Mitsubishi Electronics MR-J4-_B_(-RJ) manual

SH (NA) 030106-J (1502) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo MR-J4-_B_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 MODEL MR-J4-_B_(-RJ) SSCNET /H Interface AC Servo 1CW805 MR-J4-B[...]

A - 1 Safety Instructions Please read the instructions ca refully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the eq uipment until you have read through this Instruction M anual, Inst allation guide, and appended docume nts carefully. Do not use the equipment until you have a [...]

A - 2 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power a nd wait for 15 minutes or more until the ch arge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric sho ck may occur. In addition, when confirming whethe r [...]

A - 3 CAUTION Ensure that polarity (+/-) is correct. Ot herwise, a burst, damage, etc. may occur. The servo amplifier heat sink, re generative resistor, se rvo motor, etc. may be ho t while power is on or for some time after power-off. Take sa fety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, et c.) with [...]

A - 4 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwi se, the servo motor may operate unexpe ctedly. Do not install a power capacitor, surge ki ller, or radio noise filter (FR-BIF-(H) option) on the serv o amplifier output side. To avoid a malfunction, connect the wires to the co rrect phase terminals (U, V, and W) of the serv[...]

A - 5 CAUTION Use a noise filter, etc. to minimize the influence of electromagnetic i nterference. Electromagnetic interference may be given to the electronic eq uipment used near the se rvo amplifier. Burning or breaking a serv o amplifier may cause a toxic gas. Do not burn o r break it. Use the servo amplifier with the spe cified servo motor. The[...]

A - 6 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary batte ry) and other option s according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stor es parameter settings, et c ., is limited to 100,000. If the total number of the following operati ons exceeds 100, 000, the servo amp[...]

A - 7 «About the manuals» You must have this Instruction Manual a nd the following manuals to use thi s servo. Ensure to prepare them to use the servo safely. Relevant manuals Manual name Manual No. MELSERVO MR-D30 INSTRUCTION MAN UAL (Note 5) SH(NA)030132 MELSERVO MR-J4-DU_(-RJ)/MR-CR55K_ INST RUCTION MANUAL (Note 6) SH(NA)030153 MELSERVO-J4 SER[...]

A - 8 MEMO[...]

1 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-52 1.1 Summa ry ................................................................................................................... ........................ 1- 1 1.2 Function bl ock diagram .................................................................................................... .......[...]

2 3.7.2 When you do not use the forc ed stop decelerati on functi on ..................................................... 3-32 3.8 Interf aces ................................................................................................................ ......................... 3-33 3.8.1 Internal c onnection di agram ..........................[...]

3 6.2 One-touc h tuni ng .......................................................................................................... .................... 6- 3 6.2.1 One-touch t uning flow c hart .............................................................................................. .......... 6- 3 6.2.2 Display transition and operation proced[...]

4 10.3.1 Dynamic br ake operat ion ................................................................................................ ....... 10- 8 10.3.2 Permissible load to motor inerti a when the dynamic br ake is us ed ...................................... 10-11 10.4 Cable bending lif e ...........................................................[...]

5 12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6 12.1 Summary ............................................................................................................................... ........ 12- 1 12.1.1 Feat ures ............................................................................................................... .........[...]

6 14.4.3 Dynamic brake characteri stics .......................................................................................... .... 14-31 14.4.4 Permissible load to motor mass ratio when the dynamic br ake is us ed ............................... 14-32 15. USING A DIRECT DRIVE MOTOR 15- 1 to 15-22 15.1 Functions and configur ation .............[...]

7 17.1.8 Change of specifications of "J3 com patibility mode" switch ing proce ss ................................ 17- 9 17.1.9 J3 extens ion func tion .................................................................................................. .......... 17-12 17.2 Master-slave operation f unction ..................................[...]

8 MEMO[...]

1. FUNCTIONS AND CONFIGURATION 1 - 1 1. FUNCTIONS AND CONFIGURATION 1.1 Summary The Mitsubishi MELSERVO-J4 series general-purpose AC servo has further higher performance and higher functions compared to the pr evious MELSERVO-J3 series. MR-J4-_B_ servo amplifier is connected to controllers, including a servo system controller, on the high- speed sy[...]

1. FUNCTIONS AND CONFIGURATION 1 - 2 Table 1.1 Connectors to connect from external encoders Operation mode External encoder communication method Connector MR-J4-_B_ MR-J4-_B_-RJ Linear servo motor system Two-wire type CN2 (Note 1) CN2 (Note 1) Four-wire type A/B/Z-phase differential output method CN2L (Note 6) Fully closed loop system Two-wire type[...]

1. FUNCTIONS AND CONFIGURATION 1 - 3 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 Model position Current control Actual position control Actual speed c[...]

1. FUNCTIONS AND CONFIGURATION 1 - 4 Note 1. The built-in regenerative resist or 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(-R J) or more have a cooling fan. 4. MR-J4 servo ampli[...]

1. FUNCTIONS AND CONFIGURATION 1 - 5 (b) MR-J4-700B(-RJ) L11 L21 Cooling fan N- C Power factor improving DC reactor (Note 1) Power supply MC MCCB STO circuit CN5 USB USB CN1A CN1B D/A CN3 Servo amplifier U V W U V W P3 P4 Relay (Note 2) P+ + + B RA B1 B2 CN4 M CN2 CN8 Control circuit power supply CHARGE lamp Regene- rative TR Regenerative option L3[...]

1. FUNCTIONS AND CONFIGURATION 1 - 6 (c) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ) L11 L21 Encoder N- C Power factor improving DC reactor MC MCCB CN5 USB USB CN1A CN1B D/A CN3 P3 P4 (Note 2) P+ + + B RA B1 B2 CN4 M CN2 CN8 Servo motor External regene rative resistor or regenerative option L3 L2 L1 U U U (Note 3) Thyristor (Note 4, 6) External[...]

1. FUNCTIONS AND CONFIGURATION 1 - 7 Note 1. Refer to section 1.3 fo r the power supply specifications. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of t he inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers. 3. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2[...]

1. FUNCTIONS AND CONFIGURATION 1 - 8 (2) 400 V class (a) MR-J4-350B4(-RJ) or less Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder L11 L21 Cooling fan (Note 2) Encoder N- CD L3 L2 L1 Dynamic brake circuit Current detection Overcurrent protection Voltage detection (Note 1) Power supply MC MCCB[...]

1. FUNCTIONS AND CONFIGURATION 1 - 9 (b) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ) Dynamic brake circuit Current detector Virtual motor Virtual encoder L11 L21 Cooling fan Encoder N- C Current detection Overcurrent protection Voltage detection (Note 1) Power supply MC MCCB Base amplifier STO circuit CN5 USB USB CN1A CN1B D/A Position command input CN3 Serv[...]

1. FUNCTIONS AND CONFIGURATION 1 - 10 (c) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)/MR-J4-22KB4(-RJ) Current detector Thyristor External dynamic brake (optional) U V W U V W L3 L2 L1 U U U (Note 3) (Note 5) Power factor improving DC reactor Charge lamp Regene- rative TR Cooling fan L11 L21 Encoder N- C (Note 1) Power supply MC MCCB CN5 USB USB CN1A CN1B D/[...]

1. FUNCTIONS AND CONFIGURATION 1 - 11 Note 1. Refer to section 1.3 fo r the power supply specification. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of t he inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers. 3. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have C[...]

1. FUNCTIONS AND CONFIGURATION 1 - 12 (3) 100 V class Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder L11 L21 Encoder N- CD L2 L1 Dynamic brake circuit Current detection Overcurrent protection Voltage detection (Note 2) Power supply MC MCCB Base amplifier STO circuit CN5 USB USB Personal com[...]

1. FUNCTIONS AND CONFIGURATION 1 - 13 1.3 Servo amplifier standard specifications (1) 200 V class Model: MR-J4-_(-RJ) 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB Output Rated voltage 3-phase 170 V AC Rated current [A] 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 Main circuit power supply input Voltage/Frequency 3-ph[...]

1. FUNCTIONS AND CONFIGURATION 1 - 14 Note 1. 0.3 A is the value applicable when all I/O signals ar e used. The current capacity c an be decreased by reducing the num ber of I/O points. 2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚ C to 45 ˚ C or at 75% or smaller effective load ra[...]

1. FUNCTIONS AND CONFIGURATION 1 - 15 (2) 400 V class Model: MR-J4-_(-RJ) 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4 Output Rated voltage 3-phase 323 V AC Rated current [A] 1.5 2.8 5. 4 8.6 14.0 17.0 32.0 41.0 63.0 Main circuit power supply input Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current [A] 1.4 2.5 5. 1 7.[...]

1. FUNCTIONS AND CONFIGURATION 1 - 16 Note 1. 0.3 A is the value applicable when all I/O signals ar e used. The current capacity c an be decreased by reducing the num ber of I/O points. 2. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external c ircuit to self-diagnose. 3. Except for[...]

1. FUNCTIONS AND CONFIGURATION 1 - 17 (3) 100 V class Model: MR-J4-_(-RJ) 10B1 20B1 40B1 Output Rated voltage 3-phase 170 V AC Rated current [A] 1.1 1.5 2.8 Main circuit power supply input Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz Rated current [A] 3.0 5.0 9.0 Permissible voltage fluctuation 1-phase 85 V AC to 132 V AC Permissible[...]

1. FUNCTIONS AND CONFIGURATION 1 - 18 Note 1. 0.3 A is the value applicable when all I/O signals ar e used. The current capacity c an be decreased by reducing the num ber of I/O points. 2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚ C to 45 ˚ C or at 75% or smaller effective load ra[...]

1. FUNCTIONS AND CONFIGURATION 1 - 19 1.4 Combinations of servo amplifiers and servo motors (1) 200 V class Servo amplifier Rotary servo motor Linear servo motor (primary side) Direct drive motor HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR HG-JR (When the maximum torque is 400%) MR-J4-10B(-RJ) 053 13 053 13 MR-J4-20B(-RJ) 23 23 LM-U2PAB-05M-0SS0 LM-U2PBB-0[...]

1. FUNCTIONS AND CONFIGURATION 1 - 20 (2) 400 V class Servo amplifier Rotary servo motor Linear servo motor (primary side) HG-SR HG-JR HG-JR (When the maximum torque is 400%) MR-J4-60B4(-RJ) 524 534 MR-J4-100B4(-RJ) 1024 734 1034 534 MR-J4-200B4(-RJ) 1524 2024 1534 2034 734 1034 MR-J4-350B4(-RJ) 3524 3534 1534 2034 MR-J4-500B4(-RJ) 5024 5034 3534 M[...]

1. FUNCTIONS AND CONFIGURATION 1 - 21 1.5 Function list The following table lists the functions of this servo. Fo r details of the functions, refer to each section of the detailed description field. Function Description Detailed explanation Model adaptive control This realizes a high response and stable c ontrol following the ideal model. The two- [...]

1. FUNCTIONS AND CONFIGURATION 1 - 22 Function Description Detailed explanation Fully closed loop system Fully closed loop system can be c onfigured 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 using MR Configurator2. Chapter 16 One-touch tuning [...]

1. FUNCTIONS AND CONFIGURATION 1 - 23 1.6 Model designation (1) Rating plate The following shows an example of rati ng plate for explanation of each item. Country of origin Model Capacity Applicable power supply Rated output current Standard, Manual number Ambient temperature IP rating KC certification number, The year and month of manufacture Seri[...]

1. FUNCTIONS AND CONFIGURATION 1 - 24 1.7 Structure 1.7.1 Parts identification (1) 200 V class (a) MR-J4-200B(-RJ) or less The diagram is for MR-J4-10B-RJ. (1) (3) (2) Inside of the display cover (5) (18) (13) (10) (17) (9) (6) (7) (11) Bottom (16) (15) (8) (4) (14) Side (12) (19) (20) No. Name/Application Detailed explanation (1) Displa y The 3-di[...]

1. FUNCTIONS AND CONFIGURATION 1 - 25 (b) MR-J4-350B(-RJ) The broken line area is the same as MR-J4-200B(-RJ) or less. (1) (3) (2) Side (4) (5) (7) (6) No. Name/Application Detailed explanation (1) Main circuit power s upply connector (CNP1) Connect the input power supply. Section 3.1 Section 3.3 (2) Rating plate Section 1.6 (3) Servo motor power s[...]

1. FUNCTIONS AND CONFIGURATION 1 - 26 (c) MR-J4-500B(-RJ) POINT The servo amplifier is shown with the front cover open. The front cover cannot be removed. (1) (3) (2) (Note) (8) (4) Side (5) (6) (7) The broken line area is the same as MR-J4-200B(-RJ) or less. No. Name/Application Detailed explanation (1) Control circuit terminal block (TE2) Used to[...]

1. FUNCTIONS AND CONFIGURATION 1 - 27 (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. (1) (5) (Note) (2) (4) (3) (6) The broken line area i s the same as MR-J4-200B4(-RJ) or less. (7) No. Name/Application Detailed explanation (1) Power factor improving reac tor [...]

1. FUNCTIONS AND CONFIGURATION 1 - 28 (e) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (1) (2) (4) (3) (6) The broken line area is the same as MR-J4-200B(-RJ) or less. (7) (1) (5) (Note) (2) (4) (3) (6) (7) No. Name/Application Detailed explanatio[...]

1. FUNCTIONS AND CONFIGURATION 1 - 29 (f) MR-J4-22KB(-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) (2) (3) (4) (1) The broken line area is the same as MR-J4-200B4(-RJ) or less. No. Name/Application Detailed explanation (1) Power factor improving reactor te[...]

1. FUNCTIONS AND CONFIGURATION 1 - 30 (2) 400 V class (a) MR-J4-200B4(-RJ) or less The diagram is for MR-J4-60B4-RJ. (1) (3) (2) Inside of the display cover (4) (13) (15) (14) Side (16) (17) (5) (6) (7) (8) (9) (19) (20) (18) (10) (11) Bottom (12) No. Name/Application Detailed explanation (1) Displa y The 3-digit, seven-segment LED shows the servo [...]

1. FUNCTIONS AND CONFIGURATION 1 - 31 (b) MR-J4-350B4(-RJ) The broken line area is the same as MR-J4-200B4(-RJ) or less. (1) (3) (2) Side (4) (5) (7) (6) No. Name/Application Detailed explanation (1) Main circuit power s upply connector (CNP1) Connect the input power supply. Section 3.1 Section 3.3 (2) Rating plate Section 1.6 (3) Control circuit p[...]

1. FUNCTIONS AND CONFIGURATION 1 - 32 (c) MR-J4-500B4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (1) (3) (Note) (2) (4) (5) (6) (7) The broken line area is the same as MR-J4-200B4(-RJ) or less. No. Name/Application Detailed explanation (1) Control circuit terminal block ([...]

1. FUNCTIONS AND CONFIGURATION 1 - 33 (d) MR-J4-700B4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (1) (5) (Note) (2) (4) (3) (6) The broken line area is t he same as MR-J4-200B4(-RJ) or less. (7) No. Name/Application Detailed explanation (1) Power factor improving reactor [...]

1. FUNCTIONS AND CONFIGURATION 1 - 34 (e) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (1) (5) (Note) (2) (4) (3) (6) The broken line area is the s ame as MR-J4-200B4(-RJ) or less. (7) No. Name/Application Detailed explanation (1) Power factor i[...]

1. FUNCTIONS AND CONFIGURATION 1 - 35 (f) MR-J4-22KB4(-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) (2) (3) (4) (1) The broken line area is the same as MR-J4-200B4(-RJ) or less. No. Name/Application Detailed explanation (1) Power factor improving reactor t[...]

1. FUNCTIONS AND CONFIGURATION 1 - 36 (3) 100 V class The diagram is for MR-J4-10B1-RJ. (1) (3) (2) Inside of the display cover (5) (18) (13) (10) (17) (9) (6) (7) (11) Bottom (16) (15) (8) (4) (14) Side (12) (19) (20) No. Name/Application Detailed explanation (1) Display The 3-digit, seven-segment LED shows the servo status and the alarm number. S[...]

1. FUNCTIONS AND CONFIGURATION 1 - 37 1.7.2 Removal and reinstallation of the front cover CAUTION Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp tu rns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock [...]

1. FUNCTIONS AND CONFIGURATION 1 - 38 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. FUNCTIONS AND CONFIGURATION 1 - 39 1.8 Configuration including peripheral equipment CAUTION Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. POINT Equipment other than the servo amplif ier and servo motor are optional or recommended products.[...]

1. FUNCTIONS AND CONFIGURATION 1 - 40 (1) 200 V class (a) MR-J4-200B(-RJ) or less The diagram is for MR-J4-20B-RJ. CN4 CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 L2 L3 RS T Line noise filter (FR-BSF01) Regenerative option Servo motor Personal computer Magnetic contactor (MC) (Note 3) (Note 1) Powe r f ac to[...]

1. FUNCTIONS AND CONFIGURATION 1 - 41 (b) MR-J4-350B(-RJ) CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 L2 L3 CN4 RS T (Note 1) Power supply (Note 2) Molded-case circuit breaker (MCCB) Magnetic contactor (MC) (Note 3) Line noise filter (FR-BSF01) Regene rative option Power fact or improving DC reactor (FR-HEL)[...]

1. FUNCTIONS AND CONFIGURATION 1 - 42 (c) MR-J4-500B(-RJ) CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 L2 L3 CN4 RS T (Note 1) Molded -cas e circuit breaker (MCCB) Power supply (Note 2) Magnetic contactor (MC) (Note 3) Line no is e filter (FR-BLF) Regenerative option Power facto r improving DC reactor (FR-HEL[...]

1. FUNCTIONS AND CONFIGURATION 1 - 43 (d) MR-J4-700B(-RJ) CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L3 L2 L1 CN4 RS T (Note 1) Molded-cas e circui t breaker (MCCB) Power supply (Note 2) Magnetic contactor (MC) (Note 3) Line noise filter (FR-BLF) Power fac tor im provi n g DC rea cto r (FR-HEL) (Note 5) Rege n[...]

1. FUNCTIONS AND CONFIGURATION 1 - 44 (e) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ) P3 P4 CN5 P+ C MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 CN4 RS T L3 L11 L21 L2 (Note 1) Molded-case circuit breaker (MCCB) Power supply (Note 2) Magnetic contactor (MC) (Note 3) Line no ise filter (FR-BLF) Powe r fa ct or improving DC reactor (FR-HEL) (No[...]

1. FUNCTIONS AND CONFIGURATION 1 - 45 (f) MR-J4-22KB(-RJ) CN5 L11 L21 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) L1 CN4 RS T P3 P4 L3 P+ C L2 W V U (Note 1) Molded-cas e circui t breaker (MCCB) Power supply (Note 2) Magnetic contac tor (MC) (Note 3) Line noise filter (FR-BLF) Power facto r improvin g DC reactor (FR-HEL) (Note 5) Rege nera[...]

1. FUNCTIONS AND CONFIGURATION 1 - 46 (2) 400 V class (a) MR-J4-200B4(-RJ) or less The diagram is for MR-J4- 60B4-RJ and MR-J4-100B4-RJ. CN4 CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 L2 L3 (Note 1) Junction terminal block To safety relay or MR-J3-D05 safety logic unit Servo system controller or previous se[...]

1. FUNCTIONS AND CONFIGURATION 1 - 47 (b) MR-J4-350B4(-RJ) CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 L2 L3 (Note 1) CN4 RS T Molded -cas e circuit breaker (MCCB) (Note 2) Power supply (Note 3) Magneti c contactor (MC) Line noise filter (FR-BSF01) Regenerative option Powe r fa cto r improving DC reactor (FR[...]

1. FUNCTIONS AND CONFIGURATION 1 - 48 (c) MR-J4-500B4(-RJ) P+ C L21 L11 CN2 CN2L (Note 4) W V U L1 L2 L3 (Note 1) P3 P4 CN4 RS T CN5 MR Configurator2 CN3 CN8 CN1A CN1B Molded-case circuit breaker (MCCB) (Note 2) Power supply (Note 3) Magnetic contactor (MC) Line noise filter (FR-BSF01) (Note 5) Regenerative option Power f actor improving DC reactor[...]

1. FUNCTIONS AND CONFIGURATION 1 - 49 (d) MR-J4-700B4(-RJ) CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L3 (Note 1) L2 L1 CN4 RS T Molded-c ase circuit breaker (MCCB) (Note 2) Power supply (Note 3) Magnetic contactor (MC) Line noise filter (FR-BLF) (Note 5) Regenerati ve option Powe r fa ctor improving D C react[...]

1. FUNCTIONS AND CONFIGURATION 1 - 50 (e) MR-J4-11K4B(-RJ)/MR-J4-15K4B(-RJ) P3 P4 CN5 P+ C MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U (Note 1) L1 CN4 RS T L3 L11 L21 L2 Molded-case circuit breaker (MCCB) (Note 2) Power supply (Note 3) Magneti c contactor (MC) Line noise filter (FR-BLF) (Note 5) Regenerative option Powe r f ac tor im[...]

1. FUNCTIONS AND CONFIGURATION 1 - 51 (f) MR-J4-22K4B(-RJ) CN5 MR Configurator2 CN3 CN8 CN1A CN2L (Note 4) CN1B CN2 (Note 1) CN4 RS T P+ C L11 L21 P3 P4 W V U L3 L2 L1 Molded-c ase circuit breaker (MCCB) (Note 2) Power supply (Note 3) Magnetic contactor (MC) Line noise filter (FR-BLF) (Note 5) Regenerative option Powe r f act or improving DC reacto[...]

1. FUNCTIONS AND CONFIGURATION 1 - 52 (3) 100 V class The diagram is for MR-J4-20B1-RJ. CN4 CN5 P+ C L11 L21 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 L2 RT Line noise filter (FR-BSF01) Regenerative option Servo motor Personal computer Magnetic contactor (MC) (Note 3) (Note 1) Junction terminal block To safety r elay or MR-J3-D0[...]

2. INSTALLATION 2 - 1 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 materi al. Installing it directly or close to combustibles will lead to a fire. Install the servo amplifier and the se [...]

2. INSTALLATION 2 - 2 2.1 Installation direction and clearances CAUTION The equipment must be installed in the s pecified direction. Otherwise, it may cause a malfunction. Leave specified clearances between the serv o amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction. (1) Installation clearances of the servo [...]

2. INSTALLATION 2 - 3 (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 ava ilability of close mounting. When mounting the servo amplifiers closel y, do not install the servo amplifier whose depth is larger than that of t he left side servo am[...]

2. INSTALLATION 2 - 4 (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 inte rnal 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 m[...]

2. INSTALLATION 2 - 5 (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 charac teristic of SSCNET III cable. However, some wire sheaths and cable ties, which contain migrating plas ticizer[...]

2. INSTALLATION 2 - 6 (7) Twisting If optical fiber is twisted, it w ill 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 hyd[...]

2. INSTALLATION 2 - 7 2.6 Parts having service lives Service lives of the following parts are listed below. However, the service lives vary depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives. For parts replacement, please contact your local sales office. Pa[...]

2. INSTALLATION 2 - 8 MEMO[...]

3. SIGNALS AND WIRING 3 - 1 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring s hould 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 el ectri[...]

3. SIGNALS AND WIRING 3 - 2 CAUTION Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. U Servo motor M V W U V W U M V W U V W Servo amplifier Servo motor Servo amplifier Connecting a servo motor of the [...]

3. SIGNALS AND WIRING 3 - 3 3.1 Input power supply circuit CAUTION Always connect a magnetic contactor between the power supply and the main circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is no[...]

3. SIGNALS AND WIRING 3 - 4 3.1.1 200 V class (1) For 3-phase 200 V AC to 240 V AC power s upply of MR-J4-10B(-RJ) to MR-J4-350B(-RJ) ALM DOCOM CN3 RA1 L1 L2 L3 P3 P4 P+ L1 1 L21 N- D C U V W CNP1 CNP3 CNP2 U V W M CN2 MC MC SK CN3 EM2 DICOM CN8 MCCB 24 V DC (Note 12) MC (Note 7) (Note 5) 24 V DC (Note 12) Malfunction (Note 4) 3-phase 200 V AC to 2[...]

3. SIGNALS AND WIRING 3 - 5 (2) For 1-phase 200 V AC to 240 V AC power s upply of MR-J4-10B(-RJ) to MR-J4-70B(-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 fr om MR-J3 Series Servo Amplifier's. When using MR-J4 as a replacement for MR-J3, be careful not to connect[...]

3. SIGNALS AND WIRING 3 - 6 (3) MR-J4-500B(-RJ) L1 L2 L3 L11 L21 P3 C N- P+ P4 U V W U V W CN2 MC MC SK CN8 MCCB D ALM DOCOM CN3 RA1 CN3 EM2 DICOM 3-phase 200 V AC to 240 V AC MC (Note 7) (Note 5) 24 V DC (Note 12) Malfunction (Note 4) Servo amplifier (Note 1) (Note 10) (Note 2) Servo motor M Motor Encoder (Note 3) Encoder cable (Note 6) (Note 4) M[...]

3. SIGNALS AND WIRING 3 - 7 (4) MR-J4-700B(-RJ) C P+ L11 L21 P3 P4 N- L1 L2 L3 U V W U V W M CN2 MC MC SK CN8 MCCB ALM DOCOM CN3 RA1 CN3 EM2 DICOM Built-in regenerative resistor MC (Note 7) (Note 5) 24 V DC (Note 12) Malfunction (Note 4) 3-phase 2 00 V AC to 2 40 V AC Servo amplifier (Note 1) (Note 10) (Note 2) Servo motor Motor Encoder (Note 3) En[...]

3. SIGNALS AND WIRING 3 - 8 (5) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ) C P+ L11 L21 P3 P4 N- L1 L2 L3 U V W U V W M CN2 MC MC SK CN8 MCCB BU BV BW MCCB ALM DOCOM CN3 RA1 CN3 EM2 DICOM MC (Note 7) (Note 5) 24 V DC (Note 12) Malfunction (Note 4) 3-phase 200 V AC to 240 V AC Servo amplifier (Note 1) (Note 10) (Note 2) Servo motor Motor Encode[...]

3. SIGNALS AND WIRING 3 - 9 Note 1. Between P3 and P4 is connected by default. When using t he power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additiona lly, a power factor improving DC reactor and power factor improving AC reactor c annot be used simultaneously. 2. When using the regen[...]

3. SIGNALS AND WIRING 3 - 10 3.1.2 400 V class (1) MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ) (Note 7) MC ALM DOCOM CN3 (Note 5) (Note 4) Malfunction RA1 L1 L2 L3 P3 P4 P+ L11 L21 N- D C U V W (Note 1) (Note 10) (Note 2) CNP1 CNP3 CNP2 U V W M Motor CN2 (Note 6) (Note 11) (Note 11) (Note 4) Malfunction RA1 OFF MC ON MC SK CN3 (Note 5) Forced stop 2 EM2 DI[...]

3. SIGNALS AND WIRING 3 - 11 (2) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ) (Note 5) (Note 4) Malfunction (Note 5) Forced stop 2 C P+ L11 L21 P3 P4 N- (Note 1) (Note 7) MC L1 L2 L3 U V W (Note 2) U V W M Motor CN2 (Note 6) (Note 4) Malfunction RA1 OFF MC ON MC SK CN8 MCCB (Note 10) (Note 11) (Note 11) ALM DOCOM CN3 RA1 CN3 EM2 DICOM 24 V DC (Note 13) 24 V D[...]

3. SIGNALS AND WIRING 3 - 12 (3) MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ) (Note 5) (Note 4) Malfunction (Note 5) Forced stop 2 C P+ L11 L21 P3 P4 N- (Note 1) (Note 7) MC L1 L2 L3 U V W U V W M Motor CN2 (Note 6) (Note 4) Malfunction RA1 OFF MC ON MC SK CN8 MCCB (Note 10) (Note 11) (Note 11) (Note 13) BU BV BW MCCB ALM DOCOM CN3 RA1 CN3 EM2 DICOM 24 V D[...]

3. SIGNALS AND WIRING 3 - 13 Note 1. Between P3 and P4 is connected by default. When using t he power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additiona lly, a power factor improving DC reactor and power factor improving AC reactor c annot be used simultaneously. 2. When using the rege[...]

3. SIGNALS AND WIRING 3 - 14 3.1.3 100 V class ALM DOCOM CN3 RA1 L1 L2 P+ L1 1 L21 N- D C U V W CNP1 CNP3 CNP2 U V W M CN2 MC MC SK CN3 EM2 DICOM CN8 MCCB 24 V DC (Note 12) MC (Note 7) (Note 5) 24 V DC (Note 12) Malfunction (Note 4) 1-phase 100 V AC to 120 V AC Servo amplifier (Note 1) (Note 10) (Note 2) Servo motor Motor Encoder (Note 3) Encoder c[...]

3. SIGNALS AND WIRING 3 - 15 3.2 I/O signal connection example POINT EM2 has the same function as EM1 in the torque control mode. 3.2.1 For sink I/O interface 20 EM2 2 19 12 DI1 DI3 DI2 (Note 12) (Note 2) Servo amplifier CN3 (Note 12) (Note 14) FLS RLS DOG (Note 13) Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (differentia[...]

3. SIGNALS AND WIRING 3 - 16 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 c onnected reversely, the servo amplifier will malfunction and will no t output signals, disabling [...]

3. SIGNALS AND WIRING 3 - 17 3.2.2 For source I/O interface POINT For notes, refer to section 3.2.1. 10 20 EM2 2 19 12 DI1 DI3 DI2 3 DOCOM 9 INP 15 ALM 6L A 16 LAR 7L B 17 LBR 8L Z 18 LZR 11 L G RA1 RA2 5 DICOM DICOM MO1 LG MO2 4 1 14 SD Plate CN8 RA3 CN1A CN1B (Note 12) Servo amplifier CN3 (Note 12) (Note 14) FLS RLS DOG (Note 13) Encoder A-phase [...]

3. SIGNALS AND WIRING 3 - 18 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS. Symbol Connection target (application) Description L1/L2/L3 Main circuit power supply Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, conne[...]

3. SIGNALS AND WIRING 3 - 19 Symbol Connection target (application) Description L11/L21 Control circuit power supply Supply the following power to L11 and L21. Servo amplifier Power MR-J4-10B(-RJ) to 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 L11/L21 1-phase 380 V AC to 480[...]

3. SIGNALS AND WIRING 3 - 20 (2) Timing chart (Note 1) (3 s to 4 s) 95 ms (Note 2) 10 ms 95 ms Servo-on command accepted Main circuit Control circuit Base circuit Servo-on command (from controller) power supply ON OFF ON OFF ON OFF Note 1. This range will be "5 s to 6 s" for the linear servo system and fully closed loop system. 2. The tim[...]

3. SIGNALS AND WIRING 3 - 21 (b) MR-J4-200B(-RJ)/MR-J4-350B(-RJ) CNP2 CNP1 CNP3 MR-J4-200B(-RJ) Servo amplifier CNP3 CNP1 CNP2 MR-J4-350B(-RJ) Servo amplifier Table 3.2 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length [mm] Open tool Manufa cturer Size Insulator OD CNP1 06JFAT-SAXGFK-XL AWG 16 to 10 47 mm o[...]

3. SIGNALS AND WIRING 3 - 22 (d) MR-J4-10B1(-RJ) to MR-J4-40B1(-RJ) CNP2 CNP1 CNP3 Servo amplifier Table 3.4 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length [mm] Open tool Manufa cturer Size Insulator OD CNP1 06JFAT-SAXGDK-H7.5 AWG 18 to 14 39 mm or shorter 9 J-FAT-OT JST CNP2 05JFAT-SAXGDK-H5.0 CNP3 03JF[...]

3. SIGNALS AND WIRING 3 - 23 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 Wire si ze Ferrule model (Phoenix Contact) Crimping tool (Phoenix Contact) For one For two MR-J4-10B(-RJ) to MR-J4-100B(-RJ) AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK [...]

3. SIGNALS AND WIRING 3 - 24 3.4 Connectors and pin assignment POINT The pin assignment of the connectors ar e 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 shielded external conductor of the cable to the ground plate and fix it to the conn[...]

3. SIGNALS AND WIRING 3 - 25 3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division co lumn 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 Connector pin No. Function and application I/O division Forced stop 2 EM2 CN3-2[...]

3. SIGNALS AND WIRING 3 - 26 3.5.2 Output device (1) Output device pin The following shows the output device pi ns and parameters for assigning devices. Connector pin No. Parameter Initial device I/O division CN3-13 [Pr. PD07] MBR CN3-15 [Pr. PD09] ALM DO-1 CN3-9 [Pr. PD08] INP (2) Output device explanations Device Symbol Function and application E[...]

3. SIGNALS AND WIRING 3 - 27 Device Symbol Function and application Limiting torque 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. Warning WNG When warning has occurred, WNG turns on. When a warning i[...]

3. SIGNALS AND WIRING 3 - 28 3.6 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration can not be guaranteed. (Refer to chapter 8.) When SSCNET III/H communication brake o ccurs, forced stop deceleration will operate. (Refer to section 3.7.1 (3).) In the torque control mode,[...]

3. SIGNALS AND WIRING 3 - 29 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 brake due to delay time of the electromagnetic brake. Set the time from MBR (Electro magnetic brake[...]

3. SIGNALS AND WIRING 3 - 30 3.6.3 Vertical axis fr eefall 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 functio[...]

3. SIGNALS AND WIRING 3 - 31 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 In the torque control mode, the forced st op deceleration function is not available. To deactivate the alar[...]

3. SIGNALS AND WIRING 3 - 32 (2) When the forced stop deceleration function is not enabled MBR (Electromagnetic brake interlock) ON OFF ON (no alarm) OFF (alarm) Base circuit (Energy supply to the servo motor) ON OFF Servo amplifier display 0 r/min Servo motor speed ALM (Malfunction) No alarm Alarm No. Braking by the dynamic brake Dynamic brake + B[...]

3. SIGNALS AND WIRING 3 - 33 3.8 Interfaces 3.8.1 Internal connection diagram POINT Refer to section 13.3.1 for the CN8 connector. 3 CN3 6 16 7 17 8 18 LA LAR LB LBR LZ LZR 2 4 7 8 MR MRR MX MXR LG PE M CN2 CN3 MO1 MO2 LG 4 14 1 LG 11 EM2 CN3 20 DI1 2 DI2 12 DI3 19 DICOM 5 10 CN3 3 13 9 15 DOCOM INP ALM USB D+ GND D- 2 3 5 CN5 MBR DICOM RA RA 3 2 4[...]

3. SIGNALS AND WIRING 3 - 34 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 ma ke connection with the external device. (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode [...]

3. SIGNALS AND WIRING 3 - 35 (3) Encoder output pulses DO-2 (differential line driver type) (a) Interface Maximum output current: 35 mA 150 Ω 100 Ω Am26LS32 or equivalent Servo amplifier LA (LB, LZ) LAR (LBR, LZR) SD LG High-speed photocoupler Servo amplifier LAR (LBR, LZR) SD LA (LB, LZ) (b) Output pulse /2 LAR T Servo motor CCW rotation Time cy[...]

3. SIGNALS AND WIRING 3 - 36 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc. V CES 1.0 V I CEO 100 µA Approx[...]

3. SIGNALS AND WIRING 3 - 37 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 c onnected to a cont[...]

3. SIGNALS AND WIRING 3 - 38 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, e[...]

3. SIGNALS AND WIRING 3 - 39 3.10 Servo motor with an electromagnetic brake 3.10.1 Safety precautions CAUTION Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. Servo motor Electromagnetic brake B U RA Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns o[...]

3. SIGNALS AND WIRING 3 - 40 (1) Connection diagram B2 B1 Servo motor 24 V DC ALM (Malfaunction) Servo amplifier MBR DOCOM MBR RA1 RA1 U B (Note 1) (Note 2) 24 V DC Note 1. Create the circuit in order to shut off by interlocking with the emergency stop sw itch. 2. Do not use the 24 V DC interface pow er supply for the electromagnetic brake. (2) Set[...]

3. SIGNALS AND WIRING 3 - 41 (b) Off/on of the forced stop command (fro m controller) or EM2 (Forced stop 2) POINT In the torque control mode, the forced st op deceleration function is not available. ON ON OFF (Note 2) Model speed command 0 and equal to or less than zero speed Disabled (ON) Enabled (OFF) OFF Forced stop command (from controller) or[...]

3. SIGNALS AND WIRING 3 - 42 (e) Main circuit power supply off dur ing control circuit power supply on POINT In the torque control mode, the forced st op deceleration function is not available. ON OFF ON OFF (Note 2) The time until a vol tage drop is detected. ON OFF Dynamic brake Forced stop deceleration Dynamic brake + Electromagnetic brake Elect[...]

3. SIGNALS AND WIRING 3 - 43 (2) When you do not use the fo rced 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 (fro m controller) or EM1 (Forced stop 1) Dynamic brake Dynam[...]

3. SIGNALS AND WIRING 3 - 44 (f) Ready-off command from controller It is the same as (1) (f) in this section. 3.11 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, always c onnect the protective earth (PE) terminal (marked ) of the servo amplifier to the prot ective earth (PE) of the cabinet. The [...]

4. STARTUP 4 - 1 4. STARTUP WARNING Do not operate the switches with wet hands . Otherwise, it may cause an electric shock. CAUTION Before starting operation, check the par ameters. Improper settings may cause some machines to operate unexpectedly. The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on [...]

4. STARTUP 4 - 2 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[...]

4. STARTUP 4 - 3 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 terminal s (L1, L2, L3, L11, and L21) of the servo amplifier should satisfy the defined specificat ions. (Refer[...]

4. STARTUP 4 - 4 (c) When you use an option and auxiliary equipment 1) 200 V class a) When you use a regenerative option fo r 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. A twisted cable should be used. (Refer to se[...]

4. STARTUP 4 - 5 c) When you use a brake unit and power regenerat ion 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 s hould be connected to P+ terminal and N- [...]

4. STARTUP 4 - 6 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. (Ref er to section 10.4.) (c) The connector of the servo motor should not be stressed. (2) Environment Signal cables and power cables ar e not shorted by wire offcut s[...]

4. STARTUP 4 - 7 (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake. Operation/command Stopping condition Servo system controller Servo-off command The base circuit is shut off and the servo m[...]

4. STARTUP 4 - 8 4.3 Switch setting and display of the servo amplifier Switching to the test operation mode, deactivating cont rol axes, and setting control axis No. are enabled with switches on the servo amplifier. On the servo amplifier display (three-digit, seven-segm ent LED), check the status of communication with the servo system controller a[...]

4. STARTUP 4 - 9 (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 w ill not be recognized by the controller. Control axis deactivation switc h 1 ON 2 3 4 (3) Switches for setting control axis No. POINT The [...]

4. STARTUP 4 - 10 (c) Switch combination list for the control axis No. setting POINT Set control axis Nos. for one system. For det ails 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[...]

4. STARTUP 4 - 11 4.3.2 Scrolling display (1) Normal display When there is no alarm, the axis No. and blank are displayed in rotation. 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. Status [...]

4. STARTUP 4 - 12 4.3.3 Status display of an axis (1) Display sequence The segment of the last 2 digits shows the axis number. Servo system controller power on (SSCNET III/H communication begins) Ready-on Servo-on Ordinary operation Servo system controller power off Servo system controller power on When alarm occurs, i ts alarm code appears. Waitin[...]

4. STARTUP 4 - 13 (2) Indication list Indication Status Description Initializing System check in progress A b Initializing Power of the servo amplifier was switched on at the condition that the pow er of the servo system controller is off. The control axis No. set to the auxiliary axis number setting sw itches (SW2-3 and SW2-4) and the axis selecti[...]

4. STARTUP 4 - 14 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.[...]

4. STARTUP 4 - 15 4.5.1 Test operation mode in MR Configurator2 POINT When the test operation mode is selected wi th the test operation select switch (SW2-1), the SSCNET III/H communication fo r the servo amplifier in the test operation mode and the following servo amplifiers is blocked. (1) Test operation mode (a) Jog operation Jog operation can b[...]

4. STARTUP 4 - 16 (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 opera[...]

4. STARTUP 4 - 17 (2) Operation procedure 1) Turn off the power. 2) Turn "ON (up)" SW2-1. Set SW2-1 to "ON (up)". ON 12 34 1 ON 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 decim al point on the first digit wi[...]

4. STARTUP 4 - 18 4.5.2 Motor-less operation in controller POINT Use motor-less operation which is ava ilable by making the servo system controller parameter setting. Connect the servo system controller to t he servo amplifier before the motor-less operation. The motor-less operation using a controller is available with rotary servo motors only. It[...]

4. STARTUP 4 - 19 (2) Operation procedure 1) Set the servo amplifier to the servo-off status. 2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF ( down: normal condition side)" the test operation mode switch (SW2-1), and then turn on the power supply. Set SW2-1 to "OFF (down)". 1 ON 2 3 4 3) Start the motor-less operation wi th[...]

4. STARTUP 4 - 20 MEMO[...]

5. PARAMETERS 5 - 1 5. PARAMETERS CAUTION Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting. Do not set values other than de scribed values to each para[...]

5. PARAMETERS 5 - 2 5.1.1 Basic setting parameters ([Pr. PA_ _ ]) No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PA01 **STY Operation mode 1000h PA02 **REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h PA04 *AOP1 Function selection A-1 2000h PA05 For manufacturer setting 10000 PA06 1 PA07 1[...]

5. PARAMETERS 5 - 3 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II) 0000h PB03 TFBGN Torque feedback loop gain 18000 [...]

5. PARAMETERS 5 - 4 No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PB46 NH3 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h PB48 NH4 Machine resonance suppression filter 4 4500 [Hz] PB49 NHQ4 Notch shape selection 4 0000h PB50 NH5 Machine resonance suppression filter 5 4500 [Hz] P[...]

5. PARAMETERS 5 - 5 No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PC21 *BPS Alarm history clear 0000h PC22 For manufacturer setting 0 PC23 0000h PC24 RSBR Forced stop decelerat ion time constant 100 [ms] PC25 For manufacturer setting 0 PC26 **COP8 Function selection C-8 0000h (Note) PC27 **COP9 Function selection C-9 00[...]

5. PARAMETERS 5 - 6 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PD01 For manufacturer setting 0000h PD02 *DIA2 Input signal automatic on selection 2 0000h PD03 For manufacturer setting 0020h PD04 0021h PD05 0022h PD06 0000h PD07 *DO1 Output device selection 1 0005h PD08 *DO2[...]

5. PARAMETERS 5 - 7 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PE01 **FCT1 Fully closed loop function selection 1 0000h PE02 For manufacturer setting 0000h PE03 *FCT2 Fully closed loop function selection 2 0003h PE04 **FBN Fully closed loop control - Feedback pulse [...]

5. PARAMETERS 5 - 8 No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0.00 PE62 0.00 PE63 0.00 PE64 0.00 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) No. Symbol Name Initial valu[...]

5. PARAMETERS 5 - 9 No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PF29 For manufacturer setting 0000h PF30 0 PF31 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min]/ [mm/s] PF32 For manufacturer setting 50 PF33 0000h PF34 0000h PF35 0000h PF36 0000h PF37 0000h PF38 0000h PF39 0000h PF40 0000h PF41 0000[...]

5. PARAMETERS 5 - 10 No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PL19 For manufacturer setting 0 PL20 0 PL21 0 PL22 0 PL23 0000h PL24 0 PL25 0000h PL26 0000h PL27 0000h PL28 0000h PL29 0000h PL30 0000h PL31 0000h PL32 0000h PL33 0000h PL34 0000h PL35 0000h PL36 0000h PL37 0000h PL38 0000h PL39 0000h PL40 0000h PL41 00[...]

5. PARAMETERS 5 - 11 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 Initial value [unit] Setting range PA01 **STY Operation mode Select a operation mode. Refer to the "Name and function" column. Set[...]

5. PARAMETERS 5 - 12 No. Symbol Name and function Initial value [unit] Setting range PA02 **REG Regenerative option 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. Refer to the "Name a[...]

5. PARAMETERS 5 - 13 No. Symbol Name and function Initial value [unit] Setting range PA03 *ABS Absolute position detection system Set this parameter when using the absolute position detection system. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Absolute position detection system selection 0: Dis[...]

5. PARAMETERS 5 - 14 No. Symbol Name and function Initial value [unit] Setting range PA08 ATU Auto tuning mode Select the gain adjustment mode. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Gain adjustment mode selection 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Au[...]

5. PARAMETERS 5 - 15 No. Symbol Name and function Initial value [unit] Setting range PA09 RSP Auto tuning response Set a response of the auto tuning. 16 1 to 40 Setting value Machine characteristic Setting value Machine characteristic Response Guideline for machine resonance frequency [Hz] Response Guideline for machine resonance frequency [Hz] 1 L[...]

5. PARAMETERS 5 - 16 No. Symbol Name and function Initial value [unit] Setting range PA14 *POL Rotation direction select ion/travel direction selection This is used to select a rotation direction or travel direction. For the setting for the master-slave operation function, refer to section 17.2. 0 0 to 1 Setting value Servo motor rotation directi o[...]

5. PARAMETERS 5 - 17 No. Symbol Name and function Initial value [unit] Setting range PA17 **MSR Servo motor series setting When you use a linear servo motor, select its m odel from [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA18] at a time. Refer to the following table for settings. 0000h Refer to the "Name and function" column. Linear [...]

5. PARAMETERS 5 - 18 No. Symbol Name and function Initial value [unit] Setting range PA17 **MSR 0000h Refer to the "Name and function" column. Linear servo motor series Linear servo motor (primary side) Parameter LM-K2P1A-01M-2SS1 1101h LM-K2P1C-03M-2SS1 1301h LM-K2P2A-02M-1SS1 2101h LM-K2 LM-K2P2C-07M-1SS1 00B8h 2301h LM-K2P2E-12M-1SS1 2[...]

5. PARAMETERS 5 - 19 No. Symbol Name and function Initial value [unit] Setting range PA20 *TDS Tough drive setting Alarms may not be avoided with the tough driv e 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]. Ref[...]

5. PARAMETERS 5 - 20 No. Symbol Name and function Initial value [unit] Setting range PA22 **PCS Position control composition selection Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x For manufacturer setting 0h _ _ x _ Super trace control selection 0: Disabled 2: Enabled This parameter setting is u[...]

5. PARAMETERS 5 - 21 No. Symbol Name and function Initial value [unit] Setting range PA25 OTHOV One-touch tuning - Overshoot permissible level This is used to set a permissible value of ov ershoot amount with a percentage to in-position range. However, setting "0" will be 50%. 0 [%] 0 to 100 PA26 *AOP5 Function selection A-5 Refer to the [...]

5. PARAMETERS 5 - 22 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PB01 FILT Adaptive tuning mode (adaptive filter II) Set the adaptive filter tuning. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Filter tuning mode selection S[...]

5. PARAMETERS 5 - 23 No. Symbol Name and function Initial value [unit] Setting range PB06 GD2 Load to motor inertia ratio/load to motor mass ratio This is used to set the load to motor i nertia ratio or load to motor mass ratio. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer t[...]

5. PARAMETERS 5 - 24 No. Symbol Name and function 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]. 980 0 to 1000 PB12 OVA [...]

5. PARAMETERS 5 - 25 No. Symbol Name and function Initial value [unit] Setting range PB17 NHF Shaft resonance suppression filter This is used for setting the s haft resonance suppression filter. This is used to suppress a lo w-frequency machine vibration. When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression f[...]

5. PARAMETERS 5 - 26 No. Symbol Name and function Initial value [unit] Setting range PB19 VRF11 Vibration suppression control 1 - Vibration frequency Set the vibration frequency for vibration s uppression control 1 to suppress low-frequency machine vibration. When "Vibration suppression control 1 tuning mode se lection" is "Automatic[...]

5. PARAMETERS 5 - 27 No. Symbol Name and function Initial value [unit] Setting range PB24 *MVS Slight vibration suppression control Select the slight vibration suppression control and PI-PID switching control. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Slight vibration suppression control sele[...]

5. PARAMETERS 5 - 28 No. Symbol Name and function Initial value [unit] Setting range 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]. Refer to the "Name and function" column. Setting digit Explanation Init[...]

5. PARAMETERS 5 - 29 No. Symbol Name and function Initial value [unit] Setting range 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]. This parameter is enabled only when y ou select "Manual mode (_[...]

5. PARAMETERS 5 - 30 No. Symbol Name and function Initial value [unit] Setting range PB45 CNHF Command notch filter Set the command notch filter. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ x x Command notch filter setting frequency selection Refer to table 5.5 for the relation of setting values to[...]

5. PARAMETERS 5 - 31 No. Symbol Name and function Initial value [unit] Setting range PB45 CNHF Table 5.6 Notch depth selection Refer to the "Name and function" column. Setting value Depth [dB] Setting value Depth [dB] 0 -40.0 8 -6.0 1 -24.1 9 -5.0 2 -18.1 A -4.1 3 -14.5 B -3.3 4 -12.0 C -2.5 5 -10.1 D -1.8 6 -8.5 E -1.2 7 -7.2 F -0.6 PB46[...]

5. PARAMETERS 5 - 32 No. Symbol Name and function Initial value [unit] Setting range PB49 NHQ4 Notch shape selection 4 Set the shape of the machine resonance suppression filter 4. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Machine resonance suppression filter 4 selection 0: Disabled 1: Enabled[...]

5. PARAMETERS 5 - 33 No. Symbol Name and function Initial value [unit] Setting range PB53 VRF22 Vibration suppressi on control 2 - Resonance frequency Set the resonance frequency for vibration suppr ession control 2 to suppress low-frequency machine vibration. To enable this, select "3 inertia mode (_ _ _ 1) " of "Vibration suppressi[...]

5. PARAMETERS 5 - 34 No. Symbol Name and function Initial value [unit] Setting range PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching Set a damping of the vibration frequency for vi bration suppression control 2 when the gain switching is enabled. To enable this, select "3 inertia mode (_ _ _ 1) &q[...]

5. PARAMETERS 5 - 35 5.2.3 Extension setting parameters ([Pr. PC_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PC01 ERZ Error excessive alarm level Set an error excessive alarm level. Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be 3 rev. Setting over 200 rev will be clamped w[...]

5. PARAMETERS 5 - 36 No. Symbol Name and function Initial value [unit] Setting range PC04 **COP1 Function selection C-1 Select the encoder cable communication method selection. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ Encoder cable co[...]

5. PARAMETERS 5 - 37 No. Symbol Name and function Initial value [unit] Setting range PC09 MOD1 Analog monitor 1 output Select a signal to output to MO1 (Analog m onitor 1). Refer to appendix 11 (3) for detection point of output selection. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ x x Analog monit[...]

5. PARAMETERS 5 - 38 No. Symbol Name and function Initial value [unit] Setting range PC10 MOD2 Analog monitor 2 output Select a signal to output to MO2 (Analog m onitor 2). Refer to appendix 11 (3) for detection point of output selection. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ x x Analog monit[...]

5. PARAMETERS 5 - 39 No. Symbol Name and function Initial value [unit] Setting range PC20 *COP7 Function selection C-7 This is used to select an undervoltage alarm detection method. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x [AL. 10 Undervoltage] detection method selection This is set when FR-[...]

5. PARAMETERS 5 - 40 No. Symbol Name and function Initial value [unit] Setting range PC24 RSBR Forced stop deceleration time constant This is used to set decelerat ion time constant when you us e the forced stop deceleration function. Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Forced stop deceleration [Pr.PC24] 0 r/min (0 mm/s) [...]

5. PARAMETERS 5 - 41 No. Symbol Name and function Initial value [unit] Setting range PC27 **COP9 Function selection C-9 This is used to select a polarity of the linear encoder or load-side encoder. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Encoder pulse count polarity selection 0: Encoder pul[...]

5. PARAMETERS 5 - 42 No. Symbol Name and function Initial value [unit] Setting range 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 exce[...]

5. PARAMETERS 5 - 43 No. Symbol Name and function Initial value [unit] Setting range PD07 *DO1 Output device selection 1 You can assign any output device to the CN3-13 pin. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ x x Device selection Refer to table 5.8 for settings. 05h _ x _ _ For manufacturer[...]

5. PARAMETERS 5 - 44 No. Symbol Name and function Initial value [unit] Setting range PD11 *DIF Input filter setting Select the input filter. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Input signal filter selection Refer to the servo system controller instruction manual for the setting. If exte[...]

5. PARAMETERS 5 - 45 No. Symbol Name and function Initial value [unit] Setting range PD14 *DOP3 Function selection D-3 Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x For manufacturer setting 0h _ _ x _ Selection of output device at warning occurrence Select WNG (Warning) and ALM (Malfunction) outp[...]

5. PARAMETERS 5 - 46 No. Symbol Name and function Initial value [unit] Setting range PD16 *MD1 Driver communication setting - Master - Transmit data selection 1 This parameter is used to select transmi t data from master axis to slave axis. When setting this amplifier as master axis ([Pr. PD15] is "_ _ 0 1".), select "_ _ 3 8 (torque[...]

5. PARAMETERS 5 - 47 No. Symbol Name and function Initial value [unit] Setting range PD31 VLC Master-slave operation - Speed limit coefficient on slave This parameter is used to set a internal s peed limit value coefficient to speed limit command value received from master axis. This parameter is enabled when this amplifier is se t as slave axis ([[...]

5. PARAMETERS 5 - 48 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PE01 **FCT1 Fully closed loop function selection 1 Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Fully closed loop function selection 0: Always enabled 1: Switc[...]

5. PARAMETERS 5 - 49 No. Symbol Name and function Initial value [unit] Setting range PE08 DUF Fully closed loop dual feedback filter This is used to set a dual feedback filter band. Refer to section 16.3.1 (7) for details. 10 [rad/s] 0 to 4500 PE10 FCT3 Fully closed loop function selection 3 Refer to the "Name and function" column. Settin[...]

5. PARAMETERS 5 - 50 No. Symbol Name and function Initial value [unit] Setting range 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 compens ated with the value set in [Pr. PE44] and [Pr. PE45]. If the time constant is other than 0, [...]

5. PARAMETERS 5 - 51 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PF06 *FOP5 Function selection F-5 Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Electronic dynamic brake selection 0: Automatic (enabled only fo r specified ser[...]

5. PARAMETERS 5 - 52 No. Symbol Name and function Initial value [unit] Setting range PF31 FRIC Machine diagnosis f unction - Friction judgement speed Set a (linear) servo motor speed to divide a fr iction estimation area into high and low for the friction estimation process of the machine diagnosis. However, setting "0" will be the value [...]

5. PARAMETERS 5 - 53 No. Symbol Name and function Initial value [unit] Setting range PL04 *LIT2 Linear servo motor/DD motor function selection 2 This is used to select a detection function and detection controller reset condition of [AL. 42 Servo control error]. Refer to the "Name and function" column. Setting digit Explanation Initial va[...]

5. PARAMETERS 5 - 54 No. Symbol Name and function Initial value [unit] Setting range PL09 LPWM Magnetic pole detection voltage level This is used to set a direct current exciti ng 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[...]

6. NORMAL GAIN ADJUSTMENT 6 - 1 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, ma[...]

6. NORMAL GAIN ADJUSTMENT 6 - 2 (2) Adjustment sequence and mode usage 2 gain adjustment mode 1 (interpolation mode) Interpolation made for 2 or more axes? The l oad fluc tuati on is large during driving? Start End Yes No Yes No Yes No No Yes One-touch tuning Yes Yes Yes Error handling is possible? Handle the error Adjustment OK? Finished normally?[...]

6. NORMAL GAIN ADJUSTMENT 6 - 3 6.2 One-touch tuning POINT When executing the one-touch tuning, c heck the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value). Connect Mr Configurator2 and open the one-touch tuning window, and you can use the function. The following parameters are set automat ically with one-touch [...]

6. NORMAL GAIN ADJUSTMENT 6 - 4 6.2.2 Display transition and operat ion procedure of one-touch tuning (1) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for high rigid system. Basic mode This mode is for standard system. Low mode This m[...]

6. NORMAL GAIN ADJUSTMENT 6 - 5 Response mode Response Machine characteristic Low mode Basic mode High mode Guideline of corresponding machine Low response General machine tool conveyor Arm robot Precision working machine Inserter Mounter Bonder High response[...]

6. NORMAL GAIN ADJUSTMENT 6 - 6 POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing t he value of [Pr. PA25 One-touch tuning - Overshoot permissible level] will shor ten the settling time and improve the response. (2) One-touch tuning execution After the response mode is sele[...]

6. NORMAL GAIN ADJUSTMENT 6 - 7 (3) One-touch tuning execution During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" w ill be displayed at status in error code. (4) If an error occur If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated. With t[...]

6. NORMAL GAIN ADJUSTMENT 6 - 8 (7) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 6.1 for the parameters which you can clear. Pushing "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 enables to rewrite the parameter to t he value before pushing [...]

6. NORMAL GAIN ADJUSTMENT 6 - 9 (3) The tuning is not available duri ng the following test operation mode. (a) Output signal (DO) forced output (b) Motor-less operation 6.3 Auto tuning 6.3.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates t he machine characteristic (load to motor inertia ratio) in real tim[...]

6. NORMAL GAIN ADJUSTMENT 6 - 10 6.3.2 Auto tuning mode basis The block diagram of real-time auto tuning is shown below. Loop gain PG1 , PG 2, VG2, VIC Current control Load to motor inertia ratio estimation section Gain table [Pr. PB06 Load to motor inertia ratio/ load to motor mass ratio] Response level setting Gain adjustment mode selection [Pr. [...]

6. NORMAL GAIN ADJUSTMENT 6 - 11 6.3.3 Adjustment procedure by auto tuning Since auto tuning is enabled before shipment from the fa ctory, 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 f[...]

6. NORMAL GAIN ADJUSTMENT 6 - 12 6.3.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. PA09]. As the res ponse level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obt[...]

6. NORMAL GAIN ADJUSTMENT 6 - 13 6.4 Manual mode If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuni ng mode selection in [Pr. PB01] or machine resonance suppression filter in [P r. PB13] to [Pr. PB16] and [Pr. PB46] to [Pr. PB51] ma[...]

6. NORMAL GAIN ADJUSTMENT 6 - 14 (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 t he mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the follow[...]

6. NORMAL GAIN ADJUSTMENT 6 - 15 (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 Set the estimated value to the l oad to motor inertia ratio/load to motor mass ratio. (If the estimate value with auto tuning is[...]

6. NORMAL GAIN ADJUSTMENT 6 - 16 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 leve l to the disturbance, but a too high value will increase vibration of the mechanical system. Position loop gain guideline ≤ (1 + Load to moto[...]

6. NORMAL GAIN ADJUSTMENT 6 - 17 (2) 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adj ustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not es timated 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 [...]

6. NORMAL GAIN ADJUSTMENT 6 - 18 (4) Parameter adjustment [Pr. PB07 Model loop gain] This parameter determines the response level of the position control loop. Increasing the value improves track ability to a position command, but a too high val ue will make overshoot liable to occur at settling. The droop pulses value is determi ned by the followi[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used normally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6. When you use a linear servo motor, replac e the following left words to the right words. Load to mot[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 2 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, dec[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 3 (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppre ss the resonance of the mechanica l system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width. Response of mechanical [...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 4 (2) Parameter (a) Machine resonance suppression filt er 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 5 7.1.2 Adaptive filter II POINT The machine resonance frequency which adapt ive 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, vibrat ion sound increases as an excitation signal is forcibly a[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 6 (3) Adaptive tuning mode procedure Tuning ends automaticall y after the predetermined period of time. ([Pr. PB01] will be "_ _ _ 2" or "_ _ _ 0".) Adaptive tuning Operation Is the target response reached? Decrease the response until vibration or unusual noise is resolved. End Yes No No Yes I[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 7 7.1.3 Shaft resonance suppression filter POINT This filter is set properly by default according to servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression f ilter selection" in [Pr. PB23] or set[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 8 7.1.4 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, t he low-pass filter is enabled for a torque command as a default. The filter frequency of the low-pass filter is automatically[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 9 (1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjus ted for positioning so that the machine does not vibrate. Vibration suppression: off (normal) Servo motor side Load side t Position Vibr[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 10 (3) Vibration suppression control tuning procedure The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PB02] to execut e the vibration suppression control tuning. No Vibration suppression control tuning Operation Is the t[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 11 (4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibrat ion frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 12 Step 1 Select "Manual setting (_ _ _ 2)" of "Vibrati on suppression control 1 tuning mode selection" or "Manual setting (_ _ 2 _)" of "Vibration suppressi on control 2 tuning mode selection" in [Pr. PB02]. Step 2 Set "Vibration suppression control - Vibrat ion frequ[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 13 (b) When vibration can be confirmed usi ng monitor signal or external sensor t Motor-side vibration (droop pulses) Position command frequency t External acceleration pickup signal, etc. Vibrati on suppression cont rol - Vibration frequency Vibrati on suppression cont rol - Resonance frequency Set the same valu[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 14 (2) Parameter Set [Pr. PB45 Command notch filter] as shown bel ow. For the command notch filter setting frequency, set the closest value to the vibration frequency [Hz] at the load side. Setting value Command notch filter setting frequency Setting value Frequency [Hz] 00 01 02 03 0 Frequency [Hz] Setting value[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 15 7.2 Gain switching function You can switch gains with the function. You can switch gains during rotation and during stop, and can use 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[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 16 7.2.2 Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Ga in switching function] and [Pr. PB27 Gain switching condition]. Command pulse frequency + - Droop pulses Model speed Control c[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 17 7.2.3 Parameter When using the gain switching function, always sele ct "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gai n switching function cannot be used in the auto tuning mode. (1) Parameter for setting gain switching condition Paramete[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 18 (2) Switchable gain parameter Loop gain Before switching After switching Parameter Symbol Name Parameter Symbol Name Load to motor inertia ratio/load to motor mass ratio PB06 GD2 Load to motor inertia ratio/load to motor mass ratio PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switc[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 19 (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 va lue as [Pr. PB06 Load to motor inertia ratio/load to motor mas[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 20 7.2.4 Gain switching procedure This operation will be described by way of setting examples. (1) When you choose switching by c ontrol command from the controller (a) Setting example Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 4.00 [Multiplier] PB07 PG1[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 21 (b) Switching timing chart After-switching gain 63.4% CDT = 100 ms Before-switching gain Gain switching Control command from controller OFF ON OFF Model loop gain 100 → 50 → 100 Load to motor inertia ratio/load to motor mass ratio 4.00 → 10.00 → 4.00 Position loop gain 120 → 84 → 120 Speed loop gai[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 22 (b) Switching timing chart After-switching gain 63.4% CDT = 100 ms Before-switching gain Gain switching Droop pulses [pulse] +CDL -CDL 0 Command pulses Droop pulses Command pulses Load to motor inertia ratio/load to motor mass ratio 4.00 → 10.00 → 4.00 → 10.00 Position loop gain 120 → 84 → 120 → 84[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 23 (b) Gain return time constant disabled was selected. The gain switching time constant is enabled with this setting. 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]. ON CDP (Gain switching) After-switchi[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 24 7.3 Tough drive function POINT Set enable/disable of the tough drive function with [Pr. PA20 Tough drive setting]. (Refer to section 5.2.1.) This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive functions are the vibration tough dr ive and the insta[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 25 The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and com pare it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a param eter whose set value is closer. Filter Setting parameter Precaution Parameter[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 26 7.3.2 Instantaneous power failure tough drive function The instantaneous power failure tough drive func tion 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 agains[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 27 (1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failure time of the control circ uit power supply exceeds [Pr. PF25 SEMI-F47 function - Instant aneous power fail[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 28 (2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs dependi ng on how bus voltage decrease. (a) When the bus voltage decrease lower than Undervo ltage level within the instantaneous powe[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 29 (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. Control circuit power supply Bus voltage Undervoltage level (Note) A LM (Malfunction) MTTR (During tough drive) MBR [...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 30 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 ma in circuit power supply depending on the power supply impedance and opera[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 31 (2) Requirements conditions of SEMI-F47 standard Table 7.2 shows the permissible time of instantaneous power failure for instantaneous power failure of SEMI-F47 standard. Table 7.2 Requirements conditions of SEMI-F47 standard Instantaneous power failure voltage Permissible time of instantaneous power failure [[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 32 Instantaneous maximum output means power which serv o 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 wit[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 33 7.5 Model adaptive control disabled POINT Change the parameters while the servo motor stops. When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operat ion status of the servo motor. This is used with servo amplifiers with software version B4 or later[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 34 7.6 Lost motion compensation function POINT The lost motion compensation function is enabled only in the position control mode. The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel dire cti[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 35 (d) Lost motion compensation timing ([Pr. PE49]) You can set the delay time of the lost motion co mpensation 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-sensitiv[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 36 (d) Adjusting the lost motion compensation When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the pr otrusions are eliminated. When not ches occur, the compensation is excessive. Decrease the lost motion compensat ion by approximate[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 37 7.7 Super trace control (1) Summary In the normal position control, droop pulses are generated against the position control command from the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However, droop pulses generated during acceleration/ deceleration cannot be sup[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 38 (2) Adjustment procedure POINT In the super trace control, droop pulses are near 0 during the servo motor control. Thus, the normal INP (In-position) may always be turned on. Be sure to set "INP (In-position) on condition select ion" in [Pr. PD13] to " _ 1 _ _". When you use the super trace[...]

8. TROUBLESHOOTING 8 - 1 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 Se rvo-off status and interrupt the main circuit power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not r[...]

8. TROUBLESHOOTING 8 - 2 8.2 Alarm list No. Name Detail number Detail name Stop method (Note 4, 5) Alarm deactivation Alarm reset CPU reset Cycling the power Alarm 10 Undervoltage 10.1 Voltage drop in the c ontrol circuit power EDB 10.2 Voltage drop in the main circuit power SD 12 Memory error 1 (RAM) 12.1 RAM error 1 DB 12.2 RAM error 2 DB 12.3 RA[...]

8. TROUBLESHOOTING 8 - 3 No. Name Detail number Detail name Stop method (Note 4, 5) Alarm deactivation Alarm reset CPU reset Cycling the power Alarm 20 Encoder normal communication error 1 20.1 Encoder normal communication - Receive data error 1 EDB 20.2 Encoder normal communication - Receive data error 2 EDB 20.3 Encoder normal communication - Rec[...]

8. TROUBLESHOOTING 8 - 4 No. Name Detail number Detail name Stop method (Note 4, 5) Alarm deactivation Alarm reset CPU reset Cycling the power Alarm 32 Overcurrent 32.1 Overcurrent detected at hardware detection circuit (during operation) DB 32.2 Overcurrent detected at software detection function (during operation) DB 32.3 Overcurrent detected at [...]

8. TROUBLESHOOTING 8 - 5 No. Name Detail number Detail name Stop method (Note 4, 5) Alarm deactivation Alarm reset CPU reset Cycling the power Alarm 50 Overload 1 50.1 Thermal overload error 1 during operation SD (Note 1) (Note 1) (Note 1) 50.2 Thermal overload error 2 during operation SD (Note 1) (Note 1) (Note 1) 50.3 Thermal overload error 4 dur[...]

8. TROUBLESHOOTING 8 - 6 No. Name Detail number Detail name Stop method (Note 4, 5) Alarm deactivation Alarm reset CPU reset Cycling the power Alarm 71 Load-side encoder normal communication error 1 71.1 Load-side encoder communication - Receive data error 1 EDB 71.2 Load-side encoder communication - Receive data error 2 EDB 71.3 Load-side encoder [...]

8. TROUBLESHOOTING 8 - 7 8.3 Warning list No. Name Detail number Detail name Stop method (Note 2, 3) Warning 91 Servo amplifier overheat warning (Note 1) 91.1 Main circuit device overheat warning 92 Battery cable disconnection warning 92.1 Encoder battery cable disconnection wa rning 92.3 Battery degradation 95 STO warning 95.1 STO1 off detection D[...]

8. TROUBLESHOOTING 8 - 8 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 displa y of the servo amplifier, and take actions according to this section. Display Description Cause Checkpoint Action A[...]

9. OUTLINE DRAWINGS 9 - 1 9. OUTLINE DRAWINGS 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 di mensions of MR-J4-_B_ are not different from those of MR-J4-_B_-RJ except CN2L, CN7 and CN9 connectors.[...]

9. OUTLINE DRAWINGS 9 - 2 (1) 200 V class (a) MR-J4-10B(-RJ)/MR-J4-20B(-RJ) [Unit: mm] Approx. 80 156 Approx. 21 6 6 40 6 6 135 4 Approx. 38.5 Approx. 69.3 168 161 With MR-BAT6V1SET PE Lock knob φ 6 mounting hole Mass: 0.8 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE Terminal CNP1 CNP2 V W U CNP3 Screw size: M4 Tightening torque: 1.2 [N•m] Mounting [...]

9. OUTLINE DRAWINGS 9 - 3 (b) MR-J4-40B(-RJ)/MR-J4-60B(-RJ) [Unit: mm] 170 156 161 168 6 40 6 6 5 6 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 1.0 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE CNP1 CNP2 V W U CNP3 Terminal Screw size: M4 Tightening torque: 1.2 [N•m] Mounting screw Screw size[...]

9. OUTLINE DRAWINGS 9 - 4 (c) MR-J4-70B(-RJ)/MR-J4-100B(-RJ) [Unit: mm] 156 6 42 12 6 60 6 12 Cooling fan air intake Exhaust 185 6 168 161 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 1.4 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE CNP1 CNP2 V W U CNP3 Terminal Screw size: M4 Tightening torque[...]

9. OUTLINE DRAWINGS 9 - 5 (d) MR-J4-200B(-RJ) [Unit: mm] 6 6 6 78 6 168 6 156 45 90 85 195 161 6 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Cooling fan air intake Exhaust Mass: 2.1 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE CNP1 CNP2 V W U CNP3 Terminal Screw size: M4 Tightening torque: 1.2 [N•[...]

9. OUTLINE DRAWINGS 9 - 6 (e) MR-J4-350B(-RJ) [Unit: mm] 6 6 6 78 6 168 6 156 45 90 85 195 161 6 PE Cooling f an air intake Exhaust Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 2.3 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE CNP1 CNP2 V W U CNP3 Terminal Screw size: M4 Tightening torque: 1.2 [N?[...]

9. OUTLINE DRAWINGS 9 - 7 (f) MR-J4-500B(-RJ) [Unit: mm] 200 105 93 6 6 7.5 235 6 250 7.5 6 PE TE1 TE3 TE4 TE2 Cooling fan exhaust 2- φ 6 mounting hole Approx. 38.5 A pprox. 34 Approx. 80 Approx. 28 With MR-BAT6V1SET Intake Approx. 25 Mass: 4.0 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE TE2 TE1 V W U TE3 TE4 TE2 TE1 TE3 TE4 PE Screw size: M3.5 Tight[...]

9. OUTLINE DRAWINGS 9 - 8 (g) MR-J4-700B(-RJ) [Unit: mm] 200 172 160 6 6 7.5 285 6 Cooling fan exhaust 2- φ 6 mounting hole Approx. 38.5 Approx. 101 Approx. 80 Approx. 28 TE3 TE1 TE2 PE 6 300 7.5 With MR-BAT6V1SET Buil t-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Intake Mass: 6.2 [kg] TE1 TE2 [...]

9. OUTLINE DRAWINGS 9 - 9 (h) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ) [Unit: mm] 260 10.5 220 196 12 12 6 400 380 10 10 TE1-1 25.5 57.9 5 × 25.5 (= 127.5) 22.8 PE TE2 11 24.2 43 60 78.5 TE1-2 188 237.4 224.2 2- φ 6 mounting hole Cooling fan exhaust Approx. 80 Approx. 28 With MR-BAT6V1SET Intake Approx. 139.5 Approx. 38.5 Mass: 13.4 [kg] TE1-2 TE2 Screw s[...]

9. OUTLINE DRAWINGS 9 - 10 (i) MR-J4-22KB(-RJ) [Unit: mm] 260 400 12 12 12 236 260 188.5 223.4 235.4 376 12 12 PE 5 × 25.5 (= 127.5) 40.5 40 26.5 22.8 11 TE1-2 TE1-1 TE2 59.9 32.7 25.5 With MR-BAT6V1SET Intake Cooling f an exhaust Approx. 80 Approx. 28 Approx. 38.5 Approx. 179 2- φ 12 mounting hole Mass: 18.2 [kg] TE1-2 TE2 Screw size: M8 Tighten[...]

9. OUTLINE DRAWINGS 9 - 11 (2) 400 V class (a) MR-J4-60B4(-RJ)/MR-J4-100B4(-RJ) [Unit: mm] 156 6 42 12 6 60 6 12 Cooling fan air intake Exhaust 185 6 168 161 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 1.7 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE Terminal CNP1 CNP2 V W U CNP3 Screw size: M[...]

9. OUTLINE DRAWINGS 9 - 12 (b) MR-J4-200B4(-RJ) [Unit: mm] 6 6 6 78 6 168 6 156 45 90 85 195 161 6 PE Cooling fan air intake Exhaust Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 2.1 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE Terminal CNP1 CNP2 V W U CNP3 Screw size: M4 Tightening torque: 1.2 [N?[...]

9. OUTLINE DRAWINGS 9 - 13 (c) MR-J4-350B4(-RJ) [Unit: mm] 105 93 6 6 7.5 235 200 6 Approx. 80 Approx. 28 Cooling fan exhaust Intake 2- φ 6 mounting hole 250 7.5 6 CNP1 CNP2 CNP3 With MR-BAT6V1SET Approx. 73.5 Approx. 69.3 Approx. 34 Approx. 38.5 Lock knob Mass: 3.6 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE Terminal CNP1 CNP2 V W U CNP3 Screw size:[...]

9. OUTLINE DRAWINGS 9 - 14 (d) MR-J4-500B4(-RJ) [Unit: mm] 6 6 118 130 7.5 235 7.5 250 200 Approx. 38.5 Approx. 60 With MR-BAT6V1SET Approx. 200 Approx. 28 Approx. 73.5 Approx. 69.3 TE2 TE3 TE1 PE Built -in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Cooling fan exhaust Intake Approx. 80 Approx. 28[...]

9. OUTLINE DRAWINGS 9 - 15 (e) MR-J4-700B4(-RJ) [Unit: mm] 200 172 160 6 6 7.5 285 6 Cooling fan exhaust 2- φ 6 mounting hole Approx. 38.5 Approx. 101 Approx. 80 Approx. 28 TE3 TE1 TE2 PE 6 300 7.5 With MR-BAT6V1SET Buil t-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [N•m] Intake Mass: 6.5 [kg] TE1 TE[...]

9. OUTLINE DRAWINGS 9 - 16 (f) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ) [Unit: mm] 260 10.5 220 196 12 12 6 400 380 10 10 TE1-1 25.5 57.9 5 × 25.5 (= 127.5) 22.8 PE TE2 11 24.2 43 60 78.5 TE1-2 188 237.4 224.2 2- φ 6 mounting hole Cooling fan exhaust Approx. 80 Approx. 28 With MR-BAT6V1SET Intake Approx. 139.5 Approx. 38.5 Mass: 13.4 [kg] TE1-2 TE2 Scre[...]

9. OUTLINE DRAWINGS 9 - 17 (g) MR-J4-22KB4(-RJ) [Unit: mm] 260 400 12 12 12 236 260 188.5 223.4 235.4 376 12 12 PE 5 × 25.5 (= 127.5) 40.5 40 26.5 22.8 11 TE1-2 TE1-1 TE2 59.9 32.7 25.5 With MR-BAT6V1SET Intake Cooling f an exhaust Approx. 80 Approx. 28 Approx. 38.5 Approx. 179 2- φ 12 mounting hole Mass: 18.2 [kg] TE1-2 TE2 Screw size: M8 Tighte[...]

9. OUTLINE DRAWINGS 9 - 18 (3) 100 V class (a) MR-J4-10B1(-RJ)/MR-J4-20B1(-RJ) [Unit: mm] 156 6 6 40 6 6 135 4 168 161 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 0.8 [kg] N- L11 L21 L2 L1 C D P+ PE Terminal CNP1 CNP2 V W U CNP3 Screw size: M4 Tightening torque: 1.2 [N•m] Mounting screw [...]

9. OUTLINE DRAWINGS 9 - 19 (b) MR-J4-40B1(-RJ) [Unit: mm] 170 156 161 168 6 40 6 6 5 6 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 1.0 [kg] N- L11 L21 L2 L1 C D P+ PE Terminal CNP1 CNP2 V W U CNP3 Screw size: M4 Tightening torque: 1.2 [N•m] Mounting screw Screw size: M5 Tightening torque[...]

9. OUTLINE DRAWINGS 9 - 20 9.2 Connector (1) CN1A/CN1B connector [Unit: mm] F0-PF2D103 2.3 20.9 ± 0.2 1.7 4.8 13.4 15 6.7 9.3 17.6 ± 0.2 8 F0-PF2D103-S 2.3 1.7 4.8 13.4 15 6.7 9.3 17.6 ± 0.2 20.9 ± 0.2 8 (2) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] E B A 23.8 39.0 12.7 C Logo etc, are indicated here. D Connect[...]

9. OUTLINE DRAWINGS 9 - 21 (b) Jack screw M2.6 type This is not available as option. [Unit: mm] E B A 23.8 39.0 12.7 C D 5.2 F Logo etc, are indicated here. Connector Shell 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[...]

9. OUTLINE DRAWINGS 9 - 22 MEMO[...]

10. CHARACTERISTICS 10 - 1 10. CHARACTERISTICS POINT For the characteristics of the linear serv o 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. [A[...]

10. CHARACTERISTICS 10 - 2 The following table shows combinations of each servo motor and graph of overload protection characteristics. Rotary servo motor Graph of overload protection characteristics HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR HG-JR (When the maximum torque is 400%) 053 13 053 13 72 Characteristics a 23 43 73 23 43 73 51 81 52 102 53 73 10[...]

10. CHARACTERISTICS 10 - 3 The following graphs show overl oad protection characteristics. (Note 1, 2) Load ratio [%] 1000 100 10 1 0.1 100 200 300 350 0 50 150 250 Operating Servo-lock Operation time [s] Characteristics a 1000 100 10 1 0.1 1 0 02 0 03 0 04 0 0 0 50 150 250 350 Load r atio [% ] (Note 1, 2, 3) Servo -lock Operating Oper ation t ime [...]

10. CHARACTERISTICS 10 - 4 10000 1000 100 10 1 0 100 200 300 Operating Servo-lock 50 150 250 (Note 1) Load ratio [%] Operation time [s] Characteristics e Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a se rvo motor stop status (servo-lock status) or in a 30 r/min or le ss l[...]

10. CHARACTERISTICS 10 - 5 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 va lues in the table in consideration for the worst operating [...]

10. CHARACTERISTICS 10 - 6 Servo amplifier Servo motor (Note 1) Power supply capacity [kVA] (Note 2) Servo amplifier-generated heat [W] Area required for heat dissipation [m 2 ] At rated output At rated output [Generated heat in the cabinet when cooled outside the cabinet] (Note 3) With servo-off MR-J4-11KB(-RJ) HG-JR903 13 435 130 45 8.7 HG-JR11K1[...]

10. CHARACTERISTICS 10 - 7 (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 shoul[...]

10. CHARACTERISTICS 10 - 8 10.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a nor mal 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 f[...]

10. CHARACTERISTICS 10 - 9 (2) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 10.2. (a) 200 V class 0 10 20 30 40 50 0 1000 2000 3000 4000 5000 6000 73 43 23 13 053 Speed [r/min] Dynamic brake time constant [ms] Dynamic brake time constant [ms] 0 10 20 30 40 50 0 1000 2000 3000 4000 5000 6000 7[...]

10. CHARACTERISTICS 10 - 10 352 500 1000 1500 2000 0 0 10 20 30 40 50 60 70 80 90 100 502 72 202 152 Dynam ic br ake ti me constant [ms] Speed [r/min] HG-UR series (b) 400 V class Speed [r/mi n] 0 500 1000 1500 2000 2500 3000 1524 5024 1024 524 100 80 60 40 20 0 2024 3524 7024 Dynamic brake time constant [ms] 0 10 20 30 40 50 60 0 500 1000 1500 200[...]

10. CHARACTERISTICS 10 - 11 10.3.2 Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia rati o 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 y[...]

10. CHARACTERISTICS 10 - 12 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. a: Long bending life encoder cable Long bending life motor power cable Long bending life electromagnetic brake cable SSCNET III cable usin[...]

10. CHARACTERISTICS 10 - 13 10.5 Inrush currents at power-on of main circuit and control circuit POINT The inrush current values can change depending on frequency of turning on/off the power and ambient temperature. Since large inrush currents flow in the power s upplies, always use molded-case circuit breakers and magnetic contactors. (Refer to se[...]

10. CHARACTERISTICS 10 - 14 (3) 100 V class The following shows the inrush currents (reference dat a) 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 and L2) Control circuit power supply (L11 and L21) MR-J4-10B1(-RJ)[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 1 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 la mp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock ma[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 2 11.1.1 Combinations of cable/connector sets For MR-J4-_B_ servo amplifier Refer to " Serv o Motor Instructi on Manual (V ol. 3)" for opti ons for servo motor power supply, electromagnetic brake, and encoder. 6) CN1A CN1B CN3 CNP1 CNP2 CNP3 CN1A CN1B CN2 CN3 7) 2) 3) 4) 5) 2) 3) 4) CN2 CN8 CN5 CN[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 3 For MR-J4-_B_-RJ servo amplifier 6) CN1A CN1B CN3 CNP1 CNP2 CNP3 CN1A CN1B CN2 CN3 7) 2) 3) 4) 5) 2) 3) 4) CN2 CN8 CN5 CN8 CN5 CN4 CN4 8) 8) CN9 CN10 CN2L CN2L Refer to "S ervo M otor Instruction Manual (Vol. 3)" for options for servo motor power supply, electromagnetic brake, and encoder. Refer[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 4 No. Product name Model Description Remark 1) Servo amplifier power connector set Supplied with 200 V class and 100 V class servo amplifiers of 1 kW or less CNP1 Connector: 06JFAT-SAXGDK-H7.5 (JST) CNP2 Connector: 05JFAT-SAXGDK-H5.0 (JST) CNP3 Connector: 03JFAT-SAXGDK-H7.5 (JST) Applicable w ire size: 0.8 [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 5 No. Product name Model Description Remark 6) Connector set MR-CCN1 Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent) 7) Junction terminal block (recommended) MR-J2HBUS_M PS7DW-20V14B-F (Yoshida Electric Industry) Junction terminal block PS7DW-20V14B -F is not option. For using the junct[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 6 11.1.2 MR-D05UDL3M-B STO cable This cable is for connecting an external device to the CN8 connector. Cable model Cable length Application MR-D05UDL3M-B 3 m Connection cable for the CN8 connector (1) Configuration diagram Servo amplifier MR-D05UDL3M-B CN8 (2) Internal wiring diagram 1 2 3 6 7 Plate STO2 TO[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 7 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 appendix 10 for long distance cable over 50 m and ultra-long bending life cable. (1) Model ex[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 8 (3) Dimensions (a) MR-J3BUS015M [Unit: mm] 150 Approx. 6.7 8 +0 +50 - 0 Protective t ube Approx. 15 Approx. 13.4 Approx. 20.9 Approx. 2.3 Approx. 1.7 Approx. 37.65 (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) of this section for cable length (L). [Unit: mm] L (Note) Protective tube Appro [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 9 11.1.4 Battery cable/junction battery cable (1) Model explanations The numbers in the cable length field of the table indi cate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Cable model Cable length Bending life Application/rem[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 10 11.2 Regenerative options CAUTION Do not use servo amplifiers with regenerat ive 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 resi stor-generated powers and not rated powers. (1) 200 V clas[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 11 (2) 400 V class Servo amplifier Regenerative power [W] Built-in regenerative resistor 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[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 12 11.2.2 Selection of regenerative option (1) Rotary servo motor and direct drive motor Use the following method when regeneration occurs cont inuously in vertical motion applications or when it is desired to make an in-depth se lection of the regenerative option. (a) Regenerative energy calculation M Fric[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 13 (b) Losses of servo motor and serv o amplifier in regenerative mode The following table lists the efficiencies and other dat a of the servo motor and servo amplifier in the regenerative mode. Servo amplifier Inverse efficiency [%] Capacitor charging [J] Servo amplifier Inverse efficiency [%] Capacitor ch[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 14 (2) Linear servo motor (a) Thrust and energy calculation Liner servo moto r secondary-side (magnet) Load V M 1 M 2 Liner servo motor primary-side (coil) Liner servo motor F t 2) 1) V 3) 4) Positive direction 6) 5) 7) Negative direction 8) Time Feed speed t psa1 t 1 t psd1 t 2 t psa2 t 3 t 4 t psd2 The fo[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 15 11.2.3 Parameter setting Set [Pr. PA02] according to the option to be used. Regenerative option selection 00: Regenerative option is not used. For servo amplifier of 100 W, regenerative resistor is not used. For servo amplif ier of 0.2 kW to 7 kW, built-in regenerative resistor is used. S upplied regener[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 16 (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. Betw een G3 and G4 is opened when the regenerative option overheats abnormally. D P+ C G4 G3 C P Regenerative op[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 17 (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 regener ative 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 opt ion o[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 18 (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 protect cover. Touching the resist or (including wiring/screw hole area) may cause a[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 19 (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-J4-22 KB-PX, MR-J4-11KB-RZ to MR-J4-22KB-RZ, MR-J4-11KB4-PX to MR-J4-22KB4-PX, and MR-J4-11KB4-R Z to MR-J4-22K[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 20 When using cooling fans, install them using t he mounting holes provided in the bottom of the regenerative option. MR-R B5R/MR -RB9F/ MR-RB 9T/ MR-RB5K-4/MR-RB6K-4 Mounting screw 4-M3 Top Bottom TE1 G4 G3 C P TE 2 cooling fans (1.0 m 3 /min or more, 92 mm × 92 mm) 11.2.5 Dimensions (1) MR-RB12 [Unit: mm[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 21 (2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR -RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4 [Unit: mm] 8.5 125 150 Approx. 30 142 79 82.5 30 8.5 10 90 101.5 82.5 318 A B Air intake 7 100 Cooling fan mounting screw (2-M4 screw) Terminal block P C G3 G4 Terminal screw size: M4 Tightening torque: 1.2 [N•m] Mounting scre[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 22 (4) MR-RB032 [Unit: mm] T E1 30 15 99 1.6 119 144 12 156 168 6 6 5 φ 6 mounting hole Approx. 6 Approx. 12 Approx. 20 TE1 terminal block 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 Tightening torque: 3.24 [N•m] [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 23 (6) MR-RB1H-4 [Unit: mm] 156 168 144 6 2 149 173 6 Approx. 6 Approx. 24 6 15 φ 6 mounting hole 36 40 Terminal P C G3 G4 Applicable wire size: AWG 24 to 10 Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 1.1 [kg] (7) GRZG400-0.8 Ω /GRZG400-0.6 ?[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 24 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 diffe rent voltage class units cannot be used. When a brake unit and a resistor unit ar[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 25 Brake unit Resistor unit Number of connected units Permissible continuous power [kW] Resultant resistance [ Ω ] Applicable servo amplifier (Note 3) 400 V class FR-BU2-H30K FR-BR-H30K 1 1.99 16 MR-J4-500B4(-RJ) MR-J4-700B4(-RJ) MR-J4-11KB4(-RJ) (Note 2) FR-BU2-H55K FR-BR-H55K 1 3.91 8 MR-J4-11KB4(-RJ) M[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 26 11.3.3 Connection example POINT EM2 has the same function as EM1 in the torque control mode. Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit. (1) Comb[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 27 2) 400 V class Emergency stop switch 3 DOCOM ALM Servo amplifier 15 CN3 (Note 9) MC MCCB (Note 1) Power supply L1 L2 L3 L11 L21 ALM RA1 OFF MC ON MC SK P3 P4 (Note 3) P+ N- C (Note 2) (Note 7) (Note 11) N/- P/+ BUE SD PR B C A SD MSG (Note 4) (Note 6) FR-BU2-H FR-BR-H P PR TH2 TH1 (Note 5) (Note 8) RA1 C[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 28 (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connec tion, 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[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 29 P3 P4 N- C Emergency stop switch Servo amplifier (Note 11) (Note 13) MC MCCB (Note 1) Power supply L1 L2 L3 L11 L21 ALM RA1 OFF MC ON MC SK (Note 3) P+ (Note 2) (Note 7) N/- P/+ BUE SD PR B C A SD MSG (Note 4) (Note 6) FR-BU2 FR-BR P PR TH2 TH1 (Note 5) (Note 8) (Note 10) Terminal block (Note 9) N/- P/+ [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 30 (2) Combination with MT-BR5-(H) resistor unit (a) 200 V class Emergency stop switch Servo amplifier (Note 9) MC MCCB (Note 1) Power supply L1 L2 L3 L11 L21 ALM RA1 OFF MC ON MC SK P3 P4 (Note 3) P+ N- C (Note 2) (Note 7) (Note 11) N/- P/+ BUE SD PR B C A SD MSG (Note 4) (Note 6) FR-BU2 MT-BR5 P PR TH2 TH[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 31 (b) 400 V class ALM RA1 OFF RA2 MC ON MC SK SK RA2 3 DOCOM ALM 15 CN3 (Note 8) MC MCCB L1 L2 L3 L11 L21 P3 P4 (Note 2) P+ N- (Note 6) (Note 10) N/- P/+ BUE SD PR B C A SD MSG (Note 3) (Note 5) FR-BU2-H P PR TH2 TH1 (Note 4) (Note 7) RA1 CN3 24 V DC (Note 11) 5 10 EM2 DICOM DICOM 20 24 V DC (Note 11) MT-B[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 32 (3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5 m (twist five times or more per one meter). Even when the cable is twisted, the c able should be less[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 33 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 RES PC B SD BUE C MSG SD MSG SD SD Jumper Terminal block Insulator Core 6 mm Wire the stripped cable [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 34 Servo amplifier Brake unit Number of connected units Crimp terminal (Manufacturer) (Note 1) Applicable tool 400 V class MR-J4-500B4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a MR-J4-700B4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a MR-J4-11KB4(-RJ) FR-BU2-H30K 1 FVD5.5-6 (JST) a FR-BU2-H55K 1 FVD5.5-6 (JST) a MR-J4-15[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 35 FR-BU2-30K/FR-BU2-H30K [Unit: mm] 129.5 5 59 18.5 Rating plate 52 2- φ 5 hole (Screw size: M4) 128 5 5 118 5 108 6 6 96 FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K [Unit: mm] 18.5 Rating plate 52 72 5 142.5 128 118 5 5 5 6 158 6 170 2- φ 5 hole (Screw size: M4)[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 36 (2) FR-BR-(H) resistor unit [Unit: mm] H3 ± 1 H1 ± 3 Approx. H2 Approx. H2 D1 H ± 5 2- φ C Control circuit terminal Main circ uit terminal W1 ± 1 Approx. 35 Approx. 35 C C W ± 5 D ± 5 (Note) (Note) Approx. 40 33 204 Eyebolt For FR-BR-55K/FR-BR-H55K, an eyebolt is placed on two locations. (Refer to[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 37 11.4 FR-RC-(H) power regeneration converter POINT When using the FR-RC-(H) power regenerati on converter, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). When using the FR-RC-(H) power regenerat ion converter, refer to "Power Regeneration Converter FR-RC Inst ruction Manual (IB([...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 38 (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 P3 P4 C N- P+ N/- P/+ RD SE MC MCCB RX R SX S TX T R/L1 S/L2 T/L3 B C EM1 DICOM CN3 DOCOM ALM CN3 RA BC FR-RC ALM RA MC MC SK L11 L21 L1 L2 L3 A [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 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 remove d, the FR-RC will not operate. 2. For the servo amplifier of 7 kW, always disconnect the l ead wire of built-in regenerative re sistor, which is connected to the P+ and C termina[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 40 Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain remove d, the FR-RC-H will not operate. 2. For the servo amplifier of 5 kW and 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is conn ected to P+ and C t[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 41 (4) Mounting hole machining dimensions When the power regeneration converter is insta lled to an enclosed type cabinet, mount the heat generating area of the converter outsi de the box to provide heat generation measures. At this time, the mounting hole having the following dimensions is machined in the [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 42 11.5.1 Model designation The following describes what each block of a model name indicates. Not all combinations of the symbols are available. Capacity Symbol Capacity [kW] 22K 22 30K 30 37K 37 55K 55 Symbol Voltage class H 400 V class 7.5K 7.5 11K 11 15K 15 None 200 V class 11.5.2 Selection (1) 200 V cl[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 43 (2) 400 V class FR-CV-H power regeneration common converter can be us ed for the servo amplifier of 11 kW to 22 kW. The following shows the restrict ions 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 o[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 44 (3) Connection diagram POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available. (a) 200 V class MC MCCB R/L11 S/L21 T/L31 S2/L22 R2/L12 T2/L32 FR-CVL MC RA2 RA1 EM1 RESET MC SK RA1 EM1 R2/L1 S2/L2 N/L- P24 SD RDYB RDYA RSO SE SD P/L+ T2/L3 R[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 45 (b) 400 V class MC MCCB R/L11 3-phase 380 V AC to 480 V AC S/L21 T/L31 S2/L22 R2/L12 T2/L32 FR-CVL-H MC RA2 RA1 EM 1 OFF ON RESET (Note 1) MC SK (Note 4) RA1 EM1 R2/L1 S2/L2 N/L- (Note 2) P24 SD RDYB RDYA RSO SE SD P/L+ T2/L3 R/L11 S/L21 T/MC1 RES (Note 1) L11 L21 P4 N- U V W (Note 1, 6) EM1 U V W CN2 FR[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 46 (4) Selection example of wires used for wiring POINT Selection conditions of wire size is as follows. 600 V grade heat-resistant polyvinyl chlo ride 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 indi[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 47 (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. R2/L1 S2/L2 T2/L3 R/L11 S/L21 T/MC1 P/L+ N/L[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 48 (5) Other precautions (a) When using the FR-CV-(H), always install t he dedicated stand-alone reactor (FR-CVL-(H)). Do not use the power factor improving AC reactor (FR-HA L-(H)) or power factor improving DC reactor (FR- HEL-(H)). (b) The inputs/outputs (main circ uits) of the FR-CV-(H) and servo amplifi[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 49 Power regeneration common converter FR-CV-H_ Item 22K 30K 37K 55K Total of connectable servo amplifier capacities [kW] 11 15 185 27.5 Maximum servo amplifier capacity [kW] 11 15 15 22 Output Total of connectable servo motor rated currents [A] 43 57 71 110 Regenerative braking torque Short-time rating Tot[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 50 11.6 Junction terminal block PS7DW-20V14B-F (recommended) (1) Usage Always use the junction terminal block (PS7W- 20V14B-F(YOSHIDA ELECTRIC INDUSTRY)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below. Junction terminal bloc k PS7DW-20V14B-F CN3 MR-J2HBUS_M Servo amplifier[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 51 (3) Dimensions of junction terminal block [Unit: mm] M3 × 6L M3 × 5L 36.5 27.8 18.8 7.62 44.11 54 63 φ 4.5 4.5 5 4 60 50 9.3 27 TB.E ( φ 6) 1.42 6.2 11.7 MR Configurator2 POINT The MR-J4-_B_-RJ servo amplifier is s upported with software version 1.19V or later. MR Configurator2 (SW1DNC-MRC2-E) us es [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 52 11.7.2 System configuration (1) Components To use this software, the following components are r equired in addition to the servo amplifier and servo motor. Equipment Description (Note 1, 2, 3, 4, 5) Personal computer OS Microsoft ® Windows ® 8.1 Enterprise Operating System Microsoft ® Windows ® 8.1 P[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 53 (2) Connection with servo amplifier To U S B connector Servo amplifier CN5 USB cable MR-J3USBCBL3M (Option) Personal computer 11.7.3 Precautions for using USB communication function Note the following to prevent an electric s hock and malfunction of the servo amplifier. (1) Power connection of personal c[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 54 11.8 Battery POINT Refer to appendix 2 and 3 for battery transportation and the new EU Battery Directive. This battery is used to c onstruct 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 bat[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 55 (2) Battery mounting Connect as follows. CN2 CN4 Servo amplifier Encoder cable Servo motor MR-BAT6V1SET (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 o ff. Then, check the voltage between[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 56 (a) Battery installation and removal procedure 1) Installation procedure POINT For the servo amplifier with a battery hol der on the bottom, it is not possible to wire for the earth with the battery install ed. Insert the battery after executing the earth wiring of the servo amplifier. Install a battery,[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 57 (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET reaches the end of its lif e, replace the MR-BAT6V1 battery in the MR- BAT6V1SET. Cover Locking par t While pressing the locking part, open the cover. MR-BAT6V1 Replace the battery with a new MR-BAT6V1. Projection Press the cover unt[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 58 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] Or[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 59 (4) Battery mounting Connect the MR-BAT6V1BJ using the MR-BT6VC BL03M junction battery cable as follows. CN2 CN4 Servo amplifier Orange: Connector for servo amplifier Black: Connector for branch cable Encoder cable HG series servo motors MR-BT6VCBL03M MR-BAT6V1BJ (5) Transporting a servo motor and machin[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 60 (6) 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 o ff. Then, check the voltage between P+ and N- with a voltage tester or others. Other wise, an electric shock may occur. In addition, when c[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 61 2) Connect the connector for branch cable c onnection (black) of the new MR-BAT6V1BJ. MR-BT6VCBL03M CN4 CN2 Servo amplifier Old MR-BAT6V1BJ New MR-BAT6V1BJ Orange Orange Black 3) Remove the connector for servo amplifier (or ange) of the old MR-BAT6V1BJ. When the control circuit power supply is on, perfor[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 62 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 m onth 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 bat[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 63 (3) Battery mounting POINT One battery unit can be connected to up to 8-axis servo motors. However, when using direct drive motors, the number of axes of the direct drive motors should be up to 4 axes. Servo motors and direct dr ive motors in the incremental system are included as the axis Nos. Linear se[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 64 (4) Battery replacement procedure WARNING Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns o ff. Then, check the voltage between P+ and N- with a voltage tester or others. Other wise, an electric shock may occur. In addition, when c[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 65 (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 cas e. 1) Required items Product name Model Quantity Remarks Battery case MR-BT6VC[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 66 b) Mounting MR-BAT6V1 BAT1 Securely mount a MR-BAT6V1 to the BAT1 holder. 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 direc[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 67 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) Preca[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 68 11.8.5 MR-BAT6V1 battery The MR-BAT6V1 battery is a battery for replaci ng 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 ba ttery have been described to the rating plate put on a MR-BAT6V1 battery. Rating plate 2CR1[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 69 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 appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard. Selection conditions of wire size is as follows. Con[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 70 (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 Wire [mm 2 ] (Note 1) 1) L1/L2/L3/ 2) [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 71 (b) 400 V class Table 11.2 Wire size selection example (HIV wire) Servo amplifier Wires [mm 2 ] (Note 1) 1) L1/L2/L3/ 2) L11/L21 3) P+/C 4) U/V/W/ (Note 3) MR-J4-60B4(-RJ)/ MR-J4-100B4(-RJ) 2 (AWG 14) 1.25 to 2 (AWG 16 to 14) (Note 4) 2 (AWG14) AWG 16 to 14 MR-J4-200B4(-RJ) MR-J4-350B4(-RJ) MR-J4-500B4(-[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 72 (2) Selection example of crimp terminals (a) 200 V class Symbol Servo amplifier-side crimp terminals (Note 2) Crimp terminal Applicable tool Manufacturer Body Head Dice a FVD5.5-4 YNT-1210S JST b (Note 1) 8-4NS YHT-8S c FVD2-4 YNT-1614 d FVD2-M3 e FVD1.25-M3 YNT-2216 f FVD14-6 YF-1 YNE-38 DH-122 DH-112 g[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 73 11.10 Molded-case circuit breakers, fuses, magnetic contactors CAUTION To prevent the servo amplifier from smok e 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. (1) For main [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 74 (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 prot ection device (molded-case circuit breaker or fuse) to protect the branch circuit. Servo amplifier Molded-[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 75 11.11 Power factor improving DC reactors The following shows the advantages of usi ng 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 ab[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 76 Servo amplifier Power factor improving DC reactor Dimensions Dimensions [mm] Terminal size Mass [kg] Wire [mm 2 ] (Note 2) W W1 H D (Note 1) D1 D2 D3 d MR-J4-10B(-RJ) MR-J4-20B(-RJ) FR-HEL-0.4K Fig. 11.1 70 60 71 61 21 M4 M4 0.4 2 (AWG 14) MR-J4-40B(-RJ) FR-HEL-0.75K 85 74 81 61 21 M4 M4 0.5 MR-J4-60B(-R[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 77 H ± 2.5 W1 W ± 2.5 D2 D1 ± 1 PP 1 D or less (D3) 4-d mounting hole (Note 1) 6 Fig. 11.6 (Note 2) Servo amplifie r P3 P4 FR-HEL-H 5 m or less Note 1. Use this for grounding. 2. When using the power factor improving DC reactor, remove the short bar across P3 and P4. Servo amplifier Power factor improvin[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 78 (1) 200 V class/100 V class 4-d mounting hole (Varnish is removed from front r ight moun ting hole (face and back side).) (Note 1) Terminal layout RX Z SYT W or les s (Note 2) W1 D1 D2 H D or less Fig. 11.7 Y Z S T Y Z S T MC MCCB MC MCCB FR-HAL Servo amplifier 3-phase 200 V class X R L1 L2 L3 3-phase 20[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 79 Servo amplifier Power factor improving AC reactor Dimensions Dimensions [mm] Terminal size Mass [kg] W W1 H D (Note) D1 D2 d MR-J4-10B(-RJ) MR-J4-20B(-RJ) MR-J4-10B1(-RJ) FR-HAL-0.4K Fig. 11.7 104 84 99 72 51 40 M5 M4 0.6 MR-J4-40B(-RJ) MR-J4-20B1(-RJ) FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8 MR-J4-60B([...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 80 W ± 0.5 W1 D1 D2 H ± 5 125 D or less 150 4-d mounting hole (Note) Z YT RXS ( φ 6 groove) Fig. 11.11 D or less 4-d mounting hole (Note) Z YT RX S H ± 5 180 W ± 0.5 W1 D1 D2 ( φ 8 groove) Fig. 11.12 Note. Use this for grounding. Servo amplifier Power factor improving AC reactor Dimensions Dimensions [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 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 equi pment to malfunction. Since the servo amplifier is an electronic device which handles small signals, th[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 82 Instrument Receiver Ser vo amplifier Servo motor M 2) 2) 8) 1) 7) 7) 7) 5) 3) 4) 6) 3) Sensor power supply Sensor Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, s ensors, etc. which handle weak signals and may malfunction due to noise and/or their signal c[...]

11. OPTIONS AND PERIPHERAL 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[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 84 (c) Cable clamp fitting AERSBAN-_SET Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an grounding plate as shown below. Install the grounding plate near the servo amplifier fo[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 85 (d) Line noise filter (FR-BSF01/FR-BLF) This filter is effective in suppressing noises r adiated 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. Con[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 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 radi o 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 [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 87 (f) Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noi se and lightning surge from entering the servo amplifier. When using a varistor, connect it bet ween each phase of the input power supply of the equipment. For varistors, the TND20V-431K, T ND20V-471K and T[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 88 11.15 Earth-leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse widt h 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-leaka[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 89 Table 11.4 Servo motor leakage current example (lgm) Servo motor power [kW] Leakage current [mA] 0.05 to 1 0.1 1.2 to 2 0.2 3 to 3.5 0.3 4.2 to 5 0.5 7 0.7 9 to 11 1.0 15 1.3 22 2.3 Table 11.5 Servo amplifier l eakage current example (Iga) Servo amplifier capacity [kW] Leakage current [mA] 0.1 to 0.6 0.1[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 90 (2) Selection example Indicated below is an example of selecting an earth-leakage current breaker under the following conditions. Servo motor HG-KR43 2 mm 2 × 5 m 2 mm 2 × 5 m M NV Ig1 Iga Ig2 Igm Servo amplifier MR-J4-40B Use an earth-leakage current breaker designed for suppressing harmonics/surges. [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 91 11.16 EMC filter (recommended) It is recommended that one of the following filters be us ed to comply with EN EMC directive. Some EMC filters have large in leakage current. When using an EMC filter, always use one for each servo amplifier. (1) Combination with the servo amplifier Servo amplifier Recommen[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 92 (b) 400 V class MCCB Servo amplifier 1 2 3 Pow er supply MC EMC filter L1 L2 L3 L1 1 L21 4 5 6 E (3) Dimensions (a) EMC filter HF3010A-UN [Unit: mm] 32 ± 2 85 ± 2 110 ± 4 258 ± 4 273 ± 2 288 ± 4 300 ± 5 M4 IN 3-M4 65 ± 4 Approx. 41 4-5.5 × 7 3-M4 HF3030A-UN/HF-3040A-UN [Unit: mm] 125 ± 2 44 ± [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 93 HF3100A-UN [Unit: mm] 2-6.5 × 8 M8 145 ± 1 165 ± 3 M6 380 ± 1 400 ± 5 160 ± 3 M8 2- φ 6.5 TF3005C-TX/TX3020C-TX/TF3030C-TX [Unit: mm] 290 2 100 1 308 5 332 5 Appro x.12.2 3-M4 16 16 6-R3.25 length8 M4 M4 125 2 140 1 155 2 IN 150 2 Approx.67.5 3 Approx.160 170 5 M4 3 M4 100 1[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 94 TF3040C-TX/TF3060C-TX [Unit: mm] 180 ± 2 Appr ox. 91.5 Approx. 190 200 ± 5 M6 390 ± 2 100 ± 1 412 ± 5 438 ± 5 Approx. 17 3-M6 22 22 8-R3.25 Length 8 (for M6) M4 M4 145 ± 2 3-M6 160 ± 1 175 ± 2 IN 100 ± 1 100 ± 1 (b) Surge protector RSPD-250-U4 41 ± 1 28.5 ± 1 28 ± 1 4.2 ± 0.5 5.5 ± 1 11 ?[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 95 11.17 External dynamic brake CAUTION Use an external dynamic brake for a serv o 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 dose not stop immediately but coasts at an alarm occurrence for which[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 96 (2) Connection example (a) 200 V class EMG stop switch L11 L21 U V W U V W E M Servo amplifier Servo motor L3 L2 L1 (Note 3) Powe r supply 13 U 14 V W External dynamic brake a b (Note 1) ALM 15 DB (Note 2, 8) DOCOM 3 CN3 RA2 MCCB Operation read y MC ALM RA1 OFF ON MC SK RA1 RA2 MC Dynamick brake interloc[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 97 (b) 400 V class Emergency stop switch L11 L21 U V W U V W E M Servo amplifier Servo motor L3 L2 L1 (Note 3) Power supply 13 U 14 V W External dynamic brake a b (Note 1) ALM 15 DB (Note 2, 10) DOCOM 3 CN3 RA2 MCCB Operation read y MC ALM RA1 OFF ON MC SK RA1 RA2 MC Dynamic brake interlock (Note 4) (Note 5[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 98 (3) Timing chart Servo motor speed Coasting A larm ON OFF EMG stop switch Absent Disabled Enabled Short Open a. Timing chart at alarm occurrence b. Timing chart at EMG stop switch enabled Dynamic brake Base circuit ON OFF Coasting Dynamic brake Dynamic brake Present DB (D ynamic brake interlock) (Note 2)[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 99 (4) Dimensions (a) DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm] C D 100 D 5 E E B A 5 F 2.3 G ab 1 3 Terminal block 14 Screw: M3.5 Tightening torque: 0.8 [N•m] UV W Screw: M4 Tightening torque: 1.2 [N•m] External dynamic brake A B C D E F G Mass [kg] (Note) Connection wire [mm 2 ] U/V/W Except U/V/W DBU-11K[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 100 (b) DBU-11K-4/DBU-22K-4 [Unit: mm] 15 51 25 15 73.75 7 25 150 10 200 170 178.5 179.5 15 260 280 43 10 2- φ 7 mounting hole 195 228 26 26 210 2.3 Mass: 6.7 [kg] Terminal block TE1 a b 13 14 Screw: M3.5 Tightening torque: 0.8 [N•m] TE2 W V U Screw: M4 Tightening torque: 1.2 [N•m] External dynamic bra[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 101 11.18 Heat sink outside mounting atta chment (MR-J4ACN15K/MR-J3ACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the cabinet to di ssipate servo amplifier-generated heat to the outside of the cabinet and reduce the amount of hea[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 102 (c) Mounting method A ttachment Attachment Fit using the assembling screws. Servo amplifier a. Assembling the heat sink outside mounting attachment Cabinet Punched hole Servo amplifier b. Mounting it to inside cabinet[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 103 (d) Mounting dimensional diagram [Unit: mm] 12 510 580 Approx. 58 188 145 Approx. 400 78 35 196 240 3.2 155 108.3 Approx. 263.3 Panel Panel 20.6 Attachment Mounting hole Servo amplifier Servo amplifier (2) MR-J3ACN (a) Panel cut dimensions [Unit: mm] 236 255 270 Approx. 125 331 39.5 535 510 18 203 39.5 [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 104 (b) How to assemble the attachment for heat sink outside mounting attachment Screw (2 places) Attachment (c) Mounting method Fit using the assembli ng screws. Attachment Serv o amplifier Attachment Serv o amplifier Punched hole Cabine t a. Assembling the heat sink outside mounting attachment b. Mounting[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 105 (d) Mounting dimensional diagram [Unit: mm] Approx. 58 510 580 12 236 280 Approx. 260 84 194 20 145 Approx. 400 35 3.2 105 155 Approx. 260 Approx. 11.5 Ser vo amplifier Servo amplifier Mounting hole Panel Panel Attachment[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 106 MEMO[...]

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 1 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 circ[...]

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 2 12.1.2 Structure The following shows a configuration of the absolute pos ition detection system. Refe r to section 11.8 for each battery connection. Servo system controller Servo amplifier CN1A Servo motor CN2 Battery CN4 12.1.3 Parameter setting Set "_ _ _ 1" in [Pr. PA03] to enabl e the abso[...]

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 3 12.2 Battery 12.2.1 Using MR-BAT6V1SET battery (1) Configuration diagram CYC0 Current position Home position data LS0 Position data LS Detecting the number of revolutions CYC Detecting the position at one revolution Servo motor Cumulative revolution counter (1 pulse/rev) One-revolution counter High spee[...]

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 4 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable POINT MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. MR-BAT6V1BJ cannot be used for fully closed loop system. (1) Configuration diagram CYC0 Current position Home position data LS0 Positi[...]

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 5 12.2.3 Using MR-BT6VCASE battery case POINT One MR-BT6VCASE holds absolute position data up to eight axes servo motors. Always install five MR-BAT6V 1 batteries to an MR-BT6VCASE. (1) Configuration diagram CYC0 Current position Home position data LS0 Position data LS Detecting the number of revolutions [...]

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 6 MEMO[...]

13. USING STO FUNCTION 13 - 1 13. USING STO FUNCTION POINT In the torque control mode, the forced st op deceleration function is not available. 13.1 Introduction This section provides the c autions 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 d IEC 61508 SIL [...]

13. USING STO FUNCTION 13 - 2 13.1.4 Residual risks of the STO function Machine manufacturers are responsible for all risk ev aluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi is not liable for any damages or injuries caused by these risks. (1) The STO function disables energy supply [...]

13. USING STO FUNCTION 13 - 3 13.1.5 Specifications (1) Specifications Item Specifications Functional safety STO (IEC/EN 61800-5-2) Safety performance ISO/EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL2, EN 61800-5-2 SIL 2 Mean time to dangerous failure (MTTFd) 100 years or more (Note) Diagnostic converge (DC) medi um (90% to 99%)[...]

13. USING STO FUNCTION 13 - 4 13.1.6 Maintenance This servo amplifier has alarms and warnings for ma intenance that supports the Mitsubishi 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 configurations of the connectors are as viewed from the cable connector wi[...]

13. USING STO FUNCTION 13 - 5 13.2.2 Signal (device) explanations (1) I/O device Signal name Connector pin No. Description I/O division STOCOM CN8-3 Common terminal for i nput signal of STO1 and STO2 DI-1 STO1 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 S[...]

13. USING STO FUNCTION 13 - 6 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. STO2 STO[...]

13. USING STO FUNCTION 13 - 7 13.3.2 External I/O signal connection exampl e using an MR-J3-D05 safety logic unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. (1) Connection example STO1 4 5 3 6 7 8 CN3 EM2 (B-axis) CN8 SDO1A+ 4A 4B SDO1A- SDI1A+ 1A 1B SDI1A- SDI2A+ SRE[...]

13. USING STO FUNCTION 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 SDO1[...]

13. USING STO FUNCTION 13 - 9 13.3.3 External I/O signal connection exampl e using an external safety relay unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. This connection example complies with the require ment of ISO/EN ISO 13849-1 category 3 PL d. For details, refer[...]

13. USING STO FUNCTION 13 - 10 13.3.4 External I/O signal connection example using a motion controller POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. For MC-Y0B and PC-Y0B, design a s equence program to output MC-Y0B and PC-Y0B after the servo motor stops. This connection[...]

13. USING STO FUNCTION 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 ma ke connection with the external device. 13.4.1 Sink I/O interface (1) Digital input interface DI-1 This is an input circuit[...]

13. USING STO FUNCTION 13 - 12 (b) When outputting two STO states by using one TOFB If polarity of diode is reversed, servo amplifier will malfunction. TOFCOM Servo amplifier TOFB2 Load TOFB1 (Note) 24 V DC ± 10% 300 mA Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from ext[...]

13. USING STO FUNCTION 13 - 13 13.4.2 Source I/O interface In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc. Approx. 3.0 k Ω STO1 STO2 Ser[...]

13. USING STO FUNCTION 13 - 14 MEMO[...]

14. USING A LINEAR SERVO MOTOR 14 - 1 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 sy stems, mounters, and other s have s[...]

14. USING A LINEAR SERVO MOTOR 14 - 2 14.1.2 Servo system wi th 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 amplifie r and linear servo motor are optional or recommended products. When using the linear servo motor, set [Pr. PA01] [...]

14. USING A LINEAR SERVO MOTOR 14 - 3 Note 1. The power factor improving AC reactor can also be us ed. In this case, the power factor improving DC reactor cannot be used. When not using the power factor impr oving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with t he servo amplifier of MR-J4-70B or less. [...]

14. USING A LINEAR SERVO MOTOR 14 - 4 (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 moto rs except for connections of linear servo motors and linear encoders. Refer to section 1.8 depending on s[...]

14. USING A LINEAR SERVO MOTOR 14 - 5 (3) When using A/B/Z-phase differential out put 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 moto rs except for connections of linear servo motors and linear encoders. Refer to [...]

14. USING A LINEAR SERVO MOTOR 14 - 6 14.2 Signals and wiring WARNING Any person who is involved in wiring s hould 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,[...]

14. USING A LINEAR SERVO MOTOR 14 - 7 CAUTION Connecting a linear servo motor for different axis to the U, V, W, or CN2 may cause a malfunction. Do not modify the equipment. The cables such as power wires derivi ng from the primary side cannot stand the long-term bending action. Avoid the bending action by fixing the cables to the moving part, etc.[...]

14. USING A LINEAR SERVO MOTOR 14 - 8 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 in the following procedure. Set the linear servo motor series and linear servo motor type. (Refer to (2) of this section.) (Note) Set the li[...]

14. USING A LINEAR SERVO MOTOR 14 - 9 (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 cou[...]

14. USING A LINEAR SERVO MOTOR 14 - 10 3) When [Pr. PC27] is set to "_ _ _ 0" and the pos itive direction of the linear servo motor matches with the increasing direction of the linear enc oder, if the linear servo motor operates in the positive direction, the motor speed will be a positiv e value. If the positive direction of the linear s[...]

14. USING A LINEAR SERVO MOTOR 14 - 11 14.3.2 Magnetic pole detection POINT Set [Pr. PE47 Torque offset] to "0 (initi al 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 th[...]

14. USING A LINEAR SERVO MOTOR 14 - 12 (1) Magnetic pole detection method by using MR Configurator2 The following shows the magnetic pole detecti on procedure by using MR Configurator2. (a) Magnetic pole detection by the position detection method Have [AL. 32 Overcurr ent], [AL. 50 Over load 1], [ AL. 51 Over load 2], and [AL. E1 Ov erload w arni n[...]

14. USING A LINEAR SERVO MOTOR 14 - 13 (b) Magnetic pole detection by t he minute position detection method Is t he tr avel distanc e during the m agnetic p ole detect ion acceptable? (Note 3) 1) Check that FLS (Upper stroke limit), R LS (Lower stroke li mit), and E M2 (Forced stop 2) are on, and then cycle the servo amplifier power. Turn "On [...]

14. USING A LINEAR SERVO MOTOR 14 - 14 (c) State transition of the servo am plifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurat or2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below. The decimal point flickers. Servo-off status [...]

14. USING A LINEAR SERVO MOTOR 14 - 15 (3) Operation at the magnetic pole detection WARNING Note that the magnetic pole detection autom atically starts simultaneously with the turning-on of the servo-on command. CAUTION If the magnetic pole detection is not ex ecuted properly, the linear servo motor may operates unexpectedly. POINT Establish the ma[...]

14. USING A LINEAR SERVO MOTOR 14 - 16 (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 c ontroller after the power-on, the magnetic pole detection is automatically carried out. Therefore, ther e is [...]

14. USING A LINEAR SERVO MOTOR 14 - 17 3) Linear servo motor movement (when FLS (Upper stro ke limit) or RLS (Lower stroke limit) is off) When FLS or RLS is off at servo-on, the m agnetic pole detection is carried out as follows. RLS FLS (Note) Magnetic pole detection completion position Magnetic pole detecti on start position Servo-on position The[...]

14. USING A LINEAR SERVO MOTOR 14 - 18 3) After the completion of the magnetic pole detecti on, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled). [Pr. PL01] Magnetic pole detection disabled 0 After the magnetic pole detection, by disabling t he magnetic pole detection function with [Pr. PL01], the magnetic pole detection [...]

14. USING A LINEAR SERVO MOTOR 14 - 19 2) Specify the setting value that is an approximatel y 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. Ho wever, if [AL. 27 Initial magnetic pole detection error] occurs w[...]

14. USING A LINEAR SERVO MOTOR 14 - 20 The following shows the relation between the stop inte rval 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[...]

14. USING A LINEAR SERVO MOTOR 14 - 21 (b) When the linear encoder home position does not exist in the home position return direction 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 diff[...]

14. USING A LINEAR SERVO MOTOR 14 - 22 (2) Absolute position linear encoder When an absolute linear encoder is used, the re ference 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[...]

14. USING A LINEAR SERVO MOTOR 14 - 23 14.3.4 Test operation mode in MR Configurator2 CAUTION The test operation mode is designed for c hecking servo operation. It is not for checking machine operation. Do not use th is mode with the machine. Always use the linear servo motor alone. If the servo motor operates abnormally, us e EM2 (Forced stop 2) t[...]

14. USING A LINEAR SERVO MOTOR 14 - 24 (b) Output signal (DO) forced output Output signals can be switched on/off forcibly i ndependently of the servo stat us. This function is used for output signal wiring check, etc. Exercise control on t he DO forced output screen of MR Configurator2. (c) Program operation Positioning operation can be performed [...]

14. USING A LINEAR SERVO MOTOR 14 - 25 (1) Operation method For the system using the incremental linear enc oder, 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 t he inter loc[...]

14. USING A LINEAR SERVO MOTOR 14 - 26 (b) Settings of the number of pulse s (AP) and travel distance (AL) AP AL Position feedback [mm] Command [mm] + - Speed feedback [mm/s] AL AP User Controlle r Servo amplifie r Linear servo motor Linear encoder Differ- entiation Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder [...]

14. USING A LINEAR SERVO MOTOR 14 - 27 (a) Position deviation error detection Set [Pr. PL04] to "_ _ _ 1" to enabl e the position deviation error detection. [Pr. PL04] Position deviation error detection enabled 1 When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 14.1, if the deviation is more tha[...]

14. USING A LINEAR SERVO MOTOR 14 - 28 (2) Auto tuning function The auto tuning function during the linear servo motor oper ation is the same as t hat 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 dividin[...]

14. USING A LINEAR SERVO MOTOR 14 - 29 14.4 Characteristics 14.4.1 Overload protec tion 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 ov erload operation performed is above the electronic therma[...]

14. USING A LINEAR SERVO MOTOR 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 val ues in the table in consideration for the worst operating conditions. The actual amount of gener[...]

14. USING A LINEAR SERVO MOTOR 14 - 31 14.4.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a nor mal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor mass ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine de[...]

14. USING A LINEAR SERVO MOTOR 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 rati o 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 ma[...]

15. USING A DIRECT DRIVE MOTOR 15 - 1 15. USING A DIRECT DRIVE MOTOR CAUTION When using the direct drive motor, read the "Direct Drive Motor Instruction Manual". 15.1 Functions and configuration 15.1.1 Summary The fields of semiconductor/LCD manufacturing sy stems, mounters, and other s have strong demands for high accuracy and efficiency[...]

15. USING A DIRECT DRIVE MOTOR 15 - 2 15.1.2 Servo system wi th 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] t[...]

15. USING A DIRECT DRIVE MOTOR 15 - 3 Note 1. The power factor improving AC reactor can also be us ed. In this case, the power factor improving DC reactor cannot be used. When not using the power factor impr oving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with t he servo amplifier of MR-J4-70B(-RJ) or l[...]

15. USING A DIRECT DRIVE MOTOR 15 - 4 CAUTION When using the regenerative resistor, swit ch power off with the alarm signal. Otherwise, a transistor fault or the lik e may overheat the regenerative resistor, causing a fire. Do not modify the equipment. Connect the servo amplifier power output (U , V, and W) to the power input of the direct drive mo[...]

15. USING A DIRECT DRIVE MOTOR 15 - 5 15.3.1 Startup procedure Start up the direct drive serv o in the following procedure. Absolute position detection system Installation and wiring Z-phase pulse of the direct drive motor is turned on by the JOG operation. (Notes 1 and 2) Perform the magnetic pole detection. (Refer to section 15.3.2.) (Note 1) Abs[...]

15. USING A DIRECT DRIVE MOTOR 15 - 6 15.3.2 Magnetic pole detection POINT The magnetic pole detection is not requir ed 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 [...]

15. USING A DIRECT DRIVE MOTOR 15 - 7 (1) Magnetic pole detection method by using MR Configurator2 The following shows the magnetic pole detecti on procedure by using MR Configurator2. (a) Magnetic pole detection by the position detection method Have [A L. 32 Overcurrent], [AL. 50 Overload 1], [A L. 51 Over load 2], and [AL. E 1 Overload warning 1][...]

15. USING A DIRECT DRIVE MOTOR 15 - 8 (b) Magnetic pole detection by t he minute position detection method Is the travel di stance during the magnetic pole detection acceptabl e? (Note 3) Turn the servo amplifier power off and on again. Execute " F orward CCW rotation" or "R everse rotation" w ith " Positi oning CW operatio[...]

15. USING A DIRECT DRIVE MOTOR 15 - 9 (c) State transition of the servo am plifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurat or2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below. The decimal point flickers. Servo-off status D[...]

15. USING A DIRECT DRIVE MOTOR 15 - 10 (3) Operation at the magnetic pole detection WARNING Note that the magnetic pole detection autom atically starts simultaneously with the turning-on of the servo-on command. CAUTION If the magnetic pole detection is not execut ed properly, the direct drive motor may operates unexpectedly. POINT Establish the ma[...]

15. USING A DIRECT DRIVE MOTOR 15 - 11 2) Direct drive motor movement (when FLS and RLS are on) Magnetic pole detection completion position Servo-on position (Magnetic pole detection start position) Center of direct drive motor rotation part FLS (Note) (Note) RLS 10 degrees or less Note. When the stroke limit (FLS or RLS) tu rns off during the magn[...]

15. USING A DIRECT DRIVE MOTOR 15 - 12 2) Execute the magnetic pole detection. (R efer to (3) (a) of this section.) 3) After the completion of the magnetic pole detecti on, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled). [Pr. PL01] Magnetic pole detection disabled 0 After the magnetic pole detection, by turni ng on the [...]

15. USING A DIRECT DRIVE MOTOR 15 - 13 2) Specify the setting value that is an approximatel y 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 Initia l magnetic pole detection error] occurs with this value, speci[...]

15. USING A DIRECT DRIVE MOTOR 15 - 14 15.3.3 Operation from controller 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 s[...]

15. USING A DIRECT DRIVE MOTOR 15 - 15 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. [...]

15. USING A DIRECT DRIVE MOTOR 15 - 16 (b) Speed deviation error detection Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection. [Pr. PL04] Speed deviation error detection enable d 2 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 [...]

15. USING A DIRECT DRIVE MOTOR 15 - 17 15.4 Characteristics 15.4.1 Overload protec tion 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 ov erload operation performed is above the electr[...]

15. USING A DIRECT DRIVE MOTOR 15 - 18 1000 100 10 1 0.1 0 50 150 200 250 300 100 Servo-lock Operation time [s] (Note) Load ratio [%] Operating TM-RFM002C20, TM-RFM004C20, TM-RFM006C20, TM-RFM006E20, TM-RFM012E20, TM-RFM018E20, TM-RFM012G20, TM-RFM040J10 1000 100 10 1 0.1 0 50 150 200 250 300 100 Servo-lock Operation time [s] (Note) Load ratio [%] [...]

15. USING A DIRECT DRIVE MOTOR 15 - 19 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 val ues in the table in consideration for the worst operating conditions. The actual amount of gener[...]

15. USING A DIRECT DRIVE MOTOR 15 - 20 15.4.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a nor mal 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[...]

15. USING A DIRECT DRIVE MOTOR 15 - 21 (b) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 15.1. Time constant [ms] Speed [r/min] 0 0 100 200 5 15 20 25 30 300 400 500 006 004 10 002 0 0 100 200 70 300 400 500 012 006 018 10 20 30 40 50 60 Speed [r/min] Time constant [ms] TM-RFM_C20 TM-RFM_E20 0[...]

15. USING A DIRECT DRIVE MOTOR 15 - 22 MEMO[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 1 16. FULLY CLOSED LOOP SYSTEM POINT The fully closed loop system is availabl e for the servo amplifiers of which software version is A3 or above. When fully closed loop control system is us ed with this servo amplifier, "Linear Encoder Instruction Manual" is needed. Fully closed loop control system is av[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 2 The following table shows the functions of each control mode. Control Description Semi closed loop control Feature Position is controlled accord ing to the servo motor-side data. Advantage Since this control is insusceptible to ma chine influence (such as machine resonance), the gains of the servo amplifier can b[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 3 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 sele cted 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 b[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 4 16.1.3 System configuration (1) For a linear encoder (a) MR-J4-_B_ servo amplifier CN2 Servo amplifier SSCNET III/H controller SSCNET III/H Position command control signal Table To the next servo amplifier (Note) Two-wire type serial interface compatible linear encoder Load-side encoder signal Servo motor encoder[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 5 (2) For a rotary encoder (a) MR-J4-_B_ servo amplifier CN2 Servo motor Two-wire type rotary encoder H G-KR, HG-MR servo motor (4194304 pulses/rev) Drive part Servo amplifier SSCNET III/H controller SSCNET III/H Position command control signal To the next servo amplifier (Note) (Note) Load-side encoder signal Serv[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 6 16.2 Load-side encoder POINT Always use the load-side encoder cable in troduced in this section. Using other products may cause a malfunction. For details of the load-side encoder spec ifications, performance and assurance, contact each encoder manufacturer. 16.2.1 Linear encoder Refer to "Linear Encoder Ins[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 7 (2) Rotary encoder (a) MR-J4-_B_ servo amplifier Refer to "Linear Encoder Instruction M anual" for encoder cables for rotary encoder. Servo amplifier CN2 MR-J4FCCBL03M branch cable (Refer to section 16.2.4) Encoder of rotary servo motor Encoder cable (Refer to the "Servo Motor Instruction Manual (V[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 8 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". LG View seen from wiring side. 4 MRR 2 LG 8 6 1 P5 5[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 9 16.3 Operation and functions 16.3.1 Startup (1) Startup procedure Start up the fully closed loop syst em in the following procedure. Positioning operation check using the controller (Refer to section 16.3.3.) Positioning operation check using MR Configurator2 Gain adjustment Completion of installation and wiring [...]

16. FULLY CLOSED LOOP SYSTEM 16 - 10 (2) Selection of fully closed loop system By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be selected as shown in the following table. [Pr. PA01] [Pr. PE01] Semi closed loop control/ fully closed loop control switching signal Command unit Control System Absolute po[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 11 (3) Selection of load-side encoder communication method The communication method changes depending on the l oad-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 [P[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 12 (5) Setting of feedback pulse electronic gear POINT If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]), [A L. 37 Parameter error] and an abnormal operation may occur. Also, it may cause [AL. 42.8 Fully closed loop control error by position devi[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 13 (b) Setting example when using the rotary encoder for the load-side encoder of roll feeder Conditions Servo motor resolution: 4194304 pulses/rev Pulley diameter on the servo motor side: 30 mm Pulley diameter on the rotary encoder side: 20 mm Rotary encoder resolution: 4194304 pulse/rev Servo motor Rotary encoder[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 14 (6) Confirmation of load-side encoder position data Check the load-side encoder mounting and par ameter 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. When checking the following items, the fully[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 15 (7) Setting of fully closed loop dual feedback filter With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While observing the servo operation waveform with the graph func[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 16 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 t he Z-phase position of the servo motor encoder. In the case of a home position return using a dog signal, [...]

16. FULLY CLOSED LOOP SYSTEM 16 - 17 (b) About proximity dog type home position return using incremental linear encoder 1) When the linear encoder home position (referenc e 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[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 18 POINT To execute a home position return secure ly, 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 [...]

16. FULLY CLOSED LOOP SYSTEM 16 - 19 16.3.3 Operation from controller The fully closed loop control compatible servo amplifier can be used with any of the following controllers. Category Model Remarks Motion controller R_MTCPU/Q17_DSCPU Speed control (II) instructions (VVF and VVR) cannot be used. Simple motion module RD77MS_/QD77MS_ An absolute ty[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 20 (a) When using a linear encoder (unit setting: mm) Differentiation AP AL Servo motor Linear encode r Position feedback [mm] Command [mm] + - Speed feedback [r/min] AL AP Electronic gear User Control Servo amplifier Load-side encoder resolution unit Load-side encoder resolution unit Servo motor speed Calculate th[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 21 16.3.4 Fully closed loop contro l 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 pre- detect it and stop operation. The full[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 22 (b) Position deviation error detection Set [Pr. PE03] to "_ _ _ 2" to enabl e the position deviation error detection. Position deviation error detection 2 [Pr. PE03] Comparing the servo motor-side feedback position (2)) and load-side feedback position (4)), if the deviation is not less than the set val[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 23 16.3.8 Absolute position detection sy stem under fully closed loop system An absolute type linear encoder is necessary to conf igure an absolute position det ection system under fully closed loop control using a linear encoder. In this ca se, the encoder battery need not be installed to the servo amplifier. When[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 24 16.3.9 About MR Configurator2 Using MR Configurator2 can confirm if the parameter setting is normal or if the servo motor and the load- side encoder operate properly. This section explains the fully closed diagnosis screen. Click "Monitor start" to constantly read the monitor display items from the ser[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 25 Symbol Name Explanation Unit f) Motor side cumu. feedback pulses (before gear) Feedback pulses from the servo motor encoder are counted and displayed. (Servo motor encoder unit) When the set value exceeds 999999999, it starts with 0. Click "Clear" to reset the value to 0. The "-" symbol is in[...]

16. FULLY CLOSED LOOP SYSTEM 16 - 26 MEMO[...]

17. APPLICATION OF FUNCTIONS 17 - 1 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 softwa[...]

17. APPLICATION OF FUNCTIONS 17 - 2 17.1.2 Operation modes support ed 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 serv o motor) MR-J3-_B MR-J3-_BS MR-J3W-_B MR-J3-B fu[...]

17. APPLICATION OF FUNCTIONS 17 - 3 Compatible ( : J4 new, : Equivalent to J3, : Not available) Function Name MR-J4 series MR-J3/MR-J3W series (Note 8) J4 mode J3 compatibility mode Auto tuning mode 1 A0 A0 Auto tuning mode 2 A0 A0 Auto tuning 2 gain adjustment mode 1 (interpolation mode) A0 A0 2 gain adjustment mode 2 A0 Manual mode A0 A0 Machine [...]

17. APPLICATION OF FUNCTIONS 17 - 4 Compatible ( : J4 new, : Equivalent to J3, : Not available) Function Name MR-J4 series MR-J3/MR-J3W series (Note 8) J4 mode J3 compatibility mode Encoder Semi closed loop control two-wire type/four-wire ty pe selection A0 A0 Serial interface compatible linear encoder A0 A0 MR-J3-_S MR-J3-_B-RJ006 MR-J3-_B-RJ004 M[...]

17. APPLICATION OF FUNCTIONS 17 - 5 17.1.4 How to switch J4 mode/J3 compatibility mode There are two ways to switch the J4 mode/J3 com patibility mode with the MR-J4W_-_B servo amplifier and MR-J4-_B_(-RJ) servo amplifier. (1) Mode selection by the automatic i dentification of the servo amplifier J4 mode/J3 compatibility mode is identified aut omat[...]

17. APPLICATION OF FUNCTIONS 17 - 6 (2) Mode selection using the application software "MR-J4(W)-B mode selection" You can set the factory setting, J4 mode/J3 com patibility mode, and operation mode with the dedicated application. Application " MR-J4(W)-B mode selection tool " J4 mode J3 compatibility mode J4 mode/J3 compa tibili[...]

17. APPLICATION OF FUNCTIONS 17 - 7 (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 MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B. MR-J3-B fully closed loop control mode Select MR-J3-_B fully closed. MR-J3-B linear co[...]

17. APPLICATION OF FUNCTIONS 17 - 8 (3) The J3 compatibility mode has a functional compat ibility. 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 conne[...]

17. APPLICATION OF FUNCTIONS 17 - 9 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 amp lifier before change of specifications For the controllers in which "Not required" is descr ibed to controll[...]

17. APPLICATION OF FUNCTIONS 17 - 10 (b) Operation when using a servo amp lifier after change of specifications For the controllers in which "Not required" is descr ibed 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[...]

17. APPLICATION OF FUNCTIONS 17 - 11 (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 Configurator[...]

17. APPLICATION OF FUNCTIONS 17 - 12 17.1.9 J3 extension function POINT The J3 extension function is used with se rvo 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[...]

17. APPLICATION OF FUNCTIONS 17 - 13 Function Description Detailed explanation Drive recorder function This function continuously moni tors 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 Confi gurator2 by clicking the "G[...]

17. APPLICATION OF FUNCTIONS 17 - 14 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_ _ ]) ca[...]

17. APPLICATION OF FUNCTIONS 17 - 15 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 &[...]

17. APPLICATION OF FUNCTIONS 17 - 16 (2) Extension control 2 parameters ([Pr. PX_ _ ]) CAUTION Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting. Do not[...]

17. APPLICATION OF FUNCTIONS 17 - 17 No. Symbol Name Initial value Unit J3 compatibility mode Standard Full. Lin. DD PX22 NHQ5 Notch shape selection 5 0000h PX23 XOP3 Function selection X-3 0000h PX24 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min]/[mm/s] PX25 *TDS Tough drive setting 0000h PX26 OSCL1 Vibration tough drive - Os[...]

17. APPLICATION OF FUNCTIONS 17 - 18 (3) Extension control 2 parameters ([Pr. PX_ _ ]) detailed list No. Symbol Name and function Initial value [unit] Setting range PX01 **J3EX J3 extension function Select enabled or disabled of the J3 extension function. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _[...]

17. APPLICATION OF FUNCTIONS 17 - 19 No. Symbol Name and function Initial value [unit] Setting range PX04 VRF21 Vibration suppression control 2 - Vibration frequency Set the vibration frequency for vibration s uppression control 2 to suppress low-frequency machine vibration. To enable this, select "3 inertia mode (_ _ _ 1) " of "Vibr[...]

17. APPLICATION OF FUNCTIONS 17 - 20 No. Symbol Name and function Initial value [unit] Setting range PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching Set a damping of the vibration frequency for vi bration suppression control 2 when the gain switching is enabled. To enable this, select "3 inertia m[...]

17. APPLICATION OF FUNCTIONS 17 - 21 No. Symbol Name and function Initial value [unit] Setting range PX18 NHQ3 Notch shape selection 3 Set the shape of the machine resonance suppression filter 3. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Machine resonance suppression filter 3 selection 0: Dis[...]

17. APPLICATION OF FUNCTIONS 17 - 22 No. Symbol Name and function Initial value [unit] Setting range PX22 NHQ5 Notch shape selection 5 Set the shape of the machine resonance suppression filter 5. When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PX31], the machine resonance suppression filter 5 is not avai[...]

17. APPLICATION OF FUNCTIONS 17 - 23 No. Symbol Name and function Initial value [unit] Setting range PX24 FRIC Machine diagnosis f unction - Friction judgement speed Set a (linear) servo motor speed that divides a friction estimation area into high and low during the friction estimation proce ss of the machine diagnosis. Setting "0" will [...]

17. APPLICATION OF FUNCTIONS 17 - 24 No. Symbol Name and function Initial value [unit] Setting range PX27 *OSCL2 Vibration tough drive function selection Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Oscillation detection alarm selection 0: [AL. 54 Oscillation detection] will occur at oscillation[...]

17. APPLICATION OF FUNCTIONS 17 - 25 No. Symbol Name and function Initial value [unit] Setting range PX36 LMCP Lost motion compensation posit ive-side compensation value selection Set the lost motion compensation for when revers e rotation (CW) switches to forward rotation (CCW) in increments of 0.01% assuming the rated torque as 100%. This paramet[...]

17. APPLICATION OF FUNCTIONS 17 - 26 (4) One-touch tuning POINT When executing the one-touch tuning, c heck the [Pr. PX13 One-touch tuning function selection] is "_ _ _ 1" (initial value). Table 17.5 List of parameters autom atically set with one-touch tuning Parameter Symbol Name Parameter Symbol Name PA08 ATU Auto tuning mode PB16 NHQ2 [...]

17. APPLICATION OF FUNCTIONS 17 - 27 (b) Display transition and operation procedure of one-touch tuning 1) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for high rigid system. Basic mode This mode is for standard system. Low mode This [...]

17. APPLICATION OF FUNCTIONS 17 - 28 2) One-touch tuning execution POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing t he value of [Pr. PX14 One-touch tuning - Overshoot permissible level] will shor ten the settling time and improve the response. After the response mode is [...]

17. APPLICATION OF FUNCTIONS 17 - 29 3) Stop of one-touch tuning During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" w ill be displayed at status in error code. 4) If an error occurs If a tuning error occurs during tuning, one-touch t uning will be forcibly terminated. Wit[...]

17. APPLICATION OF FUNCTIONS 17 - 30 7) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 17.5 for the parameters which you can clear. Pushing "Return to value before tuning" in t he one-touch tuning window of MR Configurator2 enables to rewrite the parameter to t he value before pushin[...]

17. APPLICATION OF FUNCTIONS 17 - 31 (5) Filter setting The following filters are available with the J3 extension function. Command pulse train Command filter Low-pass filter setting Encode r Servo motor PWM M Load [Pr. PB18] + - Machine resonance suppression filter 1 [Pr. PB13] [Pr. PB15] Machine resonance suppression filter 2 Machine resonance su[...]

17. APPLICATION OF FUNCTIONS 17 - 32 1) Function The machine resonance suppression filter is a filt er 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. Response of mechanical sys[...]

17. APPLICATION OF FUNCTIONS 17 - 33 2) Parameter a) Machine resonance suppression filt er 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) When you select "Manual setting (_ _ _ 2)" of "Filt er tuning mode selection" in [[...]

17. APPLICATION OF FUNCTIONS 17 - 34 (b) Shaft resonance suppression filter POINT This filter is set properly by default according to servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression f ilter selection" in [Pr. PB23] or settin[...]

17. APPLICATION OF FUNCTIONS 17 - 35 (c) Advanced vibration suppression control II POINT This is enabled when "Gain adjustment m ode 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[...]

17. APPLICATION OF FUNCTIONS 17 - 36 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 oper ation is adjusted for positioning so that the machine does not vibrate. Vibration suppression: off (normal) Servo motor side Load side t Position Vibrat[...]

17. APPLICATION OF FUNCTIONS 17 - 37 3) Vibration suppression control tuning procedure The following flow chart is for the vibration s uppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PX03] to execute the vibration s uppression control tuning. No Vibration suppression control tuning Operation Is the tar[...]

17. APPLICATION OF FUNCTIONS 17 - 38 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 vibrat ion frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or[...]

17. APPLICATION OF FUNCTIONS 17 - 39 a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external equipment. 1 Hz Gain characteristics Phase -90 degrees 300 Hz Vibr ation s uppr ess ion c ontrol 1 - Vib rat ion fr equency (anti-resonance frequency) [Pr. PB19] Vibr ation s uppress ion c ontrol 1 - Resonance fre[...]

17. APPLICATION OF FUNCTIONS 17 - 40 (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]. Command pulse frequency + - Droop pulses Model speed Control comman[...]

17. APPLICATION OF FUNCTIONS 17 - 41 (c) Parameter When using the gain switching function, always se lect "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 Symb[...]

17. APPLICATION OF FUNCTIONS 17 - 42 2) Switchable gain parameter Loop gain Before switching After switching Parameter Symbol Name Parameter Symbol Name Load to motor inertia ratio/load to motor mass ratio PB06 GD2 Load to motor inertia ratio/load to motor mass ratio PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switchin[...]

17. APPLICATION OF FUNCTIONS 17 - 43 a) [Pr. PB06] to [Pr. PB10] These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio/load to motor mass ratio, position loop gain, speed loop gain, and speed integral compensation to be switched. b) [Pr. PB19] to [Pr. PB22]/[Pr. PX04] to [Pr.[...]

17. APPLICATION OF FUNCTIONS 17 - 44 (d) Gain switching procedure This operation will be described by way of setting examples. 1) When you choose switching by c ontrol command from the controller a) Setting example Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 4.00 [Multiplier] PB07 PG1 Model[...]

17. APPLICATION OF FUNCTIONS 17 - 45 Parameter Symbol Name Setting value Unit PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching 0.05 PX11 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching 0.05 b) Switching timing chart After-switching gain 63.4% CDT = 100 ms Before[...]

17. APPLICATION OF FUNCTIONS 17 - 46 2) When you choose switching by droop pulses In this case, the vibration suppression control after gain switching and model loop gain after gain switching cannot be used. a) Setting example Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 4.00 [Multiplier] PB[...]

17. APPLICATION OF FUNCTIONS 17 - 47 3) When the gain switching time constant is disabled a) Gain switching time constant disabled was selected. The gain switching time constant is disabled with this setting. The time constant is enabled at gain return. The following example shows for [Pr. PB26 ( CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [P[...]

17. APPLICATION OF FUNCTIONS 17 - 48 (7) Tough drive function POINT Set enable/disable of the tough drive function with [Pr. PX25 Tough drive setting]. (Refer to (2) of this section.) This function makes the equipment continue operating even under the condition that an alarm occurs. The vibration tough drive function and instantaneous power failure[...]

17. APPLICATION OF FUNCTIONS 17 - 49 The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and co mpares it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a par ameter whose set value is closer. Filter Setting parameter Precaution Parameter [...]

17. APPLICATION OF FUNCTIONS 17 - 50 (b) Instantaneous power failure tough drive function The instantaneous power failure tough drive func tion avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operat ion. When the instantaneous power failure tough drive activates, the function will increase the immunity to instant[...]

17. APPLICATION OF FUNCTIONS 17 - 51 1) Instantaneous power failure time of control ci rcuit power supply > [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failu re time of the control circuit power supply exceeds [Pr. PX28 SEMI-F47 function - In stantaneous power failure de[...]

17. APPLICATION OF FUNCTIONS 17 - 52 2) Instantaneous power failure time of control ci rcuit power supply < [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs dependi ng on how bus voltage decrease. a) When the bus voltage decreases lower t han Undervoltage level within the instantaneous power fail[...]

17. APPLICATION OF FUNCTIONS 17 - 53 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. Control circuit power supply Bus voltage Undervoltage level (Note) A LM (Malfunction) MTTR (During tough drive) MBR (El[...]

17. APPLICATION OF FUNCTIONS 17 - 54 (a) Parameter setting Setting [Pr. PX25] and [Pr. PX28] as follows will enable SEMI-F47 function. Parameter Setting value Description PX25 _ 1 _ _ SEMI-F47 function selection PX28 200 Set the time [ms] of the [AL. 10.1 Voltage drop in the control circuit power] occurrence. Enabling SEMI-F47 function will change [...]

17. APPLICATION OF FUNCTIONS 17 - 55 (c) Calculation of tolerance against instantaneous power failure Table 17.8 shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage × 50%" and instant aneous power failure time is 200 ms. Table 17.8 Tolerance against instantaneous power failure (i[...]

17. APPLICATION OF FUNCTIONS 17 - 56 (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 ba cklash) caused when the machine trav el directio[...]

17. APPLICATION OF FUNCTIONS 17 - 57 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 ban[...]

17. APPLICATION OF FUNCTIONS 17 - 58 4) Adjusting the lost motion compensation When protrusions still occur, the compensati on is insufficient. Increase the lost motion compensation by approximately 0. 5% until the protrusions are e liminated. When notches occur, the compensation is excessive. Decrease the lo st motion compensation by approximately[...]

17. APPLICATION OF FUNCTIONS 17 - 59 17.2 Master-slave operation function WARNING Configure the circuit so that all the ma ster 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 serv o alarm. When they are not stopped simultaneously by the controller forc[...]

17. APPLICATION OF FUNCTIONS 17 - 60 (1) Summary The master-slave operation function transmits a ma ster axis torque to slave axes using driver communication and the torque as a command dr ives 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) Sys[...]

17. APPLICATION OF FUNCTIONS 17 - 61 Eight master axes can be set at most per one sy stem 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 amplifie rs at most. In addition, when an SSCNET III/H communication brake oc[...]

17. APPLICATION OF FUNCTIONS 17 - 62 (4) Rotation direction setting Rotation directions can be different among a controlle r command, master axis, and slave axes. To align the directions, set [Pr. PA14] referring (4) of this section. Not doing so can cause such as an overload due to a reverse direction torque against machine system rotation directi[...]

17. APPLICATION OF FUNCTIONS 17 - 63 17.3 Scale measurement function The scale measurement function transmits position in formation of a scale measurement encoder to the controller by connecting the scale measurem ent encoder in semi closed loop control. POINT The scale measurement function is availabl e for the servo amplifiers of software version[...]

17. APPLICATION OF FUNCTIONS 17 - 64 (2) System configuration (a) For a linear encoder 1) MR-J4-_B_ servo amplifier Servo amplifier CN2 SSCNET III/H controller SSCNET III/H Position command Control signal Table To the next servo amplifier Two-wire type serial interface compatible linear encoder Load-side encoder signal Servo motor encoder signal Li[...]

17. APPLICATION OF FUNCTIONS 17 - 65 (b) For a rotary encoder 1) MR-J4-_B_ servo amplifier Servo motor Two-wire type rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev) Drive part Servo amplifier CN2 SSCNET III/H controller SSCNET III/H Position command Control signal To the next servo amplifier (Note) (Note) Servo motor encoder signal Loa[...]

17. APPLICATION OF FUNCTIONS 17 - 66 17.3.2 Scale measurement encoder POINT Always use the scale measurement encoder cable introduced in this section. Using other products ma y cause a malfunction. For details of the scale measurement encoder specifications, performance and assurance, contact each encoder manufacturer. An absolute type linear encod[...]

17. APPLICATION OF FUNCTIONS 17 - 67 2) MR-J4-_B_-RJ servo amplifier 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 Linear encoder CN2 Encoder of rotary servo motor Encoder cable (Refer to "Linear Encoder Instruction[...]

17. APPLICATION OF FUNCTIONS 17 - 68 (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-J3T HMCN2 connector set, refer to "Linear Encoder Instruction Manual". LG View seen from the wiring side. 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9[...]

17. APPLICATION OF FUNCTIONS 17 - 69 17.3.3 How to use scale measurement function (1) Selection of scale measurement function The scale measurement function is set with the co mbination of basic setting parameters [Pr. PA01] and [Pr. PA22]. (a) Operation mode selection The scale measurement function can be used duri ng semi closed loop system (stan[...]

17. APPLICATION OF FUNCTIONS 17 - 70 Select a polarity of the scale measurement encoder with the following "Load-side encoder pulse count polarity selection" and "Selection of A/B/Z-phase input interface encoder Z-phase connection judgement function" of [Pr. PC27] as necessary. POINT "Encoder pulse count polarity selection&[...]

APPENDIX App. - 1 App. 1 Peripheral equipment manufacturer (for reference) Names given in the table are as of February 2015. Manufacturer Reference NEC TOKIN NEC TOKIN Corporation Kitagawa Industries 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 Se[...]

APPENDIX App. - 2 (a) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt from the following: attachment of a handling label, submission of the Shipper's Declaration for Dangerous Goods, and a 1.2 m drop test. (b) A battery handling label (size: 120 mm × 110 mm) is required. Emergency[...]

APPENDIX App. - 3 App. 3 Symbol for the new EU Battery Directive Symbol for the new EU Battery Directive (2006/66/EC) t hat 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.[...]

APPENDIX App. - 4 App. 4.2.1 Professional engineer Only professional engineers should mount MR-J4 servo amplifiers. Here, professional engineers should meet the all conditions below. (1) Persons who took a proper engineering training or qualified persons who are engaged in electrical equipment Check if applicable technical training is available at [...]

APPENDIX App. - 5 (1) Peripheral device and power wiring The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No.14. (a) Power Wiring (local wiring and crimping tool) Use only copper wires for wiring. The following t able shows the wire sizes [AWG] and the crimp terminal symbols rated at 75 °C/60 °C. Table 1. Recommended [...]

APPENDIX App. - 6 (b) Selection example of MCCB and fuse Use T class fuses or molded-case circuit breaker (UL489 Listed MCCB) as the following table. The T class fuses and molded-case circuit breakers in t he 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 s[...]

APPENDIX App. - 7 (d) Grounding To prevent an electric shock, alwa ys 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. Alwa ys connect cables to the terminals one-to-one. If using a leakage circuit [...]

APPENDIX App. - 8 (3) USA/Canada compliance This servo amplifier is designed in comp liance with UL 508C and CSA C22.2 No.14. (a) Installation The minimum cabinet size is 150% of each MR-J4 se rvo 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[...]

APPENDIX App. - 9 App. 4.2.5 Residual risk (1) Be sure that all safety related switches, rela ys, sensors, etc., meet t he required safety standards. (2) Perform all risk assessments and safety level certific ation to the machine or the system as a whole. (3) If the upper and lower power module in the se rvo amplifier are shorted and damaged simult[...]

APPENDIX App. - 10 App. 4.3 Mounting/dismounting Installation direction and clearances CAUTION The devices must be installed in the spec ified direction. Not doing so may cause a malfunction. Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2. Note the followings for supplied reg[...]

APPENDIX App. - 11 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 of tolerance agains[...]

APPENDIX App. - 12 The control circuit connectors described by rectangles ar e 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 IEC60034- 1 and Mitsubishi Electric encoder (OBA, OSA)[...]

APPENDIX App. - 13 App. 4.5 Signal App. 4.5.1 Signal The following shows MR-J4-10B signals as a typical example. CN3 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DI1 MO1 DICOM LG DOCOM DICOM LZ DI2 MO2 EM2 LG MBR LBR LA LB LZR LAR ALM DI3 INP TOFB2 STO2 TOFB1 STO1 STOCOM 2 CN8 1 43 65 87 TOFCOM STO I/O signal connector App. 4.5.2 I/O device I[...]

APPENDIX App. - 14 App. 4.6 Maintenance and service WARNING To avoid an electric shock, only qualif ied personnel should attempt inspections. For repair and parts replacement, c ontact 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. [...]

APPENDIX App. - 15 App. 4.6.2 Parts hav ing service lives Service lives of the following parts are listed below. However, the service lives vary depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives. For parts replacement, please contact your local sales offic[...]

APPENDIX App. - 16 App. 4.7 Transportation and storage CAUTION Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. Do not hold the front cover to transport the servo amplifier. Otherwise, it may drop. Install the servo amplifier and servo moto r in a load-bearing pla[...]

APPENDIX App. - 17 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-J4W2-22B/ MR-J4W2-44B/ MR-J4W2-77B/ MR-J4W3-222B/ MR-J4W3-444B MR-J4-100_/ MR-J4-200_/ 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[...]

APPENDIX App. - 18 App. 4.8.3 Mounting hole d a c b c d1 a1 e Servo amplifier Variable dimensions [mm] Screw size a a1 b c d d1 e MR-J4-10_(1)/MR-J4-20_(1)/ MR-J4-40_(1)/MR-J4-60_ 6 6 156 ± 0.5 6 M5 MR-J4-70_/MR-J4-100_ 12 12 156 ± 0.5 6 42 ± 0.3 M5 MR-J4-200_(4)/MR-J4-350_ 6 45 156 ± 0.5 6 78 ± 0.3 M5 MR-J4-500_ 6 6 235 ± 0.5 7.5 93 ± 0.5 9[...]

APPENDIX App. - 19 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 1 Connector for CN9 1-1871940-4 (TE Connectivity) 1 Connector for CN10 1-1871940-8 (TE Connectivity) 1 MR-J3-D05 Safety Logic Unit Installation Guide 1 App. 5.2 Terms [...]

APPENDIX App. - 20 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 saf[...]

APPENDIX App. - 21 (7) Perform all risk assessments and safety level certific ation 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 a[...]

APPENDIX App. - 22 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 MR-J3-D05 Control circuit power supply Voltage 24 V DC Permissible voltage fluctuation 24 V DC ± 10% Power supply c[...]

APPENDIX App. - 23 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 FG STO switch STO release switch Magnetic contactor MCCB Power supply S[...]

APPENDIX App. - 24 (2) Connection example STO1 4 5 3 6 7 8 CN3 EM2 (B-axis) CN8 SDO1A+ 4A 4B SDO1A- SDI1A+ 1A 1B SDI1A- SDI2A+ SRESA+ SDO2A+ TOFA 3A 3B 1A 1B 6A 6B 8A SDI2A- SDO2A- SRESA- CN9 CN10 STO1 TOFB2 TOFCOM STO2 STOCOM TOFB1 MR-J4_B_(-RJ) SW1 FG 4 5 3 6 7 8 CN3 EM2 (A-axis) CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 MR-J4_B_(-RJ) SDO1B+ 3A 3B SDO1B[...]

APPENDIX App. - 25 App. 5.8 Signal App. 5.8.1 Connector/pin assignment (1) CN8A Device Symbol Pin No. Function/application I/O division A-axis STO1 STO1A- STO1A+ 1 4 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): Be tween [...]

APPENDIX App. - 26 (4) CN10 Device Symbol Pin No. Function/application I/O division A-axis shutdown 2 SDI2A+ SDI2A- 3A 3B Connect this device to a safety sw itch 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 S[...]

APPENDIX App. - 27 (b) Digital output interface DO-1 This is a circuit of collector output terminal of the output transistor. W hen the output transistor is turned on, collector terminal current will be appli ed for the output. A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppr[...]

APPENDIX App. - 28 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 [...]

APPENDIX App. - 29 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 t ill [...]

APPENDIX App. - 30 (b) Using a screwdriver To avoid damaging housings and springs when wiring wi th 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 2.3 mm ± 0.05 mm 0.25 mm 2[...]

APPENDIX App. - 31 (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 Comp[...]

APPENDIX App. - 32 App. 5.9 LED display I/O status, malfunction and power on/off are disp layed with LED for each A-axis and B-axis. LED Definition LED Column A Column B SRES Monitor LED for start/reset Off: The start/reset is off. (The switch contact is opened.) On: The start/reset is on. (T he switch contact is closed.) A-axis B-axis SDI1 Monitor[...]

APPENDIX App. - 33 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 Power is not supplied. Power LED does not turn on although power is supplied. 1. 24 V DC power supply is malfunctioning. Replace the 24 V DC power supply. 2. Wires be[...]

APPENDIX App. - 34 App. 5.12 Dimensions [Unit: mm] Rating plate 5 182 5 192 5 FG 9.75 5 mounting hole 12 168 6 86 80 2-M4 screw Approx. 22.5 9.75 Approx. 192 Approx. 5 Approx. 5 182 Approx. 80 Mounting hole process drawing 19.5 22.5 CN8A CN8B CN9 CN10 78 78 TOF2A TOF1A TOF2B TOF1B 56 56 STO2A- STO2A+ STO2B- STO2B+ 34 34 STO1A+ STO1B+ 12 12 STO1A- S[...]

APPENDIX App. - 35 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. Cabine t 10 mm or longer 80 mm or longer for wiring 30 mm or longer 10 mm or longer Top Bottom 40 mm or longer 40 mm or longer 40 mm or lon[...]

APPENDIX App. - 36 No. Product Model Description 1) Connector MR-J3-D05 attachment connector Connector for CN9: 1-1871940-4 (TE Connectivity) Connector for CN10: 1-1871940-8 (TE Connectivity) 2) STO cable MR-D05UDL3M-B Cable length: 3 m Connector set: 2069250-1 (TE Connectivity) COMPLIANCE WITH THE MACHINERY DIRECTIVES The MR-J3-D05 complies with t[...]

APPENDIX App. - 37 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.[...]

APPENDIX App. - 38[...]

APPENDIX App. - 39 App. 7 How to replace servo amp lifier 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 not the same, the servo motor may operate unexpectedly. When [...]

APPENDIX App. - 40 2) 3) 4) 1) App. 8 Two-wire type encoder cable for HG-MR/HG-KR Use a two-wire type encoder cable for the fully closed loop control 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[...]

APPENDIX App. - 41 App. 8.2 Connector set Connector set 1) Servo amplifier-side connector 2) Servo motor-side connector MR-ECNM Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Connector set: 54599-1019 (Molex) Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial) MR 123 M[...]

APPENDIX App. - 42 App. 9 SSCNET III cable (SC-J3BUS_M-C) manufac tured by Mitsubishi Electric System & Service POINT For the details of the SSCNET III cables, contact your local s ales 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 wh[...]

APPENDIX App. - 43 (2) Setting POINT When you use a linear servo motor, replac e the following left words to the right words. (servo motor) speed → (linear servo motor) speed CCW direction → Positive direction CW direction → Negaative direction Torque → Thrust The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog[...]

APPENDIX App. - 44 Setting value Output item Description Setting value Output item Description 0A Feedback position (Note 1, 2, 3) (±10 V/1 Mpulse) 1 [Mpulse] CW direction CCW direction 1 [Mpulse] 0 10 [V] -10 [V] 0B Feedback position (Note 1, 2, 3) (±10 V/10 Mpulse) 10 [Mpulse] CW direction CCW direction 10 [Mpulse] 0 10 [V] -10 [V] 0C Feedback [...]

APPENDIX App. - 45 Note 1. Encoder pulse unit. 2. A vailable in position control mode 3. This cannot be used in the torque control mode. 4. This can be used with MR Configurat or2 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 l oop control. Output[...]

APPENDIX App. - 46 (b) Fully closed loop control FBN FBD Droop pulses Speed command Position control Speed control PWM Current control Current command Bus voltage Speed command Current encoder + Servo motor Encoder Current feedback Position feedback M Position command Differ- entiation Differ- entiation Dual filter Servo motor-side droop pulses Loa[...]

APPENDIX App. - 47 App. 11 Special specification App. 11.1 Amplifiers without dynamic brake App. 11.1.1 Summary This section explains servo amplifie rs 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 The following describes what each block of a model name indicates. Not all com[...]

APPENDIX App. - 48 App. 11.2 Without r egenerative resistor App. 11.2.1 Summary This section explains servo amplifie rs 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 The following describes what each block of a model name indicates. Not all combinations of the symbols[...]

APPENDIX App. - 49 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 se rvo amplifiers. For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3. MC (Note 3) ALM DOCOM CN3 (Note 2) 24 V DC (Note 6) 24 V DC (Note 6) 24[...]

APPENDIX App. - 50 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 Servo amplifier Magnetic contactor MR-J4-10B(-RJ) MR-J4-60B4(-RJ) MR-J4-20B(-RJ) MR-J4-100B4(-RJ) SD-N11 MR-J4-40B(-[...]

REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar. 2012 SH(NA)030106-A First edition Jun. 2012 SH(NA)030106-B 4. Additional instructions (2) Wiring 4. Additional instructions (3) Test run and adjustment COMPLIANCE WITH CE MARKING COMPLIANCE WITH UL/CSA STANDARD COMPLIANCE WITH KC MARK [...]

Print Data *Manual Number Revision Jun. 2012 SH(NA)030106-B 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[...]

Print Data *Manual Number Revision Jun. 2012 SH(NA)030106-B Appendix. 10.1 Appendix. 13 The diagram is changed. Added. Sep. 2012 SH(NA)030106-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) The diagram is changed. The diagram is changed. The diagram is changed. The sentences are changed. The[...]

Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D 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 Se[...]

Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D 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[...]

Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D 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 The composition is changed d[...]

Print Data *Manual Number Revision Aug. 2013 SH(NA)030106-E Section 11.3.3 (1) (a) Section 11.3.3 (1) (b) Section 11.3.3 (2) (a) Section 11.4 Section 11.4 (2) Section 11.5 (5) (a) Section 11.7 (2) (a) 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) Sec[...]

Print Data *Manual Number Revision Oct. 2013 SH(NA)030106-F 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.[...]

Print Data *Manual Number Revision Oct. 2013 SH(NA)030106-F 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[...]

Print Data *Manual Number Revision Mar. 2014 SH(NA)030106-G 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 11.4 (2) (a) Section[...]

Print Data *Manual Number Revision Jan. 2015 SH(NA)030106-H Section 3.1.2 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 Section 10.2 (1) Section 10.3.1 (2) Section 10.3.2 Se[...]

Print Data *Manual Number Revision Feb. 2015 SH(NA)030106-J 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) Sectio[...]

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corpor ation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in th e United States, Japan, and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Cor p[...]

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 "P roduct" 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[...]

SH (NA) 030106-J (1502) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo MR-J4-_B_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 MODEL MR-J4-_B_(-RJ) SSCNET /H Interface AC Servo 1CW805 MR-J4-B[...]