-100B(-RJ)

MR-J4-200B(-RJ)

(3-phase power supply input)

MR-J4-200B(-RJ)


MR-J4-350B(-RJ)

2 (AWG 14)

3.5 (AWG 12)

1.25 to 2

(AWG 16 to 14)

(Note 4)

2 (AWG 14)

AWG 18 to 14

(Note 4)

AWG 16 to 10

MR-J4-500B(-RJ)

(Note 2)

MR-J4-700B(-RJ)

(Note 2)

MR-J4-11KB(-RJ)

(Note 2)

MR-J4-15KB(-RJ)

(Note 2)

MR-J4-22KB(-RJ)

(Note 2)

5.5 (AWG 10): a

8 (AWG 8): b

14 (AWG 6): f

22 (AWG 4): h

38 (AWG 2): i

1.25 (AWG 16): a

2 (AWG 14): d

(Note 4)

1.25 (AWG 16): c

2 (AWG 14): c

(Note 4)

2 (AWG 14): c

3.5 (AWG 12): g

5.5 (AWG 10): g

5.5 (AWG 10): j

2 (AWG 14): c

3.5 (AWG 12): a

5.5 (AWG 10): a

2 (AWG 14): c

3.5 (AWG 12): a

5.5 (AWG 10): a

8 (AWG 8): b

14 (AWG 6): f

5.5

(AWG 10): g (Note 5)

8 (AWG 8): k

22 (AWG 4): h

8 (AWG 8): k (Note 5)

38 (AWG 2): i

Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2) in this section.

2. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.

3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer to each servo amplifier instruction manual.

4. Be sure to use the size of 2 mm 2 when corresponding to IEC/EN/UL/CSA standard.

5. This is for connecting to the linear servo motor with natural cooling method.

Use wires (5)) of the following sizes with the power regeneration converter (FR-RC).

FR-RC-15K

FR-RC-30K

FR-RC-55K

14 (AWG 6)

14 (AWG 6)

22 (AWG 4)

11 - 70


(b) 400 V class


Servo amplifier

1) L1/L2/L3/ 2) L11/L21 3) P+/C

4) U/V/W/

(Note 3)

MR-J4-60B4(-RJ)/

MR-J4-100B4(-RJ)

MR-J4-200B4(-RJ)

MR-J4-350B4(-RJ)

MR-J4-500B4(-RJ)

(Note 2)

MR-J4-700B4(-RJ)

(Note 2)

MR-J4-11KB4(-RJ)

(Note 2)

MR-J4-15KB4(-RJ)

(Note 2)

2 (AWG 14)

2 (AWG 14): b

3.5 (AWG 12): a

5.5 (AWG 10): d

1.25 to 2

(AWG 16 to 14)

(Note 4)

1.25 (AWG 16): a

2 (AWG 14): c

(Note 4)

2 (AWG 14)

2 (AWG 14): b

2 (AWG 14): f

AWG 16 to 14

3.5 (AWG 12): a

5.5 (AWG 10): a

8 (AWG 8): g

MR-J4-22KB4(-RJ)

(Note 2)

8 (AWG 8): g

14 (AWG 6): i

1.25 (AWG 16): b

2 (AWG 14): b

(Note 4)

3.5 (AWG 12): d

3.5 (AWG 12): e

5.5 (AWG 10): e

(Note 5)

8 (AWG 8): h

(Note 6)

14 (AWG 6): i



3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer to each servo amplifier instruction manual.


5. This is for connecting to the linear servo motor with natural cooling method.

6. This is for connecting to the linear servo motor with liquid cooling method.

Use wires (5)) of the following sizes with the power regeneration converter (FR-RC-H).

FR-RC-H15K

FR-RC-H30K

FR-RC-H55K

14 (AWG 6)

(c) 100 V class


Servo amplifier

1) L1/L2/ 2) L11/L21 3) P+/C

4) U/V/W/

(Note 1)

MR-J4-10B1(-RJ)

MR-J4-20B1(-RJ)

MR-J4-40B1(-RJ)

2 (AWG 14)

1.25 to 2

(AWG 16 to 14)

(Note 2)

2 (AWG 14)

AWG 18 to 14

(Note 2)

Note 1. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer to each servo amplifier instruction manual.


11 - 71


(2) Selection example of crimp terminals

(a) 200 V class


Symbol (Note 2) Crimp terminal a FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S c FVD2-4 d FVD2-M3

YNT-1614 e FVD1.25-M3 YNT-2216

Applicable tool f FVD14-6 g FVD5.5-6 h FVD22-6 i FVD38-8 j FVD5.5-8 k FVD8-6

YF-1

YNT-1210S

YF-1

YF-1

YNT-1210S

YF-1/E-4

YNE-38

YNE-38

YNE-38

YNE-38

DH-124

DH-114

DH-121

DH-111

DH-122

DH-112

DH-123

DH-113

JST

Note 1. Coat the crimping part with an insulation tube.

2. Some crimp terminals may not be mounted depending on the size. Make sure to use the recommended ones or equivalent ones.

(b) 400 V class

Symbol Crimp terminal

(Note)


Manufacturer

Body Head Dice a FVD5.5-4 YNT-1210S b FVD2-4 c FVD2-M3

YNT-1614 d FVD5.5-6 YNT-1210S e FVD5.5-8 YNT-1210S f FVD2-6 g FVD8-6

YNT-1614 h FVD8-8 i FVD14-8 DH-122/DH-112

JST

Note. Some crimp terminals may not be mounted depending on the size. Make sure to use the recommended ones or equivalent ones.

11 - 72


11.10 Molded-case circuit breakers, fuses, magnetic contactors

CAUTION

To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed.

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.

POINT

For the selection when the MR-J4-_B-RJ servo amplifier is used with the DC power supply input, refer to app. 15.4.

11 - 73


(1) For main circuit power supply

When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.

Servo amplifier

Molded-case circuit breaker (Note 1, 4)

Frame, rated current

Power factor improving reactor is not used

Power factor improving reactor is used

Voltage AC

[V]

Fuse

[V]

Magnetic contactor

(Note 2)

MR-J4-10B(-RJ) 30 A frame 5 A





MR-J4-100B(-RJ)


MR-J4-100B(-RJ)


30 A frame 15 A

30 A frame 15 A

30 A frame 5 A

30 A frame 5 A

30 A frame 5 A

30 A frame 10 A

30 A frame 10 A

30 A frame 10 A

30 A frame 15 A

10

15

20

30

S-N10

S-T10




30 A frame 20 A

30 A frame 30 A

50 A frame 50 A

240 T

40

70

125

300

S-N20

(Note 3)

S-T21

S-N20

S-T21

S-N35

S-T35

MR-J4-700B(-RJ) 100 A frame 75 A 60 A frame 60 A

MR-J4-11KB(-RJ) 100 A frame 100 A 100 A frame 100 A

150

200

S-N50

S-T50



250

350

S-N65

S-T65

S-N95

S-T100

MR-J4-60B4(-RJ) 30 A frame 5 A




30 A frame 5 A

30 A frame 5 A

30 A frame 10 A

30 A frame 15 A

10

15

25

35

S-N10

S-T10



MR-J4-11KB4(-RJ) 50 A frame 50 A

MR-J4-15KB4(-RJ) 60 A frame 60 A

30 A frame 20 A

30 A frame 30 A

50 A frame 50 A

60 A frame 60 A

MR-J4-22KB4(-RJ) 100 A frame 100 A 100 A frame 100 A

50

480 T 65

100

150

175

600

MR-J4-10B1(-RJ) 30 A frame 5 A 30 A frame 5 A 10

MR-J4-20B1(-RJ) 30 A frame 10 A 30 A frame 10 A 240 T 15

MR-J4-40B1(-RJ) 30 A frame 15 A 30 A frame 10 A 20

Note 1. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 4.

300

S-N10

S-T10

2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.

3. S-N18 can be used when auxiliary contact is not required.

4. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric generalpurpose products.

S-N20

(Note 3)

S-T21

S-N20

S-T21

S-N25

S-T35

S-N35

S-T35

S-N50

S-T50

11 - 74


The Type E Combination motor controller can also be used instead of a molded-case circuit breaker.

Servo amplifier

MR-J4-10B(-RJ)

MR-J4-20B(-RJ)

MR-J4-40B(-RJ)

MR-J4-60B(-RJ)

MR-J4-70B(-RJ)

MR-J4-100B(-RJ)

MR-J4-200B(-RJ)

MR-J4-350B(-RJ)

MR-J4-500B(-RJ)

MR-J4-60B4(-RJ)

MR-J4-100B4(-RJ)

MR-J4-200B4(-RJ)

MR-J4-350B4(-RJ)

MR-J4-500B4(-RJ)

MR-J4-700B4(-RJ)

Rated input voltage AC [V]

200 to 240

380 to 480

Input phase

3-phase

3-phase

Type E Combination motor controller

Model

Rated voltage

AC [V]

Rated current

[A]

(Heater design)

1.6

2.5

240

4

6.3

6.3

8

18

MMP-T32

480Y/277

SCCR

[kA]

50

25

32

2.5

25

4

8

13

18

50

25 25

(2) For control circuit power supply

When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.

Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)

Servo amplifier

Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]

MR-J4-10B(-RJ)

MR-J4-20B(-RJ)

MR-J4-40B(-RJ)

MR-J4-60B(-RJ)

MR-J4-70B(-RJ)

MR-J4-100B(-RJ)


MR-J4-350B(-RJ)

MR-J4-500B(-RJ)

MR-J4-700B(-RJ)

MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

MR-J4-22KB(-RJ)

MR-J4-60B4(-RJ)

MR-J4-100B4(-RJ)

MR-J4-200B4(-RJ)

MR-J4-350B4(-RJ)


MR-J4-700B4(-RJ)

MR-J4-11KB4(-RJ)

MR-J4-15KB4(-RJ)

MR-J4-22KB4(-RJ)

MR-J4-10B1(-RJ)


240 1 300 1 250

480 1 600 1 600

240 1 300 1 250

MR-J4-40B1(-RJ)

Note. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 4.

11 - 75


11.11 Power factor improving DC reactors

The following shows the advantages of using power factor improving DC reactor.

It improves the power factor by increasing the form factor of the servo amplifier's input current.

It decreases the power supply capacity.

The input power factor is improved to about 85%.

As compared to the power factor improving AC reactor (FR-HAL-(H)), it decreases the loss.

When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P3 and

P4. If it remains connected, the effect of the power factor improving DC reactor is not produced.

When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10 cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.

(1) 200 V class

2-d mounting hole

(Varnish is removed from right mounting hole (face and back side).) (Note 1)

4-d mounting hole

(Varnish is removed from front right mounting hole (face and back side).) (Note 1)

D or less

D or less

P P1

D3

P P1

W1

W ± 2

Fig. 11.1

W1

W ± 2

Fig. 11.2

D2

D1

4-d mounting hole (Note 1)

D or less

D3 or less

FR-HEL

Servo amplifier

(Note 2)

P3

P4

5 m or less

W1

W ± 2

D2

D1 ± 2

Fig. 11.3

Note 1. Use this for grounding.

2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.

11 - 76


Servo amplifier


Dimensions

W W1 H

Dimensions [mm]

D

(Note 1)

D1 D2 D3 d

Terminal size

Mass

[kg]

Wire [mm 2 ]

(Note 2)

MR-J4-10B(-RJ)

MR-J4-20B(-RJ)

FR-HEL-0.4K 70 60 71 61 21 M4 M4 0.4

85 74 81 61

2. Selection conditions of wire size are as follows.


21 M4 M4 0.5

MR-J4-60B(-RJ)

MR-J4-70B(-RJ)

MR-J4-100B(-RJ) FR-HEL-2.2K



85 74 81 70 30 M4 M4 0.9

77 55 92 82 66 57 37 M4 M4 1.5

MR-J4-500B(-RJ) FR-HEL-11K

MR-J4-700B(-RJ) FR-HEL-15K

MR-J4-11KB(-RJ) FR-HEL-15K

MR-J4-15KB(-RJ) FR-HEL-22K

Fig. 11.2

105 64 133 112 92 79 47 M6 M6 3.3 5.5 10)

105 64 133 115 97 84 48.5 M6 M6 4.1 8 8)

105 64 133 115 97 84 48.5 M6 M6 4.1 14 6)

105 64 93 175 117 104

115

(Note 1)

135

M6

M6

M10

M10

5.6

7.8

22 (AWG 4)

38 (AWG 2)

Note 1. Maximum dimensions The dimension varies depending on the input/output lines.


(2) 400 V class

P P1


(D3)

D or less

P P1


(D3)

D or less

W1

W ± 2.5

Fig. 11.4

D2

D1 ± 1

W1

W ± 2.5

Fig. 11.5

D2

D1 ± 1

11 - 77



D or less

(D3)

P P1

FR-HEL-H

Servo amplifier

P3

(Note 2)

P4

5 m or less

W1

W ± 2.5

6

D2

D1 ± 1

Fig. 11.6


2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.

Servo amplifier


Dimensions

Dimensions [mm]

W W1 H D D1 D2 D3 d

Terminal size

Mass

[kg]

Wire [mm 2 ]

(Note)

MR-J4-100B4(-RJ) FR-HEL-H2.2K

Fig. 11.4

MR-J4-200B4(-RJ) FR-HEL-H3.7K

MR-J4-350B4(-RJ) FR-HEL-H7.5K Fig. 11.5 96 60 128 105 100 80 50 M5

MR-J4-500B4(-RJ) FR-HEL-H11K 105 75 137 110 105 85 53 M5

MR-J4-700B4(-RJ)

MR-J4-11KB4(-RJ)

FR-HEL-H15K

MR-J4-15KB4(-RJ) FR-HEL-H22K

Fig. 11.6

MR-J4-22KB4(-RJ) FR-HEL-H30K

Note. Selection conditions of wire size are as follows.

133 90 178 120 100 80 56 M5

M4

M5

M6

3.5 2 (AWG 14)

4.5 3.5 (AWG 12)

105 75 152 125 115 95 62 M5 M6 5.0

6.5

5.5 (AWG 10)

8 (AWG 8)

14 (AWG 6)

Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)


11.12 Power factor improving AC reactors

The following shows the advantages of using power factor improving AC reactor.

It improves the power factor by increasing the form factor of the servo amplifier's input current.

It decreases the power supply capacity.

The input power factor is improved to 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.

11 - 78


(1) 200 V class/100 V class

W1

W or less (Note 2)

Terminal layout

R X S Y T Z

4-d mounting hole

(Varnish is removed from front right mounting hole (face and back side).) (Note 1)

3-phase

200 V AC to

240 V AC

D or less

Fig. 11.7

D2

D1

MCCB

(Note)

1-phase

200 V AC to

240 V AC

MCCB

1-phase

100 V AC to

120 V AC

MCCB

MC

R

3-phase 200 V class

FR-HAL

Servo amplifier

X

L1

S Y

L2

T Z

L3

MC

Servo amplifier

1-phase 200 V class

R

FR-HAL

X

L1

S Y

L2

T Z

L3

MC

R

S

1-phase 100 V class

FR-HAL

Servo amplifier

X

L1

Y

Unassigned

T Z

L2


2. W ± 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K.

Terminal layout

R X S Y T Z

4-d mounting hole

(Varnish is removed from front right mounting hole (face and back side).) (Note)

Note. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.

D or less

4-d mounting hole (Note)

D or less

W1

W ± 2

Fig. 11.8

Note. Use this for grounding.

D2

D1

R

X

S

Y

T

Z

W1

W or less


Fig. 11.9

D2

D1 ± 2

11 - 79


Servo amplifier


Dimensions

Dimensions [mm]

Terminal

H (Note) size

Mass

[kg]

MR-J4-10B(-RJ)

MR-J4-20B(-RJ)

MR-J4-10B1(-RJ)

MR-J4-40B(-RJ)

MR-J4-20B1(-RJ)

MR-J4-60B(-RJ)

MR-J4-70B(-RJ)

MR-J4-40B1(-RJ)

MR-J4-100B(-RJ)


FR-HAL-0.4K

FR-HAL-2.2K Fig. 11.7

115

(Note)

40 115 77 71 57 M6 M4 1.5

MR-J4-100B(-RJ)


MR-J4-200B(-RJ)


MR-J4-200B(-RJ)


FR-HAL-3.7K

FR-HAL-5.5K

MR-J4-350B(-RJ) FR-HAL-7.5K

MR-J4-500B(-RJ) FR-HAL-11K

MR-J4-700B(-RJ) FR-HAL-15K

Fig. 11.8

MR-J4-11KB(-RJ) FR-HAL-15K

MR-J4-15KB(-RJ) FR-HAL-22K

115

(Note)

115

(Note)

40 115 83 81 67 M6 M4

40 115 83 81 67 M6 M4

2.2

2.3

160 75 164 111 109 92 M6 M6 5.2

160 75 167 126 124 107 M6 M6 7.0

160 75 167 126 124 107 M6 M6 7.0

185

(Note)

75 150 158 100 87 M6 M8 9.0

11.9

185

(Note)

75 150 168 100 87 M6 M10 9.7

Note. Maximum dimensions The dimension varies depending on the input/output lines.

(2) 400 V class


( φ 5 groove)

R X S Y T Z

D or less

3-phase

380 V AC to

480 V AC

MCCB MC

FR-HAL-H

R X

Servo amplifier

3-phase

400 V class

L1

S Y

L2

T Z

L3

W1

W ± 0.5

D2

D1

Fig. 11.10

11 - 80


R X S Y T Z

150

125


( φ 6 groove)

D or less

180

R X S Y T Z


( φ 8 groove)

D or less

W1

W ± 0.5

D2

D1

W1

W ± 0.5

D2

D1


Fig. 11.11

Servo amplifier


Dimensions

MR-J4-60B4(-RJ) FR-HAL-H1.5K 135

Fig. 11.12

D

D1 D2 d

Terminal size

Mass

[kg]

MR-J4-200B4(-RJ) FR-HAL-H3.7K

MR-J4-350B4(-RJ) FR-HAL-H7.5K

135 120 115 69 70.6 57 M4 M3.5 2.5

160 145 142 91 91 75 M4 M4 5.0

160 145 146 91 91 75 M4 M5 6.0

MR-J4-700B4(-RJ)

MR-J4-11KB4(-RJ)

FR-HAL-H15K 220 200 195 105 90 70 M5 M5 9.0

220 200 215 170 90 70 M5 M8 9.5

MR-J4-22KB4(-RJ) FR-HAL-H30K

Fig. 11.12

220 200 215 170 96 75 M5 M8 11

Note. Maximum dimensions. The dimension varies depending on the input/output lines.

11.13 Relay (recommended)

The following relays should be used with the interfaces

Digital input (interface DI-1)

Relay used for digital input command signals

Digital output (interface DO-1)

Relay used for digital output signals

To prevent defective contacts, use a relay for small signal (twin contacts).

(Ex.) Omron : type G2A, MY

Small relay with 12 V DC or 24 V DC of rated current 40 mA or less

(Ex.) Omron : type MY

11 - 81


11.14 Noise reduction techniques

Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral equipment 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 equipment malfunctions due to noises produced by the servo amplifier, noise suppression measures must be taken. The measures will vary slightly with the routes of noise transmission.

(1) Noise reduction techniques

(a) General reduction techniques

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

Use a shielded twisted pair cable for connection with the encoder and for control signal transmission, and connect the external conductor of the cable to the SD terminal.

Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11.)

(b) Reduction techniques for external noises that cause the servo amplifier to malfunction

If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.

Provide surge absorbers on the noise sources to suppress noises.

Attach data line filters to the signal cables.

Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings.

Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended.

(c) Techniques for noises radiated by the servo amplifier that cause peripheral equipment 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 equipment 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)

Magnetic induction noise

Static induction noise

Noises transmitted through electric channels

Noise radiated from the power supply cable

Noise radiated from servo motor cable

Routes 4) and 5)

Route 2)

Route 3)

Route 6)

Noise transmitted through power supply cable

Route 7)

Noise sneaking from grounding cable due to leakage current

Route 8)

11 - 82


5)

Instrument

7)

Receiver

7) 7)

2)

3)

1)

Servo amplifier

4)

6)

2)

Sensor

power

supply

Sensor

8)

3)

Servo motor M

Noise transmission route

1) 2) 3)

4) 5) 6)

7)

8)

Suppression techniques

When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required.

1. Provide maximum clearance between easily affected devices and the servo amplifier.

2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier.

3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side or bundling them together.

4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.

5. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.

When the power lines and the signal lines are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. The following techniques are required.

1. Provide maximum clearance between easily affected devices and the servo amplifier.

2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier.

3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side or bundling them together.

4. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.

When the power supply of peripheral equipment is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required.

1. Install the radio noise filter (FR-BIF(-H)) on the power lines (Input lines) of the servo amplifier.

2. Install the line noise filter (FR-BSF01/FR-BLF) on the power lines of the servo amplifier.

If the grounding wires of the peripheral equipment and the servo amplifier make a closed loop circuit, leakage current may flow through, causing the equipment to malfunction. In this case, the malfunction may be prevented by the grounding wires disconnected from the equipment.

11 - 83


(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

[Unit: mm]

80 150

39 ± 1

34 ± 1

Loop for fixing the cable band

TDK

Product name Lot number

Outline drawing (ZCAT3035-1330)

(b) Surge killer (recommended)

Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo amplifier. Use the following surge killer or equivalent.

ON

OFF

MC

MC

Surge killer

SK

Relay

Surge killer

This distance should be short

(within 20 cm).

Rated voltage

AC [V]

C

[µF ± 20%]

R

[ Ω ± 30%]

250 0.5

(Ex.) CR-50500 Okaya Electric Industries)

Test voltage

50 (1/2 W)

Between terminals: 625 V AC,

50 Hz/60 Hz 60 s

Between terminal and case:

2000 V AC

50/60 Hz 60 s

Soldered

Band (clear)

6 ± 1

300 min.

15 ± 1

CR-50500

48 ± 1.5

Dimensions [Unit: mm]

AWG 18 Twisted wire

6 ± 1

300 min.

16 ± 1

φ 3.6

(18.5 + 5) max.

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.

+

RA

Diode

-

11 - 84


(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 cable clamp comes as a set with the grounding plate.

[Unit: mm]

Cable clamp

(A, B)

Cable

Earth plate

Strip the cable sheath of the clamped area.

cutter cable

Dimensions

External conductor

Clamp section diagram

2φ 5 hole installation hole

Earth plate

17.5

[Unit: mm] [Unit: mm]

Clamp section diagram

L or less 10

(Note) M4 screw

6

35

0 -0.

22

Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.

AERSBAN-DSET

AERSBAN-ESET

100

70

86

56

30 Clamp A: 2pcs.

Clamp B: 1pc.

A

B

70

45

11 - 85


(d) Line noise filter (FR-BSF01/FR-BLF)

This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band.

Connection diagram

The line noise filters can be mounted on lines of the main power supply (L1/L2/L3) and of the servo motor power (U/V/W). Pass each of the wires through the line noise filter an equal number of times in the same direction. For wires of the main power supply, the effect of the filter rises as the number of passes increases, but generally four passes would be appropriate. For the servo motor power lines, passes must be four times or less. Do not pass the grounding wire through the filter. Otherwise, the effect of the filter will drop.

Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1. If the wires are too thick to wind, use two or more filters to have the required number of passes as shown in Example 2.

Place the line noise filters as close to the servo amplifier as possible for their best performance.


FR-BSF01 (for wire size 3.5 mm 2 (AWG 12) or less)

Approx. 110

95 ± 0.5

Approx. 65

φ 33

2φ5

Example 1

MCCB MC

Power supply

Line noise filter

Servo amplifier

L1

L2

L3

FR-BLF (for wire size 5.5 mm 2 (AWG 10) or more)

φ 7

(Number of passes: 4)

Example 2

MCCB MC

Power supply

Line noise filter

Servo amplifier

L1

L2

L3

130

85

Two filters are used

(Total number of passes: 4)

160

180

11 - 86


(e) Radio noise filter (FR-BIF(-H))

This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the input only.

200 V class/100 V class: FR-BIF

400 V class: FR-BIF-H

Connection diagram

Make the connection cables as short as possible. Grounding is always required.

When using the FR-BIF with a single-phase power supply, always insulate the lead wires that are not used for wiring.

MR-J4-350B(-RJ) or less/MR-J4-350B4(-RJ) or less/MR-J4-

40B1(-RJ) or less


Red White Blue Green

Leakage current: 4 mA

Power supply

MCCB MC

Terminal block Servo amplifier

L1

L2

L3

29

58 29

44

φ 5 hole

7

Radio noise filter

MR-J4-500B(-RJ) or less/MR-J4-500B4(-RJ) or less

Power supply

MCCB MC

Servo amplifier

L1

L2

L3

Radio noise filter

11 - 87


(f) Varistor for input power supply (recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by

NIPPON CHEMI-CON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.

Power supply voltage

200 V class/

100 V class

400 V class

Maximum rating

Varistor

Permissible circuit voltage

Surge current immunity

Energy immunity

AC [Vrms] DC [V] 8/20 µs [A] 2 ms [J]

TND20V-431K 275 350

10000/1 times

TND20V-471K 300 385

7000/2 times

7500/1 time

TND20V-102K 625 825

6500/2 times

195

215

400

Rated pulse power

Maximum limit voltage

Static capacity

(reference

[A] [V] value)

Varistor voltage rating

(range)

V1 mA

[W]

1.0

710

1.0 100

1300

775 1200

100 1650

[pF]

560

[V]

430 (387 to 473)

470 (423 to 517)

1000 (900 to 1100)

[Unit: mm]

D T

Model

TND20V-431K

D

Max.

H

Max.

T

Max.

E

±1.0

L

Min.

(Note)

6.4 3.3

φ d

±0.05

W

±1.0

W

φ d

E

Note. For special purpose items for lead length (L), contact the manufacturer.

11 - 88


11.15 Earth-leakage current breaker

(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.

Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.

Select an earth-leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.

To minimize leakage currents, make the input and output wires as short as possible, and keep a distance of 30 cm or longer between the wires and ground.

Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA] ···································· (11.1)

Earth-leakage current breaker

NV

Wire

Noise filter

Servo amplifier

Wire

M

Type

Mitsubishi

Electric products

K

Ig1 Ign Iga Ig2 Igm

Models provided with harmonic and surge reduction techniques

NV-SP

NV-SW

NV-CP

NV-CW

NV-HW

1

General models

BV-C1

NFB

NV-L

3

Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input terminals of the servo amplifier (Found from Fig. 11.13.)

Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 11.13.)

Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF(-H))

Iga: Leakage current of the servo amplifier (Found from table 11.5.)

Igm: Leakage current of the servo motor (Found from table 11.4.)

120

100

80

60

40

20

0

120

100

80

60

40

20

0

2 5.5 14

3.5 8 22

30

38100

60150

80

2

3.5

5.5

8

14

22

38

30

60

100

80

150

200 V class/100 V class (Note) 400 V class

Note. "Ig1" of 100 V class servo amplifiers will be 1/2 of 200 V class servo amplifiers.

Fig. 11.13 Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit

11 - 89


Table 11.4 Servo motor leakage current example (lgm)

Servo motor power [kW]

0.05 to 1

1.2 to 2

3 to 3.5

4.2 to 5

6 to 7

8 to 11

12 to 15

20 to 25

Leakage current [mA]

0.1

0.2

0.3

0.5

0.7

1.0

1.3

2.3

Table 11.5 Servo amplifier leakage current example (Iga)

Servo amplifier capacity [kW]

0.1 to 0.6

Leakage current [mA]

0.1

0.75 to 3.5 0.15

5/7 2

11/15 5.5

22 7

Table 11.6 Earth-leakage current breaker selection example

Servo amplifier

Rated sensitivity current of earth-leakage current breaker [mA]

MR-J4-10B(-RJ) to MR-J4-350B(-RJ)

MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ)

MR-J4-10B1(-RJ) to MR-J4-40B1(-RJ)

MR-J4-500B(-RJ)

MR-J4-500B4(-RJ)

MR-J4-700B(-RJ)

MR-J4-700B4(-RJ)

MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ)

MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ)

15

30

50

100

11 - 90


(2) Selection example

Indicated below is an example of selecting an earth-leakage current breaker under the following conditions.

2 mm 2 × 5 m 2 mm 2 × 5 m

NV

Servo amplifier

MR-J4-40B

M

Servo motor

HG-KR43

Ig1 Iga Ig2 Igm

Use an earth-leakage current breaker designed for suppressing harmonics/surges.

Find the terms of equation (11.1) from the diagram.

Ig1 = 20 •

5

1000

= 0.1 [mA]

Ig2 = 20 •

5

1000

= 0.1 [mA]

Ign = 0 (not used)

Iga = 0.1 [mA]

Igm = 0.1 [mA]

Insert these values in equation (11.1).

Ig ≥ 10 • {0.1 + 0 + 0.1 + 1 • (0.1 + 0.1)}

≥ 4 [mA]

According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity current (Ig) of 4.0 mA or more.

An earth-leakage current breaker having Ig of 15 mA is used with the NV-SP/SW/CP/CW/HW series.

11 - 91


11.16 EMC filter (recommended)

POINT

For when multiple servo amplifiers are connected to one EMC filter, refer to section 6.4 of "EMC Installation Guidelines".

It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current.

(1) Combination with the servo amplifier

Recommended filter (Soshin Electric)

Servo amplifier Mass [kg]

Model Rated current [A]

Rated voltage

[VAC]

Leakage current

[mA]

MR-J4-10B(-RJ) to

MR-J4-100B(-RJ)

MR-J4-200B(-RJ)

MR-J4-350B(-RJ)

HF3010A-UN

(Note)

HF3010A-UN

(Note)

10

5

3.5

30 5.5

MR-J4-500B(-RJ)

MR-J4-700B(-RJ)

MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

MR-J4-22KB(-RJ)

MR-J4-60B4(-RJ)

MR-J4-100B4(-RJ)

MR-J4-15KB4(-RJ) TF3040C-TX

MR-J4-22KB4(-RJ) TF3060C-TX

MR-J4-10B1(-RJ) to

MR-J4-40B1(-RJ)

HF3040A-UN

(Note)

HF3100A-UN

(Note)

HF3010A-UN

(Note)

40

250

6.5

6

100 12

TF3005C-TX 5

MR-J4-200B4(-RJ) to

MR-J4-700B4(-RJ)

TF3020C-TX 20

MR-J4-11KB4(-RJ) TF3030C-TX 30

40

60

500 5.5

6

7.5

12.5

10 250 5 3.5

Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.

Servo amplifier

Model

Recommended filter (COSEL)

Rated current [A]

Rated voltage

[VAC]

Leakage current

[mA]

Mass [kg]

MR-J4-11KB(-RJ) to

MR-J4-22KB(-RJ)

MR-J4-22KB4(-RJ)

FTB-100-355-L

(Note)

FTB-80-355-L

(Note)

100 500 40 5.3

Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.

11 - 92



EMC filter

(Note 1)

Power supply

MCCB

1

2

3 6

E

4

5

1 2 3

(Note 2)

Surge protector


2. The example is when a surge protector is connected.

MC

Servo amplifier

L1

L2

L3

L11

L21

(3) Dimensions

(a) EMC filter

HF3010A-UN

3-M4 4-5.5 × 7 3-M4 M4

[Unit: mm]

IN

258 ± 4

273 ± 2

288 ± 4

300 ± 5

65 ± 4

Approx. 41

11 - 93


HF3030A-UN/HF-3040A-UN

6-R3.25 length: 8

3-M5 3-M5

HF3100A-UN

85 ± 1

210 ± 2

260 ± 5

85 ± 1

M8

2-6.5 × 8

[Unit: mm]

M4

2φ 6.5

M8

70 ± 2

140 ± 2

[Unit: mm]

380 ± 1

400 ± 5

M6

11 - 94


TF3005C-TX/TX3020C-TX/TF3030C-TX

3-M4 6-R3.25 length 8 M4 M4 3-M4

IN

100 ± 1

290 ± 2

308 ± 5

332 ± 5

100 ± 1

M4

[Unit: mm]

Approx. 67.5

± 3

150 ± 2

Approx. 160

170 ± 5

11 - 95


TF3040C-TX/TF3060C-TX

8-R3.25 Length 8 (for M6)

3-M6 M4 M4 3-M6

IN

100 ± 1 100 ± 1

390 ± 2

412 ± 5

438 ± 5

100 ± 1

M6

[Unit: mm]

Approx.

91.5

180 ± 2

Approx. 190

200 ± 5

11 - 96


FTB-100-355-L/FTB-80-355-L

3-M8 (option-S: hexagon socket head cap screw)

Input

350

309

Model plate

M6 (option-S: hexagon socket head cap screw)


Terminal block cover Terminal block cover

[Unit: mm]

3-M8 (option-S: hexagon socket head cap screw)

Output

M6 (option-S: hexagon socket head cap screw)


(Note)

2φ 6.5

Mounting hole

Mounting plate

Mounting hole

Note. No heat radiation holes on the opposite face.

335 ± 0.5

11 - 97


(b) Surge protector

RSPD-250-U4/RSPD-500-U4

φ 4.2 ± 0.5

Resin

[Unit: mm]

1 2 3

Lead

Case

1 2 3

41 ± 1

11 - 98


11.17 External dynamic brake

CAUTION

Use an external dynamic brake for a servo amplifier of MR-J4-11KB(-RJ) to MR-

J4-22KB(-RJ) and MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ). Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop.

Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.

The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD09].

Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

POINT


Configure up a sequence which switches off the magnetic contactor of the external dynamic brake after (or as soon as) the servo-on command has been turned off at a power failure or a malfunction.

For the braking time taken when the external dynamic brake is operated, refer to section 10.3.

The external dynamic brake is rated for a short duration. Do not use it very frequently.

When using the 400 V class external dynamic brake, the power supply voltage is restricted to 1-phase 380 V AC to 463 V AC (50 Hz/60 Hz).

Dynamic brake operates at occurrence of alarm, [AL. E6 Servo forced stop warning], and [AL. E7 Controller forced stop warning], and when power is turned off. Do not use external dynamic brake to stop in a normal operation as it is the function to stop in emergency.

For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the external dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.

Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1

(Forced stop 1) frequently in other than emergency.

(1) Selection of external dynamic brake

The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7 kW or less servo amplifier. Since it is not built in the 11 kW or more servo amplifier, purchase it separately. Assign DB (Dynamic brake interlock) to any of CN3-9, CN3-13, and CN3-15 pins in [Pr. PD07] to [Pr. PD09].

Servo amplifier External dynamic brake



Voltage

AC [V]

Fuse (Class T)

Current [A]

Voltage

AC [V]

Fuse (Class K5)

Current [A]

Voltage

AC [V]

MR-J4-11KB(-RJ) DBU-11K

MR-J4-15KB(-RJ) DBU-15K 30 A frame 5 A

MR-J4-22KB(-RJ) DBU-22K-R1

MR-J4-11KB4(-RJ) DBU-11K-4

MR-J4-15KB4(-RJ)

MR-J4-22KB4(-RJ)

DBU-22K-4

30 A frame 5 A

240

480

1

1

300

600

1

1

250

600

11 - 99



(a) 200 V class

ALM

RA1

Operation ready

OFF ON

Servo amplifier

MC

MCCB


MC

SK

U

V

W

(Note 3)

Power supply

(Note 9)

(Note 9)

(Note 5)


(Note 4)

MC

(Note 7)

L1

L2

L3

L11

L21

P3

P4

CN3

EM2 20

CN3

3

15

DOCOM

ALM

(Note 2,

8)

DB

24 V DC (Note 6)

RA1

RA2

24 V DC (Note 6)

DICOM 5

DICOM

10

(Note 1)

14 13 U V W

W

E

U

V

Servo motor

M

RA2

Dynamic brake interlock a b


Note 1. Terminals 13 and 14 are normally open contact outputs. If the external dynamic brake is seized, terminals 13 and 14 will open.

Therefore, configure up an external sequence to prevent servo-on.



5. Turn off EM2 when the main power circuit power supply is off.




9. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 11.10 and (1) in this section.)

11 - 100


(b) 400 V class

ALM

RA1

Operation ready

OFF ON

Servo amplifier

MC


(Note 8) Step-down

MCCB transformer

MC

SK

U

V

W

(Note 3)

Power supply

(Note 11)

(Note 11)

(Note 5)


(Note 4)

MC

L1

L2

L3

L11

L21

P3

(Note 7)

P4

CN3

EM2 20

CN3

3

15

DOCOM

24 V DC (Note 6)

ALM

(Note 2,

10)

DB

RA1

RA2

24 V DC (Note 6)

DICOM 5

DICOM 10

(Note 1)

14 13 U V W

W

E

U

V

Servo motor

M

RA2

Dynamic brake interlock

(Note 9) a b


Note 1. Terminals 13 and 14 are normally open contact outputs. If the external dynamic brake is seized, terminals 13 and 14 will open.

Therefore, configure an external sequence to prevent servo-on.

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


5. Turn off EM2 when the main power circuit power supply is off.




9. The power supply voltage of the inside magnet contactor for 400 V class external dynamic brake DBU-11K-4 and DBU-22K-4 is restricted as follows. When using these external dynamic brakes, use them within the range of the power supply.


DBU-11K-4

DBU-22K-4

Power supply voltage

1-phase 380 V AC to 463 V AC, 50

Hz/60 Hz


11. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 11.10 and (1) in this section.)

11 - 101


(3) Timing chart

Coasting

Servo motor speed

Dynamic brake

Alarm

Base circuit

Present

Absent

ON

OFF


Dynamic brake

ON

OFF

Disabled

Enabled

Short


Open a. Timing chart at alarm occurrence

Coasting

Dynamic brake b. Timing chart at emergency stop switch enabled

Coasting

Dynamic brake

Electro magnetic brake interlock

Servo motor speed

Base circuit

MBR (Electromagnetic brake interlock)

ALM (Malfunction)

Main circuit

Control circuit

(Note 1) 7 ms

ON

OFF

10 ms

ON

OFF (Valid)

(Note 2)

15 ms to 60 ms

ON

OFF

Power

ON

OFF


Dynamic brake

ON

OFF

Disabled

Enabled

Electro magnetic brake operation delay time

Note 1. When powering off, DB (Dynamic brake interlock) will be turned off, and the base circuit is turned off earlier than usual before an output shortage occurs.

(Only when assigning the DB as the output signal)

2. Variable according to the operation status. c. Timing chart when both of the main and control circuit power are off

11 - 102


(4) Dimensions

(a) DBU-11K/DBU-15K/DBU-22K-R1

5

[Unit: mm]

D 100

C

5

D

G

F

2.3

Terminal block a b 13 14 U V W

Screw: M3.5


Screw: M4


External dynamic brake A B C D E F

DBU-11K 200 190 140

DBU-15K/DBU-22K-R1 250 238 150

20

25

5

6




G

Mass

[kg]

(Note) Connection wire [mm 2

170 163.5 2 5.5 (AWG 10) 2 (AWG 14)

235 228 6 5.5 (AWG 10) 2 (AWG 14)

]

11 - 103


(b) DBU-11K-4/DBU-22K-4

2φ 7 mounting hole

[Unit: mm]

25

51 73.75

7

150 25

200

15 170 15

195

210

2.3

15

Mass: 6.7 [kg]

Terminal block

TE1 a b 13 14

Screw: M3.5


TE2

U V W

Screw: M4



(Note) Connection wire [mm 2 ]

DBU-11K-4

DBU-22K-4

5.5 (AWG 10) 2 (AWG 14)

5.5 (AWG 10) 2 (AWG 14)


Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)


11 - 104


11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)

Use the panel through attachment to mount the heat generation area of the servo amplifier in the outside of the cabinet to dissipate servo amplifier-generated heat to the outside of the cabinet and reduce the amount of heat generated in the cabinet. In addition, designing a compact cabinet is allowed.

In the cabinet, machine a hole having the panel cut dimensions, fit the panel through attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the cabinet.

Please prepare screws for mounting. They do not come with.

The environment outside the cabinet when using the panel through attachment should be within the range of the servo amplifier operating environment.

The panel through attachments are used for MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ) and MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ).

The following shows the combinations.

Servo amplifier Panel through attachment

MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

MR-J4ACN15K

MR-J4-22KB(-RJ) MR-J3ACN

MR-J4-11KB4(-RJ)

MR-J4-15KB4(-RJ)

MR-J4ACN15K

MR-J4-22KB4(-RJ) MR-J3ACN

(1) MR-J4ACN15K

(a) Panel cut dimensions

[Unit: mm]

163

4-M10 Screw

Punched hole

196

218

(b) How to assemble the attachment for panel through attachment

Screw

(2 places)

Attachment

11 - 105


(c) Mounting method

Attachment

Servo amplifier

Fit using the assembling screws.

Attachment a. Assembling the panel through attachment

Punched hole

Cabinet

Servo amplifier b. Mounting it to inside cabinet

11 - 106


(d) Mounting dimensional diagram

Servo amplifier

Attachment

196

240

Mounting hole

[Unit: mm]

20.6

Servo amplifier

Panel

3.2

155 108.3

Approx. 263.3

Panel

(2) MR-J3ACN

(a) Panel cut dimensions

203

[Unit: mm]

4-M10 Screw

Punched hole

236

255

270

11 - 107


(b) How to assemble the attachment for panel through attachment

(c) Mounting method

Attachment

Screw

(2 places)

Attachment

Fit using the assembling screws.

Servo amplifier

Servo amplifier

Attachment a. Assembling the panel through attachment b. Mounting it to inside cabinet

Punched hole

Cabinet

11 - 108


(d) Mounting dimensional diagram

20

Panel

[Unit: mm]

Servo amplifier Attachment Servo amplifier

236

280

Approx. 260

Mounting hole

155

3.2

105

Approx. 260

Panel

Approx. 11.5

11 - 109


MEMO

11 - 110

12. ABSOLUTE POSITION DETECTION SYSTEM


CAUTION

If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation.

If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short circuit of the battery, the MR-BAT6V1 battery can become hot. Use the MR-BAT6V1 battery with case to prevent getting burnt.

POINT

Refer to section 11.8 for the replacement procedure of the battery.

There are three types of batteries, MR-BAT6V1SET, MR-BAT6V1BJ, and MR-

BT6VCASE available to construct the absolute position detection system. MR-

BAT6V1BJ has the following advantages compared to other batteries.

You can disconnect the encoder cable from the servo amplifier.

You can replace the battery with the control circuit power supply off.

When absolute position data is erased from the encoder, always execute home position setting before operation. The absolute position data of the encoder will be erased in the followings. Additionally, when the battery is used out of specification, the absolute position data can be erased.

MR-BAT6V1SET and MR-BT6VCASE

The encoder cable was disconnected.

The battery was replaced when the control circuit power supply was off.

MR-BAT6V1BJ

A connector or cable was disconnected between the servo motor and battery.

The battery was replaced with procedures other than those of (6) in section

11.8.3.

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


12.1.2 Structure

The following shows a configuration of the absolute position detection system. Refer to section 11.8 for each battery connection.

Servo system controller Servo amplifier

CN1A CN2

CN4

Battery

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)

12.1.4 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


12.2 Battery

12.2.1 Using MR-BAT6V1SET battery



Position data

Current position

Home position data

LS0

CYC0

Step-down circuit

(6 V 3.4 V)

MR-BAT6V1SET

Battery

Servo motor

Cumulative revolution counter

(1 pulse/rev)

One-revolution counter

LS

Detecting the number of revolutions

CYC

Detecting the position at one revolution

High speed serial communication

(2) Specifications

(a) Specification list

Item Description

System

Maximum revolution range

Electronic battery backup type

Home position ± 32767 rev.

(Note 1)

Maximum speed at power failure [r/min]

Rotary servo motor

Direct drive motor

Rotary servo motor

6000

(only when acceleration time until 6000 r/min is 0.2 s or more)

500


Approximately 20,000 hours

(equipment power supply: off, ambient temperature: 20 ˚ C)


(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3) (Note 2)

Battery backup time Approximately 5,000 hours


Direct drive motor


(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)

Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like.

2. The data-holding time by the battery using MR-BAT6V1SET. 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 - 3


12.2.2 Using MR-BAT6V1BJ battery for junction battery cable

POINT

MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors.

MR-BAT6V1BJ cannot be used for fully closed loop system.



Position data

Current position

Home position data

LS0

CYC0

Step-down circuit

(6 V 3.4 V)

Primary lithium battery

LS


CYC

Detecting the position at one revolution

Servo motor

Step-down circuit

MR-BAT6V1BJ

Battery


(1 pulse/rev)

One-revolution counter


(2) Specifications

(a) Specification list

Item Description

System




(Note 1)


Rotary servo motor

6000


(Note 2)



Rotary servo motor

Battery backup time Approximately 29,000 hours



2. The data-holding time by the battery using MR-BAT6V1BJ. Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.


12 - 4


12.2.3 Using MR-BT6VCASE battery case

POINT

One MR-BT6VCASE holds absolute position data up to eight axes servo motors.

Always install five MR-BAT6V1 batteries to an MR-BT6VCASE.



Position data

Current position

Home position data

LS0

CYC0

Step-down circuit

( 6 V 3.4 V )

MR-BT6VCASE

LS


CYC

Detecting the position within one revolution

Servo motor

MR-BAT6V1 × 5


(1 pulse/rev)

Within one revolution counter


(2) Specification list

System


(Note 1)


Item Description


Rotary servo motor

Direct drive motor


6000


500


Rotary servo motor

Approximately 40,000 hours/2 axes or less, 30,000 hours/3 axes, or

10,000 hours/8 axes



15,000 hours/8 axes

(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3) (Note 2)

Battery backup time

Direct drive motor


5,000 hours/4 axes



10,000 hours/4 axes



2. The data-holding time by the battery using five MR-BAT6V1s. The battery life varies depending on the number of axes

(including axis for using in the incremental system). Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.


12 - 5


MEMO

12 - 6

13. USING STO FUNCTION


POINT


13.1 Introduction

This section provides the cautions of the STO function.

13.1.1 Summary

This servo amplifier complies with the following safety standards.

ISO/EN ISO 13849-1 Category 3 PL e

IEC 61508 SIL 3

IEC/EN 61800-5-2

IEC/EN 62061 SIL CL3

13.1.2 Terms related to safety

The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in the servo amplifier.

The purpose of this function is as follows.

(1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1

(2) Preventing unexpected start-up

13.1.3 Cautions

The following basic safety notes must be read carefully and fully in order to prevent injury to persons or damage to property.

Only qualified personnel are authorized to install, start-up, repair, or service the machines in which these components are installed.

They must be familiar with all applicable local regulations and laws in which machines with these components are installed, particularly the standards mentioned in this manual.

The staff responsible for this work must be given express permission from the company to perform start-up, programming, configuration, and maintenance of the machine in accordance with the safety standards.

WARNING

Improper installation of the safety related components or systems may cause improper operation in which safety is not assured, and may result in severe injuries or even death.

Protective Measures

This servo amplifier satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by preventing the energy supply from the servo amplifier to the servo motor. If an external force acts upon the drive axis, additional safety measures, such as brakes or counterbalances must be used.

13 - 1


13.1.4 Residual risks of the STO function

Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi Electric is not liable for any damages or injuries caused by these risks.

(1) The STO function disables energy supply to the servo motor by electrical shut-off. The function does not mechanically disconnect electricity from the motor. Therefore, it cannot prevent exposure to electric shock. To prevent an electric shock, install a magnetic contactor or a molded-case circuit breaker to the main circuit power supply (L1/L2/L3) of the servo amplifier.

(2) The STO function disables energy supply to the servo motor by electrical shut-off. It does not guarantee the stop control or the deceleration control of the servo motor.

(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety related component.

(4) In the safety circuit, use components that are confirmed safe or meet the required safety standards.

(5) The STO function does not guarantee that the drive part of the servo motor will not rotate due to external or other forces.

(6) Safety is not assured until safety-related components of the system are completely installed or adjusted.

(7) When replacing this servo amplifier, confirm that the model name of servo amplifiers are exactly the same as those being replaced. Once installed, make sure to verify the performance of the functions before commissioning the system.

(8) Perform all risk assessments to the machine or the whole system.

(9) To prevent accumulation of malfunctions, perform malfunction checks at regular intervals based on the risk assessments of the machine or the system. Regardless of the system safety level, malfunction checks should be performed at least once per year.

(10) If the upper and lower power 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


13.1.5 Specifications

(1) Specifications

Item Specifications

Functional safety

Safety performance (Note 2)

STO (IEC/EN 61800-5-2)

ISO/EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3,

EN 62061 SIL CL3, EN 61800-5-2

Mean time to dangerous failure

(MTTFd)

Diagnostic converge (DC)


Number of on/off times of STO

MTTFd ≥ 100 [years] (314a) (Note 1)

DC = Medium, 97.6 [%] (Note 1)

PFH = 6.4 × 10 -9 [1/h]

1,000,000 times

CE marking

LVD: EN 61800-5-1

EMC: EN 61800-3

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

Note 1. This is the value required by safety standards.


(2) Function block diagram (STO function)

CN8

Shut-off signal (STO1)

Monitor signal (TOFB1)

Shut-off signal (STO2)

Monitor signal (TOFB2)

Base power supply for upper arm

Shutoff

Base power supply for lower arm

Shutoff

Power module

M Servo motor

(3) Operation sequence (STO function)

Servo motor speed

EM2 (Forced stop 2)

STO1/STO2

Magnetic contactor

Base circuit

(Supplying energy to the servo motor)

0 r/min

ON

OFF

ON

OFF

ON

OFF

ON

OFF

13 - 3

(8 ms)


13.1.6 Maintenance

This servo amplifier has alarms and warnings for maintenance that supports the Drive safety function. (Refer to chapter 8.)

13.2 STO I/O signal connector (CN8) and signal layouts

13.2.1 Signal layouts

POINT

The pin assignment of the connectors is as viewed from the cable connector wiring section.

Servo amplifier

STO I/O signal connector

CN8

2 1

4 3

STO1

STOCOM

6

TOFB1

5

STO2

8

TOFCOM

7

TOFB2

13 - 4


13.2.2 Signal (device) explanations

(1) I/O device

Signal name

STOCOM

STO1

STO2

TOFCOM

TOFB1

TOFB2

Connector pin No.

Description

CN8-3 Common terminal for input signal of STO1 and STO2

CN8-4 Inputs STO state 1.

STO state (base shut-off): Open between STO1 and STOCOM.

STO release state (in driving): Close between STO1 and STOCOM.

Be sure to turn off STO1 after the servo motor stops by the servo-off state or with forced stop deceleration by turning off EM2 (Forced stop 2).

CN8-5 Inputs STO state 2.

STO state (base shut-off): Open between STO2 and STOCOM.

STO release state (in driving): Close between STO2 and STOCOM.

Be sure to turn off STO2 after the servo motor stops by the servo-off state or with forced stop deceleration by turning off EM2 (Forced stop 2).

CN8-8 Common terminal for monitor output signal in STO state

CN8-6 Monitor output signal in STO1 state

STO state (base shut-off): Between TOFB1 and TOFCOM is closed.

STO release state (in driving): Between TOFB1 and TOFCOM is opened.

CN8-7 Monitor output signal in STO2 state

STO state (base shut-off): Between TOFB2 and TOFCOM is closed.

STO release state (in driving): Between TOFB2 and TOFCOM is opened.

I/O division

DI-1

DI-1

DI-1

DO-1

DO-1

DO-1

(2) Signals and STO state

The following table shows the TOFB and STO states when the power is on in normal state and STO1 and STO2 are on (closed) or off (opened).

Input signal

STO1 STO2

Between TOFB1 and TOFCOM

(Monitoring STO1 state)

State

Between TOFB2 and TOFCOM

(Monitoring STO2 state)

Between TOFB1 and TOFB2

(Monitoring STO state of servo amplifier)

Off

Off

On

On

Off On: STO state (base circuit shut-off) On: STO state (base circuit shut-off) On: STO state (base circuit shut-off)

On On: STO state (base circuit shut-off) Off: STO release state Off: STO state (base circuit shut-off)

Off Off: STO release state

On Off: STO release state

On: STO state (base circuit shut-off) Off: STO state (base circuit shut-off)

Off: STO release state Off: STO release state

(3) Test pulse of STO input signal

Set the test pulse off time inputted from outside to 1 ms or less.

13.2.3 How to pull out the STO cable

The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier.

While pressing knob 1) of the STO cable plug in the direction of the arrow, pull out the plug 2).

2)

1)

13 - 5


13.3 Connection example

POINT

Turn off STO (STO1 and STO2) after the servo motor stops by the servo off state or with forced stop deceleration by turning off EM2 (Forced stop 2).

Configure an external sequence that has the timings shown as below using an external device such as the MR-J3-D05 safety logic unit.

STO1/STO2

EM2

ON

OFF

ON

OFF

Servo motor speed 0 r/min

If STO is turned off during operation, the servo motor is in dynamic brake stop

(stop category 0), and [AL. 63 STO timing error] will occur.

13.3.1 Connection example for CN8 connector

This servo amplifier is equipped with the connector (CN8) in accordance with the STO function. When this connector is used with a certified external safety relay, power to the motor can be safely removed and unexpected restart can be prevented. The safety relay used should meet the applicable safety standards and have forcibly guided or mirror contacts for the purpose of error detection.

In addition, the MR-J3-D05 safety logic unit can be used instead of a safety relay for implementation of various safety standards. Refer to app. 5 for details.

The following diagram is for source interface. For sink interface, refer to section 13.4.1.

Servo amplifier

Forced stop 2

EM2

CN3

20

Approx.

6.2 k Ω

DICOM

5

24 V DC

DICOM

10

STO1

STO2

24 V DC

(Note 2)

(Note 2)

STO1

CN8

4

STO2

STOCOM

5

3

Approx.

3.0 k Ω

Approx.

3.0 k Ω

CN8 (Note 1)

6 TOFB1

8

TOFCOM

7 TOFB2

Door

(Note 3)

Open

Note 1. By using TOFB, whether the servo is in the STO state can be confirmed. For connection examples, refer to section 13.3.2 to 13.3.4. 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


13.3.2 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.

13 - 7



24 V

(Note 2)

S2

RESA MR-J3-D05

(Note 1) (Note 1)

SW1 SW2

S1

STOA

(Note 2)

S4

RESB

S3

STOB

EM2

(A-axis)

EM2

(B-axis)

CN8A

1A

CN9

SDI1A+

1B SDI1A-

4A SDO1A+

4B SDO1A-

1A

1B

6A

3A

CN10

SDI2A+

3B SDI2A-

6B

8A

SRESA+

SRESA-

SDO2A+

SDO2A-

TOFA

Servo amplifier

CN8

Control circuit

STO1 4

MC

STO2 5

STOCOM 3

TOFB1 6

TOFB2 7

TOFCOM 8

CN3

EM2 (A-axis)

M

Servo motor

CN8B

2A

CN9

SDI1B+

2B SDI1B-

3A SDO1B+

3B SDO1B-

CN8

Servo amplifier

Control circuit

STO1 4

MC

FG

4A

CN10

SDI2B+

4B

2A

SDI2B-

SRESB+

2B SRESB-

5A SDO2B+

5B SDO2B-

8B TOFB

STO2 5

STOCOM 3

TOFB1 6

TOFB2 7

TOFCOM 8

CN3

EM2 (B-axis)

7A

7B

+24V

0V

M

Servo motor

0 V

Note 1. Set the delay time of STO output with SW1 and SW2. These switches for MR-J3-D05 are located where dented from the front panel.

2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.

13 - 8


(2) Basic operation example

The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1A and SDO2A of MR-J3-D05.

The switch status of STOB is input to SDI2B+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1B and SDO2B of MR-J3-D05.

A-axis shutdown 1 and 2

B-axis shutdown 1 and 2

Energizing (close)

Shut-off (open)

EM2 input

STO1, STO2

Stop

Operation

Normal (close)

Shut-off (open)

STO shut-off

Servo amplifier

Shut off delay

Servo motor speed

0 r/min

Servo motor drivable STO status

13 - 9


13.3.3 External I/O signal connection example using an external safety relay unit

POINT


This connection example complies with the requirement of ISO/EN ISO 13849-1 Category 3 PL d.

For details, refer to the safety relay module user’s manual.

24 V

S3

S4 EMG

S2 K3

Fuse KM1

+24V XS0 XS1 Z00 Z10 Z20 KM1

Safety relay module

MELSEC

(QS90SR2S)

Power supply

Control circuit

KM1

24G COM0 X0 COM1 X1

S1 or

EMG

(Note)

Z01 Z11 Z21

CN8

STO1

Servo amplifier

Control circuit

STO2

STOCOM

TOFB1

K3

TOFB2

TOFCOM

0 V

S1: STO shut-off switch (STO switch)

S2: Start switch (STO release switch)

S3: On switch

S4: Off switch

KM1: Magnetic contactor

K3: Safety relay

EMG: Emergency stop switch

CN3

EM1 or

EM2

20

M

Servo motor

Note. To enable the STO function of the servo amplifier by using "Emergency switching off", change S1 to EMG. The stop category at this time is "0". If STO is turned off while the servo motor is rotating, [AL. 63 STO timing error] will occur.

13 - 10


13.3.4 External I/O signal connection example using a motion controller

POINT


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.

13 - 11


13.4 Detailed description of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 13.2. Refer to this section and make connection with the external device.

13.4.1 Sink I/O interface


This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink

(open-collector) type transistor output, relay switch, etc.

For transistor

Approx. 5 mA

Switch

Servo amplifier

STO1

STO2

Approx. 3.0 k Ω

TR

STOCOM

V

CES

I

CEO

1.0 V

100 µA

24 V DC ± 10%

300 mA


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


TOFCOM

TOFB2

(Note)

24 V DC ± 10%

300 mA

Load


13 - 12


(b) When outputting two STO states by using one TOFB

Servo amplifier

TOFB1 Load


TOFCOM

TOFB2

(Note)

24 V DC ± 10%

300 mA


13 - 13


13.4.2 Source I/O interface




Servo amplifier

STO1

STO2

Approx. 3.0 k Ω

Switch

TR

STOCOM

I

Approx. 5 mA

V

CES

CEO

1.0 V

100 µA

24 V DC ± 10%

300 mA


This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, current will be applied from the output to a load.

A maximum of 5.2 V voltage drop occurs in the servo amplifier.

(a) When outputting two STO states by using each TOFB

Servo amplifier

TOFB1 Load


TOFCOM

TOFB2

(Note)

24 V DC ± 10%

300 mA

Load


(b) When outputting two STO states by using one TOFB

Servo amplifier

TOFB1 Load


TOFCOM

TOFB2

(Note)

24 V DC ± 10%

300 mA


13 - 14

14. USING A LINEAR SERVO MOTOR


WARNING

When using the linear servo motor, read "Linear Servo Motor Instruction Manual" and "Linear Encoder Instruction Manual".

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

Rotary servo motor

Remark

External I/O signal FLS (Upper stroke limit),

RLS (Lower stroke limit)

Motor pole adjustment

Magnetic pole detection

Required (for magnetic pole detection)

Required

Not required

Not required

(default setting)

Automatically turns on in the parameter setting.

Home position return


Auto tuning

Reference home position

Absolute position encoder battery

1048576 pulses unit

(initial value)

Not required

One servo motor revolution unit

Required

Automatically executed at the first servo-on after the power is turned on.

For the absolute position linear encoder, [Pr. PL01] can disable the magnetic pole detection. The timing of the magnetic pole detection can be changed with [Pr. PL01]. (Refer to (2) (b) of section 14.3.3.)

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]

MR Configurator2

(SW1DNC-MRC2-_)

(Software version

1.19V or later)


(J)

Motor speed

(Data display and setting)

Test operation function

Positioning operation

Motor-less operation

Load to motor mass ratio mm/s unit

Load to motor inertia ratio r/min unit

Supported Supported

None Supported operation

14 - 1


14.1.2 Servo system with auxiliary equipment

CAUTION

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

POINT

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

When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".

(1) MR-J4-_B_

The configuration diagram is an example of MR-J4-20B. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders. Refer to section 1.8 depending on servo amplifiers you use.

(Note 2)

Power supply


(MCCB)

R S T

MR Configurator2

CN5

Personal computer

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)


(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

D

(Note 5)

U

V

W

CN3

CN8

CN1A


Safety relay or



CN1B

CN2

(Note 4)

SCALE

THM


CN1A or cap

(Note 6)

Thermistor

Linear servo motor

Encoder cable

Linear encoder

14 - 2




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.


4. For the branch cable, use the MR-J4THCBL03M (optional).

6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger

[AL. 16].

14 - 3


(2) When using serial linear encoder with MR-J4-_B_-RJ

The configuration diagram is an example of MR-J4-20B-RJ. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders. Refer to section 1.8 depending on servo amplifiers you use.

(Note 2)

Power supply


(MCCB)

R S T

MR Configurator2

CN5

Personal computer

(Note 3)

Magnetic contactor

(MC)

Line noise filter

(FR-BSF01)

(Note 1)


(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

D

(Note 5)

U

V

W

CN3

CN8

CN1A


Safety relay or



CN1B

CN2

(Note 4)

SCALE

THM


CN1A or cap

(Note 6)

Thermistor

Linear servo motor

Encoder cable

Serial linear encoder



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.


4. For the branch cable, use the MR-J4THCBL03M (optional).

6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger

[AL. 16].

14 - 4


(3) When using A/B/Z-phase differential output linear encoder with MR-J4-_B_-RJ

The configuration diagram is an example of MR-J4-20B-RJ. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders. Refer to section 1.8 depending on servo amplifiers you use.

(Note 2)

Power supply

R S T


(MCCB)

MR Configurator2

CN5

Personal computer

(Note 3)

Magnetic contactor

(MC)

Line noise filter

(FR-BSF01)

(Note 1)

D

(Note 4)

CN3

CN8

CN1A


Safety relay or




(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

U

V

W

CN1B

CN2

CN2L


CN1A or cap

Thermistor

(Note 5)

Linear servo motor

L11

L21

Encoder cable

A/B/Z-phase differential output linear encoder



200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.


5. Connect the thermistor to CN2 of servo amplifier and connect the encoder cable to CN2L correctly. Incorrect setting will trigger

[AL. 16].

14 - 5


14.2 Signals and wiring

WARNING



Ground the servo amplifier and the linear servo motor securely.

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



Wire the equipment correctly and securely. Otherwise, the linear servo motor may operate unexpectedly, resulting in injury.




Servo amplifier

24 V DC

Servo amplifier

24 V DC

DOCOM DOCOM

Control output signal

For sink output interface

RA


For source output interface

CAUTION



Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF(-

H)) with the power wire of the linear servo motor.



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

Servo amplifier

U

V

W

U

Linear servo motor

V

W

M

Servo amplifier

U

V

W

U

Linear servo motor

V

W

M

14 - 6


CAUTION


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


The cables such as power wires deriving from the primary side cannot stand the long-term bending action. Avoid the bending action by fixing the cables to the moving part, etc. Also, use the cable that stands the long-term bending action for the wiring to the servo amplifier.

This chapter does not describe the following items. For details of the items, refer to each section of the detailed description field.

Input power supply circuit

Explanation of power supply system

Section 3.1

Section 3.3

Alarm occurrence timing chart Section 3.7

SSCNET III cable connection Section 3.9

Switch setting and display of the servo amplifier

Section 4.3

14 - 7


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.


(Note)

Set the linear encoder direction and the linear servo motor direction.


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) of section 14.3.2.)

Change the setting to disable the magnetic pole detection.

(Refer to (3) of section 14.3.2.)

(Note)

Positioning operation check using the test operation mode


Positioning operation check using the controller (Refer to section 14.3.5.)

Home position return operation (Refer to section 14.3.3.)


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 - 8


(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 command

Address decreasing command

Positive direction

Negative direction

Negative direction

Positive direction

Positive direction

The positive/negative directions of the linear servo motor are as follows.

Negative direction

Secondary side

Secondary side

Negative direction

Positive direction

Table

Primary side

Primary side

Positive direction

Primary side

Secondary side

Negative direction

LM-H3 and LM-F series LM-U2 series LM-K2 series

2) Confirm the increasing direction of the linear encoder.

3) If the positive direction of the linear servo motor matches with the increasing direction of the linear encoder, set [Pr. 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 - 9


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]

[Pr. PL03 Linear encoder resolution - Denominator]

= Linear encoder resolution [µm]

(b) Parameter setting example

When the linear encoder resolution is 0.5 µm

[Pr. PL02]

[Pr. PL03]

= Linear encoder resolution = 0.5 µm =

1

2

The following shows the simplified chart for the setting values of [Pr. PL02] and [Pr. PL03].

Linear encoder resolution [µm]

0.01 0.02 0.05 0.1 0.2 0.5 1.0 2.0

Setting value

14 - 10


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 Disadvantage

Position detection method

Minute position detection method

1. The magnetic pole detection has a high degree of accuracy.

2. The adjustment procedure at the magnetic pole detection is simple.

1. The travel distance at the magnetic pole detection is small.

2. Even for equipment with small friction, the magnetic pole detection is available.

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 - 11


(1) Magnetic pole detection method by using MR Configurator2

The following shows the magnetic pole detection procedure by using MR Configurator2.

(a) Magnetic pole detection by the position detection method


1) Check that 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?

NO

Have [AL. 32 Overcurrent], [AL. 50

Overload 1], [AL. 51 Overload 2], and

[AL. E1 Overload warning 1] occurred?

YES

YES Reset the alarm or cycle the servo amplifier power.

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.

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 - 12


(b) Magnetic pole detection by the minute position detection method


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.


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.


YES

Is the response by the minute position detection method of

[Pr. PL17] the final value?

NO

Has an abnormal sound or vibration occurred during the magnetic pole detection?

NO

YES

Decrease the response by the minute position detection method of [Pr. PL17] by two as the final setting value.

Is the travel distance during the magnetic pole detection acceptable? (Note 3)

Acceptable

Not acceptable Increase the response by the minute position detection method of [Pr. PL17] by one.

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 - 13


(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)


(2) Preparation for the magnetic pole detection

POINT



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

14 - 14


(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 - 15


(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

RD (Ready)

ON

OFF

ON

OFF

95 ms

15 s or less

Magnetic pole detection time (Note)

Note. The magnetic pole detection time indicates the operation time when 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.


LM-H3

LM-F

LM-U2

Medium thrust

(Continuous thrust:

Less than 400 N)

Large thrust

(Continuous thrust:

400 N or more)

LM-K2

Pitch against magnetic pole

[mm]

48 30 60 48

14 - 16


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

Servo-on position

RLS FLS

(Note)


The linear servo motor reciprocates several times and returns to the magnetic pole detection start position to complete the magnetic pole detection and to go into the servo-lock status.

At this time, there may be a gap, approximately a quarter of the pitch against magnetic pole, from the start position.

Note. For the pitch against magnetic pole, refer to (3) (a) 2) Note 2 in this section.

(b) For the absolute position linear encoder

POINT

The magnetic pole detection is required in 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) in this section.)

14 - 17


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



(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)

Small ← Medium → Large

(10 or less (initial value) 50 or more)

Servo status

Thrust at operation

Overload, overcurrent alarm

Magnetic pole detection alarm

Magnetic pole detection accuracy

Small

Seldom occurs

Frequently occurs

Low

Large

Frequently occurs

Seldom occurs

High

(b) Setting procedure

1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL.

E1 Overload warning 1], and [AL. EC Overload warning 2] occur. Increase the setting value by five as a guide value. When these alarms and warnings occur during the magnetic pole detection by using MR Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off status is established.

14 - 18


2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],

[AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value. However, if [AL. 27 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at [AL. 50

Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC

Overload warning 2] and the value set at the magnetic pole detection alarm as the final setting value.

3) Perform the magnetic pole detection again with the final setting value to check there is no problem.

(c) Setting example

Linear encoder magnetic pole detection

[Pr. PL09] setting 30 35 40 45 65 70

Alarm

Occurring

Not occurring

While increasing the setting value of [Pr. PL09], carry out the magnetic pole detection repeatedly.

An alarm has occurred when the setting value of [Pr. PL09] is set to "70".

In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70

× 0.7).

14 - 19


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.

(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

8192

131072

2 262144

5

6

3 1048576 (initial value)

4 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 μ m and the parameter for the stop interval at the home position return, [Pr. PL01], is set to "_ 5 _ _" (16777216 pulses), the stop interval is 16.777 mm. The value inside a bold box indicates the recommended stop interval for each linear encoder resolution.

[Unit: mm]

Pr. PL01

_ 0 _ _

_ 1 _ _

_ 2 _ _

_ 3 _ _

_ 4 _ _

_ 5 _ _

_ 6 _ _

Linear encoder resolution [µm]

Stop interval

[pulse]

8192

131072

262144

1048576

4194304

16777216

67108864

0.001 0.005 0.01 0.02 0.05 0.1 0.2 0.5 1 2

0.008

0.131

0.262

1.049

4.194

0.041

0.655

1.311

5.243

0.082

1.311

2.621

10.486

20.972 41.943

0.164

2.621

5.243

20.972

0.410 0.819 1.638 4.096 8.192 16.384

6.554 13.107 26.214 65.536 131.072 262.144

13.107 26.214 52.429 131.072 262.144 524.288

52.429 104.858 209.715 524.288 1048.576 2097.152

83.886 209.715 419.430 838.861 2097.152 4194.304 8388.608

16.777 83.886 167.772 335.544 838.861 1677.722 3355.443 8388.608 16777.216 33554.432

67.109 335.544 671.089 1342.177 3355.443 6710.886 13421.773 33554.432 67108.864 134217.728

14 - 20


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

Linear servo motor

Home position return speed

Creep speed

Proximity dog signal

0 mm/s

ON

OFF


(Note)

1048576 pulses

1048576 pulses × n

Linear servo motor position

Linear encoder home position Home position

Note. Changeable with [Pr. PL01].

14 - 21


(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.



Linear servo motor

Creep speed

0 mm/s

JOG operation


ON

OFF


Stroke end Linear encoder home position

Home position returnable area

Home position

Home position non-returnable area

14 - 22


(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) is outputted based on "Stop interval selection at the home position return" in

[Pr. PL01].


Linear servo motor


Creep speed


0 mm/s

ON

OFF


(Note)

1048576 pulses

1048576 pulses × n



Note. Changeable with [Pr. PL01].

14 - 23


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.



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.

(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 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.


Item Initial value Setting range

Travel distance [pulse]

Speed [mm/s]


1048576

10

1000

0 to 99999999

0 to Maximum speed

0 to 50000

Repeat pattern

Dwell time [s]

Number of repeats [time]

Positive direction travel →

Negative direction travel

2.0

1




Positive direction travel

Negative direction travel →

Positive direction travel

Negative direction travel →


01 to 50.0

1 to 9999

2) Operation method

Positive direction travel Click "Positive Direction Movement".

Negative direction travel Click "Reverse Direction Movement".


14 - 24


(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 details, refer to Help of

MR Configurator2.

Start Click "Operation start".



1) Turn off the power.

2) Turn "ON (up)" SW2-1.


ON

1 2 3 4

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.

After 1.6 s

Blinking

After 0.2 s

4) Start operation with the personal computer.

14.3.5 Operation from controller

The linear servo can be used with any of the following controllers.


Motion controller

Model

R_MTCPU/Q17_DSCPU

Simple motion module RD77MS_/QD77MS_ /LD77MS_

14 - 25


(1) Operation method

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.

(2) Servo system controller setting

(a) Setting precautions

The following parameters will be enabled by cycling the servo amplifier power after the controller writes the parameters to the servo amplifier.

Set content

Setting item Motion controller

R_MTCPU/Q17_DSCPU

Simple motion module

RD77MS_/QD77MS_ /

LD77MS_

Command resolution

Servo amplifier setting

Motor setting

No.

(Note)

Symbol

Name

Initial value

Linear encoder resolution unit

MR-J4-B Linear

Automatic setting

Parameter




1000h

0

0000h

0000h

PL01 **LIT1

Linear servo motor/DD motor function selection 1

0301h

PL02 **LIM Linear encoder resolution - Numerator 1000

PL03 **LID

Linear encoder resolution -

Denominator

PL04 *LIT2


PL05

PL06

LB1

LB2

Position deviation error detection level

Speed deviation error detection level

PL07 LB3

Torque/thrust deviation error detection level

PL08 *LIT3



Magnetic pole detection - Minute

PL17 LTSTS position detection method - Function selection


PL18 IDLV position detection method -

Identification signal amplitude

1000

0003h

0

0

100

0010h

30

0000h

0

1040h

Set the items as required.

Positioning Unit setting mm control Number of pulses (AP) parameter Travel distance (AL)

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 - 26


(b) Settings of the number of pulses (AP) and travel distance (AL)

Controller User

Command

[mm]

AP

AL

Servo amplifier

+

-

Position feedback

[mm]

AL

AP

Speed feedback

[mm/s]

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

0.05

=

20

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 servo motor

Linear encoder

Linear encoder

2) Feedback position [mm]

4) Feedback speed [mm/s]

6) Feedback thrust [%]

Figure 14.1 Outline of linear servo control error detection function

14 - 27


(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

4

5

6

7

1

2

3

Position deviation error detection

Speed deviation error detection

Thrust deviation error detection

14 - 28


(2) Auto tuning function

POINT

The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied.

Time to reach 2000 mm/s is the acceleration/deceleration time constant of 5 s or less.

The linear servo motor speed is 150 mm/s or higher.

The load to mass of the linear servo motor primary-side ratio is 100 times or less.

The acceleration/deceleration thrust is 10% or less of the continuous thrust.

The auto tuning function during the linear servo motor operation is the same as that of the rotary servo motor. However, the calculation method of the load to motor mass ratio (J ratio) differs. The load to motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass of the linear servo motor primary side.

Example) Mass of linear servo motor primary side

Load mass (excluding the mass of the linear servo motor primary side) = 4 kg

Mass ratio

= 2 kg

= 4/2 = 2 times

For the parameters set by the auto tuning function, refer to chapter 6.

(3) Machine analyzer function

POINT

Make sure to perform the machine analyzer function after the magnetic pole detection. If the magnetic pole detection is not performed, the machine analyze function may not operate properly.

The stop position at the completion of the machine analyzer function can be any position.

14.3.7 Absolute position detection system

When the linear servo motor is used with 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 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 - 29


14.4 Characteristics

14.4.1 Overload protection characteristics

An electronic thermal is built in the servo amplifier to protect the linear servo motor, servo amplifier and linear servo motor power wires from overloads.

[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig. 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

100 100

Operating

10

Servo-lock

10

1 1

0.1

0

1000

50 100 150

Load ratio [%]

200 a. LM-H3 series

LM-K2 series

250 300

0.1

0

1000

100

Servo-lock

200

Load ratio [%] b. LM-U2 series

Operating

300 400

100

Operating

100

Operating

10

Servo-lock

10

1

Servo-lock

1

0.1

0 100 200 300

Load ratio [%]

400 500 600

0.1

0 50 100 150

Load ratio [%]

200 c. LM-F series (natural cooling) d. LM-F series (liquid cooling)

Fig. 14.2 Electronic thermal protection characteristics

250 300

14 - 30


14.4.2 Power supply capacity and generated loss

Table 14.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the linear servo motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.

Mounting a heat sink outside of the cabinet enables to reduce heat in the cabinet and design a compact enclosed type cabinet.

Table 14.1 Power supply capacity and generated loss per linear servo motor at rated output

Linear servo motor

(primary side)

LM-H3P2A-07P-BSS0

Servo amplifier

MR-J4-40B(-RJ)

Power supply capacity [kVA]

(Note 1)

Servo amplifier-generated heat [W]

(Note 2)

At rated output With servo-off


[m 2 ]

0.9 35 15 0.7

LM-H3P3B-24P-CSS0 1.3 50 15 1.0

LM-H3P3D-48P-CSS0 MR-J4-200B(-RJ) 3.5

LM-H3P7A-24P-ASS0 MR-J4-70B(-RJ) 1.3

LM-H3P7B-48P-ASS0

90

50

20

15

1.8

1.0

3.5 90 20 1.8

100 1.1

LM-H3P7D-96P-ASS0 MR-J4-350B(-RJ) 5.5

LM-U2PAB-05M-0SS0

MR-J4-20B(-RJ)

MR-J4-20B1(-RJ)

130 20 2.7

0.5 25 15 0.5

LM-U2PAD-10M-0SS0 MR-J4-40B(-RJ) 0.9 35 15 0.7

LM-U2PBB-07M-1SS0

MR-J4-20B(-RJ)

MR-J4-20B1(-RJ)

0.5 25 15 0.5

LM-U2PBD-15M-1SS0 MR-J4-60B(-RJ) 1.0

LM-U2PBF-22M-1SS0 MR-J4-70B(-RJ) 1.3

40

50

15

15

0.8

1.0

LM-U2P2B-40M-2SS0 MR-J4-200B(-RJ) 3.5

LM-U2P2C-60M-2SS0 MR-J4-350B(-RJ) 5.5

90

130

20

20

1.8

2.7

LM-U2P2D-80M-2SS0 MR-J4-500B(-RJ) 7.5

LM-FP2B-06M-1SS0 MR-J4-200B(-RJ) 3.5

LM-FP2D-12M-1SS0 MR-J4-500B(-RJ) 7.5

LM-FP2F-18M-1SS0 MR-J4-700B(-RJ) 10

LM-FP4B-12M-1SS0 MR-J4-500B(-RJ) 7.5

LM-FP4D-24M-1SS0 MR-J4-700B(-RJ) 10

LM-FP4F-36M-1SS0 MR-J4-11KB(-RJ) 14

195

90

195

300

195

300

460

25

20

25

25

25

25

45

3.9

1.8

3.9

6.0

3.9

6.0

9.2

LM-FP4H-48M-1SS0 MR-J4-15KB(-RJ) 18

LM-FP5H-60M-1SS0 MR-J4-22KB4(-RJ) 22

580

640

45

45

11.6

12.8

LM-K2P1A-01M-2SS1

MR-J4-40B(-RJ)

MR-J4-40B1(-RJ)

0.9 35 15 0.7

LM-K2P1C-03M-2SS1 MR-J4-200B(-RJ) 3.5 90 20 1.8

LM-K2P2A-02M-1SS1 MR-J4-70B(-RJ) 1.3

LM-K2P2C-07M-1SS1 MR-J4-350B(-RJ) 5.5

LM-K2P2E-12M-1SS1 MR-J4-500B(-RJ) 7.5

LM-K2P3C-14M-1SS1 MR-J4-350B(-RJ) 5.5

50

130

195

130

15

20

25

20

1.0

2.7

3.9

2.7

LM-K2P3E-24M-1SS1 MR-J4-500B(-RJ) 7.5 195 25 3.9

Note 1. The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power factor improving AC reactor or power factor improving DC reactor is not used.

2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 11.2.

14 - 31


14.4.3 Dynamic brake characteristics

CAUTION

The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value is considered to be longer than the actual distance. However, if an enough braking distance is not provided, a moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts. No linear servo motor with an electromagnetic brake is available.

POINT


For a machine operating at the recommended load to motor mass ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.

Be sure to enable EM1 (Forced stop 1) after the linear servo motor stops when using EM1 (Forced stop 1) frequently in other than emergency.

The approximate coasting distance from when the dynamic brake is activated until when the linear servo motor stops can be calculated with the equation below.

Lmax = V

0

• (0.03 + M • (A + B • V

0

2 ))

Lmax: Coasting distance of the machine [m]

V

0

: Speed when the brake is activated [m/s]

M: Full mass of the moving part [kg]

A: Coefficient (Refer to the following tables.)

B: Coefficient (Refer to the following tables.)

Linear servo motor

Coefficient A

(primary side)

Coefficient B

Linear servo motor

(primary side)

Coefficient A Coefficient B

LM-H3P2A-07P-BSS0

LM-H3P3A-12P-CSS0

LM-H3P3B-24P-CSS0

LM-H3P3C-36P-CSS0

LM-H3P3D-48P-CSS0

LM-H3P7A-24P-ASS0

LM-H3P7B-48P-ASS0

LM-H3P7C-72P-ASS0

LM-H3P7D-96P-ASS0

Linear servo motor

(primary side)

LM-FP2B-06M-1SS0

LM-FP2D-12M-1SS0

LM-FP2F-18M-1SS0

LM-FP4B-12M-1SS0

LM-FP4D-24M-1SS0

LM-FP4F-36M-1SS0

LM-FP4H-48M-1SS0

LM-FP5H-60M-1SS0

7.15 × 10 -3

2.81 × 10 -3

7.69 × 10 -3

7.22 × 10 -3

1.02 × 10 -3

7.69 × 10 -3

9.14 × 10 -4

7.19 × 10 -4

6.18 × 10 -4

Coefficient A

8.96 × 10 -4

5.55 × 10 -4

4.41 × 10 -4

5.02 × 10 -4

3.55 × 10 -4

1.79 × 10 -4

1.15 × 10 -4

1.95 × 10 -4

2.94 × 10 -3

1.47 × 10 -3

2.27 × 10 -4

1.13 × 10 -4

2.54 × 10 -4

2.14 × 10 -4

2.59 × 10 -4

1.47 × 10 -4

9.59 × 10 -5

LM-U2PAB-05M-0SS0

LM-U2PAD-10M-0SS0

LM-U2PAF-15M-0SS0

LM-U2PBB-07M-1SS0

LM-U2PBD-15M-1SS0

LM-U2PBF-22M-1SS0

LM-U2P2B-40M-2SS0

LM-U2P2C-60M-2SS0

LM-U2P2D-80M-2SS0

Coefficient B

1.19 × 10 -3

4.81 × 10 -4

Linear servo motor

(primary side)

LM-K2P1A-01M-2SS1

LM-K2P1C-03M-2SS1

2.69 × 10

4.36 × 10

1.36 × 10

1.19 × 10

-4

-4

1.54 × 10 -4

-4

-4

LM-K2P2A-02M-1SS1

LM-K2P2C-07M-1SS1

LM-K2P2E-12M-1SS1

LM-K2P3C-14M-1SS1

LM-K2P3E-24M-1SS1

4.00 × 10 -5

5.72 × 10 -2

2.82 × 10 -2

1.87 × 10 -2

3.13 × 10 -2

1.56 × 10 -2

4.58 × 10 -2

1.47 × 10 -3

1.07 × 10 -3

9.14 × 10 -4

Coefficient A

5.36 × 10 -3

1.17 × 10 -3

2.49 × 10 -2

6.85 × 10 -4

5.53 × 10 -4

2.92 × 10 -4

2.53 × 10 -4

1.72 × 10 -4

8.60 × 10 -5

5.93 × 10 -5

1.04 × 10 -4

5.18 × 10 -5

1.33 × 10 -5

1.27 × 10 -5

7.66 × 10 -6

5.38 × 10 -6

Coefficient B

6.56 × 10 -3

3.75 × 10 -4

1.02 × 10 -3

2.80 × 10 -4

1.14 × 10 -4

1.16 × 10 -4

5.52 × 10 -5

14 - 32


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

(primary side)

Permissible load to motor mass ratio

[multiplier]

40 LM-H3 series

LM-U2 series

LM-F series

LM-K2 series

100

50

When actual speed does not reach the maximum speed of the linear servo motor, calculate the permissible load to motor mass ratio at the time of using the dynamic brake by the following equation. (The upper limit is

300 times.)

Permissible load to motor mass ratio at the time of using the dynamic brake = Value in the table × (Servo motor maximum speed 2 /Actual using speed 2 )

For example, when an actual using speed is 2 m/s or less for the LM-H3P2A-07P motor (maximum speed:

3.0 m/s), the equation will be as follows. Permissible load to motor mass ratio at the time of using the dynamic brake = 40 × 3 2 /2 2 = 90 [times]

14 - 33


MEMO

14 - 34

15. USING A DIRECT DRIVE MOTOR


CAUTION

When using the direct drive motor, read the "Direct Drive Motor Instruction

Manual".

POINT

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


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.

The following shows the differences between the direct drive motor and the rotary servo motor.

Category Item

Differences

Rotary servo motor

Remark

External I/O signal FLS (Upper stroke limit),

RLS (Lower stroke limit)

Motor pole adjustment


Required

(for magnetic pole detection)

Required

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) (a) of section 15.3.2.)

Required Required Absolute position detection system

Absolute position encoder battery

Absolute position storage unit (MR-BTAS01)

15 - 1


15.1.2 Servo system with auxiliary equipment

CAUTION

Connecting a direct drive motor for different axis to the U, V, W, or CN2 may cause a malfunction.

POINT

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

When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".

The configuration diagram is an example of MR-J4-20B. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of direct drive motors. Refer to section 1.8 depending on servo amplifiers you use.

(Note 2)

Power supply

R S T


(MCCB)

MR Configurator2

Personal computer

CN5

(Note 3)

Magnetic contactor

(MC)

(Note 1)

Line noise filter

(FR-BSF01)


(FR-HEL)

Regenerative option

P+

C

L1

L2

L3

P3

P4

L11

L21

D

(Note 5)

U

V

W

CN3

CN8

CN1A

CN1B


To safety relay or




CN1A or cap

CN2

(Note 7)

CN4

(Note 4)

Battery unit

(Note 6)

Absolute position storage unit

MR-BTAS01

Direct drive motor

15 - 2




200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.


4. The battery unit is used for the absolute position detection system. (Refer to chapter 12.)

6. The absolute position storage unit is used for the absolute position detection system.

7. This is for MR-J4-_B_. MR-J4-_B_-RJ has a CN2L connector. However, CN2L is not used for the direct drive servo system.

15.2 Signals and wiring

WARNING



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.



CAUTION

Wire the equipment correctly and securely. Otherwise, the direct drive motor may operate unexpectedly, resulting in injury.




Servo amplifier

24 V DC

Servo amplifier

24 V DC

DOCOM DOCOM


For sink output interface

RA


For source output interface

RA



Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option) with the power wire of the direct drive motor.

15 - 3


CAUTION




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.

Servo amplifier

U

V

U

Direct drive motor

V

M

Servo amplifier

U

V

U

Direct drive motor

V

M

W W

W W

Connecting a servo motor for different axis to the U, V, W, or CN2 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.

Input power supply circuit

Explanation of power supply system

Section 3.1

Section 3.3

Alarm occurrence timing chart Section 3.7

SSCNET III cable connection Section 3.9

Switch setting and display of the servo amplifier

Section 4.3


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 - 4


15.3.1 Startup procedure

Start up the direct drive servo system in the following procedure.

Installation and wiring

Incremental system

Absolute position detection system?


Perform this procedure once at startup.

Can you manually turn on the Z-phase pulse of the

direct drive motor?

No

Perform the magnetic pole detection. (Refer to section 15.3.2.) (Note 1)

Yes

Z-phase pulse of the direct drive motor is turned on by the JOG operation.

(Notes 1 and 2)

Z-phase pulse of the direct drive motor is turned on manually. (Note 3)

Change the setting to disable the magnetic pole detection.


Turn the servo amplifier power off and on again. (Note 2)

Positioning operation check using the test operation mode (Note 1)


Home position return operation (Refer to the manual of the controller.)


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 - 5


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 - 6


(1) Magnetic pole detection method by using MR Configurator2

The following shows the magnetic pole detection procedure by using MR Configurator2.

(a) Magnetic pole detection by the position detection method


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.


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 set "Magnetic pole detection always enabled". (Note)

5) Turn the servo amplifier power off and on again.

6) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".

7) Execute "Forward CCW rotation" or "Reverse rotation" with "Positioning CW operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.


YES

Is [Pr. PL09] the final value?

NO

Has [AL. 27 Initial magnetic pole detection error] occurred?

NO

YES Reset the alarm or turn off the servo amplifier power, and then turn on the power again.

Have [AL. 32 Overcurrent],

[AL. 50 Overload 1], [AL. 51 Overload 2], and [AL. E1 Overload warning 1] occurred?

NO

Turn the servo amplifier power off and on again.

YES

Reset the alarm or turn off the servo amplifier power, and then turn on the power again.

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.

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 - 7


(b) Magnetic pole detection by the minute position detection method


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.


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 CCW rotation" or "Reverse rotation" with "Positioning CW operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.


YES Is the response of the minute position detection method set by [Pr. PL17] finalized?

NO

Has an abnormal sound or vibration occurred during the magnetic pole detection?

NO

Is the travel distance during the magnetic pole detection acceptable?

(Note 3)

Acceptable

YES

Not acceptable

Decrease the response by the minute position detection method of [Pr. PL17] by two as the final setting value.

Increase the response by the minute position detection method of [Pr. PL17] by one.

8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)

End

Note 1. For the incremental system, the [Pr. PL01] setting is not required.

2. If the load to direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.

3. For the magnetic pole detection by the minute position detection method, the maximum rotation angle at the magnetic pole detection must be five degrees or less. To shorten the travel distance, increase the response by the minute position detection method in [Pr. PL17].

15 - 8


(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)


(2) Preparation for the magnetic pole detection

POINT



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.


ON

1 2 3 4

15 - 9


(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

Base circuit

RD (Ready)

ON

OFF

ON

OFF

ON

OFF

95 ms

15 s or less

Magnetic pole detection time (Note)

Note. The magnetic pole detection time indicates the operation time when FLS (Upper stroke limit) and RLS (Lower stroke limit) are on.

15 - 10


2) Direct drive motor movement (when FLS and RLS are on)

Center of direct drive motor rotation part

(Note) RLS FLS (Note)

Servo-on position (Magnetic pole detection start 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.

RLS

Center of direct drive motor rotation part

FLS

Servo-on position

Magnetic pole detection start position

After the machine moves to the position where the stroke limit

(FLS or RLS) is set, the magnetic pole detection starts.


10 degrees or less

(b) Absolute position detection system

POINT

The magnetic pole detection is required in the following timings.

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 - 11


2) Execute the magnetic pole detection. (Refer to (3) (a) in this section.)

3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled).

[Pr. PL01]

0

Magnetic pole detection disabled

After the magnetic pole detection, by turning on the Z-phase pulse 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



(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)

Small ← Medium → Large

(10 or less (initial value) 50 or more)

Servo status

Torques required for operation

Overload, overcurrent alarm

Magnetic pole detection alarm

Magnetic pole detection accuracy

Small Large

Not frequently occurs Frequently occurs

Frequently occurs Not frequently occurs

Low 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 - 12


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


[Pr. PL09] setting value

Alarm

Existent

Non-existent

30 35 40 45 65 70

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 - 13



To configure the absolute position detection system by using the direct drive motor, the battery and the absolute position storage unit MR-BTAS01 are required.

(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.


The following parameters will be enabled by cycling the servo amplifier power after the controller writes the parameters to the servo amplifier.

Setting

Setting item Motion controller

R_MTCPU/Q17_DSCPU


RD77MS_/QD77MS_ /

LD77MS_

Amplifier setting

Motor setting

No.

(Note)

Symbol

Name

Initial value

MR-J4-B DD

Automatic setting

Parameter

PC01 *ERZ Error excessive alarm level


PL01 **LIT1


PL04 *LIT2


PL05

PL06

LB1 Position deviation error detection level

LB2 Speed deviation error detection level

PL07 LB3

Torque/thrust deviation error detection level

PL08 *LIT3




PL17 LTSTS position detection method - Function selection

1000h

0

0000h

0301h

0003h

0

0

100

0010h

30

0000h

1060h



PL18 IDLV position detection method - 0

Identification signal amplitude

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, power off and on the servo amplifier.

15 - 14


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 - 15


(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

6

7

4

5



Torque deviation error detection

15 - 16


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 relay 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.

When unbalanced torque is generated, such as in a vertical lift machine, the unbalanced torque of the machine should be kept at 70% or lower 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.)

15 - 17


1000 1000

Operating

100 100

Servo-lock

10 10

Servo-lock

Operating

1 1

0.1

0 50 100 150 200

(Note) Load ratio [%]

250

TM-RFM002C20/TM-RFM004C20/

TM-RFM006C20/TM-RFM006E20/

TM-RFM012E20/TM-RFM018E20/

TM-RFM012G20/TM-RFM040J10

10000

300

1000

0.1

0 50 100 150 200


250

TM-RFM048G20/TM-RFM072G20/

TM-RFM120J10

300

Operating

1000 100

Operating

Servo-lock

100

Servo-lock

10

10 1

1

0 50 100 150 200


250 300

0.1

0 50 100 150 200 250


300 350

TM-RFM240J10 TM-RG2M002C30/TM-RU2M002C30/

TM-RG2M004E30/TM-RU2M004E30/

TM-RG2M009G30/TM-RU2M009G30

Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a direct drive motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal relay protection.

Fig. 15.2 Electronic thermal relay protection characteristics

15 - 18


15.4.2 Power supply capacity and generated loss

Table 15.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the direct drive motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.

Table 15.1 Power supply capacity and generated loss per direct drive motor at rated output

Direct drive motor Servo amplifier

Power supply capacity [kVA]

Servo amplifier-generated heat [W]

At rated output With servo-off

Area required for heat dissipation [m 2 ]

TM-RG2M002C30 MR-J4-20B(-RJ)

TM-RU2M002C30 MR-J4-20B1(-RJ)

TM-RG2M004E30 MR-J4-20B(-RJ)

TM-RU2M004E30 MR-J4-20B1(-RJ)

TM-RG2M004E30

(Note)

TM-RU2M004E30

(Note)

MR-J4-40B(-RJ)

MR-J4-40B1(-RJ)

TM-RG2M009G30 MR-J4-40B(-RJ)

TM-RU2M009G30 MR-J4-40B1(-RJ)

TM-RFM002C20

TM-RFM004C20

MR-J4-20B(-RJ)

MR-J4-20B1(-RJ)

MR-J4-40B(-RJ)

MR-J4-40B1(-RJ)

TM-RFM006C20

0.25 25 15 0.5

0.5 25 15 0.5

0.7 35 15 0.7

0.9 35 15 0.7

0.25 25 15 0.5

0.38 35 15 0.7

0.53 40 15 0.8

TM-RFM012E20 MR-J4-70B(-RJ)

TM-RFM018E20 MR-J4-100B(-RJ)

TM-RFM012G20 MR-J4-70B(-RJ)



TM-RFM040J10 MR-J4-70B(-RJ)



0.81

1.3

0.71

2.7

3.8

1.2

3.4

6.6

Note. This combination increases the rated torque and the maximum torque.

50

50

50

90

110

50

90

160

15

15

15

20

20

15

20

25

1.0

1.0

1.0

1.8

2.2

1.0

1.8

3.2

15 - 19


15.4.3 Dynamic brake characteristics

CAUTION

The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance. If an enough braking distance is not provided, a moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.

POINT


For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.

Be sure to enable EM1 (Forced stop 1) after the direct drive motor stops when using EM1 (Forced stop 1) frequently in other than emergency.

(1) Dynamic brake operation

(a) Calculation of coasting distance

Fig. 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

Dynamic brake time constant τ

Machine speed

V

0

Time t e

Fig. 15.3 Dynamic brake operation diagram

L max

=

V

0

60

• t e

+

J

L

M

······················································································ (15.1)

L max

: Maximum coasting distance

V

0

: Machine's fast feed speed

J

M

: Moment of inertia of direct drive motor

J

L

: Load moment of inertia converted into equivalent value on direct drive motor rotor

τ : Dynamic brake time constant t e

: Delay time of control section

There is internal relay delay time of about 10 ms.

[mm]

[mm/min]

[kg•cm 2 ]

[kg•cm 2 ]

[s]

[s]

15 - 20


(b) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 15.1.

30

25

20

15

10

5

0

0

002 004

006

100 200 300

Speed [r/min]

400 500

70

60

50

40

30

20

10

0

0 100

018

006

012

200 300

Speed [r/min]

400 500

60

50

40

30

20

10

0

0

TM-RFM_C20 TM-RFM_E20

012

048

100 200

Speed [r/min]

072

300 400 500

80

70

60

50

40

30

20

10

0

0

040

240

50 100

Speed [r/min]

120

150 200

30

25

20

15

TM-RFM_G20 TM-RFM_J10

10

5

0

0 100 200 300 400 500 600

Speed [r/min]

30

25

20

15

10

5

0

0 100 200 300 400 500 600

Speed [r/min]

TM-RG2M004E30

TM-RU2M004E30

TM-RG2M002C30

TM-RU2M002C30

80

70

60

50

40

30

20

10

0

0 100 200 300 400 500 600

Speed [r/min]

TM-RG2M009G30

TM-RU2M009G30

15 - 21


(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 the load to motor inertia ratio exceeds the indicated value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the direct drive motor.

The value in the parenthesis shows the value at the rated speed of the direct drive motor.

Direct drive motor

Permissible load to motor inertia ratio

[multiplier]

TM-RFM_C20

TM-RFM_E20

TM-RG2M002C30

TM-RU2M002C30

100 (300)

TM-RG2M_E30

TM-RG2M_G30

TM-RU2M_E30

TM-RU2M_G30

20 (80)

15 - 22

16. FULLY CLOSED LOOP SYSTEM


POINT

The fully closed loop system is available for the servo amplifiers of which software version is A3 or later.

When fully closed loop control system is used with this servo amplifier, "Linear

Encoder Instruction Manual" is needed.

Fully closed loop control system is available with position control mode.

When fully closed loop control system is configured with MR-J4-_B_ servo amplifier, the following restrictions apply. However, these restrictions will not be applied for MR-J4-_B_-RJ servo amplifiers.

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, MR-

EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used.

When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to app. 8.


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 encoder resolution unit)

S

FBN

FBD

Servo motor

Linear encoder

(Servo motor side)

Cumulative feedback pulses

Load-side droop pulses

Cumulative load-side feedback pulses

+

-

Fully closed loop dual feedback filter

([Pr. PE08])

(Note 2)

(Note 1, 2)

Fully closed loop selection

([Pr. PE01] and [Pr. PE08])

-

+

Load-side feedback pulses

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


The following table shows the functions of each control mode.

Control Description


Dual feedback control


Feature

Advantage

Position is controlled according to the servo motor-side data.

Since this control is insusceptible to machine influence (such as machine resonance), the gains of the servo amplifier can be raised and the settling time shortened.

Disadvantage

If the servo motor side is at a stop, the side may be vibrating or the load-side accuracy not obtained.

Position is controlled according to the servo motor-side data and load-side data. Feature

Advantage

Feature

Control is performed according to the servo motor-side data during operation, and according to the load side-data at a stop in sequence to raise the gains during operation and shorten the settling time. A stop is made with the load-side accuracy.

Position is controlled according to the load-side data.

Advantage The load-side accuracy is obtained not only at a stop but also during operation.

Disadvantage

Since this control is susceptible to machine resonance or other influences, the gains of the servo amplifier may not rise.

16 - 2


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


Servo amplifier

Operation mode selection

([Pr. PA01])

"_ _ 0 _"

"_ _ 1 _"

Semi closed/fully closed switching command

(Refer to the controller user's manual.)

OFF

ON

(Refer to section 16.3.1 (2) (a))

Fully closed loop function selection 1

([Pr. PE01])

"_ _ _ 1"


"_ _ _ 0"

Fully closed loop dual feedback filter

([Pr. PE08])

"0"

(Refer to section 16.3.1 (2) (b))

"1 to 4499"

"4500"




(2) Dual feedback filter equivalent block diagram

A dual feedback filter equivalent block diagram on the dual feedback control is shown below.

+

-

Position control unit

Servo motor

+

+

High-pass filter

Linear encoder

Low-pass filter


ω (Note)


Frequency [rad/s]

Servo motor during a stop

(0 to ω )

Dual feedback filter

Operation status Control status


In operation ( ω or more)


Note. " ω " (a dual feedback filter band) is set by [Pr. PE08].

16 - 3


16.1.3 System configuration

(1) For a linear encoder

(a) MR-J4-_B_ servo amplifier

Servo amplifier

SSCNET III/H controller

SSCNET III/H

Position command control signal

CN2

(Note)

Two-wire type serial interface compatible linear encoder

To the next servo amplifier

Load-side encoder signal

Servo motor encoder signal

Linear encoder head

Servo motor

Table

Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.

In that case, a battery is not required.

(b) MR-J4-_B_-RJ servo amplifier

Servo amplifier


SSCNET III/H


CN2L

CN2

(Note)

A/B/Z-phase pulse train interface compatible linear encoder or two-wire/four-wire type serial interface compatible linear encoder



(A/B/Z-phase pulse train interface or serial interface)


Linear encoder head

Servo motor

Table

Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.

In that case, a battery is not required.

16 - 4


(2) For a rotary encoder


Servo amplifier


SSCNET III/H


CN2



(Note)

(Note) Servo motor

Drive part


Two-wire type rotary encoder HG-KR,

HG-MR servo motor (4194304 pulses/rev)

Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.


Servo amplifier


SSCNET III/H


Drive part


CN2L

CN2

Servo motor



A/B/Z-phase differential output, two-wire type, or four-wire type rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev) or synchronous encoder Q171ENC-W8 (4194304 pulses/rev)

16 - 5


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 for MR-J4-_B_ servo amplifiers. 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


Servo amplifier

CN2 CN2 MOTOR

Encoder of rotary servo motor

Linear encoder

SCALE

Load-side encoder

Encoder cable

(Refer to "Linear Encoder Instruction Manual".)


You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_B_-RJ servo amplifier. You can also use a four-wire type linear encoder.

Servo amplifier

CN2


CN2L

Linear encoder

Load-side encoder

Encoder cable


16 - 6


(2) Rotary encoder


Refer to "Linear Encoder Instruction Manual" for encoder cables for rotary encoder.



Servo amplifier

CN2 CN2 MOTOR (Note)


SCALE

(Note)

Servo motor

HG-KR

HG-MR

Encoder cable

(Refer to "Servo Motor Instruction Manual (Vol. 3)".)



You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_B_-RJ servo amplifier. You can also use a four-wire type linear encoder.

Servo amplifier

CN2


CN2L

Servo motor

HG-KR

HG-MR

Load-side encoder

Encoder cable


Load-side encoder

16 - 7


16.2.4 MR-J4FCCBL03M branch cable

Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2 connector.

When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction

Manual".

0.3 m

SD

P5

LG

(Note 1)

CN2

Plate

1

2

(Note 2)

MOTOR

Plate

1

2

SD

P5

LG

2

LG

1

P5

4

MRR

6

THM2

3

MR

5

THM1

8

MXR

7

MX

10

SEL

9

BAT

View seen from wiring side.

MR

MRR

THM1

THM2 6

MX 7

MXR

BAT

SEL

8

9

10

3

4

5

3

4

MR

MRR

5 THM1

6 THM2

10

SEL

9

BAT 7

8

6

THM2

5

THM1

4

MRR

2

LG

3

MR

1

P5


9 BAT

10 SEL

(Note 2)

SCALE

Plate SD

1

2

P5

LG

3 MX

4 MXR

9 BAT

10 SEL

10

SEL 8

9

BAT 7

6

5

4

MXR

2

LG

3

MX

1

P5


Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)

16 - 8



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.)

Selection of load-side encoder communication system (Refer to (3) in this section.)

Setting of load-side encoder polarity (Refer to (4) in this section.)

Setting of load-side encoder electronic gear (Refer to (5) in this section.)

Confirmation of load-side encoder position data (Refer to (6) in this section.)

Positioning operation check using MR Configurator2

Gain adjustment

Adjustment of dual feedback switching filter.

(for dual feedback control) (Refer to (5) in this section.)


Home position return operation (Refer to section 16.3.2.)


Completion of fully closed loop system startup

Check that the servo equipment is normal.

Do as necessary.

16 - 9


(2) Selection of fully closed loop system

By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be selected as shown in the following table.

[Pr. PA01] [Pr. PE01]

Semi closed loop control/ fully closed loop control switching signal

Command unit Control System


"_ _ 0 _"


(standard control mode)

Servo motor encoder unit


"_ _ 1 _ "


(fully closed loop control mode)

"_ _ _ 0"

"_ _ _ 1" Off

On

Load-side encoder unit

Dual feedback control (fully closed loop control)


Dual feedback control (fully closed loop control)

(Note)

×

×

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


Set value Operation mode

0


(Standard control mode)

1


(Fully closed loop control mode)

Control unit

Servo motor-side resolution unit

Load-side encoder resolution unit

(b) Semi closed loop control/fully closed loop control selection

Select the semi closed loop control/fully closed loop control.

0

[Pr. PE01]

0 0

Fully closed loop control selection

0: Always enabled

1: Switching using the control command of controller

(switching between semi closed/fully closed)

Selection using the control command of controller

Control method

OFF

ON



When the operation mode selection in [Pr. PA01] is set to "_ _ 1 _"

(fully closed loop system), this setting is enabled.

16 - 10


(3) Selection of load-side encoder communication method

The communication method changes depending on the load-side encoder type. Refer to table 1.1 and

"Linear Encoder Instruction Manual" for the communication method for each load-side encoder.

Select the cable to be connected to CN2L connector in [Pr. PC26].

[Pr. PC26]

0 0 0

Load-side encoder cable communication method selection

0: Two-wire type

1: Four-wire type


Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while using a servo amplifier other than MR-J4-_B_-RJ will trigger [AL. 37].

(4) Setting of load-side encoder polarity

CAUTION

Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr.

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.


Set the load-side encoder polarity to be connected to CN2L connector in order to match the CCW direction of servo motor and the increasing direction of load-side encoder feedback.

[Pr. PC27]

0 0 0


0: Load-side encoder pulse increasing direction in the servo motor CCW

1: Load-side encoder pulse decreasing direction in the servo motor CCW

Servo motor

Servo motor CCW direction

Linear encoder

Address increasing direction of linear encoder

(b) How to confirm the load-side encoder feedback direction

For the way of confirming the load-side encoder feedback direction, refer to (6) in this section.

16 - 11


(5) Setting of feedback pulse electronic gear

POINT

If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr.

PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal operation may occur. Also, it may cause [AL. 42.8 Fully closed loop control error by position deviation] during the positioning operation.

The numerator ([Pr. PE04] and [Pr. PE34]) and denominator ([Pr. PE05] and [Pr. PE35]) of the electronic gear are set to the servo motor-side encoder pulse. Set the electronic gear so that the number of servo motor encoder pulses per servo motor revolution is converted to the number of load-side encoder pulses. The relational expression is shown below.

[Pr. PE04] × [Pr. PE34]

[Pr. PE05] × [Pr. PE35]

=

Number of load-side encoder pulses per servo motor revolution

Number of motor encoder pulses per servo motor revolution

Select the load-side encoder so that the number of load-side encoder pulses per servo motor revolution is within the following range.

4096 (2 12 ) ≤ Number of load-side encoder pulses per servo motor revolution ≤ 67108864 (2 26 )

(a) When the servo motor is directly coupled with a ball screw and the linear encoder resolution is 0.05

μ m

Conditions

Servo motor resolution: 4194304 pulses/rev

Servo motor reduction ratio: 1/11

Ball screw lead: 20 mm

Linear encoder resolution: 0.05 µm

Linear encoder

Geared servo motor

Table

Calculate the number of linear encoder pulses per ball screw revolution.

Number of linear encoder pulses per ball screw revolution

= Ball screw lead/linear encoder resolution

= 20 mm/0.05 µm = 400000 pulses

[Pr. PE04] × [Pr. PE34]

[Pr. PE05] × [Pr. PE35]

=

400000

4194304

×

1

11

=

3125

32768

×

1

11

Linear encoder head

16 - 12


(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]

[Pr. PE05] × [Pr. PE35]

=

4194304 × 30

4194304 × 20

=

1

1

×

3

2

16 - 13


(6) Confirmation of load-side encoder position data

Check the load-side encoder mounting and parameter settings for any problems.

POINT

Depending on the check items, MR Configurator2 may be used.

Refer to section 16.3.9 for the data displayed on the MR Configurator2.

No.

When checking the following items, the fully closed loop control mode must be set. For the setting of control mode, refer to (2) in this section.

Check item Confirmation method and description

1 Read of load-side encoder position data

2 Read of load-side encoder home position (reference mark, Z-phase)

3 Confirmation of load-side encoder feedback direction

(Setting of load-side encoder polarity)

4 Setting of load-side encoder electronic gear

With the load-side encoder in a normal state (mounting, connection, etc.), the load-side cumulative feedback pulses value is counted normally when the load-side encoder is moved.

1. An alarm occurred.

2. The installation of the load-side encoder was not correct.

3. The encoder cable was not wired correctly.

With the home position (reference mark, or Z-phase) of the load-side encoder in a normal condition (mounting, connection, etc.), the value of load-side encoder information 1 is cleared to 0 when the home position (reference mark, or Z-phase) is passed through by moving the load-side encoder.

1. The installation of the load-side encoder was not correct.

2. The encoder cable was not wired correctly.

Confirm that the directions of the cumulative feedback pulses of servo motor encoder (after gear) and the load-side cumulative feedback pulses are matched by moving the device

(load-side encoder) manually in the servo-off status. If mismatched, reverse the polarity.

When the servo motor and load-side encoder operate synchronously, the servo motor-side cumulative feedback pulses (after gear) and load-side cumulative feedback pulses are matched and increased.

If mismatched, review the setting of fully closed loop control feedback electronic gear ([Pr.

PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]) with the following method.

1) Check the servo motor-side cumulative feedback pulses (before gear).

2) Check the load-side cumulative feedback pulses.

3) Check that the ratio of above 1) and 2) has been that of the feedback electronic gear.

+

Command

Servo motor

Servo motor-side cumulative feedback pulses (after gear)

2) Load-side cumulative

feedback pulses

3) Electronic

gear

1) Servo motor-side cumulative

feedback pulses (before gear)

Linear encoder

16 - 14


(7) Setting of fully closed loop dual feedback filter

With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While observing the servo operation waveform with the graph function, etc. of MR Configurator2, adjust the dual feedback filter.

The dual feedback filter operates as described below depending on the setting.

[Pr. PE08] setting Control mode Vibration Settling time

Semi closed loop 0

1 to

4499

4500

Dual feedback

Fully closed loop

Not frequently occurs to

Frequently occurs

Long time to

Short time

Increasing the dual feedback filter setting shortens the settling time, but increases servo motor vibration since the motor is more likely to be influenced by the load-side encoder vibration. The maximum setting of the dual feedback filter should be less than half of the PG2 setting.

Reduction of settling time: Increase the dual feedback filter setting.

Droop pulses

Command

Time

Suppression of vibration: Decrease the dual feedback filter setting.

Droop pulses

Command

Time

Command

Droop pulses

Time

Command

Droop pulses

Time

16 - 15


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.


Servo motor speed


Creep speed


0 r/min

ON

OFF


Equivalent to one servo motor revolution

Machine position


16 - 16


(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.



Servo motor speed

Creep speed


0 r/min

ON

OFF



Machine 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 - 17


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.



Servo motor speed

Creep speed

0 r/min

JOG operation


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



Machine position

Servo amplifier power-on position

Home position

(d) 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 - 18



The fully closed loop control compatible servo amplifier can be used with any of the following controllers.

Category Model Remark

Motion controller


R_MTCPU/Q17_DSCPU

RD77MS_/QD77MS_ /

LD77MS_

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.


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

Settings

Setting item

Controller reset

Power supply

Off → on

Motion controller

R_MTCPU/

Q17_DSCPU


RD77MS_/

QD77MS_ /

LD77MS_

Command resolution

Servo parameter

Positioning control parameter

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)

Enabled at setting regardless of the enabled conditions


MR-J4-B(-RJ) fully closed loop control

Automatic setting


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 - 19


(a) When using a linear encoder (unit setting: mm)

User

Command

[mm]

Control

AP

AL


Servo amplifier

+

-

Servo motor Linear encoder

Position feedback

[mm]

AL

AP

Electronic gear

Speed feedback

[r/min]

Differentiation


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)

Travel distance per revolution [µm] (AL)

=

400000 pulses

20 mm

=

400000

20000

(b) When using a rotary encoder (unit setting: degree)

User

Command

[degree]

Control

AP

AL


Servo amplifier

+

-

Position feedback

[degree]

AL

AP

Servo motor

Speed feedback

[r/min]

Differentiation


Servo motor speed

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)

Travel distance per revolution [degree] (AL)

=

4194304 pulses

360 degrees

=

524288

45

16 - 20


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

The fully closed loop control error detection function is selected.

[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


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 - 21


(b) Position deviation error detection

Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection.

[Pr. PE03]

2


Comparing the servo motor-side feedback position (2)) and load-side feedback position (4)), if the deviation is not less than the set value (1 kpulses to 20000 kpulses) of [Pr. PE07 Fully closed loop control position deviation error detection level], the function generates [AL. 42.1 Servo control error by position deviation] and stops. The 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

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.

Test operation mode

JOG operation


Program operation



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) (d).

16 - 22


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 Absolute position detection enabled range

Linear encoder

(Serial Interface)

Movable distance range of linear encoder (within 32-bit absolute position data)

(3) Alarm detection

The absolute position-related alarm ([AL. 25]) and warnings (AL. 92] and [AL. 9F]) are not detected.

16 - 23


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. k) f) m) c) g) i) j) h) l) a) b) d) e)

Symbol Name a) Motor side cumu. feedback pulses (after gear) b) c) d) e)

Motor side droop pulses

Cumu. Com. pulses

Load side cumu. feedback pulses

Load side droop pulses

Explanation

Feedback pulses from the servo motor encoder are counted and displayed. (load-side encoder unit)

When the set value exceeds 999999999, it starts with 0.

Click "Clear" to reset the value to 0.

The "-" symbol is indicated for reverse.

Droop pulses of the deviation counter between a servo motor-side position and a command are displayed.


Position command input pulses are counted and displayed.


The "-" symbol is indicated for reverse command.

Feedback pulses from the load-side encoder are counted and displayed.




Droop pulses of the deviation counter between a load-side position and a command are displayed.


Unit pulse pulse pulse pulse pulse

16 - 24


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) m) Parameter (fully closed loop selection)

Explanation

Feedback pulses from the servo motor encoder are counted and displayed. (Servo motor encoder unit)




The load-side encoder information is displayed.

The display contents differ depending on the load-side encoder type.

ID: The ID No. of the load-side encoder is displayed.

Data 1: For the incremental type linear encoder, the counter from powering on is displayed. For the absolute position type linear encoder, the absolute position data is displayed.

Data 2: For the incremental type linear encoder, the distance (number of pulses) from the reference mark (Z-phase) is displayed. For the absolute position type linear encoder, "00000000" is displayed.

For address increasing direction in the servo motor CCW, it is indicated as "+" and for address decreasing direction in the servo motor CCW, as "-".

If the fully closed loop system is "Disabled", the Z-phase pass status of the servo motor encoder is displayed. If the fully closed loop system is "Enabled" or "Semi closed loop control/fully closed loop control switching", the Z-phase pass status of the load-side encoder is displayed.

Only if the fully closed loop system is "Semi closed loop control/fully closed loop control switching", the device is displayed.

The state of the semi closed loop control/fully closed loop control switching signal and the inside state during selection are displayed.

The feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]) are displayed/set for servo motor encoder pulses in this parameter. (Refer to section

16.3.1 (5).)

The band of [Pr. PE08 Fully closed loop dual feedback filter] is displayed/set in this parameter.

The parameter for the fully closed loop control is displayed or set.

Click "Parameter setting" to display the "Fully closed loop control - Basic" window.

Unit pulse

1)

3)

4)

5)

1) Fully closed loop selection ([Pr. PE01])

"Always valid" or "Switching with the control command of controller" is selected here.

2) Feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], [Pr. PE35])

Setting of feedback pulse electronic gear

3) Load-side encoder cable communication method selection ([Pr. PC26])

4) Selection of encoder pulse count polarity ([Pr. PC27])

Polarity of the load-side encoder information is selected.

5) Selection of A/B/Z-phase input interface encoder Z-phase connection judgment function ([Pr. PC27])

Select the non-signal detection status for the pulse train signal from the A/B/Z-phase input interface encoder used as a linear encoder or load-side encoder.

2)

16 - 25


MEMO

16 - 26

17. APPLICATION OF FUNCTIONS


This chapter explains application of using servo amplifier 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.

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_(-RJ) servo amplifiers have two operation modes: "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 11.7.)

17 - 1


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 Model of MR-J3-_B Model of MR-J3-_BS Model of MR-J3W-_B

MR-J3-B standard control mode (rotary servo motor) MR-J3-_B MR-J3-_BS MR-J3W-_B

MR-J3-B linear servo motor control mode

MR-J3-B DD motor control mode

MR-J3-_B-RJ004 MR-J3W-_B

MR-J3-_B-RJ080W 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. By enabling the J3 extension function, control response will be equal to MR-J4 series using a controller compatible with SSCNET III.

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, : Not available)

Function Name

(Note 8)

Basic specification

SSCNET III/H communication or

SSCNET III communication

Speed frequency response

Encoder resolution

Communication baud rate

2.5 kHz

22 bits (Note 1)

150 Mbps

2.1 kHz

18 bits (Note 1)

50 Mbps

2.1 kHz

18 bits

50 Mbps

Basic function


Input/output

Control mode

Maximum distance between stations


Fully closed loop control (Note 9)

Linear servo motor driving

100 m 50 m

A0 A0

A3

(Two-wire type only)

(Note 13)

A3

(Two-wire type only)

(Note 13)

A0

(Two-wire type/ four-wire type only)

(Note 13)

A0

(Two-wire type/ four-wire type only)

(Note 13)

A0 A0 Direct drive motor driving


Rotation direction selection/travel direction selection

A/B-phase pulse output

Z-phase pulse output

Analog monitor output

A0 (Note 2)

A0

A0 (Note 3)

A0 (Note 4)

A0 (Note 5)

A0 (Note 2)

A0

A0 (Note 3)

A0 (Note 4)

A0 (Note 5)

Motor thermistor

Position control mode

Speed control mode

Torque control mode

Continuous operation to torque control mode

A0

A0

A0

A0

A0

A0

A0

A0

A0

A0

50 m

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 - 2


Function Name

Compatible


(Note 8)

Auto tuning

Auto tuning mode 1

Auto tuning mode 2




A0

A0

A0

A0

A0

A0

A0

A0

A0

A0

Filter function


1


2


3


4


5


A0

A0

A0

A0

A0

A0

B0 (Note 15)

B0 (Note 15)


Applied control

Robust disturbance compensation

(Note 10)

Standard mode/3 inertia mode



Command notch filter

Slight vibration suppression control

Overshoot amount compensation

PI-PID switching control

Torque limit

Master-slave operation function


Model adaptive control disabled

Lost motion compensation function

Super trace control

Adjustment function


Linear compatible

Adaptive tuning

Vibration suppression control 1 tuning

Vibration suppression control 2 tuning

Fully closed loop electronic gear


Semi closed/fully closed switching loop control

Fully closed loop control error detection function

Linear servo control error detection function

Servo motor series/types setting function

Direct current exciting method magnetic pole detection


Current detection method magnetic pole detection

Minute position detection method magnetic pole detection

Initial magnetic pole detection error detection function

A0

A0

A0

A0

A0

A0

A0

A0

A8 (Note 5)

A8 (Note 3)

B4

B4 (Note 5)

B4 (Note 5)

A0

A0

A0

A3

A3

A3

A3

A0

A0

A0

(Note 6)

A0

A0

B0 (Note 15)

B0 (Note 15)

A0

A0

B0 (Note 15)

B0 (Note 15)

A0

B0 (Note 15)

A0

A0

A0

A0

A0

A0

A0

B4

(Note 5, 15)

B0 (Note 15)

A0

A0

B0 (Note 15)

A3

A3

A3

A3

A0

A0

A0

A0

A0

A0

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

17 - 3


Function Name

Compatible


(Note 8)

Semi closed loop control two-wire type/four-wire type selection

A0 A0

Encoder

Functional safety


Serial interface compatible linear encoder

Pulse train interface (A/B/Z-phase differential output type) compatible linear encoder

STO function

Forced stop deceleration function at alarm occurrence

Vertical axis freefall prevention function

SEMI-F47 function


Instantaneous power failure tough drive

3-digit alarm display

16 alarm histories supported



A0

A5 (Note 14)

A0

A0

A0

A0

A0

A0

A0

A5 (Note 14)

A0

A0 (Note 12)

A0

B0 (Note 15, 16)

B0 (Note 15)

B0 (Note 15)

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

MR-J3-_S

MR-J3-_S

Diagnosis function

A0

A0

A0

A0

A0

(Note 7)

B0 (Note 15)

B0 (Note 15)

A0

MR-J3W-_B

(Note 7)

Home position return function

Others

J4 mode/J3 compatibility mode automatic identification (Note 11)


Note 1. The value is at the HG series servo motor driving.

A0

A0

A0

A0

A0

B0 (Note 15)

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.

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


17.1.4 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].

J4 mode [Pr. PA01] setting

Standard control

(rotary servo motor)


Linear servo motor control Factory setting

J4 mode/J3 compatibility mode automatic identification

Controller connection check


Connected encoder check (automatic identification)

Direct drive motor control

Standard control



Linear servo motor control


17 - 5


(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 compatibility mode automatic identification

Factory setting

J4 mode

Standard control


Fixed to the J4 mode (Standard control (rotary servo motor))


Fixed to the J4 mode (Fully closed loop control)

Application

" MR-J4(W)-B mode selection tool "




Fixed to the J4 mode (Linear servo motor control)

Fixed to the J4 mode (Direct drive motor control)

Standard control


Fixed to the J3 compatibility mode (Standard control

(rotary servo motor)) [Equivalent to MR-J3-B]




Fixed to the J3 compatibility mode (Fully closed loop control) [Equivalent to MR-J3-B-RJ006]

Fixed to the J3 compatibility mode (Linear servo motor control) [Equivalent to MR-J3-B-RJ004]

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 System setting

MR-J3-B standard control mode (rotary servo motor)

MR-J3-B fully closed loop control mode



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





System setting

Select MR-J3-_B.




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


(3) Setting of MR Configurator2

To use in the J3 compatibility mode, make the system setting as follows.

Operation mode in J3 compatibility mode





System setting

Select MR-J3-_B.




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 - 7


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) (IB-

0300237) "5.3.1 Connect/disconnect function of SSCNET communication"

Motion controller Q series Programming Manual (COMMON) (Q173D(S)CPU/Q172D(S)CPU) (IB-

0300134) "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"

(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


17.1.8 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 reset required/not required

Multi-axis connection

Motion controller


Positioning module

R_MTCPU

Q17_DSCPU

Q17_DCPU

Q17_HCPU

Q170MCPU

RD77MS_

QD77MS_

LD77MS_

QD75MH_

QD74MH_

LD77MH_

FX3U-20SSC-H connection

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

"Ab." is displayed and stops

First connection of controller

A b .

Axis

No. 1

A b .

Axis

No. 2

A b .

Axis

No. 3

After controller reset

Controller b 0 1

Axis

No. 1

"b01" is displayed on axis No. 1, "Ab." is displayed on axis No. 2 and later.

A b .

Axis

No. 2

A b .

Axis

No. 3

One axis is connected per reset.

17 - 9


(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 reset required/not required

Multi-axis connection

Motion controller


Positioning module

R_MTCPU

Q17_DSCPU

Q17_DCPU

Q17_HCPU

Q170MCPU

RD77MS_

QD77MS_

LD77MS_

QD75MH_

QD74MH_

LD77MH_

FX3U-20SSC-H connection

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

"rST" is displayed only for the first connection.

First connection of controller r S T

Axis

No. 1 r S T

Axis

No. 2 r S T

Axis

No. 3

After controller reset

Controller

All axes are connected by one reset.

b 0 1

Axis

No. 1 b 0 2

Axis

No. 2 b 0 3

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


(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" .

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, control response will be equal to MR-J4 series using a controller compatible with SSCNET III.


J4 mode J3 extension function enabled:

[Pr. PX01] = "_ _ _ 1"

J3 extension function disabled:

[Pr. PX01] = "_ _ _ 0"

SSCNET III/H communication

MR-J4-B function


The same parameter ordering as MR-

J3-B

MR-J4-B control function

Parameter added


The same parameter ordering as MR-

J3-B

17 - 11


The following shows functions used with the J3 extension function.


(Vibration suppression control

2 and model loop gain)

Advanced vibration suppression control II




You can switch gains during rotation/stop, and can use input devices to switch gains during operation.

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

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


Robust filter

One-touch tuning



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.



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

SEMI-F47 function (Note)

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.


Lost motion compensation

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

Note. For servo system controllers which are available with this, contact your local sales office.

Section

17.1.9 (6)

Section

17.1.9 (5) (c)

Section

17.1.9 (5) (a)

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]

Section

17.1.9 (9)

17 - 12


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


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


(2) Extension control 2 parameters ([Pr. PX_ _ ])

CAUTION


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.




DD: Direct drive (DD) motor use


No. Symbol Name

Initial value

Unit

PX01 **J3EX J3 extension function

PX02 XOP1 Function selection X-1

PX03 VRFTX Vibration suppression control tuning mode (advanced vibration suppression control II)

PX04 VRF21 Vibration suppression control 2 - Vibration frequency

PX05 VRF22 Vibration suppression control 2 - Resonance frequency

PX06 VRF23 Vibration suppression control 2 - Vibration frequency damping

PX07 VRF24 Vibration suppression control 2 - Resonance frequency damping

PX08 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching

PX09 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching

PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching

PX11 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching

PX12 PG1B Model loop gain after gain switching

PX13 *XOP2 Function selection X-2

PX14 OTHOV One-touch tuning - Overshoot permissible level

PX15 For manufacturer setting

PX16

PX17 NH3 Machine resonance suppression filter 3

0000h

0000h

0000h

100.0 [Hz]

100.0

0.00

[Hz]

0.00

0.0 [Hz]

0.0 [Hz]

0.00

0.00

0.0

0001h

0

0000h

0000h

4500

[rad/s]

[%]

[Hz]

17 - 15


No. Symbol Name

Initial value

Unit


PX18 NHQ3 Notch shape selection 3






PX24 FRIC Machine diagnosis function - Friction judgment speed

PX25 *TDS Tough drive setting

PX26 OSCL1 Vibration tough drive - Oscillation detection level

PX27 *OSCL2 Vibration tough drive function selection

PX28 CVAT SEMI-F47 function - Instantaneous power failure detection time

PX29 DRAT Drive recorder arbitrary alarm trigger setting

PX30 DRT Drive recorder switching time setting



PX33

PX34

PX35

PX36 LMCP Lost motion compensation positive-side compensation value selection

PX37 LMCN Lost motion compensation negative-side compensation value selection

PX38 LMFLT Lost motion filter setting

PX40 *LMOP Lost motion compensation function selection

PX41 LMCD Lost motion compensation timing

PX42 LMCT Lost motion compensation non-sensitive band

PX43 **STOD STO diagnosis error detection time


PX45

PX46

PX47

PX48

PX49

PX50

PX51

PX52

PX53

PX54

PX55

PX56

PX57

PX58

PX59

PX60

PX61

PX62

PX63

PX64

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

4500

0000h

4500

0000h

0000h

0

0000h

50

0000h

[Hz]

[Hz]

[r/min]/[mm/s]

[%]

[ms] 200

0000h

0

0000h

0

0000h

0000h

0000h

0000h

0000h

[s]

0

0.0

0.0

50

0 [0.01%]

0 [0.01%]

0 [0.1 ms]

0 [0.01%]

0000h

0

0

[0.1 ms]

[pulse]/

[kpulse]

[s]

17 - 16


(3) Extension control 2 parameters ([Pr. PX_ _ ]) detailed list

No. Symbol

PX01 **J3EX J3 extension function

Name and function

Select enabled or disabled of the J3 extension function.

Setting digit

Explanation

Initial value

[unit]

Setting range

Refer to the


Initial value

0h _ _ _ x 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.

_ _ x _

_ x _ _ x _ _ _



Setting digit

Explanation

_ _ _ x Vibration suppression mode selection

0: Standard mode

1: 3 inertia mode

2: Low response mode

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

When you select the standard mode or low response mode,

"Vibration suppression control 2" is not available.

When you select the 3 inertia mode, the feed forward gain is not available.

Before changing the control mode with the controller during the 3 inertia mode or low response mode, stop the motor.


_ x _ _ x _ _ _

0h

0h

0h

Initial value

0h

Refer to the


0h

0h

0h

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

Explanation

Initial digit value


_ _ x _ Vibration suppression control 2 tuning mode selection

Select the tuning mode of the vibration suppression control 2. To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PX02 Function selection X-1].

0: Disabled


2: Manual setting


Refer to the


0h

0h

0h

0h

17 - 17



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


_ 1)" in [Pr. PX02].


1 _)" in [Pr. PX03], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 17.1.9 (5) (2) for details.

Initial value

[unit]

100.0

[Hz]

Setting range

0.1 to

300.0



_ 1)" in [Pr. PX02].


1 _)" in [Pr. PX03], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 17.1.9 (5) (2) for details.

PX06 VRF23 Vibration suppression control 2 - Vibration frequency damping



_ 1)" in [Pr. PX02].


1 _)" in [Pr. PX03], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. Refer to section 17.1.9 (5) (2) for details.

PX07 VRF24 Vibration suppression control 2 - Resonance frequency damping



_ 1)" in [Pr. PX02].


1 _)" in [Pr. PX03], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. Refer to section 17.1.9 (5) (2) for details.

PX08 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].


[Pr. PX02].



"Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual setting (_ _

2 _)".


_ 1)".

When you set "0.0", the value will be the same as [Pr. PX04].


100.0

[Hz]

0.0

[Hz]

0.1 to

300.0

0.00 0.00 to

0.30

0.00 0.00 to

0.30

0.0 to

300.0

17 - 18



PX09 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching


When you set a value less than 0.1 Hz, the value will be the same as [Pr. PX05].


[Pr. PX02].




2 _)".


_ 1)".

When you set "0.0", the value will be the same as [Pr. PX05].


PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching



[Pr. PX02].




2 _)".


_ 1)".


PX11 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching



[Pr. PX02].




2 _)".


_ 1)".


PX12 PG1B Model loop gain after gain switching

Set the model loop gain when the gain switching is enabled.





_ 1)".


Initial value

[unit]

0.0

[Hz]

Setting range

0.0 to

300.0

0.00 0.00 to

0.30

0.00 0.00 to

0.30

0.0

[rad/s]

0.0 to

2000.0

17 - 19


No. Symbol

PX13 *XOP2 Function selection X-2

Name and function

Setting digit

Explanation

_ _ _ x One-touch tuning function selection

0: Disabled

1: Enabled

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


_ x _ _ x _ _ _

0h

0h

0h

PX14 OTHOV One-touch tuning - Overshoot permissible level

Set a permissible value of overshoot amount for one-touch tuning as a percentage of the inposition range.




To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection" in [Pr. PX18].



Setting digit

Explanation

Initial value

Initial value

[unit]

Setting range

Initial value

Refer to the


1h

0

[%]

4500

[Hz]

10 to

4500

Refer to the


0 to

100


0: Disabled

1: Enabled


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4


0h

0h

0h

0h




4500

[Hz]

10 to

4500

17 - 20





Setting

Explanation digit


0: Disabled

1: Enabled

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


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4


Initial value

[unit]

Setting range

Refer to the


Initial value

0h

0h

0h

0h




4500

[Hz]

10 to

4500



When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PX31], the machine resonance suppression filter 5 is not available.

Setting

Explanation digit

Initial value


0: Disabled

1: Enabled


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4


Refer to the


0h

0h

0h

0h

17 - 21


No.

PX23

Symbol

*XOP3 Function selection X-3

Name and function

Initial value

[unit]

Setting range

Refer to the


Setting digit

Explanation

Initial value

_ _ _ x Torque limit function selection at instantaneous power failure

(instantaneous power failure tough drive selection)

0: Disabled

1: Enabled

When an instantaneous power failure occurs during operation, you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration. You can also delay the time until [AL. 10.2 Voltage drop in the main circuit power] occurs with instantaneous power failure tough drive function. Doing this will enable you to set a longer time in [Pr. PX28 SEMI-F47 function -


To enable the torque limit function at instantaneous power failure, select "Enabled (_ 1 _ _)" of "SEMI-F47 function selection" in [Pr.

PX25].

This parameter setting is used with servo amplifier with software version B0 or later.


_ x _ _

0h x _ _ _

0h

0h

0h

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.

0

[r/min]/

[mm/s]

0 to permissible speed

Maximum speed in operation


[Pr. PX24] setting

Servo motor speed

0 r/min

(0 mm/s)


Operation pattern

17 - 22



Initial value

[unit]

Setting range

PX25 *TDS Tough drive setting

Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation.

You can assign MTTR (During tough drive) to pins CN3-9, CN3-13, and CN3-15 with [Pr.

PD07] to [Pr. PD09].

Setting digit

Explanation

Initial value

Refer to the


0h

0h


_ _ x _ Vibration tough drive selection

0: Disabled

1: Enabled

Selecting "1" enables to suppress vibrations by automatically changing setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] in case that the vibration exceeds the value of the oscillation level set in [Pr. PX26].

Refer to (8) in this section for details.

_ x _ _ 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]. x _ _ _ For manufacturer setting

0h

0h

PX26 OSCL1 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.


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

PX27 *OSCL2 Vibration tough drive function selection

Setting digit

Explanation

50

[%]

0 to

100

Initial value

Refer to the


0h _ _ _ x Oscillation detection alarm selection

0: [AL. 54 Oscillation detection] will occur at oscillation detection.

1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.

2: Oscillation detection function disabled

Select alarm or warning when 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].


_ x _ _ x _ _ _

0h

0h

0h

17 - 23



Initial value

[unit]

Setting range

PX28 CVAT 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.



To comply with SEMI-F47 standard, it is unnecessary to change the initial value (200 ms).


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

PX25].

PX29 DRAT Drive recorder arbitrary alarm trigger setting

Setting digit

Explanation

Initial value

200

[ms]

30 to

500

Refer to the


_ _ x x Alarm detail No. setting

Set the digits when you execute the trigger with arbitrary alarm detail No. for the drive recorder function.

When these digits are "0 0", only the arbitrary alarm No. setting will be enabled. x x _ _ Alarm No. setting

Set the digits when you execute the trigger with arbitrary alarm No. for the drive recorder function.

When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled.

00h

00h

To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0".

To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5 0 0 3".

PX30 DRT 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.


Setting digit Explanation

Initial value

0

[s]

-1 to

32767

Refer to the


0h _ _ _ x 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.


_ x _ _ x _ _ _

0h

0h

0h

PX36 LMCP Lost motion compensation positive-side compensation value selection

Set the lost motion compensation for when reverse rotation (CW) switches to forward rotation

(CCW) in increments of 0.01% assuming the rated torque as 100%.


PX37 LMCN Lost motion compensation negative-side compensation value selection

Set the lost motion compensation for when forward rotation (CCW) switches to reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%.


0

[0.01%]

0

[0.01%]

0 to

30000

0 to

30000

17 - 24



Initial value

[unit]

Setting range

PX38 LMFLT Lost motion filter setting

Set the time constant of the lost motion compensation filter in increments of 0.1 ms.

If the time constant is "0", the torque is compensated with the value set in [Pr. PX36] and [Pr.

PX37]. If the time constant is other than "0", the torque is compensated with the high-pass filter output value of the set time constant, and the lost motion compensation will continue.


0

[0.1 ms]

0 to

30000

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.


PX40 *LMOP Lost motion compensation function selection



Setting value

Explanation

Initial value

0

[0.01%]

-10000 to

10000

Refer to the


_ _ _ x Lost motion compensation selection

0: Disabled

1: Enabled

_ _ x _ Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit

1: 1 kpulse unit


0h

0h

PX41 LMCD Lost motion compensation timing

Set the lost motion compensation timing in increments of 0.1 ms.

You can delay the timing to perform the lost motion compensation for the set time.


0h

0h

PX42 LMCT Lost motion compensation non-sensitive band

Set the lost motion compensation non-sensitive band. When the fluctuation of the droop pulse is the setting value or less, the speed will be 0. Setting can be changed in [Pr. PX40]. Set the parameter per encoder unit.


0

[0.1 ms]

0

[pulse]/

[kpulse]

0

[s] Set the time from when an error occurs in the STO input signal or STO circuit until the detection of [AL. 68.1 Mismatched STO signal error].

When 0 s is set, the detection of [AL. 68.1 Mismatched STO signal error] is not performed.

The following shows safety levels at the time of parameter setting. value TOFB output

Safety level

0 to

30000

0 to

65535

0 to

60

0

Execute EN ISO 13849-1 Category 3 PL d,

IEC 61508 SIL 2, EN 62061 SIL CL2

1 to 60

Execute

Not execute

EN ISO 13849-1 Category 3 PL e, IEC 61508


EN ISO 13849-1 Category 3 PL d, IEC 61508


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 - 25


(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] again, 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.

17 - 26


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 Limit switch

Moving part

Servo motor

Tuning start position

Movable range at tuning

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

PA08 ATU

Name

Auto tuning mode

PA09

PB01

RSP

FILT


Adaptive tuning mode (adaptive filter II)

Parameter Symbol

PB18 LPF

Name



PB06

PB07

PB08

PB09

PB10

PB12

PB13

PB14

PB15

PB16

PB17

GD2

PG1

PG2 control II)


Model loop gain

Position loop gain

VG2 Speed loop gain


OVA Overshoot amount compensation





NHF Shaft resonance suppression filter

PB23

PX17

PX18

PX19

PX20

PX22

PX31

VFBF Low-pass filter selection






XOP4 Function selection X-4

17 - 27


(a) One-touch tuning flowchart

1) User command method


Start


Operation






Tuning result check


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".


Click "Start" during servo motor driving to execute one-touch tuning.


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.))


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 - 28


2) Amplifier command method


Start


Movement to tuning start position


Input of permissible travel distance





Tuning result check

Controller reset

Servo amplifier power cycling


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.


While the servo motor is stopped, click "Start" to start one-touch tuning. After the tuning is started, the servo motor will reciprocate automatically. Executing one-touch tuning during servo motor rotation will cause an error. After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller.


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 (4) (b) 5) in this section.))


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 - 29


(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 - 30

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

Servo motor speed

Forward rotation

0 r/min

Reverse rotation



Dwell time

Fig. 17.1 Recommended command for one-touch tuning in the user command method

Item Description

Travel distance

Set 100 pulses or more in encoder unit. Setting less than 100 pulses will cause the one-touch tuning error

"C004".

Servo motor speed Set 150 r/min (mm/s) or higher. Setting less than 150 r/min (mm/s) may cause the one-touch tuning error "C005".



Dwell time

Set the time to reach 2000 r/min (mm/s) to 5 s or less.

Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10% or more of the rated torque.

The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration torque is larger, and the one-touch tuning result will be closer to the optimum value.

Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".

One cycle time Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".

17 - 31

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)

Dwell time (Note)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation


(Note)


(Note)

Note. It will be automatically generated in the servo amplifier.

Fig. 17.2 Command generated by one-touch tuning in the amplifier command method

Item Description

Travel distance



An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible travel distance with MR Configurator2.

Servo motor speed

A speed not exceeding 1/2 of the rated speed and overspeed alarm detection level ([Pr. PC08]) will be automatically set.

An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of the rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.

Dwell time A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.

17 - 32


2) Response mode selection

Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.

Response mode

High mode

Basic mode

Low mode

Table 17.6 Response mode explanations

Explanation

This mode is for high-rigid system.

This mode is for standard system.

This mode is for low-rigid system.

17 - 33


Refer to the following table for selecting a response mode.

Low mode

Table 17.7 Guideline for response mode

Response mode

Basic mode High mode

Response


Guideline of corresponding machine

Low response

Arm robot

Precision working machine

General machine tool conveyor

Inserter

Mounter

Bonder

High response

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.

17 - 34


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.)

Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier command method, an optimum tuning command will be generated in the servo amplifier after 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%.

17 - 35


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 - 36


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

C000

C001

C002

C003

Name

Tuning canceled

Overshoot exceeded

Servo-off during tuning

Control mode error

C004 Time-out

C005 Load to motor inertia ratio misestimated

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.

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.


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.



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 - 37


Display

C006

C008

C009

C00A

Name

Amplifier command start error generation error

Stop signal

Parameter

Alarm disabled

Error detail

One-touch tuning was attempted to start in the amplifier command method under the following speed condition.

Servo motor speed: 20 r/min or higher

Execute the one-touch tuning in the amplifier command method while the servo motor is stopped.


1. One-touch tuning was executed in the amplifier command method when the permissible travel distance is set to 100 pulses or less in the encoder pulse unit, or the distance is set not to increase the servo motor speed to 150 r/min (mm/s) (50 r/min for direct drive motor) or higher at the time of load to motor inertia ratio estimation.

2. 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.

EM2 was turned off during one-touch tuning in the amplifier command method.

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.

Parameters for manufacturer setting have been changed.

One-touch tuning was attempted to start in the amplifier command method during alarm or warning.

Alarm or warning occurred during one-touch tuning by the amplifier command method.

"One-touch tuning function selection" in [Pr.

PX13] is "Disabled (_ _ _ 0)".

Set the torque limit value to greater than 0.

Review the one-touch tuning start position and permissible travel distance for the amplifier command method.

After ensuring safety, turn on EM2.

Return the parameters for manufacturer setting to the initial values.

Start one-touch tuning when no alarm or warning occurs.

Prevent alarm or warning from occurring during one-touch tuning.

Select "Enabled (_ _ _ 1)".

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 - 38


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 - 39


(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.


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) One-touch tuning is not available during the test operation mode. The following test operation modes cannot be executed during one-touch tuning.


JOG operation

Program operation

Machine analyzer operation c) 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. d) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot, set a value sufficient to prevent machine collision. e) 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. f) 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. g) 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. h) 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 - 40


(5) Filter setting

The following filters are available with the J3 extension function.

Command pulse train

Command filter

+

-

Speed control

[Pr. PB18]


[Pr. PX20]

[Pr. PX19]


[Pr. PB17]


[Pr. PB13]


[Pr. PB15]


[Pr. PX31]

[Pr. PX21]


Robust filter

[Pr. PX17]


PWM

Load

M

Servo motor

Encoder

(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 - 41


1) Function

The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width.

Machine resonance point

Frequency

Notch width

Notch depth

Frequency

Notch frequency

You can set five machine resonance suppression filters at most.


Precaution


Parameter automatically adjusted with onetouch tuning

PB13 PB01/PB13/PB14 PB01/PB13/PB14 The filter can be set automatically with


PB01].

PB15/PB16 PB15 PB15/PB16 Machine resonance suppression filter 2



PX17/PX18

PX19/PX20

PX17/PX18

PX19/PX20


PX21/PX22






PX22

17 - 42


2) Parameter a) Machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14])

Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14])

When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled. b) Machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in [Pr. PB16].

How to set the machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]). c) Machine resonance suppression filter 3 ([Pr. PX17]/[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]/[Pr. PX18]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]). d) Machine resonance suppression filter 4 ([Pr. PX19]/[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]/[Pr. PX20]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]). e) Machine resonance suppression filter 5 ([Pr. PX21]/[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]/[Pr. PX22]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).

17 - 43


(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 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


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]

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

_ _ 0 C

_ _ 0 D

_ _ 0 E

_ _ 0 F

Disabled

Disabled

4500

3000

2250

1800

1500

1285

1125

1000

900

818

750

692

642

600

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

Setting value Frequency [Hz]

391

375

360

346

333

321

310

300

290

562

529

500

473

450

428

409

17 - 44


(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 - 45


1) Function

Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not vibrate.

Servo motor side

Load side t

Vibration suppression: off (normal)

Servo motor side

Load side t

Vibration suppression control: on

When the advanced vibration suppression control II ([Pr. PB02] 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


Setting value Vibration suppression control 1 tuning mode selection

_ _ _ 0 Disabled

_ _ _ 1 Automatic setting

_ _ _ 2 Manual setting


PB19/PB20/PB21/PB22

[Pr. PX03]

0 0 0


Setting value Vibration suppression control 2 tuning mode selection

_ _ 0 _ Disabled

_ _ 1 _ Automatic setting

_ _ 2 _ Manual setting


PX04/PX05/PX06/PX07

17 - 46


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.


Operation

Yes Is the target response reached?

No


Has vibration of workpiece end/device increased?

No

Yes

Stop operation.

Execute or re-execute vibration suppression control tuning.

(Set [Pr. PB02] to "_ _ _ 1".)

Resume operation.

Tuning ends automatically after positioning operation is performed the predetermined number of times.

([Pr. PB02] will be "_ _ _ 2" or

"_ _ _ 0".)

Has vibration of workpiece end/device been resolved?

No

Yes

Decrease the response until vibration of workpiece end/device is resolved.

Using a machine analyzer or considering load-side vibration waveform, set the vibration suppression control manually.

Factor

Estimation cannot be made as load-side vibration has not been transmitted to the servo motor side.

The response of the model loop gain has increased to the load-side vibration frequency

(vibration suppression control limit).

End

17 - 47


4) Vibration suppression control manual mode

POINT

When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibration frequency does not produce an effect.

When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external equipment, do not set the same value but set different values to improve the vibration suppression performance.

The setting range of [Pr. PB19], [Pr. PB20], [Pr. PX04], and [Pr. PX05] varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled.

Measure work-side vibration and device shake with the machine analyzer or external measuring instrument, and set the following parameters to adjust vibration suppression control manually.

Setting item



Vibration suppression control - Vibration frequency

Vibration suppression control - Resonance frequency

Vibration suppression control - Vibration frequency damping

Vibration suppression control - Resonance frequency damping

[Pr. PB19]

[Pr. PB20]

[Pr. PB21]

[Pr. PB22]

[Pr. PX04]

[Pr. PX05]

[Pr. PX06]

[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.



Usable range Recommended setting range

[Pr. PB19] > 1/2 π × (1.5 × [Pr. PB07])

[Pr. PB20] > 1/2 π × (1.5 × [Pr. PB07])


[Pr. PB19] > 1/2 π × (0.9 × [Pr. PB07])

[Pr. PB20] > 1/2 π × (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] < 2 π (0.3 × [Pr. PB19] + 1/8 × [Pr. PX04])

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 - 48

17. APPLICATION OF FUNCTIONS a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external equipment.


Vibration frequency


[Pr. PX04]


Resonance frequency

[Pr. PX05]

Gain characteristics

Phase

-90 degrees

1 Hz 300 Hz


Vibration frequency


[Pr. PB19]

Resonance of more than

300 Hz is not the target of control.


Resonance frequency

[Pr. PB20] b) When vibration can be confirmed using monitor signal or external sensor

Motor-side vibration

(droop pulses)


External acceleration pickup signal, etc.

t t



Vibration frequency


Resonance frequency

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 - 49


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]

(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]

Command pulse frequency

Droop pulses

Model speed

CDL

[Pr. PB27]

+

-

+

-

+

-

Comparator

Changing

Enabled

GD2 value

Enabled

PG1 value

Enabled

PG2 value

Enabled

VG2 value

Enabled

VIC value

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]

VRF11

[Pr. PB19]

VRF11B

[Pr. PB33]

VRF12

[Pr. PB20]

VRF12B

[Pr. PB34]

VRF13

[Pr. PB21]

VRF13B

[Pr. PB35]

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 - 50


(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

Name




Unit Description

[kpulse/s]

/[pulse]

/[r/min]

Select a switching condition.

Set a switching condition values.

[ms] Set the filter time constant for a gain change at switching. a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first to third digits.

[Pr. PB26]

0

Gain switching selection

0: Disabled



3: Droop pulses





Gain switching time constant disabling condition selection



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].

The setting unit is as follows.


Command frequency

Droop pulses

Servo motor speed/linear servo motor speed

Unit

[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. This parameter is used to suppress shock given to the machine if the gain difference is large at gain switching, for example.

17 - 51


2) Switchable gain parameter

Loop gain


Model loop gain

Before switching


PB06

PB07


PG1 Model loop gain

PB08

PB09


VG2 Speed loop gain

Position loop gain

Speed loop gain





Vibration suppression control 1 - Resonance frequency damping




Vibration suppression control 2 - Resonance frequency damping compensation control 1 - Vibration frequency control 1 - Resonance frequency control 1 - Vibration frequency damping control 1 - Resonance frequency damping control 2 - Vibration frequency control 2 - Resonance frequency control 2 - Vibration frequency damping control 2 - Resonance frequency damping

After switching

Parameter Symbol

PB29

Name

PX12

PB30

PB31




VG2B Speed loop gain after gain switching compensation after gain switching control 1 - Vibration frequency after gain switching control 1 - Resonance frequency after gain switching control 1 - Vibration frequency damping after gain switching control 1 - Resonance frequency damping after gain switching control 2 - Vibration frequency after gain switching control 2 - Resonance frequency after gain switching control 2 - Vibration frequency damping after gain switching control 2 - Resonance frequency damping after gain switching

17 - 52

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]) , and [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 - 53


(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

PB06

PB07

PB08

PB09

PB10

PB19

PB20

PB21

PB22

PX04

PX05

PX06

PX07

PB29

PX12

PB30

PB31

PB32

PB26

GD2

Name


PG1 Model loop gain


VG2 Speed loop gain



Vibration frequency


Resonance frequency


Vibration frequency damping




Vibration frequency


Resonance frequency


Vibration frequency damping









PB28

PB33

PB34

PB35

PB36

PX08

PX09



Vibration frequency after gain switching




Vibration frequency damping after gain switching




Vibration frequency after gain switching



Unit

4.00 [Multiplier]

100

120

[rad/s]

[rad/s]

3000 [rad/s]

20 [ms]

50 [Hz]

50 [Hz]

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 [ms]

60 [Hz]

60 [Hz]

0.15

0.15

30 [Hz]

30 [Hz]

17 - 54


Parameter Symbol

PX10

PX11

Name


Vibration frequency damping after gain switching


Resonance frequency damping after gain switching b) Switching timing chart


OFF

Unit

0.05

0.05

ON


OFF

Gain switching


63.4%

CDT = 100 ms

Model loop gain


Position loop gain

Speed loop gain




Resonance frequency






Resonance frequency




100

4.00

120

3000

20

50

50

0.20

0.20

20

20

0.10

0.10

→ 50 → 100

→ 10.00 → 4.00

→ 84 → 120

→ 4000 → 3000

→ 50 → 20

→ 60 → 50

→ 60 → 50

→ 0.15 → 0.20

→ 0.15 → 0.20

→ 30 → 20

→ 30 → 20

→ 0.05 → 0.10

→ 0.05 → 0.10

17 - 55


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

PB06

PB08

PB09

PB10

PB29

PB30

PB31

PB32

PB26

GD2

Name



VG2 Speed loop gain






CDP Gain switching selection

PB27

PB28



Unit

4.00 [Multiplier]

120

3000

[rad/s]

[rad/s]

20 [ms]

10.00 [Multiplier]

84 [rad/s]

4000 [rad/s]

50 [ms]

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


Gain switching


63.4%

CDT = 100 ms


Position loop gain

Speed loop gain


4.00 → 10.00 → 4.00 → 10.00

120 → 84 → 120 → 84

3000 → 4000 → 3000 → 4000

20 → 50 → 20 → 50

17 - 56


3) When the gain switching time constant is disabled a) Switching time constant disabled was selected.

The gain switching time constant is disabled. The time constant is enabled at gain return.

The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr. PB28 (CDT)] = 100 [ms].

Command pulses

Droop pulses

Droop pulses [pulse]

+100 pulses

0

-100 pulses

Switching time constant disabled

Switching at 0 ms



63.4%

Gain switching

Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)

CDT = 100 ms


Switching at 0 ms b) Return time constant disabled was selected.

The gain switching time constant is enabled. The time constant is disabled at gain return.

The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr.

PB28 (CDT)] = 100 [ms].

OFF OFF

CDP (Gain switching) ON


Return time constant disabled

Switching at 0 ms

63.4%


Gain switching

CDT = 100 ms

Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)

17 - 57


(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.)


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 vibration frequency caused by machine aging.

To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.

Set [Pr. PB13] and [Pr. PB15] as follows.

1) One-touch tuning execution (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 - 58


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.

Precaution



PB01/PB13/PB14 The filter can be set automatically with


PB01].

PB15/PB16

PB13

PB15 Machine resonance suppression filter 2



PX17/PX18

PX19/PX20


PX21/PX22






Updates the parameter whose setting is the closest to the machine resonance frequency.


Command pulse train

Command filter

+

-

[Pr. PB13]


[Pr. PB15]


[Pr. PX17]


Load

[Pr. PX20]

[Pr. PX19]


[Pr. PB17]


[Pr. PX31]

[Pr. PX21]


Robust filter

PWM M

Servo motor

Encoder

Torque

ALM

(Malfunction)

WNG

(Warning)

MTTR


ON

OFF

ON

OFF

ON

OFF

[Pr. PX26 Vibration tough drive - Oscillation detection level]

5 s

Detects the machine resonance and reconfigures the filter automatically.

During tough drive (MTTR) is not turned on in the vibration tough drive function.

17 - 59


(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 tolerance against instantaneous power failure using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of

[AL. 10 Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the control circuit power] detection time for the control circuit power supply can be changed by [Pr. 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 selecting "Enabled (_ _ _ 1)" for "Torque limit function selection at instantaneous power failure" in [Pr. PX23], if an instantaneous power failure occurs during operation, you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration. You can also delay the time until the occurrence of [AL. 10.2 Voltage drop in the main circuit power]. Doing this will enable you to set a longer time in [Pr. PX28 SEMI-F47 function -


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 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.



To comply with SEMI-F47 standard, it is unnecessary to change the initial value

(200 ms).


17 - 60


1) Instantaneous power failure time of control circuit power supply > [Pr. PX28 SEMI-F47 function -


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.



ON (energization)

OFF (power failure)

[Pr. PX28]

Bus voltage

Undervoltage level

(Note)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF


17 - 61


2) Instantaneous power failure time of control circuit power supply < [Pr. PX28 SEMI-F47 function -


Operation status differs depending on how bus voltage decrease. a) When the bus voltage decreases lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply

[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than Undervoltage level regardless of the enabled instantaneous power failure tough drive.



ON (energization)

OFF (power failure)

[Pr. PX28]

Bus voltage

Undervoltage level

(Note)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF


17 - 62

17. APPLICATION OF FUNCTIONS b) When the bus voltage does not decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply

The operation continues without alarming.



ON (energization)

OFF (power failure)

[Pr. PX28]

Bus voltage

Undervoltage level

(Note)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF


(8) Compliance with SEMI-F47 standard

POINT

The control circuit power supply of the servo amplifier can be possible to comply with SEMI-F47 standard. However, a back-up capacitor may be necessary for instantaneous power failure in the main circuit power supply depending on the power supply impedance and operating situation.

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

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



Be sure to perform actual machine tests and detail checks for power supply instantaneous power failure of SEMI-F47 standard with your equipment.

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.

17 - 63



Setting [Pr. PX25] and [Pr. PX28] as follows will enable SEMI-F47 function.

Parameter

PX25

Setting value

_ 1 _ _

Description

Enable SEMI-F47 function selection.

Enabling SEMI-F47 function will change operation as follows.

1) The voltage will drop in the control circuit power with "Rated voltage × 50% or less". 200 ms later,

[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 when bus voltage is as follows.

Table 17.8 Voltages which trigger [AL. 10.2 Voltage drop in the main circuit power]

Servo amplifier

MR-J4-10B(-RJ) to

MR-J4-700B(-RJ)

MR-J4-11KB(-RJ) to

MR-J4-22KB(-RJ)

MR-J4-60B4(-RJ) to

MR-J4-22KB4(-RJ)

Bus voltage which triggers alarm

158 V DC

200 V DC

380 V DC

3) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit power] occurs.

(b) Requirements conditions of SEMI-F47 standard

Table 17.9 shows the permissible time of instantaneous power failure for instantaneous power failure of SEMI-F47 standard.

Table 17.9 Requirements conditions of SEMI-F47 standard

Instantaneous power failure voltage




Permissible time of instantaneous power failure [s]

1

0.5

0.2

17 - 64


(c) Calculation of tolerance against instantaneous power failure

Table 17.10 shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage × 50%" and instantaneous power failure time is 200 ms.

Table 17.10 Tolerance against instantaneous power failure

(instantaneous power failure voltage = rated voltage × 50%, instantaneous power failure time = 200 ms)

Servo amplifier

Instantaneous maximum output [W]

Tolerance against instantaneous power failure [W]

(voltage drop between lines)

MR-J4-10B(-RJ) 350

MR-J4-20B(-RJ) 700

MR-J4-40B(-RJ) 1400

MR-J4-60B(-RJ) 2100

MR-J4-70B(-RJ) 2625

MR-J4-100B(-RJ) 3000

MR-J4-200B(-RJ) 5400

MR-J4-350B(-RJ) 10500

MR-J4-500B(-RJ) 15000

MR-J4-700B(-RJ) 21000

MR-J4-11KB(-RJ) 40000

MR-J4-15KB(-RJ) 50000

MR-J4-22KB(-RJ) 56000

MR-J4-60B4(-RJ) 1900

MR-J4-100B4(-RJ) 3500

MR-J4-200B4(-RJ) 5400

MR-J4-350B4(-RJ) 10500

MR-J4-500B4(-RJ) 15000

MR-J4-700B4(-RJ) 21000

MR-J4-11KB4(-RJ) 40000

MR-J4-15KB4(-RJ) 50000

MR-J4-22KB4(-RJ) 56000

250

420

630

410

1150

1190

2040

2600

4100

5900

2600

3500

4300

190

200

350

730

890

1500

2400

3200

4200

Instantaneous maximum output means power which servo amplifier can output in maximum torque at rated speed. You can examine margins to compare the values of following conditions and instantaneous maximum output.

Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the maximum output. This can be handled as a margin.

The following shows the conditions of tolerance against instantaneous power failure.

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 - 65


(9) Lost motion compensation function

POINT

The lost motion compensation function is enabled only in the position control mode.

The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting.

This function is effective when a high follow-up performance is required such as drawing an arc with an

X-Y table.

Compensation

Travel direction



Setting [Pr. PX36] to [Pr. PX42] enables the lost motion compensation function.

1) Lost motion compensation function selection ([Pr. PX40])


0

[Pr. PX40]

0

Lost motion compensation selection

0: Lost motion compensation disabled

1: Lost motion compensation enabled

Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit

1: 1 kpulse unit

2) Lost motion compensation ([Pr. PX36]/[Pr. PX37])

Set the same value for the lost motion compensation for each of when the forward rotation switches to the reverse rotation and when the reverse rotation switches to the forward rotation.

When the heights of protrusions differ depending on the travel direction, set the different compensation for each travel direction. Set a value twice the usual friction torque and adjust the value while checking protrusions.

3) Torque offset ([Pr. PX39])

For a vertical axis, unbalanced torque occurs due to the gravity. Although setting the torque offset is usually unnecessary, setting unbalanced torque of a machine as a torque offset cancels the unbalanced torque. The torque offset does not need to be set for a machine not generating unbalanced torque. The torque offset cannot be used for linear servo motors and direct drive motors. Set 0.00%.

17 - 66


4) Lost motion compensation timing ([Pr. PX41])

You can set the delay time of the lost motion compensation start timing with this parameter.

When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.

5) Lost motion compensation non-sensitive band ([Pr. PX42])

When the travel direction reverses frequently around the zero speed, unnecessary lost motion compensation is triggered by the travel direction switching. By setting the lost motion compensation non-sensitive band, the speed is recognized as 0 when the fluctuation of the droop pulse is the setting value or less.

When the value of this parameter is changed, the compensation timing is changed. Adjust the value of Lost motion compensation timing ([Pr. PX41]).

6) Lost motion filter setting ([Pr. PX38])

Changing the value of this parameter is usually unnecessary. When a value other than 0.0 ms is set in this parameter, the high-pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues.

(b) Adjustment procedure of the lost motion compensation function

1) Measuring the load current

Measure the load currents during the forward direction feed and reverse direction feed with MR

Configurator2.

2) Setting the lost motion compensation

Calculate the friction torque from the measurement result of (9) (b) 1) in this section and set a value twice the friction torque in [Pr. PX36] and [Pr. PX37] as lost motion compensation.

Friction torque [%] =

|(load current during feed in the forward rotation direction [%]) -

(load current during feed in the reverse rotation direction [%])|

2

3) Checking protrusions

Drive the servo motor and check that the protrusions are corrected.

17 - 67


4) Adjusting the lost motion compensation

When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are eliminated. Different values can be set as the compensation for each of when the forward rotation (CCW) switches to the reverse rotation (CW) and when the reverse rotation (CW) switches to the forward rotation (CCW).

Compensation

Travel direction


5) Adjusting the lost motion compensation timing

When the machine has low rigidity, the speed loop gain is set lower than the standard setting value, or the servo motor is rotating at high speed, quadrant projections may occur behind the quadrant change points. In this case, you can suppress the quadrant projections by delaying the lost motion compensation timing with [Pr. PX41 Lost motion compensation timing]. Increase the setting value of [Pr. PX41] from 0 ms (Initial value) by approximately 0.5 ms to adjust the compensation timing.

Compensation

Travel direction


6) Adjusting the lost motion compensation non-sensitive band

When the lost motion is compensated twice around a quadrant change point, set [Pr. PX42 Lost motion compensation non-sensitive band]. Increase the setting value so that the lost motion is not compensated twice. Setting [Pr. PX42] may change the compensation timing. Adjust the lost motion compensation timing of (9) (b) 5) in this section.

Compensation

Travel direction


17 - 68


17.2 Master-slave operation function

WARNING

Configure the circuit so that all the master and slave axes for the same machine are stopped by the controller forced stop at the moment of a stop of a master or slave axis due to such as a servo alarm. When they are not stopped simultaneously by the controller forced stop, the servo motor may operate unexpectedly and the machine can be damaged.

All the master and slave axes for the same machine should turn on/off EM1

(Forced stop 1) simultaneously. When EM1 (Forced stop 1) is not turned on/off simultaneously, the servo motor may operate unexpectedly and the machine can be damaged.

POINT

The master-slave operation function works only when the forced stop deceleration function is disabled. When the forced stop deceleration function is enabled, [AL. 37] will occur.

The master-slave operation function cannot be used with the continuous operation to torque control.

Use the master-slave operation function with the following controllers. Refer to the manuals for each servo system controller for compatible software versions, and other details.

RD77MS/QD77MS_/LD77MS_

R_MTCPU/Q17_DSCPU

Q170MSCPU

When the function is used in vertical axis system, set the same value to the parameters regarding the dynamic brake and electromagnetic brake to prevent a drop of axes.

The servo-on command of the master axis and slave axis should be turned on/off simultaneously. If the servo-on command is turned on only for a slave axis, torque will not be generated. Therefore, an extreme load will be applied to the electromagnetic brake of the master axis for using in vertical axis system.

The master-slave operation function is available for servo amplifier with software version A8 or later. All servo amplifiers used in the same system connected to a controller should be software version A8 or later.

17 - 69


(1) Summary

The master-slave operation function transmits a master axis torque to slave axes using driver communication and the torque as a command drives slave axes by torque control.

Transmission of torque data from the master axis to slave axes is via SSCNET III/H. Additional wiring is not required.

(2) System configuration

POINT

The control modes compatible with the master-slave operation function are as follows.

Master-slave operation function compatibility table

Control mode

Forced stop deceleration function

Master axis (Note) Slave axis (Note)

Enabled

Enabled

Enabled

Enabled

Note. When a setting for the master-slave operation is set to an axis which is not compatible with the master-slave operation function, [AL. 37] will occur.

The master axis and slave axis are recommended to use for a linked condition on a mechanical constitution. When they are not linked, they can reach a speed limit level. Doing so may cause [AL. 31 Overspeed].

The slave axes use the control command from the master axis. Therefore, the controller mainly controls parameter settings, servo-on command, acquisition of monitor information from a servo amplifier, etc. The commands regarding absolute positioning such as setting absolute position detection and requiring home position setting from the controller to slave axes must not be made.

Configure the circuit so that all the master and slave axes are stopped at the moment of a stop of a master or slave axis due to such as an alarm.

When the STO signal of a servo amplifier is used, the master axis and slave axis should be turned off simultaneously.

17 - 70


Eight master axes can be set at most per one system of SSCNET III/H. The maximum number of slave axes to each master axis is not limited. However, the total number of the master and slave axes should be the maximum number of the servo amplifiers at most. In addition, when an SSCNET III/H communication shut-off occurs due to malfunction of a servo amplifier, the malfunctioning axis and later axis cannot be communicated. Therefore, the first amplifier from the controller via SSCNET III/H cable should be master axis.

Controller

Master axis

MR-J4-_B_(-RJ)

Slave axis 1

MR-J4-_B_(-RJ)

Slave axis 2

MR-J4-_B_(-RJ)

Slave axis 3

MR-J4-_B_(-RJ)

Position command

CN2

These are for the same machine.

[Driver communication]

Torque command

Speed limit command

CN2


Torque command

Speed limit command

CN2


Torque command

Speed limit command

CN2

(3) Parameter setting for the master-slave operation function

To use the master-slave operation function, the following parameter settings are necessary. For details of the parameters, refer to section 5.2.1 and 5.2.4.

Setting

Slave axis

PA04

Forced stop deceleration function selection

PA14

Rotation direction selection/travel direction selection

PD15 (Note) Driver communication setting

PD16 (Note)

PD17 (Note)

PD20 (Note)

PD30

PD31

Driver communication setting -

Master - Transmit data selection 1

Driver communication setting -

Master - Transmit data selection 2

Master axis No. selection 1 for slave

Master-slave operation -

Torque command coefficient on slave

Master-slave operation - Speed limit coefficient on slave

Master-slave operation - Speed

PD32 limit adjusted value on slave

Note. Always set this with parameters of the controller.

2000

0

0000

0 _ _ _

0001

0 _ _ _

Refer to section 5.2.1.

0010

0 0

Refer to

0 0

Used to disable the forced stop deceleration function.

Used to set a torque generation direction.

Master and slave setting

Communication data from master to

Torque command

Speed limit value

0000 003A 0000

Master axis No. of transmitting data

Ratio of torque command of slave axis, ratio of speed limit value, and setting of speed limit minimum value

17 - 71


(4) Rotation direction setting

Rotation directions can be different among a controller command, master axis, and slave axes. To align the directions, set [Pr. PA14] referring to (4) in this section. Not doing so can cause such as an overload due to a reverse direction torque against machine system rotation direction.

Controller

Master axis

[Pr. PA14]

POL

0 or 1 (Note)

+

-

Position control

+

-

S

Speed control

+

-

Current control

Slave axis 1

Slave axis 2

Slave axis 3

[Pr. PA14]

POL

0 or 1 (Note)

[Pr. PA14]

POL

0 or 1 (Note)

[Pr. PA14]

POL

0 or 1 (Note)

+

-

+

-

+

-

Current control

Current control

Current control

Note. Setting "1" will reverse the polarity.

Fig. 17.3 Rotation direction setting of master and slave axes with torque command method for an example of one master axis and three slave axes

Table 17.11 Rotation direction setting parameter


PA14 *POL Rotation direction selection

1. For master axis

Select a servo motor rotation direction of master axis to SSCNET controller command.

0: Servo motor CCW rotation in positioning address increase direction

1: Servo motor CW rotation in positioning address increase direction

2. For slave axis

Select servo motor rotation direction to a command from master axis.

0: Torque command polarity from master axis

1: Reverse of torque command polarity from master axis

CCW

The following shows a setting example of rotation direction for a platform truck with one master axis and three slave axes.

To set a rotation direction of the servo motor according to the moving direction, set the torque command polarity to the slave axis 1 the same as that to the master axis, and set the opposite polarity to the slave axis 2 and slave axis 3 from the master axis.

Slave axis 2 Slave axis 3

[Pr. PA14] setting

CW

CW

Moving direction

Master axis

Slave axis 1

Slave axis 2

Slave axis 3

0

0

1

1

CCW

Master axis Slave axis 1

17 - 72


17.3 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 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-J4-_B_ servo amplifiers, the following restrictions apply. However, these restrictions will not be applied for

MR-J4-_B_-RJ servo amplifiers.

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 scale measurement encoder and servo motor encoder cannot be used.

When you use the HG-KR and HG-MR series for driving and scale measurement encoder, the optional four-wire type encoder cables (MR-

EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used. When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to app. 8.

The scale measurement function compatible servo amplifier can be used with any of the following controllers.

Motion controller R_MTCPU/Q17_DSCPU

Simple motion module RD77MS/QD77MS_/LD77MS_

For settings and restrictions of controllers compatible with the scale measurement function, refer to user's manuals for each controller.

17.3.1 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 feedback pulses

(Servo motor resolution unit)

S

Servo motor

Scale measurement encoder

(Servo motor)

Cumulative feedback pulses Encoder pulse setting

([Pr. PA15], [Pr. PA16] and [Pr. PC03])

Cumulative load-side feedback pulses

Load-side feedback pulses

(Scale resolution unit)

Control

Monitor

17 - 73


(2) System configuration

(a) For a linear encoder

1) MR-J4-_B_ servo amplifier

Servo amplifier


SSCNET III/H

Position command

Control signal

CN2

Two-wire type serial interface compatible linear encoder




Linear encoder head

Servo motor

2) MR-J4-_B_-RJ servo amplifier

Servo amplifier

Table


SSCNET III/H

Position command

Control signal

CN2L

CN2

A/B/Z-phase pulse train interface compatible linear encoder or two-wire/four-wire type serial interface compatible linear encoder



(A/B/Z-phase pulse train interface or serial interface)


Linear encoder head

Servo motor

Table

17 - 74


(b) For a rotary encoder


Servo amplifier


SSCNET III/H

Position command

Control signal

CN2



(Note)

(Note) Servo motor

Drive part


Two-wire type rotary encoder

HG-KR, HG-MR servo motor (4194304 pulses/rev)



Servo amplifier


SSCNET III/H

Position command

Control signal

CN2L

CN2



Servo motor

Drive part


A/B/Z-phase differential output, two-wire/four-wire type rotary encoder

HG-KR, HG-MR servo motor (4194304 pulses/rev), or synchronous encoder Q171ENC-W8 (4194304 pulses/rev)

17 - 75


17.3.2 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 or synchronous encoder as the encoder.

Servo motor and synchronous encoder that can be used as encoder

MR-J4-_B_

MR-J4-_B_-RJ

HG-KR HG-MR

Synchronous encoder

Q171ENC-W8

Use a two-wire type encoder cable for MR-J4-_B_ servo amplifiers. Do not use MR-EKCBL30M-L, MR-

EKCBL30M-H, MR-EKCBL40M-H, 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. 8.

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 - 76


(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.




Servo amplifier

CN2 CN2 MOTOR


Linear encoder

SCALE


Encoder cable



You can connect the linear encoder without using a branch cable shown in 1) for MR-J4-_B_-RJ servo amplifier. You can also use a four-wire type linear encoder.

Servo amplifier

CN2


CN2L

Linear encoder


Encoder cable


17 - 77


(b) Rotary encoder

Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders.




Servo amplifier

CN2

CN2 MOTOR (Note)


SCALE

(Note)

Servo motor

HG-KR

HG-MR


Encoder cable




You can connect the rotary encoder without using a branch cable shown in 1) for MR-J4-_B-RJ servo amplifier. You can also use a four-wire type rotary encoder.

Servo amplifier

CN2


CN2L

Servo motor

HG-KR

HG-MR


Encoder cable


Q170ENCCBL_M-A

(Refer to manuals of servo system controllers.)

Synchronous encoder Q171ENC-W8

17 - 78


(4) MR-J4FCCBL03M branch cable

Use MR-J4FCCBL03M branch cable to connect the scale measurement encoder to CN2 connector.

When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder

Instruction Manual".

0.3 m

SD

P5

LG

(Note 1)

CN2

Plate

1

2

(Note 2)

MOTOR

Plate

1

2

SD

P5

LG

2

LG

1

P5

4

MRR

6

THM2

3

MR

5

THM1

8

MXR

10

SEL

7

MX

9

BAT

View seen from the wiring side.

MR

MRR

THM1

THM2 6

MX 7

3

4

5

MXR

BAT

SEL

8

9

10

3

4

MR

MRR

5 THM1

6 THM2

10

SEL 8

9

BAT 7

6

THM2

5

THM1

4

MRR

2

LG

3

MR

1

P5


9 BAT

10 SEL

(Note 2)

SCALE

Plate

1

2

SD

P5

LG

3 MX

4 MXR

9

10

BAT

SEL

10

SEL 8

9

BAT 7

6

5

4

MXR

2

LG

3

MX

1

P5


Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)

17 - 79


17.3.3 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].

(a) 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


Setting value

0

Operation mode


(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 communication method and polarity.

The communication method differs depending on the scale measurement encoder type. For the communication method for using a linear encoder as scale measurement encoder, refer to "Linear

Encoder Instruction Manual". Select "Four-wire type" because there is only four-wire type for synchronous encoder.

Select the cable to be connected to CN2L connector in [Pr. PC26].

[Pr. PC26]

0 0 0

Load-side encoder cable communication method selection

0: Two-wire type

1: Four-wire type


Incorrect setting will trigger [AL. 70] and [AL. 71].

Setting "1" while using an MR-J4-_B_ servo amplifier will trigger [AL. 37].

17 - 80


Select a polarity of the scale measurement encoder with the following "Encoder pulse count polarity selection" and "Selection of A/B/Z-phase input interface encoder Z-phase connection judgment function" 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.


1) Select a 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


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

2) A/B/Z-phase input interface encoder Z-phase connection judgment function

This function can trigger an alarm by detecting non-signal for Z phase.

The Z-phase connection judgment function is enabled by default. To disable the Z-phase connection judgment function, set [Pr. PC27].

0

[Pr. PC27]

0 0

Selection of A/B/Z-phase input interface encoder Z-phase connection judgment function

0: Enabled

1: Disabled

(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 - 81


MEMO

17 - 82

APPENDIX

APPENDIX

App. 1 Peripheral equipment manufacturer (for reference)

Names given in the table are as of October 2017.

For information, such as the delivery time, price, and specifications of the recommended products, contact each manufacturer.

Manufacturer Reference

NEC TOKIN

Kitagawa Industries

NEC TOKIN Corporation

Kitagawa Industries Co., Ltd.

JST J.S.T. Mfg. Co., Ltd.

Junkosha Purchase from Toa Electric Industrial Co. Ltd.,

Nagoya Branch

3M 3M

SEIWA ELECTRIC

Soshin Electric

TE Connectivity

Seiwa Electric Mfg. Co. Ltd.

Soshin Electric Co., Ltd.

TE Connectivity

Molex Molex

Toho Technology Toho Technology Corp. Kyoto factory

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

United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter

Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation

Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the

International Maritime Organization (IMO).

To comply the instruction and code, we have modified the indication on the package for general-purpose AC servo batteries.

The above change will not affect the function and performance of the product.

(1) Target model

(a) Battery (cell) model Type

Lithium content

Mass of battery

Remark

ER6

ER17330

MR-J3BAT

MR-BAT

A6BAT

Cell

Cell

Cell

0.65 g

0.48 g

0.48 g

16 g

13 g

13 g

Cells with more than 0.3 grams of lithium content must be handled as dangerous goods (Class 9) depending on packaging requirements.

App. - 1

APPENDIX

(b) Battery unit (assembled battery) model Type

Lithium content

Mass of battery

Remark

ER6 MR-J2M-BT

CR17335A

MR-BAT6V1

MR-BAT6V1SET(-A)

MR-BAT6V1BJ

Assembled battery

(Seven)

Assembled battery (Two)



4.55 g

1.20 g

1.20 g

1.20 g

112 g

34 g

34 g

34 g

Assembled batteries with more than two grams of lithium content must be handled as dangerous goods (Class 9) regardless of packaging requirements.

Assembled batteries with more than

0.3 grams of lithium content must be handled as dangerous goods (Class

9) depending on packaging requirements.

(2) Purpose

Safer transportation of lithium metal batteries.

(3) Change in regulations

The following points are changed for lithium metal batteries in transportation by sea or air based on the revision of Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition, and IATA

Dangerous Goods Regulations 54th Edition (effective January 1, 2013). For lithium metal batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are classified as

UN3091.

(a) Transportation of lithium metal batteries alone

Packaging requirement

Less than eight cells per package with less than one gram of lithium content

Less than two assembled batteries per package with less than two grams of lithium content

More than eight cells per package with less than one gram of lithium content

More than two assembled batteries per package with less than two grams of lithium content

Cells with more than one gram of lithium content

Assembled batteries with more than two grams of lithium content

UN3090 PI968 Section II

UN3090 PI968 Section IB

UN3090 PI968 Section IA

The package must pass a 1.2 m drop test, and the handling label with battery illustration (size: 120 ×

110 mm) must be attached on the package.

The package must pass a 1.2 m drop test, and the handling label with battery illustration (size: 120 ×

110 mm) must be attached on the package.

The Class 9 hazard label must be attached or others to comply with dangerous goods (Class 9).

The package must be compliant with Class 9

Packages, and the Class 9 hazard label must be attached or others to comply with dangerous goods (Class 9).

App. - 2

APPENDIX

(b) Transportation of lithium metal batteries packed with or contained in equipment

1) For batteries packed with equipment, follow the necessary requirements of UN3091 PI969.

Batteries are classified into either Section II/Section I depending on the lithium content/packaging requirements.

2) For batteries contained in equipment, follow the necessary requirements of UN3091 PI970.

Batteries are classified into either Section II/Section I depending on the lithium content/packaging requirements.

The special handling may be unnecessary depending on the number of batteries and gross mass per package.

Fig. app. 1 Example of Mitsubishi label with battery illustration

* Place for UN number (s)

** Place for telephone number for additional information

Fig. app. 2 Example of Mitsubishi label with battery illustration

(Available until December 31, 2018) (Available from January 1, 2017)

The handling label shown in Fig. app. 1 has been changed to the one shown in Fig. app. 2 in accordance with the IATA Dangerous Goods Regulations 58th Edition (effective January 1, 2017).

However, the label shown in Fig. app. 1 may be used until December 31, 2018 (for two years as an interim measure).

(4) Details of the package change

The following caution is added to the packages of the target batteries.

"Containing lithium metal battery. Regulations apply for transportation."

(5) Transportation precaution for customers

For sea or air transportation, attaching the handling label (Fig. app. 1) must be attached to the package of a Mitsubishi Electric cell or battery. In addition, attaching it to the outer package containing several packages of Mitsubishi Electric cells or batteries is also required. When the content of a package must be handled as dangerous goods (Class 9), the Shipper's Declaration for Dangerous Goods is required, and the package must be compliant with Class 9 Packages. Documentations like the handling label in the specified design and the Shipper's Declaration for Dangerous Goods are required for transportation.

Please attach the documentations to the packages and the outer package.

The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually.

When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the customers. Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.

App. - 3

APPENDIX

App. 3 Symbol for the new EU Battery Directive

Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery is explained here.

Note. This symbol mark is for EU countries only.

This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II.

Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused.

This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from your household waste.

If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration.

This will be indicated as follows.

Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)

In the European Union there are separate collection systems for used batteries and accumulators. Please, dispose of batteries and accumulators correctly at your local community waste collection/recycling center.

Please, help us to conserve the environment we live in!

App. - 4

APPENDIX

App. 4 Compliance with global standards

App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)

STO function (Refer to IEC 61800-5-2:2007 4.2.2.2 STO.)

The MR-J4 servo amplifiers have the STO function. The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in the servo amplifier. The servo amplifiers without the CN8 connector (such as MR-J4-03A6) do not support this function.

App. 4.2 About safety

This chapter explains safety of users and machine operators. Please read the section carefully before mounting the equipment.

App. 4.2.1 Professional engineer

Only professional engineers should mount MR-J4 servo amplifiers.

Here, professional engineers should meet all the conditions below.

(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk based on past experience.

(2) Persons who have read and familiarized himself/herself with this installation guide and operating manuals for the protective devices (e.g. light curtain) connected to the safety control system.

App. 4.2.2 Applications of the devices

MR-J4 servo amplifiers comply with the following standards.

IEC/EN 61800-5-1, 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) (For combinations of the servo amplifiers and MR-D30 or MR-J3-D05, refer to each servo amplifier instruction manual.)

MR-J4 servo amplifiers can be used with the MR-D30 functional safety unit, MR-J3-D05 safety logic unit, or safety PLCs. (For combinations of the servo amplifiers and MR-D30 or MR-J3-D05, refer to each servo amplifier instruction manual.)

App. 4.2.3 Correct use

Use the MR-J4 servo amplifiers within specifications. Refer to 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

If you need to get close to the moving parts of the machine for inspection or others, ensure safety by confirming the power off, etc. Otherwise, it may cause an accident.

It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and terminals immediately after power off.

App. - 5

APPENDIX

(1) Peripheral device and power wiring

The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 14.

(a) Power Wiring (local wiring and crimping tool)

The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at

75 °C/60 °C.

Table app. 1 Recommended wires

Servo amplifier (Note 7)

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)

L1/L2/L3

19/- (Note 5)

75 °C/60 °C stranded wire [AWG] (Note 2)

U/V/W/

(Note 3)

19/- (Note 6)

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

14/14 14/14

14/14

14: c/14: c

14: c/14: c

12: a/12: a

12: e/12: e

10: e/10: e

10: i/10: i

14: c/14: c

14: k/14: k

12: e/12: e

12/12

10: b/10: b

8: b/8: b

4: f/4: f

3: g/2: g

1: j/-: -

12: a/10: a

10: a/10: a

8: l/8: l

6: d/4: d

MR-J4-22K_4 (Note 1) 6: m/4: m 12: i/12: i 6: n/4: n

MR-J4W_-_B 14/14 (Note 4) 14/14 14/14 14/14

Note 1. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.

3. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of the servo amplifiers.

4. Use the crimp terminal c for the PE terminal of the servo amplifier.

5. This value is of 24/0/PM/ for MR-J4-03A6 and MR-J4W2-0303B6.

6. This value is of U/V/W/E for MR-J4-03A6 and MR-J4W2-0303B6.

7. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.

Table app. 2 Recommended crimp terminals

Symbol


Crimp terminal

(Note 2)

Applicable tool

Manufacturer a FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S c FVD2-4 YNT-1614 d FVD14-6 YF-1 e FVD5.5-6 YNT-1210S f FVD22-6 YF-1 g FVD38-6 YF-1 h R60-8 YF-1

JST

Ltd.) j CB70-S8 YF-1 k FVD2-6 YNT-1614 l FVD8-6 YF-1 m FVD14-8 YF-1 n FVD22-8 YF-1


2. Some crimp terminals may not be mounted depending on the size. Make sure to use the recommended ones or equivalent ones.

App. - 6

APPENDIX

(b) Selection example of MCCB and fuse

Use T class fuses or molded-case circuit breaker (UL 489 Listed MCCB) as the following table. The

T class fuses and molded-case circuit breakers in the table are selected examples based on rated

I/O of the servo amplifiers. When you select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller capacity T class fuses or molded-case circuit breaker than ones in the table. For selecting ones other than Class T fuses and molded-case circuit breakers below and selecting a Type E Combination motor controller, refer to section 11.10.

Servo amplifier (100 V class)

MR-J4-10_1/MR-J4-20_1/MR-J4-40_1

Molded-case circuit breaker (120 V AC)

NV50-SVFU-15A (50 A frame 15 A)

Fuse (300 V)

20 A

Servo amplifier (200 V class) (Note) Molded-case circuit breaker (240 V AC)

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_

NF50-SVFU-5A (50 A frame 5 A)






NF100-CVFU-60A (100 A frame 60 A)

NF100-CVFU-80A (100 A frame 80 A)

MR-J4-22K_ NF225-CWU-125A (225 A frame 125 A)

Note. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.

Servo amplifier (400 V class) Molded-case circuit breaker (480 V AC)

MR-J4-60_4/MR-J4-100_4

MR-J4-200_4

MR-J4-350_4

MR-J4-500_4

MR-J4-700_4

MR-J4-11K_4

MR-J4-15K_4

MR-J4-22K_4

NF100-HRU-5A (100 A frame 5 A)








Fuse (300 V)

10 A

15 A

30 A

40 A

60 A

80 A

125 A

150 A

300 A

Fuse (600 V)

10 A

15 A

20 A

30 A

40 A

60 A

80 A

125 A

(c) Power supply

This servo amplifier can be supplied from star-connected supply with grounded neutral point of overvoltage category III (overvoltage category II for 1-phase servo amplifiers, MR-J4-03A6, and MR-

J4W2-0303B6) set forth in IEC/EN 60664-1. For the interface power supply, use an external 24 V

DC power supply with reinforced insulation on I/O terminals.

In case of MR-J4-03A6 and MR-J4W2-0303B6, use DC power supplies of reinforced insulation type to main circuit, control circuit, and UL listed (recognized) 48 V DC/24 V DC power supplies which can generate more than 1.2 A/2.4 A per axis.

App. - 7

APPENDIX

(d) Grounding

To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. Do not connect two grounding cables to the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.

This product can cause a DC current in the protective earthing conductor. To protect direct/indirect contact using an earth-leakage current breaker (RCD), only an RCD of type B can be used for the power supply side of the product.

The MR-J4-700_4 is high protective earthing conductor current equipment, the minimum size of the protective earthing conductor must comply with the local safety regulations.

PE terminals

PE terminals

(2) EU compliance

The 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), Low-voltage directive (2014/35/EU), and RoHS directive (2011/65/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, 2014/35/EU and 2011/

65/EU). For the copy of Declaration of Conformity, contact your local sales office.

App. - 8

APPENDIX

This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 14.

(a) Installation

The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in the metal cabinet. Additionally, mount the servo amplifier on a cabinet that the protective earth based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should be used in open type (UL 50) and overvoltage category shown in table in 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 section 11.10.

(c) Overload protection characteristics

The MR-J4 servo amplifiers have solid-state servo motor overload protection. (It is set on the basis

(full load current) of 120% rated current of the servo amplifier.)

(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.

Integral thermal protection(s) is necessary for motor and refer to app. 4.4 for the proper connection.

(e) Branch circuit protection

For installation in United States, branch circuit protection must be provided, in accordance with the

National Electrical Code and any applicable local codes.

For installation in Canada, branch circuit protection must be provided, in accordance with the

Canada Electrical Code and any applicable provincial codes.

This product complies with the Radio Wave Law (KC mark). Please note the following to use the product.

이 기기는 업무용 (A 급 ) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며,

가정외의 지역에서 사용하는 것을 목적으로 합니다.

(The product is for business use (Class A) and meets the electromagnetic compatibility requirements.

The seller and the user must note the above point, and use the product in a place except for home.)

In addition, use an EMC filter, surge protector, ferrite core, and line noise filter on the primary side for inputs. Use a ferrite core and line noise filter for outputs. Use a distance greater than 30 m between the product and third party sensitive radio communications for an MR-J4-22K_(4).

App. - 9

APPENDIX

App. 4.2.4 General cautions for safety protection and protective measures

Observe the following items to ensure proper use of the MR-J4 servo amplifiers.

(1) For safety components and installing systems, only qualified personnel and professional engineers should perform.

(2) When mounting, installing, and using the MELSERVO MR-J4 servo amplifier, always observe standards and directives applicable in the country.

(3) The item about noises of the test notices in the manuals should be observed.

App. 4.2.5 Residual risk

(1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.

(2) Perform all risk assessments and safety level certification to the machine or the system as a whole.

(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 13849-

1 Table F.1 No. 5)

(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1 Table F.1 No.

1)

(6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).

(7) Keep the required clearance/creepage distance depending on voltage you use.

App. 4.2.6 Disposal

Disposal of unusable or irreparable devices should always occur in accordance with the applicable countryspecific waste disposal regulations. (Example: European Waste 16 02 14)

App. 4.2.7 Lithium battery transportation

To transport lithium batteries, take actions to comply with the instructions and regulations such as the United

Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime

Organization (IMO).

The batteries (MR-BAT6V1SET, MR-BAT6V1SET-A, MR-BAT6V1, and MR-BAT6V1BJ) are assembled batteries from two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods

(Class 9) of the UN Recommendations.

App. - 10

APPENDIX

App. 4.3 Installation direction and clearances

CAUTION

The devices must be installed in the specified direction. Not doing so may cause a malfunction.

Mount the servo amplifier on a cabinet which meets IP54 in the correct direction to maintain pollution degree 2.

The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protective cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock. Even if the power was shut-off, be careful until the bus voltage discharged and the temperature decreased because of the following reasons.

It may cause a burn injury due to very high temperature without cooling.

It may cause an electric shock due to charged capacitor of the servo amplifier.

To adapt your machine using MR-J4-03A6 or MR-J4W2-0303B6 to IEC/EN 60950-1, either supply the amplifier with a power supply complying with the requirement of 2.5 stated in IEC/EN 60950-1 (Limited

Power Source), or cover the amplifier and motors connected to the outputs with a fire enclosure.

Cabinet Top Cabinet

10 mm or more

(Note 2)

40 mm or more

10 mm or more

80 mm or longer for wiring

Servo amplifier

40 mm or more

(Note 1)

Bottom


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

App. - 11

APPENDIX

App. 4.4 Electrical Installation and configuration diagram

WARNING

Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or damages to the product before starting the installation or wiring.

CAUTION

The installation complies with IEC/EN 60204-1. The voltage supply to machines must be 20 ms or more of tolerance against instantaneous power failure as specified in IEC/EN 60204-1.

Connecting a servo motor for different axis to U, V, W, or CN2_ of the servo amplifier may cause a malfunction.

Securely connect the cables in the specified method and tighten them with the specified torque. Otherwise, the servo motor may operate unexpectedly.

The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.

(1) 3-phase input for MR-J4 1-axis servo amplifier

(3-phase

230 V AC)

Power supply

(3-phase

400 V AC)

MCCB or fuse

To protective equipment

(Thermal signal) (Note 2)

MC

(Note 1)

Transformer (Note 3)

(star-connected)

MCCB or fuse

L1 L2L3

L11

L21

Servo amplifier

P+

C

D

N-

CN8

CN1

STO

PE

CN2

U/V/W/PE

Controller

Encoder cable

Cabinet side

Machine side

Servo motor

Encoder

Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.

2. Please use a thermal sensor, etc. for thermal protection of the servo motor.

3. For 400 V class, a step-down transformer is not required.

App. - 12

APPENDIX

(2) 1-phase input for MR-J4 1-axis servo amplifier

(1-phase

230 V AC)

Power supply

(3-phase

400 V AC)

MCCB or fuse


(Thermal signal) (Note 3)

(Note 1)

(Note 2)

MCCB or fuse

Transformer

(star-connected)

MC

L1 L2L3

(Note 2)

L11

L21

Servo amplifier

P+

C

D

N-

CN8

CN1

STO

Controller

CN2

PE

U/V/W/PE

Encoder cable

Cabinet side

Machine side

Servo motor

Encoder

Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.

2. When using a 100 V class servo amplifier, step down the power supply voltage to

100 V and connect the main circuit power supply lines to L1 and L2. For 1-phase

200 V AC servo amplifiers, connect the lines to L1 and L3.

3. Please use a thermal sensor, etc. for thermal protection of the servo motor.

(3) Main circuit 48 V DC input for MR-J4 1-axis servo amplifier

Servo amplifier

24 V DC

48 V DC


(Thermal signal) (Note)

CNP1

24

0

PM

U/V/W/E

CN1

CN2

Controller

Encoder cable

Servo motor

Cabinet side

Machine side

Encoder

Note. Please use a thermal sensor, etc. for thermal protection of the servo motor.

The connectors described by rectangles are safely separated from the main circuits described by circles.

The connected motors will be limited as follows.

(1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric)

(2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA)

App. - 13

APPENDIX

App. 4.5 Signal

App. 4.5.1 Signal

The following shows MR-J4-10B signals as a typical example. For other servo amplifiers, refer to each servo amplifier instruction manual.

CN3

STO I/O signal connector

CN8

2

1

LG

12

11

LG

2 1

DI1

3

DI2

13

4

DOCOM

14

MBR

4 3

STO1 STOCOM

MO1

6

5

DICOM

MO2

16

15

ALM

6

TOFB1

5

STO2

LA

7

LAR

17

8

TOFCOM

7

TOFB2

8

LZ

LB

9

18

LZR

LBR

19

10 20

INP DI3

DICOM EM2

App. 4.5.2 I/O device

EM2

STOCOM

STO1

STO2

Input device

Forced stop 2

Common terminal for input signals STO1/STO2

STO1 state input

STO2 state input

TOFCOM

TOFB1

TOFB2

Output device

Common terminal for monitor output signal in STO state

Monitor output signal in STO1 state

Monitor output signal in STO2 state

Power supply

DICOM

DOCOM

Digital I/F power supply input

Digital I/F common

SD Shield

CN3

CN8

CN8

20

3

4

5

8

6

7

CN3

5, 10

3

Plate

App. - 14

APPENDIX

App. 4.6 Maintenance and service

WARNING

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

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

App. 4.6.1 Inspection items

It is recommended that the following points periodically be checked.

(1) Check for loose terminal block screws. Retighten any loose screws. (Except for MR-J4-03A6 and MR-

J4W2-0303B6)

Servo amplifier

L1 L2 L3 N- P3 P4 P+ C D L11 L21 U V W PE

MR-J4-10_(1)/MR-J4-20_(1)/

MR-J4-40_(1)/MR-J4-60_(4)/

MR-J4-70_/MR-J4-100_(4)/

MR-J4-200_(4)/MR-J4-350_(4)

MR-J4-500_

MR-J4-700_(4)/MR-J4-500_4

MR-J4-11K_(4)/MR-J4-15K_(4)

MR-J4-22K_(4)

1.2

1.2 0.8 1.2

3.0 1.2 3.0

6.0 1.2 6.0

(2) Servo motor bearings, brake section, etc. for unusual noise.

(3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to operating conditions.

(4) Check that the connectors are securely connected to the servo motor.

(5) Check that the wires are not coming out from the connector.

(6) Check for dust accumulation on the servo amplifier.

(7) Check for unusual noise generated from the servo amplifier.

(8) Check the servo motor shaft and coupling for connection.

(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

Relay

Cooling fan

(Note 1) Battery backup time

(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)

(Note 2) Battery life 5 years from date of manufacture

Note 1. The time is for using MR-J4 1-axis servo amplifier with an rotary servo motor using MR-BAT6V1SET, MR-BAT6V1SET-A, or

MR-BAT6V1BJ. For details and other battery backup time, refer to chapter 12.

2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.

3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation in air-conditioned environment (surrounding air temperature of 40 °C or less for use at the maximum 1000 m above sea level,

30 °C or less for over 1000 m to 2000 m).

App. - 16

APPENDIX

App. 4.7 Transportation and storage

CAUTION

Transport the products correctly according to their mass.

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


For detailed information on transportation and handling of the battery, refer to app. 2 and app. 3.

Install the product in a load-bearing place of servo amplifier and servo motor in accordance with the instruction manual.

Do not put excessive load on the machine.

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

Item Environment

Ambient temperature

Ambient humidity


Test condition

Operation

Transportation (Note)

Storage

Pollution degree

10 Hz to 57 Hz with constant amplitude of 0.075 mm

57 Hz to 150 Hz with constant acceleration of 9.8 m/s 2 to IEC/EN 61800-5-1

(Test Fc of IEC 60068-2-6)

Class 2M3 (IEC/EN 60721-3-2)

Class 1M2 (IEC/EN 60721-3-2)

2

IP rating

Altitude

Operation [°C]

Transportation (Note) [°C]

Storage (Note) [°C]

Operation, transportation, storage

Operation, storage

Transportation

Note. In regular transport packaging

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)

5 %RH to 90 %RH

IP20 (IEC/EN 60529), Terminal block IP00

Open type (UL 50)

Max. 2000 m above sea level


App. - 17

APPENDIX

App. 4.8 Technical data

App. 4.8.1 MR-J4 servo amplifier

Item

MR-J4-10_/

MR-J4-20_/

MR-J4-40_/

MR-J4-60_/

MR-J4-70_/

MR-J4-100_/

MR-J4-200_/

MR-J4W2-22B/

MR-J4W2-44B/

MR-J4W2-77B/

MR-J4W3-222B/

MR-J4W3-444B

MR-J4-350_/

MR-J4-500_/

MR-J4-700_/

MR-J4W2-1010B/

MR-J4-11K_/

MR-J4-15K_/

MR-J4-22K_

MR-J4-10_1/

MR-J4-20_1/

MR-J4-40_1

MR-J4-60_4/

MR-J4-100_4/

MR-J4-200_4/

MR-J4-350_4/

MR-J4-500_4/

MR-J4-700_4/

MR-J4-11K_4/

MR-J4-15K_4/

MR-J4-22K_4

MR-J4-03A6/

MR-J4W2-0303B6

Power supply

Main circuit (line voltage)

Control circuit (line voltage)

Interface (SELV)

3-phase or

1-phase

200 V AC to

240 V AC,

50 Hz/60 Hz

(Note 2)

3-phase

200 V AC to

240 V AC,

50 Hz/60 Hz

(Note 2)

1-phase

100 V AC to

120 V AC,

50 Hz/60 Hz

3-phase

380 V AC to

480 V AC,

50 Hz/60 Hz

48 V DC or

24 V DC

1-phase 200 V AC to 240 V AC,

50/60 Hz (Note 2)

1-phase

100 V AC to

120 V AC,

50 Hz/60 Hz

1-phase

380 V AC to

480 V AC,

50 Hz/60 Hz

24 V DC

24 V DC (required current capacity: MR-J4-_A_, 500 mA; MR-J4-_B_, 300 mA;

MR-J4W2-_B_, 350 mA; MR-J4W3-_B, 450 mA; MR-J4-_ GF_, 300 mA)


EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3,

EN 62061 SIL CL 3, and EN 61800-5-2


Control method

Safety observation function (STO)

IEC/EN 61800-5-2 (Note 3)


Effectiveness of fault monitoring of a system or subsystem

Average probability of dangerous failures per hour

Mission time


Pollution degree

DC = Medium, 97.6 [%]

PFH = 6.4 × 10 -9 [1/h]

Overvoltage category

Protective class

T

M

= 20 [years]


2 (IEC/EN 60664-1)

1-phase 100 V AC/200 V AC: II (IEC/EN 60664-1),

3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1)

I (IEC/EN 61800-5-1)

II

(IEC/EN 60664-1)

III

(IEC/EN 61800-5-1)

Short-circuit current rating

100 kA 5 kA (Note 1)

(SCCR)

Note 1. For the use in US/Canada, constitute a branch circuit including the power supply which endures SCCR of 5 kA minimum in the industrial cabinet.

2. For MR-J4-_-RJ, 283 V DC to 340 V DC are also supported.

3. Servo amplifiers manufactured in June 2015 or later comply with SIL 3 requirements. However, MR-J4-_A_/MR-J4-_B_ servo amplifiers manufactured in China comply with SIL 3 requirements from the December 2015 production.

App. - 18

APPENDIX

App. 4.8.2 Dimensions/mounting hole process drawing

H Front Side

Servo amplifier

MR-J4-03A6

MR-J4-10_(1)/MR-J4-20_(1) (Note)

MR-J4-40_(1)/MR-J4-60_ (Note)

W D

Variable dimensions [mm]

30 100 90 0.2

40 (50) 168 135 (155) 0.8 (1.0)

40 (50) 168 170 (155) 1.0

MR-J4-500_

MR-J4-700_

105 250 200 4.0

172 300 200 6.2

MR-J4-11K_(4)/MR-J4-15K_(4) 220 400 260 13.4

MR-J4-22K_(4) 260 400 260 18.2

MR-J4-350_4

MR-J4-500_4

MR-J4-700_4

105 250 200 3.6

130 250 200 4.3

172 300 200 6.5

Note. The value in the parenthesis shows the value of MR-J4-_GF_. a1 e1

Servo amplifier c b d1 f MR-J4-03A6

MR-J4-10_(1)/MR-J4-20_(1)/

MR-J4-40_(1)/MR-J4-60_

6 6

90 ± 0.5

156 ± 0.5

5

6 c a d e

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)

12 12 156 ± 0.5 6

6 45 156 ± 0.5 6

6

6

6

6

235 ± 0.5

285 ± 0.5

7.5

7.5

42 ± 0.3

78 ± 0.3

93 ± 0.5 93 ± 0.5

160 ± 0.5 160 ± 0.5

12 12 380 ± 0.5 10 196 ± 0.5 196 ± 0.5

MR-J4-22K_(4) 12 12 376 ± 0.5 12 236 ± 0.5 236 ± 0.5

MR-J4-60_4/MR-J4-100_4 156 ± 0.5 6 42 ± 0.3

MR-J4-350_4 6 6 235 ± 0.5 7.5 93 ± 0.5 93 ± 0.5

MR-J4-500_4 6

MR-J4-700_4 6

6 235 ± 0.5 7.5 118 ± 0.5 118 ± 0.5

6 285 ± 0.5 7.5 160 ± 0.5 160 ± 0.5

6 156 ± 0.5 6

MR-J4W2-22B/MR-J4W2-44B 6

MR-J4W2-77B/MR-J4W2-1010B 6

MR-J4W3-222B/MR-J4W3-444B 6

73 ± 0.3

73 ± 0.3

4 4

Screw size

M4

M5

M5

M5

M5

M5

M5

M10

M5

M5

M5

M5

M5

M5

M5

M5

App. - 19

APPENDIX

App. 4.9 Check list for user documentation

MR-J4 installation checklist for manufacturer/installer

The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be responsible for checking the standards in the items.

Maintain and keep this checklist with related documents of machines to use this for periodic inspection.

1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ]

2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ]

3. Does the protection instrument conform to the category required? 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 Quantity

MR-J3-D05 Safety logic unit

Connector for CN9 1-1871940-4 (TE Connectivity)

Connector for CN10 1-1871940-8 (TE Connectivity)

MR-J3-D05 Safety Logic Unit Installation Guide

1

1

1

1

App. 5.2 Terms related to safety

App. 5.2.1 Stop function for IEC/EN 61800-5-2

(1) STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.)

This function is integrated into the MR-J4 series servo amplifiers.

The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in servo amplifiers for MR-J4 series servo amplifiers.

The purpose of this function is as follows.

1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1

2) Preventing unexpected start-up

(2) SS1 function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.3C Safe stop 1 temporal delay.)

SS1 is a function which initiates the STO function when the previously set delay time has passed after the servo motor starts decelerating. The delay time can be set with MR-J3-D05.

The purpose of this function is as follows. This function is available by using an MR-J4 series servo amplifier with MR-J3-D05.

Controlled stop according to stop category 1 of IEC/EN 60204-1

App. 5.2.2 Emergency operation for IEC/EN 60204-1

(1) Emergency stop (Refer to IEC/EN 60204-1: 2005 9.2.5.4.2 Emergency Stop.)

Emergency stop must override all other functions and actuation in all operation modes. Power to the machine driving part which may cause a hazardous state must be either removed immediately (stop category 0) or must be controlled to stop such hazardous state as soon as possible (stop category 1).

Restart must not be allowed even after the cause of the emergency state has been removed.

(2) Emergency switching off (Refer to IEC/EN 60204-1: 2005 9.2.5.4.3 Emergency Switching OFF.)

Removal of input power to driving device to remove electrical risk and to meet above mentioned safety standards.

App. - 21

APPENDIX

App. 5.3 Cautions

The following basic safety notes must be read carefully and fully in order to prevent injury to persons or damage to property.

Only qualified personnel are authorized to install, start-up, repair or service the machines in which these components are installed.

They must be familiar with all applicable local safety regulations and laws in which machines with these components are installed, particularly the standards and guidelines mentioned in this Instruction Manual and the requirements mentioned in ISO/EN ISO 13849-1, IEC 61508, IEC/EN 61800-5-2, and IEC/EN 60204-1.

The staff responsible for this work must be given express permission from the company to perform start-up, programming, configuration, and maintenance of the machine in accordance with the safety standards.

WARNING

Improper installation of the safety related components or systems may cause improper operation in which safety is not assured, and may result in severe injuries or even death.

Protective Measures

As described in IEC/EN 61800-5-2, the Safe Torque Off (STO) function only prevents the servo amplifier from supplying energy to the servo motor. Therefore, if an external force acts upon the drive axis, additional safety measures, such as brakes or counter-weights must be used.

App. 5.4 Residual risk

Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO/EMG function. Mitsubishi Electric is not liable for any damages or injuries caused by the residual risks.

(1) The SS1 function only guarantees the delay time before STO/EMG is engaged. Proper setting of this delay time is the full responsibility of the company and/or individuals responsible for installation and commissioning of the safety related system. The system, as a whole, must pass safety standards certification.

(2) When the SS1 delay time is shorter than the required servo motor deceleration time, if the forced stop function is malfunctioning, or if STO/EMG is engaged while the servo motor is still rotating; the servo motor will stop with the dynamic brake or freewheeling.

(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety related component.

(4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.

The Mitsubishi Electric safety related components mentioned in this manual are certified by Certification

Body as meeting the requirements of ISO/EN ISO 13849-1 Category 3, PL d and IEC 61508 SIL 2.

(5) Safety is not assured until safety-related components of the system are completely installed or adjusted.

(6) When replacing a servo amplifier etc. or MR-J3-D05, confirm that the new equipment is exactly the same as those being replaced. Once installed, be sure to verify the performance of the functions before commissioning the system.

App. - 22

APPENDIX

(7) Perform all risk assessments and safety level certification to the machine or the system as a whole.

It is recommended that a Certification Body final safety certification of the system be used.

(8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as deemed necessary by the applicable safety standard. Regardless of the system safety level, malfunction checks should be performed at least once per year.

(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+ SRESATOF1A TOF2A TOFA STO1A+ STO2A+ SDO1A+ SDO2A+

Safety logic

TIMER1

DCDC power

B-axis circuit

TIMER2

0V

SW1 SW2

SDI1ASDI2ASDI1BSDI2B-

(2) Operation sequence

Power supply

SDI

A-axis shutdown 1 and 2

B-axis shutdown 1 and 2

SRES

A-axis EMG start/reset

B-axis EMG start/reset

STO

Energizing (close)

Shut-off (open)

Release (close)

Normal (open)

A-axis STO state 1 and 2

B-axis STO state 1 and 2

Normal (close)

Shut-off (open)

15 ms or longer

STO1A- STO2A-

50 ms or longer

10 ms or shorter

STO status Control enabled

SDO1A- SDO2A-

Shut off delay (SW1 and SW2) (Note)

STO status

Control enabled

Note. Refer to App. 5.10.

App. 5.6 Maintenance and disposal

MR-J3-D05 is equipped with LED displays to check errors for maintenance.

Please dispose this unit according to your local laws and regulations.

App. - 23

APPENDIX

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. 5.7.2 Specifications

Safety logic unit model

Voltage




Compatible system

[A]

Shut-off input

Shut-off release input

Feedback input

Input type

Shut-off output

MR-J3-D05

24 V DC

24 V DC ± 10%

0.5 (Note 1, 2)

2 systems (A-axis, B-axis independent)

4 points (2 point × 2 systems) SDI_: (source/sink compatible) (Note 3)

2 points (1 point × 2 systems) SRES_: (source/sink compatible) (Note 3)

2 points (1 point × 2 systems) TOF_: (source compatible) (Note 3)

Photocoupler insulation, 24 V DC (external supply), internal limited resistance 5.4 k Ω

STO_: (source compatible) (Note 3)

Output method

Delay time setting

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

Functional safety

Safety performance


Response performance (when delay time is set to

0 s) (Note 4)


(MTTFd)

Diagnosis converge (DC avg)



Structure

CE marking

Environment

Ambient temperature

Ambient humidity

Ambience

Altitude


10 ms or less (STO input off → shut-off output off)

516 years

93.1%

4.75 × 10 -9 [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)



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

Note 1. Inrush current of approximately 1.5 A flows instantaneously when turning the control circuit power supply on. Select an appropriate capacity of power supply considering the inrush current.

2. Power-on duration of the safety logic unit is 100,000 times.

4. For the test pulse input, contact your local sales office.

App. - 24

APPENDIX

App. 5.7.3 When using MR-J3-D05 with an MR-J4 series servo amplifier

(1) System configuration diagram

The following shows the connection targets of the STO switch and STO release switch.

POINT

MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.

MR-J3-D05

Power supply

MCCB

Magnetic contactor

MR-J4_B_(-RJ)

CN3

L1

L2

L3

CN8

EM2 (Forced stop 2)

STO cable

MR-D05UDL3M-B

U

V

W

STO switch

CN9

STO release switch CN10

FG

Servo motor

App. - 25

APPENDIX


24 V

(Note 2)

S2

RESA

MR-J3-D05

(Note 1) (Note 1)

SW1 SW2

S1

STOA

CN8A

1A

CN9

SDI1A+

1B SDI1A-

4A SDO1A+

4B SDO1A-

1B

6A

6B

3A

CN10

SDI2A+

3B

1A

SDI2A-

SRESA+

SRESA-

SDO2A+

SDO2A-

8A TOFA

EM2

(A-axis)

(Note 2)

S4

RESB

S3

STOB

EM2

(B-axis)

MR-J4_B_(-RJ)

CN8

Control circuit

STO1 4

MC

STO2 5

STOCOM 3

TOFB1 6

TOFB2 7

TOFCOM 8

CN3

EM2 (A-axis)

M

Servo motor

FG

CN8B

2A

CN9

SDI1B+

2B SDI1B-

3A SDO1B+

3B SDO1B-

4A

CN10

SDI2B+

4B

2A

SDI2B-

SRESB+

2B SRESB-

5A SDO2B+

5B

8B

SDO2B-

TOFB

MR-J4_B_(-RJ)

CN8

Control circuit

STO1 4

MC

STO2 5

STOCOM 3

TOFB1 6

TOFB2 7

TOFCOM 8

CN3

EM2 (B-axis)

7A

7B

+24V

0V

M

Servo motor

0 V

Note 1. Set the delay time of STO output with SW1 and SW2. These switches for MR-J3-D05 are located where dented from the front panel.

2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.

App. - 26

APPENDIX

App. 5.8 Signal

App. 5.8.1 Connector/pin assignment

(1) CN8A

Device Symbol No. Function/application

A-axis STO1

A-axis STO2

A-axis STO state

STO1A-

STO1A+

STO2A-

STO2A+

TOF2A

TOF1A

1

4

5

6

7

8

Outputs STO1 to A-axis driving device.

Outputs the same signal as A-axis STO2.

STO state (base shutdown): Between STO1A+ and STO1A- is opened.

STO release state (in driving): Between STO1A+ and STO1A- is closed.



STO state (base shutdown): Between STO2A+ and STO2A- is opened.

STO release state (in driving): Between STO2A+ and STO2A- is closed.

Inputs STO state of A-axis driving device.

STO state (base shutdown): Open between TOF2A and TOF1A.

STO release state (in driving): Close between TOF2A and TOF1A.

(2) CN8B


B-axis STO1

B-axis STO2

B-axis STO state

STO1B-

STO1B+

STO2B-

STO2B+

TOF2B

TOF1B

1

4

5

6

7

8

Outputs STO1 to B-axis driving device.

Outputs the same signal as B-axis STO2.

STO state (base shutdown): Between STO1B+ and STO1B- is opened.

STO release state (in driving): Between STO1B+ and STO1B- is closed.


Outputs the same signal as B-axis STO1.

STO state (base shutdown): Between STO2B+ and STO2B- is opened.

STO release state (in driving): Between STO2B+ and STO2B- is closed.

Inputs STO state of B-axis driving device.

STO state (base shutdown): Open between TOF2B and TOF1B.

STO release state (in driving): Close between TOF2B and TOF1B.

(3) CN9


A-axis shutdown 1

B-axis shutdown 1

SDI1A+

SDI1A-

SDI1B+

SDI1B-

A-axis SDO1 SDO1A+

SDO1A-

B-axis SDO1 SDO1B+

SDO1B-

1A

1B

2A

2B

4A

4B

3A

3B

Connect this device to a safety switch for A-axis driving device.

Input the same signal as A-axis shutdown 2.

STO state (base shutdown): Open between SDI1A+ and SDI1A-.

STO release state (in driving): Close between SDI1A+ and SDI1A-.

Connect this device to a safety switch for B-axis driving device.

Input the same signal as B-axis shutdown 2.

STO state (base shutdown): Open between SDI1B+ and SDI1B-.

STO release state (in driving): Close between SDI1B+ and SDI1B-.


Outputs the same signal as A-axis SDO2.

STO state (base shutdown): Between SDO1A+ and SDO1A- is opened.

STO release state (in driving): Between SDO1A+ and SDO1A- is closed.


Outputs the same signal as B-axis SDO2.

STO state (base shutdown): Between SDO1B+ and SDO1B- is opened.

STO release state (in driving): Between SDO1B+ and SDO1B- is closed.

I/O division

O

O

I

I/O division

O

O

I

I/O division

DI-1

DI-1

DO-1

DO-1

App. - 27

APPENDIX

(4) CN10

A-axis shutdown 2

B-axis shutdown 2

A-axis EMG start/reset

B-axis EMG start/reset

SDI2A+

SDI2A-

SDI2B+

SDI2B-

SRESA+

SRESA-

SRESB+

SRESB-

A-axis SDO2 SDO2A+

SDO2A-

B-axis SDO2 SDO2B+

SDO2B-

Function/application

3A

3B

4A

4B

1A

1B

2A

2B

6A

6B

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).



STO state (base shutdown): Between SDO2A+ and SDO2A- is opened.

STO release state (in driving): Between SDO2A+ and SDO2A- is closed.

5A

5B


Outputs the same signal as B-axis SDO1.

STO state (base shutdown): Between SDO2B+ and SDO2B- is opened.

STO release state (in driving): Between SDO2B+ and SDO2B- is closed.

7A Connect + side of 24 V DC.

I/O division

DI-1

DI-1

DI-1

DI-1

DO-1

DO-1


Control circuit power GND

A-axis STO state

B-axis STO state

+24V

0V

TOFA

TOFB

App. 5.8.2 Interfaces

7B Connect - side of 24 V DC.

8A TOFA is internally connected with TOF2A.

8B TOFB is internally connected with TOF2B.


(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.

For transistor

Approximately

5 mA

MR-J3-D05

SRESA-, etc.

Approx. 5.4 k

Switch

TR

SRESA+, etc.

V

CES

I

CEO

1.0 V

100 µA

24 V DC ± 10%

200 mA

App. - 28

APPENDIX

(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

Load

If polarity of diode is reversed, MR-J3-D05 will malfunction.

SDO2B+, etc.

SDO2B-, etc.

(Note) 24 V DC ± 10%

200 mA


(2) Source I/O interfaces (CN9, CN10 connector)

(a) Digital input interface DI-1


MR-J3-D05

SRESA-, etc.

Approx. 5.4 k

Switch

SRESA+, etc.

I

V

Approximately 5 mA

CES

CEO

1.0 V

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, current will be applied from the output to a load. A maximum of 2.6 V voltage drop occurs in the MR-J3-D05.

MR-J3-D05

SDO2B+, etc.

SDO2B-, etc.

Load

If polarity of diode is reversed, MR-J3-D05 will malfunction.

(Note) 24 V DC ± 10%

200 mA


App. - 29

APPENDIX

App. 5.8.3 Wiring CN9 and CN10 connectors

Handle with the tool with care when connecting wires.

(1) Wire strip

(a) Use wires with size of AWG 24 to 20 (0.22 mm 2 to 0.5 mm 2 ) (recommended electric wire: UL1007) and strip the wires to make the stripped length 7.0 mm ± 0.3 mm. Confirm the stripped length with gauge, etc. before using the wires.

(b) If the stripped wires are bent, loose or too thick due to twisting too much, fix the wires by twisting lightly, etc. Then, confirm the stripped length before using the wires. Do not use excessively deformed wires.

(c) Smooth out the wire surface and stripped insulator surface.

(2) Connecting wires

Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires are connected with inserted connector, the connector and the printed board may malfunction.

(a) Using extraction tool (1891348-1 or 2040798-1)

1) Dimensions and mass

[Unit: mm]

7

100

15

Mass: Approx. 20 g

App. - 30

APPENDIX

2) Connecting wires a) Confirm the model number of the housing, contact and tool to be used. b) Insert the tool diagonally into the receptacle assembly. c) Insert the tool until it hits the surface of the receptacle assembly. At this stage, the tool is vertical to the receptacle assembly. d) Insert wires in the wiring hole till the end. The wires should be slightly twisted in advance to prevent it from being loose.

It is easy to insert the wire if the wire is inserted diagonally while twisting the tool. e) Remove the tool.

App. - 31

APPENDIX

(b) Using a screwdriver

To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force.

Be cautious when connecting.

1) Adjusting screw driver

Diameter: 2.3 mm ± 0.05 mm

Length: 120 mm or less

Width: 2.3 mm

Thickness: 0.25 mm

Angle in tip of the blade: 18 ± 1 degrees

Diameter: 2.5 mm ± 0.05 mm

Length: 120 mm or less

Width: 2.5 mm

Thickness: 0.3 mm

Angle in tip of the blade: 12 ± 1 degrees

2.5 mm ± 0.05 mm

2.3 mm ± 0.05 mm

12° ± 1°

18° ± 1°

0.25 mm

2.3 mm 0.3 mm

2.5 mm

Screwdriver diameter: φ 2.5 mm Screwdriver diameter: φ 2.3 mm

2) Connecting wires a) Insert a screwdriver in the front slot a little diagonally, and depress the spring. While depressing the spring, insert the wires until they hit the end. Note that the housing and spring may be damaged if the screwdriver is inserted strongly. Never insert the screwdriver in the wire hole. Otherwise, the connector will be damaged. b) Pull the screwdriver out while pressing the wires. Connecting wires is completed. c) Pull the wire lightly to confirm that the wire is surely connected. d) To remove the wires, depress the spring by the screwdriver in the same way as connecting wires, and then pull the wires out.

Tool insertion slot

Screw driver

App. - 32

APPENDIX

(3) Connector insertion

Insert the connector all the way straight until you hear or feel clicking. When removing the connector, depress the lock part completely before pulling out. If the connector is pulled out without depressing the lock part completely, the housing, contact and/or wires may be damaged.

(4) Compatible wire

Compatible wire size is listed below. mm 2

Wire size

AWG

0.22 24

0.34 22

0.50 20

(5) Others

(a) Fix a cable tie at least distance of "A" × 1.5 away from the end of the connector.

A × 1.5 or more

(b) Be sure that wires are not pulled excessively when the connector is inserted.

App. 5.8.4 Wiring FG

Bottom face

Wire range wire: 0.4 mm to 1.2 mm (AWG 26 to AWG 16)

Stranded wire: 0.2 mm 2 to 1.25 mm 2 (AWG 24 to AWG 16), wire φ 0.18 mm or more

Lead wire

App. - 33

APPENDIX

App. 5.9 LED display

I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis.

LED

MR-J3-D05

A

SRES

SDI1

SDI2

TOF

SDO1

SDO2

SW

FAULT

B

POWER

SRES

SDI1

SDI2

TOF

SDO1

SDO2

SW

FAULT

POWER

Monitor LED for start/reset

Off: The start/reset is off. (The switch contact is opened.)

On: The start/reset is on. (The switch contact is closed.)

Monitor LED for shut-off 1

Off: The shut-off 1 is off. (The switch contact is closed.)

On: The shut-off 1 is on. (The switch contact is opened.)

Monitor LED for shut-off 2

Off: The shut-off 2 is off. (The switch contact is closed.)

On: The shut-off 2 is on. (The switch contact is opened.)

Monitor LED for STO state

Off: Not in STO state

On: In STO state

Monitor LED for SDO1


On: In STO state

Monitor LED for SDO2


On: In STO state

Monitor LED for confirming shutdown delay setting

Off: The settings of SW1 and SW2 do not match.

On: The settings of SW1 and SW2 match.

FAULT LED

Off: Normal operation (STO monitoring state)

On: Fault has occurred.

Power

Off: Power is not supplied to MR-J3-D05.

On: Power is being supplied to MR-J3-D05.

A-axis B-axis

App. 5.10 Rotary switch setting

Rotary switch is used to shut off the power after control stop by SS1 function.

Set the delay time 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]

0 s

B-axis

1.4 s 2.8 s 5.6 s 9.8 s 30.8 s

A-axis

30.8 - - - - - F

App. - 34

APPENDIX

App. 5.11 Troubleshooting

When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate action.

Event Definition Cause Action

Replace the 24 V DC power supply. Power is not supplied. Power LED does not turn on although power is supplied.

FAULT LED is on. FAULT LED of A-axis or Baxis is on, and will not turn off.

1. 24 V DC power supply is malfunctioning.

2. Wires between MR-J3-D05 and 24

V DC power supply are disconnected or are in contact with other wires.

3. MR-J3-D05 is malfunctioning.

1. The delay time settings are not matched.

2. Switch input error

3. TOF signal error

4. MR-J3-D05 is malfunctioning.

Check the wiring.

Replace the MR-J3-D05.

Check the settings of the rotary switch.

Check the wiring or sequence of the input signals.

Check the connection with the servo amplifier.

Replace the MR-J3-D05.

App. - 35

APPENDIX

App. 5.12 Dimensions

5 mounting hole

9.75

22.5

19.5

Rating plate

Approx. 80 86

80 6

Approx. 22.5

9.75

[Unit: mm]

2-M4 screw

5

Pin assignment

CN8A

7 8

TOF2A TOF1A

5 6

STO2A- STO2A+

3 4

STO1A+

1

STO1A-

2

CN8B

7 8

TOF2B TOF1B

5 6

STO2B- STO2B+

3 4

STO1B+

1

STO1B-

2

CN9

1A 1B

SDI1A+ SDI1A-

2A 2B

SDI1B+ SDI1B-

3A 3B

SDO1B+ SDO1B-

4A 4B

SDO1A+ SDO1A-

CN10

1A 1B

SRESA+ SRESA-

2A 2B

SRESB+ SRESB-

3A 3B

SDI2A+ SDI2A-

4A 4B

SDI2B+ SDI2B-

5A 5B

SDO2B+ SDO2B-

6A 6B

SDO2A+ SDO2A-

7A

+24 V

8A

TOFA

7B

0 V

8B

TOFB

App. - 36

FG


Mounting screw

Screw size: M4

Tightening torque: 1.2 N•m

Mass: 0.2 [kg]

APPENDIX

App. 5.13 Installation

Follow the instructions in this section and install MR-J3-D05 in the specified direction. Leave clearances between MR-J3-D05 and other equipment including the cabinet.

Cabinet Cabinet Cabinet

40 mm or

longer

100 mm or longer

10 mm or longer

80 mm or longer for wiring

Top

10 mm or longer

10 mm or longer

30 mm or longer

30 mm or longer

MR-J3-D05

40 mm or longer

40 mm or longer Bottom

App. 5.14 Combinations of cable/connector

POINT

MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.

MR-J3-D05 MR-J4_B_(-RJ)

CN9

CN10

1)

MR-J3-D05 attachment connector

2)

2)

MR-J4_B_(-RJ)

CN8

CN8

App. - 37

APPENDIX

No. Product

1) Connector

Model

MR-J3-D05 attachment connector

Connector for CN9: 1-1871940-4

(TE Connectivity)

Cable length: 3 m (TE Connectivity)

Description

Connector for CN10: 1-1871940-8

(TE Connectivity)

App. - 38

APPENDIX

App. 6 EC declaration of conformity

The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit 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 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.

2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis" and then "Linear diagnosis".

3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window.

4) 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.

2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis" and then "Linear diagnosis".

3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window.

4) Input the value of the magnetic pole information taken notes to the data 1 and data 2 ( 3) in figure) of the magnetic pole information window.

5) Click "Write All" ( 4) in figure) of the magnetic pole information window.

6) Cycle the power of the servo amplifier.

App. - 42

APPENDIX

2) 3) 4)

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

Use a two-wire type encoder cable for the fully closed loop control by the MR-J4-_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 MR-

ECNM connector set. Use the internal wiring diagram in the section to fabricate a cable up to 50 m.

App. 8.1 Configuration diagram

Fabricate a two-wire type encoder cable.

Servo amplifier

CN2

CN2 MOTOR

Servo motor

HG-KR

HG-MR

For driving

SCALE

Servo motor

HG-KR

HG-MR

For load-side encoder

App. - 43

1)

APPENDIX

App. 8.2 Connector set

Connector set

Shell kit: 36310-3200-008

(3M)

(Molex)

2

LG 4

MRR

1

P5 3

MR

6

5

8

10

7

9

BAT

View seen from wiring side. (Note) or

2

LG

4

MRR

1 3

P5 MR

6

5

8 10

7 9

BAT

View seen from wiring side. (Note)

Housing: 1-172161-9

Connector pin: 170359-1

(TE Connectivity or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industrial)

1

MR

4

7

P5

2 3

MRR BAT

5 6

CONT

8 9

LG SHD

Note. 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.

App. 8.3 Internal wiring diagram

Servo amplifier-side connector

Servo motor-side connector

P5

LG

1

2

7

8

P5

LG


MR

MRR

BAT

SD

3

4

9

Plate

(Note)

1

2

3

9

MR

MRR

BAT

SHD

Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system.

App. - 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

Cable length

1 m to 100 m

Bending life Application/remark

SC-J3BUS_M-C 1 to 100

Ultra-long bending life

Using long distance cable

App. 10 Analog monitor

POINT

A voltage of analog monitor output may be irregular at power-on.

The servo status can be output to two channels in terms of voltage.

App. 10.1 Setting

Change the following digits of [Pr. PC09] and [Pr. PC10].

[Pr. PC09]

0 0

Analog monitor 1 output selection

(the signal provided to the output across MO1 and LG)

[Pr. PC10]

0 0

Analog monitor 2 output selection

(the signal provided to the output across MO2 and LG)

[Pr. PC11] and [Pr. PC12] can be used to set the offset voltages to the analog output voltages. Setting value is -999 mV to 999 mV.

Parameter Description Setting range [mV]

PC11

PC12



-999 to 999

App. - 45

APPENDIX

App. 10.2 Setting

POINT


(servo motor) speed

CCW direction

CW direction

→

→

→

(linear servo motor) speed

Positive direction

Negative direction

The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque to MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. PC09] and [Pr. PC10] value.

Refer to (3) for the detection point.

Setting value

Output item Description

Setting value

Output item Description

00 Servo motor speed/

Linear servo motor speed

8 [V]

CCW direction

01 Torque/Thrust (Note 8)

8 [V]

Power running in

CCW direction

Maximum speed Maximum torque

0

Maximum speed

0

Maximum torque

-8 [V]

CW direction

02 Servo motor speed/

Linear servo motor speed

CW direction

8 [V]

CCW direction

Maximum speed 0 Maximum speed

CCW direction

(Note 8)

8 [V]

Maximum current command

(Maximum torque command)

0


(Maximum torque command)

CW direction

06 Servo motor-side droop pulses

(Note 1, 3, 5, 6)

(±10 V/100 pulses) 100 [pulse]

10 [V]

-8 [V]

CCW direction

0

100 [pulse]

03 Torque/Thrust (Note 8)

-8 [V]

Power running in

CW direction

Power running in

CW direction

8 [V]

Power running in

CCW direction

Maximum torque

8 [V]

0 Maximum torque

CCW direction

Maximum speed

0

Maximum speed

CW direction


(Note 1, 3, 5, 6)

(±10 V/1000 pulses)

10 [V]

1000 [pulse]

-8 [V]

CCW direction

0

1000 [pulse]

CW direction


(Note 1, 3, 5, 6)

(±10 V/10000 pulses)

10 [V]

10000 [pulse]

-10 [V]

CCW direction

0

10000 [pulse]

-10 [V]

CW direction

CW direction


(Note 1, 3, 5, 6)

(±10 V/100000 pulses)

10 [V]

100000 [pulse]

-10 [V]

CCW direction

0

100000 [pulse]

-10 [V]

CW direction

App. - 46

APPENDIX

Setting value

Output item

0A Feedback position

(Note 1, 2, 3)

(±10 V/1 Mpulse)

0C Feedback position

(Note 1, 2, 3)

(±10 V/100 Mpulse)

0E Speed command 2

(Note 3)

1 [Mpulse]

Description

10 [V]

CCW direction

Setting value

Output item

0B Feedback position

(Note 1, 2, 3)

(±10 V/10 Mpulse)

0

1 [Mpulse]

CW direction

10 [V]

-10 [V]

CCW direction

0D Bus voltage (Note 7)

10 [Mpulse]

Description

10 [V]

CCW direction

CW direction

0

10 [Mpulse]

-10 [V]

100 [Mpulse]

0

100 [Mpulse]

8 [V]

0

400 [V]

CW direction

8 [V]

-10 [V]

CCW direction

Maximum speed

0

Maximum speed

10 Load-side droop pulses

(Note 3, 4, 5, 6)

(±10 V/100 pulses)

100 [pulse]

10 [V]

0

CCW direction

100 [pulse]

CW direction


(Note 3, 4, 5, 6)

(±10 V/1000 pulses)

10 [V]

1000 [pulse]

-8 [V]

CCW direction

0

1000 [pulse]

CW direction


(Note 3, 4, 5, 6)

(±10 V/10000 pulses)

10 [V]

10000 [pulse]

-10 [V]

CCW direction

0

10000 [pulse]

CW direction


(Note 3, 4, 5, 6)

(±10 V/100000 pulses)

10 [V]

100000 [pulse]

-10 [V]

CCW direction

0

100000 [pulse]

CW direction


(Note 3, 4, 5, 6)

(±10 V/1 Mpulses)

1 [Mpulse]

10 [V]

-10 [V]

CCW direction

0

1 [Mpulse]

CW direction

8 [V]

-10 [V]

CCW direction

CW direction

15 Motor-side/load-side position deviation

(Note 3, 4, 5, 6)

(±10 V/100000 pulses)

10 [V]

100000 [pulse]

-10 [V]

CCW direction

0

100000 [pulse]

17 Internal temperature of encoder

(±10 V/±128 °C)

CW direction

10 [V]

-10 [V]

-128 [°C]

0

128 [°C]

-10 [V] side speed deviation

(Note 4)

Maximum speed

CW direction

0

Maximum speed

-8 [V]

App. - 47

APPENDIX

Note 1. Encoder pulse unit.

3. This cannot be used in the torque control mode.

4. This can be used with MR Configurator2 with software version 1.19V or later.

5. This cannot be used in the speed control mode.

6. Output in the load-side encoder unit for the fully closed loop control. Output in the servo motor encoder unit for the semi closed loop control.

7. For 400 V class servo amplifier, the bus voltage becomes +8 V/800 V.

8. For details on the maximum current command (maximum torque) for ±8 V, refer to app. 10.4 for details.

App. 10.3 Analog monitor block diagram

App. 10.3.1 Semi closed loop control

Position command received from a servo system controller

Speed command

Differentiation

Position feedback data returned to a servo system controller

Feedback position standard position (Note)

+

-

Droop pulses

Speed command 2

Position control

Speed command +

-

Differentiation

Speed control

Current command

+

-

Current control

+

PWM

Bus voltage

Current encoder

M Servo motor

Current feedback

Encoder

Internal temperature of encoder

Position feedback

+

Servo motor speed

Torque

Feedback position

Note. The feedback position is output 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 output to analog monitor in order to adjust the output range of feedback position. The setting range is between -9999 pulses and 9999 pulses.

Standard position of feedback position = [Pr. PC14] setting value × 10000 + [Pr. PC13] setting value

Parameter Description Setting

PC13

Sets the lower-order four digits of the standard position of feedback position

-9999 to 9999 [pulse]

PC14

Sets the higher-order four digits of the standard position of feedback position

-9999 to 9999 [10000 pulses]

App. - 48

APPENDIX

App. 10.3.2 Fully closed loop control

Position command

Speed command

Differentiation

+

-

Droop pulses

Speed command 2

Position control

Speed command +

-

Differentiation

Speed control

Current command

+

-

+

Bus voltage

Current control

PWM

Current feedback

Current encoder

Servo motor

M

Load-side encoder

Encoder


Servo motor speed

Torque

FBN

FBD

+ Semi closed loop

+

Fully closed loop

Servo motor-side droop pulses

+ -

Dual filter

-

+

Servo motor-side feedback pulses

(load-side encoder resolution unit)

Position feedback

Load-side droop pulses

+ Load-side feedback pulses

Servo motor-side/load-side speed deviation

Servo motor-side/load-side position deviation

+

-

Differentiation

+

-

Differentiation

App. - 49

APPENDIX

App. 10.4 Maximum current command (maximum torque) for analog monitor ±8 V

Values of the maximum current command (maximum torque) when the analog monitor is ±8 V are listed.

The current command (torque) outputs the maximum current command (maximum torque) at ±8 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.

App. 10.4.1 Rotary servo motor

(1) 200 V/100 V class

Servo motor

HG-KR series

HG-KR053

HG-KR13

HG-KR23

HG-KR43

HG-KR73

HG-MR053

HG-MR series

HG-MR13

HG-MR23

HG-MR43

HG-MR73



HG-SR51

HG-SR81

HG-SR121

HG-SR201

HG-SR301

HG-SR421

HG-SR52

HG-SR102

HG-SR152

HG-SR202

HG-SR352

HG-SR502

Servo amplifier/drive unit


(maximum torque) [%]

MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

MR-J4-70_(-RJ)

MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

MR-J4-70_(-RJ)

MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

370

373

387

383

367

342

336

396

361

345

311

329

353

334

366

347

302

310

320

327

332

341

HG-UR series

HG-RR series

HG-UR72

HG-UR152

HG-UR202

HG-UR352

HG-UR502

HG-RR103

HG-RR153

HG-RR203

HG-RR353

HG-RR503

HG-JR 1000 r/min series

HG-JR801

HG-JR12K1

HG-JR15K1

HG-JR20K1

HG-JR25K1

HG-JR30K1

HG-JR37K1

MR-J4-70_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

MR-J4-500_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

MR-J4-500_(-RJ)

MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ)

MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ)




MR-J4-DU30K_(-RJ)

MR-J4-DU37K_(-RJ)

355

340

350

320

330

300

250

290

270

270

366

346

339

337

330

330

330

App. - 50

APPENDIX

Servo motor Servo amplifier/drive unit





HG-JR11K1M

HG-JR15K1M

HG-JR22K1M

HG-JR30K1M




MR-J4-DU30K_(-RJ)

HG-JR37K1M

HG-JR53

MR-J4-DU37K_(-RJ)

MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

HG-JR73

MR-J4-70_(-RJ)

MR-J4-200_(-RJ)

HG-JR103

HG-JR153

HG-JR203

HG-JR353

HG-JR503

335

334

317

342

365

341

460

331

460

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-350_(-RJ)

341

460

320

460

320

460

307

MR-J4-500_(-RJ)

MR-J4-500_(-RJ)

464

342

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 430

HG-JR903 MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ) 352

App. - 51

APPENDIX

(2) 400 V class








HG-SR524

HG-SR1024

HG-SR1524

HG-SR2024

HG-SR3524

HG-SR5024

HG-SR7024

HG-JR6014

HG-JR8014

HG-JR12K14

HG-JR15K14

HG-JR20K14

HG-JR25K14

HG-JR30K14

HG-JR37K14

MR-J4-60_4(-RJ)

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-500_4(-RJ)

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ)





MR-J4-DU30K_4(-RJ)

MR-J4-DU37K_4(-RJ)

HG-JR701M4

HG-JR11K1M4

HG-JR15K1M4

HG-JR22K1M4

HG-JR30K1M4

HG-JR37K1M4

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)




MR-J4-DU30K_4(-RJ)

MR-J4-DU37K_4(-RJ)

HG-JR45K1M4

HG-JR55K1M4

HG-JR534

MR-J4-DU45K_4(-RJ)

MR-J4-DU55K_4(-RJ)

MR-J4-60_4(-RJ)

MR-J4-100_4(-RJ)

HG-JR734

HG-JR1034

HG-JR1534

HG-JR2034

HG-JR3534

HG-JR5034

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-500_4(-RJ)

MR-J4-500_4(-RJ)

313

322

330

327

336

336

346

337

336

346

335

341

337

330

330

329

338

338

342

335

323

344

321

320

460

320

459

320

459

320

459

320

459

320

470

320

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

MR-J4-11K_4(-RJ)/MR-J4-DU900_4(-RJ)

337

336

HG-JR7034

HG-JR9034

(3) 24 V/48 V class

Servo motor

HG-AK series

HG-AK0136

HG-AK0236

HG-AK0336


MR-J4-03A6/MR-J4W2-0303B6

MR-J4-03A6/MR-J4W2-0303B6

MR-J4-03A6/MR-J4W2-0303B6



380

380

363

App. - 52

APPENDIX

App. 10.4.2 Servo motor with functional safety

(1) 200 V/100 V class

Servo motor

HG-KR series

HG-SR

1000 r/min series

HG-SR

2000 r/min series

HG-KR053W0C

HG-KR13W0C

HG-KR23W0C

HG-KR43W0C

HG-KR73W0C

HG-SR51W0C

HG-SR81W0C

HG-SR121W0C

HG-SR201W0C

HG-SR301W0C

HG-SR421W0C

HG-SR52W0C

HG-SR102W0C

HG-SR152W0C

HG-SR202W0C

HG-SR352W0C

HG-SR502W0C


MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-10_(-RJ)/MR-J4-10_1(-RJ)

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

MR-J4-70_(-RJ)

MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)



370

373

387

383

367

311

329

353

334

366

347

302

310

320

327

332

341

HG-JR

1500 r/min series

HG-JR

3000 r/min series

HG-JR11K1MW0C

HG-JR15K1MW0C



HG-JR22K1MW0C

HG-JR53W0C


MR-J4-60_(-RJ)

MR-J4-100_(-RJ)

HG-JR73W0C

MR-J4-70_(-RJ)

HG-JR103W0C

MR-J4-200_(-RJ)

MR-J4-100_(-RJ)

MR-J4-200_(-RJ)

HG-JR153W0C

HG-JR203W0C

HG-JR353W0C

HG-JR503W0C

335

334

317

341

460

331

460

341

460

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-200_(-RJ)

MR-J4-350_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

320

460

320

460

307

464

MR-J4-500_(-RJ) 342

MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 430

HG-JR903W0C MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ) 352

App. - 53

APPENDIX

(2) 400 V class

HG-SR

2000 r/min series

HG-JR

1500 r/min series

HG-JR

3000 r/min series




HG-SR524W0C

HG-SR1024W0C

HG-SR1524W0C

HG-SR2024W0C

HG-SR3524W0C

HG-SR5024W0C

HG-SR7024W0C

HG-JR701M4W0C

HG-JR11K1M4W0C

HG-JR15K1M4W0C

HG-JR3534W0C

HG-JR5034W0C

MR-J4-60_4(-RJ)

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-200_4(-RJ)

313

322

330

327

MR-J4-350_4(-RJ)

MR-J4-500_4(-RJ)

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

336

336

346

329

MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) 338

MR-J4-15K_4(-RJ)/MR-J4-DU15K_4(-RJ) 338

HG-JR22K1M4W0C

HG-JR534W0C

MR-J4-22K_4(-RJ)/MR-J4-DU22K_4(-RJ) 342

MR-J4-60_4(-RJ) 320

HG-JR734W0C

MR-J4-100_4(-RJ)

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

460

320

459

HG-JR1034W0C

MR-J4-100_4(-RJ)

MR-J4-200_4(-RJ)

320

459

HG-JR1534W0C

HG-JR2034W0C

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

MR-J4-200_4(-RJ)

MR-J4-350_4(-RJ)

320

459

320

459

MR-J4-350_4(-RJ)

MR-J4-500_4(-RJ)

MR-J4-500_4(-RJ)

320

470

320

HG-JR7034W0C

HG-JR9034W0C

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ)

337

336

App. - 54

APPENDIX

App. 10.4.3 Linear servo motor (primary side)

(1) 200 V/100 V class

Linear servo motor (primary side)

LM-H3 series

LM-F series

LM-K2 series

LM-U2 series




LM-H3P2A-07P-BSS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 390

LM-H3P3A-12P-CSS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 340

LM-H3P3B-24P-CSS0 MR-J4-70_(-RJ)

LM-H3P3C-36P-CSS0 MR-J4-70_(-RJ)

LM-H3P3D-48P-CSS0 MR-J4-200_(-RJ)

LM-H3P7A-24P-ASS0 MR-J4-70_(-RJ)

320

350

335

315

LM-H3P7B-48P-ASS0 MR-J4-200_(-RJ)

LM-H3P7C-72P-ASS0 MR-J4-200_(-RJ)

LM-H3P7D-96P-ASS0 MR-J4-350_(-RJ)

LM-FP2B-06M-1SS0

(Natural cooling) MR-J4-200_(-RJ)

(Liquid cooling) MR-J4-200_(-RJ)

297

320

320

756

355

LM-FP2D-12M-1SS0

LM-FP2F-18M-1SS0

LM-FP4B-12M-1SS0

LM-FP4D-24M-1SS0

LM-FP4F-36M-1SS0

LM-FP4H-48M-1SS0



(Natural cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

(Liquid cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)



815

409

800

409

742

383

(Natural cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

(Liquid cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ)

778

384

(Natural cooling) MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 709

(Liquid cooling) MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 356



LM-K2P1A-01M-2SS1 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 400

LM-K2P1C-03M-2SS1 MR-J4-200_(-RJ) 375

LM-K2P2A-02M-1SS1 MR-J4-70_(-RJ)

LM-K2P2C-07M-1SS1 MR-J4-350_(-RJ)

LM-K2P2E-12M-1SS1 MR-J4-500_(-RJ)

366

380

405

LM-K2P3C-14M-1SS1 MR-J4-350_(-RJ)

LM-K2P3E-24M-1SS1 MR-J4-500_(-RJ)

354

359

LM-U2PAB-05M-0SS0 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 315

LM-U2PAD-10M-0SS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 318

LM-U2PAF-15M-0SS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 334

LM-U2PBB-07M-1SS0 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 325

LM-U2PBD-15M-1SS0 MR-J4-60_(-RJ)

LM-U2PBF-22M-1SS0 MR-J4-70_(-RJ)

LM-U2P2B-40M-2SS0 MR-J4-200_(-RJ)

LM-U2P2C-60M-2SS0 MR-J4-350_(-RJ)

LM-U2P2D-80M-2SS0 MR-J4-500_(-RJ)

320

322

424

434

432

(2) 400 V class

LM-F series

Linear servo motor (primary side)

LM-FP5H-60M-1SS0






App. - 55

APPENDIX

App. 10.4.4 Direct drive motor

(1) 200 V/100 V class

TM-RFM series

TM-RG2M series

TM-RU2M series

Direct drive motor Servo amplifier/drive unit

TM-RFM002C20

TM-RFM004C20

TM-RFM006C20

TM-RFM006E20

TM-RFM012E20

TM-RFM018E20

TM-RFM012G20

TM-RFM048G20

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

MR-J4-60_(-RJ)

MR-J4-60_(-RJ)

MR-J4-70_(-RJ)

MR-J4-100_(-RJ)

MR-J4-70_(-RJ)

MR-J4-350_(-RJ)

TM-RFM072G20

TM-RFM040J10

TM-RFM120J10

TM-RFM240J10

MR-J4-350_(-RJ)

MR-J4-70_(-RJ)

MR-J4-350_(-RJ)

MR-J4-500_(-RJ)

TM-RG2M002C30

TM-RG2M004E30

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)/

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

TM-RG2M009G30

TM-RU2M002C30

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)

TM-RU2M004E30

MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)/

MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)

TM-RU2M009G30 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ)



320

321

320

333

321

321

300

321

321

323

321

321

433

324

324

433

324

324

App. - 56

APPENDIX

App. 11 Special specification

App. 11.1 Amplifiers without dynamic brake

App. 11.1.1 Summary

This section explains servo amplifiers without a dynamic brake. The things not explained in this section will be the same as MR-J4-_B_(-RJ).

App. 11.1.2 Model


M R J 4 6 0 B 4 E D

Series


Symbol

ED

RU


MR-J4_-B_ without a dynamic brake

MR-J4-_B_-RJ without a dynamic brake

Power supply

Symbol Power supply

None 3-phase 200 V AC to 240 V AC

1 1-phase 100 V AC to 120 V AC


Rated output


10

20

0.1

0.2

40

60

70

100

0.4

0.6

0.75

1

200

350

500

700

2

3.5

5

7

App. - 57

APPENDIX


Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed.

Take safety measures such as making another circuit for an emergency stop, alarm occurrence, and power shut-off.

The following servo motors may function an electronic dynamic brake at an alarm occurrence.


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


Setting the following parameter disables the electronic dynamic brake.

Servo amplifier Parameter

MR-J4-_B_-ED

MR-J4-_B_-RU

[Pr. PF06]

Setting value

_ _ _ 2

When [Pr. PA04] is "2 _ _ _" (default), the motor can be a state of forced stop deceleration at an alarm occurrence. Setting "0 _ _ _" in [Pr. PA04] disables the forced stop deceleration function.

App. 11.2 Without regenerative resistor

App. 11.2.1 Summary

This section explains servo amplifiers without a regenerative resistor. The things not explained in this section will be the same as MR-J4-_B_(-RJ).

App. 11.2.2 Model


M R J 4 1 1 K B 4 P X

Series


Symbol

PX

RZ


MR-J4-_B_ without regenerative resistor

MR-J4-_B_-RJ without regenerative resistor

Power supply

Symbol Power supply



Rated output


11K

15K

22K

11

15

22


Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory. When using any of these servo amplifiers, always use the MR-RB5R, MR-RB9F, MR-RB9T, MR-

RB5K-4, or MR-RB6K-4 regenerative option.

App. - 58

APPENDIX

App. 11.3 Special coating-specification product (IEC 60721-3-3 Class 3C2)

App. 11.3.1 Summary

This section explains servo amplifiers with a special coating specification. Items not given in this section will be the same as MR-J4-_B_(-RJ).

App. 11.3.2 Model


M R J 4 6 0 B 4 E B

Series

200

350

500

700

11K

15K

22K

Rated output


10

20

0.1

0.2

40

60

70

100

0.4

0.6

0.75

1

2

3.5

5

7

11

15

22


Symbol Special specifications

EB MR-J4-_B_ with a special coating specification (3C2)

KS MR-J4-_B_-RJ with a special coating specification (3C2)

Power supply

Symbol Power supply


1

4



App. - 59

APPENDIX


(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.

3C2

Environmental parameter Unit

Mean value Maximum value a) Sea salt b) Sulfur dioxide c) Hydrogen sulfide d) Chlorine e) Hydrogen chloride f) Hydrogen fluoride g) Ammonia h) Ozone i) Nitrogen oxides

None Salt mist cm 3 /m 3 0.11 0.37 cm 3 /m 3 0.071 0.36 cm 3 /m 3 0.034 0.1 cm 3 /m 3 0.066 0.33 cm 3 /m 3 0.012 0.036 cm 3 /m 3 1.4 4.2 cm 3 /m 3 0.025 0.05 cm 3 /m 3 0.26 0.52

The special coating-specification products have the improved corrosion resistance in environments with corrosive gas concentrations conforming to IEC 60721-3-3, Class 3C2. We tested typical models and confirmed that their corrosive gas resistance was improved, compared with the standard models.

App. - 60

APPENDIX

App. 12 Driving on/off of main circuit power supply with DC power supply

App. 12.1 Connection example

The power circuit is common to all capacity type of servo amplifiers. For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3.

Malfunction

RA1

OFF

ON

MC

MC


Power supply

(Note 1)

MCCB

(Note 2)

Forced stop 2

24 V DC (Note 7,8)

MC (Note 3)

(Note 4)


Servo amplifier

L1

L2

L3

CN3

EM2

DOCOM

CN3

DOCOM

ALM

24 V DC (Note 6)

(Note 5)



CN8

SK

24 V DC (Note 6)

RA1

Malfunction

(Note 9)

(Note 2)







7. Driving the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements.

8. Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply. Always use the power supply designed exclusively for the magnetic contactor.

9. If disabling ALM (Malfunction) output with the parameter, configure the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.

App. - 61

APPENDIX

App. 12.2 Magnetic contactor

Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.

Servo amplifier

Magnetic contactor

Magnetic contactor

MR-J4-40B(-RJ) MR-J4-200B4(-RJ)

MR-J4-200B(-RJ)

MR-J4-700B(-RJ)

MR-J4-11KB4(-RJ)

MR-J4-10B1(-RJ)

MR-J4-22KB(-RJ) SD-N95

SD-N25

App. - 62

APPENDIX

App. 13 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, the unit of data types, and others, refer to the manuals for servo system controllers.

App. 13.1 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 to motor 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


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. - 63

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


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.

Servo command value

Torque command

App. 13.2 Transient command

Data type Description

Motor serial number (First 8 characters) The servo motor serial number is displayed.

Motor serial number (Last 8 characters)

The serial number is not displayed for linear servo motors.

This data type is available with servo amplifier with software version C8 or later.

Servo motor ID (SSCNET III)/Encoder ID 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)".

Servo motor ID (SSCNET III/H) 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.

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)

The servo amplifier name is displayed.

The software version of the servo amplifier is displayed.

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/Occurrence time

Alarm occurrence time #1, #2




Alarm history clear command

Home position [command unit]

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 data of specific number # is displayed.

The alarm occurrence time #1, #2 are displayed.




Used for alarm history clear.

The home position is displayed.

App. - 64

APPENDIX

Data type

Main circuit bus voltage

Regenerative load ratio

Effective load ratio

Peak load ratio

Estimate inertia moment ratio

Model loop gain

LED display



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


Machine diagnostic status

Friction estimation data

Vibration estimation data

Description

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. - 65

APPENDIX

App. 14 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. 14.1 Target models

MR-J4 series AC servo amplifiers (excluding MR-J4-03A6(-RJ) and MR-J4W2-0303B6)

App. 14.2 Change of the compliance

The target MR-J4 servo amplifiers now comply with SIL 3 (Table app. 3).

Table app. 3 Compliance with SIL 3

Safety performance

(Standards certified by CB)

Before change

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. 14.3 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. 14.4 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. 14.5 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. - 66

APPENDIX

App. 14.6 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

TOKYO 100-8310, JAPAN MADE IN JAPAN

Serial number

Model

Capacity

Applicable power supply

Rated output current

Conforming standard, manual number

Ambient temperature

IP rating

Manufacture month and year

Country of origin

Fig. app. 3 Indication example on the rating plate

App. - 67

APPENDIX

App. 15 When using the servo amplifier with the DC power supply input

POINT

The DC power supply input is available with MR-J4-_B-RJ servo amplifiers with software version C2 or later.

When using the MR-J4-_B-RJ servo amplifier with the DC power supply input, set [Pr. PC20] to "_ _ _ 1".

App. 15.1 Connection example

CAUTION


For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3.

(1) MR-J4-10B-RJ to MR-J4-100B-RJ

Malfunction

RA1

OFF

ON

MC

3-phase or 1-phase


MCCB

(Note 1)

+

AC/DC

Converter

(283 V DC to

340 V DC) -


24 V DC (Note 7, 8)

MC (Note 3)

L1

L2

L3

Servo amplifier

MC

SK

(Note 10)

L11

L21


(Note 4)


24 V DC (Note 6)

(Note 5)



CN3

EM2

DOCOM

CN8

CN3

DOCOM

ALM

24 V DC (Note 6)

RA1 Malfunction

(Note 9)

(Note 2)



3. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.






9. If disabling ALM (Malfunction) output with the parameter, configure the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the servo system controller side.

10. When wires used for L11 and L21 are thinner than wires used for L1 and L3, use a fuse. (Refer to app. 15.4.)

App. - 68

APPENDIX

(2) MR-J4-200B-RJ to MR-J4-22KB-RJ

Malfunction

RA1

3-phase or 1-phase


OFF

ON

MCCB

(Note 1)

+

AC/DC

Converter

(283 V DC to

340 V DC)

-


24 V DC (Note 7, 8)

MC (Note 3)

L1

L2

L3

N-

Servo amplifier

MC

(Note 10)

L11

L21


(Note 4)


24 V DC (Note 6)

(Note 5)



CN3

EM2

DOCOM

CN8

CN3

DOCOM

ALM

MC

SK

24 V DC (Note 6)

RA1

Malfunction

(Note 9)

(Note 2)



3. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less (160 ms or less for 5 kW or more). Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.






9. If disabling ALM (Malfunction) output with the parameter, configure the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the servo system controller side.

10. When wires used for L11 and L21 are thinner than wires used for L1/L2/L3 and N-, use a fuse. (Refer to app. 15.4.)

App. 15.2 Power supply capacity

The power supply capacity is the same as that for the AC power supply input. Refer to section 10.2 for details.

App. - 69

APPENDIX

App. 15.3 Selection example of wires

POINT



Wiring length: 30 m or shorter

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

(1) Example of selecting the wire sizes

Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following shows the wire size selection example.

Servo amplifier

Wire [mm 2 ] (Note 1)

L1/L2/L3/N-/ L11/L21

MR-J4-10B-RJ

MR-J4-20B-RJ

MR-J4-40B-RJ

MR-J4-60B-RJ

MR-J4-70B-RJ

MR-J4-100B-RJ

MR-J4-200B-RJ

MR-J4-350B-RJ

2 (AWG 14)

3.5 (AWG 12)

1.25 to 2

(AWG 16 to 14)

MR-J4-500B-RJ (Note 2) 5.5 (AWG 10): a

MR-J4-700B-RJ (Note 2) 8 (AWG 8): b

1.25 (AWG 16): a

2 (AWG 14): d

MR-J4-11KB-RJ (Note 2)



14 (AWG 6): e

22 (AWG 4): f

38 (AWG 2): g

1.25 (AWG 16): c

2 (AWG 14): c



(2) Selection example of crimp terminals

Symbol (Note 2)

Crimp terminal

Servo amplifier-side crimp terminal

Applicable tool a FVD5.5-4 YNT-1210S b (Note 1) 8-4NS c FVD2-4 d FVD2-M3

YHT-8S

YNT-1614 e FVD14-6 f FVD22-6 g FVD38-8

YF-1

YF-1

YF-1

YNE-38

YNE-38

YNE-38

DH-122

DH-112

DH-123

DH-113

DH-124

DH-114

JST


2. Some crimp terminals may not be mounted depending on their sizes. Make sure to use the recommended ones or equivalent ones.

App. - 70

APPENDIX

App. 15.4 Molded-case circuit breakers, fuses, magnetic contactors

(1) For main circuit power supply

CAUTION

To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed.

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.

When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.

Servo amplifier

Molded-case circuit breaker (Note 1)


Power factor improving reactor is not used

Power factor improving reactor is used

Voltage AC

[V]

Fuse

[V]

Magnetic contactor

(Note 2)

MR-J4-10B-RJ

MR-J4-20B-RJ

MR-J4-40B-RJ

MR-J4-60B-RJ

MR-J4-70B-RJ

MR-J4-100B-RJ


MR-J4-100B-RJ


MR-J4-200B-RJ

30 A frame 5 A

30 A frame 5 A

30 A frame 10 A

30 A frame 15 A

30 A frame 15 A

30 A frame 15 A

30 A frame 15 A

30 A frame 5 A

30 A frame 5 A

30 A frame 5 A

30 A frame 10 A

30 A frame 10 A

30 A frame 10 A

30 A frame 15 A

MR-J4-350B-RJ

MR-J4-500B-RJ

MR-J4-700B-RJ

30 A frame 20 A

30 A frame 30 A

50 A frame 50 A

100 A frame 75 A

30 A frame 20 A

30 A frame 30 A

50 A frame 50 A

60 A frame 60 A

MR-J4-11KB-RJ 100 A frame 100 A 100 A frame 100 A

MR-J4-15KB-RJ 125 A frame 125 A 125 A frame 125 A

240 T

10

15

20

30

40

60

80

125

175

400

DUD-N30

DUD-N60

DUD-N120

MR-J4-22KB-RJ 225 A frame 175 A 225 A frame 175 A 300 DUD-N180

Note 1. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric generalpurpose products.

2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.

App. - 71

APPENDIX

(2) For control circuit power supply

When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3/N-), install an overcurrent protection device (fuse, etc.) to protect the branch circuit.

Servo amplifier

Fuse (Class T)

Current [A] Voltage DC [V]

Fuse (Class K5)

Current [A] Voltage DC [V]

MR-J4-10B-RJ

MR-J4-20B-RJ

MR-J4-40B-RJ

MR-J4-60B-RJ

MR-J4-70B-RJ

MR-J4-100B-RJ

MR-J4-350B-RJ

MR-J4-500B-RJ

MR-J4-700B-RJ

MR-J4-11KB-RJ

MR-J4-15KB-RJ

MR-J4-22KB-RJ

App. - 72

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 Environment-

Friendly Use Period marks. Table app. 4 is created based on the standard SJ/T11364.

Table app. 4 Names and the content of hazardous substances in the products

Part name

Substance name

Threshold standard

Hazardous substance (Note 1)

Lead

(Pb)

Mercury

(Hg)

Cadmium

(Cd)

Hexavalent chromium

(Cr(VI))

Threshold of cadmium: 0.01 wt% (100 ppm),

Environment-

PBB PBDE Friendly Use

Period mark

(Note 2)

Threshold of substances other than cadmium: 0.1 wt% (1000 ppm)

Remark

Servo amplifier


Mounting board

Heat sink

Resin cabinet

Plate and screw

Servo motor Bracket

Mounting board

Resin cabinet

Core and cable

Cable product

Optional unit

Cable

Connector

Mounting board

Including connector set

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. - 73

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

部件名称

物质名称

阈值

基准

铅

(Pb)

汞

(Hg)

有害物质 (注1)

镉

(Cd)

六价铬

(Cr(VI))

PBB

阈值：镉：0.01wt%(100ppm)、

镉以外：0.1wt%(1000ppm)、

PBDE

环境保护

使用期限标识

(注2)

备注

伺服放大器

伺服系统

控制器

电路板组件

散热片

树脂壳体

金属板、螺丝

伺服电机托架

电路板组件

树脂壳体

铁心、电线

电缆

加工品

电线

连接器

选件电路板组件

模块树脂壳体

金属板、螺丝

注 1. : 表示该有害物质在该部件所有均质材料中的含量均在GB/T26572规定的限量要求以下。

包括连接器组

件

: 表示该有害物质在该部件的至少一种均质材料中的含量超出GB/T26572规定的限量要求。

2. 根据“电子电气产品有害物质限制使用标识要求”、[SJ/T11364-2014]的表示

该标志表示在中国制造/销售的产品中含有特定有害物质。

只要遵守本产品的安全及使用方面的注意事项，从生产日算起的环保使用期限内不会造成环境污染或对人体、财

产产生深刻的影响。

该标志表示制造的产品中不含有特定有害物质。

App. - 74

REVISION

*The manual number is given on the bottom left of the back cover.

Revision Date *Manual Number

Mar. 2012 SH(NA)030106ENG-A First edition

Jun. 2012 SH(NA)030106ENG-B 4. Additional instructions

(2) Wiring


(3) Test run and adjustment

COMPLIANCE WITH CE

MARKING

COMPLIANCE WITH

UL/CSA STANDARD

COMPLIANCE WITH KC

MARK

Section 1.2

Section 1.3

Section 1.5

Section 1.7.1

Chapter 2

Section 2.5

Section 2.6

Chapter 3

Section 3.1

Section 3.1.1 (1)

Section 3.1.1 (2)

Section 3.1.1 (3)

Section 3.1.1 (4)

Section 3.2.1

Section 3.2.2

Section 3.3.1

Section 3.3.3 (2) (a)

Section 3.5.2 (2)

Section 3.6.2 (1)

Section 3.7.1 (3)

Section 3.8.2 (1)

Section 3.8.2 (2)

Section 3.8.3 (1)

Section 3.8.3 (2)

Section 3.10.2 (1) (a)

Section 4.1.2 (1) (b) 4)

Section 4.3.3 (1)

Section 4.5.2 (1) (b)

Section 5.1

Section 5.1.1

Section 5.1.6

Section 5.2.1

Section 5.2.3

Section 5.2.4

Section 5.2.5

Section 5.2.6

Chapter 6

Revision

The sentences are added.


The reference is changed.


Added.

The diagram is changed.

The table and Note are changed.

The sentences of the fully closed loop system and drive recorder are changed.


CAUTION is changed.

POINT is changed to CAUTION.

The explanation of relay lifetime is changed.

The sentences are added to CAUTION.

The sentences are added to CAUTION.

Note 12 is added.

Note 11 is added.

Note 11 is added.

Note 11 is added.

Note 11 is added.

Note 17 is added.

Note 17 is added.

The sentences of N- are changed.

The ferrule is added.

The sentences of INP (In-position) are added.

CLDS (During fully closed loop control) is added.



The sentences are changed.





Added.


Note is added. [AL. 20 Encoder normal communication error 1

(ABZ input)] in the table is deleted.

POINT is changed and Note is deleted.

PA25 is changed from "For manufacturer setting".

PF06 and PF12 are changed from "For manufacturer setting".

The sentences are added to PA01 and PA25 is added.

The sentences of PC01 are changed and sentences are added to PC03.

The table of PD07 is changed.

The sentences are added to PE08.

PF06 and PF12 are added.

The sentences in POINT are changed.


Jun. 2012 SH(NA)030106ENG-B Chapter 7

Section 7.3.1

Section 8.1

Section 10.3

Section 10.3.2

Section 11.3

Section 11.4

Section 11.5

Section 11.5 (3)

Section 11.5 (4)

Section 11.7 (1)

Chapter 12

Section 13.1.5

Section 13.3.2 (1)

Section 13.3.2 (2)

Section 13.3.3

Section 13.3.4

Section 13.4.1 (1)

Section 13.4.1 (2)

Section 13.4.1 (2) (a)

Section 13.4.2 (1)

Section 13.4.2 (2)

Section 14.1.2

Section 14.2

Section 14.3.1 (1)

Section 14.3.1 (2)

Section 14.3.2 (3) (a)

Section 14.3.2 (3) (b)

Section 14.4.4

Section 15.1.2

Section 15.2

Section 15.3.2 (3) (a)

Section 15.3.2 (3) (b)

Section 15.4.3 (2)

Chapter 16

Section 16.1.1

Section 16.1.2 (1)

Section 16.3.1 (5)

Section 16.3.4 (3)

Appendix. 4

Appendix. 5

Appendix. 6

Appendix. 7.7.3 (1)

Appendix. 7.7.3 (2)

Appendix. 7.7.3 (3)

Appendix. 7.7.3 (4)

Appendix. 7.8.1 (1)

Appendix. 7.8.1 (2)

Appendix. 7.8.2

Appendix. 7.12

Revision


The sentences are added to POINT.

The column of the fully closed loop control is added. [AL.

1E.2], [AL. 1F.2], [AL. 42.8], [AL. 42.9], [AL. 42.A], [AL. 70],

[AL. 71], [AL. 72], and [AL. E8.2] are added.

POINT is added.

The table is changed.





The connection destination of the servo amplifier is changed.

Note is changed.

The sentences are added to POINT.

The value in table is changed.


Added.

The part of diagram is changed.




Note is changed.



CAUTION is changed.

CAUTION is added.

The diagram is added.

"Set the linear servo motor series and linear servo motor type" is added.

POINT and sentences are changed.

POINT is changed.

The table is changed and the sentences are added. CAUTION is changed.

CAUTION is changed.

CAUTION is added.

POINT and sentences are changed.

POINT is changed.

The table is changed.

"Available in the future" is deleted.


The sentences of Note 2 are changed.


The part of table is changed.





POINT and diagram are changed.


Deleted.

Deleted.

The pin number is changed and Note is deleted.

CAUTION is deleted.


The diagram is added.


Jun. 2012 SH(NA)030106ENG-B Appendix. 7.14

Appendix. 8

Appendix. 10.1

Appendix. 13

Revision

POINT is changed.

TUV certificate of MR-J4 series is added.


Added.

Sep. 2012 SH(NA)030106ENG-C Section 3.2.1

Section 3.2.2

Section 3.10.2 (1) (b)

Section 13.3.1

Section 13.4.1 (1)

Section 13.4.2 (1)







Feb. 2013 SH(NA)030106ENG-D HG-JR, HG-UR, HG-RR servo motor, 11 kW to 22 kW servo amplifier, and MR-J4-_A-RJ servo amplifier are added.

Safety Instructions 4 (1)


COMPLIANCE WITH CE

MARKING

COMPLIANCE WITH

UL/CSA STANDARD

COMPLIANCE WITH KC

MARK

Section 1.1

Section 1.2

Section 1.2 (1)

Section 1.2 (2)

Section 1.2 (3)

Section 1.3

Section 1.4

Section 1.5

Section 1.6 (2)

Section 1.7.1 (1)

Section 1.7.1 (1) to (4)

Section 1.7.1 (5), (6)

Section 1.7.2

Section 1.8 (1) to (4)

Section 1.8 (5), (4)

Chapter 2

Section 2.1 (1) (a), (b)


Chapter 3


Section 3.1 (5)

Section 3.2.1

Section 3.2.2

Section 3.3.1

Section 3.3.2

Section 3.4

Section 3.5.2 (2)

Section 3.6

Section 3.6.2

Section 3.6.3

Section 3.8

Two items are added to CAUTION.

The diagram in CAUTION is changed.




The sentences and table of combination are added.

POINT is added.

CN2L, Note 5, and Note 6 are added.


Newly added.

The item is added to Safety performance. Note 9 and 11 kW to 22 kW are added. The content of Note 3 is changed.

POINT and function are added. The table of combination is changed.

Function item is added.

The content is added.

(18) to (20), and Note are added. The diagram is changed.


Newly added.


CN2L and Note 4 are added.

Newly added.

Two items are added to CAUTION.

Note 1 and 2 are added.

Note 5 is added.


The connection diagram is changed. Note 12 is added.

Newly added.

The connection diagram is changed. Note 10 is changed.

The connection diagram is changed.

The content of the table is changed.

POINT is added.

Note 1, 2, and CN2L are added. The connector explanation is deleted.

The content is changed.

POINT is added.




Section 3.8.1 The connection diagram is changed. Note 5 is added.


Feb. 2013 SH(NA)030106ENG-D Section 3.10.1 (1)

Section 3.10.2 (1) (b)

Section 4.1.2 (1) (b) 5)

Section 4.1.2 (1) (c) 1)

Section 4.1.2 (1) (c) 2)

Section 4.1.2 (1) (c) 4)

Section 4.1.2 (5)

Section 4.2 (5)

Section 4.5.3 (3)

Chapter 5

Section 5.1.1

Section 5.1.4

Section 5.1.6

Section 5.2.1

Section 5.2.3

Section 5.2.4

Section 5.2.5

Section 5.2.6

Section 5.2.7

Section 6.2.2

Section 6.2.2 (2)

Section 6.2.2 (5)

Section 6.3.4

Section 7.3.2

Section 7.4

Chapter 8

Section 8.1

Section 9.1


Section 9.1 (8), (9)

Chapter 10

Section 10.1

Section 10.2 (1)

Section 10.3.1 (1)

Section 10.3.1 (2)

Section 10.3.2

Section 10.5

Chapter 11

Section 11.1.1

Section 11.2.1

Section 11.2.2 (1) (b)

Section 11.2.3

Section 11.2.4 (3), (4)

Section 11.2.5 (5), (6)

Section 11.3

Section 11.3.1

Revision


Timing chart is changed.

Newly added.



Newly added.

Newly added.



CAUTION is added.

The name of [Pr. PA20] is changed. [Pr. PA22] and [Pr. PA26] are released. The content of [Pr. PC20] is changed.

The content of [Pr. PD12] is changed.

The name of [Pr. PF25] is changed.

The contents of [Pr. PA02] and [Pr. PA17] are changed. The name of [Pr. PA20] is changed. [Pr. PA22] and [Pr. PA26] are released.

The content of [Pr. PC20] is changed. The sentences are added to [Pr. PC04] and [Pr. PC05]. [Pr. PC26] is added. The contents are added to [Pr. PC03] and [Pr. PC27]. Note 2 is added to [Pr. PC09].

The contents are added to [Pr. PD01], [Pr. PD02], [Pr. PD07],

[Pr. PD12], and [Pr. PD30].

[Pr. PE06] and [Pr. PE07] are changed.

The name of [Pr. PF25] is changed.

Note is added to [Pr. PL04].

The display of MR Configurator2 is changed.

POINT is added.



Newly added.

Newly added.

POINT is added.

The name of [AL. F0.1] is changed. [AL. 17.8] and Note 6 are added.

POINT is added.

The dimensions are changed.

Newly added.

POINT is added.

The table of combination is added. The graph is changed and added. Note 3 is added.

The content of the table is changed. Note 3 is added.

The appended sentence is added.


Note 2 and content are added to the table.

The sentences are added. The content of the table is added.

POINT is added.

The diagram is changed and added.

The content of the table is added. Note 2 is added.

The content and Note 2 are added.

[Pr. PA02] is changed.

Newly added.

Newly added.

POINT is added. The sentences are changed.

The content of the table, Note 1, and Note 2 are added.


Feb. 2013 SH(NA)030106ENG-D Section 11.3.3 (1) (a)

Section 11.3.3 (1) (b)

Section 11.3.3 (2)

Section 11.3.3 (3), (4)

Section 11.3.4 (1)

Section 11.3.4 (2)

Section 11.3.4 (3)

Section 11.4 (1)

Section 11.4 (2)

Section 11.4 (3), (4)

Section 11.5 (3)

Section 11.5 (4)

Section 11.5 (6)

Section 11.7

Section 11.7 (1)

Section 11.7 (2) (a)

Section 11.9 (1)

Section 11.9 (2)

Section 11.10 (1)

Section 11.10 (2)

Section 11.11

Section 11.12

Section 11.14 (2) (c)

Section 11.15

Section 11.16

Section 11.17

Section 11.18

Chapter 13

Section 13.2.2 (2)

Section 13.3.1

Section 13.4.1 (1)

Section 13.4.2 (1)

Section 14.1.1

Section 14.1.2 (2)

Section 14.2

Section 14.3.2 (1)

Section 14.3.2 (5) (b) 3)

Section 14.3.3 (2)

Section 14.3.5 (2) (a)

Section 14.4.2

Section 14.4.4

Section 15.1.2

Section 15.2

Section 15.3.2 (3) (b)

Section 15.3.3

Section 15.3.4 (1) (a)

Chapter 16

Section 16.1.1

Section 16.1.2 (1)

Revision


The connection diagram and Note 12 are changed. Note 14 is added.

The connection diagram is added.


The dimensions are added.

FR-BR-55K is added.

Newly added.

FR-RC-55K is added.


FR-RC-55K is added.



Note 2 is changed.

POINT is added.

Note 2 to Note 4 are added.

Note 1 is changed.

The content and Note 5 are added.

The crimp terminal is added.

The contents for 11 kW to 22 kW are added.

The contents of molded-case circuit breaker and magnetic contactor are changed. Note 3 is added.

Power factor improving DC reactors for 11 kW to 22 kW are added.

Power factor improving AC reactor is added for 11 kW to 22 kW.

The dimensions are changed.

11 kW to 22 kW are added. The content of the table is changed.

The EMC filters for 11 kW to 22 kW are added.

Newly added.

Newly added.

The names of overseas standards are unified.





The software version of MR Configurator2 is changed.

The connections of MR-J4-_B-RJ servo amplifiers are added.


The sentences of Note are changed.



The [Pr. PA01] setting value is changed.



Note 7 is added.

The diagram of CAUTION is changed. The content of table is added.

The content of POINT is changed.

The [Pr. PA01] setting value is changed.

The sentences are partially changed.


Note 2 is changed.

The content of the diagram is changed.


Feb. 2013 SH(NA)030106ENG-D Section 16.1.3 (1)

Section 16.1.3 (2)

Section 16.2.1

Section 16.2.1 (1), (2)

Section 16.2.2

Section 16.2.3 (1)

Section 16.2.3 (2)

Section 16.3.1 (1)

Section 16.3.1 (3), (4)

Section 16.3.1 (6)

Section 16.3.1 (7)

Section 16.3.5

Section 16.3.6

Section 16.3.9 m)

App. 4

App. 5

App. 6

App. 7

App. 8

App. 9

App. 10

App. 10 (2)

App. 11

App. 11.1

App. 11.3

App. 11.7 (5)

App. 11.8

Revision

The composition is changed due to addition of MR-J4_B-RJ servo amplifier.


The sentences are added. The table is deleted. The content is changed.

The connections of MR-J4-_B-RJ servo amplifiers are added.




The startup procedure is changed.

Newly added.

The content of the table is added.

The [Pr. PE08] setting value is changed.

Newly added.

Newly added.

The diagram of MR Configurator2 is changed. 3) and 5) are added.

Compliance with global standards is changed. App. 4 to 6 are combined.

The content is changed. Carried from App. 7.

Carried from App. 8.




Carried from App. 12. POINT is added.

Note 3 is deleted.

Carried from App. 13. POINT is added.


Note 13 and 14 are added.

Newly added.

Newly added.

Aug. 2013 SH(NA)030106ENG-E The master-slave operation function, scale measurement function, and J3 compatibility mode are added.



Section 1.1

Section 1.3

Section 1.5

Section 1.6 (1)

Section 1.7.1 (1)

Chapter 2


Section 3.4

Section 3.8.1

Section 5.1.3

Section 5.1.4

Section 5.2.1

Section 5.2.3

A sentence is changed. An item is deleted.

An item is added.

Table 1.1 is changed.

The scale measurement function is added. Note 10 is added.

The master-slave operation function, scale measurement function, and J3 compatibility mode are added.


The table is changed. Note 2 is added and (9), (10), and (18) are changed.

A sentence is changed. An item is deleted.

Note 1 is changed.

Note 2 is changed.

Note 6 is added.

[Pr. PC26] and [Pr. PC27] are changed. Note is added.

[Pr. PD11], [Pr. PD15] to [Pr. PD17], [Pr. PD20], [Pr. PD30] to

[Pr. PD32] are released.

Note is added.

[Pr. PA14] is partly added. [Pr. PA22] is changed.

The table in [Pr. PC27] is changed.


Aug. 2013 SH(NA)030106ENG-E Section 5.2.4

Section 5.2.6

Section 7.1.5 (4)

Section 7.4 (3)

Section 8.1

Section 8.2


Section 11.2.4 (3)

Section 11.3.3 (1) (a)

Section 11.3.3 (1) (b)

Section 11.3.3 (2) (a)

Section 11.4

Section 11.4 (2)



Section 11.7.3

Section 11.10 (1)

Section 11.17 (2)

Section 14.1.2 (1)

Section 14.1.2 (2)

Section 14.1.2 (3)

Section 15.3.2

Section 16.1.3 (2) (a)

Section 16.1.3 (2) (b)

Chapter 17

App. 4.2.1 (1)

App. 4.2.3 (4)

App. 4.3

Oct. 2013 SH(NA)030106ENG-F 400 V class is added.


About the manuals

Section 1.2 (1)

Section 1.2 (2)

Section 1.3 (2)

Section 1.4 (2)

Section 1.5

Section 1.6 (2)

Section 1.7.1 (1) (a)

Section 1.7.1 (1) (b)

Section 1.7.1 (2)

Section 1.7.1 (2) (a)

Section 1.8 (2)

Section 3.1.2

Section 3.3.1

Section 3.3.2 (2)

Section 3.3.3 (1) (c)

Section 3.3.3 (2) (a)

Section 4.1.2 (1) (c) 2)

Section 4.5.2 (1) (b)

Section 5.1.4

Revision

[Pr. PD11], [Pr. PD15] to [Pr. PD17], [Pr. PD30] to [Pr. PD32] are released.

[Pr. PF23] is partly added.

POINT is deleted. Table is added.

Newly added.

[AL. 25.2], [AL. 3E.3], [AL. 3D] and [AL. 82] are added. [AL.

28], [AL. 2A], [AL. 3E], [AL. 70] to [AL. 72] are changed. Note

7 is added.

The display content is added.

A dimension is changed.

CAUTION is added.

Note 3 is changed.

Note 3 is changed.

Note 3 is changed.

POINT is added.

Note 4 is changed. Model of Power factor improving reactor is deleted. Note 4 is changed. Note 10 is added.



Newly added.

Table and Note 3 are changed.

Note 7 is added.

Note 6 is added.


Newly added.

POINT is added.

Note is added.


Newly added.

The title is changed.


CAUTION is added.

One item is added.



Newly added.

Newly added.

Newly added.


A combination is added.

The content of the table is added. The diagram is changed.


Newly added.


Newly added.

Newly added.

The content of the 400 V class is added.

The content of Note 1 is changed. Note 2 is added.

Newly added.


Newly added.


The names of [Pr. PD16], [Pr. PD17], and [Pr. PD20] are changed.

Revision Date

Oct. 2013

*Manual Number

SH(NA)030106ENG-F Section 5.1.5

Section 5.1.6

Section 5.2.1

Section 5.2.3

Section 5.2.4

Section 5.2.5

Section 5.2.6

Section 6.2

Section 7.1.3

Section 7.3

Section 7.3.1 (2)

Section 7.3.2 (1)

Section 7.3.2 (2) (a), (b)

Section 7.4 (2)

Section 8.1

Section 9.1 (1) (a) to (e)

Section 9.1 (2)

Section 10.1

Section 10.2 (1)

Section 10.3.1 (2) (b)

Section 10.3.2 (2)

Section 10.5

Section 11.1.1

Section 11.2.1 (2)

Section 11.2.2 (1) (b)

Section 11.2.3

Section 11.2.4

Section 11.2.4 (1) to (4)

Section 11.2.5 (1), (3), (5)

Section 11.2.5 (6)

Section 11.2.5 (7)

Section 11.3

Section 11.3.1

Section 11.3.3 (1) (a) 2)

Section 11.3.3 (1) (b)

Section 11.3.3 (2) (b)

Section 11.3.3 (4)

Section 11.3.3 (5)

Section 11.3.4 (1) to (3)

Section 11.4 (1)

Section 11.4 (2) (b)

Section 11.4 (3), (4)

Section 11.5.1

Section 11.5.2 (2)

Section 11.5.2 (3) (b)

Section 11.5.2 (4) (a)

Section 11.5.2 (4) (b)

Section 11.5.2 (6)

Section 11.8

Revision

[Pr. PE10] The content is changed.

[Pr. PF25] The name is changed.

A sentence is added to [Pr. PA01].

[Pr. PA02] and [Pr. PA20] are changed.

[Pr. PA17] The content is added.

[Pr. PA26] The name is changed.

[Pr. PC09] The content is changed.

The names of [Pr. PD16], [Pr. PD17], and [Pr. PD20] are changed.

[Pr. PE10] The content is changed.

[Pr. PF25] The name is changed.

POINT is added.

POINT is added.



Note is added.

The sentences are changed and note is added.

The title and content of the table are changed.

The POINT is added. The content of the table is changed.

Note 4 of alarm table is changed. Note 7 is deleted.

Note 2 of warning table is changed.


Newly added.



Newly added.

Newly added.



Newly added.






Newly added.


POINT is added.

The content of the table is added. Note is added.

Newly added.

POINT is added.

Newly added.





Newly added.



Newly added.

Newly added.

Newly added.

Newly added.


POINT is added.

Revision Date *Manual Number Revision

Oct. 2013 SH(NA)030106ENG-F Section 11.8.1

Section 11.8.2

Section 11.9




Section 11.10 (1), (2)

Section 11.11 (2)

Section 11.12 (2)

Section 11.14 (2) (e)

Section 11.14 (2) (f)

Section 11.15 (1)

Section 11.16

Section 11.16 (1)

Section 11.16 (2) (b)

Section 11.16 (3) (a)

Section 11.17

Section 11.17 (1)

Section 11.17 (2) (b)

Section 11.17 (4) (b)

Section 11.18

Chapter 12

Section 14.1.2 (1) to (3)

Section 14.4.1

Section 14.4.2

Section 14.4.3

Section 16.1.1

Section 17.1.2

Section 17.1.3

Section 17.2 (3)

Section 17.3.1 (1)

Section 17.3.2 (3) (b) 2)

App. 4.2.3 (1)

App. 4.2.3 (1) (a)

App. 4.2.3 (1) (a) 2)

App. 4.2.3 (1) (b) 2)

App. 4.2.3 (4)

App. 4.3

App. 4.4 (b)

App. 4.6.1 (1) (b)

App. 4.6.2

App. 4.8.1 (2)

App. 4.8.2

App. 4.8.3

App. 10 (2)


Newly added.


Note 4 is changed.

The content is added. The content of Note 4 is changed.


The content of the table is added. The content of Note 1 is changed.

Newly added.

Newly added.



The graph is added. The content of table 5 is added.



Newly added.


POINT is added.


Newly added.

Newly added.


Note is added. POINT is added. The content is changed. The configuration is changed.







The sentences are changed. The content of the table is changed. Note 15 is added.






Newly added.

Newly added.


Note 2 is added.

Newly added.

Newly added.

The content of the table is added. The contents of Note 1 and

Note 2 are changed. Note 5 is added.

Newly added.



Note 7 is added.

Mar. 2014 SH(NA)030106ENG-G 100 V class MR-J4 series servo amplifiers are added.

Section 1.2 (3) Newly added.

Section 1.3 (1)

Section 1.3 (3)

Note 11 is added.

Newly added.

Section 1.4 (3)

Section 1.5

Newly added.

The content is added. Note is added.


Mar. 2014 SH(NA)030106ENG-G Section 1.6 (2)

Section 1.7.1 (3)

Section 1.8 (3)

Chapter 2

Section 3.1.3

Section 3.3.1

Section 3.3.3

Section 3.3.3 (1) (d)

Section 3.3.3 (2) (a)

Section 3.11

Section 4.1.2 (1) (a) 2)

Section 4.1.2 (1) (b) 5)

Section 4.1.2 (1) (c) 3)

Section 5.2.2

Section 5.2.3

Section 7.1.1 (1)

Section 7.2.3 (1)

Section 7.3.1 (2)

Section 7.4

Section 7.4 (1)

Chapter 8

Section 9.1 (3)

Section 10.2 (1)

Section 10.3.2

Section 10.5

Section 11.1.1

Section 11.2.1 (3)

Section 11.2.2 (1) (b)

Section 11.2.5 (2), (3)



Section 11.7.2 (1)

Section 11.9 (1) (c)

Section 11.10 (1)

Section 11.10 (2)

Section 11.12 (1)

Section 11.14 (2) (e)

Section 11.14 (2) (f)

Section 11.15 (1)

Section 11.16 (1)

Section 11.16 (2) (a)

App. 1

App. 4.2.3 (1) (a)

App. 4.2.3 (1) (a) 1)

App. 4.2.3 (1) (a) 2)

App. 4.2.3 (1) (b)

App. 4.2.3 (1) (b) 3)

App. 4.4 (2)

App. 4.6.1 (1) (a)

App. 4.8.1 (1)

App. 4.8.2

App. 11

Revision


Newly added.

Newly added.

POINT is changed.

Newly added.



Newly added.


The content of the note is changed.

Newly added.

Deleted.

Newly added.

The sentences of [Pr. PB24] are added.

The content of [Pr. PC09] is added.

Caution for the table is changed.

The title is changed.

Caution for the table is changed.

POINT is changed. Sentences are added.

Terms are changed.


Newly added.


Sentences are added. (1) and (2) are combined. Note 1 and 2 are deleted.

POINT is added. (2) and (3) are added.

Use of 1) in the table is changed.

Newly added.


Table is added.

Note 4 is changed.

Note 4 is changed.

Note 1 is deleted.

Newly added.



The title is changed. The diagram is added. The content of the table is changed.



Note is added. The content is added to table 11.6.


The title and content of the Note 1 are changed.



The title is changed. The content of the table is changed.



Newly added.

Note 2 is added.




Newly added.


Jan. 2015 SH(NA)030106ENG-H The model adaptive control disabled, lost motion compensation function, super trace control,

MR-BT6VCASE, and HG-JR servo motor are added.

Safety Instructions 2




About the manuals

Section 1.2

Section 1.3

Section 1.4


Note is added.

Note is added.


Section 1.5

Section 1.6 (1)

Section 1.6 (2)

Section 1.8

Section 3.1

Section 3.1.1 (5)

Section 3.1.2




Note is added.


Note is added.


Note is added.

Section 3.3.2

Section 3.3.3 (2) (a)

Section 3.5.2 (2)

Section 3.10.1

Section 4.3.1 (3) (c)

Section 5.1

Section 5.2

Section 7.2.3 (1) (a)

Section 7.2.4 (3)

Section 7.3.2

Section 7.4

Section 7.5 to 7.7

Chapter 8

Section 10.1

POINT is changed.



CAUTION is added.

POINT is added.

POINT is added.




Newly added.

POINT is added.

POINT is added.

Newly added.

The content of the chapter is changed.



Section 10.2 (1)

Section 10.3.1 (2)

Section 10.3.2

Section 11.1.1

Section 11.1.4

Section 11.2.4 (3)

Section 11.3.3

Section 11.4 (2)

Section 11.5.2 (3)

Section 11.7.2 (1)

Section 11.8

Section 11.8.1 (3)

Section 11.8.3

Section 11.10

Section 11.10 (1)

Section 11.17

Section 11.17 (2)

Chapter 12

Section 12.2.2 (2) (c)

Section 12.2.3

Section 13.3.3

Section 14.1.2






Newly added.

CAUTION is changed.





POINT is added.

Newly added.

Newly added.

CAUTION is added.

Note 4 is added.

CAUTION is added.

Note is added.

POINT is changed.

Newly added.

Newly added.




Jan. 2015 SH(NA)030106ENG-H Section 14.3.2

Section 14.4.2

Section 15.1.2

Section 15.3.2

Section 15.4.1

Section 15.4.2

Section 17.1.3

Section 17.1.9

App. 4

Revision

POINT is added.



POINT is added.




Newly added.

The content of the section is changed.

Feb. 2015 SH(NA)030106ENG-J Safety Instructions

Section 1.7.1 (1) (a)

Section 1.7.1 (1) (b)

Section 1.7.1 (2) (a)

Section 1.7.1 (3)

Section 2.2

Section 3.2.1

Section 3.5.1

Section 3.7.1 (1)

Section 5.2.1

Section 5.2.3

Section 5.2.4

Section 9.1 (1) (a)

Section 9.1 (1) (b)

Section 9.1 (1) (c)

Section 9.1 (1) (d)

Section 9.1 (1) (e)

Section 9.1 (2) (a)

Section 9.1 (2) (b)

Section 9.1 (3) (a)

Section 9.1 (3) (b)

Section 11.8

Chapter 12

Section 14.3.5

Section 14.3.5 (2) (a)

Section 15.3.3 (2)

Section 16.3.1 (3)

Section 16.3.3

Section 16.3.3 (2)

Section 17.1.7 (2)

Section 17.1.8 (1) (a)

Section 17.1.8 (1) (b)

Section 17.2

Section 17.2 (4)

Section 17.3

Section 17.3.3 (2)

App. 12

The diagram is changed. The part of table is changed.




The section name is changed.

Note 14 is changed.

The explanations of DI1, DI2, and DI3 are changed.

The diagram is partially changed.

The item name of "_ _ 6 _" in [Pr. PA01] is changed.

The sentences of "_ _ 0 1" in [Pr. PA02] are changed.

The sentences of [Pr. PA03] are changed.

The sentences of "_ x _ _" in [Pr. PC03] are added.

The sentences of "x _ _ _" in [Pr. PC04] are added.

"_ _ x _" is added to [Pr. PC17].

The sentences of "x _ _ _" in [Pr. PC26] are added.

The sentences of [Pr. PD02] are added.

The sentences of [Pr. PD15] are added.










The contents are entirely changed.

The contents are entirely changed.







The manuals are added.



POINT is changed.


POINT is changed.


Added.

Sep. 2015 SH(NA)030106ENG-K MR-J4-100B(-RJ)/MR-J4-200B(-RJ) are compatible with a 1-phase 200 V AC input, the contents of the one-touch tuning are changed, and operable environment is changed to maximum altitude of 2000 m above sea level.


Sep. 2015 SH(NA)030106ENG-K 1. To prevent electric shock, note the following

4. Additional instructions (1)

Section 1.3

Section 1.4

Section 1.6 (2)

Section 1.8

Section 2.7

Section 3.1.1 (2)

Section 3.3.1

Section 5.1.6

Section 5.2.2

Section 5.2.3

Section 5.2.6

Section 6.2

Section 7.1.1

Section 7.2.3

Section 7.3.2

Section 8.2

Section 10.5

Section 11.1.1

Section 11.5.2

Section 11.6

Section 11.7.2

Section 11.9

Section 11.10

Section 11.12

Section 11.15

Section 13.1.1

Section 13.1.5

Section 13.3.1

Section 13.3.3

Section 14.3.5

Section 15.3.3

Section 16.3.3

Section 17.1.7

Section 17.1.9

Section 17.3

App. 1

App. 2

App. 4

App. 11.3

App. 13

Revision

Partially changed.

The altitude is changed.

Partially changed.

POINT is added.

Partially added.

Partially changed.

Added.

Partially changed.

Partially changed.

[Pr. PF18] is added.

Partially changed.

Partially changed.

[Pr. PF18] is added.

The sentences are added to [Pr. PF25].

Changed.

Partially added.

Note is added.

POINT is added.

[AL. 68] is added.

Partially changed.

Partially changed.

Partially changed.

Note is added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.

Partially added.

Partially added.

Partially added.

Partially added.

POINT is partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.

Added.

Feb. 2016 SH(NA)030106ENG-L The schedule for the compliance with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety standard is added.

STO function of the servo amplifier

Partially added.

App. 6

App. 14

Partially added.

Newly added.

May 2016 SH(NA)030106ENG-M Items are added to the description of the optional data monitor function, and the DC power supply input is supported.



May 2016 SH(NA)030106ENG-M (5) Corrective actions

(6) Maintenance, inspection and parts replacement

Section 1.3

Section 1.7

Section 1.8

Section 2.5

Section 3.1

Section 3.3.1

Section 4.3.3 (2)

Section 4.5.1 (1)

Section 4.5.2 (1)

Section 5.2.2

Section 5.2.3

Section 5.2.4

Section 5.2.5

Section 6.2

Section 7.1.2

Section 7.2.3

Section 7.6

Section 8.2

Section 8.3

Section 10.5

Section 11.1.1

Section 11.2.2

Section 11.3.3

Section 11.4

Section 11.5.2

Section 11.7

Section 11.8.3

Section 11.8.5

Section 11.9

Section 11.10

Section 11.14

Section 11.16

Section 13.1.5

Section 13.3.2

Section 14.3.4

Section 16.3.1 (4)

Section 17.1.3

Section 17.1.9

Section 17.3.2

Section 17.3.3

App. 4

App. 5.7.3 (2)

App. 7

App. 13

App. 15

Partially changed.

Partially changed.

Partially changed.

Partially added.

Newly added.

Mar. 2017 SH(NA)030106ENG-N TM-RG2M series / TM-RU2M series direct drive motor is added.


(1) Transportation and installation

Partially changed.

Relevant manuals

Section 1.3

Section 1.4

Partially changed.

Partially changed.

Partially changed.

Partially added.

Partially added and partially changed.


Partially changed.

Partially added.

Partially added.

Partially changed.

Partially added.

Partially changed.

Partially changed.

Partially changed.



Partially added.

Partially changed.

Partially changed.


Partially changed.

Partially changed.



Partially changed.

Partially added.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially added.

Partially added.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Revision Date

Mar. 2017 SH(NA)030106ENG-N Section 1.7

Section 1.8

Section 3.3.3

Chapter 5

Section 6.2

Section 6.2.3

Section 5.2.6

Section 8.3

Section 9.1

Section 10.1

Section 11.1.1

Section 11.1.4

Section 11.2

Section 11.3.3

Section 11.4

Section 11.5.2

Section 11.7.2

Section 11.8

Section 11.10

Section 11.17

Section 13.3.3

Chapter 15

Section 15.4

Section 17.1.9

App. 4

App. 5

App. 6

App. 13

App. 15

App. 16

Oct. 2017

*Manual Number Revision

Partially changed.

Partially changed.

Partially changed.

POINT is partially changed.

POINT is partially added.

Partially added.

Partially changed.

Partially added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.



POINT is added.

Partially added.

Partially added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Newly added.

SH(NA)030106ENG-P TM-RG2M002C30/TM-RU2M002C30 are added.

3. To prevent injury, note the Partially changed. following


Section 1.3

Section 1.4

Section 1.6

Chapter 2

Section 2.7

Chapter 3

Section 3.3.3

Section 3.6

Section 3.7.1

Chapter 4

Section 4.2

Section 4.5.1

Section 5.2.1

Section 5.2.2

Section 5.2.6

Chapter 6

Section 6.2.2

Section 6.3.3

Section 7.1.5

Section 8.2

Section 10.1

Partially changed.

Partially changed.

Partially changed.

Partially changed.

CAUTION is partially changed.

Partially changed.


Partially added.

Partially added.

Partially added.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

POINT is partially added.

Partially changed.

Partially changed.

Partially changed.

Partially added.

Partially changed.

Revision Date

Oct. 2017

*Manual Number

SH(NA)030106ENG-P Section 10.3

Section 11.5.2

Section 11.7.2

Section 11.17

Section 14.2

Section 14.3.4

Section 15.2

Section 15.4

Section 17.1.9

App. 1

App. 2

App. 4.1

App. 4.2

App. 4.2.2

App. 4.2.3

App. 4.3

App. 4.7

App. 10.2

App. 10.4.4

App. 13.2

Revision

CAUTION is added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.

Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

 2012 MITSUBISHI ELECTRIC CORPORATION

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.

Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the

United States, Japan, and/or other countries.

Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.

All other product names and company names are trademarks or registered trademarks of their respective companies.

Warranty

1. Warranty period and coverage

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval

(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company

(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The announcement of the stop of production for each model can be seen in our Sales and Service, etc.

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product

(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used

In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.

We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

SH(NA)030106ENG-P

MODEL MR-J4-B INSTRUCTIONMANUAL

MODEL

CODE

1CW805

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH(NA)030106ENG-P(1710)MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications are subject to change without notice.

General-Purpose AC Servo

SSCNET /H Interface

MODEL

MR-J4-_B_(-RJ)

SERVO AMPLIFIER

INSTRUCTION MANUAL

P

Mitsubishi Electric MR-J4-20B(-RJ) Instruction Manual

General-Purpose AC Servo

SSCNET /H Interface

MODEL

SERVO AMPLIFIER

INSTRUCTION MANUAL

EEP-ROM life

STO function of the servo amplifier

Compliance with global standards

1. FUNCTIONS AND CONFIGURATION

2. INSTALLATION

3. SIGNALS AND WIRING

4. STARTUP

5. PARAMETERS

0 0 0

6. NORMAL GAIN ADJUSTMENT

0 0 0

7. SPECIAL ADJUSTMENT FUNCTIONS

0 0

0 0

0

0

0

8. TROUBLESHOOTING

9. DIMENSIONS

12. ABSOLUTE POSITION DETECTION SYSTEM

1

13. USING STO FUNCTION

14. USING A LINEAR SERVO MOTOR

1

0

1

2

4

16. FULLY CLOSED LOOP SYSTEM

1 0 0

0 0 0

0 0 0

1

2

17. APPLICATION OF FUNCTIONS

0 0 0

0 0 0

0

0

1 0 0

0 0 0

0 0 0

0 0 0

0

0 0

APPENDIX

App. 1 Peripheral equipment manufacturer (for reference)

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

App. 3 Symbol for the new EU Battery Directive

App. 4 Compliance with global standards

App. 5 MR-J3-D05 Safety logic unit

App. 6 EC declaration of conformity

App. 7 How to replace servo amplifier without magnetic pole detection

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

App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System &

Service

App. 10 Analog monitor

0 0

0 0

App. 11 Special specification

App. 12 Driving on/off of main circuit power supply with DC power supply

App. 13 Optional data monitor function

App. 14 STO function with SIL 3 certification

App. 15 When using the servo amplifier with the DC power supply input

App. 16 Status of general-purpose AC servo products for compliance with the China RoHS directive

General-Purpose AC Servo

SSCNET /H Interface

MODEL

SERVO AMPLIFIER

INSTRUCTION MANUAL

Related manuals

Mitsubishi Electric

MR-JE-_C SERVO AMPLIFIER

Mitsubishi Electric