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Mitsubishi Electric MRJ3 T, MRJ3D01 Instruction Manual PDF
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Summary of Content for Mitsubishi Electric MRJ3 T, MRJ3D01 Instruction Manual PDF
SH (NA) 030061-E (1406) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.
MODEL
MODEL CODE
J3 S eries
E M
R -J3- T
M R
-J3-D 01 S
ervo A m
plifier Instruction M anual (G
eneral-P urpose Interface)
General-Purpose AC Servo
MODEL
MR-J3- T MR-J3-D01 SERVO AMPLIFIER INSTRUCTION MANUAL (General-Purpose Interface)
Built-in Positioning Function
J3 Series
EHEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
A - 1
Safety Instructions (Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents
carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols:
: Indicates what must not be done. For example, "No Fire" is indicated by .
: Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.
A - 2
1. To prevent electric shock, note the following:
WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier,
whether the charge lamp is off or not.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric
shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of
the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the
servo amplifiers power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while
power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a
parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
A - 3
4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation
CAUTION Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Environment
Conditions
Servo amplifier Servo motor
Ambient
temperature
In
operation
[ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
[ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
In storage
[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
[ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
Ambient
humidity
In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
In storage 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
(Note)
Vibration [m/s2] 5.9 or less
HF-MP series HF-KP series X Y: 49
HF-SP51 81 HF-SP52 to 152
HF-SP524 to 1524 HC-RP Series
HC-UP72 152
X Y: 24.5
HF-SP121 201 HF-SP202 352
HF-SP2024 3524 HC-UP202 to 502 X: 24.5 Y: 49
HF-SP301 421 HF-SP502 702
HF-SP5024 7024 X: 24.5 Y: 29.4
HC-LP52 to 152 X: 9.8 Y: 24.5
HC-LP202 to 302 X: 19.6 Y: 49
HA-LP601 to 12K1 HA-LP701M to 15K1M
HA-LP502 to 22K2 HA-LP6014 to 12K14
HA-LP701M4 to 15K1M4 HA-LP11K24 to 22K24
X: 11.7 Y: 29.4
HA-LP15K1 to 25K1 HA-LP37K1M
HA-LP15K14 to 20K14 HA-LP22K1M4 X Y: 9.8
Note. Except the servo motor with reduction gear. Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.
A - 4
CAUTION Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring
CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) option) between the servo motor and servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Otherwise, the servo motor does not operate properly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.
U
Servo motor
MV
W
U
V
W
U
MV
W
U
V
W
Servo amplifier Servo motorServo amplifier
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction. Otherwise, the forced stop (EMG) and other protective circuits may not operate.
RA
DOCOM (DOCOMD)
DICOM (DICOMD)
Control output signal
24VDC
RA
DOCOM (DOCOMD)
DICOM (DICOMD)
24VDC
Control output signal
Servo amplifier or MR-J3-D01
Servo amplifier or MR-J3-D01
When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.
(3) Test run adjustment
CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately.
A - 5
(4) Usage
CAUTION Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.
(5) Corrective actions
CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop (EMG).
EMGRA
24VDC
Contacts must be open when servo-off, when an trouble (ALM) and when an electromagnetic brake interlock (MBR).
Electromagnetic brake
Servo motor
Circuit must be opened during forced stop (EMG).
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
A - 6
(6) Maintenance, inspection and parts replacement
CAUTION With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment. Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual.
A - 7
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area).
FOR MAXIMUM SAFETY
These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table changes
Precautions for Choosing the Products Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.
A - 8
COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo amplifiers have been installed. (1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment. This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines (IB(NA)67310).
(2) Low voltage directive
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low voltage directive. This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive. 2. PRECAUTIONS FOR COMPLIANCE (1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J3-10T to MR-J3-22KT MR-J3-10T1 to MR-J3-40T1 MR-J3-60T4 to MR-J3-22KT4 Servo motor :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-LP 4 (Note) Note. For the latest information of compliance, contact Mitsubishi.
A - 9
(2) Configuration
The control circuit provide safe separation to the main circuit in the servo amplifier.
NFB MC
No-fuse breaker
Magnetic contactor
Reinforced insulating type
24VDC power supply
Servo amplifier
Servo motor
Control box
M
(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose,
install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54). (4) Power supply
(a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of
overvoltage category III set forth in IEC60664-1. However, when using the neutral point of 400V class
for single-phase supply, a reinforced insulating transformer is required in the power input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been insulation-
reinforced in I/O. (5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (terminal marked ) of
the servo amplifier to the protective earth (PE) of the control box.
(b) Do not connect two ground cables to the same protective earth (PE) terminal (terminal marked ).
Always connect the cables to the terminals one-to-one.
PE terminals PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
(terminal marked ) of the servo amplifier must be connected to the corresponding earth terminals. (6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping terminals
provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
A - 10
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options. (Refer to section 13.1) (7) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in section 13.10.
Use a type B (Note) breaker. When it is not used, provide insulation between the servo amplifier and
other device by double insulation or reinforced insulation, or install a transformer between the main
power supply and servo amplifier.
Note. Type A: AC and pulse detectable
Type B: Both AC and DC detectable
(b) The sizes of the cables described in section 13.9 meet the following requirements. To meet the other
requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [C (F)]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction. (8) Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must
conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the
operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation Guidelines
(IB(NA)67310).
A - 11
CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J3-10T to MR-J3-22KT MR-J3-10T1 to MR-J3-40T1 MR-J3-60T4 to MR-J3-22KT4 Servo motor :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-LP 4 (Note) Note. For the latest information of compliance, contact Mitsubishi.
(2) Installation
Install a cooling fan of 100CFM (2.8m3/min) air flow 4 in (10.16 cm) above the servo amplifier or provide
cooling of at least equivalent capability.
(3) Short circuit rating: SCCR (Short Circuit Current rating)
This servo amplifier conforms to the circuit whose peak current is limited to 100kA or less. Having been
subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo amplifier conforms to
the above circuit.
(4) Capacitor discharge time
The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15 minutes after power-off.
Servo amplifier Discharge time
[min]
MR-J3-10T 20T 1
MR-J3-40T 60T(4) 10T1 20T1 2
MR-J3-70T 3
MR-J3-40T1 4
MR-J3-100T(4) 5
MR-J3-200T(4) 350T 9
MR-J3-350T4 500T(4) 700T(4) 10
MR-J3-11KT(4) 4
MR-J3-15KT(4) 6
MR-J3-22KT(4) 8
A - 12
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.
(6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to CONFORMANCE WITH
UL/C-UL STANDARD in the Servo Motor Instruction Manual (Vol.2).
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the National
Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
<
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the
General-Purpose AC servo MR-J3-T for the first time. Always purchase them and use the MR-J3-T safely.
Relevant manuals
Manual name Manual No.
MELSERVO-J3 Series To Use the AC Servo Safely IB(NA)0300077
MELSERVO Servo Motor Instruction Manual Vol.2 SH(NA)030041
EMC Installation Guidelines IB(NA)67310
<
Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40C
(104 ).
1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -38
1.1 Introduction ............................................................................................................................................... 1 - 1
1.1.1 Function block diagram ..................................................................................................................... 1 - 2
1.1.2 System configuration ......................................................................................................................... 1 - 5
1.2 Servo amplifier standard specifications ................................................................................................... 1 - 7
1.3 Function list ............................................................................................................................................. 1 -11
1.4 Model code definition .............................................................................................................................. 1 -13
1.4.1 Servo amplifier ................................................................................................................................. 1 -13
1.4.2 MR-J3-D01 extension I/O unit ......................................................................................................... 1 -14
1.5 Combination with servo motor ................................................................................................................ 1 -15
1.6 Structure .................................................................................................................................................. 1 -16
1.6.1 Parts identification ............................................................................................................................ 1 -16
1.6.2 Removal and reinstallation of the front cover .................................................................................. 1 -22
1.6.3 Installation and removal of MR-J3-D01 ........................................................................................... 1 -25
1.7 Configuration including auxiliary equipment .......................................................................................... 1 -30
2. INSTALLATION 2 - 1 to 2 - 4
2.1 Installation direction and clearances ....................................................................................................... 2 - 1
2.2 Keep out foreign materials ....................................................................................................................... 2 - 3
2.3 Cable stress ............................................................................................................................................. 2 - 3
2.4 Inspection items ....................................................................................................................................... 2 - 4
2.5 Parts having service lives ........................................................................................................................ 2 - 4
3. SIGNALS AND WIRING 3 - 1 to 3 -68
3.1 Input power supply circuit ........................................................................................................................ 3 - 2
3.2 I/O signal connection diagram ................................................................................................................ 3 -10
3.2.1 Positioning operation using the point table...................................................................................... 3 -10
3.2.2 BCD input positioning operation with the digital switch .................................................................. 3 -12
3.2.3 BCD input positioning operation with the programmable controller ............................................... 3 -15
3.3 Explanation of power supply system ...................................................................................................... 3 -18
3.3.1 Signal explanations .......................................................................................................................... 3 -18
3.3.2 Power-on sequence ......................................................................................................................... 3 -19
3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -21
3.4 Connectors and signal arrangements .................................................................................................... 3 -29
3.5 Signal (device) explanation ..................................................................................................................... 3 -32
3.5.1 Devices ............................................................................................................................................. 3 -32
3.5.2 Input signals ..................................................................................................................................... 3 -39
3.5.3 Output signals................................................................................................................................... 3 -40
3.5.4 Power supply .................................................................................................................................... 3 -40
3.6 Detailed description of signals (devices) ................................................................................................ 3 -41
3.6.1 Forward rotation start reverse rotation start temporary stop/restart ........................................... 3 -41
3.6.2 Movement finish rough match in position .................................................................................... 3 -42
3.6.3 Torque limit ....................................................................................................................................... 3 -44
3.7 Alarm occurrence timing chart ................................................................................................................ 3 -46
2
3.8 Interface ................................................................................................................................................... 3 -47
3.8.1 Internal connection diagram ............................................................................................................ 3 -47
3.8.2 Detailed description of interfaces ..................................................................................................... 3 -48
3.8.3 Source I/O interfaces ....................................................................................................................... 3 -50
3.9 Treatment of cable shield external conductor ........................................................................................ 3 -51
3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -52
3.10.1 Connection instructions .................................................................................................................. 3 -52
3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -53
3.11 Servo motor with electromagnetic brake .............................................................................................. 3 -63
3.11.1 Safety precautions ......................................................................................................................... 3 -63
3.11.2 Timing charts .................................................................................................................................. 3 -64
3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)...................................................... 3 -66
3.12 Grounding .............................................................................................................................................. 3 -68
4. OPERATION 4 - 1 to 4 -64
4.1 Switching power on for the first time ....................................................................................................... 4 - 1
4.1.1 Startup procedure .............................................................................................................................. 4 - 1
4.1.2 Wiring check ...................................................................................................................................... 4 - 2
4.1.3 Surrounding environment .................................................................................................................. 4 - 3
4.2 Startup ...................................................................................................................................................... 4 - 4
4.2.1 Power on and off procedures ............................................................................................................ 4 - 4
4.2.2 Stop .................................................................................................................................................... 4 - 4
4.2.3 Test operation.................................................................................................................................... 4 - 5
4.2.4 Parameter setting .............................................................................................................................. 4 - 6
4.2.5 Point table setting .............................................................................................................................. 4 - 7
4.2.6 Actual operation ................................................................................................................................ 4 - 7
4.3 Servo amplifier display ............................................................................................................................. 4 - 8
4.4 Operation mode and selection method .................................................................................................. 4 -10
4.5 Automatic operation mode ...................................................................................................................... 4 -11
4.5.1 What is the automatic operation mode? .......................................................................................... 4 -11
4.5.2 Automatic operation using point table ............................................................................................. 4 -13
4.5.3 Automatic operation by BCD (3 digits 2) input with the MR-DS60 digital switch ....................... 4 -25
4.5.4 Automatic operation by BCD (3 digits 2) input with the programmable controller ..................... 4 -28
4.6 Manual operation mode .......................................................................................................................... 4 -31
4.6.1 JOG operation .................................................................................................................................. 4 -31
4.6.2 Manual pulse generator ................................................................................................................... 4 -32
4.7 Manual home position return mode ........................................................................................................ 4 -34
4.7.1 Outline of home position return ........................................................................................................ 4 -34
4.7.2 Dog type home position return ......................................................................................................... 4 -37
4.7.3 Count type home position return ..................................................................................................... 4 -39
4.7.4 Data setting type home position return ............................................................................................ 4 -41
4.7.5 Stopper type home position return .................................................................................................. 4 -42
4.7.6 Home position ignorance (servo-on position defined as home position) ....................................... 4 -44
4.7.7 Dog type rear end reference home position return ......................................................................... 4 -45
4.7.8 Count type front end reference home position return ..................................................................... 4 -47
4.7.9 Dog cradle type home position return ............................................................................................. 4 -49
4.7.10 Dog type first Z-phase reference home position return ................................................................ 4 -51
4.7.11 Dog type front end reference home position return method ......................................................... 4 -53
3
4.7.12 Dogless Z-phase reference home position return method ........................................................... 4 -55
4.7.13 Home position return automatic return function ............................................................................ 4 -57
4.7.14 Automatic positioning function to the home position ..................................................................... 4 -58
4.8 Roll feed display function in roll feed mode ............................................................................................ 4 -59
4.9 Absolute position detection system ........................................................................................................ 4 -60
5. PARAMETERS 5 - 1 to 5 -46
5.1 Basic setting parameters (No.PA ) .................................................................................................... 5 - 2 5.1.1 Parameter list .................................................................................................................................... 5 - 2 5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 3 5.1.3 Selection of command system .......................................................................................................... 5 - 3 5.1.4 Selection of regenerative option ....................................................................................................... 5 - 4 5.1.5 Using absolute position detection system ........................................................................................ 5 - 5 5.1.6 Follow-up for absolute value command system in incremental system .......................................... 5 - 5 5.1.7 Feeding function selection ................................................................................................................ 5 - 6 5.1.8 Electronic gear................................................................................................................................... 5 - 6 5.1.9 Auto tuning ........................................................................................................................................ 5 - 8 5.1.10 In-position range .............................................................................................................................. 5 - 9 5.1.11 Torque limit ...................................................................................................................................... 5 - 9 5.1.12 Selection of servo motor rotation direction .................................................................................... 5 -10 5.1.13 Encoder output pulse ..................................................................................................................... 5 -10
5.2 Gain/filter parameters (No.PB ) ......................................................................................................... 5 -12 5.2.1 Parameter list ................................................................................................................................... 5 -12 5.2.2 Detail list ........................................................................................................................................... 5 -13
5.3 Extension setting parameters (No.PC ) ............................................................................................ 5 -20 5.3.1 Parameter list ................................................................................................................................... 5 -20 5.3.2 Detail list ........................................................................................................................................... 5 -21 5.3.3 S-pattern acceleration/deceleration ................................................................................................. 5 -27 5.3.4 Alarm history clear ............................................................................................................................ 5 -27 5.3.5 Rough match output ......................................................................................................................... 5 -27 5.3.6 Software limit .................................................................................................................................... 5 -28
5.4 I/O setting parameters (No.PD ) ....................................................................................................... 5 -28 5.4.1 Parameter list ................................................................................................................................... 5 -28 5.4.2 Detail list ........................................................................................................................................... 5 -29
5.5 Option unit parameters (No.Po ) ....................................................................................................... 5 -37 5.5.1 Parameter list ................................................................................................................................... 5 -37 5.5.2 Detail list ........................................................................................................................................... 5 -38 5.5.3 Analog monitor ................................................................................................................................. 5 -44
6. MR Configurator 6 - 1 to 6 -26
6.1 Specifications ........................................................................................................................................... 6 - 1 6.2 System configuration ............................................................................................................................... 6 - 2 6.3 Station selection ....................................................................................................................................... 6 - 4 6.4 Parameters ............................................................................................................................................... 6 - 5 6.5 Point table ................................................................................................................................................. 6 - 7 6.6 Device assignment method ..................................................................................................................... 6 - 9 6.7 Test operation ......................................................................................................................................... 6 -13
6.7.1 Jog operation .................................................................................................................................... 6 -13 6.7.2 Positioning operation ........................................................................................................................ 6 -15
4
6.7.3 Motor-less operation ........................................................................................................................ 6 -18 6.7.4 Output signal (DO) forced output ..................................................................................................... 6 -19 6.7.5 Single-step feed ............................................................................................................................... 6 -20
6.8 Alarm ....................................................................................................................................................... 6 -23 6.8.1 Alarm display .................................................................................................................................... 6 -23 6.8.2 Batch display of data at alarm occurrence ...................................................................................... 6 -24 6.8.3 Alarm history ..................................................................................................................................... 6 -26
7. PARAMETER UNIT (MR-PRU03) 7 - 1 to 7 -20
7.1 External appearance and key explanations ............................................................................................ 7 - 2 7.2 Specifications ........................................................................................................................................... 7 - 3 7.3 Outline dimension drawings..................................................................................................................... 7 - 3 7.4 Connection with servo amplifier ............................................................................................................... 7 - 4
7.4.1 Single axis ......................................................................................................................................... 7 - 4 7.4.2 Multidrop connection ......................................................................................................................... 7 - 5
7.5 Display ...................................................................................................................................................... 7 - 7 7.5.1 Outline of screen transition ............................................................................................................... 7 - 7 7.5.2 MR-PRU03 parameter unit setting ................................................................................................... 7 - 8 7.5.3 Monitor mode (status display) ........................................................................................................... 7 - 9 7.5.4 Alarm/diagnostic mode .................................................................................................................... 7 -11 7.5.5 Parameter mode ............................................................................................................................... 7 -13 7.5.6 Point table mode .............................................................................................................................. 7 -14 7.5.7 Test operation mode ........................................................................................................................ 7 -15
7.6 Error message list ................................................................................................................................... 7 -19
8. GENERAL GAIN ADJUSTMENT 8 - 1 to 8 -12
8.1 Different adjustment methods .................................................................................................................. 8 - 1 8.1.1 Adjustment on a single servo amplifier ............................................................................................. 8 - 1 8.1.2 Adjustment using MR Configurator ................................................................................................... 8 - 2
8.2 Auto tuning ............................................................................................................................................... 8 - 3 8.2.1 Auto tuning mode .............................................................................................................................. 8 - 3 8.2.2 Auto tuning mode operation .............................................................................................................. 8 - 4 8.2.3 Adjustment procedure by auto tuning ............................................................................................... 8 - 5 8.2.4 Response level setting in auto tuning mode .................................................................................... 8 - 6
8.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 8 - 7 8.4 Interpolation mode .................................................................................................................................. 8 -11 8.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning ................................ 8 -12
9. SPECIAL ADJUSTMENT FUNCTIONS 9- 1 to 9-16
9.1 Function block diagram ............................................................................................................................. 9- 1 9.2 Adaptive filter .......................................................................................................................................... 9- 1 9.3 Machine resonance suppression filter ...................................................................................................... 9- 4 9.4 Advanced vibration suppression control .................................................................................................. 9- 6 9.5 Low-pass filter .......................................................................................................................................... 9-10 9.6 Gain changing function ............................................................................................................................ 9-10
9.6.1 Applications ....................................................................................................................................... 9-10 9.6.2 Function block diagram ..................................................................................................................... 9-11 9.6.3 Parameters ........................................................................................................................................ 9-12
5
9.6.4 Gain changing operation ................................................................................................................... 9-14
10. TROUBLESHOOTING 10- 1 to 10-14
10.1 Trouble at start-up ................................................................................................................................. 10- 1 10.2 When alarm or warning has occurred .................................................................................................. 10- 2
10.2.1 Alarms and warning list .................................................................................................................. 10- 2 10.2.2 Remedies for alarms ...................................................................................................................... 10- 3 10.2.3 Remedies for warnings ................................................................................................................. 10-11
10.3 Point table error .................................................................................................................................... 10-13 10.4 MR-DP60 external digital display error ............................................................................................... 10-13
11. OUTLINE DRAWINGS 11- 1 to 11-12
11.1 Servo amplifier ...................................................................................................................................... 11- 1 11.2 MR-J3-D01 extension IO unit .............................................................................................................. 11-10 11.3 Connector ............................................................................................................................................. 11-11
12. CHARACTERISTICS 12- 1 to 12-10
12.1 Overload protection characteristics ...................................................................................................... 12- 1 12.2 Power supply equipment capacity and generated loss ....................................................................... 12- 3 12.3 Dynamic brake characteristics .............................................................................................................. 12- 6
12.3.1 Dynamic brake operation ............................................................................................................... 12- 6 12.3.2 The dynamic brake at the load inertia moment ............................................................................. 12- 9
12.4 Cable flexing life ................................................................................................................................... 12-10 12.5 Inrush currents at power-on of main circuit and control circuit ........................................................... 12-10
13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-98
13.1 Cable/connector sets ............................................................................................................................ 13- 1 13.1.1 Combinations of cable/connector sets .......................................................................................... 13- 1 13.1.2 Encoder cable/connector sets ....................................................................................................... 13- 8 13.1.3 Motor power supply cables ........................................................................................................... 13-17 13.1.4 Motor brake cables ........................................................................................................................ 13-18
13.2 Regenerative options ........................................................................................................................... 13-19 13.3 FR-BU2-(H) brake unit ......................................................................................................................... 13-33
13.3.1 Selection ........................................................................................................................................ 13-34 13.3.2 Brake unit parameter setting ......................................................................................................... 13-34 13.3.3 Connection example ..................................................................................................................... 13-35 13.3.4 Outline dimension drawings .......................................................................................................... 13-42
13.4 Power regeneration converter ............................................................................................................. 13-44 13.5 Power regeneration common converter .............................................................................................. 13-47 13.6 External dynamic brake ....................................................................................................................... 13-55 13.7 Battery MR-J3BAT ............................................................................................................................... 13-60 13.8 Heat sink outside mounting attachment (MR-J3ACN) ........................................................................ 13-61 13.9 Selection example of wires .................................................................................................................. 13-63 13.10 No-fuse breakers, fuses, magnetic contactors ................................................................................. 13-68 13.11 Power factor improving DC reactor ................................................................................................... 13-69 13.12 Power factor improving reactors ........................................................................................................ 13-71 13.13 Relays (recommended) ..................................................................................................................... 13-72
6
13.14 Surge absorbers (recommended) ..................................................................................................... 13-73 13.15 Noise reduction techniques ............................................................................................................... 13-74 13.16 Leakage current breaker.................................................................................................................... 13-81 13.17 EMC filter (recommended) ................................................................................................................ 13-83 13.18 MR-HDP01 manual pulse generator ................................................................................................. 13-88 13.19 MR-DS60 6-digit digital switch........................................................................................................... 13-90 13.20 External digital display (MR-DP60) ................................................................................................... 13-93 13.21 Junction terminal block PS7DW-20V14B-F (recommended) ........................................................... 13-95 13.22 Junction terminal block MR-TB50 ..................................................................................................... 13-97
14. COMMUNICATION FUNCTION 14- 1 to 14-50
14.1 Configuration ......................................................................................................................................... 14- 1 14.2 Communication specifications .............................................................................................................. 14- 3
14.2.1 Communication overview ............................................................................................................... 14- 3 14.2.2 Parameter setting ........................................................................................................................... 14- 4
14.3 Protocol ................................................................................................................................................. 14- 5 14.3.1 Transmission data configuration .................................................................................................... 14- 5 14.3.2 Character codes ............................................................................................................................. 14- 6 14.3.3 Error codes ..................................................................................................................................... 14- 7 14.3.4 Checksum ....................................................................................................................................... 14- 7 14.3.5 Time-out operation ......................................................................................................................... 14- 8 14.3.6 Retry operation ............................................................................................................................... 14- 8 14.3.7 Initialization ..................................................................................................................................... 14- 9 14.3.8 Communication procedure example.............................................................................................. 14- 9
14.4 Command and data No. list ................................................................................................................. 14-10 14.4.1 Read commands ........................................................................................................................... 14-10 14.4.2 Write commands ........................................................................................................................... 14-15
14.5 Detailed explanations of commands ................................................................................................... 14-18 14.5.1 Data processing ............................................................................................................................ 14-18 14.5.2 Status display ................................................................................................................................ 14-20 14.5.3 Parameters .................................................................................................................................... 14-21 14.5.4 External I/O signal statuses (DIO diagnosis) ............................................................................... 14-24 14.5.5 Device ON/OFF ............................................................................................................................. 14-29 14.5.6 Disable/enable of I/O devices (DIO) ............................................................................................. 14-30 14.5.7 Input devices ON/OFF (test operation) ........................................................................................ 14-31 14.5.8 Test operation mode ..................................................................................................................... 14-32 14.5.9 Alarm history .................................................................................................................................. 14-39 14.5.10 Current alarm .............................................................................................................................. 14-40 14.5.11 Point table .................................................................................................................................... 14-41 14.5.12 Servo amplifier group designation .............................................................................................. 14-48 14.5.13 Other commands ......................................................................................................................... 14-49
APPENDIX App.- 1 to App.- 5
App. 1 Parameter list ..................................................................................................................................App.- 1 App. 2 Signal layout recording paper ........................................................................................................App.- 4 App. 3 Change of connector sets to the RoHS compatible products .......................................................App.- 5 App. 4 MR-J3-200T-RT servo amplifier.....................................................................................................App.- 6 App. 5 Selection example of servo motor power cable .......................................................................... App.-10
1 - 1
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
This servo has the function to perform positioning operation by merely setting the position data (target
positions), servo motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting
them in parameters. The servo amplifier is the most appropriate to configure a program-free, simple positioning
system or to simplify a system, for example.
There are 255 points of point tables.
All servo motors are equipped with an absolute position encoder as standard. An absolute position detection
system can be configured by merely adding a battery to the servo amplifier. Once the home position has been
set, home position return is not required at power on, alarm occurrence, etc.
The MR-J3-T is made easier to use and higher in function by using it with the MR Configurator.
1 - 2
1. FUNCTIONS AND CONFIGURATION
1.1.1 Function block diagram
The function block diagram of this servo is shown below. (1) MR-J3-350T or less MR-J3-200T4 or less
(Note 3) Cooling fan
W
NFB MC L1
L2
L3
L11
L21
B2
C N
2
U
V
W
U
V M
B1
C N
4
MR-J3BAT
P1 P2
1
No.
1000 1000 80 80 0 0
2 2000 2000 100 100 0 0
3 4000 2000 70 60 500 1
4 2000 60 70 1000 1
5 1000 2000 80 80 0 0
6 2000 1000 80 80 0 0
7 1000 1000 80 80 0 0
8 1000 1000 100 100 0 0
1000 1000 100 100 0 0
255 2000 2000 80 80 0 0
USB
CN3CN5CN6 MR-J3-D01
RS-422USB
RS-422
0
1
99
5
7
2
20
27
99
CN10 CN20 CN30
Analog input Analog output
Digital display
Servo motor
Power factor improving DC reactor
Electro- magnetic brake
Encoder
500
Current detection
Overcurrent protection
Voltage detection
Base amplifier
Current control
Speed control
Position control
Position command creation
Personal computer
Controller
Dynamic brake
Servo amplifier
Optional battery (for absolute position detection system)
Point table
M codeDwell Position data
Speed Acceleration time constant
Deceleration time constant
CHARGE lamp
Control circuit power supply
DC
(Note1)
Current detector
Regene-
rative
TR
Auxiliary
M od
el a
da pt
iv e
co nt
ro l
DI/O Control DI/O Control Servo on Start Failure, etc
(Note 2) Power supply
Diode stack Relay
P( )
Regenerative option
N( )
(MR-J3-70T or more)
Note 1. The built-in regenerative resistor is not provided for the MR-J3-10T (1). 2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification. 3. Servo amplifiers MR-J3-70T or greater have a cooling fan.
1 - 3
1. FUNCTIONS AND CONFIGURATION
(2) MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4)
Cooling fan
NFB MC L1
L2
L3
L11
L21 B2
U
V
W
U
V
W
M
B1
P1 P2 NCP
C N
2 C
N 4
MR-J3BAT
1
No.
1000 1000 80 80 0 0
2 2000 2000 100 100 0 0
3 4000 2000 70 60 500 1
4 500 2000 60 70 1000 1
5 1000 2000 80 80 0 0
6 2000 1000 80 80 0 0
7 1000 1000 80 80 0 0
8 1000 1000 100 100 0 0
1000 1000 100 100 0 0
255 2000 2000 80 80 0 0
M code
0
1
99
5
7
2
20
27
99
USB
CN3CN5CN6 MR-J3-D01
RS-422USB
RS-422
CN10 CN20 CN30
Power factor improving DC reactor
Servo amplifier Servo motor
Current detector
Dynamic brake
Control circuit power supply
Current detection
Overcurrent protection
Voltage detection
Base amplifier
Encoder
M o
de l a
da p
tiv e
co n
tr o
l
Speed control
Current control
Position control
Position command creation
DI/O Control Servo on Start Failure, etc
Controller
Personal computer
Optional battery (for absolute position detection system)
Point table
AuxiliaryDwell Position data
Speed Acceleration time constant
Deceleration time constant
CHARGE lamp
Regene-
rative
TR
Electro- magnetic brake
DI/O Control
Analog input Analog output
Digital display
(Note) Power supply
Regenerative option
Diode stack Relay
Note. Refer to section 1.2 for the power supply specification.
1 - 4
1. FUNCTIONS AND CONFIGURATION
(3) MR-J3-11KT(4) to MR-J3-22KT(4)
Cooling fan
W
CP
NFB MC L1
L2
L3
L11
L21 B2
C N
2
U
V
W
U
V M
B1
C N
4
MR-J3BAT
P1 N
1
No.
1000 1000 80 80 0 0
2 2000 2000 100 100 0 0
3 4000 2000 70 60 500 1
4 500 2000 60 70 1000 1
5 1000 2000 80 80 0 0
6 2000 1000 80 80 0 0
7 1000 1000 80 80 0 0
8 1000 1000 100 100 0 0
1000 1000 100 100 0 0
255 2000 2000 80 80 0 0
M code
0
1
99
5
7
2
20
27
99
USB
CN3CN5CN6 MR-J3-D01
RS-422USB
RS-422
CN10 CN20 CN30
Power factor improving DC reactor
Servo amplifier Servo motor
CHARGE lamp
Current detector
Encoder
Electro- magnetic brake
Control circuit power supply
Current detection
Overcurrent protection
Voltage detection
Base amplifier
M od
e l a
d a
p tiv
e c
o n
tr ol
Current control
Speed control
Position control
Position command creation
DI/O Control Servo on Start Failure, etc
Controller
Personal Computer
Optional battery (for absolute position detection system)
Regene-
rative
TR
DI/O Control
Point table
AuxiliaryDwellPosition data
Speed Acceleration time constant
Deceleration time constant
Analog input Analog output
Digital display
(Note) Power supply
Diode stack Thyristor
Regenerative option
Note. Refer to section 1.2 for the power supply specification.
1 - 5
1. FUNCTIONS AND CONFIGURATION
1.1.2 System configuration
This section provides operations using this servo.
The configuration can be freely arranged as any system from a single axis system to an up to 32-axis system.
In addition, the optimum device to each system can be assigned to the connector pin of the I/F part. (Refer to
section 3.4.) To change or assign devices, it is necessary to set parameter No. PD06 to 11 and Po02 to 09. Set
the following values to the point table.
Name Setting range Unit
Position data 999999 to 999999
0.001[mm]
0.01[mm]
0.1[mm]
1[mm]
Servo motor speed 0 to max. speed [r/min]
Acceleration time constant 0 to 20000 [ms]
Deceleration time constant 0 to 20000 [ms]
Dwell 0 to 20000 [ms]
Auxiliary function 0 to 3
There are 31 points of point tables to be used when 1 station is occupied and 255 points when 2 stations are
occupied. (1) Operation by external input signals
(a) Definition
The following shows a configuration example when all devices are controlled by external input signals.
The signals consist of the I/O signals in the factory setting.
(b) Configuration
The following shows a configuration diagram when external I/O signals are used.
MR-J3- T MR-J3-D01
CNP3
External I/O signal
CN2
CN6
CN1
CN3
CN5
CN10
CN20
CN30
1 - 6
1. FUNCTIONS AND CONFIGURATION
(2) Operation by external input signals and communication
(a) Definition
The data change and selection of point tables, change of parameters and confirmation of the monitor
can be performed through communication. The forward rotation start (ST1) or reverse rotation direction
(ST2) is input from the external I/O. This system is used when the position data and speed setting, the
parameter change and others are performed on a host personal computer, etc.
(b) Configuration
1) Connect a servo amplifier to a personal computer with USB.
MR-J3- T MR-J3-D01
CNP3
CN2
CN6
CN1
CN3
CN5
CN10
CN20
CN30
MR Configurator
USB
External I/O signal
Personal Computer
2) Connect two or more (maximum 32) servo amplifiers to a personal computer with RS-422.
MR-J3- T MR-J3-D01
CNP3
CN2
CN6
CN1
CN3
CN5
CN10
CN20
CN30
MR Configurator
RS-232C
MR-J3- T MR-J3-D01
CNP3
CN2
CN6
CN1
CN3 CN5
CN10
CN20
CN30
RS-422
RS-232C/RS-422 converter
(This should be prepared by the customer.)
External I/O signal
External I/O signal
To the next axisPersonal Computer
1 - 7
1. FUNCTIONS AND CONFIGURATION
1.2 Servo amplifier standard specifications
(1) 200V class, 100V class
Servo amplifier MR-J3-
Item 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1
P ow
er s
up pl
y
Voltage/frequency 3-phase or 1-phase 200 to
230VAC, 50/60Hz 3-phase 200 to 230VAC, 50/60Hz
1-phase 100V to 120VAC, 50/60Hz
Permissible voltage fluctuation 3-phase or 1-phase 200 to 230VAC: 170 to 253VAC
3-phase 170 to 253VAC 1-phase 85 to
132VAC Permissible frequency fluctuation
Within 5%
Power supply capacity Refer to section 12.2 Inrush current Refer to section 12.5
Control circuit power supply
Voltage, frequency
1-phase 200 to 230VAC, 50/60Hz 1-phase 100 to
120VAC, 50/60Hz Permissible voltage fluctuation
1-phase 170 to 253VAC 1-phase 85 to
132VAC Permissible frequency fluctuation
Within 5%
Input 30W 45W 30W Inrush current Refer to section 12.5
MR-J3- T Interface power supply
Voltage 24VDC 10% Power supply capacity
(Note 1) 150mA or more
MR-J3-D01 Interface power supply
Voltage 24VDC 10% Power supply capacity
(Note 3) 800mA or more
Control System Sine-wave PWM control, current control system Dynamic brake Built-in External option Built-in
Protective functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative brake error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection
C om
m an
d sy
st em
Point table number input
Operational specifications
Positioning by specifying the point table No. (255 points)
Position command input
Set in point table. 1-point feed length setting range: 1[ m] to 999.999[mm]
Speed command input
Acceleration/deceleration time is set in point table. S-pattern acceleration/deceleration time constant is set in parameter No. PC13.
System Signed absolute value command system, incremental value command system, signed absolute value command/incremental value command specifying system
Position command data input
B C
D in
pu t
Position command input
Digital switch or contact input of 6-digit BCD with symbol 1-point feed length setting range: 1[ m] to 999.999[mm].
Speed command input
The motor speed and acceleration/deceleration time of the point table No.1 to 15 is selected by contact input. S-pattern acceleration/deceleration time constant is set in parameter No.PC13.
System Signed absolute value command system, incremental value command system, signed absolute value command/incremental value command specifying system
R S
-4 22
co
m m
un ic
at io
n
Position command input
Positioning command data setting by RS-422 communication 1-point feed length setting range: 1[ m] to 999.999[mm].
Speed command input
The motor speed and acceleration/deceleration time is set via RS-422 communication. S-pattern acceleration/deceleration time constant is set in parameter No. PC13.
System Signed absolute value command system, incremental value command system, signed absolute value command/incremental value command specifying system
O pe
ra tio
n m
od e Automatic
operation mode
Point table Point table number input, position data input system Positioning operation is performed once in accordance with the position and speed commands.
Automatic continuous operation
Varied speed operation (2 to 255 speeds), automatic continuous positioning operation (2 to 255 points)
Manual operation mode
Jog Jog operation is performed in accordance with the parameter-set speed command by contact input or through RS-422 communication function.
Manual pulse generator
Manual feed is made by manual pulse generator. Command pulse multiplication: 1, 10 or 100 is selected using parameter.
1 - 8
1. FUNCTIONS AND CONFIGURATION
Servo amplifier
MR-J3- Item
10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1
O pe
ra tio
n m
od e Home
position return mode
Dog type
Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position return direction may be selected. Automatic at-dog home position return return/automatic stroke return function
Count type
Home position return is made by counting encoder pulses after contact with proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Data setting type Home position return is made without dog. Home position may be set at any position by manual operation, etc. Home position address may be set.
Stopper type Home position return is made by pressing machine part against stroke end. Home position address may be set. Home position return direction may be set.
Home position ignorance (Servo-on position as home position)
Position where servo-on (SON) is switched on is defined as home position. Home position address may be set.
Dog type rear end reference
Home position return is made with respect to the rear end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Count type front end reference
Home position return is made with respect to the front end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Dog cradle type
Home position return is made with respect to the front end of a proximity dog by the first Z-phase pulse. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Dog type last Z-phase reference
Home position return is made with respect to the front end of a proximity dog by the last Z-phase pulse. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Dog type front end reference
Home position return is made to the dog front end with respect to the front end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Dogless Z-phase reference
Home position return is made with respect to the first Z-phase to the Z-phase. Home position address may be set. Home position shift value may be set. Home position return direction may be set.
Automatic positioning to home position
High-speed automatic return to a defined home position.
Other functions
Absolute position detection, backlash function Overtravel prevention using external limit switch Software stroke limit Override by analog input
Structure Self-cooled, open
(IP00) Force-cooling, open (IP00)
Self-cooled, open (IP00)
E nv
iro nm
en t
Ambient temperature
In operation [ ] (Note 2) 0 to 55 (non-freezing) [ ] (Note 2) 32 to 131 (non-freezing)
In storage [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing)
Ambient humidity
In operation 90%RH or less (non-condensing)
In storage
Ambient Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level Vibration 5.9 [m/s2] or less
Mass [kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.6 6.2 18 18 19 0.8 0.8 1.0 [lb] 1.8 1.8 2.2 2.2 3.1 3.1 4.63 50.7 10.1 13.7 39.7 39.7 41.9 1.8 1.8 2.2
Note 1. 150mA is the value applicable when all I/O signals of the servo amplifier are used. The current capacity can be decreased by reducing the number of I/O points.
2. When closely mounting the servo amplifier of 3.5kW or less, operate them at the ambient temperatures of 0 to 45 (32 to 113 ) or at 75% or smaller effective load ratio.
3. 800mA is the value applicable when all I/O signals of the MR-J3-D01 are used. The current capacity can be decreased by reducing the number of I/O points.
1 - 9
1. FUNCTIONS AND CONFIGURATION
(2) 400V class
Servo amplifier MR-J3-
Item 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4
P ow
er s
up pl
y Voltage/frequency 3-phase 380 to 480VAC, 50/60Hz Permissible voltage fluctuation 3-phase 323 to 528VAC Permissible frequency fluctuation
Within 5%
Power supply capacity Refer to section 12.2 Inrush current Refer to section 12.5
Control circuit power supply
Voltage, frequency
1-phase 380 to 480VAC, 50/60Hz
Permissible voltage fluctuation
1-phase 323 to 528VAC
Permissible frequency fluctuation
Within 5%
Input 30W 45W Inrush current Refer to section 12.5
MR-J3- T Interface power supply
Voltage 24VDC 10% Power supply capacity
(Note 1) 150mA or more
MR-J3-D01 Interface power supply
Voltage 24VDC 10% Power supply capacity
(Note 2) 800mA or more
Control System Sine-wave PWM control, current control system Dynamic brake Built-in External option
Protective functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative brake error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection
C om
m an
d sy
st em
Point table number input
Operational specifications
Positioning by specifying the point table No. (255 points)
Position command input
Set in point table. 1-point feed length setting range: 1[ m] to 999.999[mm]
Speed command input
Acceleration/deceleration time is set in point table. S-pattern acceleration/deceleration time constant is set in parameter No. PC13.
System Signed absolute value command system, incremental value command system, signed absolute value command/incremental value command specifying system
Position command data input
B C
D in
pu t
Position command input
Digital switch or contact input of 6-digit BCD with symbol 1-point feed length setting range: 1[ m] to 999.999[mm].
Speed command input
The motor speed and acceleration/deceleration time of the point table No.1 to 15 is selected by contact input. S-pattern acceleration/deceleration time constant is set in parameter No.PC13.
System Signed absolute value command system, incremental value command system, signed absolute value command/incremental value command specifying system
R S
-4 22
co
m m
un ic
at io
n
Position command input
Positioning command data setting by RS-422 communication 1-point feed length setting range: 1[ m] to 999.999[mm].
Speed command input
The motor speed and acceleration/deceleration time is set via RS-422 communication. S-pattern acceleration/deceleration time constant is set in parameter No. PC13.
System Signed absolute value command system, incremental value command system, signed absolute value command/incremental value command specifying system
O pe
ra tio
n m
od e Automatic
operation mode
Point table Point table number input, position data input system Positioning operation is performed once in accordance with the position and speed commands.
Automatic continuous operation
Varied speed operation (2 to 255 speeds), automatic continuous positioning operation (2 to 255 points)
Manual operation mode
Jog Jog operation is performed in accordance with the parameter-set speed command by contact input or through RS-422 communication function.
Manual pulse generator
Manual feed is made by manual pulse generator. Command pulse multiplication: 1, 10 or 100 is selected using parameter.
1 - 10
1. FUNCTIONS AND CONFIGURATION
Servo amplifier
MR-J3- Item
60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4
O pe
ra tio
n m
od e
Home position return mode
Dog type
Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position return direction may be selected. Automatic at-dog home position return return/automatic stroke return function
Count type
Home position return is made by counting encoder pulses after contact with proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Data setting type Home position return is made without dog. Home position may be set at any position by manual operation, etc. Home position address may be set.
Stopper type Home position return is made by pressing machine part against stroke end. Home position address may be set. Home position return direction may be set.
Home position ignorance (Servo-on position as home position)
Position where servo-on (SON) is switched on is defined as home position. Home position address may be set.
Dog type rear end reference
Home position return is made with respect to the rear end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Count type front end reference
Home position return is made with respect to the front end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Dog cradle type
Home position return is made with respect to the front end of a proximity dog by the first Z-phase pulse. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Dog type last Z- phase reference
Home position return is made with respect to the front end of a proximity dog by the last Z-phase pulse. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Dog type front end reference
Home position return is made to the dog front end with respect to the front end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function
Dogless Z-phase reference
Home position return is made with respect to the first Z-phase to the Z-phase. Home position address may be set. Home position shift value may be set. Home position return direction may be set.
Automatic positioning to home position
High-speed automatic return to a defined home position.
Other functions
Absolute position detection, backlash function Overtravel prevention using external limit switch Software stroke limit Override by analog input
Structure Self-cooled, open
(IP00) Force-cooling, open (IP00)
E nv
iro nm
en t
Ambient temperature
In operation [ ] 0 to 55 (non-freezing) [ ] 32 to 131 (non-freezing)
In storage [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing)
Ambient humidity
In operation 90%RH or less (non-condensing)
In storage
Ambient Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level Vibration 5.9 [m/s2] or less
Mass [kg] 1.7 1.7 2.1 4.6 4.6 6.2 18 18 19 [lb] 3.75 3.75 4.63 10.1 10.1 13.7 39.7 39.7 42.9
Note 1. 150mA is the value applicable when all I/O signals of the servo amplifier are used. The current capacity can be decreased by reducing the number of I/O points.
2. 800mA is the value applicable when all I/O signals of the MR-J3-D01 are used. The current capacity can be decreased by reducing the number of I/O points.
1 - 11
1. FUNCTIONS AND CONFIGURATION
1.3 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function Description Reference
Positioning by automatic operation
Select the required ones from among 31 preset point tables and perform
operation in accordance with the set values.
Use the external input signal or communication function to choose the point
tables.
Section 4.5
Varied speed operation Servo motor speed can be varied continuously until the preset moving
distance is reached. (Max. set speeds: 255 speeds)
Section 4.5.2
(2)(c)
Automatic continuous positioning
operation
By merely choosing one point table and starting operation, positioning can
be executed continuously in accordance with several point tables.
Section 4.5.2
(2)(c)
Home position return
Dog type, count type, data setting type, stopper type, home position
ignorance, dog type rear end reference, count type front end reference, dog
cradle type
Section 4.7
High-resolution encoder High-resolution encoder of 262144 pulses/rev is used as a servo motor
encoder.
Absolute position detection system By merely setting the home position once, home position return need not be
done at each power on. Section 4.9
Gain changing function You can switch between gains during rotation and gains during stop or use
an input device to change gains during operation. Section 9.6
Advanced vibration suppression
control
This function suppresses vibration at the arm end or residual vibration. Section 9.4
Adaptive filter Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration. Section 9.2
Low-pass filter Suppresses high-frequency resonance which occurs as servo system
response is increased. Section 9.5
Machine analyzer function
Analyzes the frequency characteristic of the mechanical system by simply
connecting a MR Configurator-installed personal computer and servo
amplifier.
MR Configurator is necessary for this function.
Machine simulation
Can simulate machine motions on a personal computer screen on the basis
of the machine analyzer results.
MR Configurator is necessary for this function.
Gain search function
Personal computer changes gains automatically and searches for
overshoot-free gains in a short time.
MR Configurator is necessary for this function.
Slight vibration suppression
control
Suppresses vibration of 1 pulse produced at a servo motor stop. Parameters No.
PB24
Electronic gear
The electronic gear is used to make adjustment so that the servo amplifier
setting matches the machine moving distance. Also, changing the electronic
gear value allows the machine to be moved at any multiplication ratio to the
moving distance using the servo amplifier.
Parameter No.
PA06, PA07
Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies. Section 8.2
S-pattern
acceleration/deceleration time
constant
Acceleration/deceleration can be made smoothly. Parameters No.
PC13
Regenerative option Used when the built-in regenerative resistor of the servo amplifier does not
have sufficient regenerative capability for the regenerative power generated. Section 13.2
Brake unit
Used when the regenerative option cannot provide enough regenerative
power.
Can be used with the servo amplifier of 5kW or more.
Section 13.3
1 - 12
1. FUNCTIONS AND CONFIGURATION
Function Description Reference
Regeneration converter
Used when the regenerative option cannot provide enough regenerative
power.
Can be used with the servo amplifier of 5kW or more.
Section 13.4
Alarm history clear Alarm history is cleared. Parameter No.
PC18
I/O signal selection (Device
setting)
Any input device such as servo-on (SON) can be assigned to any pin of
CN6, CN10 connectors.
Parameter No.
PD06 to PD08
Po02 to Po07
Torque limit Servo motor-torque is limited. Section 3.6.3
Section 5.1.11
Output signal (DO) forced output Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc.
Section 6.7.4 Section 6.5.7
Test operation mode JOG operation positioning operation DO forced output. In the test operation mode, a parameter unit or MR Configurator is required.
Section 6.7 Section 7.5.7
Limit switch The servo motor travel region can be limited using the forward rotation
stroke end (LSP)/reverse rotation stroke end (LSN). Section 3.5.1
Software limit The travel region is limited using parameters in terms of address.
The function similar to that of a limit switch is limited by parameter. Section 5.3.6
1 - 13
1. FUNCTIONS AND CONFIGURATION
1.4 Model code definition
1.4.1 Servo amplifier
(1) Rating plate
Model
Capacity
Applicable power supply
Rated output current
Serial number
MITSUBISHI
MADE IN JAPAN
MODELMR-J3-10T
MITSUBISHI ELECTRIC CORPORATION
AC SERVO
PASSED
POWER : INPUT :
OUTPUT : SERIAL :
100W
1.3A 1PH 200-230V 50/60Hz 170V 0-360Hz 1.1A A34230001
0.9A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz
(2) Model
MR-J3-11KT(4) to 22KT(4)
MR-J3-350T4 500T(4)
MR-J3-700T(4)
MR-J3-100T(4) or less
Rating plate
MR-J3-350T
Rating plate
Rating plate
Rating plate
MR-J3-200T(4)
Rating plate
Rating plate
Symbol
1-phase 100 to 120VAC
Series Symbol Description
-PX
Indicates a servo amplifier of 11k to 22kW that does not use a regenerative resistor as standard accessory.
With no regenerative resistor
Power supply
Built-in positioning function
10 0.1
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2
350 3.5
500 5
700 7
11K 11
15K 15
22K 22
Rated output
Description
(Note 1) None
3-phase or 1-phase 200 to 230VAC
(Note 2) 1 4 3-phase 380 to 480VAC
Note 1. 1-phase 200V to 230V is supported by 750W or less. 2. 1-phase 100V to 120V is supported by 400W or less.
Symbol Rated output [kW]
1 - 14
1. FUNCTIONS AND CONFIGURATION
1.4.2 MR-J3-D01 extension I/O unit
Rating plate
MITSUBISHI MODEL
PASSED
SERIAL : ****
MR-J3-D01 AC SERVO
MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN
Model
Serial number
1 - 15
1. FUNCTIONS AND CONFIGURATION
1.5 Combination with servo motor
The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to
the models with electromagnetic brakes.
Servo amplifier
Servo motors
HF-MP HF-KP HF-SP
HC-RP HC-UP HC-LP 1000r/min 2000r/min
MR-J3-10T (1) 053 13 053 13
MR-J3-20T (1) 23 23
MR-J3-40T (1) 43 43
MR-J3-60T 51 52 52
MR-J3-70T 73 73 72
MR-J3-100T 81 102 102
MR-J3-200T 121 201 152 202 103 153 152 152
MR-J3-350T 301 352 203 202 202
MR-J3-500T 421 502 353 503 352 502 302
MR-J3-700T 702
MR-J3-11KT
MR-J3-15KT
MR-J3-22KT
Servo amplifier
Servo motors
HA-LP
1000r/min 1500r/min 2000r/min
MR-J3-500T 502
MR-J3-700T 601 701M 702
MR-J3-11KT 801 12K1 11K1M 11K2
MR-J3-15KT 15K1 15K1M 15K2
MR-J3-22KT 20K1 25K1 22K1M 22K2
Servo amplifier
Servo motors
HF-SP HA-LP
1000r/min 1500r/min 2000r/min
MR-J3-60T4 524
MR-J3-100T4 1024
MR-J3-200T4 1524 2024
MR-J3-350T4 3524
MR-J3-500T4 5024
MR-J3-700T4 7024 6014 701M4
MR-J3-11KT4 8014 12K14 11K1M4 11K24
MR-J3-15KT4 15K14 15K1M4 15K24
MR-J3-22KT4 20K14 22K1M4 22K24
1 - 16
1. FUNCTIONS AND CONFIGURATION
1.6 Structure
1.6.1 Parts identification
(1) MR-J3-100T(4) or less
5 4
3 2
1 0 9
8 7
6 5 4
3 2
1 0 9
8 7
6
5 4
3 2
1 0 9
8 7
6 When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure.
Name/Application Detailed Explanation
Communication alarm display section When using in combination with MR-J3-D01, the LED display does not have any meaning.
Analog input connector (CN20) Used to connect the analog torque limit or override analog input signal.
CC-Link connector (CN1) When using in combination with MR-J3-D01, this connector is not used. Do not connect anything to it.
Digital display connector (CN30) Used to connect the MR-DP60 digital display. The MR-PRU03 parameter unit or a personal computer cannot be connected.
Section 4.3 Chapter 10
Section 3.1 Section 3.3
Section 11.1
Chapter 6
Chapter 6 Chapter 7 Chapter 14
Section 3.1 Section 3.3
Section 11.1 Section 13.2
Section 3.2 Section 3.4
Section 3.1 Section 3.3
Section 11.1
Section 3.1 Section 3.3
Section 11.1
Section 3.10 Section 13.1
Section 4.9 Section 13.7
Section 4.9
Section 1.4 Fixed part (2 places)
Display The 3-digit, seven-segment LED shows the servo status and alarm number.
Main circuit power supply connector (CNP1) Used to connect the input power supply.
USB communication connector (CN5) Used to connect the personal computer.
RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer.
Control circuit connector (CNP2) Used to connect the control circuit power supply/ regenerative option.
I/O signal connector (CN10) Used to connect the digital I/O signal or analog output signal.
I/O signal connector (CN6) Used to connect digital I/O signals.
Servo motor power connector (CNP3) Used to connect the servo motor.
Encoder connector (CN2) Used to connect the servo motor encoder.
Battery connector (CN4) Used to connect the battery for absolute position data backup.
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Battery holder Contains the battery for absolute position data backup.
Protective earth (PE) terminal ( ) Ground terminal.
Rating plate
1 - 17
1. FUNCTIONS AND CONFIGURATION
(2) MR-J3-200T(4)
5 4
3 2
1 0 9
8 7
6 5 4
3 2
1 0 9
8 7
6
5 4
3 2
1 0 9
8 7
6
Name/Application Detailed
Explanation
Section 4.3 Chapter 10
When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure.
Section 3.1 Section 3.3
Section 11.1
Communication alarm display section When using in combination with MR-J3-D01, the LED display does not have any meaning.
Chapter 6
Chapter 6 Chapter 7 Chapter 14
Analog input connector (CN20) Used to connect the analog torque limit or override analog input signal.
Digital display connector (CN30) Used to connect the MR-DP60 digital display. The MR-PRU03 parameter unit or a personal computer cannot be connected.
Section 3.1 Section 3.3
Section 11.1
Section 1.4
Section 3.2 Section 3.4
Section 3.10 Section 13.1
Section 4.9 Section 13.7
Section 3.1 Section 3.3
Section 11.1 Section 13.2
Section 4.9
Section 3.1 Section 3.3
Section 11.1
CC-Link connector (CN1) When using in combination with MR-J3-D01, this connector is not used. Do not connect anything to it.
Protective earth (PE) terminal ( ) Ground terminal.
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Battery holder Contains the battery for absolute position data backup.
Control circuit connector (CNP2) Used to connect the control circuit power supply/ regenerative option.
Battery connector (CN4) Used to connect the battery for absolute position data backup.
Encoder connector (CN2) Used to connect the servo motor encoder.
I/O signal connector (CN6) Used to connect digital I/O signals.
I/O signal connector (CN10) Used to connect the digital I/O signal or analog output signal.
Servo motor power connector (CNP3) Used to connect the servo motor.
RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer.
USB communication connector (CN5) Used to connect the personal computer.
Main circuit power supply connector (CNP1) Used to connect the input power supply.
Display The 3-digit, seven-segment LED shows the servo status and alarm number.
Rating plate
Cooling fan
Fixed part (3 places)
(Note)
Note. Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January 2008
production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. For MR-J3-200T-RT, refer to appendix 4.
1 - 18
1. FUNCTIONS AND CONFIGURATION
(3) MR-J3-350T
5 4
3 2
1 0 9
8 7
6 5 4
3 2
1 0 9
8 7
6
5 4
3 2
1 0 9
8 7
6
Name/Application Detailed
Explanation
Section 4.3 Chapter 10
When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure.
Section 3.1 Section 3.3
Section 11.1
Communication alarm display section When using in combination with MR-J3-D01, the LED display does not have any meaning.
Chapter 6
Chapter 6 Chapter 7 Chapter 14
Analog input connector (CN20) Used to connect the analog torque limit or override analog input signal.
Digital display connector (CN30) Used to connect the MR-DP60 digital display. The MR-PRU03 parameter unit or a personal computer cannot be connected.
Section 3.1 Section 3.3
Section 11.1
Cooling fan
Fixed part (3 places)
Section 1.4
Section 3.2 Section 3.4
Section 3.10 Section 13.1
Section 4.9 Section 13.7
Section 3.1 Section 3.3
Section 11.1 Section 13.2
Section 4.9
Section 3.1 Section 3.3
Section 11.1
CC-Link connector (CN1) When using in combination with MR-J3-D01, this connector is not used. Do not connect anything to it.
Protective earth (PE) terminal ( ) Ground terminal.
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Battery holder Contains the battery for absolute position data backup.
Control circuit connector (CNP2) Used to connect the control circuit power supply/ regenerative ption.
Battery connector (CN4) Used to connect the battery for absolute position data backup.
Encoder connector (CN2) Used to connect the servo motor encoder.
I/O signal connector (CN6) Used to connect digital I/O signals.
I/O signal connector (CN10) Used to connect the digital I/O signal or analog output signal.
Servo motor power connector (CNP3) Used to connect the servo motor.
RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer.
USB communication connector (CN5) Used to connect the personal computer.
Main circuit power supply connector (CNP1) Used to connect the input power supply.
Display The 3-digit, seven-segment LED shows the servo status and alarm number.
Rating plate
1 - 19
1. FUNCTIONS AND CONFIGURATION
(4) MR-J3-350T4 MR-J3-500T(4)
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2.
5 4
3 2
1 0 9
8 7
6 5 4
3 2
1 0 9
8 7
6
5 4
3 2
1 0 9
8 7
6
Cooling fan
Fixed part (4 places)
Section 4.9 Battery holder Contains the battery for absolute position data backup.
Name/Application Detailed
Explanation
Section 4.3 Chapter 10
When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure.
Communication alarm display section When using in combination with MR-J3-D01, the LED display does not have any meaning.
Chapter 6
Chapter 6 Chapter 7 Chapter 14
Analog input connector (CN20) Used to connect the analog torque limit or override analog input signal.
RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer.
USB communication connector (CN5) Used to connect the personal computer.
Display The 3-digit, seven-segment LED shows the servo status and alarm number.
Digital display connector (CN30) Used to connect the MR-DP60 digital display. The MR-PRU03 parameter unit or a personal computer cannot be connected.
CC-Link connector (CN1) When using in combination with MR-J3-D01, this connector is not used. Do not connect anything to it.
MR-J3-D01 rating plate
Section 3.2 Section 3.4
Section 3.10 Section 13.1
Section 4.9 Section 13.7
Battery connector (CN4) Used to connect the battery for absolute position data backup.
Encoder connector (CN2) Used to connect the servo motor encoder.
I/O signal connector (CN6) Used to connect digital I/O signals.
I/O signal connector (CN10) Used to connect the digital I/O signal or analog output signal.
DC reactor terminal block(TE3) Used to connect the DC reactor.
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Section 1.4
Protective earth (PE) terminal ( ) Ground terminal.
Rating plate
Main circuit terminal block (TE1) Used to connect the input power supply and servo motor.
Control circuit terminal block (TE2) Used to connect the control circuit power supply.
Section 3.1 Section 3.3 Section 11.1
Section 3.1 Section 3.3 Section 11.1
Section 13.11
1 - 20
1. FUNCTIONS AND CONFIGURATION
(5) MR-J3-700T(4)
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2.
5 4
3 2
1 0 9
8 7
6 5 4
3 2
1 0 9
8 7
6
5 4
3 2
1 0 9
8 7
6
Cooling fan
Fixed part (4 places)
Section 4.9 Battery holder Contains the battery for absolute position data backup.
Name/Application Detailed
Explanation
Section 4.3 Chapter 10
When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure.
Communication alarm display section When using in combination with MR-J3-D01, the LED display does not have any meaning.
Chapter 6
Chapter 6 Chapter 7 Chapter 14
Analog input connector (CN20) Used to connect the analog torque limit or override analog input signal.
RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer.
USB communication connector (CN5) Used to connect the personal computer.
Display The 3-digit, seven-segment LED shows the servo status and alarm number.
Digital display connector (CN30) Used to connect the MR-DP60 digital display. The MR-PRU03 parameter unit or a personal computer cannot be connected.
CC-Link connector (CN1) When using in combination with MR-J3-D01, this connector is not used. Do not connect anything to it.
MR-J3-D01 rating plate
Section 3.2 Section 3.4
Section 3.10 Section 13.1
Section 4.9 Section 13.7
Battery connector (CN4) Used to connect the battery for absolute position data backup.
Encoder connector (CN2) Used to connect the servo motor encoder.
I/O signal connector (CN6) Used to connect digital I/O signals.
I/O signal connector (CN10) Used to connect the digital I/O signal or analog output signal.
DC reactor terminal block(TE3) Used to connect the DC reactor.
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Section 1.4
Protective earth (PE) terminal ( ) Ground terminal.
Rating plate
Main circuit terminal block (TE1) Used to connect the input power supply and servo motor.
Control circuit terminal block (TE2) Used to connect the control circuit power supply.
Section 3.1 Section 3.3
Section 11.1
Section 3.1 Section 3.3
Section 11.1 Section 13.11
1 - 21
1. FUNCTIONS AND CONFIGURATION
(6) MR-J3-11KT(4) to MR-J3-22KT(4)
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2.
5 4
3 2
1 0 9
8 7
6 5 4
3 2
1 0 9
8 7
6
5 4
3 2
1 0 9
8 7
6
Chapter 6 Chapter 7 Chapter 14
RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer.Cooling fanFixed part
(4 places)
Section 4.9 Battery holder Contains the battery for absolute position data backup.
Name/Application Detailed
Explanation
Section 4.3 Chapter 10
When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure.
Communication alarm display section When using in combination with MR-J3-D01, the LED display does not have any meaning.
Chapter 6
Analog input connector (CN20) Used to connect the analog torque limit or override analog input signal.
USB communication connector (CN5) Used to connect the personal computer.
Display The 3-digit, seven-segment LED shows the servo status and alarm number.
Digital display connector (CN30) Used to connect the MR-DP60 digital display. The MR-PRU03 parameter unit or a personal computer cannot be connected.
CC-Link connector (CN1) When using in combination with MR-J3-D01, this connector is not used. Do not connect anything to it.
MR-J3-D01 rating plate
Section 3.2 Section 3.4
Section 3.10 Section 13.1
Section 4.9 Section 13.7
Battery connector (CN4) Used to connect the battery for absolute position data backup.
Encoder connector (CN2) Used to connect the servo motor encoder.
I/O signal connector (CN6) Used to connect digital I/O signals.
I/O signal connector (CN10) Used to connect the digital I/O signal or analog output signal.
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Section 1.4Rating plate
Main circuit terminal block, Control circuit and Protective earth (TE) Used to connect the input power supply, servo motor, regenerative option, and grounding.
Section 3.1 Section 3.3
Section 11.1 Section 13.11
1 - 22
1. FUNCTIONS AND CONFIGURATION
1.6.2 Removal and reinstallation of the front cover
WARNING
Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
(1) For MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) Removal of the front cover
a)
a)
Hold the ends of lower side of the front cover with
both hands.
Pull up the cover, supporting at point a).
Pull out the front cover to remove.
1 - 23
1. FUNCTIONS AND CONFIGURATION
Reinstallation of the front cover
Front cover setting tab
a)
a)
Insert the front cover setting tabs into the sockets of
servo amplifier (2 places).
Pull up the cover, supporting at point a).
Setting tab
Push the setting tabs until they click.
1 - 24
1. FUNCTIONS AND CONFIGURATION
(2) For MR-J3-11KT(4) to MR-J3-22KT(4)
Removal of the front cover
c)
b)
a)
1) Press the removing knob on the lower side of the front cover ( a) and b) ) and release the installation hook.
2) Press the removing knob of c) and release the external hook.
3) Pull it to remove the front cover.
Reinstallation of the front cover
a)
b)
c)
d)
(Note 1)
(Note 1)
(Note 2)
Installation hook
1) Fit the front cover installation hooks on the sockets of body cover ( a) to d) ) to reinstall it.
2) Push the front cover until you hear the clicking noise of the installation hook.
Note 1. The cooling fan cover can be locked with enclosed screws (M4 40).
2. By drilling approximately 4 of a hole on the front cover, the front cover can be locked on the body with an enclosed screw (M4
14).
1 - 25
1. FUNCTIONS AND CONFIGURATION
1.6.3 Installation and removal of MR-J3-D01
WARNING
Before installing or removing the MR-J3-D01, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo
amplifier, whether the charge lamp is off or not.
CAUTION
Avoid installing and removing the MR-J3-D01 repeatedly. Any contact failure of the connector may be caused.
Avoid unsealing the MR-J3-D01 to be free dust and dirt against the connector
except installing. Make sure to use the pre-packing when storing.
Avoid using the MR-J3-D01 which the hook and knobs for fixing are damaged. Any
contact failure of the connector may be caused.
When installing and removing the MR-J3-D01 to the MR-J3-500T or more, avoid
dropping out the installing screw inside it. Any malfunctions of the servo motor may be caused.
When installing and removing the MR-J3-D01 to the MR-J3-500T or more, avoid
damaging the control board by the fixing plate. Any malfunctions of the servo motor
may be caused.
Make sure to tighten the MR-J3-D01 with the enclosed installing screws when installing.
POINT
The internal circuits of the servo amplifier may be damaged by static
electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.
1 - 26
1. FUNCTIONS AND CONFIGURATION
(1) For MR-J3-350T or less MR-J3-200T4 or less
(a) Installation of the MR-J3-D01
2)
2)
1) Guide hole
Guide pins
1) Remove the cover of connector for connecting
an option. Make sure to storage the removed
cover.
2) Insert the guide pins through the each guide
hole on the side of servo amplifier.
Knobs
3)
4)
3) Push the MR-J3-D01 until the knobs click.
4) Tighten the MR-J3-D01 with the enclosed
installing screw(M4).
(b) Removal of the MR-J3-D01
1) 2)
b)
a)
1) Loosen the installing screw.
2) Keep pushing the knobs( a) , b) ) and pull out
the MR-J3-D01 to the arrow direction. Avoid
pulling out the MR-J3-D01 under it is
tightened.
When removing the MR-J3-D01, make sure to
reinstall the cover of connector for connecting an
option to avoid dust and dirt.
1 - 27
1. FUNCTIONS AND CONFIGURATION
(2) For MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4)
(a) Removal of the side cover
1)a)
b)
Keep pushing the knobs( a) , b) ) and pull out the
side cover to the arrow direction.
(b) Installation of MR-J3-D01
1)
1)
Guide pins
Guide hole
1) Insert the guide pins through the each guide
hole on the side of servo amplifier.
Knobs
2)
3)
2) Push the MR-J3-D01 until the knobs click.
3) Tighten the MR-J3-D01 with the enclosed
installing screw(M4).
1 - 28
1. FUNCTIONS AND CONFIGURATION
(c) Removal of MR-J3-D01
1)
a)
b)
2)
1) Loosen the installing screw.
2) Keep pushing the knobs( a) , b) ) and pull out
the MR-J3-D01 to the arrow direction. Avoid
pulling out the MR-J3-D01 under it is
tightened.
(d) Installation of the side cover
Hook of the side cover
2)
1)
a)
1) Insert the hook of the side cover through the
each guide hole a) on the side of servo
amplifier.
2)
Knobs
2) Push the side cover at the supporting point a)
until the knobs click.
1 - 29
1. FUNCTIONS AND CONFIGURATION
(3) For MR-J3-11KT(4) to MR-J3-22KT(4)
CAUTION Avoid touching any remained burr after cutting off the part a) of the case. Any injuries may be caused.
The installing screws for the MR-J3-11KT(4) or more are covered at shipping. When installing the MR-J3-D01
for the first time, cut off the part a) of the case after removing the side cover. When cutting off the part a) , avoid
damaging the case of the servo amplifier. After cutting off it, inside of the servo amplifier has been exposed
even though the side cover and the MR-J3-D01 are installed. Avoid entering unwanted parts inside of the servo
amplifier from the opened area. Refer to section 3.2 (2) in this section for installing and removing the MR-J3-
D01. The side cover for the MR-J3-11KT(4) or more is the same construction as the MR-J3-D01. Install and
remove the side cover in the same procedure as the MR-J3-D01. However, the installing screw for the side
cover is unnecessary.
a)
1 - 30
1. FUNCTIONS AND CONFIGURATION
1.7 Configuration including auxiliary equipment
POINT
Equipment other than the servo amplifier and servo motor are optional or recommended products.
(1) MR-J3-100T or less
(a) For 3-phase or 1-phase 200V to 230VAC
R S T
CN5
P C
CN2
CN4
MR Configurator
U V W
CN3
L1
L3
L2
P1
P2
CN10
Analog output signal
CN20
External digital display
I/O signal
I/O signal
CN30
CN6
(Note 3) Power supply
No-fuse breaker (NFB) or fuse
Servo amplifier
Magnetic contactor (MC)
(Note 2)
Line noise filter (FR-BSF01)
Power factor improving DC reactor (FR-BEL)
(Note 2)
Regenerative option (Note 1)
Battery MR-J3BAT
Servo motor
Personal computer
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2.
3. A 1-phase 200V to 230VAC power supply may be used with the servo amplifier of MR-J3-70T or less.
For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.2 for the power supply
specification.
1 - 31
1. FUNCTIONS AND CONFIGURATION
(b) For 1-phase 100V to 120VAC
CN5
P C
CN2
CN4
U V
W
CN3
CN10
CN20
CN30
CN6L1
L2
No-fuse breaker (NFB) or fuse
Magnetic contactor (MC)
Power factor improving reactor (FR-BAL)
Line noise filter (FR-BSF01)
Servo amplifier
Regenerative option (Note 1)
Battery MR-J3BAT
Servo motor
I/O signal
I/O signal
Personal computer
External digital display
Analog output signal
R S (Note 3) Power supply
(Note 2)
MR Configurator
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The power factor improving DC reactor cannot be used.
3. Refer to section 1.2 for the power supply specification.
1 - 32
1. FUNCTIONS AND CONFIGURATION
(2) MR-J3-60T4 MR-J3-100T4
Servo amplifier
Line noise filter (FR-BSF01)
Magnetic contactor (MC)
No-fuse breaker (NFB) or fuse
R S T
Servo motor
(Note 1) Battery MR-J3BAT
P C
L21
L11
WVU
P1
P2
L1
L2
L3
I/O signal CN10
CN20
External digital display
CN30
CN6 I/O signal
CN2
CN4
CN5
CN3
(Note 3) Power supply
Analog output signal
(Note 2) Power factor improving DC reactor (FR-BEL-(H))
Regenerative option
Personal computer
(Note 2)
MR Configurator
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2.
3. Refer to section 1.2 for the power supply specification.
1 - 33
1. FUNCTIONS AND CONFIGURATION
(3) MR-J3-200T(4)
Line noise filter (FR-BSF01)
(Note 3) Power supply
R S T
Magnetic contactor (MC)
No-fuse breaker (NFB) or fuse
(Note 2) Power factor improving DC reactor (FR-BEL/FR-BEL-H)
Servo amplifier
(Note 2)
L2
L1
L3
P1
P2
L21
L11
U V W
C Regenerative option
(Note 4)
P
CN2
CN4
MR Configurator
Personal computer
(Note 1) Battery MR-J3BAT
Servo motor
MR-J3-D01
I/O signal CN10
CN5
CN3
Analog output signal
CN20
External digital display CN30
CN6 I/O signal
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2.
3. Refer to section 1.2 for the power supply specification.
4. Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January 2008
production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. For MR-J3-200T-RT, refer to appendix 4.
1 - 34
1. FUNCTIONS AND CONFIGURATION
(4) MR-J3-350T
Line noise filter (FR-BLF)
Regenerative option
(Note 3) Power supply
R S T
CN2
CN4
L2
L1
L3
P1
P2
L21
L11
U V W
MR-J3-D01
CN10
CN5
CN3
CN20
CN30
CN6
P C
No-fuse breaker (NFB) or fuse
Magnetic contactor (MC)
(Note 2)
Power factor improving DC reactor (FR-BEL)
(Note 2)
Servo amplifier
Personal computer
(Note 1) Battery MR-J3BAT
Servo motor
I/O signal
External digital display
Analog output signal
I/O signal
MR Configurator
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2.
3. Refer to section 1.2 for the power supply specification.
1 - 35
1. FUNCTIONS AND CONFIGURATION
(5) MR-J3-350T4 MR-J3-500T(4)
R S T
L21
P1
P2
CN2
CN4
L11
U V W
CP
L1
L2
L3
CN10
CN20
CN30
CN6
CN5
CN3
MR-J3-D01
Regenerative option
Power factor improving DC reactor (FR-BEL-(H))
(Note 2)
I/O signal
I/O signal (Note 1) Battery MR-J3BAT
Line noise filter (FR-BLF)
Magnetic contactor (MC)
No-fuse breaker (NFB) or fuse
Servo amplifier
Personal computer
(Note 2)
Analog output signal
External digital display
Servo motor
(Note 3) Power supply
MR Configurator
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2.
3. Refer to section 1.2 for the power supply specification.
1 - 36
1. FUNCTIONS AND CONFIGURATION
(6) MR-J3-700T(4)
R S T
L21
P2
P1
CN2
CN4
MR Configurator
L11
U V WCP
L1
L2
L3
CN10
CN20
CN30
CN6
CN5
CN3
Servo motor
Regenerative option
Power factor improving DC reactor (FR-BEL-(H))
(Note 2)
(Note 1) Battery MR-J3BAT
Line noise filter (FR-BLF)
Magnetic contactor (MC)
(Note 2)
No-fuse breaker (NFB) or fuse Servo amplifier
I/O signal
I/O signal
Analog output signal
External digital display
Personal computer
(Note 3) Power supply
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2.
3. Refer to section 1.2 for the power supply specification.
1 - 37
1. FUNCTIONS AND CONFIGURATION
(7) MR-J3-11KT(4) to MR-J3-22KT(4)
R S T
Analog output signal
External digital display
L21
L11
UVW
CP
L1
L2
L3
CN4
CN2
P1
P
Power factor improving DC reactor (FR-BEL-(H))
(Note 2)
CN10
CN20
CN30
CN6
CN5
CN3
(Note 1) Battery MR-J3BAT
Line noise filter (FR-BLF)
(Note 2)
I/O signal
I/O signal
Personal computer
Servo amplifier
No-fuse breaker (NFB) or fuse
Magnetic contactor (MC)
Servo motor
Regenerative option
(Note 3) Power supply
MR Configurator
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P.
3. Refer to section 1.2 for the power supply specification.
1 - 38
1. FUNCTIONS AND CONFIGURATION
MEMO
2 - 1
2. INSTALLATION
2. INSTALLATION
CAUTION
Stacking in excess of the limited number of products is not allowed.
Install the equipment to incombustibles. Installing them directly or close to
combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For the
environmental conditions, refer to section 1.2.)
Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering the servo amplifier.
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur.
Do not subject the servo amplifier to drop impact or shock loads as they are
precision equipment.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, consult
Mitsubishi.
2.1 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, a fault may occur.
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.
(1) 7kW or less
(a) Installation of one servo amplifier
Control box
40mm or more
Servo amplifier Wiring allowance
Control box
80mm or more Top
Bottom
40mm or more
10mm or more
10mm or more
2 - 2
2. INSTALLATION
(b) Installation of two or more servo amplifiers
POINT
Close mounting is available for the servo amplifier of under 3.5kW for 200V class and 400W for 100V class.
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
When installing the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo
amplifiers in consideration of mounting tolerances.
In this case, bring the ambient temperature within 0 to 45 (32 to 113 ), or use it at 75% or a smaller
effective load ratio.
Leaving clearance
30mm or more
10mm or more
100mm or more
Control box
30mm or more
100mm or more
Control box
1mm 1mm
40mm or more
30mm or more
40mm or more
Mounting closely
(2) 11k to 22kW
(a) Installation of one servo amplifier
Control box
40mm or more Servo amplifier
10mm or more
10mm or more
120mm or more
Control box
Wiring allowance
80mm Top
Bottom
2 - 3
2. INSTALLATION
(b) Installation of two or more servo amplifiers
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
100mm or more
10mm or more
30m or more
120mm or more
30mm or more
Control box
(3) Others
When using heat generating equipment such as the regenerative option, install them with full consideration
of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.2 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo
amplifier. (2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box
or a cooling fan installed on the ceiling. (3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air
purge (force clean air into the control box from outside to make the internal pressure higher than the
external pressure) to prevent such materials from entering the control box. 2.3 Cable stress
(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with
having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles. (4) For installation on a machine where the servo motor will move, the flexing radius should be made as large
as possible. Refer to section 12.4 for the flexing life.
2 - 4
2. INSTALLATION
2.4 Inspection items
WARNING
Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement,
contact your safes representative.
POINT
Do not test the servo amplifier with a megger (measure insulation resistance), or it may become faulty.
Do not disassemble and/or repair the equipment on customer side.
It is recommended to make the following checks periodically.
(1) Check for loose terminal block screws. Retighten any loose screws. (2) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating
conditions. 2.5 Parts having service lives
The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed
immediately even when it has not yet reached the end of its life, which depends on the operating method and
environmental conditions. For parts replacement, please contact your sales representative.
Part name Life guideline
Servo amplifier
Smoothing capacitor 10 years
Relay Number of power-on and number of forced stop
times : 100,000 times
Cooling fan 10,000 to 30,000hours (2 to 3 years)
Absolute position battery Refer to section 4.9
(a) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly
depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in
10 years of continuous operation in normal air-conditioned environment.
(b) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their
life when the cumulative number of power-on and forced stop times is 100,000, which depends on the
power supply capacity.
(c) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the
cooling fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.
3 - 1
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
WARNING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with
a voltage tester and others. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier whether the charge lamp is off
or not.
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the forced stop (EMG) and other protective circuits.
24VDC
Control output signal
Control output signal
RA
DOCOM (DOCOMD)
DICOM (DICOMD)
Servo amplifier or MR-J3-D01
Servo amplifier or MR-J3-D01
RA
DOCOM (DOCOMD)
DICOM (DICOMD)
24VDC
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF-(H) option) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.
3 - 2
3. SIGNALS AND WIRING
3.1 Input power supply circuit
CAUTION
Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifiers power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.
Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as alarm
occurrence is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply. (1) For 3-phase 200 to 230VAC power supply to MR-J3-10T to MR-J3-350T
P( )
RA
NFB MC
L1
L2
L3
P1
P2
SK MC
ONOFF
MC
L11
L21
N( )
D
C
U
V
W
CNP1
CNP3
PE
CNP2
U
V
W
2
3
4
1
M
CN2
EMG
ALM RA
DICOM
DOCOM
DOCOM
CN6 CN6
SON
DICOMD
CN10 MR-J3-D01
DOCOMD
Servo-on
Forced stop
Servo amplifier Servo motor
Motor
3-phase 200 to 230VAC
(Note 1)
(Note 2)
(Note 3) Encoder cable
Encoder
24VDC
Trouble (Note 4)
24VDC
(Note 4)
(Note 5)
Forced stop
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 13.11. 2. Always connect P ( ) and D. (Factory-wired.) When using the regenerative option, refer to section 13.2. 3. For encoder cable, use of the option cable is recommended. Refer to section 13.1 for selection of the cable. 4. For the sink I/O interface.
For the source I/O interface, refer to section 3.8.3. 5. Refer to section 3.10.
3 - 3
3. SIGNALS AND WIRING
(2) For 1-phase 200 to 230VAC power supply to MR-J3-10T to MR-J3-70T
RA
NFB MC
L1
L2
L3
P1
P2
P
SK MC
ONOFF
MC
L11
L21
N
D
C
U
V
W
CNP1
CNP3
PE
CNP2
U
V
W
2
3
4
1
M
CN2
EMG
ALM RA
DICOM
DOCOM
DOCOM
CN6 CN6
SON
DICOMD
CN10 MR-J3-D01
DOCOMD
24VDC
24VDC
(Note 3) Encoder cable
Encoder
Trouble (Note 4)
(Note 4)
(Note 1)
(Note 2)
1-phase 200 to 230VAC
Forced stop
Servo motor
Motor (Note 5)
Servo-on
Servo amplifier
Forced stop
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 13.11.
2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 13.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 13.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
3 - 4
3. SIGNALS AND WIRING
(3) MR-J3-10T1 to MR-J3-40T1
RA
NFB MC
L1
L2
P1
P2
P
SK MC
ONOFF
MC
L11
L21
N
D
C
U
V
W
CNP1
CNP3
PE
CNP2
U
V
W
2
3
4
1
M
CN2
EMG
ALM RA
DICOM
DOCOM
DOCOM
CN6 CN6
SON
DICOMD
CN10 MR-J3-D01
DOCOMD
Trouble
Servo-on
(Note 4)
(Note 4)
(Note 3) Encoder cable
Encoder
(Note 1)
(Note 2)
1-phase 100 to 120VAC
Servo amplifier
Blank
Servo motor
Motor
Forced stop
(Note 5)
24VDC
24VDC
Forced stop
Note 1. Always connect P1 and P2. (Factory-wired.) The power factor improving DC reactor cannot be used.
2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 13.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 13.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
3 - 5
3. SIGNALS AND WIRING
(4) MR-J3-60T4 to MR-J3-200T4
DOCOM
EMG
CN6 CN6 DOCOM
DICOM
ALM
Forced stopRA
Servo amplifier
CNP3
CNP1
U
V
W
(Note 5)
CNP2
(Note 1)
(Note 2)
(Note 3) Encoder cable
Encoder
Servo motor
(Note 4) Forced stop
(Note 4)
P
N
NFB MC
RA
PE
U
V
W
2
3
4
1
M
Motor
CN2
24VDC
Trouble
SK MC
ONOFF
MC
(Note 6) Stepdown transformer
L1
L2
L3
P1
P2
L11
L21
D
C
3-phase 380 to 480VAC
SON
DICOMD
CN10 MR-J3-D01
DOCOMD
Servo-on
24VDC
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 13.11.
2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 13.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 131 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
3 - 6
3. SIGNALS AND WIRING
(5) MR-J3-500T MR-J3-700T
(Note 4) Forced stop
(Note 4)
Forced stopRA
NFB MC
L1
L2
L3
3-phase 200 to 230VAC
Servo amplifier
C
SK MC
ONOFF
MC
P
U
V
W
TE1
PE L11
L21
TE2
Servo motor
U
V
W
2
3
4
1
M
Motor
EncoderCN2 (Note 3) Encoder cable
(Note 5)
P1
P2
N TE3
(Note 1)
(Note 2)
Built-in regenerative
resistor
EMG
ALM RA
DICOM
DOCOM
24VDC
Trouble
DOCOM
CN6 CN6
SON
24VDC DICOMD
CN10
MR-J3-D01
DOCOMD
Servo-on
Cooling fan
(Note 6) Power supply of Cooling fan
BU
BV
NFB
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 13.11.
2. When using the regenerative option, refer to section 13.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 13.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 13.10.
6. A cooling fan is attached to the HA-LP601 and the HA-LP701M servo motors. For power supply specification of the cooling fan,
refer to section 3.10.2 (3) (b).
3 - 7
3. SIGNALS AND WIRING
(6) MR-J3-350T4 to MR-J3-700T4
(Note 6) Stepdown transformer
Forced stopRA
NFB MC
L1
L2
L3
3-phase 380 to 480VAC
Servo amplifier
C
SK MC
ONOFF
MC
P
U
V
W
TE1
PE L11
L21
TE2
Servo motor
U
V
W
2
3
4
1
M
Motor
EncoderCN2 (Note 3) Encoder cable
(Note 5)
P1
P2
N TE3
(Note 1)
(Note 2)
Built-in regenerative
resistor
EMG
ALM RA
DICOM
DOCOM
24VDC
Trouble
DOCOM
Forced stop
CN6 CN6
SON
24VDC DICOMD
CN10
MR-J3-D01
DOCOMD
Servo-on
Cooling fan
(Note 7) Power supply of cooling fan
BU
BV
(Note 4)
(Note 4)
NFB
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 13.11.
2. When using the regenerative option, refer to section 13.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 13.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
7. A cooling fan is attached to the HA-LP6014 and the HA-LP701M4 servo motors. For power supply specification of the cooling
fan, refer to section 3.10.2 (3) (b).
3 - 8
3. SIGNALS AND WIRING
(7) MR-J3-11KT to MR-J3-22KT
NFB MC
L1
L2
L3
P
C
U
V
W
TE
PE
L11
L21
U
V
W M
CN2
P1
RA2
OHS2OHS1
MC
SK
MC
ONOFFRA1
EMG
ALM RA1
DICOM
DOCOM
DOCOM
CN6 CN6
SON
DICOMD
CN10 MR-J3-D01
DOCOMD
Servo motor thermal relay
RA2
Forced stop
Regenerative resistor
(Note 1)
(Note 2)
Servo amplifier Dynamic break
(Option)
Servo motor
(Note 5)
(Note3) Encoder cable Encoder
Cooling fan
Servo motor thermal relay
Trouble (note 4)
(note 4)
24VDC
Servo-on
24VDC
24VDC
3-phase 200 to 230VAC
BU
BV
BW
Forced stop
NFB
(Note 6)
Note 1. Always connect P1 and P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 13.11.
2. Connect the regenerative resistor. When using the regenerative option, refer to section 13.2.
3. For the encoder cable, use of the option cable is recommended. Refer to section 13.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
5. Refer to section 3.10.
6. Cooling fan power supply of the HA-LP11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different
from that of the servo amplifier. Therefore, separate power supply is required.
3 - 9
3. SIGNALS AND WIRING
(8) MR-J3-11TK4 to MR-J3-22KT4
(Note 8) Stepdown transformer
BU
BV
BW
NFB MC
L1
L2
L3
P
C
U
V
W
TE
PE
L11
L21
U
V
W M
CN2
P1
EMG
ALM RA1
DICOM
DOCOM
24VDC
Trouble
DOCOM
CN6 CN6
(Note 4)
OHS2OHS1
MC
SK
MC
ONOFF
(Note 5)
(Note 1)
(Note 2)
3-phase 200 to 230VAC
Servo amplifier Dynamic break
(Option)
Servo motor
Cooling fan
Servo motor thermal relay
Servo motor thermal relay
RA2
(Note3) Encoder cable
Encoder
Regenerative resistor
Motor
(Note 4) Forced stop
RA2
24VDC power supply
Trouble RA1
Forced stop
SON
DICOMD
CN10 MR-J3-D01
DOCOMD
Servo-on
24VDC
(Note 7) Power supply of cooling fan
(Note 6)
NFB
Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 13.11. 2. Connect the regenerative resistor. When using the regenerative option, refer to section 13.2. 3. For encoder cable, use of the option cable is recommended. Refer to section 13.1 for selection of the cable. 4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3. 5. Refer to section 3.10. 6. Servo amplifiers does not have BW when the cooling fan power supply is 1-phase. 7. For the power supply of cooling fan, refer to section 3.10.2 (3) (b). 8. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class.
3 - 10
3. SIGNALS AND WIRING
3.2 I/O signal connection diagram
3.2.1 Positioning operation using the point table
SD
LBR
LAR
LA
LB
LZ
LZR
LG
15
12
25
RA1
RA2
RA3
14 RD
ALM
16 ZP
CN6
11
24
13
26
1
2
3
CN6
4
5
17
EMG
DOG
LSP
LSN
DICOM
DOCOM
23 CN5
MR-J3- T
MR-J3-D01
Point table No. selection 1 1
2
3
CN10
4
13
37
DI0
DI1
DI2
DI3
DICOMD
DOCOMD
5
6
7
8
DI4
DI5
DI6
DI7 Servo-on 21
26
27
Reset
External torque limit selection
Internal torque limit selection 28
SON
RES
TL
TL1
29
30
31Override selection
Automatic/manual selection 32
TP0
TP1
OVR
MD0 Temporary stop/Restart 33
34
35
Proportion control
Forward rotation start
Reverse rotation start 36
TSTP
PC
ST1
ST2
23
RA4
RA5
RA6
22 ACD0
ACD1
24 ACD2
CN10
Alarm code
DICOMD14
38
RA7
RA8
RA9
25 ACD3
MCD00
39 MCD01
M code 41
RA10
RA11
RA12
40 MCD02
MCD03
42 MCD10
44
RA13
RA14
RA15
43 MCD11
MCD12
45 MCD13
RA16 Temporary stop46 PUS
48
RA17
RA18
RA19
Rough match
In-position
47 MEND
CPO
49 INP
Movement finish
Analog torque limit 10V/max. torque
Override 10V/0 to 200%
Upper limit setting
12
SD
TLA
13
2
P15R
VC
N12R 15
CN20
Analog monitor Max. 1mA ammeter
10k
10k 4 MO1
11 LG
14 MO2
CN20
SD
Upper limit setting
Point table No. selection 2
Point table No. selection 7 Point table No. selection 6
Point table No. selection 5
Point table No. selection 4
Point table No. selection 3
Point table No. selection 8
Manual pulse generator multiplication 1
Manual pulse generator multiplication 2
Lower limit setting
LG 9
(Note 9)
Ready
Trouble (Note 6)
Home position return completionProximity dog
Forward rotation stroke end Reverse rotation stroke end
(Note 3, 5)
(Note 9)
(Note 5)
Forced stop
(Note 9)
24VDC power supply
(Note 4, 11)
10m or less
(Note 7) MR Configurator
(Note 8)
Personal computer
MR-J3USBCBL3M (Option)
(Note 2)
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Control common
Encoder Z-phase pulse (differential line driver)
Plate
(Note 1)
10m or less
24VDC power supply
(Note 10, 11) (Note 2)
10m or less
Plate Plate
10m or less
2m or less 2m or less
(Note 9)
3 - 11
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the
protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier or the MR-J3-D01 will be faulty and will
not output signals, disabling the forced stop (EMG) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24VDC 10% 150mA current for interfaces of the servo amplifier from the outside. 150mA is the value applicable when
all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1)
that gives the current value necessary for the interface.
5. When starting operation, always turn on forced stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
6. Trouble (ALM) turns on in normal alarm-free condition.
7. Use MRZJW3-SETUP 211E.
8. Personal computers or parameter modules can also be connected via the CN3 connector, enabling RS-422 communication.
Note that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3
connector) from being used, and vice versa. They cannot be used together.
MR-PRU03 parameter module
CN3
EIA568-compliant cable (10BASE-T cable, etc.)
RS-232C/RS-422 conversion cable Recommended product: Interface cable DSV-CABV (Diatrend)
Personal computer
Servo amplifier
or
To RS-232C connector
9. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
10. Supply 24VDC 10% 800mA current for interfaces of the servo amplifier from the outside. 800mA is the value applicable when all
I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1)
that gives the current value necessary for the interface.
11. The 24VDC for I/O signal can be supplied to the servo amplifier and MR-J3-D01 with one 24VDC power supply. In this case,
use the power supply capacity corresponding to the points of the I/O signal to be used.
3 - 12
3. SIGNALS AND WIRING
3.2.2 BCD input positioning operation with the digital switch
SD
LBR
LAR
LA
LB
LZ
LZR
LG
15
12
25
RA1
RA2
RA3
14 RD
ALM
16 ZP
CN6
11
24
13
26
1
2
3
CN6
4
5
17
EMG
DOG
LSP
LSN
DICOM
DOCOM
23CN5
MR-J3- T
MR-J3-D01 CN20
10k
10k 4 MO1
11 LG
14 MO2
CN20
SD
CN10 DICOM14
RA846 PUS
48
RA9
RA10
RA11
47 MEND
CPO
49 INP
12
SD
TLA
13
2
P15R
VC
N12R 15
LG 9
(Note 4, 11)
24VDC power supply
(Note 9) Forward rotation stroke end Reverse rotation stroke end
(Note 5)
Proximity dog (Note 3, 5) Forced stop
(Note 8)
Personal computer
(Note 7) MR Configurator
MR-J3USBCBL3M (Option)
10m or less
Override 10V/0 to 200%
Analog torque limit 10V/max. torque
Upper limit setting
(Note 9)
Ready
Trouble (Note 6)
Home position return completion
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Control common
Encoder Z-phase pulse (differential line driver)
Temporary stop
Rough match
In-position
Movement finish (Note 9)
10m or less
Plate
(Note 1)
10m or less
(Note 2)
Plate 2m or less
Analog monitor Max. 1mA ammeter
Plate 2m or less
Upper limit setting
(Note 2)
Lower limit setting
3 - 13
3. SIGNALS AND WIRING
MR-J3-D01
CN10 13
37
DICOMD
DOCOMD
21
26
27
28
SON
RES
TL
TL1
29
30
31
32
TP0
TP1
OVR
MD0
33
34
35
36
TSTP
PC
ST1
ST2
18SP0
19SP1
20SP2
1
2
3
4
POS00
POS01
POS02
POS03
5
6
7
8
POS10
POS11
POS12
POS13
44
45
PRQ1
PRQ2
9
10 POS20
POS21
11
12
15
16
POS22
POS23
POSP
POSN
6A
6B
7A
7B
4A
4B
5A
5B
9A
9B
2A
2B
3A
3B
1A
1B
CON1
SD
6A
6B
7A
7B
4A
4B
5A
5B
9A
9B
2A
2B
3A
3B
1A
1B
CON2
MR-DS60
6A
6B
7A
7B
4A
4B
5A
5B
9A
9B
2A
2B
3A
3B
1A
1B
CON1
6A
6B
7A
7B
4A
4B
5A
5B
9A
9B
2A
2B
3A
3B
1A
1B
CON2
MR-DS60
Digital switch changing switch
Speed selection 1
Up to 10 digital switches can be mounted.
D C
M 1
D C
M 2
C O
M 2
C O
M 1
D C
M 1
D C
M 2
C O
M 2
C O
M 1
CN10 DICOMD14
RA422 ACD0
24
RA5
RA6
RA7
23
25
ACD1
ACD2
ACD3
Speed selection 2 Speed selection 3
(Note 9)
Plate
MR-DSCBL MR-DSCBL M-G
(Note 10, 11) 24VDC power supply
Servo-on Reset
External torque limit selection
Internal torque limit selection
Override selection Automatic/manual selection
Temporary stop/Restart
Proportion control
Forward rotation start
Reverse rotation start
Manual pulse generator multiplication 1
Manual pulse generator multiplication 2
10m or less
Alarm code
(Note 2)
20m or less
Do not connect when using multiple digital switches.
3 - 14
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the
protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier or the MR-J3-D01 will be faulty and will
not output signals, disabling the forced stop (EMG) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24VDC 10% 150mA current for interfaces of the servo amplifier from the outside. 150mA is the value applicable when
all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1)
that gives the current value necessary for the interface.
5. When starting operation, always turn on forced stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
6. Trouble (ALM) turns on in normal alarm-free condition.
7. Use MRZJW3-SETUP 211E.
8. Personal computers or parameter modules can also be connected via the CN3 connector, enabling RS-422 communication.
Note that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3
connector) from being used, and vice versa. They cannot be used together.
MR-PRU03 parameter module
CN3
EIA568-compliant cable (10BASE-T cable, etc.)
RS-232C/RS-422 conversion cable Recommended product: Interface cable DSV-CABV (Diatrend)
Personal computer
Servo amplifier
or
To RS-232C connector
9. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
10. Supply 24VDC 10% 800mA current for interfaces of the servo amplifier from the outside. 800mA is the value applicable when all
I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1)
that gives the current value necessary for the interface.
11. The 24VDC for I/O signal can be supplied to the servo amplifier and MR-J3-D01 with one 24VDC power supply. In this case,
use the power supply capacity corresponding to the points of the I/O signal to be used.
3 - 15
3. SIGNALS AND WIRING
3.2.3 BCD input positioning operation with the programmable controller
Override 10V/0 to 200%
SD
LBR
LAR
LA
LB
LZ
LZR
LG
15
12
25
RA1
RA2
RA3
14 RD
ALM
16 ZP
CN6
11
24
13
26
1
2
3
CN6
4
5
17
EMG
DOG
LSP
LSN
DICOM
DOCOM
23CN5
MR-J3-D01 CN20
10k
10k 4 MO1
11 LG
14 MO2
CN20
SDPlate
CN10 DICOM14
44 RA6
RA7
PRQ1
45 PRQ2
RA846 PUS
48
RA9
RA10
RA11
47 MEN
CPO
49 INP
Position data request 1
12
SD
TLA
13
2
P15R
VC
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Control common
Encoder Z-phase pulse (differential line driver)
(Note 9)
Ready
Trouble (Note 6)
Home position return completion
(Note 1)
Plate
Position data request 2
MR-J3- T
Plate
(Note 4, 11)
24VDC power supply
Forward rotation stroke end Reverse rotation stroke end
(Note 5)
Proximity dog (Note 3, 5) Forced stop
(Note 9)
(Note 8)
(Note 7) MR Configurator
Personal computer
MR-J3USBCBL3M (Option)
10m or less
Analog torque limit 10V/max. torque
Upper limit setting
Temporary stop
Rough match
In-position
Movement finish
(Note 9)
10m or less
Analog monitor Max. 1mA ammeter
Upper limit setting
2m or less
2m or less
10m or less
(Note 2)
(Note 2)
N12R 15 Lower limit setting
LG 9
3 - 16
3. SIGNALS AND WIRING
MR-J3-D01
CN10
44
45
1
2
3
4
5
6
7
8
9
10
PRQ1
PRQ2
POS00
POS01
POS02
POS03
POS10
11
12
15
16
17
DICOMD 13 DOCOMD 37
SON 21
RES 26
TL 27
TL1 28
TP0 29
TP1 30
OVR 31
MD0 32
TSTP 33
PC 34
ST1 35
ST2 36
SP0 18
SP1 19
SP2 20
POS11
POS12
POS13
POS20
POS21
POS22
POS23
POSP
POSN
STRB
X00
X01
X02
X0F
COM
Y01
Y02
Y03
Y04
Y05
Y06
Y07
Y08
Y09
Y0A
Y0B
Y0C
Y0D
Y0E
Y0F 12/24VDC
COM
Y00
24
24G
FG
Q62P input unit
QY40P output unit
QX40 input unit CN10
DICOMD14
RA422 ACD0
24
RA5
RA6
RA7
23
25
ACD1
ACD2
ACD3
Servo-on Reset
External torque limit selection
Internal torque limit selection
Override selection
Automatic/manual selection
Temporary stop/Restart Proportion control
Forward rotation start
Reverse rotation start
Manual pulse generator multiplication 1
Manual pulse generator multiplication 2
Speed selection 1 Speed selection 2
Speed selection 3
Alarm code
(Note 9)
(Note 2)
3 - 17
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the
protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier or the MR-J3-D01 will be faulty and will
not output signals, disabling the forced stop (EMG) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24VDC 10% 150mA current for interfaces of the servo amplifier from the outside. 150mA is the value applicable when
all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1)
that gives the current value necessary for the interface.
5. When starting operation, always turn on forced stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
6. Trouble (ALM) turns on in normal alarm-free condition.
7. Use MRZJW3-SETUP 211E.
8. Personal computers or parameter modules can also be connected via the CN3 connector, enabling RS-422 communication.
Note that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3
connector) from being used, and vice versa. They cannot be used together.
MR-PRU03 parameter module
CN3
EIA568-compliant cable (10BASE-T cable, etc.)
RS-232C/RS-422 conversion cable Recommended product: Interface cable DSV-CABV (Diatrend)
Personal computer
Servo amplifier
or
To RS-232C connector
9. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
3 - 18
3. SIGNALS AND WIRING
3.3 Explanation of power supply system
3.3.1 Signal explanations
POINT
For the layout of connector and terminal block, refer to outline drawings in chapter 11.
Abbreviation Connection Target
(Application) Description
L1 L2 L3
Main circuit power supply
Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2, and keep L3 open.
Servo amplifier
Power supply
MR-J3- 10T to
70T
MR-J3- 100T to 22KT
MR-J3- 10T1 to 40T1
3-phase 200V to 230VAC, 50/60Hz L1 L2 L3 1-phase 200V to 230VAC, 50/60Hz L1 L2 1-phase 100V to 120VAC, 50/60Hz L1 L2
Servo amplifier
Power supply
MR-J3- 60T4 to 22KT4
3-phase 380V to 480VAC, 50/60Hz L1 L2 L3
P1 P2
Power factor improving DC reactor
1) MR-J3-700T(4) or less When not using the power factor improving DC reactor, connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, disconnect P1 and P2, and connect the power factor improving DC reactor to P1 and P2.
2) MR-J3-11KT(4) to 22KT(4) MR-J3-11KT(4) to 22KT(4) do not have P2. When not using the power factor improving reactor, connect P1 and P. (Factory-wired) When using the power factor improving reactor, connect it to P1 and P. Refer to section 13.11.
P C D
Regenerative option
1) MR-J3-350T or less MR-J3-200T4 or less When using servo amplifier built-in regenerative resistor, connect P( ) and D. (Factory-wired) When using regenerative option, disconnect P( ) and D, and connect regenerative option to P and C.
2) MR-J3-350T4 500T(4) 700T(4) MR-J3-350T4 500T(4) and 700T(4) do not have D. When using servo amplifier built-in regenerative resistor, connect P and C. (Factory-wired) When using regenerative option, disconnect P and C, and connect regenerative option to P and C.
3) MR-J3-11KT(4) to 22KT(4) MR-J3-11KT(4) to 22KT(4) do not have D. When not using the power regenerative converter and the brake unit, make sure to connect the regenerative option to P and C. Refer to section 13.2 to 13.5.
L11 L21
Control circuit power supply
Supply the following power to L11 L21.
Servo amplifier
Power supply
MR-J3- 10T to 22KT
MR-J3- 10T1 to
40T1
MR-J3- 60T4 to 22KT4
1-phase 200V to 230VAC, 50/60Hz L11 L21 1-phase 100V to 120VAC, 50/60Hz L11 L21 1-phase 380V to 480VAC, 50/60Hz L11 L21
U V W
Servo motor power Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.
N Regenerative converter Brake unit
When using the power regenerative converter/brake unit, connect it to P and N. Do not connect to servo amplifier MR-J3-350T(4) or less. For details, refer to section 13.3 to 13.5.
Protective earth (PE)
Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control box to perform grounding.
3 - 19
3. SIGNALS AND WIRING
3.3.2 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the
main circuit power supply (three-phase: L1, L2, L3, single-phase: L1, L2). Configure up an external
sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply
or before switching on the main circuit power supply. If the main circuit power supply is not on, the
display shows the corresponding warning. However, by switching on the main circuit power supply,
the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on (SON) about 1 to 2s after the main circuit power supply
is switched on. Therefore, when servo-on (SON) is switched on simultaneously with the main circuit
power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on in
further about 5ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this
section.)
4) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft coasts. (2) Timing chart
95ms
95ms OFF
ON
OFF
ON
ON
OFF
OFF
ON
OFF
ON
10ms5ms
10ms
10ms5ms
10ms
5ms 10ms
(2 to 2.5s)
Servo-on (SON) accepted
Main circuit Control circuit Power supply
Base circuit
Servo-on (SON)
Reset (RES)
Ready (RD)
Power-on timing chart
3 - 20
3. SIGNALS AND WIRING
(3) Forced stop
CAUTION Provide an external forced stop circuit to ensure that operation can be stopped and power switched off immediately.
Make up a circuit that shuts off main circuit power as soon as EMG is turned off at a forced stop. When
EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the
display shows the servo forced stop warning (AE6).
During ordinary operation, do not use the external forced stop (EMG) to alternate stop and run.
The servo amplifier life may be shortened.
Also, if the forward rotation start (ST1) and reverse rotation start (ST2) are on or a pulse train is input during
a forced stop, the servo motor will rotate as soon as the warning is reset. During a forced stop, always shut
off the run command.
DICOM
DOCOM
EMG
24VDC
Servo amplifier
Forced stop
(Note)
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
3 - 21
3. SIGNALS AND WIRING
3.3.3 CNP1, CNP2, CNP3 wiring method
POINT
Refer to table 13.1 in section 13.9 for the wire sizes used for wiring.
MR-J3-500T or more and MR-J3-350T4 or more does not have these connectors.
Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3.
(1) MR-J3-10T to MR-J3-100T
(a) Servo amplifier power supply connectors
CNP2
CNP1
CNP3
Connector for CNP1 54928-0670 (Molex)
Connector for CNP2 54928-0520 (Molex)
Connector for CNP3 54928-0370 (Molex)
(Note) Servo amplifier power supply connectors
Servo amplifier
Note. These connectors are of insert type. As the crimping type, the following connectors (Molex) are recommended. For CNP1: 51241-0600 (connector), 56125-0128 (terminal) For CNP2: 51240-0500 (connector), 56125-0128 (terminal) For CNP3: 51241-0300 (connector), 56125-0128 (terminal) Crimping tool: CNP57349-5300
Cable finish OD: to 3.8mm
(b) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.
8 to 9mm
Sheath Core
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a
short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it
may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together.
Cable size Bar terminal type Crimping tool (Note2)
[mm 2 ] AWG For 1 cable (Note1) For 2 cable
1.25/1.5 16 AI1.5-10BK AI-TWIN2 1.5-10BK Variocrimp 4 206-204
2/2.5 14 AI2.5-10BU
Note1. Manufacturer: Phoenix Contact
2. Manufacturer: WAGO
3 - 22
3. SIGNALS AND WIRING
(2) MR-J3-200T MR-J3-60T4 to MR-J3-200T4
(a) Servo amplifier power supply connectors
Connector for CNP3 721-203/026-000(Plug)
(WAGO)
Servo amplifier power supply connectors
CNP2
CNP1
CNP3
Connector for CNP1 721-207/026-000(Plug)
(WAGO)
Connector for CNP2 721-205/026-000(Plug)
(WAGO)
Servo amplifier (Note)
Note. Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January
2008 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. For MR-J3-200T-RT, refer to
appendix 4.
(b) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.
8 to 9mm
Sheath Core
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a
short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it
may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together.
Cable size Bar terminal type Crimping tool (Note 2)
[mm 2 ] AWG For 1 cable (Note 1) For 2 cable
1.25/1.5 16 AI1.5-10BK AI-TWIN2 1.5-10BK Variocrimp 4 206-204
2/2.5 14 AI2.5-10BU
Note 1. Manufacturer: Phoenix Contact
2. Manufacturer: WAGO
3 - 23
3. SIGNALS AND WIRING
(3) MR-J3-350T
(a) Servo amplifier power supply connectors
Servo amplifier power supply connectors
CNP3
CNP1
CNP2
Connector for CNP2 54928-0520 (Molex)
Connector for CNP3 PC4/3-STF-7.62-CRWH
(Phoenix Contact)
Connector for CNP1 PC4/6-STF-7.62-CRWH
(Phoenix Contact)
Servo amplifier
(b) Termination of the cables
1) CNP1 CNP3
Solid wire: After the sheath has been stripped, the cable can be used as it is.
7mm
Sheath Core
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not
solder the core as it may cause a contact fault. Alternatively, a bar terminal may be
used to put the wires together.
Cable size Bar terminal type Crimping tool Manufacturer
[mm 2 ] AWG For 1 cable For 2 cables
1.25/1.5 16 AI1.5-8BK AI-TWIN2 1.5-8BK
2.0/2.5 14 AI2.5-8BU AI-TWIN2 2.5-10BU CRIMPFOX-ZA3 Phoenix Contact
3.5 12 AI4-10Y
2) CNP2
CNP2 is the same as MR-J3-100T or smaller capacities. Refer to (1) (b) in this section.
3 - 24
3. SIGNALS AND WIRING
(4) Insertion of cable into Molex and WAGO connectors
Insertion of cable into 54928-0670, 54928-0520, 54928-0370 (Molex) connectors and 721-207/026-000,
721-205/026-000 and 721-203/026-000 (WAGO) connectors are as follows.
The following explains for Molex, however use the same procedures for inserting WAGO connectors as
well.
POINT
It may be difficult for a cable to be inserted to the connector depending on
wire size or bar terminal configuration. In this case, change the wire type or
correct it in order to prevent the end of bar terminal from widening, and then insert it.
How to connect a cable to the servo amplifier power supply connector is shown below.
(a) When using the supplied cable connection lever
1) The servo amplifier is packed with the cable connection lever.
a) 54932-0000 (Molex) [Unit: mm]
3 .4
M X J 5 4 9 3 2
20.6
10
4 .9
6. 5A p
p ro
x. 3
4 .77
.7
A pp
ro x.
7 .7
3.4
Approx.4.9
b) 231-131 (WAGO) [Unit: mm]
20.3
10
16
7 .6
3
6. 5
3 .4
4 .9
17.51.5
1.3
3 - 25
3. SIGNALS AND WIRING
2) Cable connection procedure
1) Attach the cable connection lever to the housing. (Detachable)
2) Push the cable connection lever in the direction of arrow.
3) Hold down the cable connection lever and insert the cable in the direction of arrow.
4) Release the cable connection lever.
Cable connection lever
3 - 26
3. SIGNALS AND WIRING
(b) Inserting the cable into the connector
1) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work.
[Unit: mm]
3
0. 6
Approx.R0.3 Approx.22
Approx.R0.3 3
to 3
.5
2) When using the flat-blade screwdriver - part 1
1) Insert the screwdriver into the square hole. Insert it along the top of the square hole to insert it smoothly.
2) If inserted properly, the screwdriver is held.
3) With the screwdriver held, insert the cable in the direction of arrow. (Insert the cable as far as it will go.)
4) Releasing the screwdriver connects the cable.
3 - 27
3. SIGNALS AND WIRING
3) When using the flat-blade screwdriver - part 2
1) Insert the screwdriver into the square window at top of the connector.
2) Push the screwdriver in the direction of arrow.
3) With the screwdriver pushed, insert the cable in the direction of arrow. (Insert the cable as far as it will go.)
4) Releasing the screwdriver connects the cable.
3 - 28
3. SIGNALS AND WIRING
(5) How to insert the cable into Phoenix Contact connector
POINT
Do not use a precision driver because the cable cannot be tightened with enough torque.
Insertion of cables into Phoenix Contact connector PC4/6-STF-7.62-CRWH or PC4/3-STF-7.62-CRWH is
shown as follows.
Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. Insert the
core of the cable into the opening and tighten the screw with a flat-blade screwdriver. When the cable is not
tightened enough to the connector, the cable or connector may generate heat because of the poor contact.
(When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.)
Secure the connector to the servo amplifier by tightening the connector screw.
For securing the cable and the connector, use a flat-blade driver with 0.6mm blade edge thickness and
3.5mm diameter (Recommended flat-blade screwdriver. Phoenix Contact SZS 0.6 3.5). Apply 0.5 to 0.6
N m torque to screw.
[Unit: mm]
Flat-blade screwdriver
To loosen To tighten Wire
Opening
To loosen To tighten
Flat-blade screwdriver
Connector screw
Servo amplifier power supply connector
3 .5
0. 6 180
100
(3 5)
Recommended flat-blade screwdriver dimensions
3 - 29
3. SIGNALS AND WIRING
3.4 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable connector wiring section.
Refer to (3) in this section for CN10 signal assignment.
Refer to section 3.5 for details of each signal (device). (1) Signal arrangement
The servo amplifier front view shown is that of the MR-J3-10T and the MR-J3-D01. Refer to chapter 11
Outline Drawings for the appearances and connector layouts of the other servo amplifiers.
2
4
6
8
10
12
14
16
18
20
22
24
1
3
5
7
9
11
13
15
17
19
21
23
27
29
31
33
35
37
39
41
43
45
47
49
26
28
30
32
34
36
38
40
42
44
46
48
25 50
CN10
CN6
1 14
2 15 RD
DICOM
DOG ALM 3 16
LSP
LSN
ZP DOCOM
4 17
5
6
8
10
12
7
9
11
13
19
21
23
25
18
20
22
24
26 LB
LA
LZ
LG
LBR
LAR
LZR
EMG
PP NP
OPC
CN20
1 11
2 12
LG
VC 3 13
4 14
5
6
8
10
7
9
16
18
20
15
17
19
TLA
LG
P15R
N12R
MO1 MO2
LG
CN30 external digital display
CN3 MR-PRU03 parameter unit
For the signal arrangements, refer to this section (3).
CN5 (USB connector) Personal computer
The 3M make connector is shown. When using any other connector, refer to section 13.1.2.
4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
BAT
CN2
MDR
MD
3 - 30
3. SIGNALS AND WIRING
(2) Signal arrangement of CN6 connector
The symbols in the Device change column in the table represent the followings.
: The device can be changed by the parameters in parentheses.
: The device cannot be changed.
: For manufacturer setting. Do not connect anything to it.
Pin No. Device assigned in the initial status (Symbol)
I/O division Device change When using the point table When using the BCD input
1 Forced stop (EMG) DI-1
2 Proximity dog (DOG) DI-1 (PD06)
3 Forward rotation stroke end (LSP) DI-1 (PD07)
4 Reverse rotation stroke end (LSN) DI-1 (PD08)
5 Digital I/F power supply input (DICOM)
6 Manual pulse generator (PP)
7
8
9
10
11 Encoder A-phase pulse (LA) DO-2
12 Encoder B-phase pulse (LB) DO-2
13 Encoder Z-phase pulse (LZ) DO-2
14 Ready (RD) DO-1 (PD09)
15 Trouble (ALM) DO-1 (PD10)
16 Home position return completion (ZP) DO-1 (PD11)
17 Digital I/F common (DOCOM)
18 Manual pulse generator open collector power input (OPC)
19 Manual pulse generator input (NP)
20
21
22
23 Control common (LG)
24 Encoder A-phase pulse (LAR) DO-2
25 Encoder B-phase pulse (LBR) DO-2
26 Encoder Z-phase pulse (LZR) DO-2
Plate Shield (SD)
3 - 31
3. SIGNALS AND WIRING
(3) Signal arrangement of CN10 connector
The symbols in the Device change column in the table represent the followings.
: The device can be changed by the parameters in parentheses.
: The device cannot be changed.
Pin No. Device assigned in the initial status (Symbol)
I/O division Device change When using the point table When using the BCD input
1 Point table No.1 (DI0) Position data input 1 (POS00) (Note 3) DI-1
2 Point table No.2 (DI1) Position data input 2 (POS01) (Note 3) DI-1
3 Point table No.3 (DI2) Position data input 3 (POS02) (Note 3) DI-1
4 Point table No.4 (DI3) Position data input 4 (POS03) (Note 3) DI-1
5 Point table No.5 (DI4) Position data input 5 (POS10) (Note 3) DI-1
6 Point table No.6 (DI5) Position data input 6 (POS11) (Note 3) DI-1
7 Point table No.7 (DI6) Position data input 7 (POS12) (Note 3) DI-1
8 Point table No.8 (DI7) Position data input 8 (POS13) (Note 3) DI-1
9 Position data input 9 (POS20) (Note 3) DI-1
10 Position data input 10 (POS21) (Note 3) DI-1
11 Position data input 11 (POS22) (Note 3) DI-1
12 Position data input 12 (POS23) (Note 3) DI-1
13 Digital I/F power supply input (DICOMD)
14 Digital I/F power supply input (DICOMD)
15 Position data input symbol (POSP) DI-1
16 Position data input symbol (POSN) DI-1
17 Strobe (STRB) DI-1
18 Speed selection 1 (SP0) (Note 3) DI-1
19 Speed selection 2 (SP1) (Note 3) DI-1
20 Speed selection 3 (SP2) (Note 3) DI-1
21 Servo-on (SON) DI-1 (Po02)
22 Alarm code output 1 (ACD0) DO-1
23 Alarm code output 2 (ACD1) DO-1
24 Alarm code output 3 (ACD2) DO-1
25 Alarm code output 4 (ACD3) DO-1
26 Reset (RES) DI-1 (Po02)
27 External torque limit selection (TL) DI-1 (Po03)
28 Internal torque limit selection (TL1) DI-1 (Po03)
29 Manual pulse generator multiplication 1 (TP0) DI-1 (Po04)
30 Manual pulse generator multiplication 2 (TP1) DI-1 (Po04)
31 Override selection (OVR) DI-1 (Po05)
32 Automatic/manual selection (MD0) DI-1 (Po05)
33 Temporary stop/Restart (TSTP) DI-1 (Po06)
34 Proportion control (PC) DI-1 (Po06)
35 Forward rotation start (ST1) DI-1 (Po07)
36 Reverse rotation start (ST2) DI-1 (Po07)
37 Digital I/F common (DOCOMD)
38 M code 1 (MCD00) DO-1
39 M code 2 (MCD01) DO-1
40 M code 3 (MCD02) DO-1
41 M code 4 (MCD03) DO-1
42 M code 5 (MCD10) DO-1
43 M code 6 (MCD11) DO-1
44 M code 7 (MCD12) Position data request 1 (PRQ1) DO-1
45 M code 8 (MCD13) Position data request 2 (PRQ2) DO-1
46 Temporary stop (PUS) DO-1 (Po08)
47 Movement finish (MEND) DO-1 (Po08)
48 Rough match (CPO) DO-1 (Po09)
3 - 32
3. SIGNALS AND WIRING
Pin No. Device assigned in the initial status (Symbol)
I/O division Device change When using the point table When using the BCD input
49 In position (INP) DO-1 (Po09)
50 Shield (SD)
Plate Shield (SD)
3.5 Signal (device) explanation
3.5.1 Devices
(1) Input device
The Connector pin No. column indicates the connector pin Nos. assigned at default. The device with can
change the connector pin Nos. assigned by changing the parameter No. PD06 to PD08 and Po02 to Po07.
The devices indicated with cannot be used.
PT in the table indicates when using a point table, and BCD indicates when using a 6-digit BCD input with
symbol.
Device Symbol Connector pin No.
Functions/Applications PT BCD
Forced stop EMG CN6-1
Turn EMG off (open between commons) to bring the motor to a forced stop state,
in which the base circuit is shut off and the dynamic brake is operated. Turn EMG
on (short between commons) in the forced stop state to reset that state.
Proximity dog DOG CN6-2
When DOG is turned OFF, the proximity dog is detected. The polarity of dog
detection can be changed using parameter No. PD16.
Parameter No, PD16 Proximity dog (DOG)
detection polarity
0 (initial value) OFF
1 ON
Forward rotation stroke
end
LSP CN6-3
To start operation, turn LSP/LSN on. Turn it off to bring the motor to a sudden
stop and make it servo-locked.
(Note) Input signals Operation
LSP LSN
CCW
direction
CW
direction
1 1
0 1
1 0
0 0
Note. 0: OFF
1: ON
Reverse rotation stroke
end
LSN CN6-4
The stop method can be changed by parameter No. PD20.
Set parameter No. PD01 as indicated below to switch on the signals (keep
terminals connected) automatically in the servo amplifier.
Parameter No, PD01
Status
LSP LSN
4 Automatic ON
8 Automatic ON
C Automatic ON Automatic ON
When LPS or LSN turns OFF, an external stroke limit warning (A99) occurs, and
Warning (WNG) turns OFF. However, when using WNG, set the parameter No.
PD06 to PD08/Po02 to Po07 to make it usable.
3 - 33
3. SIGNALS AND WIRING
Device Symbol Connector pin No.
Functions/Applications PT BCD
Servo-on SON CN10-21
Turn SON on to power on the base circuit and make the servo amplifier ready to
operate (servo-on).
Turn it off to shut off the base circuit and coast the servo motor.
Set " 4 " in parameter No. PD01 to switch this signal on (keep terminals
connected) automatically in the servo amplifier.
Reset RES CN10-26
Keeping RES ON for 50ms or longer allows an alarm to be deactivated.
Some alarms cannot be deactivated by Reset RES. (Refer to section 10.2.1.)
If RES is turned ON with no alarm occurring, the base circuit will not be shut off.
When " 0 " is set in parameter No. PD20 (function selection D-1), the base
circuit is not shut off.
This device is not designed to make a stop. Do not turn it ON during operation.
External torque limit
selection
TL CN10-27
Turn TL off to make Forward torque limit (parameter No. PA11) and Reverse
torque limit (parameter No. PA12) valid, or turn it on to make Analog torque limit
(TLA) valid. (Refer to section 3.6.3)
Internal torque limit
selection
TL1 CN10-28
Turn TL off to make Forward torque limit (parameter No. PA11) and Reverse
torque limit (parameter No. PA12) valid, or turn it on to make Internal torque limit
(parameter No. PC35) valid. (Refer to section 3.6.3)
Manual pulse generator
multiplication 1
TP0 CN10-29
Used to select the multiplication factor of the manual pulse generator.
When it is not selected, the parameter No. PA05 setting is made valid.
Manual pulse generator
multiplication 2
TP1 CN10-30
(Note) Input device Manual pulse generator
multiplication factor
TP1 TP0
0 0 Parameter No. PA05 setting
0 1 1 time
1 0 10 times
1 1 100 times
Note. 0: OFF
1: ON
Override selection OVR CN10-31
Turn OVR ON to make Override (VC) valid.
Automatic/manual
selection
MD0 CN10-32
Turning MD0 ON selects the automatic operation mode, and turning it OFF
selects the manual operation mode.
Temporary stop/Restart TSTP CN10-33
Turning TSTP ON during automatic operation makes a temporary stop.
Turning TSTP ON again makes a restart.
Forward rotation start (ST1) or Reverse rotation start (ST2) is ignored if it is
turned ON during a temporary stop.
When the automatic operation mode is changed to the manual operation mode
during a temporary stop, the movement remaining distance is erased.
During a home position return or during JOG operation, Temporary stop/Restart
input is ignored.
Proportion control PC CN10-34
When PC is turned ON, the speed amplifier is switched from the proportional
integral type to the proportional type.
If the servo motor at a stop is rotated even one pulse by an external factor, it
develops torque in an attempt to compensate for a position shift. When the shaft
is locked mechanically after Movement finish (MEND) is turned OFF, for example,
turning Proportion control (PC) ON as soon as Movement finish (MEND) turns
OFF allows control of unnecessary torque developed in an attempt to
compensate for a position shift.
When the shaft is to be locked for an extended period of time, turn External
torque limit selection (TL) ON simultaneously with Proportion control (PC) to
make the torque not more than the rated torque using Analog torque limit (TLA).
3 - 34
3. SIGNALS AND WIRING
Device Symbol Connector pin No.
Functions/Applications PT BCD
Forward rotation start ST1 CN10-35 1. In absolute value command system
Turning ST1 ON for automatic operation executes positioning once on the basis
of the position data set to the point table.
Turning ST1 ON for a home position return immediately starts a home position
return.
Keeping ST1 ON for JOG operation performs rotation in the forward rotation
direction.
Forward rotation indicates the address increasing direction.
2. In incremental value command system
Turning ST1 ON for automatic operation executes positioning once in the forward
rotation direction on the basis of the position data set to the point table.
Turning ST1 ON for a home position return immediately starts a home position
return.
Keeping ST1 ON for JOG operation performs rotation in the forward rotation
direction.
Forward rotation indicates the address increasing direction.
Reverse rotation start ST2 CN10-36 Use this device in the incremental value command system.
Turning ST2 ON for automatic operation executes positioning once in the reverse
rotation direction on the basis of the position data set to the point table.
Keeping ST2 ON for JOG operation performs rotation in the reverse rotation
direction.
Reverse rotation indicates the address decreasing direction.
Reverse rotation start (ST2) is also used as the start signal of the high-speed
automatic positioning function to the home position.
Clear CR When the parameter No. PD22 setting is " 1 ", the position control counter
droop pulses is cleared at the leading edge of CR. The pulse width should be
10ms or more.
When the parameter No. PD22 setting is " 2 ", the pulses are always
cleared while CR is on.
Gain changing CDP When CDP is turned ON, the load inertia moment ratio and the corresponding
gain values change to the values of parameter No. PB29 to PB32. To change the
gain using CDP, make the auto tuning invalid.
Point table No.
selection 1
DI0 CN10-1 The point table No. and the home position return are selected by DI0 to DI7.
Point table No. DI1 CN10-2 (Note) Device Selection
selection 2 DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0
Point table No.
selection 3
DI2 CN10-3 0 0 0 0 0 0 0 0
Home position
return mode
0 0 0 0 0 0 0 1 Point table No.1
Point table No. DI3 CN10-4 0 0 0 0 0 0 1 0 Point table No.2
selection 4 0 0 0 0 0 0 1 1 Point table No.3
Point table No. DI4 CN10-5 0 0 0 0 0 1 0 0 Point table No.4
selection 5
Point table No. DI5 CN10-6
selection 6
Point table No. DI6 CN10-7 1 1 1 1 1 1 1 0 Point table No.254
selection 7 1 1 1 1 1 1 1 1 Point table No.255
Point table No.
selection 8
DI7 CN10-8 Note. 0: OFF
1: ON
3 - 35
3. SIGNALS AND WIRING
Device Symbol Connector pin No.
Functions/Applications PT BCD
Position data input 1
(1/4digit bit0)
POS00 CN10-1 The 6-digit (BCD 3 digits 2) position data is input by POS00 to POS03, POS10
to POS13 and POS20 to POS23.
3rd digit 6th digit
bi t3
P O
S 23
bi t2
P O
S 22
bi t1
P O
S 21
bi t0
P O
S 20
bi t3
P O
S 13
bi t2
P O
S 12
bi t1
P O
S 11
bi t0
P O
S 10
bi t3
P O
S 03
bi t2
P O
S 02
bi t1
P O
S 01
bi t0
P O
S 00
2nd digit 5th digit
1st digit 4th digit
Position data input 2
(1/4digit bit1)
POS01 CN10-2
Position data input 3
(1/4digit bit2)
POS02 CN10-3
Position data input 4
(1/4digit bit3)
POS03 CN10-4
Position data input 5
(2/5digit bit0)
POS10 CN10-5
Position data input 6
(2/5digit bit1)
POS11 CN10-6
Position data input 7
(2/5digit bit2)
POS12 CN10-7
Position data input 8
(2/5digit bit3)
POS13 CN10-8
Position data input 9
(3/6digit bit0)
POS20 CN10-9
Position data input 10
(3/6digit bit1)
POS21 CN10-10
Position data input 11
(3/6digit bit2)
POS22 CN10-11
Position data input 12
(3/6digit bit3)
POS23 CN10-12
Position data input
symbol
POSP CN10-15 The plus symbol of the BCD 3 digits 2 is input.
Position data input
symbol
POSN CN10-16 The minus symbol of the BCD 3 digits 2 is input.
Strobe input STRB CN10-17 A strobe signal used for inputting the BCD 3 digits 2 from the programmable
controller.
Speed selection 1 SP0 CN10-18 Used to select a point table and the home position return mode with SP0 to SP3.
The motor speed and acceleration/deceleration time constant values of the
selected point table are the speed commands for the positioning operation with
the BCD 3 digits 2 input.
Speed selection 2 SP1 CN10-19
Speed selection 3 SP2 CN10-20
Speed selection 4 SP3 (Note) Device Selection
SP3 SP2 SP1 SP0
0 0 0 0
Home position
return mode
0 0 0 1 Point table No.1
0 0 1 0 Point table No.2
1 1 1 0 Point table No.14
1 1 1 1 Point table No.15
3 - 36
3. SIGNALS AND WIRING
(2) Output device
The Connector pin No. column indicates the connector pin Nos. assigned at default. The device with can
change the connector pin Nos. assigned by changing the parameter No. PD09 to PD11, Po08 and Po09.
The devices indicated with cannot be used.
PT in the table indicates when using a point table, and BCD indicates when using a 6-digit BCD input with
symbol.
Device Symbol Connector pin No.
Functions/Applications PT BCD
Ready RD CN6-14
RD turns ON when the servo amplifier is ready to operate after servo-on.
Trouble ALM CN6-15
ALM turns off when power is switched off or the protective circuit is activated to
shut off the base circuit. Without alarm occurring, ALM turns on within 1.5s after
power-on.
Home position return
completion
ZP CN6-16
In an absolute position system, ZP turns ON when operation is ready to start, but
turns OFF in any of the following cases.
1) Servo-on (SON) is turned OFF.
2) Forced stop (EMG) is turned OFF.
3) Reset (RES) is turned ON.
4) Alarm occurs.
5) Forward rotation stroke end (LSP) or Reverse rotation stroke end (LSN) is
turned OFF.
6) Home position return has not been made after product purchase.
7) Home position return has not been made after occurrence of Absolute position
erase (A25) or Absolute position counter warning (AE3).
8) Home position return has not been made after electronic gear change.
9) Home position return has not been made after the absolute position system
was changed from invalid to valid.
10) Parameter No. PA13 (Rotation direction selection) has been changed.
11) Software limit is valid.
12) While a home position return is being made.
When any of 1) to 12) has not occurred and a home position return is already
completed at least once, Home position return completion (ZP) turns to the same
output status as Ready (RD).
Temporary stop PUS CN10-46
TSTP turns ON when deceleration is started to make a stop by Temporary
stop/Restart (TSTP). When Temporary stop/Restart (TSTP) is made valid again
to resume operation, TSTP turns OFF.
Movement finish MEND CN10-47
MEND turns ON when In position (INP) turns ON and the command remaining
distance is "0".
MEND turns ON at servo-on.
Rough match CPO CN10-48
CPO turns ON when the command remaining distance becomes less than the
rough match output range set in the parameter.
CPO turns ON at servo-on.
In position INP CN10-49
INP turns ON when the droop pulse value is within the preset in-position range.
The in-position range can be changed using parameter No. PA10.
Increasing the in-position range may result in a continuous conduction status
during low-speed rotation.
INP turns ON at servo-on.
3 - 37
3. SIGNALS AND WIRING
Device Symbol Connector pin No.
Functions/Applications PT BCD
Zero speed ZSP ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero
speed can be changed using parameter No. PC17.
Example
Zero speed is 50r/min
OFF
ON
0r/min
1)
2)
4)
Forward rotation direction
Servo motor speed
Reverse rotation direction
zero speed (ZSP)
ON level 50r/min OFF level 70r/min
ON level 50r/min
OFF level 70r/min
Parameter No. PC17
20r/min (Hysteresis width)
20r/min (Hysteresis width)
Parameter No. PC17
3)
ZSP turns on 1) when the servo motor is decelerated to 50r/min, and ZSP turns
off 2) when the servo motor is accelerated to 70r/min again. ZSP turns on 3)
when the servo motor is decelerated again to 50r/min, and turns off 4) when the
servo motor speed has reached -70r/min. The range from the point when the
servo motor speed has reached ON level, and ZSP turns on, to the point when it
is accelerated again and has reached OFF level is called hysteresis width.
Hysteresis width is 20r/min for this servo amplifier.
Limiting torque TLC TLC turns on when the torque generated reaches the value set to the Forward
torque limit (parameter No. PA11), Reverse torque limit (parameter No. PA12) or
analog torque limit (TLA).
Warning WNG WNG turns ON when a warning occurs.
When no warning has occurred, WNG turns OFF within about 1s after power-on.
Electromagnetic brake
interlock
MBR MBR turns OFF at servo-off or alarm occurrence. At alarm occurrence, it turns
OFF independently of the base circuit status.
Dynamic brake interlock DB DB turns off simultaneously when the dynamic brake is operated. When using
the external dynamic brake on the servo amplifier of 11 kW or more, this device
is required. (Refer to section 13.6.) For the servo amplifier of 7kW or less, it is
not necessary to use this device.
Battery warning BWNG BWNG turns ON when Open battery cable warning (A92) or Battery warning
(A9F) occurs. When no battery warning has occurred, BWNG turns OFF within
about 1s after power-on.
Position range POT POT turns ON when the actual current position falls within the range set in the
parameter. It is OFF when a home position return is not yet completed or while
the base circuit is off.
Variable gain selection CDPS CDPS is on during gain changing.
Command speed
reached
SA SA turns on when servo-on (SON) is on and the commanded speed is at the
target speed.
SA always turns on when servo-on (SON) is on and the commanded speed is
0r/min.
SA turns off when servo-on (SON) is off or the commanded speed is in
acceleration/deceleration.
3 - 38
3. SIGNALS AND WIRING
Device Symbol Connector pin No.
Functions/Applications PT BCD
Point table No. output 1 PT0 As soon as Movement finish (MEND) turns ON, the point table No. is output in 8-
bit code.
Point table No. output 2 PT1 (Note) Device Point table
No.
PT7 PT6 PT5 PT4 PT3 PT2 PT1 PT0
Point table No. output 3 PT2 0 0 0 0 0 0 0 1 1
0 0 0 0 0 0 1 0 2
Point table No. output 4 PT3 0 0 0 0 0 0 1 1 3
0 0 0 0 0 1 0 0 4
Point table No. output 5 PT4
Point table No. output 6 PT5
1 1 1 1 1 1 1 0 254
Point table No. output 7 PT6 1 1 1 1 1 1 1 1 255
Note. 0 :OFF
Point table No. output 8 PT7 1 :ON
PT0 to PT7 turn OFF in any of the following statuses.
Power on
Servo off
During home position return
Home position return completion
In any of the following statuses, PT0 to PT7 maintain their pre-change status
(ON/OFF).
When operation mode is changed
When Automatic/manual selection (MD0) is turned from OFF to ON or from ON
to OFF to change the operation mode.
During manual operation
During execution of automatic positioning to home position
Alarm code 0 ACD0 CN10-22
This device is output when an alarm occurs.
Refer to section 10.2.1 for the alarm codes to be output.
Alarm code 1 ACD1 CN10-23
Alarm code 2 ACD2 CN10-24
Alarm code 3 ACD3 CN10-25
3 - 39
3. SIGNALS AND WIRING
Device Symbol Connector pin No.
Functions/Applications PT BCD
M code 1 (bit0) MCD00 CN10-38 As soon as Rough match (CPO) turns ON, the M code is output.
2nd digit
bi t3
M C
D 1
3
bi t2
M C
D 1
2
bi t1
M C
D 1
1
bi t0
M C
D 1
0
bi t3
M C
D 0
3
bi t2
M C
D 0
2
bi t1
M C
D 0
1
bi t0
M C
D 0
0
1st digit
MCD00 to MCD03 and MCD10 to MCD13 turn OFF in any of the following
statuses.
Power on
Servo off
During home position return
Home position return completion
In any of the following statuses, MCD00 to MCD03 and MCD10 to MCD13
maintain their pre-change status (ON/OFF).
When operation mode is changed
When Automatic/manual selection (MD0) is turned from OFF to ON or from ON
to OFF to change the operation mode.
During manual operation
During execution of automatic positioning to home position
M code 2 (bit1) MCD01 CN10-39
M code 3 (bit2) MCD02 CN10-40
M code 4 (bit3) MCD03 CN10-41
M code 5 (bit4) MCD10 CN10-42
M code 6 (bit5) MCD11 CN10-43
M code 7 (bit6) MCD12 CN10-44
M code 8 (bit7) MCD13 CN10-45
Position data request 1 PRQ1 CN10-44 PRQ0 is turned ON when the position data of symbol and sixth/fifth/fourth digits
are requested to a programmable controller during the positioning operation with
the BCD 3 digits 2 input.
Position data request 2 PRQ2 CN10-45 PRQ1 is turned ON when the position data of third/second/first digits are
requested to a programmable controller during the positioning operation with the
BCD 3 digits 2 input.
3.5.2 Input signals
Signal Symbol Connector pin No. Functions/Applications I/O
division
Manual pulse generator PP CN6-6 Used to connect the manual pulse generator (MR-HDP01). (Refer to
section 13.18.)
NP CN6-19
Analog torque limit TLA CN20-12 When the analog torque limit (TLA) is valid, torque is limited in the full
servo motor output torque range. Apply 0 to +10VDC across TLA-LG.
Connect the positive terminal of the power supply to TLA. Maximum
torque is generated at +10V. (Refer to section 3.6.3.) Resolution: 12bit
Analog input
Override VC CN20-2 By applying -10 to +10V across VC-LG, the servo motor speed is
limited.
The limit value is 0% with -10V, 100% with 0V and 200% with +10V to
the rated speed of the servo motor.
Analog input
3 - 40
3. SIGNALS AND WIRING
3.5.3 Output signals
Refer to section 3.8.2 for the output interfaces (symbols in the I/O Division field in the table) of the
corresponding connector pins.
Signal Symbol Connector
pin No. Functions/Applications I/O division
Encoder A-phase pulse (differential line driver)
LA LAR
CN6-11 CN6-24
Outputs pulses per servo motor revolution set in parameter No. PA15 in the differential line driver system. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of /2. The relationships between rotation direction and phase difference of the A- and B-phase pulses can be changed using parameter No. PC19.
DO-2 Encoder B-phase pulse (differential line driver)
LB LBR
CN6-12 CN6-25
Encoder Z-phase pulse (differential line driver)
LZ LZR
CN6-13 CN6-26
Outputs the zero-point signal of the encoder in the differential line driver system. One pulse is output per servo motor revolution. This signal turns on when the zero-point position is reached. (Negative logic)The minimum pulse width is about 400 s. For home position return using this pulse, set the creep speed to 100r/min. or less.
DO-2
Analog monitor 1 MO1 CN20-4
Used to output the data set in parameter No. Po13 to across MO1- LG in terms of voltage. Resolution 12 bits
Analog output
Analog monitor 2 MO2 CN20-14
Used to output the data set in parameter No. Po14 to across MO2- LG in terms of voltage. Resolution 12 bits
Analog output
3.5.4 Power supply
Signal Symbol Connector
pin No. Functions/Applications I/O division
Servo amplifier digital I/F power supply input
DICOM CN6-5
Used to input 24VDC (24VDC 10% 150mA) for I/O interface of the servo amplifier. The power supply capacity changes depending on the number of I/O interface points to be used. Connect the positive terminal of the 24VDC external power supply for the sink interface.
Servo amplifier digital I/F common
DOCOM CN6-17
Common terminal for input signals such as DOG and EMG of the servo amplifier. Pins are connected internally. Separated from LG. Connect the positive terminal of the 24VDC external power supply for the source interface.
MR-HDP01 open collector power input OPC CN6-18
When using the MR-HDP01 manual pulse generator, connect OPC and DICOMD, and supply OPC with the positive (+) voltage of 24VDC.
MR-HDP01 digital I/F power supply input
DICOMD CN10-13 CN10-14
Used to input 24VDC (24VDC 10% 800mA) for I/O interface of the MR-J3-D01. The power supply capacity changes depending on the number of I/O interface points to be used. Connect the positive terminal of the 24VDC external power supply for the sink interface. Pins are connected internally.
MR-HDP01 digital I/F common
DOCOMD CN10-37
Common terminal for input signals such as SON and RES of the MR- J3-D01. Pins are connected internally. Separated from LG. Connect the positive terminal of the 24VDC external power supply for the source interface.
15VDC power supply P15R CN20-13
Outputs +15VDC to across P15R-LG. Available as power for TLA, VC. Permissible current: 30mA
12VDC power supply N12R CN20-15
Outputs 12VDC to across N12R-LG. Available as power for VC. However, there is an individual difference of about -12 to -15V in the voltage. Permissible current: 30mA
Control common
LG
CN6-23 CN20-1 CN20-9
CN20-11 CN30-1
Common terminal for TLA, VC, VLA, OP, MO1, MO2 and P15R. Pins are connected internally.
Shield SD
CN10-50 Plate
Connect the external conductor of the shield cable.
3 - 41
3. SIGNALS AND WIRING
3.6 Detailed description of signals (devices)
3.6.1 Forward rotation start Reverse rotation start Temporary stop/Restart
(1) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can be
used after the main circuit has been established. These signals are invalid if it is switched on before the
main circuit is established.
Normally, it is interlocked with the ready signal (RD). (2) A start in the servo amplifier is made when a forward rotation start (ST1) or a reverse rotation start (ST2)
changes from OFF to ON. The delay time of the servo amplifier's internal processing is max. 3ms. The
delay time of other devices is max. 10ms.
Servo motor speed
Temporary stop/Restart (TSTP)
Forward rotation
0r/min
Forward rotation start (ST1) or reverse rotation start (ST2)
3ms or less 3ms or less
5ms or less
10ms or less
(3) When a programmable controller is used, the ON time of a forward rotation start (ST1), a reverse rotation
start (ST2) or temporary start/stop (TSTP) signal should be 6ms or longer to prevent a malfunction. (4) During operation, the forward rotation start (ST1) or reverse rotation start (ST2) is not accepted. The next
operation should always be started after the rough match (CPO) is output with the rough match output
range set to 0 or after the movement finish (MEND) is output.
3 - 42
3. SIGNALS AND WIRING
3.6.2 Movement finish Rough match In position
POINT
If servo-on occurs after a stop made by servo-off, alarm occurrence or Forced
stop (EMG) ON during automatic operation, Movement finish (MEND), Rough
match (CPO) and In position (INP) turn on. To make a start again, confirm the point table No. being specified, and turn on Forward rotation start (ST1).
(1) Movement finish
The following timing charts show the output timing relationships between the position command generated
in the servo amplifier and the movement finished (MEND). This timing can be changed using parameter No.
PA10 (in-position range). MEND turns ON in the servo-on status. MEND does not turn ON during automatic
operation.
Forward rotation start (ST1) or reverse rotation start (ST2)
Position command and servo motor speed
3ms or less
In-position range
Servo motor speed
Position command
OFF
ON
OFF
ON
Movement finish (MEND)
Forward rotation
0r/min
When parameter No. PA10 is small
Forward rotation start (ST1) or reverse rotation start (ST2)
Position command and servo motor speed
Movement finish (MEND)
3ms or less
In-position range
Servo motor speed
Position command
OFF
ON
OFF
ON
Forward rotation
0r/min
When parameter No. PA10 is large
(2) Rough match
The following timing charts show the relationships between the signal and the position command generated
in the servo amplifier. This timing can be changed using parameter No. PC11 (rough match output range).
CPO turns ON in the servo-on status. CPO does not turn ON during automatic operation.
ON
OFF
ON
OFF
Position command
Rough match (CPO)
3ms or less
Forward rotation start (ST1) or reverse rotation start (ST2)
Forward rotation
0r/min
ON
OFF
ON
OFF
Position command
Rough match (CPO)
3ms or less Rough match output range
Forward rotation start (ST1) or reverse rotation start (ST2)
Forward rotation
0r/min
When "0" is set in parameter No. PC11 When more than "0" is set in parameter No. PC11
3 - 43
3. SIGNALS AND WIRING
(3) In position
The following timing chart shows the relationship between the signal and the feedback pulse of the servo
motor. This timing can be changed using parameter No. PA10 (in-position range). INP turns ON in the
servo-on status.
ON
OFF
ON
OFF
Forward rotation start (ST1) or reverse rotation start (ST2)
Servo motor speed
In position (INP)
3ms or less In-position range
Forward rotation
0r/min
When positioning operation is performed once
Forward rotation start (ST1) or reverse rotation start (ST2)
ON
OFF
ON
OFF
Servo motor speed
In position (INP)
In-position range 3ms or less
Reverse rotation
Forward rotation
0r/min
When servo motor reverses rotation direction during automatic continuous operation
3 - 44
3. SIGNALS AND WIRING
3.6.3 Torque limit
CAUTION If the torque limit is canceled during servo lock, the servo motor may suddenly
rotate according to position deviation in respect to the command position.
(1) Torque limit and torque
By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit), torque is
always limited to the maximum value during operation. A relationship between the limit value and servo
motor torque is shown below.
0 100100 [%]
CW direction Max. torque CCW direction
T or
qu e
Torque limit value in parameter No. PA12
Torque limit value in parameter No. PA11
A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of the
servo motor is shown below. Torque limit values will vary about 5% relative to the voltage depending on
products.
At the voltage of less than 0.05V, torque may vary as it may not be limited sufficiently. Therefore, use this
function at the voltage of 0.05V or more.
100
0 0 10
5%
0.05
T or
q ue
li m
it va
lu e
[% ]
TLA application voltage vs. torque limit value
TLA application voltage [V]
TL1
DOCOMD
P15R
TLA
LG
SD
2k 2k
MR-J3-D01
TL
(Note)
Japan resistor RRS10 or equivalent
Connection example
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
3 - 45
3. SIGNALS AND WIRING
(2) Torque limit value selection and internal torque limit selection (TL1)
As shown below, the forward torque limit (parameter No. PA11), or reverse torque limit (parameter No.
PA12), the analog torque limit (TLA) and internal torque limit 2 (Parameter No. PC35) can be chosen using
the internal torque limit selection (TL1).
However, if the parameter No. PA11 and parameter No. PA12 value is less than the limit value selected by
TL/TL1, the parameter No. PA11 and parameter No. PA12 value is made valid.
(Note) Input devices Limit Value Status
Torque limite to be enabled
TL1 TL CCW driving/CW
regeneration CW driving/CCW
regeneration
0 0 Parameter No. PA11 Parameter No. PA12
0 1 TLA
Parameter No. PA11 Parameter No. PA11 Parameter No. PA12
Parameter No. PA12
TLA Parameter No. PA11
TLA TLA Parameter No. PA12
1 0 Parameter No. PC35
Parameter No. PA11 Parameter No. PA11 Parameter No. PA12
Parameter No. PA12
Parameter No. PC35 Parameter No. PA11
Parameter No. PC35 Parameter No. PC35 Parameter No. PA12
1 1 TLA Parameter No. PC35 Parameter No. PC35 Parameter No. PC35 TLA Parameter No. PC35 TLA TLA
Note. 0: off
1: on
(3) Limiting torque (TLC)
TLC turns on when the servo motor torque reaches the torque limited using the forward torque limit, reverse
torque limit or analog torque limit.
3 - 46
3. SIGNALS AND WIRING
3.7 Alarm occurrence timing chart
CAUTION
When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting operation.
As soon as an alarm occurs, turn off Servo-on (SON) and power off.
When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.
Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit
power supply from off to on, or turn the reset (RES) from off to on. However, the alarm cannot be reset unless
its cause is removed.
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
1.5s
Brake operation
50ms or more 15 to 60ms (Note 2) Alarm occurs.
Remove cause of trouble.
Brake operation
Power off Power on
Valid Invalid
Main circuit control circuit power supply
Base circuit
Dynamic brake
Servo-on (SON)
Reset (RES)
Ready (RD)
Trouble (ALM)
(Note 1)
Note 1. Shut off the main circuit power as soon as an alarm occurs.
2. Changes depending on the operating status.
(1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching control circuit power off, then on to reset the overcurrent (A32),
overload 1 (A50) or overload 2 (A51) alarm after its occurrence, without removing its cause, the
servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the
cause of the alarm and also allow about 30 minutes for cooling before resuming operation.
(2) Regenerative alarm
If operation is repeated by switching control circuit power off, then on to reset the regenerative (A30)
alarm after its occurrence, the external regenerative resistor will generate heat, resulting in an
accident.
(3) Instantaneous power failure
Undervoltage (A10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 60ms or longer and the control
circuit is not completely off.
The bus voltage dropped to 200VDC or less for the MR-J3- T, to 158VDC or less for the MR-J3-
T1, or to 380VDC or less for the MR-J3- T4.
(4) Incremental system
When an alarm occurs, the home position is lost. When resuming operation after deactivating the
alarm, make a home position return.
3 - 47
3. SIGNALS AND WIRING
3.8 Interface
3.8.1 Internal connection diagram
CN6
14
15
16
RD
ALM
ZP
RA
RA
11
24
12
25
13
26
LA
LAR
LB
LBR
LZ
LZR
23 LG
CN6
Differential line driver output (35mA or less)
12VDC
CN20
2VC
12TLA
13P15R
9LG PlateSD
15N12R 15VDC
5
4
3
6
1
7
CN3
SDP
SDN
RDP
RDN
LG
LG
RS-422
3
CN2
2
4
7
8
MR
MRR
MD
MDR
LG
E M
Servo motor
Encoder
USB D
GND
VBUS
D
1
2
3
5
CN5 CN20
MO1
MO2
LG
4
14
11
Analog monitor
10VDC
10VDC
LG1
EMG
CN6
1
DOG 2
LSP 3
LSN 4
Approx.5.6k
5
17
DICOM
DOCOM
24VDC
Approx.5.6k CN10
14
22
23
49
DICOMD
ACD0
ACD1
INP
RA
RA
6
19
OPC 18
PP
NP
Approx.100k
Approx.100k Approx.1.2k
Approx.1.2k
Dedicated to MR-HP01
POS00
CN10
1
2
3
4
Approx.5.6k
13
37
DICOMD 24VDC
5
6
7
8
9
10
11
12
15POSP
16POSN
21
RES 26
TL 27
TL1 28
TP0 29
TP1 30
OVR 31
MD0 32
TSTP 33
PC 34
ST1 35
ST2 36
SP0 18
SP1 19
SP2 20 Approx.5.6k
DI4
DI5
DI6
DI7
DI1
DI2
DI3
DOCOMD
POS01
POS02
POS03
POS10
POS11
POS12
POS13
POS20
POS21
POS22
POS23
SON
DI0
24 ACD2
25 ACD3
38
39
40
41
42
43
44
45
46 PUS
47 MEND
48 CPO
MCD12
MCD11
MCD10
MCD03
MCD02
MCD01
MCD00
PT BCD
PT BCD
(Note 1) (Note 2)
MCD13
PRO0
PRO1
Servo amplifier + MR-J3-D01
(Note 2)
(Note 1, 2)
(Note 2)
(Note 1)
(Note 1)
Note 1. Devices assigned to these pins can be changed in the parameter settings.
2. For this sink I/O interface. For the source I/O interface, refer to section 3.8.3.
3 - 48
3. SIGNALS AND WIRING
3.8.2 Detailed description of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 3.5. Refer to this section and make connection with the external equipment. (1) Digital input interface DI-1
Give a signal with a relay or open collector transistor. Refer to section 3.8.3 for the source input.
DICOM
VCES 1.0V ICEO 100 A
TR
24VDC 10%
5.6k
For transistor
Approx. 5mA
Switch
150mA
Servo amplifier
EMG, etc.
MR-J3-D01
DICOMD
VCES 1.0V ICEO 100 A
TR
24VDC 10%
5.6k
For transistor
Approx. 5mA
Switch
800mA
SON, etc.
(2) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load. (Permissible current: 40mA or less, inrush current: 100mA
or less) A maximum of 2.6V voltage drop occurs in the servo amplifier.
Refer to section 3.8.3 for the source output.
(Note) 24VDC 10% 150mA
If polarity of diode is reversed, servo amplifier will fail.Servo amplifier
ALM, etc.
Load DOCOM
(Note) 24VDC 10% 80mA
If polarity of diode is reversed, servo amplifier will fail.MR-J3-D01
INP, etc.
Load DOCOM
Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external source.
(3) Encoder output pulse DO-2 (Differential line driver system)
(a) Interface
Max. output current: 35mA
LA (LB, LZ)
LAR (LBR, LZR)
LG
SD
LA (LB, LZ)
LAR (LBR, LZR)
SD
Servo amplifier Servo amplifier
Am26LS32 or equivalent High-speed photocoupler
150
100
3 - 49
3. SIGNALS AND WIRING
(b) Output pulse
Servo motor CCW rotation
LA
LAR
LB
LBR
LZ LZR
T
/2
400 s or more OP
Time cycle (T) is determined by the settings of parameter No.PA15 and PC19.
(4) Analog input Input impedance 10 to 12k
Upper limit setting 2k
15VDC
P15R
VC, etc
LG
SD
2k
Servo amplifier
Approx. 10k
VC
N12R
P15R
SD
MR-J3-D01
LG
15VDC
2k Approx. 10k
12VDC
Upper limit setting 2k
Lower limit setting 2k
(5) Analog output
LG
MO1
MR-J3-D01
Output voltage 10V Max. 1mA Max. Output current Resolution: 12 bit
(MO2)
3 - 50
3. SIGNALS AND WIRING
3.8.3 Source I/O interfaces
In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1
output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1
EMG, etc.
Servo amplifier
Switch
Approx. 5mA
DICOM
VCES 1.0V ICEO 100 A
24VDC 10% 150mA
Approx. 5.6k
MR-J3-D01
DICOMD
SON, etc.
Switch
Approx. 5mA VCES 1.0V ICEO 100 A
24VDC 10% 800mA
Approx. 5.6k
(2) Digital output interface DO-1
A maximum of 2.6V voltage drop occurs in the servo amplifier.
(Note) 24VDC 10% 150mA
If polarity of diode is reversed, servo amplifier will fail.Servo amplifier
ALM, etc.
Load DOCOM
(Note) 24VDC 10% 800mA
If polarity of diode is reversed, servo amplifier will fail.MR-J3-D01
INP, etc.
Load DOCOM
Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external source.
3 - 51
3. SIGNALS AND WIRING
3.9 Treatment of cable shield external conductor
In the case of the CN2, CN6, CN10 and CN20 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.
External conductor Sheath External conductor
Pull back the external conductor to cover the sheath
SheathCore
Strip the sheath.
(1) For CN6, CN10 and CN20 connector (3M connector)
Screw
Screw
Ground plate
Cable
(2) For CN2 connector (3M or Molex connector)
Screw
Cable
Ground plate
3 - 52
3. SIGNALS AND WIRING
3.10 Connection of servo amplifier and servo motor
WARNING During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
3.10.1 Connection instructions
WARNING Insulate the connections of the power supply terminals to prevent an electric shock.
CAUTION
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Not doing so may cause unexpected operation.
Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur.
POINT
Refer to section 13.1 for the selection of the encoder cable.
This section indicates the connection of the servo motor power (U, V, W). Use of the optional cable and
connector set is recommended for connection between the servo amplifier and servo motor. When the options
are not available, use the recommended products. Refer to section 13.1 for details of the options. (1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal ( ) of the
servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of
the control box. Do not connect them directly to the protective earth of the control panel.
Servo amplifier
Servo motor
PE terminal
Control box
(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always
use the power supply designed exclusively for the electromagnetic brake.
3 - 53
3. SIGNALS AND WIRING
3.10.2 Power supply cable wiring diagrams
(1) HF-MP service HF-KP series servo motor
(a) When cable length is 10m or less
CNP3 AWG 19(red)
AWG 19(white)
AWG 19(black)
AWG 19(green/yellow) W
V
U
Servo motorServo amplifier
10m or less MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H
M
U
V
W
(b) When cable length exceeds 10m
When the cable length exceeds 10m, fabricate an extension cable as shown below. In this case, the
motor power supply cable should be within 2m long.
Refer to section 13.9 for the wire used for the extension cable.
(Note) Relay connector for extension cable a)
(Note) Relay connector for motor power supply cable b)
MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L
CNP3 AWG 19(red)
AWG 19(white)
AWG 19(black)
U
V
W
Servo motorServo amplifier
Extension cable
50m or less
2m or less
U
V
W
M
AWG 19(green/yellow)
Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Relay Connector Description Protective
Structure
a) Relay connector for extension cable
Connector: RM15WTPZ-4P(71) Cord clamp: RM15WTP-CP(5)(71) (Hirose Electric) Numeral changes depending on the cable OD
IP65
b) Relay connector for motor power supply cable
Connector: RM15WTJA-4S(71) Cord clamp: RM15WTP-CP(8)(71) (Hirose Electric) Numeral changes depending on the cable OD
IP65
3 - 54
3. SIGNALS AND WIRING
(2) HF-SP series HC-RP series HC-UP series HC-LP series servo motor
POINT
B Insert a contact in the direction shown in the figure. If inserted in the wrong direction, the contact is damaged and falls off.
Soldered part or crimping part facing up
Soldered part or crimping part facing down
Pin No.1Pin No.1
For CM10-SP2S-For CM10-SP10S-
(a) Wiring diagrams
Refer to section 13.9 for the cables used for wiring.
1) When the power supply connector and the electromagnetic brake connector are separately supplied
Servo motor
(Note 1)
Servo amplifier
M
U
V
W
B1
B2
U
V
W
24VDC power supply for
electromagnetic brake
50m or less
Forced stop
(EMG)
Trouble (ALM) RA1
24VDC
ALM
DOCOM
DICOM
MBR
CN6
RA1
RA2
Electromagnetic brake interlock
(MBR) RA2
(Note 2)
Note 1. There is no polarity in electromagnetic brake terminals B1 and B2.
2. When using a servo motor with electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external
output signal in the parameters No. PD09 to PD11, Po08 and Po09.
3 - 55
3. SIGNALS AND WIRING
2) When the power supply connector and the electromagnetic brake connector are shared
Servo motor
(Note 1)
Servo amplifier
M
U
V
W
B1
B2
U
V
W
24VDC power supply for
electromagnetic brake
50m or less
Forced stop
(EMG)
Trouble (ALM) RA1
24VDC
ALM
DOCOM
DICOM
MBR
CN6
RA1
RA2
Electromagnetic brake interlock
(MBR) RA2
(Note 2)
Note 1. There is no polarity in electromagnetic brake terminals B1 and B2.
2. When using a servo motor with electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external
output signal in the parameters No. PD09 to PD11, Po08 and Po09.
(b) Connector and signal allotment
The connector fitting the servo motor is prepared as optional equipment. Refer to section 13.1. For types other than those prepared as optional equipment, refer to chapter 3 in Servo motor Instruction Manual, Vol. 2 to select.
a
c
b
Servo motor
Servo motor side connectors
Encoder Power supply Electromagnetic
brake
HF-SP52(4) to 152(4)
CM10-R10P (DDK)
MS3102A18-10P
CM10-R2P (DDK)
HF-SP51 81
HF-SP202(4) to 502(4) MS3102A22-22P
HF-SP121 to 301
HF-SP421 702(4) CE05-2A32-17PD-B
HC-RP103 to 203 CE05-2A22-23PD-B The connector for power is shared HC-RP353 503 CE05-2A24-10PD-B
HC-UP72 152 CE05-2A22-23PD-B
HC-UP202 to 502 CE05-2A24-10PD-B MS3102A10SL-4P
HC-LP52 to 152 CE05-2A22-23PD-B The connector for power is shared
HC-LP202 302 CE05-2A24-10PD-B MS3102A10SL-4P
3 - 56
3. SIGNALS AND WIRING
Encoder connector signal allotment
CM10-R10P
Power supply connector signal allotment
MS3102A18-10P
MS3102A22-22P
CE05-2A32-17PD-B
Power supply connector signal allotment
CE05-2A22-23PD-B
5
6
1 4
View a
3
2
8
7
9
10
Terminal
No. Signal
C D
AB
View b
Terminal
No. Signal
F
E
D
H
G A
B
C
View b
Terminal
No. Signal
1 MR A U A U
2 MRR B V B V
3 C W C W
4 BAT D
(earth) D
(earth) 5 LG
6 E
7 F
8 P5 G
B1
(Note) 9
10 SHD H
B2
(Note)
Note. For the motor with
electromagnetic
brake, supply
electromagnetic
brake power
(24VDC). There is
no polarity.
Power supply connector signal allotment
CE05-2A24-10PD-B
Brake connector signal allotment
CM10-R2P
Brake connector signal allotment
MS3102A10SL-4P
F
E
D
G
C
B
A
View b
Terminal
No. Signal
12
View c
Terminal
No. Signal
A B
View c
Terminal
No. Signal
A U 1
B1
(Note) A
B1
(Note) B V
C W 2
B2
(Note) B
B2
(Note) D
(earth) Note. For the motor with
electromagnetic
brake, supply
electromagnetic
brake power
(24VDC). There is
no polarity.
Note. For the motor with
electromagnetic
brake, supply
electromagnetic
brake power
(24VDC). There is
no polarity.
E B1
(Note)
F
B2
(Note)
G
Note. For the motor with
electromagnetic
brake, supply
electromagnetic
brake power
(24VDC). There is
no polarity.
3 - 57
3. SIGNALS AND WIRING
(3) HA-LP series servo motor
(a) Wiring diagrams Refer to section 13.9 for the cables used for wiring. 1) 200V class
Servo motor
(Note 1)
Servo amplifier
U
V
W
B1
B2
U
V
W
24VDC power supply for
electromagnetic brake
50m or less
Forced stop
(EMG)
Trouble (ALM) RA1
24VDC
ALM
DOCOM
DICOM
MBR
CN6
RA1
RA2
Electromagnetic brake interlock
(MBR) RA2
RA3
M
Cooling fan (Note 2)
24VDC power supply
OHS2OHS1 Servo motor thermal relay
(Note 3)
L1
L2
L3
BU
BV
BW
TEMC
(Note 4)
NFB
Note 1. There is no polarity in electromagnetic brake terminals B1 and B2.
2. Cooling fan power supply of the HA-LP601, HA-LP701M and HA-LP11K2 servo motor is 1-phase. Power supply
specification of the cooling fan is different from that of the servo amplifier. Therefore, separate power supply is required.
3. Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal.
4. When using a servo motor with electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external
output signal in the parameters No. PD09 to PD11, Po08 and Po09.
3 - 58
3. SIGNALS AND WIRING
2) 400V class
Servo motor
(Note 1)
Servo amplifier
U
V
W
B1
B2
U
V
W
24VDC power supply for
electromagnetic brake
50m or less
Forced stop
(EMG)
Trouble (ALM) RA1
24VDC
ALM
DOCOM
DICOM
MBR
CN6
RA1
RA2
Electromagnetic brake interlock
(MBR) RA2
RA3
M
Cooling fan (Note 2)
24VDC power supply
OHS2OHS1 Servo motor thermal relay
(Note 3)
L1
L2
L3
BU
BV
BW
TEMC
(Note4) Power supply of cooling fan
(Note 5)
NFB
Note 1. There is no polarity in electromagnetic brake terminals B1 and B2.
2. Cooling fan power supply of the HA-LP601, HA-LP701M and HA-LP11K2 servo motor is 1-phase. Power supply
specification of the cooling fan is different from that of the servo amplifier. Therefore, separate power supply is required.
3. Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal.
4. For the cooling fan power supply, refer to (3) (b) in this section.
5. When using a servo motor with electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external output
signal in the parameters No. PD09 to PD11, Po08 and Po09.
3 - 59
3. SIGNALS AND WIRING
(b) Servo motor terminals
Terminal box
Encoder connector CM10-R10P
Brake connector MS3102A10SL-4P
Encoder connector signal
allotment
CM10-R10P
5
6
1 4
3
2
8
7
9
10
Terminal
No. Signal
Brake connector signal
allotment
MS3102A10SL-4P
1
2
Terminal
No. Signal
1 MR 1
B1
(Note) 2 MRR
3 2
B2
(Note) 4 BAT
5 LG Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
6
7
8 P5
9
10 SHD
Terminal box inside (HA-LP601(4) 701M(4) 11K2(4))
Thermal sensor terminal block
(OHS1 OHS2) M4 screw
Cooling fan terminal block (BU BV) M4 screw
Encoder connector
CM10-R10P
Earth terminal M6 screw
Motor power supply terminal block (U V W) M6 screw
Terminal block signal arrangement
U V W BU BV
OHS1OHS2
3 - 60
3. SIGNALS AND WIRING
Terminal box inside (HA-LP801(4) 12K1(4) 11K1M(4) 15K1M(4) 15K2(4) 22K2(4))
Earth terminal M6 screw
Thermal sensor terminal block (OHS1 OHS2) M4 screw
Cooling fan terminal block (BU BV BW) M4 screw
Encoder connector
CM10-R10P
Motor power supply terminal block (U V W) M8 screw
Terminal block
signal arrangement
U V W
BU BV OHS1OHS2BW
Terminal box inside (HA-LP15K1(4) 20K1(4) 22K1M(4))
Earth terminal M6 screw
Thermal sensor terminal block Cooling fan terminal block
Motor power supply terminal block
(OHS1 OHS2) M4 screw(BU BV BW) M4 screw(U V W) M8 screw
CM10-R10P
Encoder connector
U V W
Terminal block signal arrangement
BVU V W BU BW OHS1OHS2
3 - 61
3. SIGNALS AND WIRING
Terminal box inside (HA-LP25K1)
BWBVBUWVU
Encoder connector
CM10-R10P
Earth terminal M6 screw
Thermal sensor terminal block
Cooling fan terminal block
Motor power supply terminal block
(OHS1 OHS2) M4 screw
(BU BV BW) M4 screw
(U V W) M10 screw
Terminal block signal arrangement
BVU V W BU BW OHS1OHS2
3 - 62
3. SIGNALS AND WIRING
Signal Name Abbreviation Description
Power supply U V W Connect to the motor output terminals (U, V, W) of the servo amplifier. During power-on, do
not open or close the motor power line. Otherwise, a malfunction or faulty may occur.
Cooling fan (Note)
BU BV BW
Supply power which satisfies the following specifications.
Servo motor Voltage
division
Voltage/
frequency
Power
consumption
[W]
Rated
current
[A]
HA-LP601, 701M,
11K2
200V
class
1-phase 200 to 220VAC
50Hz
1-phase 200 to 230VAC
60Hz
42(50Hz)
54(60Hz)
0.21(50Hz)
0.25(60Hz)
HA-LP801, 12K1,
11K1M, 15K1M,
15K2, 22K2
3-phase 200 to 230VAC
50Hz/60Hz
62(50Hz)
76(60Hz)
0.18(50Hz)
0.17(60Hz)
HA-LP15K1, 20K1,
22K1M
65(50Hz)
85(60Hz)
0.20(50Hz)
0.22(60Hz)
HA-LP25K1 120(50Hz)
175(60Hz)
0.65(50Hz)
0.80(60Hz)
HA-LP6014,
701M4, 11K24
400V
class
1-phase 200 to 220VAC
50Hz
1-phase 200 to 230VAC
60Hz
42(50Hz)
54(60hz)
0.21(50Hz)
0.25(60Hz)
HA-LP8014, 12K14,
11K1M4, 15K1M4,
15K24, 22K24
3-phase 380 to 440VAC
50Hz
3-phase 380 to 480VAC
60Hz
62(50Hz)
76(60Hz)
0.14(50Hz)
0.11(60Hz)
HA-LP15K14,
20K14, 22K1M4
3-phase 380 to 460VAC
50Hz
3-phase 380 to 480VAC
60Hz
65(50Hz)
85(60Hz)
0.12(50Hz)
0.14(60Hz)
HA-LP25K14 110(50Hz)
150(60Hz)
0.20(50Hz)
0.22(60Hz)
Motor thermal relay OHS1 OHS2
OHS1 OHS2 are opened when heat is generated to an abnormal temperature.
Maximum rating: 125VAC/DC, 3A or 250VAC/DC, 2A
Minimum rating: 6VAC/DC, 0.15A
Earth terminal For grounding, connect to the earth of the control box via the earth terminal of the servo
amplifier.
Note. There is no BW when the power supply of the cooling fan is a 1-phase.
3 - 63
3. SIGNALS AND WIRING
3.11 Servo motor with electromagnetic brake
3.11.1 Safety precautions
CAUTION
Configure the electromagnetic brake operation circuit so that it is activated not only
by the servo amplifier signals but also by an external forced stop signal.
EMGRA
24VDC
Contacts must be open when servo-off, when an trouble (ALM) and when an electromagnetic brake interlock (MBR).
Electromagnetic brake
Servo motor
Circuit must be opened during forced stop (EMG).
The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.
Before performing the operation, be sure to confirm that the electromagnetic brake operates properly.
POINT
Refer to the Servo Motor Instruction Manual (Vol.2) for specifications such as
the power supply capacity and operation delay time of the electromagnetic brake.
Note the following when the servo motor equipped with electromagnetic brake is used.
1) Set " 1 " in parameter No. PA04 to make the electromagnetic brake interlock (MBR) valid.
2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
3) The brake will operate when the power (24VDC) switches off.
4) While the reset (RES) is on, the base circuit is shut off. When using the servo motor with a vertical
shaft, use the electromagnetic brake interlock (MBR).
5) Switch off the servo-on (SON) after the servo motor has stopped. Using parameter No. PC16 (electromagnetic brake sequence output), set a time delay (Tb) at servo-off from
electromagnetic brake operation to base circuit shut-off as in the timing chart shown in section 3.11.2.
3 - 64
3. SIGNALS AND WIRING
3.11.2 Timing charts
(1) Servo-on (SON) command (from controller) ON/OFF
Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor
coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the
same as the electromagnetic brake operation delay time to prevent a drop.
(95ms)
(95ms) Electromagnetic brake interlock (MBR)
(Note 1)
ON
OFF
0 r/min
Base circuit
Servo motor speed
Servo-on (SON) ON
OFF
Coasting
Tb
Electromagnetic brake operation delay time
ON
OFF
Release
Activate
Forward rotation start (ST1) or reverse rotation start (ST2)
Electromagnetic brake
Release delay time and external relay (Note 2)
(Note 3)
ON
OFF
Note 1. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual (Vol.2).
3. After the electromagnetic brake is released, turn ON the ST1 or ST2.
(2) Forced stop (EMG) ON/OFF
Electromagnetic brake release Electromagnetic brake
Dynamic brake Electromagnetic brake
Dynamic brake
(ON)
Forward rotation
Electromagnetic brake interlock (MBR)
Servo motor speed
Base circuit
Forced stop (EMG)
ON
OFF
ON
OFF
(Note)
0r/min
Invalid
Valid (OFF)
Electromagnetic brake operation delay time
(210ms)
(210ms)
(10ms)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 65
3. SIGNALS AND WIRING
(3) Alarm occurrence
Electromagnetic brake
Dynamic brake Electromagnetic brake
Dynamic brake
(ON)
Forward rotation
Electromagnetic brake interlock (MBR)
Servo motor speed
Base circuit
Trouble (ALM)
ON
OFF
ON
OFF
(Note)
0r/min
No
Yes (OFF)
Electromagnetic brake operation delay time
(10ms)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(4) Both main and control circuit power supplies off
Electromagnetic brake
Dynamic brake Electromagnetic brake
Dynamic brake
(ON)
Forward rotation
Electromagnetic brake interlock (MBR)
Servo motor speed
Base circuit
Trouble (ALM)
ON
OFF
ON
OFF
(Note 2)
0r/min
No
Yes (OFF)
Main circuit
Control circuit power
(Note 1) 15 to 100ms
10ms
(10ms)
ON
OFF
Electromagnetic brake operation delay time
Note 1. Changes with the operating status.
2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 66
3. SIGNALS AND WIRING
(5) Only main circuit power supply off (control circuit power supply remains on)
(10ms)
(Note 1) Electromagnetic brake
Dynamic brake Electromagnetic brake
Dynamic brake
Electromagnetic brake operation delay time (Note 2)
(ON)
Forward rotation
Electromagnetic brake interlock (MBR)
Servo motor speed
Base circuit
Trouble (ALM)
ON
OFF
ON
OFF
(Note 3)
0r/min
No
Yes (OFF)
Main circuit power supply
ON
OFF
Note 1. Changes with the operating status.
2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (A.E9) occurs and
the trouble (ALM) does not turn off.
3. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)
POINT
For HF-SP series HC-RP series HC-UP series HC-LP series servo
motors, refer to section 3.10.2 (2).
(1) When cable length is 10m or less
AWG20
AWG20
MR-BKS1CBL M-A1-L MR-BKS1CBL M-A2-L MR-BKS1CBL M-A1-H MR-BKS1CBL M-A2-H
(Note 2) B1
B2
(Note 1) Trouble (ALM)
Servo motor
10m or less
Forced stop
(EMG)
24VDC power supply for electromagnetic brake
(Note 3)
(Note 4) Electromagnetic brake (MBR)
Note 1. Shut off the circuit on detection of the servo amplifier alarm.
2. Connect a surge absorber as close to the servo motor as possible.
3. There is no polarity in electromagnetic brake terminals (B1 and B2).
4. When using a servo motor with electromagnetic brake, assign the electromagnetic brake interlock (MBR) to
external output signal in the parameters No. PD09 to PD11, Po08 and Po09.
When fabricating the motor brake cable MR-BKS1CBL- M-H, refer to section 13.1.4.
3 - 67
3. SIGNALS AND WIRING
(2) When cable length exceeds 10m
When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In
this case, the motor brake cable should be within 2m long.
Refer to section 13.9 for the wire used for the extension cable.
2m or less
24VDC power supply for electromagnetic brake
AWG20
AWG20
MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L
B1
B2
50m or less
Extension cable (To be fabricated)Trouble
(ALM) Forced stop (EMG)
(Note 1)
(Note 3)
(Note 5) Electromagnetic brake (MBR)
Servo motor
(Note 2) a) Relay connector for extension cable
(Note 2) b) Relay connector for motor brake cable
Note 1. Shut off the circuit on detection of the servo amplifier alarm.
2. Connect a surge absorber as close to the servo motor as possible.
3. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Relay Connector Description Protective
Structure
a) Relay connector for extension cable
CM10-CR2P-
(DDK) Wire size: S, M, L
IP65
b) Relay connector for motor brake cable
CM10-SP2S-
(DDK) Wire size: S, M, L
IP65
4. There is no polarity in electromagnetic brake terminals (B1 and B2).
5. When using a servo motor with electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external output
signal in the parameters No. PD09 to PD11, Po08 and Po09.
3 - 68
3. SIGNALS AND WIRING
3.12 Grounding
WARNING
Ground the servo amplifier and servo motor securely.
To prevent an electric shock, always connect the protective earth (PE) terminal
(terminal marked ) of the servo amplifier with the protective earth (PE) of the
control box.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the
wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and
dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Control box
Servo amplifier
L1
L2
L3
L11
L21
CN1A CN1B
Li n
e fil
te r
NFB MC
Protective earth(PE)
CN2
U
V
W
Outer box
Servo motor
Ensure to connect it to PE terminal of the servo amplifier. Do not connect it directly to the protective earth of the control panel.
Encoder
M
U
V
W
P ro
gr am
m ab
le co
n tr
ol le
r
(Note) Power supply
Note. For 1-phase 200V to 230VAC of 1-phase 100 to 120VAC, connect the power supply to L1, L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification.
4 - 1
4. OPERATION
4. OPERATION
WARNING Do not operate the switches with wet hands. You may get an electric shock.
CAUTION
Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor,
servo motor, etc. since they may be hot while power is on or for some time after
power-off. Their temperatures may be high and you may get burnt or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
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 Check whether the servo amplifier and servo motor are wired
correctly using visual inspection, DO forced output function
(Section 6.7.4, 7.5.7 (4)), etc. (Refer to section 4.1.2.)
Surrounding environment check Check the surrounding environment of the servo amplifier and
servo motor. (Refer to section 4.1.3.)
Parameter setting Set the parameters as necessary, such as the used control
mode and regenerative option selection with the parameter unit
or MR Configurator. (Refer to chapter 5.)
Test operation of servo motor
alone in test operation mode
For the test operation, with the servo motor disconnected from
the machine and operated at the speed as low as possible, and
check whether the servo motor rotates correctly. (Refer to
sections 6.7 and 7.5.7.)
Test operation of servo motor
alone by commands
For the test operation with the servo motor disconnected from
the machine and operated at the speed as low as possible, and
check whether the servo motor rotates correctly.
Test operation with servo motor
and machine connected
Connect the servo motor with the machine, give operation
commands from the host command device, and check machine
motions.
Gain adjustment Make gain adjustment to optimize the machine motions. (Refer
to chapter 8.)
Actual operation
Stop Stop giving commands and stop operation.
4 - 2
4. OPERATION
4.1.2 Wiring check
(1) Power supply system wiring
Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring
The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier should satisfy
the defined specifications. (Refer to section 1.2.)
(b) Connection of servo amplifier and servo motor
1) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the
power input terminals (U, V, W) of the servo motor.
M
U
V
W
U
V
W
Servo amplifier Servo motor
2) The power supplied to the servo amplifier should not be connected to the servo motor power supply
terminals (U, V, W). To do so will fail the connected servo amplifier and servo motor.
U V W
U V W
M
Servo amplifier Servo motor
3) The earth terminal ( ) of the servo motor is connected to the PE terminal ( ) of the servo amplifier.
M
Servo amplifier Servo motor
4) P1-P2 (For 11kW or more, P1-P) should be connected.
P1
P2
Servo amplifier
(c) When option and auxiliary equipment are used
1) When regenerative option is used with under 3.5kW of 200V class and 2kW of 400V class
The lead between P terminal and D terminal of CNP2 connector should not be connected.
The generative option should be connected to P terminal and C terminal.
A twisted cable should be used. (Refer to section 13.2.)
4 - 3
4. OPERATION
2) When regenerative option is used with over 5kW of 200V class and 3.5kW of 400V class
The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block
should not be connected.
The generative option should be connected to P terminal and C terminal.
A twisted cable should be used when wiring is over 5m and under 10m. (Refer to section 13.2.)
3) When brake unit and power regenerative converter are used over 5kW
The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block
should not be connected.
Brake unit, power regenerative converter or power regeneration common converter should be
connected to P terminal and N terminal. (Refer to section 13.3 to 13.5.)
4) The power factor improving DC reactor should be connected P1 and P2 (For 11kW or more, P1 and
P). (Refer to section 13.11.)
P1
P2
Servo amplifier
(Note)
Power factor improving DC reactor
Note. Always disconnect P1 and P2 (For 11kW or more, P1 and P).
(2) I/O signal wiring
(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN6 and CN10 connector. This function can
be used to perform a wiring check. (Refer to section 6.7.4.) In this case, switch on the control circuit
power supply only.
(b) 24VDC or higher voltage is not applied to the pins of connectors CN6 and CN10.
(c) SD and DOCOM, SD and DOCOMD are not shorted.
DOCOM
SD
Servo amplifier
DOCOMD
SD
MR-J3-D01
4.1.3 Surrounding environment
(1) Cable routing
(a) The wiring cables are free from excessive force.
(b) The encoder cable should not be used in excess of its flex life. (Refer to section 12.4.)
(c) The connector part of the servo motor should not be strained. (2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
4 - 4
4. OPERATION
4.2 Startup
4.2.1 Power on and off procedures
(1) Power-on
Switch power on in the following procedure. Always follow this procedure at power-on.
1) Switch off the servo-on (SON).
2) Make sure that the Forward rotation start (ST1) and Reverse rotation start (ST2) are off.
3) Switch on the main circuit power supply and control circuit power supply.
When main circuit power/control circuit power is switched on, the servo amplifier display shows "b- -"
(if the servo amplifier has the station number of 1).
In the absolute position detection system, first power-on results in the absolute position lost (A25)
alarm and the servo system cannot be switched on.
The alarm can be deactivated then switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of
3000r/min or higher, position mismatch may occur due to external force or the like. Power must
therefore be switched on when the servo motor is at a stop. (2) Power-off
1) Make sure that the Forward rotation start (ST1) and Reverse rotation start (ST2) are off.
2) Switch off the Servo-on (SON).
3) Switch off the main circuit power supply and control circuit power supply. 4.2.2 Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor.
Refer to section 3.11 for the servo motor equipped with electromagnetic brake.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo
motor to a sudden stop.
(c) Forced stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.
The servo forced stop warning (AE6) occurs.
(d) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF
The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in the
opposite direction.
4 - 5
4. OPERATION
4.2.3 Test operation
Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.2.1 for the power on and off methods of the servo amplifier.
Test operation of servo motor
alone in JOG operation of test
operation mode
In this step, confirm that the servo amplifier and servo motor
operate normally.
With the servo motor disconnected from the machine, use the
test operation mode and check whether the servo motor
correctly rotates at the slowest speed. Refer to section 6.7 and
7.5.7 for the test operation mode.
Test operation of servo motor
alone by commands
In this step, confirm that the servo motor correctly rotates at the
slowest speed under the commands from the command device.
Make sure that the servo motor rotates in the following
procedure.
1) Switch on the Forced stop (EMG) and Servo-on (SON). When
the servo amplifier is put in a servo-on status, the Ready
(RD) switches on.
2) Switch on the Forward rotation stroke end (LSP) or Reverse
rotation stroke end (LSN).
3) When the point table is designated to switch on the forward
rotation (ST1) or reverse rotation (ST2), the servo motor
starts rotating. Give a low speed command at first and check
the rotation direction, etc. of the servo motor. If the servo
motor does not operate in the intended direction, check the
input signal.
Test operation with servo motor
and machine connected
In this step, connect the servo motor with the machine and
confirm that the machine operates normally under the
commands from the command device.
Make sure that the servo motor rotates in the following
procedure.
1) Switch on the Forced stop (EMG) and Servo-on (SON). When
the servo amplifier is put in a servo-on status, the Ready
(RD) switches on.
2) Switch on the Forward rotation stroke end (LSP) or Reverse
rotation stroke end (LSN).
3) When the point table is specified from the command device
and the forward rotation start (ST1) or reverse rotation start
(ST2) is turned ON, the servo motor starts rotating. Give a
low speed command at first and check the operation
direction, etc. of the machine. If the machine does not
operate in the intended direction, check the input signal. In
the status display, check for any problems of the servo motor
speed, load ratio, etc.
4) Then, check automatic operation with the program of the
command device.
4 - 6
4. OPERATION
4.2.4 Parameter setting
POINT
The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series
servo motor requires the parameter No. PC22 setting to be changed
depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (A16) will occur at power-on.
Encoder Cable Parameter No. PC22 Setting
MR-EKCBL20M-L/H 0 (initial value)
MR-EKCBL30M-H
1
MR-EKCBL40M-H
MR-EKCBL50M-H
The servo amplifier can be used by merely changing the basic setting parameters (No. PA ) mainly.
As necessary, set the gain filter parameters (No. PB ), extension setting parameters (No. PC ) and I/O
setting parameters (No. PD ).
Parameter Group Main Description
Basic setting parameter
(No. PA )
Set the basic setting parameters first. Generally, operation can be performed by merely setting this
parameter group.
In this parameter group, set the following items.
Control mode selection (select the position control mode)
Regenerative option selection
Absolute position detection system selection
Setting of command input pulses per revolution
Electronic gear setting
Auto tuning selection and adjustment
In-position range setting
Torque limit setting
Command pulse input form selection
Servo motor rotation direction selection
Encoder output pulse setting
Gain filter parameter
(No. PB )
If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning, execute in-
depth gain adjustment using this parameter group.
This parameter group must also be set when the gain switching function is used.
Extension setting parameter
(No. PC )
This parameter group is unique to MR-J3- T servo amplifier.
I/O setting parameter
(No. PD )
Used when changing the I/O devices of the servo amplifier.
(Note)
Option unit parameter
(No. Po )
Used when setting the MR-J3-D01 extension I/O unit.
Note. The parameter No. PA19 setting must be changed when this parameter group is used.
4 - 7
4. OPERATION
4.2.5 Point table setting
Set necessary items to the point table before starting operation. The following table indicates the items that
must be set.
Name Description
Position data Set the position data for movement.
Servo motor speed Set the command speed of the servo motor for execution of positioning.
Acceleration time constant Set the acceleration time constant.
Deceleration time constant Set the deceleration time constant.
Dwell Set the waiting time when performing automatic continuous operation.
Auxiliary function Set when performing automatic continuous operation.
M code Code to be output when the positioning is completed.
Refer to section 4.5.2, 4.5.3 for details of the point table.
4.2.6 Actual operation
Start actual operation after confirmation of normal operation by test operation and completion of the
corresponding parameter settings. Perform a home position return as necessary.
4 - 8
4. OPERATION
4.3 Servo amplifier display
On the servo amplifier display (three-digit, seven-segment display), check the station number, and diagnose a
fault at occurrence of an alarm. (1) Display sequence
Servo amplifier power ON
Not ready (Note 1) When alarm warning No. is displayed
Servo ON
Ready
2s later
Point table No. display
2s later
At occurrence of overload
At occurrence of overload warning (Note 2)
Flicker display
Flicker display
Flicker display
During forced stop
Alarm reset or warning
Servo amplifier power OFF
When alarm occurs, alarm code appears.
Note 1. Only alarm and warning No. are displayed, but no station No. is displayed.
2. If warning other than AE6 occurs during the servo on, flickering the second place of decimal point indicates that it is
during the servo on.
4 - 9
4. OPERATION
(2) Indication list
Indication Status Description
d # # Ready The servo was switched on after completion of initialization and the servo amplifier is ready
to operate. (This is indicated for 2 seconds.)
C # # Not ready The servo amplifier is being initialized or an alarm has occurred.
(Note 1) $ $ $ Ready for operation Two seconds have passed after the servo amplifier is ready to operate by turning ON the
servo-on (SON).
(Note 2) A Alarm Warning The alarm No./warning No. that occurred is displayed. (Refer to section 10.2.)
8 88 CPU error CPU watchdog error has occurred.
(Note 3) 0 0.b
(Note 3)
Test operation mode
JOG operation positioning operation programmed operation DO forced output single-
step feed
# #.d Motor-less operation
# #.C
Note 1. $$$ indicates numbers from 0 to 255, and the number indicates the executing point table number.
2. indicates the warning/alarm No.
3. Requires MR Configurator or MR-PRU03 parameter module.
4 - 10
4. OPERATION
4.4 Operation mode and selection method
This servo has the operation modes indicated in the following table. Select an operation mode to be used with
a parameter and input devices. Parameters and input devices filled with a diagonal line are not required to set.
Selection item of operation mode
Operation mode
Parameter
No. Po10
setting
Input device setting (Note)
Refer to MD0
D10 to
D17
SP0 to
SP3
Automatic
operation
mode
Automatic
operation
with a point
table
One-time positioning
operation
1 ON Option Section 4.5.2 (1)
Automatic
continuous
operation
Speed
changing
operation
Section 4.5.2 (2) (b)
Automatic
continuous
positioning
operation
Section 4.5.2 (2) (c)
Automatic operation by BCD (3 digits 2)
input with the MR-DS60 6-digit digital
switch
2 ON Option Section 4.5.3
Automatic operation by BCD (3 digits 2)
input with the program controller
Section 4.5.4
Manual
operation
mode
JOG operation OFF Section 4.6.1
Manual pulse generator operation Section 4.6.2
Home
position
return
mode
Dog type ON All OFF All OFF Section 4.7.2
Count type Section 4.7.3
Data setting type Section 4.7.4
Stopper type Section 4.7.5
Home position ignorance (Servo-on
position as home position)
Section 4.7.6
Dog type rear end reference Section 4.7.7
Count type front end reference Section 4.7.8
Dog cradle type Section 4.7.9
Dog style right-before Z-phase reference Section 4.7.10
Dog type front end reference Section 4.7.11
Dogless Z-phase reference Section 4.7.12
Automatic positioning function to the home position ON All OFF All OFF Section 4.7.14
Roll feed display function Section 4.8
Note. MD0: Automatic/manual selection, D10 to D17: Point table No. selection 1 to 8, SP0 to SP3: Speed selection 1 to 4
4 - 11
4. OPERATION
4.5 Automatic operation mode
4.5.1 What is the automatic operation mode?
(1) Concept of Automatic operation
Automatic operation is a positioning function to automatically start and stop at a target position with one-
time start signal. The data required for positioning is set with the point table.
The position data can be set with the digital switch or from the program controller. (Refer to section 4.5.3.
and 4.5.4.)
Start (Note) Positioning
0r/min
Servo motor speed
Forward rotation
Note. For the start, use the forward rotation start (ST1) or reverse rotation start (ST2).
(2) Automatic operation types
With this servo, the following automatic operations are available.
One-time positioning
operation
Automatic operation with the point table
(Refer to section 4.5.2.)
Automatic continuous
operation
Speed changing operation
Automatic
operation
Automatic operation by BCD (3 digits 2)
input with the MR-DS60 digital switch
(Refer to section 4.5.3.)
Automatic continuous
positioning operation
Automatic operation by BCD (3 digits 2)
input with the program controller
(Refer to section 4.15.4.)
There are two types of command systems. the absolute value command system which requires specifying
the positioning addresses to move to for each automatic operation and the incremental value command
system which requires specifying the moving distance from the current position to the target position.
4 - 12
4. OPERATION
(3) Command system
After selection of preset point tables using the input signals or communication, operation is started by the
forward rotation start (ST1) or reverse rotation start (ST2). Automatic operation has the absolute value
command system, incremental value command system.
(a) Absolute value command system
As position data, set the target address to be reached.
Setting range: 999999 to 999999 [ 10STM m] (STM feed length multiplication parameter No.PA05)
Position data setting range [ 10 m]
999999 999999
STM
(b) Incremental value command system
As position data, set the moving distance from the current address to the target address.
Setting range: 0 to 999999 [ 10STM m] (STM feed length multiplication parameter No.PA05)
Current address Target address
Position data |target address - current address|
4 - 13
4. OPERATION
4.5.2 Automatic operation using point table
(1) One-time positioning operation
(a) Absolute value command system
1) Point table
Set the point table values using the MR Configurator or the MR-PRU03 parameter unit.
Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell,
auxiliary function and M code to the point table. The following table gives a setting example.
Name Setting range Unit Description
Position data 999999 to 999999 10STM m
(1) When using this point table as absolute value command system Set the target address (absolute value).
(2) When using this point table as incremental value command system Set the moving distance. A "-" sign indicates a reverse rotation command.
Motor speed 0 to permissible speed r/min
Set the command speed of the servo motor for execution of positioning. The setting should be equal to or less than the instantaneous permissible speed of the servo motor.
Acceleration
time constant 0 to 20000 ms Set the time until the rated speed of the servo motor is reached.
Deceleration
time constant 0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop.
Dwell 0 to 20000 ms
When the dwell is set, the position command of the selected point table is completed, and after the set dwell has elapsed, the position command of the next point table is started. Set "0" in the auxiliary function to make the dwell invalid. Set "1" in the auxiliary function and 0 in the dwell to perform speed change operation.
Auxiliary
function 0 to 3
(1) When using this point table in the absolute value command system 0: Automatic operation is performed in accordance with a single point table
chosen. 1: Operation is performed in accordance with consecutive point tables without
a stop. (2) When using this point table in the incremental value command system 2: Automatic operation is performed in accordance with a single point table
chosen. 3: Operation is performed in accordance with consecutive point tables without
a stop. When a different rotation direction is set, smoothing zero (command output) is confirmed and the rotation direction is then reversed. Setting "1" in point table No.255 results in an error.
For full information, refer to (2) in this section.
M code 00 to 99 The first and second digits of the M code respectively are output in 4-bit binary.
2) Parameter setting
Set the following parameters to perform automatic operation.
Select the absolute value command system with parameter No.PA01 (Control mode).
0
Absolute value command system (initial value)
Parameter No. PA01
4 - 14
4. OPERATION
Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is
switched on with parameter No.PA14 (Rotation direction selection).
Parameter No. PA14 setting Servo motor rotation direction
when forward rotation start (ST1) is switched on
0 CCW rotation with position data
CW rotation with position data
1 CW rotation with position data
CCW rotation with position data
CW
CCW
Set the unit multiplication factor (STM) of position data with parameter No.PA05 (Feed function
selection). Parameter No.PA05 setting Feed unit [m] Position data input range [mm]
0 1 999.999 to 999.999
1 10 9999.99 to 9999.99
2 100 99999.9 to 99999.9
3 1000 999999 to 999999
3) Operation
Choosing the point table using DI0 to DI7 and turning ST1 ON starts positioning to the position data
at the preset speed, acceleration time constant and deceleration time constant. At this time, reverse
rotation start (ST2) is invalid. Item Setting method Description
Automatic operation mode selection Automatic/manual selection (MD0) Turn MD0 ON.
Point table selection
Point table No. selection 1 (DI0)
Point table No. selection 2 (DI1)
Point table No. selection 3 (DI2)
Point table No. selection 4 (DI3)
Point table No. selection 5 (DI4)
Point table No. selection 6 (DI5)
Point table No. selection 7 (DI6)
Point table No. selection 8 (DI7)
Refer to the text
Start Forward rotation start (ST1) Turn ST1 ON to start.
Select a point table using the point table No. selection 1(DI0) to 8(DI7) as shown in the following table. Input device Point table No. to
be selected DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0
0 0 0 0 0 0 0 1 1
0 0 0 0 0 0 1 0 2
0 0 0 0 0 0 1 1 3
0 0 0 0 0 1 0 0 4
1 1 1 1 1 1 1 0 254
1 1 1 1 1 1 1 1 255
4 - 15
4. OPERATION
(b) Incremental value command system
1) Point table
Set the point table values using the MR Configurator or the MR-PRU03 parameter unit.
Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell,
auxiliary function and M code to the point table. The following table gives a setting example.
Name Setting range Unit Description
Position data 0 to 999999 10STM m
Set the moving distance.
The unit can be changed using feed length multiplication factor selection of
parameter No. PA05.
Servo motor
speed 0 to permissible speed r/min
Set the command speed of the servo motor for execution of positioning.
The setting should be equal to or less than the instantaneous permissible
speed of the servo motor.
Acceleration
time constant 0 to 20000 ms Set the time until the rated speed of the servo motor is reached.
Deceleration
time constant 0 to 20000 ms
Set the time until the servo motor running at rated speed comes to a stop.
Dwell 0 to 20000 ms
When the dwell is set, the position command of the selected point table is
completed, and after the set dwell has elapsed, the position command of the
next point table is started.
Set "0" in the auxiliary function to make the dwell invalid.
Set "1" in the auxiliary function and 0 in the dwell to perform speed change
operation.
Auxiliary
function 0 1
0: Automatic operation is performed in accordance with a single point table
chosen.
1: Operation is performed in accordance with consecutive point tables
without a stop.
When a different rotation direction is set, smoothing zero (command
output) is confirmed and the rotation direction is then reversed.
Setting "1" in point table No.255 results in an error.
For full information, refer to (2) in this section.
M code 00 to 99 The first and second digits of the M code respectively are output in 4-bit binary.
2) Parameter setting
Set the following parameters to perform automatic operation.
Select the incremental value command system with parameter No.PA01 (Control mode).
1
Parameter No. PA01
Incremental value command system
4 - 16
4. OPERATION
Choose the servo motor rotation direction at the time when the forward rotation start (ST1) signal or
reverse rotation start (ST2) signal is switched on with parameter No.PA14 (Rotation direction
selection).
Parameter No.PA14 setting Servo motor rotation direction
Forward rotation start (ST1) ON Reverse rotation start (ST2) ON
0 CCW rotation (address incremented) CW rotation (address decremented)
1 CW rotation (address incremented) CCW rotation (address decremented)
Parameter No.PA14: 0 Parameter No.PA14: 1
CW ST2: ON
CW ST1: ON
ST2: ON CCW
ST1: ON CCW
Set the unit multiplication factor (STM) of position data with parameter No.PA05 (Feed function
selection).
Parameter No.PA05 setting Feed unit [m] Position data input range [mm]
0 1 0 to 999.999
1 10 0 to 9999.99
2 100 0 to 99999.9
3 1000 0 to 999999
3) Operation
Choosing the point table using DI0 to DI7 and turning ST1 ON starts a motion in the forward rotation
direction over the moving distance of the position data at the preset speed and acceleration time constant.
Turning ST2 ON starts a motion in the reverse rotation direction according to the values set to the selected
point table.
Item Setting method Description
Automatic operation mode
selection Automatic/manual selection (MD0) Turn MD0 ON.
Point table selection
Point table No. selection 1 (DI0)
Point table No. selection 2 (DI1)
Point table No. selection 3 (DI2)
Point table No. selection 4 (DI3)
Point table No. selection 5 (DI4)
Point table No. selection 6 (DI5)
Point table No. selection 7 (DI6)
Point table No. selection 8 (DI7)
Refer to this text
Start
Forward rotation start (ST1) Turn ST1 ON to start motion in forward
rotation direction.
Reverse rotation start (ST2) Turn ST2 ON to start motion in reverse
rotation direction.
4 - 17
4. OPERATION
(c) Automatic operation timing chart
The timing chart is shown below.
3ms or more (Note 2)
ON OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0r/min
21Point table No.
ON
OFF
1 2
5ms or more
ON
OFF
ON
OFF
Forward rotation start (ST1)
Reverse rotation start (ST2)
5ms or more(Note 1)
Automatic/manual selection (MD0)
Servo-on (SON)
Servo motor speed
Forward rotation
Reverse rotation
In position (INP)
Rough match (CPO)
Movement finish (MEND)
Point table No. output (PT0 to PT7)
Ready (RD)
Trouble (ALM)
3ms or less
Point table No. 1
Point table No. 2
M code output M code of point table No. 1
3ms or more (Note 2)
Note 1. Reverse rotation start (ST2) is invalid in the absolute value command system.
2. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence
that will change the point table selection earlier by the time that takes into account the output signal sequence from
the controller and the variation of a signal change due to the hardware.
4 - 18
4. OPERATION
(2) Automatic continuous operation
(a) What is automatic continuous operation?
By merely choosing one point table and making a start (ST1 or ST2), operation can be performed in
accordance with the point tables having consecutive numbers.
Automatic operation is available in two types. varied speed operation and automatic continuous
positioning operation.
Either type may be selected as follows.
1) In absolute value command specifying system Point table setting
Dwell
Auxiliary function
Automatic continuous operation
Speed changing operation
Automatic continuous positioning operation
When position data is
absolute value
When position data is
incremental value
0 1 3
1 or more 1 3
2) In incremental value command system
Automatic continuous operation
Speed changing operation
Automatic continuous positioning operation
Point table setting
Dwell Auxiliary function
0 1
1 or more 1
(b) Varied speed operation
By setting "1" to the auxiliary function of up to point table No.254, operation can be performed at a
maximum of 255 speeds. Set "0" to the auxiliary function of the last point table.
When performing varied speed operation, always set "0" to the dwell. If "1" or more is set, automatic
continuous positioning operation is made valid.
The following table gives a setting example. Point table No. Dwell [ms] (Note 1) Auxiliary function Variable speed operation
1 0 1
Consecutive point table data 2 0 1
3 0 0 (Note 2)
4 0 1
Consecutive point table data 5 0 1
6 0 1
7 0 0 (Note 2)
Note 1. Always set "0".
2. Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables.
4 - 19
4. OPERATION
1) Absolute value command specifying system
This system is an auxiliary function for point tables to perform automatic operation by specifying the
absolute value command or incremental value command.
Positioning in single direction
The operation example given below assumes that the set values are as indicated in the following
table. Here, the point table No. 1 uses the absolute value command system, the point table No. 2
the incremental value command system, the point table No. 3 the absolute value system, and the
point table No. 4 the incremental value command system. Point table
No.
Position data
[ 10STM m]
Servo motor
speed [r/min]
Acceleration time constant
[ms]
Deceleration time constant
[ms]
Dwell [ms]
(Note 1)
Auxiliary
function M code
1 5.00 3000 100 150 0 1 05
2 3.00 2000 Invalid Invalid 0 3 10
3 10.00 1000 Invalid Invalid 0 1 15
4 6.00 500 Invalid Invalid 0 0 (Note 2) 20
Note 1. Always set "0".
2. Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables.
0: When point table is used in absolute value command system
1: When point table is used in incremental value command system
ON
OFF
0 5.00 8.00 16.00
1
3.00 6.00
10.00
1
05M code
Servo motor speed
Position address
Forward rotation
Acceleration time constant of point table No. 1 (100) Deceleration time constant
of point table No. 1 (150)
Speed (500)
Speed (1000)Speed
(2000)
Speed (3000)
Selected point table No.
Forward rotation start (ST1)
Point table No. out put (PT0 to PT7)
0r/min
4 - 20
4. OPERATION
Positioning that reverses the direction midway
The operation example given below assumes that the set values are as indicated in the following
table. Here, the point table No. 1 uses the absolute value command system, the point table No. 2
the incremental value command system, and the point table No. 3 the absolute value system. Point table
No.
Position data
[ 10STM m]
Servo motor
speed [r/min]
Acceleration time constant
[ms]
Deceleration time constant
[ms]
Dwell [ms]
(Note 1)
Auxiliary
function M code
1 5.00 3000 100 150 0 1 05
2 7.00 2000 Invalid Invalid 0 1 10
3 8.00 1000 Invalid Invalid 0 0 (Note 2) 15
Note 1. Always set "0".
2. Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables.
0: When point table is used in absolute value command system
1: When point table is used in incremental value command system
Deceleration time constant of point table No. 1 (150)
Servo motor speed
Forward rotation start (ST1)
ON
OFF
0 5.00 12.00
Speed (2000)
1
0r/min
Acceleration time constant of point table No. 1 (100)
Speed (1000)
7.00
Acceleration time constant of point table No. 1 (100)
1 Point table No. out put (PT0 to PT7)
05M code
8.00
Forward rotation
Reverse rotation
Position address
Selected point table No.
Speed (3000)
4 - 21
4. OPERATION
2) Incremental value command system
The position data of the incremental value command system is the sum of the position data of the
consecutive point tables.
The operation example given below assumes that the set values are as indicated in the following
table. Point table
No.
Position data
[ 10STM m]
Servo motor
speed [r/min]
Acceleration time constant
[ms]
Deceleration time constant
[ms]
Dwell [ms]
(Note 1)
Auxiliary
function M code
1 5.00 3000 100 150 0 1 05
2 6.00 2000 Invalid Invalid 0 1 10
3 3.00 1000 Invalid Invalid 0 0 (Note 2) 15
Note 1. Always set "0".
2. Always set "0" to the auxiliary function of the last point table among the consecutive point tables.
Deceleration time constant of point table No. 1 (150)
ON
OFF
0 5.00 11.00 14.00
Speed (3000)
1
Acceleration time constant of point table No. 1 (100)
5.00 6.00 3.00
1
05M code
0r/min
Speed (2000)
(1000)
Forward rotationServo motor
speed
Position address
Selected point table No.
Forward rotation start (ST1) (Note)
Point table No. out put (PT0 to PT7)
Speed
Note. Turning on Reverse rotation start (ST2) starts positioning in the reverse rotation direction.
4 - 22
4. OPERATION
(c) Automatic continuous positioning operation
By setting "1" or "3" to the auxiliary function of the point table, the continuous positioning to the next
point table No. can be executed.
By setting "1" or "3" to the auxiliary function up to the point table No. 254, a continuous automatic
positioning is available at a maximum of 255 speeds. Set "0" to the auxiliary function of the last point
table.
As an example, the operation in the absolute value command system is shown using the setting values
in the following table.
Here, the point table No.1 uses the absolute value command system, the point table No.2 the
incremental value command system, and the point table No.3 the absolute value command system. Point table
No.
Position data
[10STM m]
Servo motor
speed [r/min]
Acceleration time constant
[ms]
Deceleration time constant
[ms] Dwell [ms]
Auxiliary
function M code
1 5.00 3000 100 150 100 1 05
2 6.00 2000 100 100 0 3 15
3 3.00 3000 50 50 0 0 (Note) 25
Note. Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables.
0: When point table is used in absolute value command system
2: When point table is used in incremental value command system
Point table No. 1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
5ms or more
Ready (RD)
Trouble (ALM)
Point table No.
Servo motor speed
Forward rotation
0r/min
ON
OFF Forward rotation start (ST1)
1
ON
OFF
3ms or less
1
05
Point table No. 2
Point table No. 3
Servo-on (SON)
Automatic/manual selection (MD0)
Rough match (CPO)
Movement finish (MEND)
Point table No. out put (PT0 to PT7)
M code output
Reverse rotation
In position (INP)
3ms or more (Note)
Note. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that will
change the point table selection earlier by the time that takes into account the output signal sequence from the controller and the
variation of a signal change due to the hardware.
4 - 23
4. OPERATION
(3) Temporary stop/restart on automatic operation
When TSTP is turned ON during automatic operation, the motor is decelerated to a temporary stop at the
deceleration time constant in the point table being executed. When TSTP is turned ON again, the
remaining distance is executed.
If the forward/reverse rotation start signal (ST1 or ST2) is ignored if it is switched on during a temporary
stop.
The remaining moving distance is cleared when the operation mode is changed from the automatic mode
to the manual mode during a temporary stop.
The temporary stop/restart input is ignored during zeroing and jog operation.
(a) When the servo motor is rotating
tbta
ON OFF
ON OFF
ON OFF
OFF
OFF
ON
ON
OFF ON
Point table No. n
Forward rotation
0r/min
Servo motor speed
Point table No. n
No. n
M code
Point table No. out put (PT0 to PT7)
Movement finish (MEND)
In position (INP)
Rough match (CPO)
Temporary stop (PUS)
Temporary stop/Restart (TSTP)
Forward rotation start (ST1) or reverse rotation start (ST2)
Dwell = ta tb
Point table No. n 1
4 - 24
4. OPERATION
2) During dwell
tbta
ON OFF
ON OFF
ON OFF
OFF
OFF
ON
ON
OFF ON
Point table No. n
Forward rotation
0r/min
Servo motor speed
Point table No. n
No. n
M code
Point table No. out put (PT0 to PT7)
Movement finish (MEND)
In position (INP)
Rough match (CPO)
Temporary stop (PUS)
Temporary stop/Restart (TSTP)
Forward rotation start (ST1) or reverse rotation start (ST2)
Dwell = ta tb
Point table No. n 1
4 - 25
4. OPERATION
4.5.3 Automatic operation by BCD (3 digits 2) input with the MR-DS60 digital switch
The positioning is executed based on the positioning data set with the MS-DS60 digital switch and the selected
speed command. For the connection example of the MR-DS60 digital switch to the servo amplifier, refer to
section 3.2.2. (1) Parameter setting
Set the parameter No. Po10 to ensure that the BCD (3 digits 2) can be used. Set the parameters
referring to the following table as required.
No. Name Digit to be set
Setting item Setting value
Description
Po10 Function selection O-1 Operation system 2 Make sure to set the operation system. Make the I/O devices required for the BCD input valid. For devices to be valid, refer to section 3.4.
Strobe signal 2 (initial value)
The strobe (STRB) is not used. Do not change the initial value.
Symbol of the positioning data in the BCD positioning
0 Uses the 6-digit positioning data without symbol (+/ ).
1 (initial value)
Uses the 6-digit positioning data with symbol (+/ ).
PA01 Control mode Command system (Refer to section 5.1.3.)
0 (initial value)
Selects the absolute value command system.
1 Selects the incremental value command system.
PA05 Feeding function selection (Feed length multiplication STM)
Feed length multiplication (Refer to section 5.1.7.)
Refer to section 5.1.7.
PA14 Rotation direction selection Servo motor rotation direction (Refer to section 5.1.12.)
0 (initial value)
Forward rotation start (ST1) ON: rotates in the CCW direction. Reverse rotation start (ST2) ON: rotates in the CW direction.
1 Forward rotation start (ST1) ON: rotates in the CW direction. Reverse rotation start (ST2) ON: rotates in the CCW direction
(2) Operation
When the positioning data is set with the MS-DS60 and the forward rotation start (ST1) is turned ON,
operation is performed in the forward direction for the moving distance of the positioning data under the
conditions of the motor speed and the acceleration and deceleration time constants set in the point tables
selected with SP0 to 3. In the incremental command system, operation is performed in the reverse direction
when the reverse rotation start (ST2) is turned ON.
Select the point table with SP0 to 3 as shown below and execute the positioning based on the set motor
speed, acceleration and deceleration time constants.
(Note) Device Point table No. to be selected SP3 SP2 SP1 SP0
0 0 0 1 1
0 0 1 0 2
1 1 0 1 13
1 1 1 0 14
1 1 1 1 15
Note. 0: OFF
1: ON
4 - 26
4. OPERATION
(3) Timing chart
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Ready (RD)
Trouble (ALM)
Digital switch BCD (3 digits 2)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Speed selection 1 to 4
Forward rotation
0r/minServo motor speed
Movement finish (MEND)
In position (INP)
Rough match (CPO)
Reverse rotation start (ST2)
Speed 2)
Position 2)
3ms or more (Note 2)
3ms or less
5ms or more
5ms or more
Position 1) Speed 1)
Position 2) Speed 2)Reverse rotation
Forward rotation start (ST1)
(Note 1)
Servo-on (SON)
Automatic/manual selection (MD0)
Speed 1)
Position 1)
Note 1. Reverse rotation start (ST2) is invalid in the absolute value command system.
2. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence
that will change the position data earlier by the time that takes into account the output signal sequence from the controller and
the variation of a signal change due to the hardware.
4 - 27
4. OPERATION
(4) Temporary stop/restart on automatic operation
When TSTP is turned ON during automatic operation, the motor is decelerated to a temporary stop at the
deceleration time constant in the point table being executed. When TSTP is turned ON again, the
remaining distance is executed.
If the forward/reverse rotation start signal (ST1 or ST2) is ignored if it is switched on during a temporary
stop.
The remaining moving distance is cleared when the operation mode is changed from the automatic mode
to the manual mode during a temporary stop.
The temporary stop/restart input is ignored during zeroing and jog operation.
ON OFF
ON OFF
ON OFF
OFF
OFF
ON
ON
OFF ON
BCD input
Forward rotation
Servo motor speed Remaining distance
In position (INP)
Movement finish (MEND)
Temporary stop/Restart (TSTP)
Temporary stop (PUS)
Rough match (CPO)
Forward rotation start (ST1) or reverse rotation start (ST2)
Acceleration time constant of point table No.1 (Note)
Deceleration time constant of point table No. 1 (Note)
0r/min
Note. When the Speed selection 1 to 4 (SP0 to SP3) are used, these constants will be the
acceleration/deceleration time constants of the point tables selected at a start.
4 - 28
4. OPERATION
4.5.4 Automatic operation by BCD (3 digits 2) input with the programmable controller
The positioning is executed the positioning based on the positioning data set with the programmable controller
and the selected speed command. For the connection example of the programmable controller to the servo
amplifier, refer to section 3.2.3. (1) Parameter setting
Set the parameter No.Po10 to enable to use the BCD (3 digits 2) input and the strobe (STRB). Set the
parameters referring to the following table as required.
No. Name Digit to be set
Setting item Setting value Description
Po10 Function selection O-1 Operation system 2 Make sure to set the operation system. Make the I/O devices required for the BCD input valid. For devices to be valid, refer to section 3.4.
Strobe signal 0
Make sure to set the strobe (STRB). A strobe signal is required if the programmable controller is used.
Symbol of the positioning data in the BCD positioning
0 Uses the 6-digit positioning data without symbol (+/ ).
1 (initial value)
Uses the 6-digit positioning data with symbol (+/ ).
PA01 Control mode Command system (Refer to section 5.1.3.)
0 (initial value)
Selects the absolute value command system.
1 Selects the incremental value command system.
PA05 Feeding function selection (Feed length multiplication STM)
Feed length multiplication (Refer to section 5.1.7.)
Refer to section 5.1.7.
PA14 Rotation direction selection Servo motor rotation direction (Refer to section 5.1.12.)
0 (initial value)
Forward rotation start (ST1) ON: rotates in the CCW direction. Reverse rotation start (ST2) ON: rotates in the CW direction.
1 Forward rotation start (ST1) ON: rotates in the CW direction. Reverse rotation start (ST2) ON: rotates in the CCW direction
(2) Operation
When the positioning data is set with the programmable controller and the forward rotation start (ST1) is
turned ON, operation is performed in the forward rotation direction for the moving distance of the
positioning data under the conditions of the motor speed and the acceleration and deceleration time
constants set to the point tables selected with SP0 to 3. In the incremental command system, operation is
performed in the reverse direction when the reverse rotation start (ST2) is turned ON.
Select the point table with SP0 to 3 as shown below and execute the positioning based on the set motor
speed, acceleration and deceleration time constants.
(Note) Device Point table No. to be selected SP3 SP2 SP1 SP0
0 0 0 1 1
0 0 1 0 2
1 1 0 1 13
1 1 1 0 14
1 1 1 1 15
Note. 0: OFF
1: ON
4 - 29
4. OPERATION
(3) Timing chart
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
ON
Strobe(STRB)
Position 1) last 3 digits Position 1) first 3 digits
OFF
ON
OFF
Forward rotation start (ST1) (Note 1)
OFF
Speed 1)
Position 1) Speed 1)
5ms or more
5ms or more (Note 2)
4ms or more (Note 2)
3ms or more (Note 2)
5ms or more
5ms or more
5ms or more
3ms or less
Automatic/manual selection (MD0)
Servo-on (SON)
Speed selection 1 to 4
Digital switch BCD (3 digits 2)
Servo motor speed
Forward rotation
In position (INP)
Rough match (CPO)
Movement finish (MEND)
Ready (RD)
Trouble (ALM)
0r/min
Note 1. In the incremental system, the reverse rotation start (ST2) can also be used. In this case, the same timing chart as ST1 can be
applied.
2. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that will
change the position data earlier by the time that takes into account the output signal sequence from the controller and the
variation of a signal change due to the hardware.
4 - 30
4. OPERATION
(4) Temporary stop/restart on automatic operation
When TSTP is turned ON during automatic operation, the motor is decelerated to a temporary stop at the
deceleration time constant in the point table being executed. When TSTP is turned ON again, the
remaining distance is executed.
If the forward/reverse rotation start signal (ST1 or ST2) is ignored if it is switched on during a temporary
stop.
The remaining moving distance is cleared when the operation mode is changed from the automatic mode
to the manual mode during a temporary stop.
The temporary stop/restart input is ignored during zeroing and jog operation.
ON OFF
ON OFF
ON OFF
OFF
OFF
ON
ON
OFF ON
BCD input
0r/min
Servo motor speed Remaining distance
In position (INP)
Movement finish (MEND)
Temporary stop/Restart (TSTP)
Temporary stop (PUS)
Rough match (CPO)
Forward rotation start (ST1) or reverse rotation start (ST2)
Acceleration time constant of point table No.1 (Note)
Deceleration time constant of point table No. 1 (Note)
Forward rotation
Note. When the Speed selection 1 to 4 (SP0 to SP3) are used, these constants will be the
acceleration/deceleration time constants of the point tables selected at a start.
4 - 31
4. OPERATION
4.6 Manual operation mode
For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be
used to make a motion to any position.
4.6.1 JOG operation
(1) Setting
Set the input device and parameters as follows according to the purpose of use. In this case, the point table
No. selection 1 to 8 (DI0 to DI7) are invalid.
Item Device/Parameter used Description
Manual operation mode selection Automatic/manual selection (MD0) Turn MD0 OFF.
Servo motor rotation direction Parameter No.PA14 Refer to (2) in this section.
Jog speed Parameter No.PC12 Set the speed of the servo motor.
Acceleration/deceleration time constant Point table No.1 Use the acceleration/deceleration
time constants in point table No.1.
(2) Servo motor rotation direction
Parameter No. PA14 setting Servo motor rotation direction
Forward rotation start (ST1) ON Reverse rotation start (ST2) ON
0 CCW rotation CW rotation
1 CW rotation CCW rotation
Parameter No.PA14: 0 Parameter No.PA14: 1
CW ST2: ON
CW ST1: ON
ST2: ON CCW
ST1: ON CCW
(3) Operation
By turning ST1 ON, operation is performed under the conditions of the jog speed set in the parameter and
the acceleration and deceleration time constants in set point table No.1. For the rotation direction, refer to
(2) in this section. By turning ST2 ON, the servo motor rotates in the reverse direction to forward rotation
start (ST1).
4 - 32
4. OPERATION
(4) Timing chart
100m
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0r/min
ON
OFF
ON
OFF
Servo-on (SON)
Ready (RD)
Trouble (ALM)
Automatic/manual selection (MD0)
Rough match (CPO)
Servo motor speed
Forward rotation start (ST1)
Reverse rotation start (ST2)
Forward rotation jog
Reverse rotation jog
Forward rotation
Reverse rotation
Movement finish (MEND)
4.6.2 Manual pulse generator
(1) Setting
Set the input device and parameters as follows according to the purpose of use. In this case, the point table
No. selection 1 to 8 (DI0 to DI7) are invalid.
Item Device/Parameter used Description
Manual operation mode selection Automatic/manual selection (MD0) Turn MD0 OFF.
Manual pulse generator multiplication Parameter No.PA05 For more information, refer to (3) in
this section.
Servo motor rotation direction Parameter No.PA14 Refer to (2) in this section.
(2) Servo motor rotation direction
Parameter No. PA14 setting Servo motor rotation direction
Manual pulse generator: forward rotation Manual pulse generator: reverse rotation
0 CCW rotation CW rotation
1 CW rotation CCW rotation
CW
CCW
Forward rotation
4 - 33
4. OPERATION
(3) Manual pulse generator multiplication
(a) Using the parameter for setting
Use parameter No. PA05 to set the multiplication ratio of the servo motor rotation to the manual pulse
generator rotation.
Parameter No. PA05 setting Multiplication ratio of servo motor rotation to
manual pulse generator rotation Moving distance
0 1 time 1[ m]
1 10 times 10[ m]
2 100 times 100[ m]
(b) Using the input devices for setting (devices)
(Note)
Pulse generator multiplication 2
(TP1)
(Note)
Pulse generator multiplication 1
(TP0)
Multiplication ratio of servo motor rotation
to manual pulse generator rotation Moving distance
0 0 Parameter No. PA05 setting valid
0 1 1 time 1[ m]
1 0 10 times 10[ m]
1 1 100 times 100[ m]
Note. 0: OFF
1: ON
(4) Operation
Turn the manual pulse generator to rotate the servo motor. For the rotation direction of servo motor, refer to
(2) in this section.
4 - 34
4. OPERATION
4.7 Manual home position return mode
4.7.1 Outline of home position return
Home position return is performed to match the command coordinates with the machine coordinates. In the
incremental system, home position return is required every time input power is switched on. In the absolute
position detection system, once home position return is done at the time of installation, the current position is
retained if power is switched off. Hence, home position return is not required when power is switched on again.
This servo amplifier has the home position return methods given in this section. Choose the most appropriate
method for your machine structure and application.
This servo amplifier has the home position return automatic return function which executes home position
return by making an automatic return to a proper position if the machine has stopped beyond or at the
proximity dog. Manual motion by jog operation or the like is not required.
4 - 35
4. OPERATION
(1) Home position return types
Choose the optimum home position return according to the machine type, etc.
Type Home position return method Features
Dog type home position return
With deceleration started at the front end of a proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.(Note)
General home position return method using a proximity dog. Repeatability of home position return is excellent. The machine is less burdened. Used when the width of the proximity dog can be set greater than the deceleration distance of the servo motor.
Count type home position return
With deceleration started at the front end of a proximity dog, the position where the first Z-phase signal is given after advancement over the preset moving distance after the proximity dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.
Home position return method using a proximity dog. Used when it is desired to minimize the length of the proximity dog.
Data setting type home position return
An arbitrary position is defined as a home position. No proximity dog required.
Stopper type home position return
The position where the machine stops when its part is pressed against a machine stopper is defined as a home position.
Since the machine part collides with the machine be fully lowered. The machine and stopper strength must be increased.
Home position ignorance (Servo-on position as home position)
The position where servo is switched on is defined as a home position.
Dog type rear end reference
The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance after it passed the rear end is defined as a home position.
The Z-phase signal is not needed.
Count type front end reference
The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance is defined as a home position.
The Z-phase signal is not needed.
Dog cradle type The position where the first Z-phase signal is issued after detection of the proximity dog front end is defined as a home position.
Dog type first Z-phase reference
After the proximity dog front end is detected, the current position moves away from the proximity dog in the reverse direction. In this movement, the home position is defined to be where the first Z-phase signal is issued or the position that is the home position shift distance away from where the first Z-phase signal is issued.
Dog type front end reference
The home position is defined to be where the axis has moved the after-proximity dog moving distance and home position shift distance from the front end of a proximity dog.
The Z-phase signal is not needed.
Dogless Z-phase reference
The home position is defined to be where the first Z- phase signal is issued or the position that is the home position shift distance away from where the first Z- phase signal is issued.
Note. The Z-phase signal is a signal recognized in the servo amplifier once per servo motor revolution and cannot be used as an output
signal.
4 - 36
4. OPERATION
(2) Home position return parameter
When performing home position return, set each parameter as follows.
(a) Choose the home position return method with parameter No. PC02 (Home position return type).
0 Parameter No.PC02
0 0
Home position return method 0: Dog type 1: Count type 2: Data setting type 3: Stopper type 4: Home position ignorance (Servo-on position as home position) 5: Dog type rear end reference 6: Count type front end reference 7: Dog cradle type 8: Dog type first Z-phase reference 9: Dog type front end reference A: Dogless Z-phase reference
(b) Choose the starting direction of home position return with parameter No. PC03 (Home position return
direction). Set "0" to start home position return in the direction in which the address is incremented from
the current position, or "1" to start home position return in the direction in which the address is
decremented.
0 Parameter No.PC03
0 0
Home position return direction 0: Address increment direction 1: Address decrement direction
(c) Choose the polarity at which the proximity dog is detected with parameter No. PD16 (Input polarity
setting). Set "0" to detect the dog when the proximity dog device (DOG) is OFF, or "1" to detect the dog
when the device is ON.
0 00 Parameter No.PD16
Proximity dog input polarity 0: OFF indicates detection of the dog. 1: ON indicates detection of the dog.
(3) Instructions
1) Before starting home position return, always make sure that the limit switch operates.
2) Confirm the home position return direction. Incorrect setting will cause the machine to run reversely.
3) Confirm the proximity dog input polarity. Not doing so may cause unexpected operation.
4 - 37
4. OPERATION
4.7.2 Dog type home position return
A home position return method using a proximity dog. With deceleration started at the front end of the proximity
dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been
made over the home position shift distance starting from the Z-phase signal is defined as a home position. (1) Devices, parameters
Set the input devices and parameters as follows.
Item Device/Parameter used Description
Manual home position return mode
selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Dog type home position return Parameter No.PC02 0 :Dog type home position return is
selected.
Home position return direction Parameter No.PC03 Refer to (2) in this section and choose
home position return direction.
Dog input polarity Parameter No.PD16 Refer to (2) in this section and choose dog
input polarity.
Home position return speed Parameter No.PC04 Set speed until detection of dog.
Creep speed Parameter No.PC05 Set speed after detection of dog.
Home position shift distance Parameter No.PC06
Set when shifting the home position starting
at the first Z-phase signal after passage of
proximity dog rear end.
Home position return
acceleration/deceleration time
constants
Point table No.1 Use the acceleration/deceleration time
constants of point table No.1.
Home position return position data Parameter No.PC07 Set the current position at home position return completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
(2) Length of proximity dog
To ensure that the Z-phase signal of the servo motor is generated during detection of the proximity dog
(DOG), the proximity dog should have the length which satisfies formulas (4.1) and (4.2).
L1 60 V
2 td .............................................................................. (4.1)
L1 : Proximity dog length [mm]
V : Home position return speed [mm/min]
td : Deceleration time [s]
L2 2 S .................................................................................... (4.2)
L2 : Proximity dog length [mm]
S : Moving distance per servo motor revolution [mm]
4 - 38
4. OPERATION
(3) Timing chart
ON
OFF
ON
OFF
ON
OFF
td
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0Selected point table No.
Movement finish (MEND)
Rough match (CPO)
Home position return completion (ZP)
Servo motor speed
Z-phase
Proximity dog (DOG)
Forward rotation start (ST1)
Home position
5ms or more
Point table No. 1
Acceleration time
constant
Home position return
speed Parameter No. PC04
Point table No. 1
Deceleration time constant
Creep speed
Parameter No. PC05
Home position shift
distance Parameter No. PC06
Home position address
Parameter No. PC07
3ms or less
Reverse rotation start (ST2)
0r/min
Automatic/manual selection (MD0)
Forward rotation
Proximity dog
(Note) 3ms or more
Note. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that will
change the point table selection earlier by the time that takes into account the output signal sequence from the controller and the
variation of a signal change due to the hardware.
The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed. (4) Adjustment
In dog type home position return, adjust to ensure that the Z-phase signal is generated during dog
detection. Locate the rear end of the proximity dog (DOG) at approximately the center of two consecutive Z-
phase signals.
The position where the Z-phase signal is generated can be monitored in "Within one-revolution position" of
"Status display" of the MR Configurator or the parameter unit.
OF
0 131072 0
ON
Servo motor Z-phase
Proximity dog (DOG)
Proximity dog
4 - 39
4. OPERATION
4.7.3 Count type home position return
In count type home position return, a motion is made over the distance set in parameter No.PC08 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-phase signal is given after that is defined as a home position. Hence, if the proximity dog (DOG) is 10ms or longer, there is no restriction on the dog length. This home position return method is used when the required proximity dog length cannot be reserved to use dog type home position return or when the proximity dog (DOG) is entered electrically from a controller or the like. (1) Devices, parameters
Set the input devices and parameters as follows.
Item Device/Parameter used Description
Manual home position return mode selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Count type home position return Parameter No.PC02 1 : Count type home position return is
selected.
Home position return direction Parameter No.PC03 Refer to (2) in this section and choose home position return direction.
Dog input polarity Parameter No.PD16 Refer to (2) in this section and choose dog input polarity.
Home position return speed Parameter No.PC04 Set speed until detection of dog.
Creep speed Parameter No.PC05 Set speed after detection of dog.
Home position shift distance Parameter No.PC06
Set when shifting the home position, starting at the first Z-phase signal given after passage of the proximity dog front end and movement over the moving distance.
Moving distance after proximity dog Parameter No.PC08 Set the moving distance after passage of proximity dog front end.
Home position return acceleration/deceleration time constants
Parameter No.1 Use the acceleration/deceleration time constants of point table No.1.
Home position return position data Parameter No.PC07 Set the current position at home position return completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
4 - 40
4. OPERATION
(2) Timing chart
(Note) 3ms or more
0r/min
Forward rotation
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0
ON
OFF
ON
OFF
Movement finish (MEND)
Rough match (CPO)
Home position return completion (ZP)
Servo motor speed
Z-phase
Proximity dog (DOG)
Forward rotation start (ST1) 5ms or more
3ms or less
Home position shift distance Parameter No. PC06
Home position address Parameter No. PC07
Home position return speed Parameter No. PC04
Point table No. 1 Acceleration time constant
Home position Creep speed Parameter No. PC05
Point table No. 1 Deceleration time constant
Moving distance after proximity dog Parameter No. PC08
Reverse rotation start (ST2)
Selected point table No.
Automatic/manual selection (MD0)
Proximity dog
Note. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that will
change the point table selection earlier by the time that takes into account the output signal sequence from the controller and the
variation of a signal change due to the hardware.
The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.
4 - 41
4. OPERATION
4.7.4 Data setting type home position return
Data setting type home position return is used when it is desired to determine any position as a home position.
JOG operation can be used for movement. (1) Devices, parameters
Set the input devices and parameters as follows.
Item Device/Parameter used Description
Manual home position return mode selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Data setting type home position
return Parameter No.PC02
2 : Data setting type home position
return is selected.
Home position return position data Parameter No.PC07 Set the current position at home position return completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
(2) Timing chart
ON
OFF
ON
OFF
ON
OFF
0
ON
OFF
ON
OFF
ON
OFF
Movement to the home position Operation for home position return
Movement finish (MEND)
Rough match (CPO)
Home position return completion (ZP)
Servo motor speed
Forward rotation start (ST1)
3ms or less
Home position address Parameter No. PC07
Automatic/manual selection (MD0)
5ms or more
Reverse rotation start (ST2)
0r/min
Forward rotation
Selected point table No.
(Note) 3ms or more
Note. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that
will change the point table selection earlier by the time that takes into account the output signal sequence from the controller
and the variation of a signal change due to the hardware.
The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.
4 - 42
4. OPERATION
4.7.5 Stopper type home position return
In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation to
make a home position return and that position is defined as a home position. (1) Devices, parameters
Set the input devices and parameters as follows.
Item Device/Parameter used Description
Manual home position return
mode selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Stopper type home position
return Parameter No.PC02
3 : Stopper type home position return is
selected.
Home position return direction Parameter No.PC03 Refer to (2) in this section and choose the home
position return direction.
Home position return speed Parameter No.PC04 Set the speed till contact with the stopper.
Stopper time Parameter No.PC09
Time from when the part makes contact with the
stopper to when home position return data is
obtained to output home position return
completion (ZP).
Stopper type home position
return torque limit Parameter No.PC10
Set the servo motor torque limit value for
execution of stopper type home position return.
Home position return
acceleration time constant Point table No.1
Use the acceleration time constant of point table
No.1.
Home position return position
data Parameter No.PC07
Set the current position at home position return completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
4 - 43
4. OPERATION
(2) Timing chart
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Parameter No. PC35 (Note 3)Parameter No. PC10 Parameter No. PC35
0
ON
OFF
Rough match (MEND)
Home position return completion (ZP)
Servo motor speed
Forward rotation start (ST1)
Home position address Parameter No. PC07
Automatic/manual selection (MD0)
Limiting torque (CPO)
Torque limit value
Stopper time Parameter No. PC09
Point table No.1 Acceleration time constant
Home position return speed Parameter No.PC04
Reverse rotation start (ST2)
0r/min
Forward rotation
Selected point table No.
3ms or less
Stopper
(Note 2)
5ms or more (Note 1) 3ms or more
Movement finish (MEND)
Note 1. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that
will change the point table selection earlier by the time that takes into account the output signal sequence from the
controller and the variation of a signal change due to the hardware.
2. TLC turns ON when the torque reaches to the value set in the forward torque limit (parameter No. PA11), reverse torque
limit (parameter No.PA12), internal torque limit 2 (parameter No. PC35), or analog torque limit (TLA).
3. The torque limit that is enabled at this point is as follows.
(Note)
I/O devices Limit value status Torque limit to be
enabled TL1 TL
0 0 Parameter No.PC10
0 1 TLA Parameter No.PC10 Parameter No.PC10
TLA Parameter No.PC10 TLA
1 0 Parameter No.PC35 Parameter No.PC10 Parameter No.PC10
Parameter No.PC35 Parameter No.PC10 Parameter No.PC35
1 1 TLA Parameter No.PC10 Parameter No.PC10
TLA Parameter No.PC10 TLA
Note. 0: OFF
1: ON
The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.
4 - 44
4. OPERATION
4.7.6 Home position ignorance (servo-on position defined as home position)
The position where servo is switched on is defined as a home position. (1) Devices, parameter
Set the input devices and parameter as follows.
Item Device/Parameter used Description
Manual home position return
mode selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Home position ignorance Parameter No.PC02 4 : Home position ignorance is selected.
Home position return position data Parameter No.PC07 Set the current position at home position return completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
(2) Timing chart
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0r/min
Movement finish (MEND)
Rough match (CPO)
Home position return completion (ZP)
Servo motor speed
Home position address Parameter No. PC07
Automatic/manual selection (MD0)
Ready (RD)
Servo-on (SON)
The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.
4 - 45
4. OPERATION
4.7.7 Dog type rear end reference home position return
POINT
This home position return method depends on the timing of reading Proximity
dog (DOG) that has detected the rear end of a proximity dog. Hence, if a
home position return is made at the creep speed of 100r/min, an error of
400 pulses will occur in the home position. The error of the home position is larger as the creep speed is higher.
The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the
after-proximity dog moving distance and home position shift distance after it passed the rear end is defined as
a home position. A home position return that does not depend on the Z-phase signal can be made. (1) Devices, parameters
Set the input devices and parameters as indicated below.
Item Device/Parameter used Description
Manual home position return mode
selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Dog type rear end reference home
position return Parameter No.PC02
5: Select the dog type rear end
reference.
Home position return direction Parameter No.PC03 Refer to (2) in this section and select the home
position return direction.
Dog input polarity Parameter No.PD16 Refer to (2) in this section and select the dog
input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Home position shift distance Parameter No.PC06
Set when the home position is moved from
where the axis has passed the proximity dog
rear end.
Moving distance after proximity dog Parameter No.PC08 Set the moving distance after the axis has
passed the proximity dog rear end.
Home position return acceleration/
deceleration time constants Point table No.1
Use the acceleration/deceleration time
constant of point table No. 1.
Home position return position data Parameter No.PC07 Set the current position at home position return
completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
4 - 46
4. OPERATION
(2) Timing chart
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0
Automatic/manual selection (MD0)
Movement finish (MEND)
Rough match (CPO)
Home position return completion (ZP)
Servo motor speed
Proximity dog (DOG)
Forward rotation start (ST1)
Home position return speed
Creep speed
5ms or more
3ms or less Home position address Parameter No. PC07
Reverse rotation start (ST2)
Selected point table No.
Proximity dog
Forward rotation 0r/min
3ms or more (Note)
Moving distance after proximity dog
Home position shift distance
Note. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that will
change the point table selection earlier by the time that takes into account the output signal sequence from the controller and the
variation of a signal change due to the hardware.
The parameter No.PC17 (home position return position data) setting value is the positioning address after the home position return is completed.
4 - 47
4. OPERATION
4.7.8 Count type front end reference home position return
POINT
This home position return method depends on the timing of reading Proximity
dog (DOG) that has detected the front end of a proximity dog. Hence, if a
home position return is made at the home position return speed of 100r/min,
an error of 400 pulses will occur in the home position. The error of the home position is larger as the home position return speed is higher.
The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the
after-proximity dog moving distance and home position shift distance is defined as a home position. A home
position return that does not depend on the Z-phase signal can be made. The home position may change if the
home position return speed varies. (1) Devices, parameters
Set the input devices and parameters as indicated below.
Item Device/Parameter used Description
Manual home position return mode
selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Count type dog front end reference
home position return Parameter No.PC02
6: Select the count type dog front end
reference.
Home position return direction Parameter No.PC03 Refer to (2) in this section and select the home
position return direction.
Dog input polarity Parameter No.PD16 Refer to (2) in this section and select the dog
input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Home position shift distance Parameter No.PC06
Set when the home position is moved from
where the axis has passed the proximity dog
rear end.
Moving distance after proximity dog Parameter No.PC08 Set the moving distance after the axis has
passed the proximity dog rear end.
Home position return acceleration/
deceleration time constants Point table No.1
Use the acceleration/deceleration time constant
of point table No. 1.
Home position return position data Parameter No.PC07 Set the current position at home position return
completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
4 - 48
4. OPERATION
(2) Timing chart
0
5ms or more
Creep speed
Moving distance after proximity dog
Home position shift distance Home position return speed
3ms or less
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Automatic/manual selection (MD0)
Movement finish (MEND)
Rough match (CPO)
Home position return completion (ZP)
Servo motor speed
Proximity dog (DOG)
Forward rotation start (ST1)
Reverse rotation start (ST2)
Selected point table No.
ON
OFF
ON
OFF
Home position address Parameter No. PC07
Proximity dog (DOG)
Forward rotation 0r/min
3ms or more (Note)
Note. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that will
change the point table selection earlier by the time that takes into account the output signal sequence from the controller and the
variation of a signal change due to the hardware.
The parameter No.PC07 (home position return position data) setting value is the positioning address after the home position return is completed.
4 - 49
4. OPERATION
4.7.9 Dog cradle type home position return
The position where the first Z-phase signal is issued after detection of the proximity dog front end can be
defined as a home position. (1) Devices, parameters
Set the input devices and parameters as indicated below.
Item Device/Parameter used Description
Manual home position return mode selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Dog cradle type home position return Parameter No.PC02 7: Select the dog cradle type.
Home position return direction Parameter No.PC03 Refer to (2) in this section and select the home position return direction.
Dog input polarity Parameter No.PD16 Refer to (2) in this section and select the dog input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Home position shift distance Parameter No.PC06 Set when the home position is moved from the Z-phase signal position.
Home position return acceleration/deceleration time constants
Point table No.1 Use the acceleration/deceleration time constant of point table No. 1.
Home position return position data Parameter No.PC07 Set the current position at home position return completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
4 - 50
4. OPERATION
(2) Timing chart
0
ON
OFF
Forward rotation 0r/min Reverse rotation
3ms or less
Creep speed
Home position return speed Home position shift distance
Home position address Parameter No. PC07
Proximity dog
5ms or more
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Movement finish (MEND)
Rough match (CPO)
Home position return completion (ZP)
Z-phase
Proximity dog (DOG)
Selected point table No.
Automatic/manual selection (MD0)
Forward rotation start (ST1)
Forward rotation start (ST2)
Servo motor speed
3ms or more (Note)
Note. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that will
change the point table selection earlier by the time that takes into account the output signal sequence from the controller and the
variation of a signal change due to the hardware.
The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.
4 - 51
4. OPERATION
4.7.10 Dog type first Z-phase reference home position return
After the proximity dog front end is detected, the current position moves in the reverse direction at creep
speed. After this moving away from the proximity dog, the home position is determined to be where the first Z-
phase pulse is issued. (1) Devices, parameters
Set the input devices and parameters as indicated below.
Item Device/Parameter used Description
Manual home position return mode selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Dog cradle type home position return Parameter No.PC02 8: Select the dog cradle type.
Home position return direction Parameter No.PC03 Refer to (2) in this section and select the home position return direction.
Dog input polarity Parameter No.PD16 Refer to (2) in this section and select the dog input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Home position shift distance Parameter No.PC06 Set when the home position is moved from the Z-phase signal position.
Home position return acceleration/deceleration time constants
Point table No.1 Use the acceleration/deceleration time constant of point table No. 1.
Home position return position data Parameter No.PC07 Set the current position at home position return completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
4 - 52
4. OPERATION
(2) Timing chart
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0
Movement finish (MEND)
Rough match (CPO)
Home position return completion (ZP)
Z-phase
Proximity dog (DOG)
Servo motor speed
Selected point table No.
Forward rotation 0r/min Reverse rotation
3ms or less
5ms or more
Home position shift distance
Home position address Parameter No. PC07
Proximity dog
Creep speed
Home position return speed
ON
OFF
ON
OFF
Automatic/manual selection (MD0)
Forward rotation start (ST1)
Forward rotation start (ST2)
3ms or more (Note)
Note. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that will
change the point table selection earlier by the time that takes into account the output signal sequence from the controller and the
variation of a signal change due to the hardware.
The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.
4 - 53
4. OPERATION
4.7.11 Dog type front end reference home position return method
POINT
This home position return method depends on the timing of reading Proximity
dog (DOG) that has detected the front end of a proximity dog. Hence, if a
home position return is made at the creep speed of 100r/min, an error of
400 pulses will occur in the home position. The error of the home position is larger as the creep speed is higher.
The home position is defined to be where the axis has moved the after-proximity dog moving distance and
home position shift distance from the front end of a proximity dog. A home position return that does not depend
on the Z-phase signal can be made. The home position may change if the creep speed varies. (1) Devices, parameters
Set the input devices and parameters as indicated below.
Item Device/Parameter used Description
Manual home position return mode selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Dog cradle type home position return Parameter No.PC02 9: Select the dog cradle type.
Home position return direction Parameter No.PC03 Refer to (2) in this section and select the home position return direction.
Dog input polarity Parameter No.PD16 Refer to (2) in this section and select the dog input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Home position shift distance Parameter No.PC06 Set when the home position is moved from the Z-phase signal position.
Home position return acceleration/deceleration time constants
Point table No.1 Use the acceleration/deceleration time constant of point table No. 1.
Home position return position data Parameter No.PC07 Set the current position at home position return completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
4 - 54
4. OPERATION
(2) Timing chart
ON
OFF
0
Movement finish (MEND)
Rough match (CPO)
Home position return completion (ZP)
Proximity dog (DOG)
Servo motor speed
Selected point table No.
Forward rotation 0r/min Reverse rotation
3ms or less
5ms or more
Home position return speed
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Proximity dog
Moving distance after proximity dog
Home position shift distance
Automatic/manual selection (MD0)
Forward rotation start (ST1)
Forward rotation start (ST2)
3ms or more (Note)
Note. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that will
change the point table selection earlier by the time that takes into account the output signal sequence from the controller and the
variation of a signal change due to the hardware.
The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.
4 - 55
4. OPERATION
4.7.12 Dogless Z-phase reference home position return method
The home position is determined to be where the first Z-phase pulse is issued after the home position return is
started. (1) Devices, parameters
Set the input devices and parameters as indicated below.
Item Device/Parameter used Description
Manual home position return mode selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Dog cradle type home position return Parameter No.PC02 A: Select the dog cradle type.
Home position return direction Parameter No.PC03 Refer to (2) in this section and select the home position return direction.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Home position shift distance Parameter No.PC06 Set when the home position is moved from the Z-phase signal position.
Home position return acceleration/deceleration time constants
Point table No.1 Use the acceleration/deceleration time constant of point table No. 1.
Home position return position data Parameter No.PC07 Set the current position at home position return completion.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
4 - 56
4. OPERATION
(2) Timing chart
0
0r/min
Forward rotation
Reverse rotation
Movement finish (MEND)
Rough match (CPO)
Home position return completion (ZP)
Z-phase
Servo motor speed
Selected point table No.
ON
OFF
3ms or less
5ms or more
Creep speed
Home position return speed
Home position shift distance
ON
OFF
ON
OFF
ON OFF
ON
OFF
ON
OFF
ON
OFF
Automatic/manual selection (MD0)
Forward rotation start (ST1)
Forward rotation start (ST2)
3ms or more (Note)
Note. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that will
change the point table selection earlier by the time that takes into account the output signal sequence from the controller and the
variation of a signal change due to the hardware.
The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.
4 - 57
4. OPERATION
4.7.13 Home position return automatic return function
If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this
function starts home position return after making a return to the position where the home position return can be
made.
(1) When the current position is at the proximity dog
When the current position is at the proximity dog, an automatic return is made before home position return.
Proximity dogHome position return direction
Home position return start positionMakes an automatic return to a position
before the proximity dog, then executes home position return at this position.
0r/min Reverse rotation
Servo motor speed
(2) When the current position is beyond the proximity dog
At a start, a motion is made in the home position return direction and an automatic return is made on
detection of the stroke end (LSP or LSN). The motion stops past the front end of the proximity dog, and
home position return is resumed at that position. If the proximity dog cannot be detected, the motion stops
on detection of the LSP or LSN switch and A90 occurs.
Proximity dogHome position return direction
Home position return start position
Makes an automatic return to a position before the proximity dog, then executes home position return at this position.
Stroke end (LSP or LSN)
0r/min Reverse rotation
Servo motor speed
Software limit cannot be used with these functions.
4 - 58
4. OPERATION
4.7.14 Automatic positioning function to the home position
POINT
You cannot perform automatic positioning from outside the position data
setting range to the home position. In this case, make a home position return
again using a manual home position return. If this function is used when returning to the home position again after performing a manual home position
return after a power-on and deciding the home position, automatic positioning can be carried out to the home
position at high speed. In an absolute position system, manual home position return is not required after
power-on.
Please perform a manual home position return beforehand after a power-on.
Set the input signals and parameter as follows. Item Device/Parameter used Description
Manual home position return mode
selection
Automatic/manual selection (MD0) Turn MD0 ON.
(Note)
Point table No. selection 1 to 8
(DI0 to DI7)
DI0 to DI7 are turned off.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Home position return
acceleration/deceleration time
constants
Point table No.1 Use the acceleration/deceleration time constant
of point table No. 1.
Note. This setting is for when the point table is used. When using the BCD input, turn SP0 to 3 OFF.
Set up the home position return speed of the automatic positioning function to the home position by parameter
No.PC04. Use the data of point table No.1 to set the acceleration time constant and deceleration time
constant. When reverse rotation start (ST2) is ON, it will position automatically at the home position.
ON
OFF
Acceleration time constant of point table No. 1
Deceleration time constant of point table No. 1
Home position
Servo motor speed
Forward rotation start (ST1)
Reverse rotation start (ST2)
Forward rotation 0r/min
Home position return speed Parameter No. PC04
ON
OFF
4 - 59
4. OPERATION
4.8 Roll feed display function in roll feed mode
With the roll feed display function, the servo amplifier can operate in the roll feed mode. The roll feed mode
uses the incremental system.
(1) Parameter settings
No. Name Digit to
be set Setting item
Setting
value Description
PA03 Absolute position
detection system
Operation system
0
(initial
value)
Make sure to set the incremental
system. The absolute position
detection system cannot be used.
PC28 Function selection C-7
Selection between current
position display and command
position display
1 Select roll feed display
(2) Roll feed display function
At start up, the roll feed display function clears the status display of the current position and command
position to zero.
0 Start
0 Start
10.00 8.00
Servo motor speed Forward rotation 0r/min
Display of current position or command position
(3) Operation procedure
Changes are made only on the status display of the current position and commanded position. The same
operation procedure as that in each operation mode can be used. Operation procedure Details
Automatic operation Automatic operation according to the point table Section 4.5.2
Automatic operation by BCD (3 digits 2) input with the MR-
DS60 digital switch
Section 4.5.3
Automatic operation by BCD (3 digits 2) input with the
programmable controller
Section 4.5.4
Manual operation JOG operation Section 4.6.1
Manual pulse generator operation Section 4.6.2
Home position return mode Section 4.7
4 - 60
4. OPERATION
4.9 Absolute position detection system
CAUTION If an absolute position erase alarm (A25) or an absolute position counter warning
(AE3) has occurred, always perform home position setting again. Not doing so can cause runaway.
POINT
If the encoder cable is disconnected, absolute position data will be lost in the
following servo motor series: HF-MP, HF-KP, HC-SP, HC-RP, HC-UP, HC-
LP, and HA-LP. After disconnecting the encoder cable, always execute home position setting and then positioning operation.
When the following parameters are changed, the home position is lost when
turning on the power after the change. Execute the home position return
again when turning on the power.
Parameter No. PA06 (Electronic gear numerator)
Parameter No. PA07 (Electronic gear denominator)
Parameter No. PA14 (Rotation direction selection)
Parameter No. PC07 (Home position return position data)
This servo amplifier contains a single-axis controller. Also, all servo motor encoders are compatible with an
absolute position system. Hence, an absolute position detection system can be configured up by merely
loading an absolute position data back-up battery and setting parameter values. (1) Restrictions
An absolute position detection system cannot be built under the following conditions.
1) Stroke-less coordinate system, e.g. rotary shaft, infinite positioning.
2) Operation performed in incremental value command type positioning system.
(2) Specifications Item Description
System Electronic battery backup system
Battery 1 piece of lithium battery ( primary battery, nominal 3.6V)
Type: MR-J3BAT
Maximum revolution range Home position 32767 rev.
(Note 1) Maximum speed at power failure 3000r/min
(Note 2) Battery backup time Approx. 10,000 hours (battery life with power off)
Battery storage period 5 years from date of manufacture
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.
2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years independently of
whether power is kept on or off.
(3) Structure
Component Description
Servo amplifier Use standard models.
Servo motor
Battery MR-J3BAT
Encoder cable Use a standard model. (Refer to section 13.1)
4 - 61
4. OPERATION
(4) Outline of absolute position detection data communication
For normal operation, as shown below, the encoder consists of a detector designed to detect a position
within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the general-purpose programmable controller power is on or off.
Therefore, once the home position is defined at the time of machine installation, home position return is not
needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
MR-J3BAT
LSO
1XO
I/O circuit
Position data, speed data (current position read)
Home position return data
EEP-ROM memory
Backup at power off
LS
Speed detection
1X
Detection of position
within one revolution
Within one-revolution counter
High-speed serial
communication
S p
e e
d co
n tr
o l
P o
si tio
n co
n tr
o l
1 pulse/rev. Cumulative revolution counter
Point table No. selection, etc.
Servo amplifier
Servo motor
Current position
4 - 62
4. OPERATION
(5) Battery installation procedure
WARNING
Before installing a battery, turn off the main circuit power while keeping the control
circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then,
confirm that the voltage between P( ) and N( ) is safe with a voltage tester and
others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
POINT
The internal circuits of the servo amplifier may be damaged by static
electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical
parts, directly by hand.
Before starting battery changing procedure, make sure that the main circuit
power is switched OFF with the control circuit power ON. When battery is changed with the control power OFF, the absolute position data is lost.
(a) For MR-J3-350T or less and MR-J3-200T4 or less
POINT
For the servo amplifier with a battery holder on the bottom, ground wiring is
not possible with a battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
Insert connector into CN4.
4 - 63
4. OPERATION
(b) For MR-J3-500T or more and MR-J3-350T4 or more
Insert connector into CN4.
(c) Parameter setting
Set parameter No.PA03 (Absolute position detection system) as indicated below to make the absolute
position detection system valid.
Parameter No.PA03
Selection of absolute position detection system 0: Incremental system 1: Absolute position detection system
1
4 - 64
4. OPERATION
MEMO
5 - 1
5. PARAMETERS
5. PARAMETERS
CAUTION
When using the MR-J3- T servo amplifier with the MR-J3-D01 extension I/O unit,
always refer to the parameters indicated in this chapter. Some parameters have different functions when they are used with the MR-J3- T servo amplifier alone.
Never adjust or change the parameter values extremely as it will make operation instable.
POINT
For any parameter whose symbol is preceded by *, set the parameter value
and switch power off once, then switch it on again to make that parameter setting valid.
In this servo amplifier, the parameters are classified into the following groups on a function basis.
Parameter group Main description
Basic setting parameters
(No. PA )
Make basic setting with these parameters. Generally, the operation is possible only with these
parameter settings.
Gain/filter parameters
(No. PB )
Use these parameters when making gain adjustment manually.
Extension setting parameters
(No. PC )
These parameters are inherent to the MR-J3- T servo amplifier.
I/O setting parameters
(No. PD )
Use these parameters when changing the I/O devices of the servo amplifier.
Option unit parameters
(No. Po )
These parameters are for MR-J3-D01 extension I/O unit.
Mainly setting the basic setting parameters (No. PA ) allows the setting of the basic parameters at the time of introduction.
5 - 2
5. PARAMETERS
5.1 Basic setting parameters (No.PA )
5.1.1 Parameter list
No. Symbol Name Initial value Unit
PA01 *STY Control mode 0000h
PA02 *REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 0000h
PA04 *AOP1 Function selection A-1 0000h
PA05 *FTY Feeding function selection 0000h
PA06 *CMX Electronic gear numerator 1
PA07 *CDV Electronic gear denominator 1
PA08 ATU Auto tuning 0001h
PA09 RSP Auto tuning response 12
PA10 INP In-position range 100 m
PA11 TLP Forward torque limit 100.0 %
PA12 TLN Reverse torque limit 100.0 %
PA13 For manufacturer setting 0002h
PA14 *POL Rotation direction selection 0
PA15 *ENR Encoder output pulses 4000 pulse/rev
PA16
For manufacturer setting 0
PA17 0000h
PA18 0000h
PA19 *BLK Parameter write inhibit 000Ch
5 - 3
5. PARAMETERS
5.1.2 Parameter write inhibit
Parameter Initial
value Unit Setting range
No. Symbol Name
PA19 *BLK Parameter write inhibit 000Ch Refer to the text.
POINT
This parameter is made valid when power is switched off, then on after
setting, or when the controller reset has been performed.
In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter
and extension setting parameter settings. With the setting of parameter No. PA19, write can be disabled to
prevent accidental changes.
The following table indicates the parameters which are enabled for reference and write by the setting of
parameter No. PA19. Operation can be performed for the parameters marked .
Parameter No.
PA19 setting
Setting
operation
Basic setting
parameters
No. PA
Gain/filter
parameters
No. PB
Extension
setting
parameters
No. PC
I/O setting
parameters
No. PD
Option unit
parameters
No. Po
0000h Reference
Write
000Bh Reference
Write
000Ch
(initial value)
Reference
Write
100Bh
Reference
Write Parameter No.
PA19 only
100Eh
Reference
Write Parameter No.
PA19 only
5.1.3 Selection of command system
Parameter Initial
value Unit Setting range
No. Symbol Name
PA01 *STY Control mode 0000h Refer to the text.
POINT
This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed.
Select the command system.
Selection of command system (Refer to section 4.5) 0: Absolute value command system 1: Incremental value command system
0 0 0 Parameter No. PA01
5 - 4
5. PARAMETERS
5.1.4 Selection of regenerative option
Parameter Initial
value Unit Setting range
No. Symbol Name
PA02 *REG Regenerative option 0000h Refer to the text.
POINT
This parameter is made valid when power is switched off, then on after
setting.
Wrong setting may cause the regenerative option to burn.
If the regenerative option selected is not for use with the servo amplifier,
parameter error (A37) occurs.
Set this parameter when using the regenerative option, brake unit, power regeneration converter, or power
regeneration common converter.
Selection of regenerative option 00: Regenerative option is not used For MR-J3-10T, regenerative resistor is not used. For MR-J3-20T 40T 60T(4) to 700T(4) built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the MR-J3-11KT(4) to 22KT(4) servo amplifier. 01: FR-BU2-(H) FR-RC-(H) FR-CV-(H) 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50(Cooling fan is required) 08: MR-RB31 09: MR-RB51(Cooling fan is required) 80: MR-RB1H-4 81: MR-RB3M-4(Cooling fan is required) 82: MR-RB3G-4(Cooling fan is required) 83: MR-RB5G-4(Cooling fan is required) 84: MR-RB34-4(Cooling fan is required) 85: MR-RB54-4(Cooling fan is required) FA:When regenerative resistors or regenerative option supplied to MR- J3-11KT(4) to 22KT(4) are cooled by cooling fans to increase
0 0 Parameter No. PA02
5 - 5
5. PARAMETERS
5.1.5 Using absolute position detection system
Parameter Initial
value Unit Setting range
No. Symbol Name
PA03 *ABS Absolute position detection system 0000h Refer to the text.
POINT
This parameter is made valid when power is switched off, then on after
setting, or when the controller reset has been performed.
Set this parameter when using the absolute position detection system.
Selection of absolute position detection system (refer to Section 4.9) 0: Used in incremental system 1: Used in absolute position detection system
Parameter No. PA03
0 0 0
5.1.6 Follow-up for absolute value command system in incremental system
Parameter Initial
value Unit Setting range
No. Symbol Name
PA04 *AOP1 Function selection A-1 0000h Refer to the text.
POINT
This parameter is made valid when power is switched off, then on after
setting, or when the controller reset has been performed.
If this parameter is made valid, the home position is not lost in the servo-off or forced stop state, and the
operation can be resumed when the servo-on (SON) or forced stop (EMG) is deactivated.
Parameter No. PA04
0 0 0
Servo-on (SON) -off, forced stop (EMG) -off follow-up for absolute value command in incremental system 0: Invalid 1: Valid Normally, when this servo amplifier is used in the absolute value command method of the incremental system, placing it in a servo off or forced stop status will erase the home position. When "1" is set in this parameter, the home position will not be erased if the servo amplifier is placed in a servo-off or forced stop status. The operation can be resumed when the servo-on (SON) or forced stop (EMG) is deactivated.
5 - 6
5. PARAMETERS
5.1.7 Feeding function selection
Parameter Initial
value Unit Setting range
No. Symbol Name
PA05 *FTY Feeding function selection 0000h Refer to the text.
POINT
This parameter is made valid when power is switched off, then on after
setting, or when the controller reset has been performed.
Select the feed length multiplication and the manual pulse generator input multiplication.
999999 to 9999991000
0 0
Manual pulse generator multiplication factor 0: 1 time 1: 10 times 2: 100 times
1
2
3
0 999.999 to 999.999 0 to 999.999
Absolute value command system
Incremental value command system
Position data input range [mm]
1 1
10 10
100 100
1000
9999.99 to 9999.99 0 to 9999.99
99999.9 to 99999.9 0 to 99999.9
0 to 999999
Parameter No.PA05
Setting value
Feed length multiplication factor (STM)
[times]
Feed unit [ m]
5.1.8 Electronic gear
Parameter Initial
value Unit Setting range
No. Symbol Name
PA06 *CMX Electronic gear numerator 1 0 to 65535
PA07 *CDV Electronic gear denominator 1 0 to 65535
CAUTION False setting will result in unexpected fast rotation, causing injury.
POINT
This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed.
The range of the electronic gear setting is CMX CDV
1 10
2000. If you set any
value outside this range, a parameter error (A37) occurs.
Setting "0" in parameter No.PA06 automatically sets the encoder resolution pulse.
5 - 7
5. PARAMETERS
(1) Concept of electronic gear
Use the electronic gear (parameters No.PA06, PA07) to make adjustment so that the servo amplifier setting matches the moving distance of the machine. Also, by changing the electronic gear value, the machine can be moved at any multiplication ratio to the moving distance on the servo amplifier.
Parameters No. PA06
Parameters No. PA07 CMX CDV
Electronic gear Parameters No. PA06, PA07
Encoder feedback pulses
CMX CDV
Deviation counter
Motor
Encoder
M ov
in g
d is
ta n
ce + -
The following examples are used to explain how to calculate the electronic gear value.
POINT
The following specification symbols are needed for electronic gear calculation.
Pb : Ball screw lead [mm]
n : Reduction ratio
Pt : Servo motor resolution [pulse/rev]
S : Travel per servo motor revolution [mm/rev]
(a) Ball screw setting example
Machine specifications
Ball screw lead: Pb 10 [mm]
Reduction ratio: n 1/2
Servo motor resolution: Pt 262144 [pulse/rev] Servo motor 262144[pulse/rev]
n
NM
NL
Pb=10[mm]
n=NL/NM=1/2
CMX CDV S
pt
5000 262144
625 32768pt
n 1000pb
262144 1/2 10 1000
Hence, set 32768 to CMX and 625 to CDV.
(b) Conveyor setting example
Machine specifications
Pulley diameter: r 160 [mm] Reduction ratio: n 1/3
Servo motor resolution: Pt 262144 [pulse/rev]
Servo motor 262144[pulse/rev]
r=160[mm]
n NMNL
n=NL/NM=1/3
CMX CDV
pt
S 32768 20944167551.61
262144pt
n r 1000 262144
1/3 160 1000
Reduce CMX and CDV to the setting range or less, and round off the first decimal place. Hence, set 32768 to CMX and 20944 to CDV.
5 - 8
5. PARAMETERS
5.1.9 Auto tuning
Parameter Initial
value Unit Setting range
No. Symbol Name
PA08 ATU Auto tuning mode 0001h Refer to the text.
PA09 RSP Auto tuning response 12 1 to 32
Make gain adjustment using auto tuning. Refer to section 9.2 for details. (1) Auto tuning mode (parameter No. PA08)
Select the gain adjustment mode.
Gain adjustment mode setting
2
3
1
Setting
0
Manual mode
Automatically set parameter No. (Note)Gain adjustment mode
Interpolation mode
Auto tuning mode 1
Auto tuning mode 2
PB06 PB08 PB09 PB10
Parameter No. PA08
PB06 PB07 PB08 PB09 PB10
PB07 PB08 PB09 PB10
0 0 0
Note. The parameters have the following names.
Parameter No. Name
PB06 Ratio of load inertia moment to servo motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
(2) Auto tuning response (parameter No. PA09)
If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value.
Setting Response Guideline for machine
resonance frequency [Hz] Setting Response
Guideline for machine
resonance frequency [Hz]
1 Low response 10.0 17 Low response 67.1
2
11.3 18 75.6
3 12.7 19 85.2
4 14.3 20 95.9
5 16.1 21 108.0
6 18.1 22 121.7
7 20.4 23 137.1
8 23.0 24 154.4
9 25.9 25 173.9
10 29.2 26 195.9
11 32.9 27 220.6
12 37.0 28 248.5
13 41.7 29 279.9
14 47.0 30 315.3
15 Middle 52.9 31 Middle 355.1
16 response 59.6 32 response 400.0
5 - 9
5. PARAMETERS
5.1.10 In-position range
Parameter Initial
value Unit Setting range
No. Symbol Name
PA10 INP In-position range 100 m 0 to 10000
Set the range, where In position (INP) and Movement finish (MEND) are output, in the command pulse unit
before calculation of the electronic gear. With the setting of parameter No. PC24, the range can be changed to
the encoder output pulse unit.
Servo motor Droop pulse
In-position range [ m]
Command pulseCommand pulse
Droop pulse
In position (INP) ON
OFF
5.1.11 Torque limit
Parameter Initial
value Unit Setting range
No. Symbol Name
PA11 TLP Forward rotation torque limit 100.0 % 0 to 100.0
PA12 TLN Reverse rotation torque limit 100.0 % 0 to 100.0
The torque generated by the servo motor can be limited.
When torque is output with the analog monitor output, the smaller torque of the values in the parameter
No.PA11 (forward rotation torque limit) and parameter No. PA12 (reverse rotation torque limit) is the maximum
output voltage (8V). (1) Forward rotation torque limit (parameter No. PA11)
Set this parameter on the assumption that the maximum torque is 100[%]. Set this parameter when limiting
the torque of the servo motor in the CCW driving mode or CW regeneration mode. Set this parameter to
"0.0" to generate no torque. (2) Reverse rotation torque limit (parameter No. PA12)
Set this parameter on the assumption that the maximum torque is 100[%]. Set this parameter when limiting
the torque of the servo motor in the CW driving mode or CCW regeneration mode. Set this parameter to
"0.0" to generate no torque.
5 - 10
5. PARAMETERS
5.1.12 Selection of servo motor rotation direction
Parameter Initial
value Unit Setting range
No. Symbol Name
PA14 *POL Rotation direction selection 0 0 1
POINT
This parameter is made valid when power is switched off, then on after
setting, or when the controller reset has been performed.
Select the servo motor rotation direction when the forward rotation start (ST1) or reverse rotation direction
(ST2) is turned ON.
Parameter No. PA14
Setting
Servo motor rotation direction
Forward rotation start (ST1) ON Reverse rotation start (ST2) ON
0 Rotates in the CCW direction.
(Address increases.)
Rotates in the CW direction.
(Address decreases.)
1 Rotates in the CW direction.
(Address increases.)
Rotates in the CCW direction.
(Address decreases.)
Parameter No.PA14: 0 Parameter No.PA14: 1
CW ST2: ON
CW ST1: ON
ST2: ON CCW
ST1: ON CCW
5.1.13 Encoder output pulse
Parameter Initial
value Unit Setting range
No. Symbol Name
PA15 *ENR Encoder output pulse 4000 pulse/
rev 1 to 65535
POINT
This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed.
Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier.
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No. PC19 to choose the output pulse setting or output division ratio setting.
The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses.
The maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within this range.
5 - 11
5. PARAMETERS
(1) For output pulse designation
Set " 0 " (initial value) in parameter No. PC19.
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
For instance, set "5600" to Parameter No. PA15, the actually output A/B-phase pulses are as indicated
below.
4 5600A B-phase output pulses 1400[pulse]
(2) For output division ratio setting
Set " 1 " in parameter No. PC19.
The number of pulses per servo motor revolution is divided by the set value.
Output pulse [pulses/rev]Resolution per servo motor revolution Set value
For instance, set "8" to Parameter No. PA15, the actually output A/B-phase pulses are as indicated below.
A B-phase output pulses 8192[pulse] 8
262144 4 1
(3) When outputting pulse train similar to command pulses
Set parameter No. PC19 to " 2 ". The feedback pulses from the servo motor encoder are processed
and output as shown below. The feedback pulses can be output in the same pulse unit as the command
pulses.
CDV
CMX
Parameter No.PA06 PA07
Motor
Encoder
A-phase/B-phase output pulses
Feedback pulses
5 - 12
5. PARAMETERS
5.2 Gain/filter parameters (No.PB )
5.2.1 Parameter list
No. Symbol Name Initial value Unit
PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h
PB02 VRFT Vibration suppression control filter tuning mode (Advanced vibration suppression control)
0000h
PB03 For manufacturer setting 0000h
PB04 FFC Feed forward gain 0 %
PB05 For manufacturer setting 500
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7.0 times
PB07 PG1 Model loop gain 24 rad/s
PB08 PG2 Position loop gain 37 rad/s
PB09 VG2 Speed loop gain 823 rad/s
PB10 VIC Speed integral compensation 33.7 ms
PB11 VDC Speed differential compensation 980
PB12 For manufacturer setting 0
PB13 NH1 Machine resonance suppression filter 1 4500 Hz
PB14 NHQ1 Notch form selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 Hz
PB16 NHQ2 Notch form selection 2 0000h
PB17 Automatic setting parameter
PB18 LPF Low-pass filter 3141 rad/s
PB19 VRF1 Vibration suppression control vibration frequency setting 100.0 Hz
PB20 VRF2 Vibration suppression control resonance frequency setting 100.0 Hz
PB21 For manufacturer setting
0.00
PB22 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control selection 0000h
PB25 For manufacturer setting 0000h
PB26 *CDP Gain changing selection 0000h
PB27 CDL Gain changing condition 10
PB28 CDT Gain changing time constant 1 ms
PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment 7.0 times
PB30 PG2B Gain changing position loop gain 37 rad/s
PB31 VG2B Gain changing speed loop gain 823 rad/s
PB32 VICB Gain changing speed integral compensation 33.7 ms
PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Hz
PB34 VRF2B Gain changing vibration suppression control resonance frequency setting 100.0 Hz
PB35
For manufacturer setting
0.00
PB36 0.00
PB37 100
PB38 0
PB39 0
PB40 0
PB41 1125
PB42 1125
PB43 0004h
PB44 0000h
PB45 0000h
5 - 13
5. PARAMETERS
5.2.2 Detail list
No. Symbol Name and function Initial value Unit Setting
range
PB01 FILT Adaptive tuning mode (adaptive filter )
Select the setting method for filter tuning. Setting this parameter to " 1"
(filter tuning mode 1) automatically changes the machine resonance
suppression filter 1 (parameter No. PB13) and notch shape selection
(parameter No. PB14).
Machine resonance point
Notch frequency Frequency
FrequencyR es
p on
se o
f m
e ch
an ic
a l s
ys te
m N
ot ch
d ep
th
Filter tuning mode selection
0 0 0
0000h
Setting Filter adjustment mode Automatically set parameter
0 Filter OFF (Note)
1
Filter tuning mode Parameter No. PB13
Parameter No. PB14
2 Manual mode
Note. Parameter No. PB13 and PB14 are fixed to the initial values.
When this parameter is set to " 1", the tuning is completed after
positioning is done the predetermined number or times for the predetermined
period of time, and the setting changes to " 2". When the filter tuning is
not necessary, the setting changes to " 0". When this parameter is set to
" 0", the initial values are set to the machine resonance suppression filter
1 and notch shape selection. However, this does not occur when the servo off.
5 - 14
5. PARAMETERS
No. Symbol Name and function Initial value Unit Setting
range
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression
control)
The vibration suppression is valid when the parameter No. PA08 (auto tuning)
setting is " 2" or " 3". When PA08 is " 1", vibration
suppression is always invalid.
Select the setting method for vibration suppression control tuning. Setting this
parameter to " 1" (vibration suppression control tuning mode)
automatically changes the vibration suppression control - vibration frequency
(parameter No. PB19) and vibration suppression control - resonance frequency
(parameter No. PB20) after positioning is done the predetermined number of
times.
Droop pulse
Command
Machine end position
Automatic adjustment
Droop pulse
Command
Machine end position
Vibration suppression control tuning mode
0 0 0
0000h
Setting
Vibration suppression
control tuning mode Automatically set parameter
0
Vibration suppression
control OFF (Note)
1
Vibration suppression
control tuning mode
(Advanced vibration
suppression control)
Parameter No. PB19
Parameter No. PB20
2 Manual mode
Note. Parameter No. PB19 and PB20 are fixed to the initial values.
When this parameter is set to " 1", the tuning is completed after
positioning is done the predetermined number or times for the predetermined
period of time, and the setting changes to " 2". When the vibration
suppression control tuning is not necessary, the setting changes to " 0".
When this parameter is set to " 0", the initial values are set to the
vibration suppression control - vibration frequency and vibration suppression
control - resonance frequency. However, this does not occur when the servo off.
PB03 For manufacturer setting
Do not change this value by any means.
0000h
PB04 FFC Feed forward gain
Set the feed forward gain. When the setting is 100%, the droop pulses during
operation at constant speed are nearly zero. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when the
feed forward gain setting is 100%, set 1s or more as the
acceleration/deceleration time constant up to the rated speed.
0 % 0
to
100
5 - 15
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PB05 For manufacturer setting
Do not change this value by any means.
500
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
Used to set the ratio of the load inertia moment to the servo motor shaft inertia
moment. When auto tuning mode 1 and interpolation mode is selected, the
result of auto tuning is automatically used.
(Refer to section 8.1.1)
In this case, it varies between 0 and 100.0.
7.0 times 0
to
300.0
PB07 PG1 Model loop gain
Set the response gain up to the target position.
Increase the gain to improve track ability in response to the command.
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
24 rad/s 1
to
2000
PB08 PG2 Position loop gain
Used to set the gain of the position loop.
Set this parameter to increase the position response to level load disturbance.
Higher setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1,2 and interpolation mode is selected, the result of
auto tuning is automatically used.
37 rad/s 1
to
1000
PB09 VG2 Speed loop gain
Set this parameter when vibration occurs on machines of low rigidity or large
backlash.
Higher setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1 2, manual mode and interpolation mode is selected,
the result of auto tuning is automatically used.
823 rad/s 20
to
50000
PB10 VIC Speed integral compensation
Used to set the integral time constant of the speed loop.
Lower setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the result of
auto tuning is automatically used.
33.7 ms 0.1
to
1000.0
PB11 VDC Speed differential compensation
Used to set the differential compensation.
Made valid when the proportion control (PC) is switched on.
980 0
to
1000
PB12 For manufacturer setting
Do not change this value by any means.
0
PB13 NH1 Machine resonance suppression filter 1
Set the notch frequency of the machine resonance suppression filter 1.
Setting parameter No. PB01 (filter tuning mode 1) to " 1" automatically
changes this parameter.
When the parameter No. PB01 setting is " 0", the setting of this
parameter is ignored.
4500 Hz 100
to
4500
5 - 16
5. PARAMETERS
No. Symbol Name and function Initial value Unit Setting
range
PB14 NHQ1 Notch shape selection 1
Used to selection the machine resonance suppression filter 1.
Notch depth selection
Setting value Depth Gain
0 -40dBDeep
1 -14dB
2 -8dB
3 -4dBShallow
Notch width
Setting value Width
0 2Standard
1 3
2 4
3 5Wide
0 0
to
to
Setting parameter No. PB01 (filter tuning mode 1) to " 1" automatically
changes this parameter.
When the parameter No. PB01 setting is " 0", the setting of this
parameter is ignored.
0000h Refer to
name and
function
column.
PB15 NH2 Machine resonance suppression filter 2
Set the notch frequency of the machine resonance suppression filter 2.
Set parameter No. PB16 (notch shape selection 2) to " 1" to make this
parameter valid.
4500 Hz 100 to
4500
PB16 NHQ2 Notch shape selection 2
Select the shape of the machine resonance suppression filter 2.
Notch depth selection
Setting value Depth Gain
0 -40dBDeep
1 -14dB
2 -8dB
3 -4dBShallow
to
Notch width
Setting value Width
0 2Standard
1 3
2 4
3 5Wide
to
0
Machine resonance suppression filter 2 selection 0: Invalid 1: Valid
0000h Refer to
name and
function
column.
PB17 Automatic setting parameter
The value of this parameter is set according to a set value of parameter
No.PB06 (Ratio of load inertia moment to servo motor inertia moment).
5 - 17
5. PARAMETERS
No. Symbol Name and function Initial value Unit Setting
range
PB18 LPF Low-pass filter setting
Set the low-pass filter.
Setting parameter No. PB23 (low-pass filter selection) to " 0 "
automatically changes this parameter.
When parameter No. PB23 is set to " 1 ", this parameter can be set
manually.
3141 rad/s 100
to
18000
PB19 VRF1 Vibration suppression control - vibration frequency setting
Set the vibration frequency for vibration suppression control to suppress low-
frequency machine vibration, such as enclosure vibration.
Setting parameter No. PB02 (vibration suppression control tuning mode) to "
1" automatically changes this parameter. When parameter No. PB02 is set
to " 2", this parameter can be set manually.
100.0 Hz 0.1
to
100.0
PB20 VRF2 Vibration suppression control - resonance frequency setting
Set the resonance frequency for vibration suppression control to suppress low-
frequency machine vibration, such as enclosure vibration.
Setting parameter No. PB02 (vibration suppression control tuning mode) to "
1" automatically changes this parameter. When parameter No. PB02 is set
to " 2", this parameter can be set manually.
100.0 Hz 0.1
to
100.0
PB21 For manufacturer setting
Do not change this value by any means.
0.00
PB22 0.00
PB23 VFBF Low-pass filter selection
Select the low-pass filter.
Low-pass filter selection 0: Automatic setting 1: Manual setting (parameter No. PB18 setting)
0 0 0
When automatic setting has been selected, select the filter that has the band
width close to the one calculated withVG2 10 1 + GD2
[rad/s]
0000h Refer to
name and
function
column.
PB24 *MVS Slight vibration suppression control selection
Select the slight vibration suppression control.
When parameter No. PA08 (auto tuning mode) is set to " 3", this
parameter is made valid.
Slight vibration suppression control selection 0: Invalid 1: Valid
0 0 0
0000h Refer to
name and
function
column.
5 - 18
5. PARAMETERS
No. Symbol Name and function Initial value Unit Setting
range
PB25 For manufacturer setting
Do not change this value by any means.
0000h
PB26 *CDP Gain changing selection
Select the gain changing condition. (Refer to section 9.6.)
Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No. PB29 to PB32 settings. 0: Invalid 1: Gain changing (CDP) is ON 2: Command frequency (Parameter No.PB27 setting) 3: Droop pulse value (Parameter No.PB27 setting) 4: Servo motor speed (Parameter No.PB27 setting)
0 0
Gain changing condition 0: Valid at more than condition (Valid when gain changing (CDP) is ON) 1: Valid at less than condition (Valid when gain changing (CDP) is OFF)
0000h Refer to
name and
function
column.
PB27 CDL Gain changing condition
Used to set the value of gain changing condition (command frequency, droop
pulses, servo motor speed) selected in parameter No. PB26. The set value unit
changes with the changing condition item. (Refer to section 9.6.)
10 kpps
pulse
r/min
0
to
9999
PB28 CDT Gain changing time constant
Used to set the time constant at which the gains will change in response to the
conditions set in parameters No. PB26 and PB27. (Refer to section 9.6.)
1 ms 0
to
100
PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment
Used to set the ratio of load inertia moment to servo motor inertia moment
when gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.
PA08: 3).
7.0 times 0
to
300.0
PB30 PG2B Gain changing position loop gain
Set the position loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.
PA08: 3).
37 rad/s 1
to
2000
PB31 VG2B Gain changing speed loop gain
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.
PA08: 3).
Note. The setting range of 50000 applies to the servo amplifier whose software
version is A3 or later. The setting range of the servo amplifier whose
software version is older than A3 is 20 to 20000. When the software
version of MR Configurator is A3 or earlier, 20001 or more cannot be set.
Use the display/operation section of the servo amplifier to set 20001 or
more.
823 rad/s 20
to
20000
PB32 VICB Gain changing speed integral compensation
Set the speed integral compensation when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.
PA08: 3).
33.7 ms 0.1
to
5000.0
5 - 19
5. PARAMETERS
No. Symbol Name and function Initial value Unit Setting
range
PB33 VRF1B Gain changing vibration suppression control vibration frequency setting
Set the vibration frequency for vibration suppression control when the gain
changing is valid. This parameter is made valid when the parameter No. PB02
setting is " 2" and the parameter No. PB26 setting is " 1".
When using the vibration suppression control gain changing, always execute
the changing after the servo motor has stopped.
100.0 Hz 0.1
to
100.0
PB34 VRF2B Gain changing vibration suppression control resonance frequency setting
Set the resonance frequency for vibration suppression control when the gain
changing is valid. This parameter is made valid when the parameter No. PB02
setting is " 2" and the parameter No. PB26 setting is " 1".
When using the vibration suppression control gain changing, always execute
the changing after the servo motor has stopped.
100.0 Hz 0.1
to
100.0
PB35 For manufacturer setting
Do not change this value by any means.
0.00
PB36 0.00
PB37 100
PB38 0
PB39 0
PB40 0
PB41 1125
PB42 1125
PB43 0004h
PB44 0000h
PB45 0000h
5 - 20
5. PARAMETERS
5.3 Extension setting parameters (No.PC )
5.3.1 Parameter list
No. Symbol Name Initial value Unit
PC01 For manufacturer setting 0000h
PC02 *ZTY Home position return type 0000h
PC03 *ZDIR Home position return direction 0001h
PC04 ZRF Home position return speed 500 r/min
PC05 CRF Creep speed 10 r/min
PC06 ZST Home position shift distance 0 m
PC07 *ZPS Home position return position data 0 10STM m
PC08 DCT Moving distance after proximity dog 1000 10STM m
PC09 ZTM Stopper type home position return stopper time 100 ms
PC10 ZTT Stopper type home position return torque limit value 15.0 %
PC11 CRP Rough match output range 0 10STM m
PC12 JOG Jog speed 100 r/min
PC13 *STC S-pattern acceleration/deceleration time constant 0 ms
PC14 *BKC Backlash compensation 0 pulse
PC15 For manufacturer setting 0000h
PC16 MBR Electromagnetic brake sequence output 100 ms
PC17 ZSP Zero speed 50 r/min
PC18 *BPS Alarm history clear 0000h
PC19 *ENRS Encoder output pulse selection 0000h
PC20 *SNO Station number setting 0 station
PC21 *SOP RS-422 communication function selection 0000h
PC22 *COP1 Function selection C-1 0000h
PC23 For manufacturer setting 0000h
PC24 *COP3 Function selection C-3 0000h
PC25 For manufacturer setting 0000h
PC26 *COP5 Function selection C-5 0000h
PC27 For manufacturer setting 0000h
PC28 *COP7 Function selection C-7 0000h
PC29 For manufacturer setting 0000h
PC30 0000h
PC31 LMPL Software limit
0 10STM m
PC32 LMPH
PC33 LMNL Software limit 0 10STM m
PC34 LMNH
PC35 TL2 Internal torque limit 2 100.0 %
PC36 *DMD Status display selection 0000h
PC37 *LPPL Position range output address 0 10STM m
PC38 *LPPH
PC39 *LNPL Position range output address 0 10STM m
PC40 *LNPH
PC41 For manufacturer setting 0000h
PC42 0000h
PC43 0000h
PC44 0000h
PC45 0000h
PC46 0000h
PC47 0000h
PC48 0000h
5 - 21
5. PARAMETERS
No. Symbol Name and function Initial value Unit
PC49 For manufacturer setting 0000h
PC50 0000h
5.3.2 Detail list
No. Symbol Name and function Initial
value Unit
Setting
range
PC01 For manufacturer setting
Do not change this value by any means.
0000h
PC02 *ZTY
Home position return type
Used to set the home position return system. (Refer to section 4.7.)
Home position return system 0: Dog type 1: Count type 2: Data setting type 3: Stopper type 4: Home position ignorance (Servo-on position as home position) 5: Dog type rear end reference 6: Count type front end reference 7: Dog cradle type 8: Dog type right-before Z-phase reference 9: Dog type front end reference A: Dogless Z-phase reference
0 0 0
0000h Refer to
name and
function
column.
PC03 *ZDIR
Home position return direction
Used to set the home position return direction.
Home position return direction
0: Address increment direction
1: Address decrement direction
0 0 0
0001h Refer to
name and
function
column.
PC04 ZRF
Home position return speed
Used to set the servo motor speed for home position return.
(Refer to section 4.7.)
500 r/min 0 to
permissible
speed
PC05 CRF
Creep speed
Used to set the creep speed after proximity dog detection.
(Refer to section 4.7.)
10 r/min 0 to
permissible
speed
PC06 ZST Home position shift distance
Used to set the shift distance starting at the Z-phase pulse detection position
inside the encoder. (Refer to section 4.7.)
0 m 0
to
65535
PC07
*ZPS
Home position return position data
Used to set the current position on completion of home position return.
(Refer to section 4.7.)
0 10STM
m
32768
to
32767
PC08
DCT Moving distance after proximity dog
Used to set the moving distance after proximity dog in count type home
position return. (Refer to section 4.7.)
1000 10STM
m
0
to
65535
PC09
ZTM
Stopper type home position return stopper time
In stopper type home position return, used to set the time from when the
machine part is pressed against the stopper and the torque limit set in
parameter No.PC10 is reached to when the home position is set.
(Refer to section 4.6.5.)
100 ms 5
to
1000
5 - 22
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PC10
ZTT
Stopper type home position return torque limit
Used to set the torque limit value relative to the max. torque in [%] in stopper
type home position return. (Refer to section 5.6.5.)
15.0 % 1
to
100.0
PC11
CRP
Rough match output range
Used to set the command remaining distance range where the rough match
(CPO) is output.
0 10STM
m
0
to
65535
PC12
JOG
Jog speed
Used to set the jog speed command.
100 r/min 0
to
permissible
speed
PC13
*STC S-pattern acceleration/deceleration time constant
Set when inserting S-pattern time constant into the acceleration/deceleration
time constant of the point table. (Refer to section 5.3.3.)
This time constant is invalid for home position return.
0 ms 0
to
1000
PC14
*BKC
Backlash compensation
Used to set the backlash compensation made when the command
direction is reversed.
This function compensates for the number of backlash pulses in the
opposite direction to the home position return direction.
For the home position ignorance (servo-on position as home position), this
function compensates for the number of backlash pulses in the opposite
direction to the first rotating direction after establishing the home position
by switching ON the servo-on (SON).
In the absolute position detection system, this function compensates for
the backlash pulse count in the direction opposite to the operating direction
at power-on.
0 pulse 0
to
32000
PC15
For manufacturer setting
Do not change this value by any means.
0000h
PC16
MBR
Electromagnetic brake sequence output
Used to set the delay time (Tb) between when the electromagnetic brake
interlock (MBR) switches off and when the base circuit is shut off.
100 ms 0
to
1000
PC17
ZSP
Zero speed
Used to set the output range of the zero speed (ZSP).
Zero speed signal detection has hysteresis width of 20r/min.
50 r/min 0
to
10000
PC18
*BPS
Alarm history clear
Used to clear the alarm history.
Alarm history clear 0: Invalid 1: Valid When alarm history clear is made valid, the alarm history is cleared at next power-on. After the alarm history is cleared, the setting is automatically made invalid (reset to 0).
0 0 0
0000h Refer to
name and
function
column.
5 - 23
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PC19 *ENRS Encoder output pulse selection
Use to select the, encoder output pulse direction and encoder output pulse
setting.
0 0
Encoder output pulse phase changing Changes the phases of A, B-phase encoder pulses output .
Encoder output pulse setting selection (refer to parameter No. PA15.) 0: Output pulse designation 1: Division ratio setting 2: Ratio is automatically set to command pulse unit Setting "2" makes the parameter No. PA15 (encoder output pulse) setting invalid.
Servo motor rotation direction Set value
CCW CW
0
1
A-phase
B-phase
A-phase
B-phase
A-phase
B-phase
A-phase
B-phase
0000h Refer to
name and
function
column.
PC20 *SNO Station number setting
Used to specify the station number for RS-422 serial communication.
Always set one station to one axis of servo amplifier. If one station number
is set to two or more stations, normal communication cannot be made.
0 station 0
to
31
PC21 *SOP RS-422 communication function selection
Select the communication I/F and select the RS-422 communication
conditions.
0 0
RS-422 communication baud rate selection 0: 9600 [bps] 1: 19200 [bps] 2: 38400 [bps] 3: 57600 [bps] 4: 115200[bps]
RS-422 communication response delay time 0: Invalid 1: Valid, reply sent after delay time of 800 s or more
0000h Refer to
name and
function
column.
PC22 *COP1 Function selection C-1
Select the encoder cable communication system selection.
0 0
Encoder cable communication system selection 0: Two-wire type 1: Four-wire type The following encoder cables are of 4-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H The other encoder cables are all of 2-wire type. Incorrect setting will result in an encoder alarm 1 (A16) or encoder alarm 2 (A20).
0
0000h Refer to
name and
function
column.
PC23 For manufacturer setting
Do not change this value by any means.
0000h
5 - 24
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PC24 *COP3 Function selection C-3
Select the unit of the in-position range.
In-position range unit selection 0: Command input unit 1: Servo motor encoder unit
0 0 0
0000h Refer to
name and
function
column.
PC25 For manufacturer setting
Do not change this value by any means.
0000h
PC26 *COP5 Function selection C-5
Select the stroke limit warning (A99).
Stroke limit warning (A99) selection 0: Valid 1: Invalid When this parameter is set to "1", A99 will not occur if the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns OFF.
0 0 0
0000h Refer to
name and
function
column.
PC27 For manufacturer setting
Do not change this value by any means.
0000h
PC28 *COP7 Function selection C-7
Select the display method of the current position and command position.
Current position/command position selection
0 0
Electronic gear fraction clear selection 0: Invalid 1: Valid By setting it to 1, the fraction of the last command by the electronic gear is cleared when starting automatic operation.
0000h Refer to
name and
function
column.
Set value
Display method
Operation mode
Status display description
Current position Command position
0 Positioning display
Automatic The actual current position where the machine home position is assumed as 0 is displayed.
The command current position where the machine home position is assumed as 0 is displayed.
Manual
1 Roll feed display
Automatic The actual current position where the automatic operation start position is assumed as 0 is displayed.
The count starts from 0 when the start signal is turned ON, and the command current position to the target position is displayed. During a stop, the command position of the selected point table is displayed.
Manual The command position of the selected point table is displayed.
5 - 25
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PC29 For manufacturer setting
Do not change this value by any means.
0000h
PC30 0000h
PC31 LMPL Software limit
Used to set the address increment side software stroke limit. The software
limit is made invalid if this value is the same as in "software limit ".
(Refer to section 5.3.6.)
Set the same sign to parameters PC31 and PC32. Setting of different signs
will result in a parameter error.
Set address:
Upper 3 digits
Lower 3 digits
Parameter No. PC31
Parameter No. PC32
The software limit is a set of upper digits and lower digits. To change the
value, set in the order of lower digits to upper digits.
0 10STM
m
999999
to
999999 PC32 LMPH
PC33 LMNL Software limit
Used to set the address decrement side software stroke limit. The software
limit is made invalid if this value is the same as in "software limit ".
(Refer to section 5.3.6.)
Set the same sign to parameters No. PC33 and PC34. Setting of different
signs will result in a parameter error.
Set address:
Upper 3 digits
Lower 3 digits
Parameter No. PC33
Parameter No. PC34
The software limit is a set of upper digits and lower digits. To change the
value, set in the order of lower digits to upper digits.
0 10STM
m
999999
to
999999
PC34 LMNH
PC35 TL2 Internal torque limit 2
Set this parameter to limit servo motor torque on the assumption that the
maximum torque is 100[%].
When 0 is set, torque is not produced.
100.0 % 0
to
100.0
PC36 *DMD Status display selection
Select the status display to be provided at power-on.
0 0
00: Current position 01: Command position 02: Command remaining distance 03: Point table No. 04: Cumulative feedback pulses 05: Servo motor speed 06: Droop pulses 07: Override voltage 08: Override [%] 09: Analog speed command voltage 0A: Regenerative load ratio 0B: Effective load ratio 0C: Peak load ratio 0D: Instantaneous torque 0E: Within one-revolution position 0F: ABS counter 10: Load inertia moment ratio 11: Bus voltage
Selection of status display at power-on
0000h Refer to
name and
function
column.
5 - 26
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PC37 *LPPL Position range output address Used to set the address increment side position range output address. Set the same sign to parameters No. PC37 and PC38. Setting of different signs will result in a parameter error. In parameters No. PC37 to PC40, set the range where position range (POT) turns on.
Set address:
Upper 3 digits
Lower 3 digits
Parameter No. PC37
Parameter No. PC38
Position range output address is a set of upper digits and lower digits. To
change the value, set in the order of lower digits to upper digits.
0 10STM
m
999999
to
999999
PC38 *LPPH
PC39 *LNPL Position range output address
Used to set the address decrement side position range output address. Set
the same sign to parameters No. PC39 and PC40. Setting of different
signs will result in a parameter error.
Set address:
Upper 3 digits
Lower 3 digits
Parameter No. PC39 Parameter No. PC40
Position range output address is a set of upper digits and lower digits.
To change the value, set in the order of lower digits to upper digits.
0 10STM
m
999999
to
999999
PC40 *LNPH
PC41 For manufacturer setting
Do not change this value by any means.
0000h
PC42 0000h
PC43 0000h
PC44 0000h
PC45 0000h
PC46 0000h
PC47 0000h
PC48 0000h
PC49 0000h
PC50 0000h
5 - 27
5. PARAMETERS
5.3.3 S-pattern acceleration/deceleration
In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern acceleration/
deceleration time constant (parameter No. PC13), a smooth start/stop can be made. When the S-pattern time
constant is set, smooth positioning is executed as shown below. Note that the time equivalent to the S-pattern
time constant setting increases until positioning (MEND) complete.
Servo motor speed
0 [r/min]
Acceleration time constant
Rated speed
Tb Ts
Ta Ts Tb
Deceleration time constant
Ta
Ta: Time until preset speed is reached Tb: Time until stop Ts: S-pattern acceleration/deceleration time constant (parameter No. PC13) Setting range 0 to 1000ms
Preset speed
5.3.4 Alarm history clear
The alarm history can be confirmed by using the MR Configurator. The servo amplifier stores one current
alarm and five past alarms from when its power is switched on first. To control alarms which will occur during
operation, clear the alarm history using parameter No. PC18 (alarm history clear) before starting operation.
Clearing the alarm history automatically returns to " 0".
This parameter is made valid by switching power off, then on after setting.
Alarm history clear 0: Invalid (not cleared) 1: Valid (cleared)
Parameter No. 16
0 0 0
5.3.5 Rough match output
Rough match (CPO) is output when the command remaining distance reaches the value set in parameter No.
PC11 (rough match output range). The set remaining distance is 0 to 65535 [ 10STM m].
Servo motor speed
ON OFF
ON OFF
Command remaining distance ( 10STM m) set in parameter No. PC11
Rough match (CPO)
In position (MEND)
Command pulse
Actual servo motor speed Forward rotation
0r/min
5 - 28
5. PARAMETERS
5.3.6 Software limit
A limit stop using a software limit (parameter No. PC31 to PC34) is made as in stroke end operation. When a
motion goes beyond the setting range, the motor is stopped and servo-locked. This function is made valid at
power-on but made invalid during home position return. This function is made invalid when the software limit
setting is the same as the software limit setting. A parameter error (A37) will occur if the software limit
setting is less than the software limit setting.
Current position
Unmovable Movable
Movable area
Software limit
Inhibited area
5.4 I/O setting parameters (No.PD )
5.4.1 Parameter list
No. Symbol Name Initial value Unit
PD01 *DIA1 Input signal automatic ON selection 1 0000h
PD02 For manufacturer setting 0000h
PD03 *DIA3 Input signal automatic ON selection 3 0000h
PD04 *DIA4 Input signal automatic ON selection 4 0000h
PD05 For manufacturer setting 0000h
PD06 *DI2 Input signal device selection 2 (CN6-2) 002Bh
PD07 *DI3 Input signal device selection 3 (CN6-3) 000Ah
PD08 *DI4 Input signal device selection 4 (CN6-4) 000Bh
PD09 *DO1 Input signal device selection 1 (CN6-pin 14) 0002h
PD10 *DO2 Input signal device selection 2 (CN6-pin 15) 0003h
PD11 *DO3 Input signal device selection 3 (CN6-pin 16) 0024h
PD12 For manufacturer setting 0C00h
PD13 0000h
PD14 0800h
PD15 0000h
PD16 *DIAB Input polarity selection 0000h
PD17 For manufacturer setting 0000h
PD18 0000h
PD19 *DIF Response level setting 0002h
PD20 *DOP1 Function selection D-1 0010h
PD21 For manufacturer setting 0000h
PD22 *DOP3 Function selection D-2 0000h
PD23 For manufacturer setting 0000h
PD24 *DOP5 Function selection D-5 0000h
PD25 For manufacturer setting 0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 0000h
5 - 29
5. PARAMETERS
5.4.2 Detail list
No. Symbol Name and function Initial
value Unit
Setting
range
PD01 *DIA1 Input signal automatic ON selection 1
Select the input devices to be automatically turned ON.
part is for manufacturer setting. Do not set the value by any means.
0
0
0
Initial value
BIN HEX Signal name
0
0
Initial value
BIN HEX Proportion control (PC)
Signal name
Initial value
BIN HEX Signal name
Servo-on (SON) 0
0
0
0
Forward rotation stroke end (LSP)
0
0
0
0
0
Reverse rotation stroke end (LSN)
0
BIN 0: Used to external input signal. BIN 1: Automatic ON
Initial value
BIN HEX Signal name
0
0
0
0
Forced stop (EMG)
0
External torque limit selection(TL)
For example, to turn ON SON, the setting is " 4".
0000h Refer to
name and
function
column.
PD02 For manufacturer setting
Do not change this value by any means.
0000h
5 - 30
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PD03
*DIA3 Input signal automatic ON selection 3
Select the input devices to be automatically turned ON.
part is for manufacturer setting. Do not set the value by any means.
0
0
0
0
0
0
0
0
0
0
Automatic/manual selection(MD0)
BIN HEX
Initial value Signal name
Speed selection 1 (SP0)
Speed selection 2 (SP1)
Speed selection 3 (SP2)
BIN 0: Used to external input signal. BIN 1: Automatic ON
0
0
0
0
0
0
Override selection (OVR)
BIN HEX
Initial value Signal name
BIN HEX
Initial value Signal name
Speed selection 4 (SP3)
0000h Refer to
name and
function
column.
5 - 31
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PD04
*DIA4 Input signal automatic ON selection 4
Select the input devices to be automatically turned ON.
0 0
Initial value
BIN HEX Signal name
Point table No. selection 2 (DI1)
0
BIN 0: Used to external input signal. BIN 1: Automatic ON
0
0
Point table No. selection 1 (DI0)
Point table No. selection 3 (DI2)
Point table No. selection 4 (DI3)
0 0
Initial value
BIN HEX Signal name
Point table No. selection 6 (DI5)
0
0
0
Point table No. selection 5 (DI4)
Point table No. selection 7 (DI6)
Point table No. selection 8 (DI7)
0 0
0000h Refer to
name and
function
column.
PD05
For manufacturer setting
Do not change this value by any means.
0000h
5 - 32
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PD06 *DI2 Input signal device selection 2 (CN6-2)
Any input device can be assigned to the CN6-2 pin.
0
Select the input device of the CN6-2 pin
0
The devices that can be assigned are indicated in the following table.
Setting
(Note)
Input device
Name Abbreviation
00 No assignment function
02 Servo-on SON
03 Reset RES
04 Proportion control PC
05 External torque limit selection TL
06 Clear CR
07 Forward rotation start ST1
08 Reverse rotation start ST2
09 Internal torque limit selection TL1
0A Forward rotation stroke end LSP
0B Reverse rotation stroke end LSN
0D Gain switch CDP
20 Automatic/manual selection MD0
24 Manual pulse generator multiplication 1 TP0
25 Manual pulse generator multiplication 2 TP1
26 Override selection PC
27 Temporary stop/restart TSTP
2B Proximity dog DOG
2F Speed selection 4 SP3
Note. The other setting values than shown in this table are for manufacturer
setting.
002Bh Refer to
name and
function
column.
PD07 *DI3 Input signal device selection 3 (CN6-3)
Any input device can be assigned to the CN6-3 pin.
The devices that can be assigned and the setting method are the same as in
parameter No. PD06.
0
Select the input device of the CN6-3 pin
0
000Ah Refer to
name and
function
column.
PD08 *DI4 Input signal device selection 4 (CN6-4)
Any input device can be assigned to the CN6-4 pin.
The devices that can be assigned and the setting method are the same as in
parameter No. PD06.
0
Select the input device of the CN6-4 pin
0
000Bh Refer to
name and
function
column.
5 - 33
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PD09 *DO1 Output signal device selection 1 (CN6-14)
Any output signal can be assigned to the CN6-14 pin.
0
Select the output device of the CN6-14 pin
0
The devices that can be assigned are indicated in the following table.
Setting
(Note)
Output device
Name Symbol
00 Always OFF
02 Ready RD
03 Trouble ALM
04 In position INP
05 Electromagnetic brake interlock MBR
06 Dynamic brake interlock DB
07 Limiting torque TLC
08 Warning WNG
09 Battery warning BWNG
0A Speed command reached SA
0C Zero speed ZSP
0F Variable gain selection CDPS
23 Rough match CPO
24 Home position return completion ZP
25 Position range POT
26 Temporary stop PUS
27 Movement finish MEND
38 Point table No. output 1 PT0
39 Point table No. output 2 PT1
3A Point table No. output 3 PT2
3B Point table No. output 4 PT3
3C Point table No. output 5 PT4
3D Point table No. output 6 PT5
3E Point table No. output 7 PT6
3F Point table No. output 8 PT7
Note. The other setting values than shown in this table are for manufacturer
setting.
0002h Refer to
name and
function
column.
PD10 *DO2 Output signal device selection 2 (CN6-15)
Any output signal can be assigned to the CN6-15 pin.
The devices that can be assigned and the setting method are the same as in
parameter No. PD09.
0
Select the output device of the CN6-15 pin
0
0003h Refer to
name and
function
column.
5 - 34
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PD11 *DO3 Output signal device selection 3 (CN6-16)
Any output signal can be assigned to the CN6-16 pin.
The devices that can be assigned and the setting method are the same as in
parameter No. PD09.
0
Select the output device of the CN6-16 pin
0
0024h Refer to
name and
function
column.
PD12 For manufacturer setting
Do not change this value by any means.
0C00h
PD13 0000h
PD14 0800h
PD15 0000h
PD16 *DIAB
Input polarity selection
Used to set the proximity dog input polarity. (Refer to section 4.7.)
0
Proximity dog input polarity 0: OFF indicates detection of the dog. 1: ON indicates detection of the dog.
00
0000h Refer to
name and
function
column.
PD17 For manufacturer setting
Do not change this value by any means.
0000h
PD18 0000h
PD19 *DIF Response level setting
Used to select the input.
0 0 0
Input filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 0.88[ms] 2: 1.77[ms] 3: 2.66[ms] 4: 3.55[ms] 5: 4.44[ms]
0002h Refer to
name and
function
column.
5 - 35
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PD20 *DOP1 Function selection D-1
Select the stop processing at forward rotation stroke end (LSN)/reverse
rotation stroke end (LSN) OFF and the base circuit status at reset (RES) ON.
Stopping method used when forward rotation stroke end (LSP), reverse rotation stroke end (LSN) device or software limit is valid 0: Sudden stop (home position erased) 1: Slow stop (home position erased) 2: Slow stop (Deceleration to a stop by deceleration time constant 3: Sudden stop (Stop by remaining move distance clear)
0
Stopping method used when software limit is valid 0: Sudden stop (home position erased) 1: Slow stop (home position erased) 2: Slow stop (Deceleration to a stop by deceleration time constant 3: Sudden stop (Stop by remaining move distance clear)
Selection of base circuit status at reset (RES)ON 0: Base circuit not switched off 1: Base circuit switched off
As in the following parameter settings, when the home position is lost by the
forward rotation stroke end, reverse rotation stroke end, or the software limit
detection, the home position return completion (ZP) turns on by turning
OFF/ON the servo-on (SON). In this case, there is no need to perform the
home position return again.
1. In absolute position detection system
Parameter No. PA03: 1 (Select the absolute position detection system)
Parameter No. PA01: 0 (Select the absolute value command system)
2. In incremental system
Parameter No. PA03: 0 (Select the incremental system)
Parameter No. PA01: 0 (Select the absolute value command system)
Parameter No. PA04: 1 (Follow-up valid)
0010h Refer to
name and
function
column.
PD21 For manufacturer setting
Do not change this value by any means.
0000h
PD22 *DOP3 Function selection D-3
Set the clear (CR).
0 0 0
Clear (CR) selection 0: Droop pulses are cleared on the leading
edge. 1: While on, droop pulses are always cleared.
0000h Refer to
name and
function
column.
PD23 For manufacturer setting
Do not change this value by any means.
0000h
5 - 36
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
PD24 *DOP5 Function selection D-5
Select the output status of the warning (WNG).
0 00
Selection of output device at warning occurrence Select the warning (WNG) and trouble (ALM) output status at warning occurrence.
0
1
Setting (Note) Device status
Warning occurred.
OFF ON
OFF ON
Warning occurred.
Note. 0: OFF 1: ON
OFF ON
OFF ON
WNG
WNG
ALM
ALM
0000h
PD25 For manufacturer setting
Do not change this value by any means.
0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 0000h
5 - 37
5. PARAMETERS
5.5 Option unit parameters (No.Po )
5.5.1 Parameter list
No. Symbol Name Initial value Unit
Po01 For manufacturer setting 1234h
Po02 *ODI1 MR-J3-D01 input signal device selection 1 (CN10-21, 26) 0302h
Po03 *ODI2 MR-J3-D01 input signal device selection 2 (CN10-27, 28) 0905h
Po04 *ODI3 MR-J3-D01 input signal device selection 3 (CN10-29, 30) 2524h
Po05 *ODI4 MR-J3-D01 input signal device selection 4 (CN10-31, 32) 2026h
Po06 *ODI5 MR-J3-D01 input signal device selection 5 (CN10-33, 34) 0427h
Po07 *ODI6 MR-J3-D01 input signal device selection 6 (CN10-35, 36) 0807h
Po08 *ODO1 MR-J3-D01 output signal device selection 1 (CN10-46, 47) 2726h
Po09 *ODO2 MR-J3-D01 output signal device selection 2 (CN10-48, 49) 0423h
Po10 *OOP1 Function selection O-1 2101h
Po11 For manufacturer setting 0000h
Po12 *OOP3 Function selection O-3 0000h
Po13 MOD1 MR-J3-D01 analog monitor output 1 0000h
Po14 MOD2 MR-J3-D01 analog monitor output 2 0001h
Po15 MO1 MR-J3-D01 analog monitor 1 offset 0 mV
Po16 MO2 MR-J3-D01 analog monitor 2 offset 0 mV
Po17 For manufacturer setting 0
Po18 0
Po19 0
Po20 0
Po21 VCO MR-J3-D01 override offset 0 mV
Po22 TLO MR-J3-D01 analog torque limit offset 0 mV
Po23 For manufacturer setting 0000h
Po24 0050h
Po25 0200h
Po26 0
Po27 0
Po28 0
Po29 0000h
Po30 0000h
Po31 0000h
Po32 0000h
Po33 0000h
Po34 0000h
Po35 0000h
5 - 38
5. PARAMETERS
5.5.2 Detail list
No. Symbol Name and function Initial
value Unit
Setting
range
Po01 For manufacturer setting
Do not change this value by any means.
1234h
Po02 *ODI1 MR-J3-D01 input signal device selection 2 (CN10-21, 26)
Any input signal can be assigned to the CN10-21, 26 pin.
Select the input device of the CN10-21 pin
Select the input device of the CN10-26 pin
The devices that can be assigned are indicated in the following table.
Setting
(Note)
Input device
Name Abbreviation
00 No assignment function
02 Servo-on SON
03 Reset RES
04 Proportion control PC
05 External torque limit selection TL
06 Clear CR
07 Forward rotation start ST1
08 Reverse rotation start ST2
09 Internal torque limit selection TL1
0A Forward rotation stroke end LSP
0B Reverse rotation stroke end LSN
0D Gain changing CDP
20 Automatic/manual selection MD0
24 Manual pulse generator multiplication 1 TP0
25 Manual pulse generator multiplication 2 TP1
26 Override selection OVR
27 Temporary stop/restart TSTP
2B Proximity dog DOG
2F Speed selection 4 SP3
Note. The other setting values than shown in this table are for manufacturer
setting.
0302h Refer to
name and
function
column.
Po03
*ODI2 MR-J3-D01 input signal device selection 2 (CN10-27, 28)
Any input signal can be assigned to the CN10-27, 28 pin.
The devices that can be assigned and the setting method are the same as in
parameter No. Po02.
Select the input device of the CN10-27 pin
Select the input device of the CN10-28 pin
0905h Refer to
name and
function
column.
5 - 39
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
Po04
*ODI3 MR-J3-D01 input signal device selection 3 (CN10-29, 30)
Any input signal can be assigned to the CN10-29, 30 pin.
The devices that can be assigned and the setting method are the same as in
parameter No. Po02.
Select the input device of the CN10-29 pin
Select the input device of the CN10-30 pin
2524h Refer to
name and
function
column.
Po05
*ODI4 MR-J3-D01 input signal device selection 4 (CN10-31, 32)
Any input signal can be assigned to the CN10-31, 32 pin.
The devices that can be assigned and the setting method are the same as in
parameter No. Po02.
Select the input device of the CN10-31 pin
Select the input device of the CN10-32 pin
2026h Refer to
name and
function
column.
Po06
*ODI5 MR-J3-D01 input signal device selection 5 (CN10-33, 34)
Any input signal can be assigned to the CN10-33, 34 pin.
The devices that can be assigned and the setting method are the same as in
parameter No. Po02.
Select the input device of the CN10-34 pin
Select the input device of the CN10-33 pin
0427h Refer to
name and
function
column.
Po07
*ODI6 MR-J3-D01 input signal device selection 6 (CN10-35, 36)
Any input signal can be assigned to the CN10-35, 36 pin.
The devices that can be assigned and the setting method are the same as in
parameter No. Po02.
Select the input device of the CN10-35 pin
Select the input device of the CN10-36 pin
0807h Refer to
name and
function
column.
5 - 40
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
Po08 *ODO1 MR-J3-D01 output signal device selection 1 (CN10-46, 47)
Any output signal can be assigned to the CN10-46, 47 pin.
Select the output device of the CN10-46
Select the output device of the CN10-47
The devices that can be assigned are indicated in the following table.
Setting
(Note)
Output device
Name Symbol
00 Always OFF
02 Ready RD
03 Trouble ALM
04 In position INP
05 Electromagnetic brake interlock MBR
06 Dynamic brake interlock DB
07 Limiting torque TLC
08 Warning WNG
09 Battery warning BWNG
0A Speed command reached SA
0C Zero speed ZSP
0F Variable gain selection CDPS
23 Rough match CPO
24 Home position return completion ZP
25 Position range POT
26 Temporary stop PUS
27 Movement finish MEND
38 Point table No. output 1 PT0
39 Point table No. output 2 PT1
3A Point table No. output 3 PT2
3B Point table No. output 4 PT3
3C Point table No. output 5 PT4
3D Point table No. output 6 PT5
3E Point table No. output 7 PT6
3F Point table No. output 8 PT7
Note. The other setting values than shown in this table are for manufacturer
setting.
2726h Refer to
name and
function
column.
Po09 *ODO2 MR-J3-D01 output signal device selection 1 (CN10-48, 49)
Any output signal can be assigned to the CN10-48, 49 pin.
The devices that can be assigned and the setting method are the same as in
parameter No. Po08.
Select the output device of the CN10-48
Select the output device of the CN10-49
0423h Refer to
name and
function
column.
5 - 41
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
Po10 *OOP1 Function selection O-1
Select the positioning operation by point table selection and BCD input.
0
CN10 Pin No.
Setting value
BCD input used
1
2
3
4
5
6
7
8
9
10
11
12
15
16
0
DI0
17
18
19
20
Point table used
1 2
DI1
DI2
DI3
DI4
DI5
DI6
DI7
POS00
POS01
POS02
POS03
POS10
POS11
POS12
POS13
POS20
POS21
POS22
POS23
POSP
POSN STRB(Note)
SP0
SP1
SP2
Devices not assigned
Strobe signal 0: Invalid For the BCD input by the programmable controller 1: Valid For the point table or MR-DS60 digital switch
Symbol ( / ) of the positioning data in the BCD positioning 0: Invalid / symbol is not used. 1: Valid / symbol is used.
Note. When using the strobe input (STRB), set the fourth digit of this parameter in "0 ".
2101h Refer to
name and
function
column.
5 - 42
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
Po11 For manufacturer setting
Do not change this value by any means.
0000h
Po12 *OOP3 Function selection O-3
Set the output of the alarm code and M code.
Alarm code output 0: Invalid Alarm code is not output. 1: Valid Alarm code is output at alarm occurrence. M code output 0: Invalid M code is not output. 1: Valid M code is output after execution of point table.
00
0000h Refer to
name and
function
column.
Po13 MOD1 MR-J3-D01 analog monitor 1 output
Used to selection the signal provided to the analog monitor 1
(MO1) output. (Refer to section 6.5.3.)
Note 1. Encoder pulse unit. 2. 8V is outputted at the maximum torque. However, when parameter No. PA11 PA12 are set to limit torque, 8V is outputted at the torque highly limited. 3. For 400V class servo amplifier, the bus voltage becomes 8V/800V.
C
B
0 0 0
Setting
0
Item
Servo motor speed ( 8V/max. speed) 1
2
3
4
5 Speed command ( 8V/max. speed) 6
7
8
9
A
D
Analog monitor 1 (MO1) output selection
Torque ( 8V/max. torque) (Note 2)
Servo motor speed ( 8V/max. speed)
Torque ( 8V/max. torque) (Note 2)
Current command ( 8V/max. current command)
Droop pulses ( 10V/100 pulses) (Note 1)
Droop pulses ( 10V/1000 pulses) (Note 1)
Droop pulses ( 10V/10000 pulses) (Note 1) Droop pulses ( 10V/100000 pulses) (Note 1)
Feedback position ( 10V/1 Mpulses) (Note 1)
Feedback position ( 10V/10 Mpulses) (Note 1)
Feedback position ( 10V/100 Mpulses) (Note 1)
Bus voltage ( 8V/400V) (Note 3)
0000h Refer to
name and
function
column.
Po14 MOD2 MR-J3-D01 analog monitor 2 output
Used to selection the signal provided to the analog monitor 2
(MO2) output. (Refer to section 5.5.3.)
0 0 0
Select the analog monitor 2 (MO2) output The settings are the same as those of parameter No. Po13.
0001h Refer to
name and
function
column.
5 - 43
5. PARAMETERS
No. Symbol Name and function Initial
value Unit
Setting
range
Po15 MO1 MR-J3-D01 analog monitor 1 offset
Used to set the offset voltage of the analog monitor (MO1).
0 mV 9999
to
9999
Po16 MO2 MR-J3-D01 analog monitor 2 offset
Used to set the offset voltage of the analog monitor (MO2).
0 mV 9999
to
9999
Po17 For manufacturer setting
Do not change this value by any means.
0
Po18 0
Po19 0
Po20 0
Po21 VCO MR-J3-D01 override offset
Used to set the offset voltage of the override (VC).
0 mV 9999
to
9999
Po22 TLO MR-J3-D01 analog torque limit offset
Used to set the offset voltage of the analog torque limit (TLA).
0 mV 9999
to
9999
Po23 For manufacturer setting
Do not change this value by any means.
0000h
Po24 0050h
Po25 0200h
Po26 0
Po27 0
Po28 0
Po29 0000h
Po30 0000h
Po31 0000h
Po32 0000h
Po33 0000h
Po34 0000h
Po35 0000h
5 - 44
5. PARAMETERS
5.5.3 Analog monitor
The servo status can be output to two channels in terms of voltage. The servo status can be monitored using
un ammeter.
(1) Setting
Change the following digits of parameter No. Po13, Po14.
Analog monitor (MO1) output selection (Signal output to across MO1-LG)
Analog monitor (MO2) output selection (Signal output to across MO2-LG)
Parameter No. Po13
0 0 0
0 0 0 Parameter No. Po14
Parameters No. Po15 and Po16 can be used to set the offset voltages to the analog output voltages. The setting range is between 9999 and 9999mV.
Parameter No. Description Setting range [mV]
Po15 Used to set the offset voltage for the analog monitor 1 (MO1). 9999 to 9999
Po16 Used to set the offset voltage for the analog monitor 2 (MO2).
(2) Set content
The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the torque
to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No. Po13
and Po14 value. Refer to (3) for the measurement point.
Setting Output item Description Setting Output item Description
0 Servo motor
speed
Max. speed
CW direction
CCW direction
Max. speed
0
8[V]
-8[V]
1 Torque (Note 2)
Max. torque
Driving in CW direction
Driving in CCW direction
Max. torque
0
8[V]
-8[V]
2 Servo motor
speed CCW direction
Max. speed Max. speed0
8[V]CW direction
3 Torque (Note 2) Driving in CCW direction
Max. torque Max. torque0
8[V]Driving in CW direction
4 Current command
Max. current command (Max. torque command)
CW direction
CCW direction
Max. current command (Max. torque command)
0
8[V]
-8[V]
5 Speed command
CW direction
CCW direction
0
10[V]
-10[V]
Max. speed
Max. speed
5 - 45
5. PARAMETERS
Setting Output item Description Setting Output item Description
6 Droop pulses
(Note 1)
( 10V/100 pulses)
100[pulse]
CW direction
CCW direction
100[pulse]
0
10[V]
-10[V]
7 Droop pulses
(Note 1)
( 10V/1000
pulses)
1000[pulse]
CW direction
CCW direction
1000[pulse]
0
10[V]
-10[V]
8 Droop pulses
(Note 1)
( 10V/10000
pulses)
10000[pulse]
CW direction
CCW direction
10000[pulse]
0
10[V]
-10[V]
9 Droop pulses
(Note 1)
( 10V/100000
pulses)
100000[pulse]
CW direction
CCW direction
100000[pulse]
0
10[V]
-10[V]
A Feedback position
(Note 1)
( 10V/1 Mpulses)
1M[pulse]
CW direction
CCW direction
1M[pulse]
0
10[V]
-10[V]
B Feedback position
(Note 1)
( 10V/10 Mpulses)
10M[pulse]
CW direction
CCW direction
10M[pulse]
0
10[V]
-10[V]
C Feedback position
(Note 1)
( 10V/100
Mpulses)
100M[pulse]
CW direction
CCW direction
100M[pulse]
0
10[V]
-10[V]
D Bus voltage
(Note 3)
400[V]0
8[V]
Note 1. Encoder pulse unit.
2. 8V is outputted at the maximum torque.
However, when parameter No. PA11 PA12 are set to limit torque, 8V is outputted at the torque highly limited.
3. For 400V class servo amplifier, the busvoltage becomes +8V/800V.
5 - 46
5. PARAMETERS
(3) Analog monitor block diagram
PWM M
Feedback position
Home position
Current control
Speed control
Current command
Position control
Droop pulse
Differ- ential
Command speed Bus voltage
Speed command
Command position
Current feedback
Position feedback
Servo Motor speed
Current encoder
Servo Motor
Encoder
Torque
differentiation
6 - 1
6. MR Configurator
6. MR Configurator
The MR Configurator uses the communication function of the servo amplifier to perform parameter setting
changes, graph display, test operation, etc. on a personal computer.
6.1 Specifications
Item Description
Compatibility with a
servo amplifier
The following table shows MR Configurator software version for each servo amplifier. MR Configurator Compatible servo amplifier
Model Software version
100V class
200V class 400V class
MRZJW3-SETUP221E
B0
C0 or later
Baud rate [bps] 115200, 57600, 38400, 19200, 9600
Monitor Display, I/O interface display, high speed monitor, trend graph
Alarm Display, history, amplifier data
Diagnostic No motor rotation, system information, tuning data, absolute encoder data, Axis name setting.
Parameters Parameter list, device setting, turning, change list, detailed information
Test operation Jog operation, positioning operation, motor-less operation, Do forced output, program operation,
single-step feed, parameter copy.
Advanced function Machine analyzer, gain search, machine simulation, Robust disturbance compensation.
Point data Point table
File operation Data read, save, delete, print
Others Automatic demo, help display
6 - 2
6. MR Configurator
6.2 System configuration
(a) Components
To use this software, the following components are required in addition to the servo amplifier and servo
motor.
Equipment (Note 1) Description
(Note 2, 3)
Personal computer
OS
IBM PC/AT compatible where the English version of Windows R 98, Windows R Me,
Windows R 2000 Professional, Windows R XP Professional, Windows R XP Home Edition,
Windows Vista R Home Basic, Windows Vista R Home Premium, Windows Vista R Business,
Windows Vista R Ultimate, Windows Vista R Enterprise operates
Processor
Pentium R 133MHz or more (Windows R 98, Windows R 2000 Professional)
Pentium R 150MHz or more (Windows R Me)
Pentium R 300MHz or more (Windows R XP Professional, Windows R XP Home Edition)
32-bit (x86) processor of 1GHz or higher (Windows Vista R Home Basic, Windows Vista R Home
Premium, Windows Vista R Business, Windows Vista R Ultimate, Windows Vista R Enterprise)
Memory
24MB or more (Windows R 98)
32MB or more (Windows R Me, Windows R 2000 Professional)
128MB or more (Windows R XP Professional, Windows R XP Home Edition)
512MB or more (Windows Vista R Home Basic)
1GB or more (Windows Vista R Home Premium, Windows Vista R Business, Windows Vista R
Ultimate, Windows Vista R Enterprise)
Hard Disk 130MB or more of free space
Software Internet Explorer 4.0 or more
Display One whose resolution is 800 600 or more and that can provide a high color (16 bit) display.
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer.
Printer Connectable with the above personal computer.
USB cable MR-J3USBCBL3M
RS-422/232C conversion cable DSV-CABV (Diatrend) is recommended.
Note 1. Windows and Windows Vista are the registered trademarks of Microsoft Corporation in the United State and other
countries.
Pentium is the registered trademarks of Intel Corporation.
2. On some personal computers, MR Configurator may not run properly.
3. 64-bit Windows XP and 64-bit Windows Vista are not supported.
6 - 3
6. MR Configurator
(b) Connection with servo amplifier
1) For use of USB
MR-J3- T MR-J3-D01
CN5
USB cable MR-J3USBCBL3M (Option)
Personal computer
To USB connector
2) For use of RS-422
MR-J3- T MR-J3-D01
CN3
RS-422/232C conversion cable DSV-CABV (Diatrend)
Personal computer
To RS-232C connector(Note)
Note. Do not connect to the CN30 connector of MR-J3-D01. It cannot be used if connected. 3) For use of RS-422 to make multidrop connection
MR-J3- T MR-J3-D01
CN3
MR-J3- T MR-J3-D01
CN3
MR-J3- T MR-J3-D01
CN3
(Note 3)
(Note 2)(Note 2) (Note 2)
(Note 4)(Note 4)(Note 4)
(Note 1)
To RS-232C connector
Personal computer
RS-422/232C conversion cable DSV-CABV (Diatrend)
Note 1. Refer to section 13.1 for cable wiring.
2. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector.
3. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No.6) on the receiving side (servo amplifier) with
a 150 resistor.
4. Do not connect to the CN30 connector of MR-J3-D01. It cannot be used if connected.
6 - 4
6. MR Configurator
6.3 Station selection
Click "Setup" on the menu bar and click "System settings" on the menu.
When the above choices are made, the following window appears.
a)
(1) Station number selection
Choose the station number in the combo box ( a) ).
POINT
This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication.
(2) Closing of the station selection window
Click the "OK" button to close the window.
6 - 5
6. MR Configurator
6.4 Parameters
Click "Parameters" on the menu bar and click "Parameter list" on the menu.
When the above choices are made, the following window appears.
g) h) i) j) k) l)
c) a) f)b) d) e)
(1) Parameter value write ( a) )
Click the parameter whose setting was changed and press the "Write" button to write the new parameter
setting to the servo amplifier.
(2) Parameter value verify ( b) )
Click the "Verify" button to verify all parameter values being displayed and the parameter values of the
servo amplifier.
(3) Parameter value batch-read ( c) )
Click the "Read All" button to read and display all parameter values from the servo amplifier.
6 - 6
6. MR Configurator
(4) Parameter value batch-write ( d) )
Click the "Write All" button to write all parameter values to the servo amplifier.
(5) Parameter default value indication ( e) )
Click the "Set to default" button to show the initial value of each parameter.
(6) Basic settings for parameters ( g) )
Used to make the basic settings such as control mode selection and absolute position system selection.
(7) Basic setting parameters ( h) )
Used to make the basic settings for the servo amplifier. Select a parameter to be changed the setting, enter
a new value to "Set value" and click "Enter".
(8) Gain/Filter parameters ( i) )
Used to adjust the gain manually. Select a parameter to be changed, enter a new value to "Set value" and
click "Enter".
(9) Extension setting parameters ( j) )
Used to make the setting unique to MR-J3- T servo amplifier. Select a parameter to be changed, enter a
new value to "Set value" and click "Enter".
(10) I/O setting parameters ( k) )
Used to change the I/O device of the servo amplifier. Select a parameter to be changed, enter a new
value to "Set value" and click "Enter".
(11) Parameter block ( l) )
Used to set the availability of parameter write.
(12) Parameter data file read
Used to read and display the parameter values stored in the file. Use the "Project" menu on the menu
bar to read.
(13) Parameter value storage
Used to store all parameter values being displayed on the window into the specified file. Use the
"Project" menu on the menu bar to store.
(14) Parameter data list print
Used to print all parameter values being displayed on the window. Use the "Project" menu on the menu
bar to print.
(15) Parameter list window closing ( f) )
Click the "Close" button to close the window. If the "Close" button is clicked without (1) parameter value
write or (4) parameter value batch-write being performed, the parameter value changed is made invalid.
6 - 7
6. MR Configurator
6.5 Point table
POINT
The value of the parameter No. PA05 set on the parameter setting screen is
not engaged with the STM (feed length multiplication) value on the point table
list screen. Set the STM (feed length multiplication) value to the same as set in the parameter No. PA05 on the point table list screen.
Click "Point-data" on the menu bar and click "Point table" on the menu.
When the above choices are made, the following window appears.
e)
c) a) b) h)d)
g)
f)
(1) Point table data write ( a) )
Click the point table data changed and press the "Write" button to write the new point table data to the
servo amplifier.
(2) Point table data verify ( b) )
Click the "Verify" button to verify all data being displayed and the data of the servo amplifier.
(3) Point table data batch-read ( c) )
Click the "Read All" button to read and display all point table data from the servo amplifier.
(4) Point table data batch-write ( d) )
Click the "Write All" button to write all point table data to the servo amplifier.
6 - 8
6. MR Configurator
(5) Point table data insertion ( e) )
Click the "Insert" button to insert one block of data into the position before the point table No. chosen. The
blocks after the chosen point table No. are shifted down one by one.
(6) Point table data deletion ( f) )
Click the "Delete" button to delete all data in the point table No. chosen. The blocks after the chosen point
table No. are shifted up one by one.
(7) Point table data change ( g) )
Click the data to be changed, enter a new value into the "Enter" input field, and press the enter key or Enter
Data button.
(8) Point table data file read
Used to read and display the point table data stored in the file. Use the "Project" menu on the menu bar to
read.
(9) Point table data storage
Used to store all point table data being displayed on the window into the specified file. Use the "Project"
menu on the menu bar to store.
(10) Point table data list print
Used to print all point table data being displayed on the window. Use the "Project" menu on the menu bar
to print.
(11) Point table data list window closing ( h) )
Click the "Close" button to close the window.
6 - 9
6. MR Configurator
6.6 Device assignment method
(1) How to open the setting screen
Click "Parameters" on the menu bar and click "Device setting" in the menu.
Making selection displays the following window.
6 - 10
6. MR Configurator
(2) Screen explanation
(a) DIDO device setting window screen
This is the device assignment screen of the servo amplifier displays the pin assignment status of the
servo amplifier.
a)
b)
d)
c)
1) Read of function assignment ( a) )
Click the "Read" button reads and displays all functions assigned to the pins from the servo amplifier.
2) Write of function assignment ( b) )
Click the "Write" button writes all pins that are assigned the functions to the servo amplifier.
3) Verify of function assignment ( c) )
Click the "Verify" button verifies the function assignment in the servo amplifier with the device
information on the screen.
4) Initial setting of function assignment ( d) )
Click the "Set to Default" button initializes the function assignment.
6 - 11
6. MR Configurator
(b) DIDO function display window screen
This screen is used to select the device assigned to the pins.
The functions displayed below * and * are assignable.
a) b)
Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want
to assign in the DIDO device setting window.
1) Assignment checking, automatic ON setting ( a) )
Press this button to display the screen that shows the assignment list and enables auto ON setting.
Refer to (2)(c) in this section for more information.
2) Quitting
Click "Close" button to exit from the window. ( b) )
6 - 12
6. MR Configurator
(c) Function device assignment checking auto ON setting display
Click the "Assignment check / auto ON setting" button in the DIDO function display window displays the
following window.
d) c)
e)
b) a)
The assigned functions are indicated by .
The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is
enabled for auto ON, click the corresponding cell. Clicking it again disables auto ON.
1) Auto ON read of function assignment ( a) )
Click "Read" button reads the functions set for auto ON from the interface unit and extension IO unit.
2) Auto ON write of function assignment ( b) )
Click "Write" button writes the functions currently set for auto ON to the interface unit and extension
IO unit.
3) Auto ON verify of function assignment ( c) )
Click "Verify" button verifies the current auto ON setting in the interface unit and extension IO unit
with the auto ON setting on the screen.
4) Auto ON initial setting of function assignment ( d) )
Click "Set to Default" button initializes the auto ON setting.
5) Quitting the function device assignment checking/auto ON setting window ( e) )
Click "Close" button exits from the window.
6 - 13
6. MR Configurator
6.7 Test operation
CAUTION
When confirming the machine operation in the test operation mode, use the
machine after checking that the safety mechanism such as the forced stop (EMG) operates.
If any operational fault has occurred, stop operation using the forced stop (EMG).
6.7.1 Jog operation
POINT
For the program operation, refer to the manual of MR Configurator.
The servo motor will not operate if the forced stop (EMG), forward rotation
stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make
automatic ON setting to turn on these devices or make device setting to
assign them as external input signals and turn on across these signals and
SG. (Refer to section 7.6.)
When an alarm occurs, the JOG operation is automatically canceled.
Click "Test" on the menu bar and choose "Jog" on the menu.
Clicking displays the confirmation window for switching to the test operation mode.
Click the "OK" button to display the setting screen of the Jog operation.
During the servo on, the confirmation window indicating that the next operation is in the stop status is
displayed.
Turn the servo off, confirm that the operation is in the stop status, and click the "OK" button to display the
setting screen for the Jog operation.
6 - 14
6. MR Configurator
a)
b)
g)
c)
d)
e)
h)
f)
(1) Servo motor speed setting ( a) )
Enter a new value into the "Motor speed" input field and press the enter key.
(2) Acceleration/deceleration time constant setting ( b) )
Enter a new value into the "Accel/decel time" input field and press the enter key.
(3) Servo motor start ( c), d) )
Hold down the "Forward" button to rotate the servo motor in the CCW rotation direction.
Hold down the "Reverse" button to rotate the servo motor in the CW rotation direction.
(4) Servo motor stop ( e) )
Click the "Stop" button to stop the rotation of the servo motor.
(5) LSP/LSN (stroke end) automatic ON setting ( g) )
Put a check mark in the check box to automatically turn ON LSP/LSN. After selecting the check box, the
LSP and the LSN of external signal are ignored.
(6) Servo motor software forced stop ( h) )
Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software
forced stop" button is enabled, the "Forward" and "Reverse" buttons cannot be used. Click the "Software
forced stop" button again to make the "Forward" and "Reverse" buttons enabled.
(7) Jog operation window closing ( f) )
Click the "Close" button to cancel the jog operation mode and close the window.
(8) Switching to usual operation mode
To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo
amplifier.
6 - 15
6. MR Configurator
6.7.2 Positioning operation
POINT
The servo motor will not operate if the forced stop (EMG), forward rotation
stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make
automatic ON setting to turn on these devices or make device setting to
assign them as external input signals and turn on across these signals and DOCOM. (Refer to section 7.6.)
When an alarm occurs, the positioning operation is automatically canceled.
Click "Test" on the menu bar and click "Positioning" on the menu.
Clicking displays the confirmation window for switching to the test operation mode.
Click the "OK" button to display the setting screen of the Positioning operation.
During the servo on, the confirmation window indicating that the next operation is in the stop status is
displayed.
After confirming that the operation is in the stop status, click the "OK" button to display the setting screen for
the positioning operation.
6 - 16
6. MR Configurator
d)
e)
f)
g)
h)
l)
m)
a)
b)
i) j)
k)
c)
(1) Servo motor speed setting ( a) )
Enter a new value into the "Motor speed" input field and press the enter key.
(2) Acceleration/deceleration time constant setting ( b) )
Enter a new value into the "Accel/decel time" input field and press the enter key.
(3) Moving distance setting ( c) )
Enter a new value into the "Move distance" input field and press the enter key.
(4) Servo motor start ( d), e) )
Click the "Forward" button to rotate the servo motor in the forward rotation direction.
Click the "Reverse" button to rotate the servo motor in the reverse rotation direction.
(5) Temporary stop of servo motor ( f) )
Click the "Pause" button to stop the servo motor temporarily.
(6) Servo motor restart ( g) )
Click the "Restart" button during the temporary stop to restart the rotations for the remaining move distance.
Enter a new value into the "Motor speed" input field and press the enter key.
(7) Move distance clear ( h) )
Click the "Remaining distance clear" during the temporary stop to clear the remaining move distance.
(8) LSP/LSN (stroke end) automatic ON setting ( i) )
Put a check mark in the check box to automatically turn ON LSP/LSN. After selecting the check box, the
LSP and the LSN of external signal are ignored.
(9) Automatic ON setting for the movement to the Z-phase signal ( j) )
To move to the first Z-phase signal of the move distance + move direction, put a check mark in the check
box.
6 - 17
6. MR Configurator
(10) Pulse move distance unit selection (k)
Select with the option buttons whether the moving distance set is in the command input pulse unit or in the
encoder pulse unit.
(11) Servo motor software forced stop (1))
Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software
forced stop" button is enabled, the "Forward" and "Reverse" buttons cannot be used. Click the "Software
forced stop" button again to make the "Forward" and "Reverse" buttons enabled.
(12) Positioning operation window closing ( m) )
Click the "Close" button to cancel the positioning operation mode and close the window.
(13) Switching to usual operation mode
To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo
amplifier.
6 - 18
6. MR Configurator
6.7.3 Motor-less operation
POINT
When this operation is used in an absolute position detection system, the home position cannot be restored properly.
Without a servo motor being connected, the output signals are provided and the servo amplifier display shows
the status as if a servo motor is actually running in response to the external I/O signals.
The sequence of the host programmable controller can be checked without connection of a servo motor.
Click "Test" on the menu bar and click "Operation w/o Motor" on the menu.
When the above choices are made, the following window appears.
b)a)
(1) Execution of motor-less operation ( a) )
Click "Start" to perform motor-less operation.
(2) Termination of motor-less operation ( b) )
Click "Close" to close the window.
Note that just clicking the "Close" button does not cancel motor-less operation. To cancel motor-less
operation, turn ON the power of the servo amplifier and switch to the usual operation mode once.
6 - 19
6. MR Configurator
6.7.4 Output signal (DO) forced output
POINT
When an alarm occurs, the DO forced output is automatically canceled.
Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output
signal.
Click "Test" on the menu bar and click "Forced output" on the menu.
Clicking displays the confirmation window for switching to the test operation mode.
Click the "OK" button to display the setting screen of the DO forced output.
During the servo on, the confirmation window indicating that the next operation is in the stop status is
displayed.
After confirming that the operation is in the stop status, click the "OK" button to display the setting screen for
the DO forced output.
When the above choices are made, the following window appears.
a)
c)
b)
6 - 20
6. MR Configurator
(1) Signal ON/OFF setting ( a), b) )
Choose the signal name or pin number and click the "ON" or "OFF" button to write the corresponding signal
status to the servo amplifier.
(2) DO forced output window closing ( c) )
Click the "Close" button to cancel the DO forced output mode and close the window.
(3) Switching to usual operation mode
To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo
amplifier.
6.7.5 Single-step feed
POINT The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or turn on across these signals and SG. (Refer to section 6.6.)
When an alarm occurs, the 1-step feed is automatically canceled.
Operation is performed in accordance with the preset point table No.
Click "Test" on the menu bar and click "Single-step Feed" on the menu.
Clicking displays the confirmation window for switching to the test operation mode.
6 - 21
6. MR Configurator
Click the "OK" button to display the setting screen of the Single-step feed.
During the servo on, the confirmation window indicating that the next operation is in the stop status is
displayed.
After confirming that the operation is in the stop status, click the "OK" button.
b)
c)
d)
e)
g)
f)
a)
(1) Point table No. setting ( a) )
Enter the point table No. into the "Point table No." input field and press the enter key.
(2) Servo motor start ( b) )
Click the "Start" button to rotate the servo motor.
(3) Temporary stop of servo motor ( c) )
Press the "Pause" button to stop the servo motor temporarily.
(4) Servo motor stop ( c) )
Click the "Pause" button again during a temporary stop of the servo motor to clear the remaining moving
distance.
(5) Servo motor restart ( d) )
Click the "Restart" button during the temporary stop to restart the rotations for the remaining move distance.
(6) Move distance clear ( e) )
Click the "Remaining distance clear" during the temporary stop to clear the remaining move distance.
6 - 22
6. MR Configurator
(7) Servo motor software forced stop ( f) )
Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software
forced stop" button is enabled, the "Start" button cannot be used. Click the "Software forced stop" button
again to make the "Start" button enabled.
(8) Single-step feed window closing ( g) )
Click the "Close" button to cancel the single-step feed mode and close the window.
(9) Switching to usual operation mode
To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo
amplifier.
6 - 23
6. MR Configurator
6.8 Alarm
6.8.1 Alarm display
POINT If a menu is clicked or any other operation is performed during alarm occurrence, the following message window appears. The example given here is the window that indicates an occurrence of Encoder error 1 (16).
The current alarm can be displayed.
To display the current alarm, click "Alarm" on the menu bar and click "Display" on the menu.
When the above choices are made, the following window appears.
b)a)
6 - 24
6. MR Configurator
(1) Current alarm display
The window shows the alarm number, name, cause and occurrence time.
The following example is the window that indicates an occurrence of Encoder error 1 (16).
(2) Alarm reset ( a) )
Click the "Reset alarm" button to reset the current alarm and clear alarms on the window. The alarm at this
time is stored as the latest alarm.
(3) Closing the current alarm window ( b) )
Click the "Close" button to close the window.
6.8.2 Batch display of data at alarm occurrence
Monitor data during alarm occurrence is displayed.
To display monitor data, click "Alarm" on the menu bar and click "Amplifier data" on the menu.
When the above choices are made, the following window appears.
6 - 25
6. MR Configurator
Click the "Read" button to read the monitor data at error occurrence from the servo amplifier. Read results are
displayed as follows.
6 - 26
6. MR Configurator
6.8.3 Alarm history
Click "Alarm" on the menu bar and click "History" on the menu.
When the above choices are made, the following window appears.
b)a)
(1) Alarm history display
The most recent six alarms are displayed. The smaller numbers indicate newer alarms.
(2) Alarm history clear ( a) )
Click the "Clear" button to clear the alarm history stored in the servo amplifier.
(3) Closing of alarm history window ( b) )
Click the "Close" button to close the window.
7 - 1
7. PARAMETER UNIT (MR-PRU03)
7. PARAMETER UNIT (MR-PRU03)
POINT
Do not use MR-PRU03 parameter unit and MR Configurator together.
Perform simple data setting, test operation, parameter setting, etc. without MR Configurator by connecting the
MR-PRU03 parameter unit to the servo amplifier.
7 - 2
7. PARAMETER UNIT (MR-PRU03)
7.1 External appearance and key explanations
This section gives the external appearance and explanations of the keys.
PRU03
MON DATA PARAM
ALM/ DGN
TEST
Fn SHIFT ESC
7 8 9D E F
4 5 6A B C
1 2 3
0 1STEP STOP RESET
REV
FWD
Key
MON
DATA PARAM
ALM/ DGN
TEST M
od e
ke y
Fn
SHIFT
ESC
0
9F
STOP RESET
REV
FWD
1STEP
Key explanations
to
Display LCD (16 characters x 4 lines) Used to display the following or others: Parameter setting Monitor
Monitor mode key Used to display the monitor screen.
Alarm/diagnosis mode Used to display the alarm/DO forced output/diagnosis selection screen.
Parameter mode key Used to display parameter selection screen. Press this key while holding down the "SHIFT" key to display the point table setting screen.
Test operation mode key Used to display the exit/JOG operation/positioning operation/motor- less operation/DO forced output/single-step feed selection screen.
O p
er a
tio n
k e
y
Function key Used to perform various operations in the test operation mode. Used to display the parameter range and point table setting range.
SHIFT key Used to enter hexadecimal values. Press the "4" to "9" keys while holding down the "SHIFT" key to enter A to F. Press the " " keys while holding down the "SHIFT" key to move to the previous or next screen.
ESC key Used to display the screen at one step upper hierarchical level. (not the pervious screen) Used to display the setting selection screen (the initial screen) of the monitor mode.
Scroll key Used to move the cursor across the screen or scroll the screen.
Press this key while holding down the "SHIFT" key to move to the previous or next screen. Used to change parameter No. or point table No.
E n
te r
ke y
Forward rotation key Used to start the forward rotation in the test operation mode (JOG operation/positioning operation).
Symbol key/reverse rotation key Used to start the reverse rotation in the test operation mode (JOG operation/positioning operation). Used together with the "SHIFT" key to enter negative values. To exit the negative value entry mode, press the "SHIFT" key again and press the "-" key. ("-" disappears.)
Stop/reset key Used to stop temporarily in the JOG operation/positioning operation/single-step feed. The "RESET" key is valid when the "Fn" key is not pressed (i.e. at a stop). Used to reset alarms or alarm history, or clear cumulated monitor data or inputs. Normal operation cannot be stopped with this key.
Enter key Used to determine the selection, numerical values, etc. Used to determine to exit the test operation mode, or enter the motor-less operation. Used to switch ON/OFF in the DO output screen.
N u
m e
ric al
k e
y
Numerical keys Used to enter parameter No., setting values, etc. Press the "4" to "9" keys while holding down the "SHIFT" key to enter A to F.
Decimal point key Used to enter a decimal point. Used to start the single-step feed.
T es
t O pe
ra tio
n k
e y
7 - 3
7. PARAMETER UNIT (MR-PRU03)
7.2 Specifications
Item Description
Model MR-PRU03
Power supply Supplied from the servo amplifier
F un
ct io
ns
Parameter mode Basic setting parameters, Gain/filter parameters, Extension setting
parameters, I/O setting parameters
Monitor mode (Status display)
Current position, Command position, Command remaining distance,
Override, Point table No., Feedback pulse value, Servo motor speed, Droop
pulse value, Regenerative load factor, Effective load factor, Peak load factor,
Instantaneous torque, Within one-revolution position, ABS counter, Load
inertia moment ratio, Bus voltage
Diagnosis mode External I/O display, motor information
Alarm mode Current alarm, Alarm history
Test operation mode Jog operation, Positioning operation, DO forced output, Motor-less operation,
Single-step feed
Point table mode Point data, Servo motor speed, Acceleration/deceleration time constant,
Dwell, Auxiliary function, M code
Display section LCD system (16 characters 4 lines)
E nv
iro nm
en t
Ambient temperature 10 to 55 (14 to 131 ) (non-freezing)
Ambient humidity 90%RH or less (non-condensing)
Storage temperature range 20 to 65 ( 4 to 149 ) (non-freezing)
Storage humidity range 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist,
dust and dirt
Mass [g] ([lb]) 130 (0.287)
7.3 Outline dimension drawings
[Unit: mm]
72 15 10.5 48 13
24
40
5-M3 screw
5- 4 hole
40
Punched hole
16.5
11.75 23.75
1.25
Panel cut dimensionFront face Side face Back face
7 - 4
7. PARAMETER UNIT (MR-PRU03)
7.4 Connection with servo amplifier
POINT
A parameter unit cannot be connected to the CN30 connector of MR-J3-D01.
7.4.1 Single axis
(1) Configuration diagram
Operate the single-axis servo amplifier. It is recommended to use the following cable.
Parameter unit (MR-PRU03)
10BASE-T cable, etc. (EIA568-compliant cable)
CN3(Note)
MR-J3- T MR-J3-D01
Note. Do not connect to the CN30 connector of MR-J3-D01. It cannot be used if connected.
(2) Cable internal wiring diagram
GND
TXD
7
1
2
3
4
5
6
10m or less
7
1
2
3
4
5
6
8
Parameter unit (MR-PRU03)
connector side
RXD
RXD
TXD
GND
NC
Servo amplifier CN3 connector
(RJ45 connector) LG
RDP
P5D
SDN
SDP
RDN
LG
NC
5V
8
7 - 5
7. PARAMETER UNIT (MR-PRU03)
7.4.2 Multidrop connection
(1) Configuration diagram
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
Parameter unit (MR-PRU03)
(Note 1)
(Note 3)
(Note 2) (Note 2) (Note 2)
(Note 1)
(Note 4)(Note 4)(Note 4)
(Note 1)
CN3
MR-J3- T MR-J3-D01
CN3
MR-J3- T MR-J3-D01 MR-J3- T MR-J3-D01
CN3
Note 1. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector.
2. Use the 10BASE-T cable (EIA568-compliant), etc.
3. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No.6) on the receiving side (servo amplifier) with a
150 resistor.
4. Do not connect to the CN30 connector of MR-J3-D01. It cannot be used if connected.
7 - 6
7. PARAMETER UNIT (MR-PRU03)
(2) Cable internal wiring diagram
Wire the cables as shown below.
Parameter unit
7
1
2
3
4
5
6
8
7
1
2
3
4
5
6
8
1 2 3 4 5 6 7 8
7
1
2
3
4
5
6
8
(Note 4, 5) LG
P5D
RDP
SDN
SDP
RDN
LG
NC
(Note 5)
(Note 1) Axis 1 servo amplifier
CN3 connector (RJ45 connector)
7
1
2
3
4
5
6
8
7
1
2
3
4
5
6
8
1 2 3 4 5 6 7 8
7
1
2
3
4
5
6
8
LG
P5D
RDP
SDN
SDP
RDN
LG
NC
(Note 4)
(Note 5)
(Note 1) Axis 2 servo amplifier
CN3 connector (RJ45 connector)
7
1
2
3
4
5
6
8
7
1
2
3
4
5
6
8
1 2 3 4 5 6 7 8
7
1
2
3
4
5
6
8
LG
P5D
RDP
SDN
SDP
RDN
LG
NC
(Note 4)
150
RDP
RDN
(Note 2)
(Note 1, 7) Axis n servo amplifier
CN3 connector (RJ45 connector)
(Note 3) 30m or less
GND
RDP
SDN
SDP
RDN
GND
5V
NC
(Note 5)
7
1
2
3
4
5
6
8
(Note 6) Branch connector (Note 6) Branch connector (Note 6) Branch connector
Note 1. Recommended connector (Hirose Electric)
Plug: TM10P-88P
Connection tool: CL250-0228-1
2. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No.6) on the receiving side (servo amplifier) with a
150 resistor.
3. The overall length is 30m or less in low-noise environment.
4. The wiring between the branch connector and servo amplifier should be as short as possible.
5. Use the EIA568-compliant cable (10BASE-T cable, etc.).
6. Recommended branch connector: BMJ-8 (Hakko Electric Machine Works)
7. n 32 (Up to 32 axes can be connected.)
7 - 7
7. PARAMETER UNIT (MR-PRU03)
7.5 Display
Connect the MR-PRU03 parameter unit to the servo amplifier, and turn ON the power of the servo amplifier. In
this section, the screen transition of the MR-PRU03 parameter unit is explained, together with the operation
procedure in each mode.
7.5.1 Outline of screen transition
ESC
DATA PARAM
ALM/ DGN
Monitor mode Alarm/ Diagnosis mode
Parameter mode
Initializing
Servo amplifier power ON
(Note)
MON TEST Test operation
mode
MR-PRU03 parameter unit setting
SHIFT Point table mode
DATA PARAM
Normal transition (i.e. no communication error is detected)
Note. If initialization communication fails, a communication error is displayed. Press the "ESC" key to return to the PRU setting screen.
7 - 8
7. PARAMETER UNIT (MR-PRU03)
7.5.2 MR-PRU03 parameter unit setting
Set and enter the station number. (e.g. To enter 31st axis)Station number
Contrast adjustment
Buzzer
Baud rate selection
3 1
ESC
MR-PRU03 parameter unit setting
Press the " " keys to select,
and press the " " key to set.
Press the " " keys to select
from 0 to 63, and press the " " key
Press the " " key to select ON or
the " " key to select OFF, and press
the " " key to set.
Version info
PRU03 software number is displayed.
1
0
Note. Press the "SHIFT" key and "ESC" key together on any screen to return to the station number setting screen.
7 - 9
7. PARAMETER UNIT (MR-PRU03)
7.5.3 Monitor mode (status display)
(1) Monitor display
The servo status during operation is shown on the display. Refer to (2) in this section for details.
1. Current position
2. Command position
3. Command remaining distance
4. Point table No.
5. Cumulative feedback pulses
6. Servo motor speed
7. Droop pulses
8.
9.
10.
13. Peak load ratio
14. Instantaneous torque
15. Within one-revolution position
16. ABS counter
17. Load inertia moment ratio
18. Bus voltage
19.
20.
21.
MON 11. Regenerative load ratio
12. Effective load ratio
Override voltage
Override
Analog torque limit voltage
For manufacturer setting
For manufacturer setting
For manufacturer setting
7 - 10
7. PARAMETER UNIT (MR-PRU03)
(2) Monitor display list
The following table lists the items and descriptions of monitor display.
Status display
Display on
parameter
unit
Unit Description Display range
Current position Cur posit 10STM
mm
The current position from the machine home position of 0 is
displayed.
9999999 to
9999999
Command position Cmd Posit 10STM
mm The command position is displayed.
9999999 to
9999999
Command remaining
distance Cmd remin
10STM
mm
The command remaining distance of the currently selected point
table is displayed.
999999999
to 999999999
Point table No. Pnttbl No The point table No. being executed is displayed. 0 to 255
Cumulative feedback
pulses Pulse F/B pulse
Feedback pulses from the servo motor encoder are counted and
displayed.
When the value exceeds 999999, characters are displayed
smaller.
Press the "RESET" key of the parameter unit to reset the display
value to zero.
999999999
to 999999999
Servo motor speed Speed F/B r/min
The servo motor speed is displayed.
"-" is added to the speed of the servo motor rotating in the reverse
rotation.
The value rounded off is displayed in 0.1r/min.
7200 to
7200
Droop pulse Droop Pls pulse
The number of droop pulses in the deviation counter is displayed.
"- " is added to the reverse pulses.
When the value exceeds 999999, characters are displayed
smaller.
The number of pulses displayed is in the encoder pulse unit.
999999999
to 999999999
Override voltage Override V The input voltage of the override is displayed. 10.00 to
10.00
Override Override % The override setting is displayed.
100% is displayed when override is invalid. 0 to 200
Analog torque limit
voltage u V The voltage of the Analog torque limit is displayed. 0.00 to 10.00
Regenerative load
ratio Regn Load %
The ratio of regenerative power to permissible regenerative power
is displayed in %.
When regenerative option is used, the ratio to the permissible
regenerative power is displayed.
0 to 100
Effective load ratio Effc Load %
The continuous effective load current is displayed
The effective value is displayed relative to the rated current of
100%.
0 to 300
Peak load ratio Peak Load %
The maximum torque is displayed.
The highest value in the past 15 seconds is displayed relative to the
rated torque of 100%.
0 to 400
Instantaneous torque Instn Trq %
Torque that occurred instantaneously is displayed.
The value of the torque that occurred is displayed in real time
relative to the rate torque of 100%.
0 to 400
Within one-revolution
position Cyc posit pulse
Position within one revolution is displayed in encoder pulses.
The value returns to 0 when it exceeds the maximum number of
pulses.
The value is incremented in the CCW direction of rotation.
0 to 262143
ABS counter Abs count rev
Travel value from the home position in the absolute position
detection systems is displayed in terms of the absolute position
detectors counter value.
32768 to
32767
Load inertia moment
ratio Moment Rt times
The estimated ratio of the load inertia moment to the servo motor
shaft inertia moment is displayed. 0.0 to 300.0
Bus voltage P-N Volt V The voltage (across P-N or P - N ) of the main circuit converter is
displayed. 0 to 900
7 - 11
7. PARAMETER UNIT (MR-PRU03)
7.5.4 Alarm/diagnostic mode
(1) Alarm display
The flowchart below shows the procedure of settings involving alarms, alarm history, external I/O signal
(DIDO) display, device and diagnosis.
ALM/
DGN
Alarm Current alarm
(When undervoltage (A10) occurred.)
Alarm history
Motor information
Total power-on time
STOP RESET
I/O display
Diagnosis Software number
When parameter error (A37) occurred.
The alarm number of the current alarm is displayed. This screen is displayed once an alarm occurred regardless of the display mode selected.
Alarms are reset by the error reset command.Press the "1" key to execute, or the "0" key to cancel.
For six alarms including the latest alarm and five other alarms in alarm history (0 to 5), their alarm numbers and energization time elapsed before the alarm occurrence are displayed. The alarm history can be cleared. (Refer to (2) in this section.)
ON/OFF status of DIDO is displayed. : ON : OFF
The parameter No. of the erroneous parameter is displayed when parameter error (A37) occurred. Parameter error (A37) also occurs in response to a point table error. (Refer to section 10.3.)
The software number is displayed.
The motor information is displayed.
The total power-on time (P-on) and the number of power-on times (SW.) since shipped are displayed.
7 - 12
7. PARAMETER UNIT (MR-PRU03)
(2) Alarm history clear
The servo amplifier stores one current alarm and five past alarms from when its power is switched on first.
To control alarms which will occur during operation, clear the alarm history before starting operation.
ALM/
DGN
STOP RESET
1)
Select "ALM Hist".
For six alarms including the latest alarm and five other alarms in alarm history (0 to 5), their alarm numbers and energization time elapsed before the alarm occurrence are displayed.
The alarm history clear menu is displayed. Select "1" to clear the alarm history.
7 - 13
7. PARAMETER UNIT (MR-PRU03)
7.5.5 Parameter mode
The flowchart below shows the procedure for setting parameters.
DATA
PARAM
Select a parameter group.
First parameter number is displayed.
e.g. To select the gain/filter parameter, press:
Write
Write is completed. The following message appears if switching power off or on is needed to enable the setting.
e.g. To select parameter No. PB10, press:
1 0
e.g. To set setting value "1234", press:
1 2 3 4
The parameter number, abbreviation and setting value are displayed. Press the "Fn" key to display the range.
7 - 14
7. PARAMETER UNIT (MR-PRU03)
7.5.6 Point table mode
The flowchart below shows the procedure for setting point table data.
DATA
PARAM e.g. To set setting value "4567.89", press:
SHIFT
Servo motor speed display
Acceleration time constant display
Deceleration time constant display
Dwell display
Auxiliary function display
Select a point table No.
Position data display
e.g. To set point table No. "255" press: Table read screen 4 5 6 7
8 91STEP2 5 5
Select an item with
the keys or numeric keys.
Enter
e.g. To set setting value "99", press:
Enter
(Note)
Press the "Fn" key to display the range.
Point table data is displayed. POS SPD ACC DEC DWELL AUX
: Point data : Servo motor speed : Acceleration time constant : Deceleration time constant : Dwell : Auxiliary function
" "
Note. This applies to all types of data.
M code display
9 9
7 - 15
7. PARAMETER UNIT (MR-PRU03)
7.5.7 Test operation mode
CAUTION
When confirming the machine operation in the test operation mode, use the
machine after checking that the safety mechanism such as the forced stop (EMG) operates.
If any operational fault has occurred, stop operation using the forced stop (EMG).
POINT
Test operation cannot be performed if the servo-on signal is not turned OFF.
Exiting test/JOG operation/positioning operation/motor-less operation/DO forced stop/single-step feed can be
performed in this mode. The following shows how to set each operation.
When the servo motor equipped with electromagnetic brake is used, make sure to program a sequence circuit
which will operate the electromagnetic brake by the servo amplifier electromagnetic brake interlock (MBR).
TEST
JOG operation
Positioning operation
Motor-less operation
DO forced output
Single-step feed
7 - 16
7. PARAMETER UNIT (MR-PRU03)
(1) Jog operation
Jog operation can be performed when there is no command from the external command device.
Connect EMG-DOCOM to start jog operation.
(a) Operation/cancel
You can change the operation conditions with the parameter unit. The initial conditions and setting
ranges for operation are listed below.
Item Initial setting Setting range
Speed [r/min] 200 0 to instantaneous permissible speed
(Note) Acceleration/deceleration time constant [ms] 1000 0 to 20000
Note. Acceleration time constant refers to time required to reach the rated speed from stop status (0r/min), and deceleration time
constant refers to time required to reach 0r/min from the rated speed.
The following shows the operation condition settings and the operation procedures.
Test operation mode has been canceled.
Servo motor speed
Servo motor speed in JOG operation is displayed.
Operation screen
Acceleration/deceleration time constant
Acceleration/deceleration time constant in JOG operation is displayed.
4 0 0
e.g. 4000r/min is set
0
4 0 0
e.g. 4000ms is set
0
Fn FWD
REV
This screen is also displayed when "RESTORE" is selected in the initial screen of the test operation mode with no test operation being performed.
Returns to the initial screen of the test operation mode. Select "RESTORE".
Test operation mode cancel
ESC
JOG operation
Hold down the " " and " " keys to run the servo motor in the forward rotation direction.
Hold down the " " and " " keys to run the servo motor in the reverse rotation direction.
Take off the " " or " " key while holding down the " " key to stop.
Take off the " " key to stop immediately.
Fn
FWD
Fn
FnREV
If the parameter unit cable is disconnected during jog operation, the servo motor will be decelerated to a
stop.
To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo
amplifier.
(b) Status display
You can monitor the status display even during JOG operation. At this time, the "FWD", "REV" and
"STOP" keys can be used.
7 - 17
7. PARAMETER UNIT (MR-PRU03)
(2) Positioning operation
Positioning operation can be performed once when there is no command from the external command
device.
Connect EMG-DOCOM to start positioning operation.
(a) Operation/cancel
You can change the operation conditions with the parameter unit. The initial conditions and setting
ranges for operation are listed below.
Item Initial setting Setting range
Speed [r/min] 200 0 to instantaneous permissible speed
(Note 2) Acceleration/deceleration time constant [ms] 1000 0 to 20000
(Note 1) Travel distance [pulse] 4000 0 to 99999999
Note 1. The unit of move distance can be changed using feed length multiplication factor selection of parameter No. PA05.
2. Acceleration time constant refers to time required to reach the rated speed from stop status (0r/min), and deceleration time
constant refers to time required to reach 0r/min from the rated speed.
The following shows the operation condition settings and the operation procedures.
Servo motor speed
Servo motor speed in positioning operation is displayed.
Pulse unit
Acceleration/deceleration time constant in positioning operation is displayed.
1 5 0
e.g. 1500r/min is set
0
2 0 0 0
Move distance
Move distance is displayed.
1 0 0
e.g. To set move distance 10000, press:
0
STOP
RESET
0
Select a unit of pulse move distance. 0: CMD (in command pulse unit) 1: ENC (in encoder pulse unit)
ESC
Test operation mode cancel
Returns to the initial screen of the test operation mode. Select "RESTORE".
Test operation mode has been canceled.
This screen is also displayed when "RESTORE" is selected in the initial screen of the test operation mode with no test operation being performed.
Operation screen
Positioning operation
Acceleration/deceleration time constant e.g. 2000r/min is set
Fn FWD
REV
Press the " " and " " keys to start rotating the servo motor in the forward direction.
Press the " " and " " keys to start rotating the servo motor in the reverse direction.
Press the " " key to stop the motor temporarily, and press the " " or " " key to restart.
Take off the " " key to stop the motor immediately and clear the remaining distance.Fn
Fn
When the preset move distance is reached, the servo motor stops.
When the preset move distance is reached, the servo motor stops.
Fn REV
7 - 18
7. PARAMETER UNIT (MR-PRU03)
If the communication cable is disconnected during positioning operation, the servo motor will come to a
sudden stop.
To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo
amplifier.
(b) Status display
You can monitor the status display even during positioning operation. At this time, the "FWD", "REV"
and "STOP" keys can be used.
(3) Motor-less operation
Without connecting the servo motor, you can provide output signals or monitor the status display as if the
servo motor is running in response to external input devices. This operation can be used to check the
sequence of a programmable controller or the like.
(a) Operation/cancel
After turning off the SON signal, choose motor-less operation. After that, perform external operation as
in ordinary operation.
The following shows the operation procedures.
Enter
The screen appears asking whether to execute motor-less operation.
Motor-less operation Being executed
To cancel motor-less operation, turn ON the power of the servo amplifier and switch to the usual operation mode once.
To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo
amplifier.
(b) Status display
You can monitor the status display even during motor-less operation.
(4) DO forced output
Each output signal can be forced on/off independently of the servo status. This function is used for the
servo wiring check, etc.
Connect EMG-DOCOM to start DO forced output.
The following shows the operation procedures.
ESC
Output pins and their status are displayed. : Output ON : Output OFF
DO forced output
e.g. To turn ON output of CN6-3,
press the " " keys to select,
and press the " " key.
Test operation mode cancel
Returns to the initial screen of the test operation mode. Select "RESTORE".
Test operation mode has been canceled.
This screen is also displayed when "RESTORE" is selected in the initial screen of the test operation mode with no test operation being performed.
7 - 19
7. PARAMETER UNIT (MR-PRU03)
To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo
amplifier.
(5) Single-step feed
Operation is performed in accordance with the preset point table No.
Connect EMG-DOCOM to start single-step feed.
The following shows the operation condition settings and the operation procedures.
ESC
Test operation mode cancel
Returns to the initial screen of the test operation mode. Select "RESTORE".
Test operation mode has been canceled.
This screen is also displayed when "RESTORE" is selected in the initial screen of the test operation mode with no test operation being performed.
The point table No. setting screen is displayed.
Single-step feed
2 5 5
Take off the " " key to stop immediately. When stopped, the remaining distance is cleared.
After the start, press the " " key while holding down the " " key to stop temporarily.
Press the " " and " " keys to start.
Fn 1STEP
STOP
RESET
Fn
Fn
e.g. To select point table No. 255, press:
To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo
amplifier.
7.6 Error message list
When using the MR-PRU03 parameter unit, the following error messages may be displayed. When displayed,
refer to this section to remove cause.
(1) Error messages
Operation Message Cause
Communication error
1. Hardware reason
2. Mismatch in station number
3. Mismatch in baud rate
Setting error
Incorrect input, etc.
Write error
Value is written while write is disabled.
EEP-ROM write error
1. Parts in the MR-PRU03 parameter unit are faulty.
2. EEP-ROM built in the MR-PRU03 parameter unit has been overwritten
more than 100000 times.
7 - 20
7. PARAMETER UNIT (MR-PRU03)
(2) Messages
Message Description
Valid parameters were written when power is off.
The MR-PRU03 parameter unit was used to set a station number and perform transition during the test
operation mode.
Operation mode is the test operation mode.
The test mode was changed due to external factor.
Reading settings specified for the parameter write disable (parameter No. PA19) was attempted.
In the test operation, the "ESC" key was pressed while the "Fn" key was held down to switch the screen to the
MR-PRU03 parameter unit setting screen.
The ready cannot be turned ON due to alarm, etc.
Operation mode can be switched to the test operation mode at servo-on.
Station number change was attempted in the test operation mode.
Point table No. change was attempted in the single-step feed operation.
8 - 1
8 GENERAL GAIN ADJUSTMENT
8. GENERAL GAIN ADJUSTMENT
8.1 Different adjustment methods
8.1.1 Adjustment on a single servo amplifier
The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute
auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in
this order.
(1) Gain adjustment mode explanation
Gain adjustment mode Parameter No.
PA08 setting
Estimation of load inertia
moment ratio
Automatically set
parameters Manually set parameters
Auto tuning mode 1
(initial value)
0001 Always estimated GD2 (parameter No. PB06)
PG2 (parameter No. PB08)
PG1 (parameter No. PB07)
VG2 (parameter No. PB09)
VIC (parameter No. PB10)
Response level setting of
parameter No. 2
Auto tuning mode 2 0002 Fixed to parameter No.
PB06 value
PG2 (parameter No. PB08)
PG1 (parameter No. PB07)
VG2 (parameter No. PB09)
VIC (parameter No. PB10)
GD2 (parameter No. PB06)
Response level setting of
parameter No. PA09
Manual mode 0003 PG1 (parameter No. PB07)
GD2 (parameter No. PB06)
VG2 (parameter No. PB09)
VIC (parameter No. PB10)
Interpolation mode 0000 Always estimated GD2 (parameter No. PB06)
PG2 (parameter No. PB08)
VG2 (parameter No. PB09)
VIC (parameter No. PB10)
PG1 (parameter No. PB07)
8 - 2
8. GENERAL GAIN ADJUSTMENT
(2) Adjustment sequence and mode usage
END
Interpolation made for 2 or more
axes?
START
Operation
Auto tuning mode 2
OK?
OK?
Manual mode
OK?
No
No
Yes
No
Yes
No
Yes
Auto tuning mode 1
Operation
Interpolation mode
Operation
Yes
Usage
Used when you want to match
the position gain (PG1)
between 2 or more axes.
Normally not used for other
purposes.
Allows adjustment by merely
changing the response level
setting.
First use this mode to make
adjustment.
Used when the conditions of
auto tuning mode 1 are not
met and the load inertia
moment ratio could not be
estimated properly, for
example.
You can adjust all gains
manually when you want to do
fast settling or the like.
8.1.2 Adjustment using MR Configurator
This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator which operates on a personal computer.
Function Description Adjustment
Machine analyzer With the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response.
You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter. You can automatically set the optimum gains in response to the machine characteristic. This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time.
Gain search Executing gain search under to-and-fro positioning command measures settling characteristic while simultaneously changing gains, and automatically searches for gains which make settling time shortest.
You can automatically set gains which make positioning settling time shortest.
Machine simulation Response at positioning settling of a machine can be simulated from machine analyzer results on personal computer.
You can optimize gain adjustment and command pattern on personal computer.
8 - 3
8. GENERAL GAIN ADJUSTMENT
8.2 Auto tuning
8.2.1 Auto tuning mode
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load
inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.
(1) Auto tuning mode 1
The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter No. Abbreviation Name
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to servo motor inertia moment is 100 times or
less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque
during acceleration/deceleration or on a machine which is extremely loose,
auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode to make gain adjustment.
(2) Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment
ratio (parameter No. PB06).
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter No. Abbreviation Name
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
8 - 4
8. GENERAL GAIN ADJUSTMENT
8.2.2 Auto tuning mode operation
The block diagram of real-time auto tuning is shown below.
Servo motor
Command
Automatic setting
Loop gains PG1,VG1
PG2,VG2,VIC
Current control
Current feedback
Load inertia moment
Encoder
Position/speed feedback
Real-time auto tuning section
Speed feedback
Load inertia moment ratio
estimation section
Gain table
Parameter No. PB06 Load inertia moment ratio estimation value
Set 0 or 1 to turn on.
Switch
Response setting
Gain adjustment mode selection
Parameter No. PA08 Parameter No. PA09
0 0 0
When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of
estimation are written to parameter No. PB06 (the ratio of load inertia moment to servo motor). These results
can be confirmed on the status display screen of the MR Configurator section.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose
the "auto tuning mode 2" (parameter No. PA08: 0002) to stop the estimation of the load inertia moment ratio
(Switch in above diagram turned off), and set the load inertia moment ratio (parameter No. 34) manually.
From the preset load inertia moment ratio (parameter No. PB06) value and response level (parameter No.
PA09), the optimum loop gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on. At
power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as an
initial value.
POINT
If sudden disturbance torque is imposed during operation, the estimation of
the inertia moment ratio may malfunction temporarily. In such a case, choose
the "auto tuning mode 2" (parameter No. PA08: 0002) and set the correct load inertia moment ratio in parameter No. PB06.
When any of the auto tuning mode 1 and auto tuning mode settings is
changed to the manual mode 2 setting, the current loop gains and load inertia
moment ratio estimation value are saved in the EEP-ROM.
8 - 5
8. GENERAL GAIN ADJUSTMENT
8.2.3 Adjustment procedure by auto tuning
Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically
sets the optimum gains that match the machine. Merely changing the response level setting value as required
completes the adjustment. The adjustment procedure is as follows.
END
Yes
No
Yes
No
No
Yes
Auto tuning adjustment
Acceleration/deceleration repeated
Load inertia moment ratio estimation value stable?
Auto tuning conditions not satisfied.
(Estimation of load inertia moment ratio is difficult)
Adjust response level setting so that desired response is achieved on vibration-free level.
Acceleration/deceleration repeated
Requested performance satisfied?
To manual mode
Choose the auto tuning mode 2 (parameter No. PA08 : 0002) and set the load inertia moment ratio (parameter No. PB06) manually.
8 - 6
8. GENERAL GAIN ADJUSTMENT
8.2.4 Response level setting in auto tuning mode
Set the response (The first digit of parameter No. PA09) of the whole servo system. As the response 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 obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100Hz, filter tuning mode (parameter No. PB01) or machine resonance suppression filter (parameter
No. PB13 to PB16) may be used to suppress machine resonance. Suppressing machine resonance may allow
the response level setting to increase. Refer to section 9.3 for filter tuning mode and machine resonance
suppression filter.
Setting of parameter No. PA09
Response level setting
Machine characteristic
Machine rigidity Machine resonance
frequency guideline Guideline of corresponding machine
1 Low 10.0
Large conveyor
Arm robot
General machine tool conveyor
Precision working machine
Inserter Mounter Bonder
2
11.3
3 12.7
4 14.3
5 16.1
6 18.1
7 20.4
8 23.0
9 25.9
10 29.2
11 32.9
12 37.0
13 41.7
14 47.0
15 52.9
16 Middle 59.6
17
67.1
18 75.6
19 85.2
20 95.9
21 108.0
22 121.7
23 137.1
24 154.4
25 173.9
26 195.9
27 220.6
28 248.5
29 279.9
30 315.3
31 355.1
32 High 400.0
8 - 7
8. GENERAL GAIN ADJUSTMENT
8.3 Manual mode 1 (simple manual adjustment)
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 tuning mode (parameter No. PB01) or
machine resonance suppression filter (parameter No. PB13 to PB16) may be
used to suppress machine resonance. (Refer to section 9.1.)
(1) For speed control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No. Abbreviation Name
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB07 PG1 Model loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
(b) Adjustment procedure
Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 8.2.3.
2 Change the setting of auto tuning to the manual mode (Parameter No.PA08: 0003).
3 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment. (If the estimate value with auto tuning is correct, setting change is not required.)
4 Set a slightly smaller value to the model loop gain Set a slightly larger value to the speed integral compensation.
5 Increase the speed loop gain within the vibration- and unusual noise-free range, and return slightly if vibration takes place.
Increase the speed loop gain.
6 Decrease the speed integral compensation within the vibration-free range, and return slightly if vibration takes place.
Decrease the time constant of the speed integral compensation.
7 Increase the model loop gain, and return slightly if overshooting takes place.
Increase the model loop gain.
8 If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with filter tuning mode or machine resonance suppression filter and then executing steps 2 and 3.
Suppression of machine resonance. Refer to section 9.2, 9.3.
9 While checking the settling characteristic and rotational status, fine-adjust each gain.
Fine adjustment
8 - 8
8. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Speed loop gain (parameter No. PB09)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop response frequency(Hz)
Speed loop gain setting
(1 ratio of load inertia moment to servo motor inertia moment) 2
2) Speed integral compensation (VIC: parameter No. PB10)
To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or
the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless
the setting is increased to some degree. The guideline is as indicated in the following expression.
Speed integral compensation setting(ms)
2000 to 3000
(1 ratio of load inertia moment to servo motor inertia moment setting 0.1)
Speed loop gain setting/
3) Model loop gain (PG1: Parameter No.PB07)
This parameter determines the response level to a position command. Increasing the model loop
gain improves track ability to a position command, but a too high value will make overshooting liable
to occur at the time of setting.
Model loop gain guideline
Speed loop gain setting
(1 ratio of load inertia moment to servo mortar inertia moment) 1 4
1 8
to
8 - 9
8. GENERAL GAIN ADJUSTMENT
(2) For position control
(a) Parameters The following parameters are used for gain adjustment.
Parameter No. Abbreviation Name
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
(b) Adjustment procedure Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 8.2.3.
2 Change the setting of auto tuning to the manual mode (Parameter No.PA08: 0003).
3 Set an estimated value to the ratio of load inertia moment to servo motor
inertia moment. (If the estimate value with auto tuning is correct, setting
change is not required.)
4 Set a slightly smaller value to the model loop gain and the position loop
gain.
Set a slightly larger value to the speed integral compensation.
5 Increase the speed loop gain within the vibration- and unusual noise-free
range, and return slightly if vibration takes place.
Increase the speed loop gain.
6 Decrease the speed integral compensation within the vibration-free range,
and return slightly if vibration takes place.
Decrease the time constant of the speed
integral compensation.
7 Increase the position loop gain, and return slightly if vibration takes place. Increase the position loop gain.
8 Increase the model loop gain, and return slightly if overshooting takes
place.
Increase the position loop gain.
9 If the gains cannot be increased due to mechanical system resonance or
the like and the desired response cannot be achieved, response may be
increased by suppressing resonance with filter tuning mode or machine
resonance suppression filter and then executing steps 3 to 5.
Suppression of machine resonance.
Refer to section 9.2, 9.3.
10 While checking the settling characteristic and rotational status, fine-adjust
each gain.
Fine adjustment
8 - 10
8. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Speed loop gain (VG2: parameter No. PB09)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The actual
response frequency of the speed loop is as indicated in the following expression.
Speed loop response frequency(Hz)
Speed loop gain 2 setting (1 ratio of load inertia moment to servo motor inertia moment) 2
2) Speed integral compensation (VIC: parameter No. PB10)
To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or
the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless
the setting is increased to some degree. The guideline is as indicated in the following expression.
Speed integral compensation setting(ms)
2000 to 3000
Speed loop gain 2 setting/ (1 ratio of load inertia moment to servo motor inertia moment 2 setting)
3) Model loop gain (PG1: Parameter No.PB07)
This parameter determines the response level to a position command. Increasing the model loop
gain improves track ability to a position command, but a too high value will make overshooting liable
to occur at the time of setting.
Model loop gain guideline
Speed loop gain setting
(1 ratio of load inertia moment to servo mortar inertia moment) 1 4
1 8
to
4) Model loop gain (PG1: parameter No. PB07)
This parameter determines the response level to a position command. Increasing position loop gain 1
improves track ability to a position command but a too high value will make overshooting liable to
occur at the time of settling.
Model loop gain guideline
Speed loop gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment) ( to
1 8
1 4 )
8 - 11
8. GENERAL GAIN ADJUSTMENT
8.4 Interpolation mode
The interpolation mode is used to match the position loop gains of the axes when performing the interpolation
operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model
loop gain that determines command track ability. Other parameters for gain adjustment are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
Parameter No. Abbreviation Name
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No. Abbreviation Name
PB07 PG1 Model loop gain
(2) Adjustment procedure
Step Operation Description
1 Set to the auto tuning mode. Select the auto tuning mode 1.
2 During operation, increase the response level setting (parameter No. PA09), and
return the setting if vibration occurs. Adjustment in auto tuning mode 1.
3 Check the values of model loop gain. Check the upper setting limits.
4 Set the interpolation mode (parameter No. PA08: 0000). Select the interpolation mode.
5 Set the model loop gain of all the axes to be interpolated to the same value. At that
time, adjust to the setting value of the axis, which has the smallest model loop gain. Set position loop gain.
6 Looking at the interpolation characteristic and rotation status, fine-adjust the gains
and response level setting. Fine adjustment.
(3) Adjustment description
(a) Model loop gain (parameter No. PB07)
This parameter determines the response level of the position control loop. Increasing model loop gain
improves track ability to a position command but a too high value will make overshooting liable to occur
at the time of settling. The droop pulse value is determined by the following expression.
Droop pulse value (pulse) Model loop gain setting
262144(pulse) Rotation speed (r/min)
60
8 - 12
8. GENERAL GAIN ADJUSTMENT
8.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning
To meet higher response demands, the MELSERVO-J3 series has been changed in response level setting
range from the MR-J2-Super. The following table lists comparison of the response level setting.
MELSERVO-J2-Super MELSERVO-J3
Parameter No. 3 Setting Guideline for Machine Resonance
Frequency [Hz] Parameter No. PA09 Setting
Guideline for Machine Resonance
Frequency [Hz]
1 10.0
2 11.3
3 12.7
1 15 4 14.3
5 16.1
6 18.1
2 20 7 20.4
8 23.0
3 25 9 25.9
4 30 10 29.2
11 32.9
5 35 12 37.0
13 41.7
6 45 14 47.0
7 55 15 52.9
16 59.6
8 70 17 67.1
18 75.6
9 85 19 85.2
20 95.9
A 105 21 108.0
22 121.7
B 130 23 137.1
C 160 24 154.4
25 173.9
D 200 26 195.9
27 220.6
E 240 28 248.5
29 279.9
F 300 30 315.3
31 355.1
32 400.0
Note that because of a slight difference in gain adjustment pattern, response may not be the same if the
resonance frequency is set to the same value.
9 - 1
9. SPECIAL ADJUSTMENT FUNCTIONS
9. SPECIAL ADJUSTMENT FUNCTIONS
POINT
The functions given in this chapter need not be used generally. Use them if
you are not satisfied with the machine status after making adjustment in the
methods in chapter 9.
If a mechanical system has a natural resonance point, increasing the servo system response level may cause
the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the
mechanical system.
9.1 Function block diagram
Parameter No.PB23
Parameter No. PB16
Parameter No. PB01
Adaptive tuning
Manual setting
Speed control
Machine resonance
suppression filter 2
Encoder
Current command
Low-pass filter
Servo motor
Machine resonance suppression filter
1
9.2 Adaptive filter
(1) Function
Adaptive filter (adaptive tuning) is a function in which the servo amplifier detects machine vibration for a
predetermined period of time and sets the filter characteristics automatically to suppress mechanical
system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be
conscious of the resonance frequency of a mechanical system.
Mechanical system response level
Mechanical system response level
Machine resonance point Machine resonance point
Frequency Frequency
Notch depth
Notch depth
Notch frequency Notch frequency Frequency Frequency
When machine resonance is large and frequency is low When machine resonance is small and frequency is high
POINT
The machine resonance frequency which adaptive tuning mode can respond
to is about 100 to 2.25kHz. Adaptive vibration suppression control has no
effect on the resonance frequency outside this range.
Adaptive vibration suppression control may provide no effect on a mechanical
system which has complex resonance characteristics.
9 - 2
9. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
The operation of adaptive tuning mode (parameter No. PB01).
Filter tuning mode selection
0 0 0 Parameter No.PB01
Setting Filter adjustment mode Automatically set parameter
0 Filter OFF (Note)
1 Filter tuning mode Parameter No. PB13
Parameter No. PB14
2 Manual mode
Note. Parameter No. PB19 and PB20 are fixed to the initial values.
9 - 3
9. SPECIAL ADJUSTMENT FUNCTIONS
(3) Adaptive tuning mode procedure
The response has increased to the machine limit. The machine is too complicated to provide the optimum filter.
Factor
Adaptive tuning adjustment
Operation
Is the target response reached?
Tuning ends automatically after the predetermined period of time. (Parameter No. PB01 turns to "0002" or "0000".)
Decrease the response until vibration or unusual noise is resolved.
End
Yes
No
No
Yes
Increase the response setting.
Has vibration or unusual noise occurred?
Has vibration or unusual noise been resolved?
Using the machine analyzer, set the filter manually.
Yes
No
Execute or re-execute adaptive tuning. (Set parameter No. PB01 to "0001".)
If assumption fails after tuning is executed at a large vibration or oscillation, decrease the response setting temporarily down to the vibration level and execute again.
9 - 4
9. SPECIAL ADJUSTMENT FUNCTIONS
POINT "Filter OFF" enables a return to the factory-set initial value.
When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds.
When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated. After filter generation, the adaptive tuning mode automatically shifts to the manual mode.
Adaptive tuning generates the optimum filter with the currently set control gains. If vibration occurs when the response setting is increased, execute adaptive tuning again.
During adaptive tuning, a filter having the best notch depth at the set control gain is generated. To allow a filter margin against machine resonance, increase the notch depth in the manual mode.
9.3 Machine resonance suppression filter
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the
specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing
frequency (notch frequency), gain decreasing depth and width.
Mechanical system response level
Machine resonance point
Frequency
Notch depth
Notch frequency Frequency
Notch width
Notch depth
You can use the machine resonance suppression filter 1 (parameter No. PB13, PB14) and machine
resonance suppression filter 2 (parameter No. PB15, PB16) to suppress the vibration of two resonance
frequencies. Execution of adaptive tuning in the filter tuning mode automatically adjusts the machine
resonance suppression filter. When adaptive tuning is ON, the adaptive tuning mode shifts to the manual
mode after the predetermined period of time. The manual mode enables manual setting using the machine
resonance suppression filter 1.
Mechanical system response level
Machine resonance point
Frequency
Notch depth
Parameter No. PB01, PB13, PB14
Parameter No. PB15, PB16
Frequency
9 - 5
9. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
(a) Machine resonance suppression filter 1 (parameter No. PB13, PB14)
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
(parameter No. PB13, PB14)
When you have made adaptive filter tuning mode (parameter No. PB01) "manual mode", set up the
machine resonance suppression filter 1 becomes effective.
POINT
The machine resonance suppression filter is a delay factor for the servo
system. Hence, vibration may increase if you set a wrong resonance
frequency or a too deep notch.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the MR Configurator. This allows the required notch frequency
and depth to be determined.
9 - 6
9. SPECIAL ADJUSTMENT FUNCTIONS
9.4 Advanced vibration suppression control
(1) Operation Vibration suppression control is used to further suppress machine end vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake.
t t
P os
iti o
n
P os
iti o
n
Motor end
Machine end
Motor end
Machine end
Vibration suppression control OFF (Normal control)
Vibration suppression control ON
When the advanced vibration suppression control (vibration suppression control tuning mode parameter No. PB02) is executed, the vibration frequency at machine end can automatically be estimated to suppress machine end vibration. In the vibration suppression control tuning mode, this mode shifts to the manual mode after operation is performed the predetermined number of times. The manual mode enables manual setting using the vibration suppression control vibration frequency setting (parameter No. PB19) and vibration suppression control resonance frequency setting (parameter No. PB20).
(2) Parameter
Select the operation of the vibration suppression control tuning mode (parameter No. PB02).
0 0 0 Parameter No. PB02
Vibration suppression control tuning mode
Setting Vibration Suppression Control Tuning Mode Automatically Set Parameter
0 Vibration suppression control OFF (Note)
1 Vibration suppression control tuning mode
(Advanced vibration suppression control)
Parameter No. PB19
Parameter No. PB20
2 Manual mode
Note. Parameter No. PB19 and PB20 are fixed to the initial values.
POINT The function is made valid when the auto tuning mode (parameter No. PA08) is the auto tuning mode 2 ("0002") or manual mode ("0003").
The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0Hz to 100.0Hz. The function is not effective for vibration outside this range.
Stop the motor before changing the vibration suppression control-related parameters (parameter No. PB02, PB19, PB20, PB33, PB34). A failure to do so will cause a shock.
For positioning operation during execution of vibration suppression control tuning, provide a stop time to ensure a stop after full vibration damping.
Vibration suppression control tuning may not make normal estimation if the residual vibration at the motor end is small.
Vibration suppression control tuning sets the optimum parameter with the currently set control gains. When the response setting is increased, set vibration suppression control tuning again.
9 - 7
9. SPECIAL ADJUSTMENT FUNCTIONS
(3) Vibration suppression control tuning mode procedure
No
Estimation cannot be made as machine end vibration has not been transmitted to the motor end. The response of the model loop gain has increased to the machine end vibration frequency (vibration suppression control limit).
Vibration suppression control tuning adjustment
Operation
Is the target response reached?
Execute or re-execute vibration suppression control tuning. (Set parameter No. PB02 to "0001".)
Decrease the response until vibration of workpiece end/device is resolved.
End
Yes
No
No
Yes
Increase the response setting.
Has vibration of workpiece end/device increased?
Has vibration of workpiece end/device been resolved?
Using the machine analyzer or from machine end vibration waveform, set the vibration suppression control manually.
Factor
Yes
Tuning ends automatically after operation is performed the predetermined number of times. (Parameter No. PB02 turns to "0002" or "0000".)
Stop operation.
Resume operation.
9 - 8
9. SPECIAL ADJUSTMENT FUNCTIONS
(4) Vibration suppression control manual mode
Measure work end vibration and device shake with the machine analyzer or external measuring instrument,
and set the vibration suppression control vibration frequency (parameter No. PB19) and vibration
suppression control resonance frequency (parameter No. PB20) to set vibration suppression control
manually.
(a) When a vibration peak can be confirmed using MR Configurator, machine analyzer or external FFT
equipment
1Hz
-90deg.
100Hz
Gain characteristic
Phase
Vibration suppression control vibration frequency (Anti-resonance frequency) Parameter No. PB19
Vibration suppression control resonance frequency Parameter No. PB20
Resonance of more than 100Hz is not the target of control.
(b) When vibration can be confirmed using monitor signal or external sensor
t t
Motor end vibration (Droop pulses)
Position command frequency
Vibration cycle [Hz] Vibration suppression control vibration frequency Vibration suppression control resonance frequency
Set the same value.
External acceleration pick signal, etc.
Vibration cycle [Hz]
9 - 9
9. SPECIAL ADJUSTMENT FUNCTIONS
POINT
When machine end vibration does not show up in motor end vibration, the
setting of the motor end vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be
confirmed using the machine analyzer or external FFT device, do not set the
same value but set different values to improve the vibration suppression
performance.
A vibration suppression control effect is not produced if the relationship
between the model loop gain (parameter No. PB07) value and vibration
frequency is as indicated below. Make setting after decreasing PG1, e.g.
reduce the response setting.
2 1
(1.5 PG1) vibration frequency
9 - 10
9. SPECIAL ADJUSTMENT FUNCTIONS
9.5 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of the
servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following
expression.
Filter frequency(rad/s) 1 + GD2
VG2 10
When parameter No. PB23 is set to " 1 ", manual setting can be made with parameter No. PB18.
(2) Parameter
Set the operation of the low-pass filter selection (parameter No. PB23.)
Parameter No. PB23
Low-pass filter selection 0: Automatic setting (initial value) 1: Manual setting (parameter No. PB18 setting)
9.6 Gain changing function
This function can change the gains. You can change between gains during rotation and gains during stop or
can use an input device to change gains during operation.
9.6.1 Applications
This function is used when:
(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using an input device to ensure stability of the servo system since the load
inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).
9 - 11
9. SPECIAL ADJUSTMENT FUNCTIONS
9.6.2 Function block diagram
The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions
selected by gain changing selection CDP (parameter No. PB26) and gain changing condition CDS (parameter
No. PB27).
PG2B Parameter No. PB30
GD2 Parameter No. PB06
GD2B Parameter No. PB29
PG2 Parameter No. PB08
VG2 Parameter No. PB09
VG2B Parameter No. PB31
VIC Parameter No. PB10
VICB Parameter No. PB32
CDS Parameter No. PB27
VRF1 Parameter No. PB19
VRF1B Parameter No. PB33
VRF2 Parameter No. PB20
VRF2B Parameter No. PB34
Command pulse frequency
Droop pulses
Model speed
Input device CDP
Comparator
Changing
Valid GD2 value
Valid PG2 value
Valid VG2 value
Valid VIC value
Valid VRF1 value
Valid VRF2 value
CDP Parameter No. PB26
9 - 12
9. SPECIAL ADJUSTMENT FUNCTIONS
9.6.3 Parameters
When using the gain changing function, always set " 3" in parameter No. PA08 (auto tuning) to choose
the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
Parameter
No. Abbreviation Name Unit Description
PB06 GD2 Ratio of load inertia moment to
servo motor inertia moment times
Control parameters before changing
PB07 PG1 Model loop gain rad/s Position and speed gains of a model used to set the
response level to a command. Always valid.
PB08 PG2 Position loop gain rad/s
PB09 VG2 Speed loop gain rad/s
PB10 VIC Speed integral compensation ms
PB29 GD2B
Gain changing ratio of load inertia
moment to servo motor inertia
moment
times
Used to set the ratio of load inertia moment to servo motor
inertia moment after changing.
PB30 PG2B Gain changing position loop gain rad/s Used to set the value of the after-changing position loop
gain.
PB31 VG2B Gain changing speed loop gain rad/s Used to set the value of the after-changing speed loop
gain.
PB32 VICB Gain changing speed integral
compensation ms
Used to set the value of the after-changing speed integral
compensation.
PB26 CDP Gain changing selection Used to select the changing condition.
PB27 CDS Gain changing condition
kpps
pulse
r/min
Used to set the changing condition values.
PB28 CDT Gain changing time constant ms You can set the filter time constant for a gain change at
changing.
PB33 VRF1B Gain changing vibration suppression
control vibration frequency setting Hz
Used to set the value of the after-changing vibration
suppression control vibration frequency setting.
PB34 VRF2B Gain changing vibration suppression
control resonance frequency setting Hz
Used to set the value of the after-changing vibration
suppression control resonance frequency setting.
9 - 13
9. SPECIAL ADJUSTMENT FUNCTIONS
(1) Parameters No. PB06 to PB10
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed
integral compensation to be changed.
(2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No. PB29)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia moment
ratio does not change, set it to the same value as ratio of load inertia moment to servo motor inertia
moment (parameter No. PB06).
(3) Gain changing position loop gain (parameter No. PB30), Gain changing speed loop gain (parameter No.
PB31), Gain changing speed integral compensation (parameter No. PB32)
Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.
(4) Gain changing selection (parameter No. PB26)
Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If
you set "1" in the first digit here, you can use the gain changing (CDP) input device for gain changing.
Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No. PB29 to PB32 settings. 0: Invalid 1: Gain changing (CDP) is ON 2: Command frequency (Parameter No.PB27 setting) 3: Droop pulse value (Parameter No.PB27 setting) 4: Servo motor speed (Parameter No.PB27 setting)
0 0
Gain changing condition 0: Valid at more than condition (Valid when gain changing (CDP) is ON) 1: Valid at less than condition (Valid when gain changing (CDP) is OFF)
(5) Gain changing condition (parameter No. PB27)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No. PB26), set the gain changing level.
The setting unit is as follows.
Gain changing condition Unit
Command frequency kpps
Droop pulses pulse
Servo motor speed r/min
(6) Gain changing time constant (parameter No. PB28)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.
9 - 14
9. SPECIAL ADJUSTMENT FUNCTIONS
9.6.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by input device
(a) Setting Parameter No. Abbreviation Name Setting Unit
PB07 PG1 Model loop gain 100 rad/s
PB06 GD2 Ratio of load inertia moment to servo motor
inertia moment 4.0 times
PB08 PG2 Position loop gain 120 rad/s
PB09 VG2 Speed loop gain 3000 rad/s
PB10 VIC Speed integral compensation 20 ms
PB29 GD2B Gain changing ratio of load inertia moment
to servo motor inertia moment 10.0 times
PB30 PG2B Gain changing position loop gain 84 rad/s
PB31 VG2B Gain changing speed loop gain 4000 rad/s
PB32 VICB Gain changing speed integral compensation 50 ms
PB26 CDP Gain changing selection 0001
(Changed by ON/OFF of input device)
PB28 CDT Gain changing time constant 100 ms
PB33 VRF1B Gain changing vibration suppression control
vibration frequency setting
Used to set the value of the after-changing
vibration suppression control vibration
frequency setting.
Hz
PB34 VRF2B Gain changing vibration suppression control
resonance frequency setting
Used to set the value of the after-changing
vibration suppression control resonance
frequency setting.
Hz
(b) Changing operation
OFF ON OFF
Before-changing gain
After-changing gain
CDT 100ms
Gain changing (CDP)
Change of each gain
Model loop gain 1 100
Ratio of load inertia moment
to servo motor inertia moment 4.0 10.0 4.0
Position loop gain 120 84 120
Speed loop gain 3000 4000 3000
Speed integral compensation 20 50 20
9 - 15
9. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting Parameter No. Abbreviation Name Setting Unit
PB07 PG1 Model loop gain 100 rad/s
PB06 GD2 Ratio of load inertia moment to servo motor
inertia moment 4.0 times
PB08 PG2 Position loop gain 120 rad/s
PB09 VG2 Speed loop gain 3000 rad/s
PB10 VIC Speed integral compensation 20 ms
PB29 GD2B Gain changing ratio of load inertia moment to
servo motor inertia moment 10.0 times
PB30 PG2B Gain changing position loop gain 84 rad/s
PB31 VG2B Gain changing speed loop gain 4000 rad/s
PB32 VICB Gain changing speed integral compensation 50 ms
PB26 CDP Gain changing selection 0003
(Changed by droop pulses)
PB27 CDS Gain changing condition 50 pulse
PB28 CDT Gain changing time constant 100 ms
(b) Changing operation
CDT 100ms
0Droop pulses [pulses]
Change of each gain
CDS
CDS
Before-changing gain
After-changing gain
Command pulse Droop pulses
Model loop gain 100
Ratio of load inertia moment
to servo motor inertia moment 4.0 10.0 4.0 10.0
Position loop gain 120 84 120 84
Speed loop gain 3000 4000 3000 4000
Speed integral compensation 20 50 20 50
9 - 16
9. SPECIAL ADJUSTMENT FUNCTIONS
MEMO
10 - 1
10. TROUBLESHOOTING
10. TROUBLESHOOTING
10.1 Trouble at start-up
CAUTION Excessive adjustment or change of parameter setting must not be made as it will
make operation instable.
POINT
Using the MR Configurator, you can refer to unrotated servo motor reasons, etc.
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
No. Start-up sequence Fault Investigation Possible cause Reference
1 Power on LED is not lit.
LED flickers.
Not improved if connectors
CN2, CN3, CN6 and CN10
are disconnected.
1. Power supply voltage fault
2. Servo amplifier is faulty.
Improved when connectors
CN6 and CN10 are
disconnected.
Power supply of CN6 and CN10
cabling are shorted.
Improved when connector
CN2 is disconnected.
1. Power supply of encoder
cabling is shorted.
2. Encoder is faulty.
Improved when connector
CN3 is disconnected.
Power supply of CN3 cabling is
shorted.
Alarm occurs. Refer to section 10.2 and remove cause. Section 10.2
2 Switch on servo-on
(SON) signal.
The I/O signal does
not work to MR-J3-
D01.
Confirm whether numbers are
displayed in the last two digits
of the display LED after the
power-on.
If numbers are displayed in the
last two digits of LED, MR-J3-
D01 is disconnected from the
servo amplifier.
Install it correctly and confirm
that "" is displayed in the last
two digits of the LED after the
power-on.
Alarm occurs. Refer to section 10.2 and remove cause. Section 10.2
Servo motor shaft is
not servo-locked
(is free).
1. Check the display to see if
the servo amplifier is ready
to operate.
2. Check the external I/O
signal indication to see if
the servo-on (SON) signal
is ON.
1. Servo-on (SON) is not input.
(Wiring mistake)
2. 24VDC power is not supplied
to DICOM.
Section 7.5.4
3 Gain adjustment Rotation ripples
(speed fluctuations)
are large at low
speed.
Make gain adjustment in the
following procedure.
1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.
Gain adjustment fault Chapter 8
Large load inertia
moment causes the
servo motor shaft to
oscillate side to side.
If the servo motor may be run
with safety, repeat
acceleration and deceleration
several times to complete
auto tuning.
Gain adjustment fault Chapter 8
10 - 2
10. TROUBLESHOOTING
No. Start-up sequence Fault Investigation Possible cause Reference
4 Cyclic operation Position shift occurs Confirm the cumulative
command pulses, cumulative
feedback pulses and actual
servo motor position.
Pulse counting error, etc.
due to noise.
10.2 When alarm or warning has occurred
POINT
Configure up a circuit which will detect the trouble (ALM) signal and turn off the
servo-on (SON) at occurrence of an alarm.
10.2.1 Alarms and warning list
When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning
has occurred, refer to section 10.2.2 or 10.2.3 and take the appropriate action. When an alarm occurs, ALM
turns off.
After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm
deactivation column.
Display
(Note 4) Alarm code
Name
Alarm deactivation
ACD3 (bit3)
ACD2 (bit2)
ACD1 (bit1)
ACD0 (bit0)
Power OFF ON
(Note3) MR
Configurator parameter unit
(Note2) Alarm reset
(RES)
A la
rm s
A10 0 0 1 0 Undervoltage A12 0 0 0 0 Memory error 1 A13 0 0 0 0 Clock error A15 0 0 0 0 Memory error 2 (EEP-ROM) A16 0 1 1 0 Encoder error 1 (At power on) A17 0 0 0 0 Board error A19 0 0 0 0 Memory error 3 (Flash-ROM) A1A 0 1 1 0 Motor combination error A20 0 1 1 0 Encoder error 2 A24 1 1 0 0 Main circuit error A25 1 1 1 0 Absolute position erase A30 0 0 0 1 Regenerative error (Note 1) (Note 1) (Note 1) A31 0 1 0 1 Overspeed A32 0 1 0 0 Overcurrent A33 1 0 0 1 Overvoltage A35 1 1 0 1 Command pulse frequency alarm A37 1 0 0 0 Parameter error A45 0 0 1 1 Main circuit device overheat (Note 1) (Note 1) (Note 1) A46 0 0 1 1 Servo motor overheat (Note 1) (Note 1) (Note 1) A47 0 0 1 1 Cooling fan alarm A50 0 0 1 1 Overload 1 (Note 1) (Note 1) (Note 1) A51 0 0 1 1 Overload 2 (Note 1) (Note 1) (Note 1) A52 0 1 0 1 Error excessive A61 0 1 0 1 Operation alarm A8A 0 0 0 0 Serial communication time-out A8E 0 0 0 0 Serial communication error 888 0 Watchdog
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence. 2. Turns on RES. 3. Clicking the "Alarm reset" button on the "Alarm display" screen of MR Configurator allows an alarm to be deactivated.
Pressing the "STOP RESET" key of the parameter unit allows an alarm to be deactivated. 4. 0: OFF
1: ON
10 - 3
10. TROUBLESHOOTING
Display Name
W ar
ni ng
s
A90 Home positioning incomplete warning
A92 Open battery cable warning
A96 Home position setting error
A98 Software limit warning
A99 Stoke limit warning
A9A Option unit input data error warning
A9F Battery warning
AE0 Excessive regeneration warning
AE1 Overload warning 1
AE3 Absolute position counter warning
AE6 Servo forced stop warning
AE8 Cooling fan speed reduction warning
AE9 Main circuit off warning
AEC Overload warning 2
AED Output watt excess warning
10.2.2 Remedies for alarms
CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur.
If an absolute position erase (A25) occurred, always make home position setting again. Not doing so may cause unexpected operation.
As soon as an alarm occurs, turn off Servo-on (SON) and power off.
POINT
When any of the following alarms has occurred, do not deactivate the alarm
and resume operation repeatedly. To do so will cause the servo amplifier/servo
motor to fail. Remove the cause of occurrence, and leave a cooling time of more than 30 minutes before resuming operation.
Regenerative error (A30)
Overload 1 (A50)
Overload 2 (A51)
For the alarm deactivation method, refer to section 10.2.1.
When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the servo
motor. At this time, the display indicates the alarm No.
The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. Use the MR
Configurator to refer to a factor of alarm occurrence.
10 - 4
10. TROUBLESHOOTING
Display Name Definition Cause Action
A10 Undervoltage Power supply
voltage dropped.
MR-J3- T:
160VAC or less
MR-J3- T1:
83VAC or less
MR-J3- T4:
280VAC or less
1. Power supply voltage is low. Check the power supply.
2. There was an instantaneous control
power failure of 60ms or longer.
3. Shortage of power supply capacity
caused the power supply voltage to
drop at start, etc.
4. The bus voltage dropped to the
following value or less.
MR-J3- T: 200VDC
MR-J3- T1: 158VDC
MR-J3- T: 380VDC
5. Faulty parts in the servo amplifier
Checking method
Alarm (A10) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
Change the servo amplifier.
A12 Memory error 1
(RAM)
RAM, memory fault Faulty parts in the servo amplifier
Checking method Alarm (any of A12 and A13) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
Change the servo amplifier.
A13 Clock error Printed board fault
A15 Memory error 2
(EEP-ROM)
EEP-ROM fault 1. Faulty parts in the servo amplifier
Checking method
Alarm (A15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
Change the servo amplifier.
2. The number of write times to EEP-
ROM exceeded 100,000.
A16 Encoder error 1
(At power on)
Communication error
occurred between
encoder and servo
amplifier.
1. Encoder connector (CN2)
disconnected.
Connect correctly.
2. Encoder fault Change the servo motor.
3. Encoder cable faulty
(Wire breakage or shorted)
Repair or change the cable.
4. Encoder cable type (2-wire, 4-wire)
selection was wrong in parameter
setting.
Correct the setting in the fourth digit of
parameter No. PC22.
A17 Board error CPU/parts fault Faulty parts in the servo amplifier Checking method
Alarm (A17 or A19) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable.
Change the servo amplifier.
A19 Memory error 3
(Flash ROM)
ROM memory fault
A1A Motor
combination
error
Wrong combination
of servo amplifier
and servo motor.
Wrong combination of servo amplifier and servo motor connected.
Use correct combination.
A20 Encoder error 2 Communication error
occurred between
encoder and servo
amplifier.
1. Encoder connector (CN2) disconnected.
Connect correctly.
2. Encoder cable faulty (Wire breakage or shorted)
Repair or change the cable.
3. Encoder fault Change the servo motor.
10 - 5
10. TROUBLESHOOTING
Display Name Definition Cause Action
A24 Main circuit
error
Ground fault
occurred at the servo
motor power (U,V
and W phases) of
the servo amplifier.
1. Power input wires and servo motor
power wires are in contact.
Connect correctly.
2. Sheathes of servo motor power
cables deteriorated, resulting in
ground fault.
Change the cable.
3. Main circuit of servo amplifier failed. Checking method
Alarm (A24) occurs if the servo is switched on after disconnecting the U, V, W power cables from the servo amplifier.
Change the servo amplifier.
A25 Absolute
position erase
Absolute position
data in error
1. Voltage drop in encoder.
(Battery disconnected.)
After leaving the alarm occurring for a few
minutes, switch power off, then on again.
Always make home position setting again.
2. Battery voltage low. Change the battery.
Always make home position setting again. 3. Battery cable or battery is faulty.
Power was switched
on for the first time in
the absolute position
detection system.
4. Home position not set.. After leaving the alarm occurring for a few
minutes, switch power off, then on again.
Always make home position setting again.
A30 Regenerative
error
Permissible
regenerative power
of the built-in
regenerative resistor
or regenerative
option is exceeded.
1. Wrong setting of parameter No.
PA02.
Set correctly.
2. Built-in regenerative resistor or
regenerative option is not
connected.
Connect correctly.
3. High-duty operation or continuous
regenerative operation caused the
permissible regenerative power of
the regenerative option to be
exceeded.
Checking method Call the status display and check the regenerative load ratio.
1. Reduce the frequency of positioning.
2. Use the regenerative option of larger
capacity.
3. Reduce the load.
4. Power supply voltage is abnormal.
MR-J3- T:260VAC or more
MR-J3- T1:More than 135VAC
MR-J3- T4: 535VAC or more
Check the power supply.
5. Built-in regenerative resistor or
regenerative option faulty.
Change the servo amplifier or regenerative
option.
Regenerative
transistor fault
6. Regenerative transistor faulty.
Checking method 1) The regenerative option has overheated abnormally. 2) The alarm occurs even after removal of the built-in regenerative resistor or regenerative option.
Change the servo amplifier.
10 - 6
10. TROUBLESHOOTING
Display Name Definition Cause Action
A31 Overspeed Speed has exceeded
the instantaneous
permissible speed.
1. Input command pulse frequency
exceeded the permissible
instantaneous speed frequency.
Set command pulses correctly.
2. Small acceleration/deceleration time
constant caused overshoot to be
large.
Increase acceleration/deceleration time
constant.
3. Servo system is instable to cause
overshoot.
1. Re-set servo gain to proper value.
2. If servo gain cannot be set to proper
value.
1) Reduce load inertia moment ratio; or
2) Reexamine acceleration/
deceleration time constant.
4. Electronic gear ratio is large
(parameters No. PA06, PA07)
Set correctly.
5. Encoder faulty. Change the servo motor.
A32 Overcurrent Current that flew is
higher than the
permissible current
of the servo
amplifier. (When the
alarm (A32) occurs,
switch the power
OFF and then ON to
reset the alarm.
Then, turn on the
servo-on. When the
alarm (A32) still
occurs at the time,
the transistor (IPM
IGBT) of the servo
amplifier may be at
fault. Do not switch
the power OFF/ON
repeatedly; check
the transistor
according to the
cause 2 checking
method.)
1. Short occurred in servo motor
power (U, V, W).
Correct the wiring.
2. Transistor (IPM) of the servo
amplifier faulty.
Checking method Alarm (A32) occurs if power is switched on after U,V and W are disconnected.
Change the servo amplifier.
3. Ground fault occurred in servo
motor power (U, V, W).
Correct the wiring.
4. External noise caused the
overcurrent detection circuit to
misoperate.
Take noise suppression measures.
10 - 7
10. TROUBLESHOOTING
Display Name Definition Cause Action
A33 Overvoltage The following shows
the input value of
converter bus
voltage.
MR-J3- T(1):
400VDC or more
MR-J3- T4:
800VDC or more
1. Regenerative option is not used. Use the regenerative option.
2. Though the regenerative option is
used, the parameter No.PA02
setting is " 00 (not used)".
Set correctly.
3. Lead of built-in regenerative resistor
or regenerative option is open or
disconnected.
1. Change the lead.
2. Connect correctly.
4. Regenerative transistor faulty. Change the servo amplifier
5. Wire breakage of built-in
regenerative resistor or regenerative
option
1. For wire breakage of built-in regenerative
resistor, change the servo amplifier.
2. For wire breakage of regenerative option,
change the regenerative option.
6. Capacity of built-in regenerative
resistor or regenerative option is
insufficient.
Add regenerative option or increase
capacity.
7. Power supply voltage high. Check the power supply.
8. Ground fault occurred in servo
motor power (U, V, W).
Correct the wiring.
9. The jumper across BUE-SD of the
FR-BU2 brake unit is removed.
Fit the jumper across BUE-SD.
A35 Command pulse
frequency error
Input pulse
frequency of the
command pulse is
too high.
1. Pulse frequency of the manual
pulse generator is too high.
Change the pulse frequency to a proper
value.
2. Noise entered the pulses of the
manual pulse generator.
Take action against noise.
3. Manual pulse generator failure Change the manual pulse generator.
A37 Parameter error Parameter setting is
wrong.
1. Servo amplifier fault caused the
parameter setting to be rewritten.
Change the servo amplifier.
2. Regenerative option not used with
servo amplifier was selected in
parameter No.PA02.
Set parameter No.PA02 correctly.
3. Value outside setting range has
been set in electronic gear.
Set parameters No. PA06, PA07 correctly.
4. Opposite sign has been set in software limit increasing side (parameters No. PC31, PC32). Similarly, opposite sign has been set in software limit decreasing side (parameters No. PC33, PC34).
Set parameters No. PC31 to PC34 correctly.
5. Opposite sign has been set in position range output address increasing side (parameters No. PC37, PC38). Similarly, opposite sign has been set in position range output address decreasing side (parameters No. PC39, PC40).
Set parameters No. PC37 to PC40 correctly.
6. The number of write times to EEP-
ROM exceeded 100,000 due to
parameter write, etc.
Change the servo amplifier.
7. The torque limit switching dog
system or torque limit switching data
set system is selected for home
position return in the point table
positioning operation. (Parameter
No. PC02)
These home position return types cannot be
used. Set the parameter No.PC02 correctly.
Point table setting is
wrong.
8. Setting value is out of the setting
range.
Set it correctly.
10 - 8
10. TROUBLESHOOTING
Display Name Definition Cause Action
A45 Main circuit
device overheat
Main circuit device
overheat
1. Servo amplifier faulty. Change the servo amplifier.
2. The power supply was turned on
and off continuously by overloaded
status.
The drive method is reviewed.
3. Ambient temperature of servo motor
is over 55 (131 ).
Check environment so that ambient
temperature is 0 to 55 (32 to 131 ).
4. Used beyond the specifications of
close mounting.
Use within the range of specifications.
A46 Servo motor
overheat
Servo motor
temperature rise
actuated the thermal
sensor.
1. Ambient temperature of servo motor
is over 40 (104 ).
Check environment so that ambient
temperature is 0 to 40 (32 to 104 ).
2. Servo motor is overloaded. 1. Reduce load.
2. Check operation pattern.
3. Use servo motor that provides larger
output.
3. Thermal sensor in encoder is faulty. Change the servo motor.
A47 Cooling fan
alarm
The cooling fan of
the servo amplifier
stopped, or its speed
decreased to or
below the alarm
level.
Cooling fan life expiration (Refer to
section 2.5.)
Change the cooling fan of the servo
amplifier.
Foreign matter caught in the cooling
fan stopped rotation.
Remove the foreign matter.
The power supply of the cooling fan
failed.
Change the servo amplifier.
A50 Overload 1 Load exceeded
overload protection
characteristic of
servo amplifier.
1. Servo amplifier is used in excess
of its continuous output current.
1. Reduce load.
2. Check operation pattern.
3. Use servo motor that provides larger
output.
2. Servo system is instable and
hunting.
1. Repeat acceleration/
deceleration to execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
3. Machine struck something. 1. Check operation pattern.
2. Install limit switches.
4. Wrong connection of servo motor.
Servo amplifier's output terminals U,
V, W do not match servo motor's
input terminals U, V, W.
Connect correctly.
5. Encoder faulty.
Checking method
When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.
Change the servo motor.
6. After Overload 2 (A51) occurred,
turn OFF/ON the power supply to
clear the alarm. Then the overload
operation is repeated.
1. Reduce load.
2. Check operation pattern.
3. Use servo motor that provides larger
output.
10 - 9
10. TROUBLESHOOTING
Display Name Definition Cause Action
A51 Overload 2 Machine collision or
the like caused max.
For the time of the
alarm occurrence,
refer to the section
12.1.
1. Machine struck something. 1. Check operation pattern.
2. Install limit switches.
2. Wrong connection of servo motor.
Servo amplifier's output terminals U,
V, W do not match servo motor's
input terminals U, V, W.
Connect correctly.
3. Servo system is instable and
hunting.
1. Repeat acceleration/deceleration to
execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
4. Encoder faulty.
Checking method
When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.
Change the servo motor.
A52 Error excessive The difference
between the model
position and the
actual servo motor
position exceeds
three rotations.
(Refer to the function
block diagram in
section 1.1.2.)
1. Acceleration/deceleration time
constant is too small.
Increase the acceleration/deceleration time
constant.
2. Forward torque limit (parameter
No.PA11) or reverse torque limit
(parameter No.PA12) are too small.
Increase the torque limit value.
3. Motor cannot be started due to
torque shortage caused by power
supply voltage drop.
1. Check the power supply capacity.
2. Use servo motor which provides larger
output.
4. Position loop gain (parameter
No.PB08) value is small.
Increase set value and adjust to ensure
proper operation.
5. Servo motor shaft was rotated by
external force.
1. When torque is limited, increase the limit
value.
2. Reduce load.
3. Use servo motor that provides larger
output.
6. Machine struck something. 1. Check operation pattern.
2. Install limit switches.
7. Encoder faulty Change the servo motor.
8. Wrong connection of servo motor.
Servo amplifiers output terminals U,
V, W do not match servo motors
input terminals U, V, W.
Connect correctly.
A61 Operation alarm Setting mistake of
auxiliary function.
"1" or "3" is set for the auxiliary
function of point table No.255.
Set "0" or "2" for the value of auxiliary
function.
A8A Serial
communication
time-out error
Communication
stopped for longer
than the specified
time.
1. Communication cable breakage. Repair or change the communication cable
2. Communication cycle longer than
regulated time.
Shorten the communication cycle.
3. Wrong protocol. Correct protocol.
A8E Serial
communication
error
Serial
communication error
occurred between
servo amplifier and
communication
device (e.g. personal
computer).
1. Communication cable fault
(Open cable or short circuit)
Repair or change the cable.
2. Communication device (e.g.
personal computer) faulty
Change the communication device (e.g.
personal computer).
10 - 10
10. TROUBLESHOOTING
Display Name Definition Cause Action
(Note)
888
Watchdog CPU, parts faulty Fault of parts in servo amplifier
Checking method Alarm (888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable.
Change the servo amplifier.
Note. At power-on, "888" appears instantaneously, but it is not an error.
10 - 11
10. TROUBLESHOOTING
10.2.3 Remedies for warnings
CAUTION If an absolute position counter warning (AE3) occurred, always make home
position setting again. Not doing so may cause unexpected operation.
POINT
When any of the following alarms has occurred, do not resume operation by
switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier
and servo motor may become faulty. If the power of the servo amplifier is
switched OFF/ON during the alarms, allow more than 30 minutes for cooling before resuming operation.
Excessive regenerative warning (AE0)
Overload warning 1 (AE1)
If AE6 occur, the servo off status is established. If any other warning occurs, operation can be continued but an
alarm may take place or proper operation may not be performed.
Remove the cause of warning according to this section. Use the optional MR Configurator to refer to a factor of
warning occurrence. Display Name Definition Cause Action
A90 Home position return incomplete
In in
cr em
en ta
l s ys
te m
Positioning operation was performed without home position return.
1. Positioning operation was performed without home position return.
Perform home position return.
Home position return ended abnormally.
2. Home position return speed could not be decreased to creep speed.
3. Limit switch was actuated during home position return starting at other than position beyond dog.
Check home position return speed/creep speed/moving distance after proximity dog.
In a
bs ol
ut e
po si
tio n
de te
ct io
n sy
st em
Positioning operation was performed without home position setting.
1. Positioning operation was performed without home position setting.
Perform home position setting.
Home position setting ended abnormally.
2. Home position setting speed could not be decreased to creep speed.
3. Limit switch was actuated during home position setting starting at other than position beyond dog.
Check home position setting speed/creep speed/moving distance after proximity dog.
Operation was performed without making home position setting while an absolute position erase (A25) is being occurred.
4. Voltage drop in encoder (Battery disconnected.)
After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again.
5. Battery voltage low. Change the battery. Always make home position setting again.
6. Battery cable or battery is faulty.
A92 Open battery cable warning
Absolute position detection system battery voltage is low.
1. Battery cable is open. Repair cable or changed. 2. Battery voltage supplied from the servo
amplifier to the encoder fell to about 3V or less. (Detected with the encoder)
Change the battery.
A96 Home position setting warning
Home position setting could not be made.
1. Droop pulses remaining are greater than the in-position range setting.
Remove the cause of droop pulse occurrence.
2. Command pulse entered after clearing of droop pulses.
Do not enter command pulse after clearing of droop pulses.
3. Creep speed high. Reduce creep speed.
10 - 12
10. TROUBLESHOOTING
Display Name Definition Cause Action
A98 Software limit
warning
Software limit set in
parameter is reached.
1. Software limit was set within actual
operation range.
Set parameter No. PC31 to PC34
correctly.
2. Point table of position data in excess of
software limit was executed.
Set point table correctly.
3. Software limit was reached during JOG
operation or manual pulse generator
operation.
Perform operation within software
limit range.
A99 Stroke limit
warning
The limit switch become
valid.
The stroke end (LSP or LSN) of the
direction which gave instructions was turned
off.
Reexamine the operation pattern
to turn LSP/LSN ON.
A9A Option unit input
data error warning
Setting error of BCD input
data.
1. The minus symbol is set at the
incremental value command.
Set the symbol correctly.
2. The plus and minus symbols are set
simultaneously.
3. The value of "9" or more is set to the first
digit.
Set the BCD value correctly.
A9F Battery warning Voltage of battery for
absolute position
detection system reduced.
Battery voltage fell to 3.2V or less.
(Detected with the servo amplifier)
Change the battery.
AE0 Excessive
regenerative
warning
There is a possibility that
regenerative power may
exceed permissible
regenerative power of
built-in regenerative
resistor or regenerative
option.
Regenerative power increased to 85% or
more of permissible regenerative power of
built-in regenerative resistor or regenerative
option.
Checking method Call the status display and check regenerative load ratio.
1. Reduce frequency of
positioning.
2. Change the regenerative
option for the one with larger
capacity.
3. Reduce load.
AE1 Overload warning
1
There is a possibility that
overload alarm 1 or 2 may
occur.
Load increased to 85% or more of overload
alarm 1 or 2 occurrence level.
Cause, checking method Refer to A50, A51.
Refer to A50, A51.
AE3 Absolute position
counter warning
Absolute position encoder
pulses faulty.
1. Noise entered the encoder. Take noise suppression
measures.
2. Encoder faulty. Change the servo motor.
The multi-revolution
counter value of the
absolute position encoder
exceeded the maximum
revolution range.
3. The movement amount from the home
position exceeded a 32767 rotation or
37268 rotation in succession.
Make home position setting
again.
AE6 Servo forced stop
warning
EMG is off. External forced stop was made valid. (EMG
was turned off.)
Ensure safety and deactivate
forced stop.
AE8 Cooling fan speed
reduction warning
The speed of the servo
amplifier decreased to or
below the warning level.
This warning is not
displayed with MR-J3-
70T/100T among servo
amplifiers equipped with a
cooling fan.
Cooling fan life expiration. (Refer to section
2.5.)
Change the cooling fan of the
servo amplifier.
The power supply of the cooling fan is
broken.
Change the servo amplifier.
AE9 Main circuit off
warning
Servo-on (SON) was
switched on with main
circuit power off.
Switch on main circuit power.
10 - 13
10. TROUBLESHOOTING
Display Name Definition Cause Action
AEC Overload warning
2
Operation, in which a
current exceeding the
rating flew intensively in
any of the U, V and W
phases of the servo
motor, was repeated.
During a stop, the status in which a current
flew intensively in any of the U, V and W
phases of the servo motor occurred
repeatedly, exceeding the warning level.
1. Reduce the positioning
frequency at the specific
positioning address.
2. Reduce the load.
3. Replace the servo amplifier/
servo motor with the one of
larger capacity.
AED Output watt excess
warning
The status, in which the
output wattage (speed
torque) of the servo motor
exceeded the rated
output, continued steadily.
Continuous operation was performed with
the output wattage (speed torque) of the
servo motor exceeding 150% of the rated
output.
1. Reduce the servo motor
speed.
2. Reduce the load.
10.3 Point table error
When a point table error occurs, the parameter error (A37) occurs. After the parameter No. of parameter error
(A.37), the point table error details are displayed.
Point table error details For the point table No.1 position data error
A L 3 7 # 0 0 P B 1 0 P B 1 1 P B 1 2 P B 1 6
Point table No. with error
Error item Pos: position data Spd: speed Acc: acceleration time constant Dec: deceleration time constant Dwl: dwell Aux: auxiliary function Mcd: M code
P o s 0 0 1
10.4 MR-DP60 external digital display error
When MR-DP60 external digital display detects an error, the following alarms are displayed. The alarms are
displayed only on the MR-DP60, but not on the servo amplifier display.
Display Name Definition Cause Action
AL. CPU CPU error CPU error Faulty parts in the MR-D60. Exchange the MR-D60.
AL. C0 Communication
error
Communication error
occurred between MR-DP60
and MR-J3-D01.
1. CN30 connector disconnected. Connect correctly.
2. Wire breakage of the cable. Repair or exchange the cable.
10 - 14
10. TROUBLESHOOTING
MEMO
11 - 1
11. OUTLINE DRAWINGS
11. OUTLINE DRAWINGS
11.1 Servo amplifier
(1) MR-J3-10T MR-J3-20T
MR-J3-10T1 MR-J3-20T1 [Unit: mm]
With MR-J3BAT
6 mounting holeRating plate
Approx. 80
Approx. 68 Approx. 25.5
6
CNP3
4
60
CNP2
CNP1
6
135
CN1
41
40
(Note)
Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models.
For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout.
Mass: 0.8 [kg] (1.76 [lb])
(Servo amplifier alone)
L1
L2
L3
N
P1
P2
P
C
D
L11
L21
U
V
W
CNP3
CNP2
CNP1
PE terminal
Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in])
Terminal signal layout For 3-phase or 1-phase 200 to 230VAC
L1
L2
N
P1
P2
P
C
D
L11
L21
U
V
W
CNP3
CNP2
CNP1
For 1-phase 100 to 120VAC
Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in])
2-M5 screw
Mounting hole process drawing
6
Approx. 40
11 - 2
11. OUTLINE DRAWINGS
(2) MR-J3-40T MR-J3-60T
MR-J3-40T1 [Unit: mm]
Rating plate 6 mounting hole
With MR-J3BAT
60
CNP1
Approx. 68 6
Approx. 25.5
CNP2
5 6
Approx. 80 170
CNP3
76
40
CN1
(Note)
Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models.
For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout.
Mass: 1.0 [kg] (2.21 [lb])
(Servo amplifier alone)
L1
L2
L3
N
P1
P2
P
C
D
L11
L21
U
V
W
CNP3
CNP2
CNP1
PE terminal
Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in])
Terminal signal layout
P
C
D
L11
L21
U
V
W
CNP3
CNP2
For 3-phase or 1-phase 200 to 230VAC
L1
L2
N
P1
P2
CNP1
For 1-phase 100 to 120VAC
Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in])
Mounting hole process drawing
2-M5 screw
6
Approx. 40
11 - 3
11. OUTLINE DRAWINGS
(3) MR-J3-70T MR-J3-100T
[Unit: mm]
Cooling fan wind direction
6 mounting hole
With MR-J3BAT
Rating plate
Approx. 68
Approx. 25.56
4212
CNP3
6
80
CNP2
CNP1
12
185
CN1
91
Approx. 80
Mass: 1.4 [kg] (3.09 [lb])
(Servo amplifier alone)
U
V
W
CNP3
P
C
D
L11
L21
CNP2
L1
L2
L3
N
P1
P2
CNP1
Terminal signal layout
PE terminal
Screw size: M4 Tightening torque:
1.2 [N m] (10.6 [lb in])
Mounting hole process drawing
Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in])
3-M5 screw
Approx. 60
Approx. 12
42 0.3
Approx. 6
11 - 4
11. OUTLINE DRAWINGS
(4) MR-J3-60T4 MR-J3-100T4
[Unit: mm]
Approx. 68
Approx. 80 195
1016
Approx. 25.56
4212
CNP3
80
CNP2
CNP1
12
CN1
Rating plate 6 mounting hole
With MR-J3BAT
Mass: 1.4 [kg] (3.09 [lb])
(Servo amplifier alone)
U
V
W
CNP3
P
C
D
L11
L21
CNP2
L1
L2
L3
N
P1
P2
CNP1
Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in])
Terminal signal layout
PE terminal
Approx. 60
42 0.3
Approx. 12 Approx. 6
Mounting hole process drawing
3-M5 screw
Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in])
11 - 5
11. OUTLINE DRAWINGS
(5) MR-J3-200T(4)
POINT Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. For MR-J3-200T- RT, refer to appendix 4.
[Unit: mm]
Approx. 68
6
Approx. 25.56
6 78 6
45
105
85 Approx. 80 195
Cooling fan wind direction
CNP1
CNP2
CNP3
Rating plate 101
With MR-J3BAT
CN1
6 mounting hole
Mass: 2.1 [kg] (4.63 [lb])
(Servo amplifier alone)
U
V
W
CNP3
P
C
D
L11
L21
CNP2
L1
L2
L3
N
P1
P2
CNP1
Terminal signal layout
PE terminal
Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [Ib in]) 3-M5 screw
Approx. 90
Approx. 6 Approx. 678 0.3
Mounting hole process drawing
Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in])
11 - 6
11. OUTLINE DRAWINGS
(6) MR-J3-350T
[Unit: mm]
6 mounting hole
With MR-J3BAT
Rating plate
Cooling fan wind direction
85
78
Approx. 25.5
105
Approx. 68 6 6
45
Approx. 80 195
6
101
CNP1
CNP3
CNP2
CN1
Mass: 2.3 [kg] (5.07 [lb])
(Servo amplifier alone)
U
V
W
CNP3
P
C
D
L11
L21
CNP2
L1
L2
L3
N
P1
P2
CNP1
Terminal signal layout
PE terminal
Screw size: M4 Tightening torque:
1.2 [N m] (10.6 [lb in]) 3-M5 screw
Approx. 90
78 0.3 Approx. 6
Mounting hole process drawing
Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in])
Approx. 6
11 - 7
11. OUTLINE DRAWINGS
(7) MR-J3-350T4 MR-J3-500T(4)
[Unit: mm]
6 118 6
130
6
Approx. 80 200
CN1
26.5
11
7 11 77
21.5 10
67 1111
42 1111
150.7 147.9
109.1 81.5
140
106
TE2
TE1
TE3
2- 6 mounting hole
With MR-J3BAT
Built-in regenerative resistor lead terminal fixing screw
Rating plate
Cooling fan wind direction
Mass: 4.6 [kg] (10.1 [lb])
(Servo amplifier alone)
V W
TE2
N
L11 L21
TE3
L1 L2 L3 P
TE1
Terminal screw: M4 Tightening torque: 1.2[N m]
Terminal signal layout
PE terminal
C U
P1 P2
Built-in regenerative resistor lead terminal fixing screw
Terminal screw: M3.5(Note) Tightening torque: 0.8[N m]
Terminal screw: M4 Tightening torque: 1.2[N m]
Terminal screw: M4 Tightening torque: 1.2[N m]
(10.6 [lb in])
(7.08 [lb in])
(10.6 [lb in])
(10.6 [lb in])
Note. Screw size is M3.5 for the control circuit terminal block (TE2) of the servo
amplifier manufactured in April 2007 or later. Screw size is M3 for the control
terminal block (TE2) of the servo amplifier manufactured in March 2007 or
earlier.
4-M5 screw
Approx. 6
Approx. 130
118 0.5
Mounting hole process drawing
Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in])
Approx. 6
11 - 8
11. OUTLINE DRAWINGS
(8) MR-J3-700T(4)
[Unit: mm]
Cooling fan wind direction 2- 6 mounting hole
With MR-J3BAT
Rating plate
Built-in regenerative resistor lead terminal fixing screw
200172 160
6
6
Approx. 80
6
24.5
13
7 13 91
14.5
10
34 1313
31 13 1375
99.8 102.6
149.2
106
182
TE3
TE1 TE2
CN1
Mass: 6.2 [kg] (13.7[lb])
(Servo amplifier alone)
V W
TE2
N
L11 L21
TE3
L1 L2 L3 P
TE1
Terminal screw: M4 Tightening torque: 1.2[N m]
Terminal signal layout
PE terminal
C U
P1 P2
Terminal screw: M3.5(Note) Tightening torque: 0.8[N m]
Terminal screw: M4 Tightening torque: 1.2[N m]
Terminal screw: M4 Tightening torque: 1.2[N m]
Built-in regenerative resistor lead terminal fixing screw
(10.6 [lb in])
(10.6 [lb in])
(10.6 [lb in])
(7.08 [lb in])
Note. Screw size is M3.5 for the control circuit terminal block (TE2) of the servo
amplifier manufactured in April 2007 or later. Screw size is M3 for the control
terminal block (TE2) of the servo amplifier manufactured in March 2007 or earlier.
Mounting hole process drawing
Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in])
4-M5 screw
Approx. 172 160 0.5 Approx. 6Approx. 6
11 - 9
11. OUTLINE DRAWINGS
(9) MR-J3-11KT(4) to 22KT(4)
[Unit: mm]
Cooling fan wind direction
With MR-J3BAT
2-12 mounting hole
Rating plate
12 236 12 260
12
260Approx. 80
TE 26
6 26 156
13123
183 227
52
CN1
236 0.5 Approx. 260
Servo amplifier
MR-J3-11KT(4) 18.0(40)
MR-J3-15KT(4) 18.0(40)
MR-J3-22KT(4) 19.0(42)
Mass[kg]([Ib])
4-M10 screw
Mounting hole process drawing
Approx. 12
Approx. 12
L1 L2 L3 U V W P1 P C N
MR-J3-11KT(4)
V W
N
L1 L2 L3
P
Terminal signal layout
C
U
P1
L11 L21
MR-J3-15KT(4)
MR-J3-22KT(4)
Screw size
L11 L21
Tightening torque [(lb:in)][N m]
Screw size
M6
3.0
M8
6.0
M4
1.2
M4
1.2
MR-J3-11KT(4) MR-J3-15KT(4) MR-J3-22KT(4)
Servo amplifier
Screw size
Tightening torque [N m]([Ib in])
Mounting screw
M10 26.5
(234.5)
Tightening torque [(lb:in)][N m]
TE
11 - 10
11. OUTLINE DRAWINGS
11.2 MR-J3-D01 extension IO unit
[Unit: mm]
Approx. 80
CN20
20
103
98
94
79.5
CN30
CN10
11 - 11
11. OUTLINE DRAWINGS
11.3 Connector
(1) Miniature delta ribbon (MDR) system (3M)
(a) One-touch lock type
[Unit: mm]
E
B
A
23 .8
3 9.
0
12.7
C
Logo etc, are indicated here.
D
Connector Shell kit Each type of dimension
A B C D E
10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0
(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
10150-3000PE 10350-52A0-008 41.1 52.4 18.0 14.0 17.0 46.5
11 - 12
11. OUTLINE DRAWINGS
(2) SCR connector system (3M)
Receptacle : 36210-0100PL
Shell kit : 36310-3200-008
34.8
39.5
22 .4
1 1.
0
12 - 1
12. CHARACTERISTICS
12. CHARACTERISTICS
12.1 Overload protection characteristics
An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (A50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 12.1. Overload 2 alarm (A51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or broken line in the graph. In a machine like the one for vertical lift application where unbalanced torque will be produced, it is recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque. When you carry out adhesion mounting of the servo amplifier, make circumference temperature into 0 to 45 (32 to 113 ), or use it at 75% or smaller effective load ratio.
1000
100
10
1
0.1
0 50 150 200 250 300100
(Note) Load ratio [%]
O pe
ra tio
n ti
m e
[s ]
During operation
During servo lock
MR-J3-10T(1)
1000
100
10
1
0.1
0 50 150 200 250 300100
(Note) Load ratio [%]
O pe
ra tio
n ti
m e
[s ]
During operation
During servo lock
MR-J3-20T(1) MR-J3-40T(1) MR-J3-60T(4) to MR-J3-100T(4)
1000
100
10
1
0.1 0 50 150 200 250 300100
(Note) Load ratio [%]
O pe
ra tio
n ti
m e
[s ]
During operation
During servo lock
MR-J3-200T(4) MR-J3-350T(4)
(Note) Load ratio [%]
O pe
ra tio
n ti
m e
[s ]
10000
1000
100
10
1 0 50 150 200 250100 300
During operation During servo lock
MR-J3-500T(4) MR-J3-700T(4)
12 - 2
12 CHARACTERISTICS
10000
1000
100
10
1 0 100 200 300
During operation
During servo lockO pe
ra t io
n t
im e
[s ]
(Note) Load ratio [%]
MR-J3-11KT(4) to MR-J3-22KT(4)
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor
stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the
electronic thermal relay protection is not activated.
Fig 12.1 Electronic thermal relay protection characteristics
12 - 3
12 CHARACTERISTICS
12.2 Power supply equipment capacity and generated loss
(1) Amount of heat generated by the servo amplifier
Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For
thermal design of an enclosure, use the values in Table 12.1 in consideration for the worst operating
conditions. The actual amount of generated heat will be intermediate between values at rated torque and
servo off according to the duty used during operation. When the servo motor is run at less than the
maximum speed, the power supply capacity will be smaller than the value in the table, but the servo
amplifier's generated heat will not change.
Table 12.1 Power supply capacity and generated heat per servo amplifier at rated output
Servo amplifier Servo motor
(Note 1)
Power supply
capacity[kVA]
(Note 2)
Servo amplifier-generated heat[W]
Area required for
heat dissipation
At rated torque With servo off [m2]
MR-J3-10T (1)
HF-MP053 0.3 25 15 0.5
HF-MP13 0.3 25 15 0.5
HF-KP053 13 0.3 25 15 0.5
MR-J3-20T (1) HF-MP23 0.5 25 15 0.5
HF-KP23 0.5 25 15 0.5
MR-J3-40T (1) HF-MP43 0.9 35 15 0.7
HF-KP43 0.9 35 15 0.7
MR-J3-60T (4)
HF-SP52 (4) 1.0 40 15 0.8
HF-SP51 1.0 40 15 0.8
HC-LP52 1.0 40 15 0.8
MR-J3-70T
HF-MP73 1.3 50 15 1.0
HF-KP73 1.3 50 15 1.0
HC-UP72 1.3 50 15 1.0
MR-J3-100T (4)
HF-SP102 (4) 1.7 50 15 1.0
HF-SP81 1.5 50 15 1.0
HC-LP102 1.7 50 15 1.0
MR-J3-200T (4)
HF-SP152 (4) 2.5 90 20 1.8
HF-SP202 (4) 3.5 90 20 1.8
HF-SP121 2.1 90 20 1.8
HF-SP201 3.5 90 20 1.8
HC-RP103 1.8 50 15 1.0
HC-RP153 2.5 90 20 1.8
HC-UP152 2.5 90 20 1.8
HC-LP152 2.5 90 20 1.8
MR-J3-350T (4)
HF-SP352 (4) 5.5 130 20 (25) (Note 3) 2.7
HC-RP203 3.5 90 20 1.8
HC-UP202 3.5 90 20 1.8
HC-LP202 3.5 90 20 1.8
HF-SP301 4.8 120 20 2.4
MR-J3-500T (4)
HF-SP502 (4) 7.5 195 25 3.9
HC-RP353 5.5 135 25 2.7
HC-RP503 7.5 195 25 3.9
HC-UP352 5.5 195 25 3.9
HC-UP502 7.5 195 25 3.9
HC-LP302 4.5 120 25 2.4
HA-LP502 7.5 195 25 3.9
HF-SP421 6.7 160 25 3.2
12 - 4
12 CHARACTERISTICS
Servo amplifier Servo motor
(Note 1)
Power supply
capacity[kVA]
(Note 2)
Servo amplifier-generated heat[W]
Area required for
heat dissipation
At rated torque With servo off [m2]
MR-J3-700T (4)
HF-SP702 (4) 10.0 300 25 6.0
HA-LP702 10.6 300 25 6.0
HA-LP601 (4) 10.0 260 25 5.2
HA-LP701M (4) 11.0 300 25 6.0
MR-J3-11KT (4)
HC-LP11K2 (4) 16.0 530 45 11.0
HC-LP801 (4) 12.0 390 45 7.8
HC-LP12K1 (4) 18.0 580 45 11.6
HC-LP11K1M (4) 16.0 530 45 11.0
MR-J3-15KT (4)
HC-LP15K2 (4) 22.0 640 45 13.0
HC-LP15K1 (4) 22.0 640 45 13.0
HC-LP15K1M (4) 22.0 640 45 13.0
MR-J3-22KT (4)
HC-LP22K2 (4) 33.0 850 55 17.0
HC-LP20K1 (4) 30.1 775 55 15.5
HC-LP25K1 37.6 970 55 19.4
HC-LP22K1M (4) 33.0 850 55 17.0
Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value assumes that the power factor improving reactor is not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 13.2.
3. For 400V class, the value is within the ( ).
12 - 5
12 CHARACTERISTICS
(2) Heat dissipation area for enclosed servo amplifier
The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be
designed to ensure that its temperature rise is within 10 ( 50 ) at the ambient temperature of 40
(104 ). (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.)
The necessary enclosure heat dissipation area can be calculated by Equation 12.1.
P A
K T ............................................................................................................................................. (12.1)
where, A : Heat dissipation area [m2]
P : Loss generated in the control box [W]
T : Difference between internal and ambient temperatures [ ]
K : Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with Equation 12.1, assume that P is the sum of all losses
generated in the enclosure. Refer to table 12.1 for heat generated by the servo amplifier. "A" indicates the
effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that extra
amount must be added to the enclosure's surface area.
The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the
enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement
of the equipment in the enclosure and the use of a cooling fan should be considered.
Table 12.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated
at the ambient temperature of 40 (104 ) under rated load.
(Outside) (Inside)
Air flow
Fig. 12.2 Temperature distribution in enclosure
When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the
temperature slope inside and outside the enclosure will be steeper.
12 - 6
12 CHARACTERISTICS
12.3 Dynamic brake characteristics
12.3.1 Dynamic brake operation
(1) Calculation of coasting distance
Fig. 12.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.
Use Equation 12.2 to calculate an approximate coasting distance to a stop. The dynamic brake time
constant varies with the servo motor and machine operation speeds. (Refer to (2)(a), (b) in this section.)
V0 Time constant
Forced stop(EMG) OFF ON
Machine speed
te Time
Fig. 12.3 Dynamic brake operation diagram
Lmax 60 V0 JL
JM te 1 ....................................................................................................................... (12.2)
Lmax : Maximum coasting distance .................................................................................................... [mm][in] Vo : Machine rapid feed rate .............................................................................................. [mm/min][in/min] JM : Servo motor inertial moment ..................................................................................... [kg cm2][oz in2] JL : Load inertia moment converted into equivalent value on servo motor shaft ............ [kg cm2][oz in2] : Brake time constant .......................................................................................................................... [s]
te : Delay time of control section ............................................................................................................. [s] For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo, there is delay time of about 100ms caused by a delay of the external relay and a delay of the magnetic contactor built in the external dynamic brake.
(2) Dynamic brake time constant
The following shows necessary dynamic brake time constant for the equations (12.2).
(a) 200V class servo motor
Speed [r/min]
0 0 1000 2000
5
10
15
20
25
3000 4000 5000 6000
43
05313
2373
T im
e co
ns ta
nt
[m s]
0 0 1000 2000
5
10
15
20
25
3000 4000 5000 6000
43
053 13
23
73
Speed [r/min]
T im
e co
ns ta
nt
[m s]
HF-MP series HF-KP series
12 - 7
12 CHARACTERISTICS
Speed [r/min]
T im
e co
ns ta
nt
[m s]
500 1000 1500 2000
10
20
30
40
50
60
0 0
81
201 121
51
421 301
Speed [r/min]
T im
e co
ns ta
nt
[m s]
52
500 1000 1500 2000 2500 3000
152 20
40
60
80
100
120
0 0
102
202 502
702 352
HF-SP1000r/min series HF-SP2000r/min series
Speed [r/min]
0
2 4
6 8
10
12
14 16
18
0 500 1000 1500 2000 2500 3000
153
503103
353 203T im
e co
n st
an t
[
m s]
Speed [r/min]
352
500 1000 1500 20000 0
10 20 30 40 50 60 70 80 90
100
502 72
202152T im
e co
n st
an t
[m s]
HC-RP series HC-UP2000r/min series
0
10
20
30
40
50
60
50 500 100015002000250030000
43
23
70
13
73
Speed [r/min]
T im
e co
ns ta
nt
[m
s]
Speed[r/min]
200 400 600 1200
T im
e
co ns
ta nt
[m s]
10
20
30
40
50
60
0 0
800 1000
15K1
25K1
12K1
801
20K1
601
HC-UP3000r/min series HA-LP1000r/min series
12 - 8
12 CHARACTERISTICS
0
Speed[r/min]
20
40
60
80
100
120
0 500 1000 1500 2000
11K1M
15K1M
22K1M
701M
T im
e co
ns ta
nt
[m
s]
Speed[r/min]
0 0
500 1000 1500 2000
80
60
40
20
11K2
15K2
22K2
502
702
T im
e
co ns
ta nt
[m s]
HA-LP1500r/min series HA-LP2000r/min series
T im
e co
ns ta
nt
[m
s]
0 0
52
500 1000 1500 2000
202
200
152
102
160
120
80
40
302
Speed[r/min]
HC-LP series
(b) 400V class servo motor
5024
0 1000 2000 3000
75
60
45
30
15
0
90
70241524
3524
1024
524
2024
T im
e co
ns ta
nt
[m
s]
Speed[r/min]
T im
e co
ns ta
nt
[m
s]
0 400 800 1200
35
0
8014 15K14
30
25
20
15
10
5
12K14 20K14
Speed[r/min]
HA-SP2000r/min series HA-LP1000r/min series
T im
e co
n st
an t
[m
s]
Speed[r/min] 0 500 1000 1500
20
16
12
8
4
0
11K1M4 15K1M4 701M4
22K1M4
T im
e co
ns ta
nt
[m
s]
0 500 1000 1500 20000
40
35
30
25
20
15
10
5
11K24
22K2
15K24
Speed[r/min]
HA-LP1500r/min series HA-LP2000r/min series
12 - 9
12 CHARACTERISTICS
12.3.2 The dynamic brake at the load inertia moment
Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia
moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load
inertia moment may exceed the value, contact Mitsubishi.
The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the
servo motor.
Servo
amplifier
Servo motor
HF-KP HF-MP HF-SP 1 HF-SP 2 HC-RP HC-UP HC-LP HA-LP 1 HA-
LP 1M HA-LP 2
MR-J3-10T(1) 30 30
MR-J3-20T(1) 30 30
MR-J3-40T(1) 30 30
MR-J3-60T 30 30 30
MR-J3-70T 30 30 30
MR-J3-100T
30 30 30
MR-J3-200T 30 30 30 30 30
MR-J3-350T 16 16 16 16 16
MR-J3-500T 15 15 15 15 15 15
MR-J3-700T
5 (Note 1)
5 (Note 1) 5 (Note 1) 5 (Note 1)
MR-J3-11KT
(Note 2)
30 30 30
MR-J3-15KT
(Note 2) 30 30 30
MR-J3-22KT
(Note 2) 30 30 30
Servo
amplifier
Servo motor
HF-SP 4 HA-LP 14 HA-
LP 1M4 HA-LP 24
MR-J3-60T4 5 (Note 1)
MR-J3-100T4 5 (Note 1)
MR-J3-200T4 5 (Note 1)
MR-J3-350T4 5 (Note 1)
MR-J3-500T4 5 (Note 1)
MR-J3-700T4 5 (Note 1) 10 10
MR-J3-11KT4
(Note 2)
30 30 30
MR-J3-15KT4
(Note 2) 30 30 30
MR-J3-22KT4
(Note 2) 30 30 30
Note 1. The load inertia moment ratio is 15 at the rated rotation speed.
2. When the external dynamic brake is used.
12 - 10
12 CHARACTERISTICS
12.4 Cable flexing life
The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
1 107
5 107
1 108
5 106
1 106
5 105
1 105
5 104
1 104
5 103
1 103
a
b
F le
xi ng
li fe
[t im
es ]
4 7 10 20 40 70 100 200
Flexing radius [mm]
a : Long flexing life encoder cable Long flexing life motor power cable Long flexing life motor brake cable
b : Standard encoder cable Standard motor power cable Standard motor brake cable
12.5 Inrush currents at power-on of main circuit and control circuit
The following table indicates the inrush currents (reference data) that will flow when the maximum permissible voltage (200V class: 253VAC, 400V class: 528VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m.
Servo Amplifier Inrush Currents (A0-p)
Main circuit power supply (L1, L2, L3) Control circuit power supply (L11, L21)
MR-J3-10T1 to 40T1 38A (Attenuated to approx. 14A in 10ms)
20 to 30A (Attenuated to approx. 0A in 1 to 2ms)
MR-J3-10T to 60T 30A (Attenuated to approx. 5A in 10ms) MR-J3-70T 100T 54A (Attenuated to approx. 12A in 10ms)
MR-J3-200T 350T 120A (Attenuated to approx. 12A in 20ms) MR-J3-500T 44A (Attenuated to approx. 20A in 20ms)
30A (Attenuated to approx. 0A in 3ms) MR-J3-700T 88A (Attenuated to approx. 20A in 20ms) MR-J3-11KT
235A (Attenuated to approx. 20A in 20ms) MR-J3-15KT MR-J3-22KT
MR-J3-60T4 100T4 100A (Attenuated to approx. 5A in 10ms) 40 to 50A (Attenuated to approx. 0A in 2ms) MR-J3-200T4 120A (Attenuated to approx. 12A in 20ms)
MR-J3-350T4 500T4 66A (Attenuated to approx. 10A in 20ms) 41A (Attenuated to approx. 0A in 3ms)
MR-J3-700T4 67A (Attenuated to approx. 34A in 20ms) MR-J3-11KT4
325A (Attenuated to approx. 20A in 20ms) 45A (Attenuated to approx. 0A in 3ms) MR-J3-15KT4
MR-J3-22KT4
Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors. (Refer to section 13.10.) When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an inrush current.
13 - 1
13. OPTIONS AND AUXILIARY EQUIPMENT
13. OPTIONS AND AUXILIARY EQUIPMENT
WARNING
Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
voltage between P( ) and N( ) is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a
fault or fire.
13.1 Cable/connector sets
As the cables and connectors used with this servo, purchase the options indicated in this section. 13.1.1 Combinations of cable/connector sets
Servo motor HF-MP HF-KP
Junction type (cable length more than 10m, IP20)
To 24VDC power supply for electromagnetic brake
Battery MR-J3BAT
Encoder connector
Brake connector
Power supply connectorTo next page b)To next page a)
Personal computer
Servo amplifier
Note
15) 16) 17) 18)
19) 20)
3) 4) 5) 6)
7) 8)
13) 14)
9) 10) 11) 12)
31)
1) 2)
32) CN5
CN1
CN6
CN2
CN3CNP1
CNP2
CNP3
CN4
33)
CN20
CN10
40)
37)
38)
39)
Extension I/O unit
Digital switch
41)
42)
43) CN30
21) 22)
23)
Direct connection type (cable length 10m or less, IP65)
Note. Connectors for 3.5kW or less. For 5kW or more, terminal blocks.
13 - 2
13. OPTIONS AND AUXILIARY EQUIPMENT
Servo motor HA-LP
Servo motor HC-RP HC-UP HC-LP
Servo motor HF-SP
Encoder connector
Brake connector
Power supply connector
Encoder connector
Brake connector
Power supply connector
Terminal box
a) b)
24) 25)
26)
27)
28) 29)
30)
26)
34)
30) 35) 36)
26)
24) 25)
24) 25)
13 - 3
13. OPTIONS AND AUXILIARY EQUIPMENT
No. Product Model Description Application
1) Servo
amplifier
power supply
connector
Supplied with
servo
amplifiers of
1kW or less in
100V class
and 200V
class
CNP1
connector: 54928-0670
(Molex)
CNP2
connector: 54928-0520
(Molex)
CNP3
connector: 54928-0370
(Molex)
Wire size: 0.14mm2(AWG26) to 2.5mm2
(AWG14)
Cable finish OD: to 3.8mm
REC. Lever:
54932-0000
(Molex)
2) Servo
amplifier
power supply
connector
Supplied with
servo
amplifiers of
3.5kW in 200V
class CNP1 connector:
PC4/6-STF-7.62-
CRWH
(Phoenix Contact)
CNP2 connector:
54928-0520
(Molex)
CNP3 connector:
PC4/3-STF-7.62-
CRWH
(Phoenix Contact)
Wire size: 0.2mm2 (AWG24) to 5.5mm2
(AWG10)
Cable finish OD: to 5mm
REC. Lever:
54932-0000
(Molex)
Supplied with
servo
amplifiers of
2kW in 200V
class and 2kW
in 400V class CNP1 connector:
721-207/026-000
(Plug)
(WAGO)
CNP2 connector:
721-205/026-000
(Plug)
(WAGO)
CNP3 connector:
721-203/026-000
(Plug)
(WAGO)
Wire size: 0.08mm2 (AWG28) to 2.5mm2
(AWG12)
Cable finish OD: to 4.1mm
REC. Lever: 231-131
(WAGO)
3) Motor power
supply cable
MR-PWS1CBL M-
A1-L
Cable length:
2 5 10m
Power supply connector
HF-MP series HF-KP series
Refer to section 13.1.3 for details.
IP65
Load side lead
4) Motor power
supply cable
MR-PWS1CBL M-
A1-H
Cable length:
2 5 10m
IP65
Load side lead
Long flex life
13 - 4
13. OPTIONS AND AUXILIARY EQUIPMENT
No. Product Model Description Application
5) Motor power
supply cable
MR-PWS1CBL M-
A2-L
Cable length:
2 5 10m
Power supply connector
HF-MP series HF-KP series
Refer to section 13.1.3 for details.
IP65
Opposite-to-
load side lead
6) Motor power
supply cable
MR-PWS1CBL M-
A2-H
Cable length:
2 5 10m
IP65
Opposite-to-
load side lead
Long flex life
7) Motor power
supply cable
MR-PWS2CBL03M-A1-L
Cable length: 0.3m Power supply connector
HF-MP series HF-KP series
Refer to section 13.1.3 for details.
IP55
Load side lead
8) Motor power
supply cable
MR-PWS2CBL03M-A2-L
Cable length: 0.3m Power supply connector
HF-MP series HF-KP series
Refer to section 13.1.3 for details.
IP55
Opposite-to-
load side lead
9) Motor brake
cable
MR-BKS1CBL M-A1-L
Cable length:
2 5 10m
Brake connector
HF-MP series HF-KP series
Refer to section 13.1.4 for details.
IP65
Load side lead
10) Motor brake
cable
MR-BKS1CBL M-A1-H
Cable length:
2 5 10m
IP65
Load side lead
Long flex life
11) Motor brake
cable
MR-BKS1CBL M-A2-L
Cable length:
2 5 10m
Brake connector
HF-MP series HF-KP series
Refer to section 13.1.4 for details.
IP65
Opposite-to-
load side lead
12) Motor brake
cable
MR-BKS1CBL M-A2-H
Cable length:
2 5 10m
IP65
Opposite-to-
load side lead
Long flex life
13) Motor brake
cable
MR-BKS2CBL03M-A1-L
Cable length: 0.3m Brake connector
HF-MP series HF-KP series
Refer to section 13.1.4 for details.
IP55
Load side lead
14) Motor brake
cable
MR-BKS2CBL03M-A2-L
Cable length: 0.3m Brake connector
HF-MP series HF-KP series
Refer to section 13.1.4 for details.
IP55
Opposite-to-
load side lead
15) Encoder
cable
MR-J3ENCBL M-A1-L
Cable length:
2 5 10m
Encoder connector
HF-MP series HF-KP series
Refer to section 13.1.2 (1) for details.
IP65
Load side lead
16) Encoder
cable
MR-J3ENCBL M-A1-H
Cable length:
2 5 10m
IP65
Opposite-to-
load side lead
Long flex life
13 - 5
13. OPTIONS AND AUXILIARY EQUIPMENT
No. Product Model Description Application
17) Encoder
cable
MR-J3ENCBL M-A2-L
Cable length:
2 5 10m
Encoder connector
HF-MP series HF-KP series
Refer to section 13.1.2 (1) for details.
IP65
Opposite-to-
load side lead
18) Encoder
cable
MR-J3ENCBL M-A2-H
Cable length:
2 5 10m
IP65
Opposite-to-
load side lead
Long flex life
19) Encoder
cable
MR-J3JCBL03M-A1-L
Cable length: 0.3m Encoder connector
HF-MP series HF-KP series
Refer to section 13.1.2 (3) for details.
IP20
Load side lead
20) Encoder
cable
MR-J3JCBL03M-A2-L
Cable length: 0.3m Encoder connector
HF-MP series HF-KP series
Refer to section 13.1.2 (3) for details.
IP20
Opposite-to-
load side lead
21) Encoder
cable
MR-EKCBL M-L
Cable length: 20 30m
For HF-MP HF-KP series
Refer to section 13.1.2 (2) for details.
IP20
22) Encoder
cable
MR-EKCBL M-H
Cable length:
20 30 40 50m
IP20
Long flex life
23) Encoder
connector
set
MR-ECNM
For HF-MP HF-KP series
Refer to section 13.1.2 (2) for details.
IP20
24) Encoder
cable
MR-J3ENSCBL M-L
Cable length:
2 5 10 20 30m
For HF-SP HF-LP HC-UP HC-LP HC-RP series
Refer to section 13.1.2 (4) for details.
IP67
Standard flex
life
25) Encoder
cable
MR-J3ENSCBL M-H
Cable length:
2 5 10 20 30 40
50m
IP67
Long flex life
26) Encoder
connector
set
MR-J3SCNS
IP67
For HF-SP HF-LP HC-UP HC-LP HC-RP series
Refer to section 13.1.2 (4) for details.
27) Brake
connector
set
MR-BKCNS1 Straight plug: CM10-SP2S-L
Socket contact: CM10-#22SC(S2)-100
(DDK)
For HF-SP series
IP67
28) Power
supply
connector
set
MR-PWCNS4 Plug: CE05-6A18-10SD-D-BSS
Cable clamp: CE3057-10A-1-D
(DDK)
Example of applicable cable
Applicable wire size: 2mm2 (AWG14) to 3.5mm2
(AWG12)
Cable finish D: 10.5 to 14.1mm
For HF-SP51 81
For HF-SP52 to 152
IP67
13 - 6
13. OPTIONS AND AUXILIARY EQUIPMENT
No. Product Model Description Application
29) Power
supply
connector
set
MR-PWCNS5 Plug: CE05-6A22-22SD-D-BSS
Cable clamp: CE3057-12A-1-D
(DDK)
Example of applicable cable
Applicable wire size: 5.5mm2 (AWG10) to 8mm2
(AWG8)
Cable finish D: 12.5 to 16mm
For HF-SP121 to 301
For HF-SP202 to 502
IP67
30) Power supply connector set
MR-PWCNS3 Plug: CE05-6A32-17SD-D-BSS Cable clamp: CE3057-20A-1-D (DDK) Example of applicable cable Applicable wire size: 14mm2 (AWG6) to 22mm2 (AWG4)
Cable finish D: 22 to 23.8mm
For HF-SP421 For HF-SP702 For HA-LP702
IP67
Be sure to use
this when
corresponding
to EN
Standard.
31) Cable for
connecting
battery
MR-J3BTCBL03M
Refer to section 13.1.2 (5) for details.
For connection
of battery
32) USB cable MR-J3USBCBL3M
Cable length: 3m
For CN5 connector
minB connector (5-pin)
For personal computer connector
A connector
For connection
with PC-AT
compatible
personal
computer
33) Connector
set
MR-J2CMP2
Connector: 10126-3000PE
Shell kit: 10326-52F0-008(3M or equivalent)
34) Break connector set
MR-BKCN Plug: D/MS3106A10SL-4S (D190) (DDK) For cable connector: YS010-5-8 (Daiwa Dengyo) Example of applicable cable Applicable wire size: 0.3mm2 (AWG22) to 1.25mm2 (AWG16) Cable finish: 5 to 8.3mm
For HA-LP
For HC-UP
For HC-LP
EN standard compliant IP65
35) Power supply connector set
MR-PWCNS1 Plug: CE05-6A22-23SD-D-BSS Cable clamp: CE3057-12A-2-D (DDK) Example of applicable cable Applicable wire size: 2mm2 (AWG14) to 3.5mm2
(AWG12) Cable finish: 9.5 to 13mm
For HC-UP For HC-LP For HC-RP
Be sure to use
this when
corresponding
to EN standard
IP65
36) Power supply connector set
MR-PWCNS2 Plug: CE05-6A24-10SD-D-BSS Cable clamp: CE3057-16A-2-D (DDK) Example of applicable cable Applicable wire size: 5.5mm2 (AWG10) to 8mm2
(AWG8) Cable finish: 13 to 15.5mm
For HA-LP For HC-UP For HC-LP For HC-RP
37) Connector
set
MR-CCN1
Connector: 10120-3000PE
Shell kit: 10320-52F0-008(3M or equivalent)
38) Connector
set
MR-J3CN1
Connector: 10150-3000PE
Shell kit: 10350-52F0-008(3M or equivalent)
13 - 7
13. OPTIONS AND AUXILIARY EQUIPMENT
No. Product Model Description Application
39) Digital switch
cable
MR-DSCBL M-G
Refer to section 3.2.2 and section 13.19 for details.
For digital
switch
40) Digital switch cable
MR-DSCBL
Refer to section 3.2.2 and section 13.19 for details.
For digital
switch junction
41) Junction
terminal block (Recommend- ed)
MR-J2HBUS M
PS7DW-20V14B-F (YOSHIDA)
The junction terminal block PS7DW-20V14B-F is not an option from
us. For using the junction terminal block, our option MR-J2HBUS M
is necessary. Refer to section 13.21 for details.
42) Junction terminal block cable
MR-J2M-CN1TBL M
Cable length: 0.5 1m
(Refer to section 13.22)
For junction terminal block
connector
Connector: D7950-B500FL
(3M)
CN1 connector
Connector: 10150-3000PE
Shell kit: 10350-3210-000
(3M or equivalent)
For junction
terminal block
connection
43) Junction terminal block cable
MR-TB50 Refer to section 13.22.
13 - 8
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.2 Encoder cable/connector sets
(1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H
These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable
Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths
with the symbols are available.
Cable Model Cable Length Protective
Structure Flex Life Application
2m 5m 10m 20m 30m 40m 50m
MR-J3ENCBL M-A1-L 2 5 10 IP65 Standard For HF-MP HF-KP servo
motor
Load side lead MR-J3ENCBL M-A1-H 2 5 10 IP65 Long flex
MR-J3ENCBL M-A2-L 2 5 10 IP65 Standard For HF-MP HF-KP servo
motor
Opposite-to-load side lead MR-J3ENCBL M-A2-H 2 5 10 IP65 Long flex
(a) Connection of servo amplifier and servo motor
Servo amplifier
2)
1)
Servo motor HF-MP HF-KP
MR-J3ENCBL M-A2-L MR-J3ENCBL M-A2-H
2)
1)
Servo motor HF-MP HF-KP
MR-J3ENCBL M-A1-L MR-J3ENCBL M-A1-H
or
CN2
Cable Model 1) For CN2 Connector 2) For Encoder Connector
MR-J3ENCBL M-
A1-L
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
Connector set: 54599-1019(Molex) Connector: 1674320-1
Crimping tool for ground clip:
1596970-1
Crimping tool for receptacle
contact: 1596847-1
(Tyco Electronics)
9 SHD
7
5 MR
3 P5
1
8
6 P5G
4 MRR
2 BAT
View seen from wiring side.
(Note) Signal layout
Note. Keep open the pin shown
with an .
MR-J3ENCBL M-
A1-H
1 3 7 9
42 86 10
5
(Note) Signal layout
View seen from wiring side.
or
4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
BAT
(Note) Signal layout
View seen from wiring side.
MRRLG
P5 MR BAT
Note. Keep open the pins shown with . Especially, pin 10 is provided
for manufacturer adjustment. If it is connected with any other pin, the
servo amplifier cannot operate normally.
MR-J3ENCBL M-
A2-L
MR-J3ENCBL M-
A2-H
13 - 9
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Cable internal wiring diagram
Servo amplifier side connector
Encoder side connector
Plate
MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H
MR-J3ENCBL10M-L/-H
P5
LG
1
2
MR
MRR
3
4
2
3
9
SD
5
4
6
9
LG
MR
MRR
SHD
P5
BATBAT
(2) MR-EKCBL M-L/H
POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set parameter No. PC22 to "1 " to select the four-wire
type.
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H MR-EKCBL50M-H
The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side
encoder cable (MR-J3JCBL03M-A1-L or MR-J3JCBL03M-A2-L) is required.
The numerals in the Cable Length field of the table are the symbols entered in the part of the cable
model. The cables of the lengths with the symbols are available.
Cable Model Cable Length Protective
Structure Flex Life Application
2m 5m 10m 20m 30m 40m 50m
MR-EKCBL M-L 20 (Note)
30 IP20 Standard
For HF-MP HF-KP servo
motor
Use in combination with MR-
J3JCBL03M-A1-L or MR-
J3JCBL03M-A2-L. MR-EKCBL M-H 20
(Note)
30
(Note)
40
(Note)
50 IP20 Long flex
Note. Four-wire type cable.
13 - 10
13. OPTIONS AND AUXILIARY EQUIPMENT
(a) Connection of servo amplifier and servo motor
Servo motor HF-MP HF-KP
1)
MR-EKCBL M-L MR-EKCBL M-H
MR-J3JCBL03M-L Cable length: 0.3m
2)
Servo amplifier
CN2
Cable Model 1) Servo amplifier side Connector 2) Encoder side Connector
MR-EKCBL M-L Receptacle: 36210-0100PL
Shell kit: 536310-3200-008
(3M)
Connector set: 54599-1019
(Molex)
Housing: 1-172161-9
Connector pin: 170359-1
(Tyco Electronics or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industries)
MR 1 2 3
MRR BAT
MD 4 5 6
MDR
P5 7 8 9
LG SHD
Signal layout
View seen from wiring side.
CONT
1 3 7 9
42 86 10
5
(Note) Signal layout
View seen from wiring side.
or
4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
BAT
(Note) Signal layout
View seen from wiring side.
MRRLG
P5 MR BAT
MDR
MD
MDR
MD
Note. Keep open the pins shown with . Especially, pin 10 is provided
for manufacturer adjustment. If it is connected with any other pin, the
servo amplifier cannot operate normally.
MR-EKCBL M-H
13 - 11
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Internal wiring diagram
MR-EKCBL20M-L
Servo amplifier side Encoder side
P5
LG
1
2
MR
MRR
3
4
3
7
9
SD Plate
1
2
8
9
P5G
MR
MRR
SHD
P5E
BATBAT
(Note)
MR-EKCBL30M-L
Servo amplifier side Encoder side
P5
LG
1
2
MR
MRR
3
4
MDR 8 5
3
7
4MD 7
9
SD
1
2
8
9
P5G
MR
MRR
MDR
MD
SHD
P5E
6 CONT
BATBAT
Plate (Note)
MR-EKCBL20M-H
Servo amplifier side Encoder side
P5
LG
1
2
MR
MRR
3
4
3
7
9
SD
1
2
8
9
P5G
MR
MRR
SHD
P5E
BATBAT
(Note) Plate
MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H
Servo amplifier side Encoder side
P5
LG
1
2
MR
MRR
3
4
MDR 8 5
3
7
4MD 7
9
SD
1
2
8
9
P5G
MR
MRR
MDR
MD
SHD
P5E
6 CONT
BATBAT
(Note) Plate
Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental
system.
When fabricating the cable, use the wiring diagram corresponding to the length indicated below.
Cable Flex Life Applicable Wiring Diagram
Less than 10m 30m to 50m
Standard MR-EKCBL20M-L
Long flex MR-EKCBL20M-H MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
13 - 12
13. OPTIONS AND AUXILIARY EQUIPMENT
(c) When fabricating the encoder cable
When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring
diagram in (b). Refer to section 13.9 for the specifications of the used cable.
Parts/Tool Description
Connector set MR-ECNM
Servo amplifier side connector
Receptacle: 36210-0100PL
Shell kit: 536310-3200-008
(3M)
Or
Connector set: 54599-1019(Molex)
Encoder side connector
Housing: 1-172161-9
Connector pin: 170359-1
(Tyco Electronics or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industries)
(3) MR-J3JCBL03M-A1-L MR-J3JCBL03M-A2-L
The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side
encoder cable (MR-EKCBL M-L/H) is required.
Cable Model Cable
Length
Protective
Structure Flex Life Application
MR-J3JCBL03M-A1-L
0.3m IP20 Standard
For HF-MP HF-KP servo motor
Load side lead
Use in combination with MR-EKCBL
M-L/H.
MR-J3JCBL03M-A2-L For HF-MP HF-KP servo motor
Opposite-to-load side lead
Use in combination with MR-EKCBL
M-L/H.
13 - 13
13. OPTIONS AND AUXILIARY EQUIPMENT
(a) Connection of servo amplifier and servo motor
Servo motor HF-MP HF-KP
MR-J3JCBL03M-A2-L
MR-EKCBL M-L/-H
1)
Servo amplifier
2)
Servo motor HF-MP HF-KP
MR-J3JCBL03M-A1-L
1)
2)
or
CN2
Cable Model 1) Junction Connector 2) For Encoder Connector
MR-J3JCBL03M-A1-L Housing: 1-172169-9
Contact: 1473226-1
Cable clamp: 316454-1
(Tyco Electronics)
MR 123
MRRBAT
MD 456
MDR
P5 789
LGSHD
Signal layout
View seen from wiring side.
CONT
Connector: 1674320-1
Crimping tool for ground clip: 1596970-1
Crimping tool for receptacle contact: 1596847-1
(Tyco Electronics)
9 SHD
7 MDR
5 MR
3 P5
1 CONT
8 MD
6 P5G
4 MRR
2 BAT
View seen from wiring side.
Signal layout
MR-J3JCBL03M-A2-L
(b) Internal wiring diagram
P5
LG
7
8
MR
MRR
1
2
1
3
Junction connector
Encoder side connector
6
SHD
5
4
6
9
MR-J3JCBL03M-A1-L
P5G
MR
MRR
SHD
P5
CONTSEL
MD 4 8 MD
MDR 5 7 MDR
BAT 3 2 BAT
9
13 - 14
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) MR-J3ENSCBL M-L MR-J3ENSCBL M-H
These cables are detector cables for HF-SP HA-LP HC-RP HC-UP HC-LP Series servo motors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols are prepared.
Cable Model Cable Length Protective
Structure Flex Life Application
2m 5m 10m 20m 30m 40m 50m
MR-J3ENSCBL M-L 2 5 10 20 30 IP67 Standard For HF-SP HA-LP HC-RP HC-UP HC-LP
servo motor MR-J3ENSCBL M-H 2 5 10 20 30 40 50 IP67 Long flex
(a) Connection of servo amplifier and servo motor
Servo amplifier
1)
2) MR-J3ENSCBL M-L MR-J3ENSCBL M-H
Servo motor HF-SPCN2
Cable Model 1) For CN2 Connector 2) For Encoder Connector
MR-J3ENSCBL
M-L
Receptacle: 36210-0100PL
Shell kit: 536310-3200-008
(3M)
Connector set: 54599-1019
(Molex)
In case of 10m or shorter cables Straight plug: CM10-SP10S-M Socket contact: CM10-
#22SC(C1)-100 Crimping tool: 357J-50446 (DDK) Applicable cable AWG20 to 22 In case of 20m or longer cables Straight plug: CM10-SP10S-M Socket contact: CM10-
#22SC(C2)-100 Crimping tool: 357J-50447 (DDK) Applicable cable AWG23 to 28
1 MR
2 MRR
3
5 LG
4 BAT
7 6
10 SHD
9 8 P5
(Note) Signal layout
View seen from wiring side
Note. Keep open the pin shown
with an .
1 3 7 9
42 86 10
5
(Note) Signal layout
View seen from wiring side.
or
4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
BAT
(Note) Signal layout
View seen from wiring side.
MRRLG
P5 MR BAT
Note. Keep open the pins shown with . Especially, pin 10 is provided
for manufacturer adjustment. If it is connected with any other pin, the
servo amplifier cannot operate normally.
MR-J3ENSCBL
M-H
13 - 15
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Internal wiring diagram
P5
LG
1
2
MR
MRR
3
4
4
8
9
SD
1
2
5
10
LG
MR
MRR
SHD
P5
BATBAT
Servo amplifier side connector
Encoder side connector
Plate
MR-J3ENSCBL10M-L/H MR-J3ENSCBL5M-L/H MR-J3ENSCBL2M-L/H
Servo amplifier side connector
Encoder side connector
Plate
P5
LG
1
2
MR
MRR
3
4
4
8
9
SD
1
2
5
10
LG
MR
MRR
SHD
P5
BATBAT
MR-J3ENSCBL30M-L MR-J3ENSCBL20M-L
Servo amplifier side connector
Encoder side connector
Plate
P5
LG
1
2
MR
MRR
3
4
4
8
9
SD
1
2
5
10
LG
MR
MRR
SHD
P5
BATBAT
MR-J3ENSCBL50M-H MR-J3ENSCBL40M-H MR-J3ENSCBL30M-H MR-J3ENSCBL20M-H
(c) When fabricating the encoder cable
When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in (b). Refer to section 13.9 for the specifications of the used cable.
Parts/Tool Description
Connector set MR- J3SCNS (Option)
Servo amplifier side connector
Receptacle: 36210-0100PL
Shell kit: 536310-3200-008
(3M)
Or
Connector set: 54599-1019
(Molex)
Encoder side connector
Straight plug: CM10-SP10S-M
Socket contact: CM10-#22SC(S1)-100
Applicable wire size: AWG20 or less
Recommended tightening jig: 357J-51456T
(DDK)
13 - 16
13. OPTIONS AND AUXILIARY EQUIPMENT
(5) MR-J3BTCBL03M
This cable is a battery connection cable. Use this cable to retain the current position even if the detector cable is disconnected from the servo amplifier.
Cable Model Cable
Length Application
MR-J3BTCBL03M 0.3m For HF-MP HF-KP HF-SP servo motor
(a) Connection of servo amplifier and servo motor
Servo amplifier
1)
2)
Servo motor
(Note) Encoder cable
MR-J3BTCBL03M
3)
Battery
CN2
Note. For the detector cable, refer to (1), (2), (3) and (4) in this section.
Cable Model 1) For CN2 Connector 1) Junction Connector 2) For Battery Connector
MR-J3BTCBL03M Receptacle: 36210-0100PL
Shell kit: 536310-3200-008
(3M)
Or
Connector set: 54599-1019
(Molex)
Plug: 36110-3000FD
Shell kit: 36310-F200-008
(3M)
Connector: DF3-2EP-2C
Contact: DF3-EP2428PCA
(Hirose Denki)
13 - 17
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.3 Motor power supply cables
These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the
Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the
lengths with the symbols are available.
Refer to section 3.10 when wiring.
Cable Model Cable Length Protective
Structure Flex Life Application
0.3m 2m 5m 10m
MR-PWS1CBL M-A1-L 2 5 10 IP65 Standard For HF-MP HF-KP servo motor Load side lead
MR-PWS1CBL M-A2-L 2 5 10 IP65 Standard For HF-MP HF-KP servo motor Opposite-to- load side lead
MR-PWS1CBL M-A1-H 2 5 10 IP65 Long flex For HF-MP HF-KP servo motor Load side lead
MR-PWS1CBL M-A2-H 2 5 10 IP65 Long flex For HF-MP HF-KP servo motor Opposite-to- load side lead
MR-PWS2CBL M-A1-L 03 IP55 Standard For HF-MP HF-KP servo motor Load side lead
MR-PWS2CBL M-A2-L 03 IP55 Standard For HF-MP HF-KP servo motor Opposite-to- load side lead
(1) Connection of servo amplifier and servo motor
Servo amplifier
1) CNP3 connector supplied with servo amplifier
Servo motor HF-MP HF-KP
MR-PWS1CBL M-A2-L MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A2-L
CNP3
1)
Servo motor HF-MP HF-KP
MR-PWS1CBL M-A1-L MR-PWS1CBL M-A1-H MR-PWS2CBL03M-A1-L
or
Cable Model 1) For Motor Power Supply Connector
MR-PWS1CBL M-A1-L Connector: JN4FT04SJ1-R Hod, socket insulator Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry)
U
V
W
1
2
3
4
View seen from wiring side.
Signal layout
MR-PWS1CBL M-A2-L
MR-PWS1CBL M-A1-H
MR-PWS1CBL M-A2-H
MR-PWS2CBL03M-A1-L Connector: JN4FT04SJ2-R
Hod, socket insulator Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B
(Japan Aviation Electronics Industry) MR-PWS2CBL03M-A2-L
(2) Internal wiring diagram
AWG 19 (Red) AWG 19 (White) AWG 19 (Black) AWG 19 (Green/yellow)
U V W
MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L
(Note)
Note. These are not shielded cables.
13 - 18
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.4 Motor brake cables
These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable
Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths
with the symbols are available.
Refer to section 3.11 when wiring.
Cable Model Cable Length Protective
Structure Flex Life Application
0.3m 2m 5m 10m
MR-PWS1CBL M-A1-L 2 5 10 IP65 Standard For HF-MP HF-KP servo motor Load side lead
MR-PWS1CBL M-A2-L 2 5 10 IP65 Standard For HF-MP HF-KP servo motor Opposite-to- load side lead
MR-PWS1CBL M-A1-H 2 5 10 IP65 Long flex For HF-MP HF-KP servo motor Load side lead
MR-PWS1CBL M-A2-H 2 5 10 IP65 Long flex For HF-MP HF-KP servo motor Opposite-to- load side lead
MR-PWS2CBL M-A1-L 03 IP55 Standard For HF-MP HF-KP servo motor Load side lead
MR-PWS2CBL M-A2-L 03 IP55 Standard For HF-MP HF-KP servo motor Opposite-to- load side lead
(1) Connection of servo amplifier and servo motor
1)
Servo motor HF-MP HF-KP
24VDC power supply for
electromagnetic brake
MR-BKS1CBL M-A2-L MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A2-L
1)
Servo motor HF-MP HF-KP
MR-BKS1CBL M-A1-L MR-BKS1CBL M-A1-H MR-BKS2CBL03M-A1-L
or
Cable Model 1) For Motor Brake Connector
MR-BKS1CBL M-A1-L Connector: JN4FT02SJ1-R Hod, socket insulator Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry)
B1
B2
1
2
View seen from wiring side.
Signal layout
MR-BKS1CBL M-A2-L
MR-BKS1CBL M-A1-H
MR-BKS1CBL M-A2-H
MR-BKS2CBL03M-A1-L Connector: JN4FT02SJ2-R
Hod, socket insulator Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry)
MR-BKS2CBL03M-A2-L
(2) Internal wiring diagram
AWG 20
AWG 20
B1
B2
MR-BKS1CBL M-A1-H MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L
(Note)
Note. These are not shielded cables.
13 - 19
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2 Regenerative options
CAUTION The specified combinations of regenerative options and servo amplifiers may only
be used. Otherwise, a fire may occur.
(1) Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers.
Servo amplifier
Regenerative power[W]
Built-in
regenerative
resistor
MR-RB032
[40 ]
MR-RB12
[40 ]
MR-RB30
[13 ]
MR-RB31
[6.7 ]
MR-RB32
[40 ]
(Note 1)
MR-RB50
[13 ]
(Note 1)
MR-MB51
[6.7 ]
MR-J3-10T (1) 30
MR-J3-20T (1) 10 30 100
MR-J3-40T (1) 10 30 100
MR-J3-60T 10 30 100
MR-J3-70T 20 30 100 300
MR-J3-100T 20 30 100 300
MR-J3-200T 100 300 500
MR-J3-350T 100 300 500
MR-J3-500T 130 300 500
MR-J3-700T 170 300 500
Servo amplifier
Regenerative power[W]
Built-in
regenerative
resistor
MR-RB1H-4
[82 ]
(Note 1)
MR-RB3M-4
[120 ]
(Note 1)
MR-RB3G-4
[47 ]
(Note 1)
MR-RB5G-4
[47 ]
(Note 1)
MR-RB34-4
[26 ]
(Note 1)
MR-RB54-4
[26 ]
MR-J3-60T4 15 100 300
MR-J3-100T4 15 100 300
MR-J3-200T4 100 300 500
MR-J3-350T4 100 300 500
MR-J3-500T4 130 300 500
MR-J3-700T4 170 300 500
Servo amplifier
(Note 2) Regenerative power[W]
External regenerative
resistor (Accessory)
MR-RB5E
[6 ]
MR-RB9P
[4.5 ]
MR-RB9F
[3 ]
MR-RB6B-4
[20 ]
MR-RB60-4
[12.5 ]
MR-RB6K-4
[10 ]
MR-J3-11KT 500 (800) 500 (800)
MR-J3-15KT 850 (1300) 850 (1300)
MR-J3-22KT 850 (1300) 850 (1300)
MR-J3-11KT4 500 (800) 500 (800)
MR-J3-15KT4 850 (1300) 850 (1300)
MR-J3-22KT4 850 (1300) 850 (1300)
Note 1. Always install a cooling fan.
2. Values in parentheses assume the installation of a cooling fan.
13 - 20
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option
Use the following method when regeneration occurs continuously in vertical motion applications or when it
is desired to make an in-depth selection of the regenerative option.
(a) Regenerative energy calculation
Use the following table to calculate the regenerative energy.
M
Friction torque
U n
ba la
n ce
to rq
ue
TF
TU
S er
vo m
ot or
s pe
e d
G en
e ra
te d
to r q
u e
Time
Up No
tf(1 cycle)
Down
( )
( )
(Driving)
(Regenerative)
Tpsd2
t2 t3 t4t1
Tpsa2Tpsd1Tpsa1
1)
2)
3)
4) 5)
6)
7)
8)
Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor [N m] Energy [J]
1) T1 (JL JM)
9.55 104 N0 1
Tpsa1 TU TF E1 2
0.1047 N0 T1 Tpsa1
2) T2 TU TF E2 0.1047 N0 T2 t1
3) T3 (JL JM)
9.55 104 N0 1
Tpsd1 TU TF E3 2
0.1047 N0 T3 Tpsd1
4), 8) T4 TU E4 0 (No regeneration)
5) T5 (JL JM)
9.55 10 4
N0 1 Tpsa2
TU TF E5 2 0.1047
N0 T5 Tpsa2
6) T6 TU TF E6 0.1047 N0 T6 t3
7) T7 (JL JM)
9.55 104 N0 1
Tpsd2 TU TF E7
2 0.1047
N0 T7 Tpsd2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
13 - 21
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
Servo amplifier Inverse efficiency[%] Capacitor charging[J] Servo amplifier Inverse efficiency[%] Capacitor charging[J]
MR-J3-10T 55 9 MR-J3-200T 85 40
MR-J3-10T1 55 4 MR-J3-200T4 85 25
MR-J3-20T 70 9 MR-J3-350T 85 40
MR-J3-20T1 70 4 MR-J3-350T4 85 36
MR-J3-40T 85 11 MR-J3-500T(4) 90 45
MR-J3-40T1 85 10 MR-J3-700T(4) 90 70
MR-J3-60T(4) 85 11 MR-J3-11KT(4) 90 120
MR-J3-70T 80 18 MR-J3-15KT(4) 90 170
MR-J3-100T 80 18 MR-J3-22KT(4) 90 250
MR-J3-100T4 80 12
Inverse efficiency ( ) :Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Since the
efficiency varies with the speed and generated torque, allow for about 10%.
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the
inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J] Es Ec
Calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf [s]
to select the necessary regenerative option.
PR [W] ER/tf
13 - 22
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Parameter setting
Set parameter No. PA02 according to the option to be used.
Selection of regenerative option 00: Regenerative option is not used For MR-J3-10T, regenerative resistor is not used. For MR-J3-20T 40T 60T(4) to 700T(4) built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the MR-J3-11KT(4) to 22KT(4) servo amplifier. 01: FR-BU2-(H) FR-RC-(H) FR-CV-(H) 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50(Cooling fan is required) 08: MR-RB31 09: MR-RB51(Cooling fan is required) 80: MR-RB1H-4 81: MR-RB3M-4(Cooling fan is required) 82: MR-RB3G-4(Cooling fan is required) 83: MR-RB5G-4(Cooling fan is required) 84: MR-RB34-4(Cooling fan is required) 85: MR-RB54-4(Cooling fan is required) FA:When regenerative resistors or regenerative option supplied to MR- J3-11KT(4) to 22KT(4) are cooled by cooling fans to increase
0 0 Parameter No. PA02
The following are setting values for regenerative resistor and regenerative option which are used with a
servo amplifier of 11k to 22kW.
Regenerative resistor, regenerative option Setting
value
Standard supplied regenerative resistor 00
Standard supplied regenerative resistor
(with a cooling fan to cool it)
FA
MR-RB5E 00
MR-RB5E (with a cooling fan to cool it) FA
MR-RB9P 00
MR-RB9P (with a cooling fan to cool it) FA
MR-RB9F 00
MR-RB9F (with a cooling fan to cool it) FA
MR-RB6B-4 00
MR-RB6B-4 (with a cooling fan to cool it) FA
MR-RB60-4 00
MR-RB60-4 (with a cooling fan to cool it) FA
MR-RB6K-4 00
MR-RB6K-4 (with a cooling fan to cool it) FA
13 - 23
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) Connection of the regenerative option
POINT
When the MR-RB50 MR-RB51 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4
MR-RB34-4 MR-RB54-4 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer.
For the sizes of wires used for wiring, refer to section 13.9.
The regenerative option will cause a temperature rise of 100 relative to the ambient temperature. Fully
examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use
flame-resistant cables and keep them clear of the regenerative option body. Always use twisted cables of
max. 5m length for connection with the servo amplifier.
(a) MR-J3-350T or less MR-J3-200T4 or less
Always remove the wiring from across P-D and fit the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 is disconnected when the regenerative option
overheats abnormally.
D
P
C
G4
G3
C
P
Servo amplifier Regenerative option
(Note 2)
Always remove the lead from across P-D.
Cooling fan (Note 1)
5m max.
Note 1. When using the MR-RB50, MR-RB3M-4, MR-RB3G-4 or MR-RB5G-4 forcibly cool it with
a cooling fan (92 92, minimum air flow : 1.0m3).
2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA
13 - 24
13. OPTIONS AND AUXILIARY EQUIPMENT
For the MR-RB50, MR-RB3M-4, MR-RB3G-4 or MR-RB5G-4 install the cooling fan as shown.
4082.5
82 .5
13 3
Cooling fan installation screw hole dimensions
2-M3 screw hole
(for cooling fan installation) Depth 10 or less (Screw hole already
machined)
Cooling fan Terminal block
Thermal relay
Installation surfaceHorizontal installationVertical installation
Top
Bottom
[Unit : mm]
(b) MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4)
Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit the
regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option
overheats abnormally.
Servo amplifier Regenerative option
Always remove wiring (across P-C) of servo amplifier built-in regenerative resistor.
P
C
G4
G3
(Note 2)
5m or less
Cooling fan (Note 1)
C
P
Note 1. When using the MR-RB51, MR-RB3G-4, MR-RB5G-4, MR-RB-34-4 or MR-RB54-4,
forcibly cool it with a cooling fan (92 92, minimum air flow : 1.0m3).
2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA
13 - 25
13. OPTIONS AND AUXILIARY EQUIPMENT
When using the regenerative resistor option, remove the servo amplifier's built-in regenerative resistor
terminals (across P-C), fit them back to back, and secure them to the frame with the accessory screw as
shown below.
Mounting method
Accessory screw
The drawing below shows the MR-J3-350T4 and MR-J3-500T(4). Refer to section 11.1 (6) Outline
drawings for the position of the fixing screw for MR-J3-700T(4).
Built-in regenerative resistor lead terminal fixing screw
13 - 26
13. OPTIONS AND AUXILIARY EQUIPMENT
For the MR-RB51, MR-RB3G-4, MR-RB5G-4, MR-RB34-4 or MR-RB54-4 install the cooling fan as
shown.
82 .5
13 3
Cooling fan installation screw hole dimensions
2-M3 screw hole
(for cooling fan installation) Depth 10 or less (Screw hole already
machined)
Cooling fan Terminal block
Thermal relay
Installation surfaceHorizontal installationVertical installation
Top
Bottom
[Unit : mm]
4082.5
13 - 27
13. OPTIONS AND AUXILIARY EQUIPMENT
(c) MR-J3-11KT(4) to MR-J3-22KT(4) (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 resistor (including wiring/screw hole area) may
cause a burn injury and electric shock. Even if the power was shut-off, be careful
until the bus voltage discharged and the temperature decreased because of the following reasons.
It may cause a burn injury due to very high temperature without cooling.
It may cause an electric shock due to charged capacitor of the servo amplifier.
When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors
(4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the
specified number, the servo amplifier may become faulty and/or the regenerative resistors burn. Install
the resistors at intervals of about 70mm. Cooling the resistors with two cooling fans (92 92, minimum
air flow : 1.0m3) improves the regeneration capability. In this case, set " FA" in parameter No. PA02.
Cooling fan
P C
Servo amplifier
(Note) Series connection
P1
Do not remove the short bar.
5m or less
Note. The number of resistors connected in series depends on the resistor type. The thermal sensor is not mounted on the
attached regenerative resistor. An abnormal heating of resistor may be generated at a regenerative circuit failure. Install a
thermal sensor near the resistor and establish a protective circuit to shut off the main circuit power supply when abnormal
heating occurs. The detection level of the thermal sensor varies according to the settings of the resistor. Set the thermal
sensor in the most appropriate position on your design basis or use the thermal sensor built-in regenerative option (MR-
RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4) provided by Mitsubishi Electric Corporation.
Servo Amplifier Regenerative
Resistor
Regenerative Power [W] Resistance
[ ]
Number of
Resistors Normal Cooling
MR-J3-11KT GRZG400-1.5 500 800 6 4
MR-J3-15KT GRZG400-0.9 850 1300 4.5 5
MR-J3-22KT GRZG400-0.6 850 1300 3 5
MR-J3-11KT4 GRZG400-5.0 500 800 20 4
MR-J3-15KT4 GRZG400-2.5 850 1300 12.5 5
MR-J3-22KT4 GRZG400-2.0 850 1300 10 5
13 - 28
13. OPTIONS AND AUXILIARY EQUIPMENT
(d) MR-J3-11KT(4)-PX to MR-J3-22KT(4)-PX (when using the regenerative option)
The MR-J3-11KT(4)-PX to MR-J3-22KT(4)-PX servo amplifiers are not supplied with regenerative
resistors. When using any of these servo amplifiers, always use the MR-RB5E, 9P, 9F, 6B-4, 60-4 and
6K-4 regenerative option.
The MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 are regenerative options that have encased the GRZG400-
1.5 , GRZG400-0.9 , GRZG400-0.6 , GRZG400-5.0 , GRZG400-2.5 , GRZG400-2.0 respectively.
When using any of these regenerative options, make the same parameter setting as when using the
GRZG400-1.5 , GRZG400-0.9 , GRZG400-0.6 , GRZG400-5.0 , GRZG400-2.5 , GRZG400-2.0
(supplied regenerative resistors or regenerative option is used with 11kW or more servo amplifier).
Cooling the regenerative option with cooling fans improves regenerative capability.
The G3 and G4 terminals are for the thermal protector. G3-G4 is opened when the regenerative option
overheats abnormally.
G3
G4
C
P
C
P
P1
Servo amplifier Do not remove the short bar.
Configure up a circuit which shuts off main circuit power when thermal protector operates.
(Note)
Regenerative option
Note. Specifications of contact across G3-G4
Maximum voltage : 120V AC/DC
Maximum current : 0.5A/4.8VDC
Maximum capacity : 2.4VA
Servo amplifier Regenerative option
model Resistance [ ]
Regenerative power [W] Without
cooling fans With
cooling fans
MR-J3-11KT-PX MR-RB5E 6 500 800
MR-J3-15KT-PX MR-RB9P 4.5 850 1300
MR-J3-22KT-PX MR-RB9F 3 850 1300
MR-J3-11KT4-PX MR-RB6B-4 20 500 800
MR-J3-15KT4-PX MR-RB60-4 12.5 850 1300
MR-J3-22KT4-PX MR-RB6K-4 10 850 1300
When using cooling fans, install them using the mounting holes provided in the bottom of the
regenerative option. In this case, set " FA" in parameter No. PA02.
Mounting screw 4-M3
(92 92, minimum air flow: 1.0m3)
MR-RB5E 9P 9F 6B-4 60-4 6K-4Top
Bottom
TE1
G4 G3 C P
TE
2 cooling fans
13 - 29
13. OPTIONS AND AUXILIARY EQUIPMENT
(5) Outline dimension drawings
(a) MR-RB032 MR-RB12 [Unit: mm (in)]
LA
5
LB
TE1
6
6 15
6
16 8
14 4
1 2
A p
pr o
x. 6
A pp
ro x.
1 2
Approx. 20 LD
1.6
LC
G3
G4 P C
6 mounting hole
MR-RB
TE1
Terminal block
G3
G4
P
C
Terminal screw: M3
Tightening torque: 0.5 to 0.6 [N m]
(4 to 5 [lb in])
Mounting screw
Screw size: M5
Tightening torque: 3.24 [N m]
(28.7 [lb in])
Regenerative
option
Variable dimensions Mass
LA LB LC LD [kg] [lb]
MR-RB032 30 15 119 99 0.5 1.1
MR-RB12 40 15 169 149 1.1 2.4
13 - 30
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4
[Unit: mm (in)]
7 10 90
100 B A 318
82.5101.5
Cooling fan mounting screw (2-M4 screw)
Wind blows in the arrow direction
TE1
Terminal block
G3
G4
P
C
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.62 [lb in])
Mounting screw
Screw size: M6
Tightening torque: 5.4 [N m] (47.79 [lb in])
Regenerative
option
Variable
dimensions Mass
[kg] (Ib) A B
MR-RB30
MR-RB31 17 335
MR-RB32 2.9 (6.4)
MR-RB34-4
MR-RB3M-4 23 341
MR-RB3G-4
(c) MR-RB50 MR-RB51 MR-RB54-4 MR-RB5G-4
[Unit: mm (in)]
2.3
49 82.5
200 A B 8120
10812 7
(30)
7 14 slot
Cooling fan mounting screw (2-M3 screw) On opposite side
Wind blows in the arrow direction
Terminal block
G3
G4
P
C
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.62 [lb in])
Mounting screw
Screw size: M6
Tightening torque: 5.4 [N m] (47.79 [lb in])
Regenerative
option
Variable
dimensions Mass
[kg] (Ib) A B
MR-RB50 17 217
MR-RB51 5.6 (12.3)
MR-RB54-4 23 233
MR-RB5G-4
13 - 31
13. OPTIONS AND AUXILIARY EQUIPMENT
(d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4
[Unit: mm (in)]
2- 10 mounting hole
1 0
4 3
4 80
5 00 4 27
10 30
215
2.310 230
TE1
G4 G3 C P
260 230
15
82.5 82.5
82 .5
Cooling fan mounting screw 4-M3 screw
Terminal block
G3G4 PC
Terminal screw: M5
Tightening torque: 2.0 [N m] (17.70 [lb in])
Mounting screw
Screw size: M8
Tightening torque: 13.2 [N m] (116.83 [lb in])
Regenerative
option
Mass
[kg] [Ib]
MR-RB5E 10 22.0
MR-RB9P 11 24.3
MR-RB9F 11 24.3
MR-RB6B-4 10 22.0
MR-RB60-4 11 24.3
MR-RB6K-4 11 24.3
(e) GRZG400-1.5 GRZG400-0.9 GRZG400-0.6 GRZG400-5.0 GRZG400-2.5 GRZG400-
2.0 (standard accessories)
1 .6
Approx. 47
9.5
40 411
385
10
Approx. C Approx. 2.4
4 0
Approx. 330
Approx. A
A p
pr ox
. K
Regenerative
brake
Variable
dimensions Mounting
screw size
Tightening
torque
[N m]
([lb in])
Mass [kg]
([lb]) A C K
GRZG400-1.5 10 5.5 39
M8 13.2
(116.83)
0.8
(1.76)
GRZG400-0.9
GRZG400-0.6 16 8.2 46
GRZG400-5.0
10 5.5 39 GRZG400-2.5
GRZG400-2.0
13 - 32
13. OPTIONS AND AUXILIARY EQUIPMENT
(f) MR-RB1H-4
[Unit: mm (in)]
TE1
6 2
149
173
6
Approx. 24
15
36
40
6 mounting hole
Terminal screw: M3
Tightening torque: 0.5 to 0.6 [N m]
(4.43 to 5.31 [lb in])
G3
G4
P
C
Mounting screw
Screw size: M5
Tightening torque: 3.2 [N m]
(28.32 [lb in])
Regenerative
option Mass [kg] ([lb])
MR-RB1H-4 1.1 (2.4)
13 - 33
13. OPTIONS AND AUXILIARY EQUIPMENT
13.3 FR-BU2-(H) brake unit
POINT
Use a 200V class brake unit and a resistor unit with a 200V class servo
amplifier, and a 400V class brake unit and a resistor unit with a 400V class
servo amplifier. Combination of different voltage class units and servo amplifier cannot be used.
Install a brake unit and a resistor unit on a flat surface vertically. When the
unit is installed horizontally or diagonally, the heat dissipation effect
diminishes.
Temperature of the resistor unit case rises to higher than 100 . Keep cables
and flammable materials away from the case.
Ambient temperature condition of the brake unit is between 10 (14 ) and
50 (122 ). Note that the condition is different from the ambient
temperature condition of the servo amplifier (between 0 (32 ) and 55
(131 )).
Configure the circuit to shut down the power-supply with the alarm output of
the brake unit and resistor unit under abnormal condition.
Use the brake unit with a combination indicated in section 13.3.1.
For executing a continuous regenerative operation, use FR-RC-(H) power
regeneration converter or FR-CV-(H) power regeneration common converter.
Brake unit and regenerative options (Regenerative resistor) cannot be used simultaneously.
Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the
brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient
regenerative capability.
When using the brake unit, set the parameter No.PA02 of the servo amplifier to " 01". When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual.
13 - 34
13. OPTIONS AND AUXILIARY EQUIPMENT
13.3.1 Selection
Use a combination of servo amplifier, brake unit and resistor unit listed below.
Brake unit Resistor unit
Number of
connected
units
Permissible
continuous
power [kW]
Total
resistance
[ ]
Applicable servo
amplifier
200V
class
FR-BU2-15K FR-BR-15K 1 0.99 8 MR-J3-500T
(Note)
2(parallel) 1.98 4 MR-J3-500T
MR-J3-700T
MR-J3-11KT
MR-J3-15KT
FR-BU2-30K FR-BR-30K 1 1.99 4 MR-J3-500T
MR-J3-700T
MR-J3-11KT
MR-J3-15KT
FR-BU2-55K FR-BR-55K 1 3.91 2 MR-J3-11KT
MR-J3-15KT
MR-J3-22KT
MT-BR5-55K 1 5.5 2 MR-J3-22KT
400V
class
FR-BU2-H30K FR-BR-H30K 1 1.99 16 MR-J3-500T4
MR-J3-700T4
MR-J3-11KT4
FR-BU2-H55K FR-BR-H55K 1 3.91 8 MR-J3-11KT4
MR-J3-15KT4
MR-J3-22KT4
FR-BU2-H75K MT-BR5-H75K 1 7.5 6.5 MR-J3-22KT4
Note. The combination is limited only when using with the servo motors HC-LP302, HC-RP353, HA-LP502 or HC-UP352.
13.3.2 Brake unit parameter setting
Normally, when using the FR-BU2-(H), changing parameters is not necessary. Whether a parameter can be
changed or not is listed below.
Parameter Change
possible
/impossible
Remarks No. Name
0 Brake mode switchover Impossible Do not change the parameter.
1 Monitor display data selection Possible Refer to the FR-BU2-(H) Brake Unit
Instruction Manual.
2 Input terminal function selection 1 Impossible Do not change the parameter.
3 Input terminal function selection 2
77 Parameter write selection
78 Cumulative energization time
carrying-over times
CLr Parameter clear
ECL Alarm history clear
C1 For manufacturer setting
13 - 35
13. OPTIONS AND AUXILIARY EQUIPMENT
13.3.3 Connection example
POINT
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) Combination with FR-BR-(H) resistor unit
(a) When connecting a brake unit to a servo amplifier
NFB
RA1
24VDC
ALM RA1
MC
SK
MC
ONOFFEMG
Servo motor thermal relay
RA2
(Note 8)
(Note 1) Power supply
N/
P/
BUE
SD
PR
B
C
A SD
MSG
(Note 4)
(Note 7)
17
5
EMG DOCOM
DICOM
ALM
P1
P2
P( )
N( )
C
FR-BU2-(H)
FR-BR-(H)
Servo amplifier
P
PR TH2
TH1(Note 6)
MC
(Note 5)
(Note 3)
(Note 2)
(Note 9)
L1
L2
L3
L11
L21
1
15
CN6
(Note 10)
Note 1. For power supply specifications, refer to section 1.2.
2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P
and C terminals. For the servo amplifier of 11k to 22kW, do not connect a supplied regenerative resistor to the P and C
terminals.
3. Always connect P1 and P2 terminals (P1 and P for the servo amplifier of 11k to 22kW) (Factory-wired). When using the power
factor improving DC reactor, refer to section 13.11.
4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
5. For 400VAC class, a step-down transformer is required.
6. Contact rating: 1b contact, 110VAC_5A/220VAC_3A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
7. Contact rating: 230VAC_0.3A/30VDC_0.3A
Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
8. For the servo amplifier of 11kW or more, connect the thermal relay censor of the servo amplifier.
9. Do not connect more than one cable to each P( ) and N( ) terminals of the servo amplifier.
10. Always connect BUE and SD terminals (Factory-wired).
13 - 36
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) When connecting two brake units to a servo amplifier
POINT
To use brake units with a parallel connection, use two sets of FR-BU2 brake
unit. Combination with other brake unit results in alarm occurrence or malfunction.
Always connect the master and slave terminals (MSG and SD) of the two
brake units.
Do not connect the servo amplifier and brake units as below. Connect the
cables with a terminal block to distribute as indicated in this section.
N/
P/
Brake unitServo amplifier
P( )
N( ) N/
P/
Brake unit
Connecting two cables to
P and N terminals
P( )
N( )
N/
P/
Brake unitServo amplifier
N/
P/
Brake unit
Passing wiring
13 - 37
13. OPTIONS AND AUXILIARY EQUIPMENT
DOCOM
DICOM
ALM
N/
P/
NFB
24VDC
ALM RA1
MC
SK
MC
ONOFFEMG
Servo motor thermal relay
RA2
(Note 7)
(Note 1) Power supply
BUE
SD
PR
B
C
A SD
MSG
(Note 4)
(Note 6)
17
5
EMG
P1
P2
P
N C
FR-BU2-(H)
FR-BR
Servo amplifier
P
PR TH2
TH1(Note 5)
MC
Terminal block
(Note 3)
(Note 11)
(Note 2)
(Note 8)
1
15
CN6
L1
L2
L3
L11
L21
(Note 10)
(Note 9)
N/
P/
BUE
SD
PR
B
C
A SD
MSG
(Note 4)
(Note 6)
FR-BU2-(H)
TH2
TH1(Note 5) FR-BR
P
PR
(Note 10)
(Note 9)
RA1
Note 1. For power supply specifications, refer to section 1.2.
2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P
and C terminals. For the servo amplifier of 11k and 15kW, do not connect a supplied regenerative resistor to the P and C
terminals.
3. Always connect P1 and P2 terminals (P1 and P for the servo amplifier of 11k and 15kW) (Factory-wired). When using the power
factor improving DC reactor, refer to section 13.11.
4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
5. Contact rating: 1b contact, 110VAC_5A/220VAC_3A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230VAC_0.3A/30VDC_0.3A
Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
7. For the servo amplifier of 11kW or more, connect the thermal relay censor of the servo amplifier.
8. Do not connect more than one cable to each P and N terminals of the servo amplifier.
9. Always connect BUE and SD terminals (Factory-wired).
10. Connect the MSG and SD terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
11. For the cable to connect the terminal block and the P and N terminals of the servo amplifier, use the cable indicated in (4) (b)
in this section.
13 - 38
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Combination with MT-BR5-(H) resistor unit
NFB
24VDC
ALM RA1
MC
SK
MC
ONOFFEMG
Servo motor thermal relay
RA2
(Note 8)
(Note 1) Power supply
N/
P/
BUE
SD
PR
B
C
A SD
MSG
(Note 3)
(Note 6)
RA3
17
5
EMG DOCOM
DICOM
ALM
P1
P
N
FR-BU2-(H)
MT-BR5-(H)
Servo amplifier
P
PR TH2
TH1(Note 5)
MC
(Note 4)
RA3
(Note 7)
(Note 2)
1
15
CN6
L3
L11
L2
L21
L1
SK
(Note 8)
RA1
C (Note 9)
Note 1. For power supply specifications, refer to section 1.2.
2. Always connect P1 and P( ) terminals (Factory-wired). When using the power factor improving DC reactor, refer to section
13.11.
3. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
4. For the servo amplifier of 400V class, a step-down transformer is required.
5. Contact rating: 1a contact, 110VAC_5A/220VAC_3A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
6. Contact rating: 230VAC_0.3A/30VDC_0.3A
Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
7. Do not connect more than one cable to each P and N terminals of the servo amplifier.
8. Always connect BUE and SD terminals (Factory-wired).
9. For the servo amplifier of 22kW, do not connect a supplied regenerative resistor to the P and C terminals.
13 - 39
13. OPTIONS AND AUXILIARY EQUIPMENT
(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 5m (twist five times or more per one
meter). Even when the cable is twisted, the cable should be less than 10m. Using cables longer than 5m
without twisting or twisted cables longer than 10m, may result in the brake unit malfunction.
Servo amplifier
Brake unit
5m or less 5m or less
Servo amplifier
Brake unit
10m or less 10m or less
P( ) N( )
P N
P PR PR
P N
P PR
P PR
Twist
Resistor unit Resistor unit
P( ) N( )
TwistP
(4) Cables
(a) Cables for the brake unit
For the brake unit, HIV wire (600V Grade heat-resistant polyvinyl chloride insulated wire) is
recommended.
1) Main circuit terminal
Brake unit
Main
circuit
terminal
screw
size
Crimping
terminal Tightening
torque
[N m]
[(lb in)]]
Wire size
N/ , P/ , PR,
N/ P/ PR
Terminal block
N/ , P/ ,
PR,
HIV wire
[mm2] AWG
200V FR-BU2-15K M4 5.5-4 1.5(13.3) 3.5 12
class FR-BU2-30K M5 5.5-5 2.5(22.1) 5.5 10
FR-BU2-55K M6 14-6 4.4(38.9) 14 6
400V FR-BU2-H30K M4 5.5-4 1.5(13.3) 3.5 12
class FR-BU2-H55K M5 5.5-5 2.5(22.1) 5.5 10
FR-BU2-H75K M6 14-6 4.4(38.9) 14 6
13 - 40
13. OPTIONS AND AUXILIARY EQUIPMENT
2) Control circuit terminal
POINT
Undertightening can cause a cable disconnection or malfunction.
Overtightening can cause a short circuit or malfunction due to damage to the
screw or the brake unit.
A RESPC
B SDBUE
C MSGSD MSG SD SD
Jumper
Terminal block 6mm
Sheath Core
Wire the stripped cable after twisting to prevent the cable
from becoming loose. In addition, do not solder it.
Wire size: M3
Tightening torque: 0.5N m to 0.6N m
Wire size: 0.3mm2 to 0.75 mm2
Screw driver: Small flat-blade screwdriver (Tip thickness: 0.4mm/Tip width 2.5mm)
(b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of
the brake unit
Brake unit
Wire size
HIV wire
[mm2] AWG
FR-BU2-15K 8 8
13 - 41
13. OPTIONS AND AUXILIARY EQUIPMENT
(5) Crimping terminals for P and N terminals of servo amplifier
(a) Recommended crimping terminals
POINT
Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size.
Servo amplifier Brake unit
Number of
connected
units
Crimping terminal (Manufacturer)
(Note 1)
Applicable
tool
200V MR-J3-500T FR-BU2-15K 1 FVD5.5-S4(Japan Solderless Terminal) c
class 2 8-4NS(Japan Solderless Terminal)
(Note 2)
d
FR-BU2-30K 1 FVD5.5-S4(Japan Solderless Terminal) c
MR-J3-700T FR-BU2-15K 2 8-4NS(Japan Solderless Terminal)
(Note 2)
d
FR-BU2-30K 1 FVD5.5-S4(Japan Solderless Terminal) c
MR-J3-11KT FR-BU2-15K 2 FVD8-6(Japan Solderless Terminal) a
FR-BU2-30K 1 FVD5.5-6(Japan Solderless Terminal) c
FR-BU2-55K 1 FVD14-6(Japan Solderless Terminal) b
MR-J3-15KT FR-BU2-15K 2 FVD8-6(Japan Solderless Terminal) a
FR-BU2-30K 1 FVD5.5-6(Japan Solderless Terminal) c
FR-BU2-55K 1 FVD14-6(Japan Solderless Terminal) b
MR-J3-22KT FR-BU2-55K 1 FVD14-8(Japan Solderless Terminal) b
400V MR-J3-500T4 FR-BU2-H30K 1 FVD5.5-S4(Japan Solderless Terminal) c
class MR-J3-700T4 FR-BU2-H30K 1 FVD5.5-S4(Japan Solderless Terminal) c
MR-J3-11KT4 FR-BU2-H30K 1 FVD5.5-6(Japan Solderless Terminal) c
FR-BU2-H55K 1 FVD5.5-6(Japan Solderless Terminal) c
MR-J3-15KT4 FR-BU2-H55K 1 FVD5.5-6(Japan Solderless Terminal) c
MR-J3-22KT4 FR-BU2-H55K 1 FVD5.5-8(Japan Solderless Terminal) c
FR-BU2-H75K 1 FVD14-8(Japan Solderless Terminal) b
Note 1. Symbols in the applicable tool field indicate applicable tools in (5)(b) in this section.
2. Coat the crimping part with an insulation tube.
(b) Applicable tool
Symbol
Servo amplifier side crimping terminals
Crimping
terminal
Applicable tool Manufacturer
Body Head Dice
a FVD8-6 YF-1 E-4 YNE-38 DH-111 DH121
Japan Solderless
Terminal
b FVD14-6
FVD14-8 YF-1 E-4 YNE-38 DH-112 DH122
c FDV5.5-S4
FDV5.5-6 YNT-1210S
d 8-4NS YHT-8S
13 - 42
13. OPTIONS AND AUXILIARY EQUIPMENT
13.3.4 Outline dimension drawings
(1) FR-BU2- (H) brake unit
[Unit: mm]
FR-BU2-15K
Rating plate
5 hole (Screw size: M4)
68 6 56 6
5 18.5 52 62
4
132.5
FR-BU2-30K
FR-BU2-H30K
129.5
5 5918.5
Rating plate
52
2- 5 hole (Screw size: M4)
5
108 6 696
FR-BU2-55K
FR-BU2-H55K, H75K
18.5
Rating plate
52 72
5
142.5
5
61586 170
2- 5 hole (Screw size: M4)
13 - 43
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) FR-BR- (H) resistor unit
[Unit: mm]
2 C
Control circuit terminal
Main circuit terminal
W1 1Approx. 35 Approx. 35
204Hanging bolt
C C
W 5
For FR-BR-55K/FR-BR-H55K, a hanging bolt is placed on two locations (Indicated below).
(Note)
(Note)
Note. Ventilation ports are provided on both sides and the top. The bottom is open.
Resistor unit W W1 H H1 H2 H3 D D1 C
Approximate
mass
[kg]([lb])
200V
class
FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15(33.1)
FR-BR-30K 340 270 600 560 20 582 220 4 10 30(66.1)
FR-BR-55K 480 410 700 620 40 670 450 3.2 12 70(154)
400V
class
FR-BR-H30K 340 270 600 560 20 582 220 4 10 30(66.1)
FR-BR-H55K 480 410 700 620 40 670 450 3.2 12 70(154)
(3) MT-BR5- (H) resistor unit
[Unit: mm]
4 15 mounting hole
30075 75
4507.5 7.5
M6 M4
193 189
480 510
37 60 2110
NP
Resistor unit Resistance
value
Approximate
mass
[kg]([lb])
200V
class MT-BR5-55K 2.0 50(110)
400V
class MT-BR5-H75K 6.5 70(154)
13 - 44
13. OPTIONS AND AUXILIARY EQUIPMENT
13.4 Power regeneration converter
When using the power regeneration converter, set " 01" in parameter No.PA02.
(1) Selection
The converters can continuously return 75% of the nominal regenerative power. They are applied to the
servo amplifiers of the 5kW to 22kW.
Power regeneration
converter
Nominal
Regenerative
Power (kW)
Servo Amplifier
0 50 75 100 150
500
300
200
100
50
30
20
C o
nt in
uo us
e n
er gi
za tio
n tim
e [s
ec ]
Nominal regenerative power (%)
FR-RC-15K 15 MR-J3-500T
MR-J3-700T
MR-J3-11KT
MR-J3-15KT FR-RC-30K 30
FR-RC-55K 55 MR-J3-22KT
FR-RC-H15K 15 MR-J3-500T4
MR-J3-700T4
FR-RC-H30K 30 MR-J3-11KT4
MR-J3-15KT4
FR-RC-H55K 55 MR-J3-22KT4
13 - 45
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection example
Servo amplifier
Alarm output
RDY output
5m or less
Operation ready
Ready
Power factor improving reactor
Phase detection terminals
(Note 1)
Trouble (Note 3 )
Forced stop
(Note 4)
(Note 2)
NFB MC
L11
L21
L1
L2
L3
SK
ON
MC B C
N PC
RDY
SE A
B
C
N/ P/
MC OFFEMGRA
RX
R
SX
S
TX
T
R/L1
S/L2
T/L3
B
C
RA
DOCOMD
DICOMD
ALM
CN10 24VDC
FR-BAL
EMG
CN6
DOCOM
P P
+ MR-J3-D01
DOCOM
DICOM
CN6 24VDC
SON
CN10
DOCOMD
(Note 6) Power supply
1 2
(Note 3) Servo ON
(Note 5)
FR-RC-(H)
Power regeneration converter FR-RC-(H)
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the
FR-RC-(H) will not operate.
2. When using servo amplifiers of 5kW and 7kW, always remove the lead of built-in regenerative resistor connected to P terminal
and C terminal.
3. For sink input-output interface. Refer to section 3.8.3 for source input-output interface.
4. When using the servo amplifier of 11k to 22kW, always connect P1 and P. (Factory-wired.) When using the power factor
improving DC reactor, refer to section 13.11.
5. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers.
6. Refer to section 1.2 for the power supply specification.
13 - 46
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outside dimensions of the power regeneration converters
[Unit : mm]
AA
A C
F K E
E B
A B E
D
2- D hole
Rating plate
Front cover
Display panel window
Mounting foot (removable) Mounting foot movable
Cooling fan
Heat generation area outside mounting dimension
Power
regeneration
converter
A AA B BA C D E EE K F Approx. Mass
[kg(Ib)]
FR-RC-15K 270 200 450 432 195 10 10 8 3.2 87 19
(41.888)
FR-RC-H15K
340 270 600 582 195 10 10 8 3.2 90 31
(68.343) FR-RC-30K
FR-RC-H30K
FR-RC-55K 480 410 700 670 250 12 15 15 3.2 135
55
(121.3) FR-RC-H55K
(4) Mounting hole machining dimensions
When the power regeneration converter is fitted to a totally enclosed type box, mount the heat generating
area of the converter outside the box to provide heat generation measures. At this time, the mounting hole
having the following dimensions is machined in the box.
[Unit : mm]
(AA)
(B A
)
b
a
(2- D hole)
(Mounting hole)
Model a b D AA BA
FR-RC-15K 260 412 10 200 432
FR-RC-H15K
FR-RC-30K 330 562 10 270 582
FR-RC-H30K
FR-RC-55K 470 642 12 410 670
FR-RC-H55K
13 - 47
13. OPTIONS AND AUXILIARY EQUIPMENT
13.5 Power regeneration common converter
POINT
Use the FR-CV for the servo amplifier of 200V class and the FR-CV-H for that of 400V class.
For details of the power regeneration common converter FR-CV-(H), refer to
the FR-CV-(H) Installation Guide (IB(NA)0600075).
Do not supply power to the main circuit power supply terminals (L1, L2, L3) of
the servo amplifier. Doing so will fail the servo amplifier and FR-CV-(H).
Connect the DC power supply between the FR-CV-(H) and servo amplifier
with correct polarity. Connection with incorrect polarity will fail the FR-CV-(H) and servo amplifier.
Two or more FR-CV-(H)'s cannot be installed to improve regeneration
capability. Two or more FR-CV-(H)'s cannot be connected to the same DC
power supply line.
When using the power regeneration common converter, set parameter No. PA02 to " 01".
(1) Model
Symbol Voltage class
None 200V class
H 400V class
Symbol Capacity [kW]
7.5K 7.5
11K 11
15K 15
22K 22
30K 30
37K 37
55K 55
Capacity
(2) Selection
The power regenerative common converter FR-CV can be used for the servo amplifier of 200V class with
3.5k to 22kW and that of 400V class with 11k to 22kW. The following shows the restrictions on using the
FR-CV-(H).
(a) Up to six servo amplifiers can be connected to one FR-CV-(H).
(b) FR-CV-(H) capacity [W] Total of rated capacities [W] of servo amplifiers connected to FR-CV-(H).
(c) The total of used servo motor rated currents should be equal to or less than the applicable current [A] of
the FR-CV-(H).
(d) Among the servo amplifiers connected to the FR-CV-(H), the servo amplifier of the maximum capacity
should be equal to or less than the maximum connectable capacity [W].
13 - 48
13. OPTIONS AND AUXILIARY EQUIPMENT
The following table lists the restrictions.
Item FR-CV-
7.5K 11K 15K 22K 30K 37K 55K
Maximum number of connected servo amplifiers 6
Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5
Total of connectable servo motor rated currents [A] 33 46 61 90 115 145 215
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
Item FR-CV-H
22K 30K 37K 55K
Maximum number of connected servo amplifiers 6
Total of connectable servo amplifier capacities [kW] 11 15 18.5 27.5
Total of connectable servo motor rated currents [A] 90 115 145 215
Maximum servo amplifier capacity [kW] 11 15 15 22
When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)).
Power regeneration common converter Dedicated stand-alone reactor
FR-CV-7.5K(-AT) FR-CVL-7.5K
FR-CV-11 K(-AT) FR-CVL-11K
FR-CV-15K(-AT) FR-CVL-15K
FR-CV-22K(-AT) FR-CVL-22K
FR-CV-30K(-AT) FR-CVL-30K
FR-CV-37K FR-CVL-37K
FR-CV-55K FR-CVL-55K
FR-CV-H22K(-AT) FR-CVL-H22K
FR-CV-H30K(-AT) FR-CVL-H30K
FR-CV-H37K FR-CVL-H37K
FR-CV-H55K FR-CVL-H55K
13 - 49
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Connection diagram
(a) 200V class
Thermal relay
(Note 2)
24VDC power supply
(Note 1)
(Note 3)
(Note 4)
Servo amplifier
Servo motor
(Note 1)
(Note 5)
(Note 1) (Note 1) (Note 2)
C
B
R/L11 3-phase
200 to
230VAC
S/L21
T/L31
R2/L1
S2/L22
R2/L12
T2/L32
S2/L2
SD
RDYB
RDYA
RSO
SE A
T2/L3
R/L11
S/L21
T/MC1
RES
SD
L11
L21
RES
U
V
W
RA2
RA1
CN2
MCNFB FR-CVL FR-CV
MC
RA2 RA3 RA4 EMG OFF ON
RESET
SK
MC
MR-J3-D01
RA3
RA4
U
V
W OHS2
OHS1
RA2
RA1
EMG
SON
P
N
P1
P/L
N/L
EMG
SON
DOCOM
DICOMD
DICOM
DOCOMD
ALM
DOCOMD
DOCOM
P24
(Note 3)
(Note 1)
Note 1. Configure a sequence that will shut off main circuit power at an forced stop or at FR-CV or servo amplifier alarm occurrence.
2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay
operates.
3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV is ready.
4. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regeneration resistor (3.5kW or
less: P-D, 5k/7kW: P-C).
5. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.)
13 - 50
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) 400V class
Thermal relay
(Note 2)
24VDC power supply
(Note 1)
(Note 3)
(Note 4)
Servo amplifier
Servo motor
(Note 1)
(Note 5)
(Note 1) (Note 1) (Note 2)
C
B
R/L11 3-phase
380 to
480VAC
S/L21
T/L31
R2/L1
S2/L22
R2/L12
T2/L32
S2/L2
SD
RDYB
RDYA
RSO
SE A
T2/L3
R/L11
S/L21
T/MC1
RES
SD
L11
L21
RES
U
V
W
RA2
RA1
CN2
MCNFB FR-CVL-H FR-CV-H
MC
RA2 RA3 RA4 EMG OFF ON
RESET
SK
MC
MR-J3-D01
RA3
RA4
U
V
W OHS2
OHS1
RA2
RA1
EMG
SON
P
N
P1
P/L
N/L
EMG
SON
DOCOM
DICOMD
DICOM
DOCOMD
ALM
DOCOMD
DOCOM
P24
(Note 3)
(Note 1)
(Note 6)
Stepdown transformer
Note 1. Configure a sequence that will shut off main circuit power at an forced stop or at FR-CV-H or servo amplifier alarm occurrence.
2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay
operates.
3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV-H is ready.
4. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regeneration resistor (2kW or less:
P -D, 3.5k to 7kW: P-C).
5. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.)
6. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class servo amplifiers.
13 - 51
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) Selection example of wires used for wiring
POINT
Selection condition of wire size is as follows.
Wire type: 600V Polyvinyl chloride insulated wire (IV wire)
Construction condition: One wire is constructed in the air
(a) Wire sizes
1) Across P( )-P, N-N( )
The following table indicates the connection wire sizes of the DC power supply (P, N terminals)
between the FR-CV and servo amplifier.
Total of servo amplifier capacities [kW] Wires [mm2]
1 or less 2
2 3.5
5 5.5
7 8
11 14
15 22
22 50
The following table indicates the connection wire sizes of the DC power supply (P( ), N( )
terminals) between the FR-CV-H and servo amplifier.
Total of servo amplifier capacities [kW] Wires [mm2]
1 or less 2
2 3.5
5 5.5
7 8
11 8
15 22
22 22
2) Grounding
For grounding, use the wire of the size equal to or greater than that indicated in the following table,
and make it as short as possible.
Power regeneration common converter Grounding wire size [mm2]
FR-CV-7.5K to FR-CV-15K 14
FR-CV-22K FR-CV-30K 22
FR-CV-37K FR-CV-55K 38
FR-CV-H22K FR-CV-H30K 8
FR-CV-H37K FR-CV-H55K 22
13 - 52
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Example of selecting the wire sizes
When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier
terminals P, N. Also, connect the servo amplifiers in the order of larger to smaller capacities.
1) 200V class
R2/L1
S2/L2
T2/L3
R/L11
S/L21
T/MC1
P/L
N/L
P
N
50mm2
Overall wiring length 5m or less
First unit: 50mm2 assuming that the total of servo amplifier capacities is 27.5kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW.
P
N
P
N
P
N
22mm2
8mm2
2mm2
22mm2
8mm2
3.5mm2
2mm2
Junction terminals
Wire as short as possible.
Second unit: 22mm2 assuming that the total of servo amplifier capacities is 15kW since 7kW + 3.5kW + 2.0kW = 12.5kW.
Third unit: 8mm2 assuming that the total of servo amplifier capacities is 7kW since 3.5kW + 2.0kW = 5.5kW.
Fourth unit: 2mm2 assuming that the total of servo amplifier capacities is 2kW since 2.0kW = 2.0kW.
FR-CV-55K Servo amplifier (15kW)
Servo amplifier (7kW)
Servo amplifier (3.5kW)
Servo amplifier (2kW)
(Note)
(Note)
(Note)
(Note)
Note. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regeneration resistor (3.5kW or less:
P-D, 5k/7kW: P-C).
2) 400V class
P
N
R2/L1
S2/L2
T2/L3
R/L11
S/L21
T/MC1
P/L+
N/L-
P
N
22mm2
P
N
P
N
22mm2
8mm2
3.5mm2
22mm2
8mm2
5.5mm2
3.5mm2
FR-CV-H55K
Servo amplifier (7kW)
Servo amplifier (3.5kW)
Servo amplifier (2kW)
Overall wiring length 5m or less
First unit: 22mm2 assuming that the total of servo amplifier capacities is 30kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW.
Junction terminals
Wire as short as possible.
Second unit: 22mm2 assuming that the total of servo amplifier capacities is 15kW since 7kW + 3.5kW + 2.0kW = 12.5kW.
Third unit: 8mm2 assuming that the total of servo amplifier capacities is 7kW since 3.5kW + 2.0kW = 5.5kW.
Fourth unit: 3.5mm2 assuming that the total of servo amplifier capacities is 2kW since 2.0kW = 2.0kW.
Servo amplifier (15kW)
13 - 53
13. OPTIONS AND AUXILIARY EQUIPMENT
(5) Other precautions
(a) Always use the FR-CVL-(H) as the power factor improving reactor. Do not use the FR-BAL or FR-BEL.
(b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency
components and may provide electromagnetic wave interference to communication equipment
(such as AM radios) used near them. In this case, interference can be reduced by installing the
radio noise filter (FR-BIF-(H)) or line noise filter (FR-BSF01, FR-BLF).
(c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo
amplifiers should be 5m or less, and the wiring must be twisted.
13 - 54
13. OPTIONS AND AUXILIARY EQUIPMENT
(6) Specifications
Power regeneration common converter
FR-CV-
Item
7.5K 11K 15K 22K 30K 37K 55K
Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
Output
Total of connectable servo motor
rated currents [A] 33 46 61 90 115 145 215
Regenerative
braking torque
Short-time
rating Total capacity of applicable servo motors, 300% torque, 60s (Note 1)
Continuous
rating 100% torque
Power supply
Rated input AC voltage/frequency Three-phase 200 to 220V 50Hz, 200 to 230V 60Hz
Permissible AC voltage fluctuation Three-phase 170 to 242V 50Hz, 170 to 253V 60Hz
Permissible frequency fluctuation 5%
Power supply capacity (Note 2) [kVA] 17 20 28 41 52 66 100
Protective structure (JEM 1030), cooling system Open type (IP00), forced cooling
Environment
Ambient temperature -10 to +50 (14 to 122 ) (non-freezing)
Ambient humidity 90%RH or less (non-condensing)
Ambience Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt)
Altitude, vibration 1000m or less above sea level, 5.9m/s2 or less
No-fuse breaker or leakage current breaker 30AF
30A
50AF
50A
100AF
75A
100AF
100A
225AF
125A
225AF
125A
225AF
175A
Magnetic contactor S-N20 S-N35 S-N50 S-N65 S-N95 S-N95 S-N125
Power regeneration common converter
FR-CV-H
Item
22K 30K 37K 55K
Total of connectable servo amplifier capacities [kW] 11 15 18.5 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
Total capacity of applicable servo motors, 300%
torque, 60s (Note 1)
Continuous
rating 100% torque
Power supply
Rated input AC voltage/frequency Three-phase 380 to 480V, 50Hz/60Hz
Permissible AC voltage fluctuation Three-phase 323 to 528V, 50Hz/60Hz
Permissible frequency fluctuation 5%
Power supply capacity [kVA] 41 52 66 100
Protective structure (JEM 1030), cooling system Open type (IP00), forced cooling
Environment
Ambient temperature -10 to +50 (14 to 122 ) (non-freezing)
Ambient humidity 90%RH or less (non-condensing)
Ambience Indoors (without corrosive gas, flammable gas, oil
mist, dust and dirt)
Altitude, vibration 1000m or less above sea level, 5.9m/s2 or less
No-fuse breaker or leakage current breaker 60AF
60A
100AF
175A
100AF
175A
225AF
125A
Magnetic contactor S-N25 S-N35 S-N35 S-N65
Note 1. This is the time when the protective function of the FR-CV is activated. The protective function of the servo amplifier is
activated in the time indicated in section 12.1.
2. When connecting the capacity of connectable servo amplifier, specify the value of servo amplifier.
13 - 55
13. OPTIONS AND AUXILIARY EQUIPMENT
13.6 External dynamic brake
POINT
Configure up a sequence which switches off the contact of the brake unit after
(or as soon as) it has turned off the servo on signal at a power failure or
failure.
For the braking time taken when the dynamic brake is operated, refer to section 12.3.
The brake unit is rated for a short duration. Do not use it for high duty.
When the dynamic brake is used, the power supply voltage is restricted as indicated below.
3-Phase 170 to 220VAC/50Hz
3-Phase 170 to 242VAC/60Hz
(1) Selection of dynamic brake
The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs
or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built
in the 11kW or more servo amplifier, purchase it separately if required. Assign the dynamic brake sequence
(DB) to any of the CN6-14 to CN6-16 pins in the parameters No.PD09 to PD11 or any of the C10-46 to
CN10-49 pins in the parameters No.Po08 or Po09.
Servo amplifier Dynamic brake
MR-J3-11KT DBU-11K
MR-J3-15KT DBU-15K
MR-J3-22KT DBU-22K
MR-J3-11KT4 DBU-11K-4
MR-J3-15KT4 DBU-22K-4
MR-J3-22KT4
13 - 56
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection example
Plate SD
NFB MC
L11
L21
U
V
W
U
V
W M
13 U14 V W
External dynamic brake
a
b
Servo amplifier
Servo motor
RA2
MC SK
MC
ON OFF
ALM RA1
Operation-ready
EMG
(Note 1)
L3
L2
L1 (Note 6) Power supply
P
P1
(Note 2)
(Note 3)
17
21
DB
DOCOMD
SON
RA2
24VDC (Note 4)
CN10
14 DICOMD
5
17
1
Plate
DICOM
DOCOM
EMG
SD
24VDC (Note 4)
CN6
15 ALM RA1
(Note 5)
(Note 7)
Note 1. Terminals 13, 14 are normally open contact outputs. If the dynamic brake is seized, terminals 13, 14 will open.
Therefore, configure up an external sequence to prevent servo-on.
2. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.)
When using the power factor DC reactor, refer to section 13.11.
3. Assign the dynamic brake sequence (DB) in the parameters No.PD09 PD10 Po08 Po09.
4. 24VDC can be supplied from the same power supply.
5. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers.
6. Refer to section 1.2 for the power supply specification.
7. The power supply voltage of the inside magnet contactor for 400V class dynamic brake DBU-11K-4 and DBU-22K-4 is
restricted as follows. When using these dynamic brakes, use them within the range of the power supply.
Dynamic brake Power supply voltage
DBU-11K-4
DBU-22K-4 1-phase 380 to 463VAC 50Hz/60Hz
13 - 57
13. OPTIONS AND AUXILIARY EQUIPMENT
Servo motor rotation
Coasting
Trouble (ALM)
RA1
ON
OFF
Forced stop (EMG)
Absent
Invalid
Valid
Short
Open
a. Timing chart at alarm occurrence b. Timing chart at Forced stop (EMG) validity
Dynamic brake
Base
ON
OFF
Coasting
Dynamic brakeDynamic brake
Present
Forward rotation
(Note 2)15 to 60ms
(Note 1)7ms
10ms
Dynamic brake Coasting
Electro magnetic brake interlock
Electro magnetic brake operation delay time
Electro magnetic brake interlock(MBR)
Base circuit ON
OFF
Servo motor speed
Trouble (ALM)
Main circuit Control circuit
ON
OFF Power
RA1
Dynamic brake
ON
OFF
Invalid (ON)
Valid (OFF)
Invalid
Valid
Invalid (ON)
Valid (OFF)
Forward rotation
Note 1. When powering OFF,the RA1 of external dynamic brake circuit will be turned OFF, and the base circuit is turned OFF earlier
than usual before an output shortage occurs.
(Only when assigning the DB as the output signal in the parameter No.PD09, PD10, Po08 and Po09.
2. Variable according to the operation status.
c. Timing chart when both of the main and control circuit power are OFF
13 - 58
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline dimension drawing
(a) DB-11K DBU-15K DBU-22K
U V W
D 100 D
5
C
E
G
F
2.3
Terminal block
Screw : M3.5 Screw : M4
B A
5
E
13 14 E
(GND) a b
[Unit: mm]
Tightening torque: 1.2 [N m](10.6 [lb in]) Tightening torque: 0.8 [N m](7 [lb in])
Dynamic brake A B C D E F G Mass
[kg]([Ib])
Connection wire
[mm2] (Note)
DBU-11K 200 190 140 20 5 170 163.5 2 (4.41) 5.5
DBU-15K, 22K 250 238 150 25 6 235 228 6 (13.23) 5.5
Note. Selection condition of wire size is as follows.
Wire type: 600V Polyvinyl chloride insulated wire (IV wire)
Construction condition: One wire is constructed in the air
13 - 59
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) DBU-11K-4 DBU-22K-4
[Unit: mm]
15
51
25
15
73.75 7
25150 10
200
170
17 8
.5
17 9
.5
15
2 60
2 80
43
10
2- 7mounting hole
195
2 28
26 2
6
210
2.3
Mass: 6.7[kg] (14.8 [lb])
a
TE1
Tightening torque: 0.8[N m](7[lb in])
Screw: M3.5
b 13 14
Terminal block
WVU
Tightening torque: 1.2 [N m](10.6[lb in])
Screw: M4
TE2
Dynamic brake Wire [mm2] (Note)
a b U V W
DBU-11K 2 5.5
DBU-15K, 22K 2 5.5
Note. Selection condition of wire size is as follows.
Wire type: 600V Polyvinyl chloride insulated wire (IV wire)
Construction condition: One wire is constructed in the air
13 - 60
13. OPTIONS AND AUXILIARY EQUIPMENT
13.7 Battery MR-J3BAT
POINT
The revision (Edition 44) of the Dangerous Goods Rule of the International Air
Transport Association (IATA) went into effect on January 1, 2003 and was
enforced immediately. In this rule, "provisions of the lithium and lithium ion
batteries" were revised to tighten the restrictions on the air transportation of
batteries. However, since this battery is non-dangerous goods (non-Class 9),
air transportation of 24 or less batteries is outside the range of the
restrictions. Air transportation of more than 24 batteries requires packing
compliant with the Packing Standard 903. When a self-certificate is necessary
for battery safety tests, contact our branch or representative. For more information, consult our branch or representative. (As of February, 2008).
(1) Purpose of use for MR-J3BAT
This battery is used to construct an absolute position detection system. Refer to section 14.3 for the fitting
method, etc.
(2) Year and month when MR-J3BAT is manufactured
The year and month when MR-J3BAT is manufactured are written down in Serial No. on the rating plate of
the battery back face.
The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11),
Z(12).
For October 2004, the Serial No. is like, "SERIAL 4X ".
MELSERVO 3.6V,2000mAh SERIAL 4X
MR-J3BAT
MADE IN JAPAN MITSUBISHI ELECTRIC CORPORATION
The year and month of manufacture
13 - 61
13. OPTIONS AND AUXILIARY EQUIPMENT
13.8 Heat sink outside mounting attachment (MR-J3ACN)
Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the
outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the
amount of heat generated in the box, thereby allowing a compact control box to be designed.
In the control box, machine a hole having the panel cut dimensions, fit the heat sink outside mounting
attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to
the control box.
The environment outside the control box when using the heat sink outside mounting attachment should be
within the range of the servo amplifier operating environment conditions.
The heat sink outside mounting attachment of MR-J3ACN can be used for MR-J3-11KT(4) to MR-J3-22KT(4).
(1) Panel cut dimensions
236
255
270
A pp
ro x.
1 25
33 1
3 9.
5
53 5
5 10
18
203
39 .5
4-M10 Screw
Punched hole
[Unit : mm]
(2) How to assemble the attachment for a heat sink outside mounting attachment
Screw (2 places)
Attachment
13 - 62
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Fitting method
Attachment
Fit using the assembling screws.
Servo amplifier
Attachment
Servo amplifier
Punched hole
Control box
a. Assembling the heat sink outside mounting attachment b. Installation to the control box
(4) Outline dimension drawing
[Unit: mm]
236 280
Approx. 260
20
3.2 105155
Approx. 260 Approx. 11.5
Servo amplifier Servo amplifier
Mounting hole
Panel
Panel
Attachment
13 - 63
13. OPTIONS AND AUXILIARY EQUIPMENT
13.9 Selection example of wires
POINT
Wires indicated in this section are separated wires. When using a cable for
power line (U, V, and W) between the servo amplifier and servo motor, use a
600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to appendix 5.
To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper
wires rated at 60 (140 ) or more for wiring. To comply with other
standards, use a wire that is complied with each standard
Selection condition of wire size is as follows.
Construction condition: One wire is constructed in the air
Wire length: 30m or less
(1) Wires for power supply wiring
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
C
P
U
V
W
L11
L21
U
V
W
L1
L2
L3
B1
B2
1) Main circuit power supply lead
Servo amplifier
3) Motor power supply lead
Servo motor Power supply
Motor
Electro- magnetic brake
Encoder
4) Electromagnetic brake lead
Encoder cable
2) Control power supply lead
(Note)
C
P
N
CN1
CC-Link cable (Refer to (3) in this section.)
(Refer to (2) in this section.) Cooling fan
BU
BV
BW
6) Cooling fan lead
Power supply
7) Thermal
OHS1
OHS2
Thermal
8) Power regeneration converter lead
Power regeneration converter
Regenerative option lead
Regenerative option
Note. There is no L3 for 1-phase 100 to 120VAC power supply.
13 - 64
13. OPTIONS AND AUXILIARY EQUIPMENT
(a) When using the 600V Polyvinyl chloride insulated wire (IV wire)
Selection example of wire size when using IV wires is indicated below.
Table 13.1 Wire size selection example 1 (IV wire)
Servo amplifier
Wires [mm2] (Note 1, 4)
1)
L1 L2 L3 2) L11 L21
3)
U V W 4) P C 5) B1 B2
6)
BU BV BW
7)
OHS1 OHS2
MR-J3-10T(1)
MR-J3-20T(1)
MR-J3-40T(1) 1.25(AWG16)
MR-J3-60T 2(AWG14) 1.25(AWG16)
2(AWG14)
MR-J3-70T
MR-J3-100T 2(AWG14)
MR-J3-200T
MR-J3-350T 3.5(AWG12) 3.5(AWG12)
MR-J3-500T
(Note 2) 5.5(AWG10): a
1.25(AWG16):
h
5.5(AWG10): a 2(AWG14): g
MR-J3-700T
(Note 2) 8(AWG8): b 8(AWG8): b 3.5(AWG12): a
2(AWG14)
(Note 3)
1.25(AWG16)
(Note 3)
MR-J3-11KT
(Note 2) 14(AWG6): c 22(AWG4): d
5.5(AWG10): j 1.25(AWG16)
MR-J3-15KT
(Note 2) 22(AWG4): d
1.25(AWG16):
g 30(AWG2): e 2(AWG14) 1.25(AWG16)
MR-J3-22KT
(Note 2)
50(AWG1/0):
f 60(AWG2/0): f 5.5(AWG10): k
MR-J3-60T4 1.25(AWG16)
MR-J3-100T4 2(AWG14) 1.25(AWG16) 2(AWG14)
MR-J3-200T4 2(AWG14)
MR-J3-350T4 2(AWG14): g
1.25(AWG16):
h
2(AWG14): g
2(AWG14): g
MR-J3-500T4
(Note 2) 5.5(AWG10): a 5.5(AWG10): a
MR-J3-700T4
(Note 2)
2(AWG14)
(Note 3)
1.25(AWG16)
(Note 3)
MR-J3-11KT4
(Note 2) 8(AWG8): l 8(AWG8): l 3.5(AWG12): j
MR-J3-15KT4
(Note 2) 14(AWG6): c
1.25(AWG16):
g 22(AWG4): d 5.5(AWG10): j 2(AWG14) 1.25(AWG16)
MR-J3-22KT4
(Note 2) 14(AWG6): m 22(AWG4): n 5.5(AWG10): k
Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (1) (c) in this section.
2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block.
3. For the servo motor with a cooling fan.
4. Wires are selected based on the highest rated current among combining servo motors.
Use wires 8) of the following sizes with the power regeneration converter (FR-RC-(H)).
Model Wires[mm
2 ]
FR-RC-15K 14(AWG6) FR-RC-30K 14(AWG6) FR-RC-55K 22(AWG4)
FR-RC-H15K 14(AWG6) FR-RC-H30K 14(AWG6) FR-RC-H55K 14(AWG6)
13 - 65
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Selection example of wire size when using HIV wires is indicated below. For the wire ( 8)) for power
regeneration converter (FR-RC-(H)), use the IV wire indicated in (1) (a) in this section.
Table 13.2 Wire size selection example 2 (HIV wire)
Servo amplifier
Wires [mm2] (Note 1, 4)
1)
L1 L2 L3 2) L11 L21
3)
U V W 4) P C 5) B1 B2
6)
BU BV BW
7)
OHS1 OHS2
MR-J3-10T(1)
MR-J3-20T(1)
MR-J3-40T(1) 1.25(AWG16)
MR-J3-60T 2(AWG14) 1.25(AWG16)
2(AWG14)
MR-J3-70T
MR-J3-100T 1.25(AWG16)
MR-J3-200T 2(AWG14)
MR-J3-350T 3.5(AWG12) 3.5(AWG12)
MR-J3-500T
(Note 2) 5.5(AWG10): a
1.25(AWG16):
h
5.5(AWG10): a 2(AWG14): g
MR-J3-700T
(Note 2) 8(AWG8): b 8(AWG8): b 2(AWG14): g
1.25(AWG16)
(Note 3)
1.25(AWG16)
(Note 3)
MR-J3-11KT
(Note 2) 14(AWG6): c 14(AWG6): c
3.5(AWG12): j 1.25(AWG16)
MR-J3-15KT
(Note 2) 22(AWG4): d
1.25(AWG16):
g 22(AWG4): d 1.25(AWG16) 1.25(AWG16)
MR-J3-22KT
(Note 2) 38(AWG1): p 38(AWG1): p 5.5(AWG10): k
MR-J3-60T4 1.25(AWG16)
MR-J3-100T4 2(AWG14) 1.25(AWG16) 2(AWG14)
MR-J3-200T4 2(AWG14)
MR-J3-350T4 2(AWG14): g
1.25(AWG16):
h
2(AWG14): g
2(AWG14): g
MR-J3-500T4
(Note 2) 3.5(AWG12): a
3.5(AWG12): a
MR-J3-700T4
(Note 2) 5.5(AWG10): a
1.25(AWG16)
(Note 3)
1.25(AWG16)
(Note 3)
MR-J3-11KT4
(Note 2) 5.5(AWG10): j 8(AWG8): l 2(AWG14): q
MR-J3-15KT4
(Note 2) 8(AWG8): l
1.25(AWG16):
g 14(AWG6): c 3.5(AWG12): j 1.25(AWG16) 1.25(AWG16)
MR-J3-22KT4
(Note 2) 14(AWG6): m 14(AWG6): m 3.5(AWG12): k
Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (1) (c) in this section.
2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block.
3. For the servo motor with a cooling fan.
4. Wires are selected based on the highest rated current among combining servo motors.
13 - 66
13. OPTIONS AND AUXILIARY EQUIPMENT
(c) Selection example of crimping terminals
Selection example of crimping terminals for the servo amplifier terminal box when using the wires
mentioned in (1) (a) and (b) in this section is indicated below.
Symbol
Servo amplifier side crimping terminals
(Note 2)
Crimping
terminal
Applicable tool
Manufacturer Body Head Dice
a FVD5.5-4 YNT-1210S
Japan Solderless
Terminal
(Note 1)b 8-4NS YHT-8S
c FVD14-6 YF-1 E-4 YNE-38
DH-112 DH122
d FVD22-6 DH-113 DH123
(Note 1)e 38-6 YPT-60-21
TD-112 TD-124 YF-1 E-4 YET-60-1
(Note 1)f R60-8 YPT-60-21
TD-113 TD-125 YF-1 E-4 YET-60-1
g FVD2-4 YNT-1614
h FVD2-M3
j FVD5.5-6 YNT-1210S
k FVD5.5-8
l FVD8-6
YF-1 E-4 YNE-38
DH-111 DH121
m FVD14-8 DH-112 DH122
n FVD22-8 DH-113 DH123
(Note 1)p R38-8 YPT-60-21
TD-112 TD-124
YF-1 E-4 YET-60-1
q FVD2-6 YNT-1614
Note 1. Coat the part of crimping with the insulation tube.
2. Some crimping terminals may not be mounted depending on the size. Make sure to use the
recommended ones or equivalent ones.
13 - 67
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Wires for cables
When fabricating a cable, use the wire models given in the following table or equivalent.
Table 13.3 Wires for option cables
Type Model Length [m(ft)]
Core size [mm2]
Number of Cores
Characteristics of one core (Note 3) Finishing OD [mm]
Wire model Structure [ Wires/mm]
Conductor resistance
[ /mm]
Insulation coating
ODd [mm] (Note 1)
Encoder cable
MR-J3ENCBL M-A1-L 2 to 10 AWG22
6 (3 pairs)
7/0.26 53
or less 1.2 7.1 0.3
(Note 3) VSVP 7/0.26 (AWG#22 or equivalent)-3P Ban-gi-shi-16823 MR-J3ENCBL M-A2-L
MR-J3ENCBL M-A1-H 2 to 10 AWG22
6 (3 pairs)
70/0.08 56
or less 1.2 7.1 0.3
(Note 3) ETFE SVP 70/0.08 (AWG#22 or equivalent)-3P Ban-gi-shi-16824 MR-J3ENCBL M-A2-H
MR-J3JCBL03M-A1-L 0.3 AWG26
8 (4 pairs)
30/0.08 233
or less 1.2 7.1 0.3
(Note 5) T/2464-1061/II A-SB 4P 26AWG MR-J3JCBL03M-A2-L
MR-EKCBL M-L 2 to 10
0.3mm2 4
(2 pairs) 12/0.18
65.7 or less
1.3 7.3
(Note 3) 20276 composite 4-pair shielded cable (A-TYPE) 0.08mm2 4
(2 pairs) 7/0.127
234 or less
0.67
20 30 0.3mm2 12
(6 pairs) 12/0.18
63.6 or less
1.2 8.2 UL20276 AWG#23 6pair(BLACK)
MR-EKCBL M-H 20 0.2mm2
12 (6 pairs)
40/0.08 105
or less 0.88 7.2 (Note 3) A14B2343 6P
30 to 50 0.2mm2 14
(7 pairs) 40/0.08
105 or less
0.88 8.0 (Note 3) J14B0238(0.2*7P)
MR-J3ENSCBL M-L
2 to 10 AWG22 6
(3 pairs) 7/0.26
53 or less
1.2 7.1 0.3 (Note 3) VSVP 7/0.26 (Equivalent to AWG#22)-3P Ban-gi-shi-16823
20 30 AWG23 12
(6 pairs) 12/0.18
63.3 or less
1.2 8.2 0.3 (Note 3) 20276 VSVCAWG#23 6P Ban-gi-shi-15038
MR-J3ENSCBL M-H
2 to 10 AWG22 6
(3 pairs) 70/0.08
56 or less
1.2 7.1 0.3 (Note 3) ETFE SVP 70/0.08 (Equivalent to AWG#22)-3P Ban-gi-shi-16824
20 to 50 AWG24 12
(6 pairs) 40/0.08
105 or less
0.88 7.2 (Note 3) ETRE SVP 40/0.08mm 6P Ban-gi-shi-15266
Motor power supply cable
MR-PWS1CBL M-A1-L 2 to 10
(Note 6) AWG19
4 50/0.08 25.40 or less
1.8 5.7 0.3 (Note 4) UL Style 2103 AWG19 4 cores
MR-PWS1CBL M-A2-L 2 to 10 MR-PWS1CBL M-A1-H 2 to 10 MR-PWS1CBL M-A2-H 2 to 10 MR-PWS2CBL03M-A1-L 0.3 MR-PWS2CBL03M-A2-L 0.3
Motor brake cable
MR-BKS1CBL M-A1-L 2 to 10
(Note 6) AWG20
2 100/0.08 38.14 or less
1.3 4.0 0.3 (Note 4) UL Style 2103 AWG20 2 cores
MR-BKS1CBL M-A2-L 2 to 10 MR-BKS1CBL M-A1-H 2 to 10 MR-BKS1CBL M-A2-H 2 to 10 MR-BKS2CBL03M-A1-L 0.3 MR-BKS2CBL03M-A2-L 0.3
Note 1. d is as shown below.
d
Conductor Insulation sheath
2. Purchased from Toa Electric Industry
3. Standard OD. Max. OD is about 10% greater.
4. Kurabe
5. Taiyo Electric Wire and Cable
6. These wire sizes assume that the UL-compliant wires are used at the wiring length of 10m.
13 - 68
13. OPTIONS AND AUXILIARY EQUIPMENT
13.10 No-fuse breakers, fuses, magnetic contactors
Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse
instead of the no-fuse breaker, use the one having the specifications given in this section.
Servo amplifier
No-fuse breaker Fuse
Magnetic
contactor
Not using power
factor improving
reactor
Using power factor
improving reactor (Note) Class Current [A]
Voltage
AC [V]
MR-J3-10T (1) 30A frame 5A 30A frame 5A 10
250
S-N10
MR-J3-20T 30A frame 5A 30A frame 5A 10
MR-J3-20T1 30A frame 10A 30A frame 10A 15
MR-J3-40T 30A frame 10A 30A frame 5A 15
MR-J3-60T 70T 100T 40T1 30A frame 15A 30A frame 10A 20
MR-J3-200T 30A frame 20A 30A frame 15A 40 S-N18
MR-J3-350T 30A frame 30A 30A frame 30A 70 S-N20
MR-J3-500T 50A frame 50A 50A frame 40A 125 S-N35
MR-J3-700T 100A frame 75A 50A frame 50A 150 S-N50
MR-J3-11KT 100A frame 100A 100A frame 75A 200 S-N65
MR-J3-15KT 225A frame 125A 100A frame 100A T 250 S-N95
MR-J3-22KT 225A frame 175A 225A frame 150A 350 S-N125
MR-J3-60T4 30A frame 5A 30A frame 5A 10
600
MR-J3-100T4 30A frame 10A 30A frame 10A 15 S-N10
MR-J3-200T4 30A frame 15A 30A frame 15A 25
MR-J3-350T4 30A frame 20A 30A frame 20A 35
MR-J3-500T4 30A frame 30A 30A frame 30A 50 S-N18
MR-J3-700T4 50A frame 40A 50A frame 30A 65 S-N20
MR-J3-11KT4 60A frame 60A 50A frame 50A 100 S-N25
MR-J3-15KT4 100A frame 75A 60A frame 60A 150 S-N35
MR-J3-22KT4 225A frame 125A 100A frame 100A 175 S-N65
Note. When not using the servo amplifier as a UL/C-UL Standard compliant product, K5 class fuse can be used.
13 - 69
13. OPTIONS AND AUXILIARY EQUIPMENT
13.11 Power factor improving DC reactor
POINT
For the 100V power supply type (MR-J3- T1), the power factor improving DC reactor cannot be used.
The power factor improving DC reactor increases the form factor of the servo amplifier's input current to
improve the power factor. It can decrease the power supply capacity. As compared to the power factor
improving AC reactor (FR-BAL), it can decrease the loss. The input power factor is improved to about 95%.
It is also effective to reduce the input side harmonics.
When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P1 and P2
(For 11kW or more, disconnect P1 and P). If it remains connected, the effect of the power factor improving DC
reactor is not produced.
When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10cm
or more clearance at each of the top and bottom, and a 5cm or more clearance on each side.
[Unit: mm]
Rating plate
L
H
B or less
E
A or less
Terminal box - screw size G
Mounting leg
D
F
C o
r le
ss
Servo amplifier
P1
P2
(Note 2)
FR-BEL-(H)
2-F L notch
5m or less
Servo amplifier
P1
P2
(Note 2)
FR-BEL-(H)
(Note 3)
B or lessA or less
Mounting leg
Rating plate
2-F L notch
Screw size G
(Note 1)Terminal cover
ED H
F
L
C o
r le
ss
5m or less
Fig. 13.1 Fig. 13.2
Note 1. Since the terminal cover is supplied, attach it after connecting a wire.
2. When using DC reactor, disconnect P1 and P2.
3. When over 11kW, "P2" becomes "P" respectively.
13 - 70
13. OPTIONS AND AUXILIARY EQUIPMENT
Servo amplifier Power factor improving DC
reactor
Outline
drawing
Dimensions [mm] Mounting screw size
Mass [kg(lb)]
Wire [mm2] (Note)A B C D E F L G H
MR-J3-10T 20T FR-BEL-0.4K 110 50 94 1.6 95 6 12 M3.5 25 M5 0.5(1.10)
MR-J3-40T FR-BEL-0.75K 120 53 102 1.6 105 6 12 M4 25 M5 0.7(1.54)
MR-J3-60T 70T FR-BEL-1.5K 130 65 110 1.6 115 6 12 M4 30 M5 1.1(2.43) 2(AWG14)
MR-J3-100T FR-BEL-2.2K Fug. 13.1 130 65 110 1.6 115 6 12 M4 30 M5 1.2(2.65)
MR-J3-200T FR-BEL-3.7K 150 75 102 2.0 135 6 12 M4 40 M5 1.7(3.75)
MR-J3-350T FR-BEL-7.5K 150 75 126 2.0 135 6 12 M5 40 M5 2.3(5.07) 3.5(AWG12)
MR-J3-500T FR-BEL-11K 170 93 132 2.3 155 6 14 M5 50 M5 3.1(6.83) 5.5(AWG10)
MR-J3-700T FR-BEL-15K
170 93 170 2.3 155 6 14 M8 56 M5 3.8(8.38)
8(AWG8)
MR-J3-11KT Fig. 13.2
22(AWG4)
MR-J3-15KT FR-BEL-22K 185 119 182 2.6 165 7 15 M8 70 M6 5.4(11.91) 30(AWG2)
MR-J3-22KT FR-BEL-30K 185 119 201 2.6 165 7 15 M8 70 M6 6.7(14.77) 60(AWG2/0)
MR-J3-60T4 FR-BEL-H1.5K 130 63 89 1.6 115 6 12 M3.5 32 M5 0.9(1.98)
MR-J3-100T4 FR-BEL-H2.2K 130 63 101 1.6 115 6 12 M3.5 32 M5 1.1(2.43) 2(AWG14)
MR-J3-200T4 FR-BEL-H3.7K Fig. 13.1 150 75 102 2 135 6 12 M4 40 M5 1.7(3.75)
MR-J3-350T4 FR-BEL-H7.5K 150 75 124 2 135 6 12 M4 40 M5 2.3(5.07)
MR-J3-500T4 FR-BEL-H11K 170 93 132 2.3 155 6 14 M5 50 M5 3.1(6.83) 5.5(AWG10)
MR-J3-700T4 FR-BEL-H15K
170 93 160 2.3 155 6 14 M6 56 M5 3.7(8.16) 8(AWG8)
MR-J3-11KT4 Fig. 13.2
MR-J3-15KT4 FR-BEL-H22K 185 119 171 2.6 165 7 15 M6 70 M6 5.0(11.02) 22(AWG4)
MR-J3-22KT4 FR-BEL-H30K 185 119 189 2.6 165 7 15 M6 70 M6 6.7(14.77)
Note. Selection condition of wire size is as follows.
Wire type: 600V Polyvinyl chloride insulated wire (IV wire)
Construction condition: One wire is constructed in the air
13 - 71
13. OPTIONS AND AUXILIARY EQUIPMENT
13.12 Power factor improving reactors
The power factor improving reactors improve the phase factor by increasing the form factor of servo amplifier's input current. It can reduce the power capacity. The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be slightly lower than 90%. In addition, it reduces the higher harmonic of input side. When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.
Z
3-phase 200 to 230V
or 3-phase 380 to 480VA
NFB FR-BAL-(H)
Servo amplifier MR-J3- T(4)
R
S
T
X
Y
Z
L1
L2
L3
MC
1-phase 200v to 230V
NFB FR-BAL
Servo amplifier MR-J3- T
R
S
T
X
Y
Z
L1
L2
L3
MC W
W1C
RXSY T Z
H
5
D1
Installation screw
D
5
[Unit : mm]
(Note)
1-phase 100 to120V
NFB FR-BAL
Servo amplifier MR-J3- T1
R
S
T
X
Y
L1
Blank
MC
L2
Note. For the 1-phase 200V to 230V power supply, Connect the power
supply to L1, L2 and leave L3 open.
13 - 72
13. OPTIONS AND AUXILIARY EQUIPMENT
Servo amplifier Model Dimensions [mm] Mounting
screw size
Terminal
screw size
Mass
[kg (lb)] W W1 H D D1 C
MR-J3-10T 20T 10T1 FR-BAL-0.4K 135 120 115 59 45 0 -2.5 7.5 M4 M3.5 2.0 (4.41)
MR-J3-40T 20T1 FR-BAL-0.75K 135 120 115 69 57 0 -2.5 7.5 M4 M3.5 2.8 (6.17)
MR-J3-60T 70T 40T1 FR-BAL-1.5K 160 145 140 71 55 0 -2.5 7.5 M4 M3.5 3.7 (8.16)
MR-J3-100T FR-BAL-2.2K 160 145 140 91 75 0 -2.5 7.5 M4 M3.5 5.6 (12.35)
MR-J3-200T FR-BAL-3.7K 220 200 192 90 70 0 -2.5 10 M5 M4 8.5 (18.74)
MR-J3-350T FR-BAL-7.5K 220 200 194 120 100 0 -2.5 10 M5 M5 14.5 (31.97)
MR-J3-500T FR-BAL-11K 280 255 220 135 100 0 -2.5 12.5 M6 M6 19 (41.89)
MR-J3-700T FR-BAL-15K 295 270 275 133 110
0 -2.5 12.5 M6 M6 27 (59.53)
MR-J3-11KT
MR-J3-15KT FR-BAL-22K 290 240 301 199 170 5 25 M8 M8 35 (77.16)
MR-J3-22KT FR-BAL-30K 290 240 301 219 190 5 25 M8 M8 43 (94.80)
MR-J3-60T4 FR-BAL-H1.5K 160 145 140 87 70 0 -2.5 7.5 M4 M3.5 5.3 (11.68)
MR-J3-100T4 FR-BAL-H2.2K 160 145 140 91 75 0 -2.5 7.5 M4 M3.5 5.9 (13.01)
MR-J3-200T4 FR-BAL-H3.7K 220 200 190 90 70 0 -2.5 10 M5 M3.5 8.5 (18.74)
MR-J3-350T4 FR-BAL-H7.5K 220 200 192 120 100 5 10 M5 M4 14 (30.87)
MR-J3-500T4 FR-BAL-H11K 280 255 226 130 100 5 12.5 M6 M5 18.5 (40.79)
MR-J3-700T4 FR-BAL-H15K 295 270 244 130 110 5 12.5 M6 M5 27 (59.53)
MR-J3-11KT4
MR-J3-15KT4 FR-BAL-H22K 290 240 269 199 170 5 25 M8 M8 Approx.35
(Approx.77.16)
MR-J3-22KT4 FR-BAL-H30K 290 240 290 219 190 5 25 M8 M8 Approx.43
(Approx.94.80)
13.13 Relays (recommended)
The following relays should be used with the interfaces.
Interface Selection example
Relay used for digital input command signals (interface DI-1) To prevent defective contacts , use a relay for small signal
(twin contacts).
(Ex.) Omron : type G2A , MY
Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less
(Ex.) Omron : type MY
13 - 73
13. OPTIONS AND AUXILIARY EQUIPMENT
13.14 Surge absorbers (recommended)
A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.
When using the surge absorber, perform insulation beforehand to prevent short-circuit.
Maximum rating
Maximum
limit voltage
Static
capacity
(reference
value)
Varistor voltage
rating (range) V1mA Permissible circuit
voltage
Surge
immunity
Energy
immunity
Rated
power
AC [Vma] DC [V] [A] [J] [W] [A] [V] [pF] [V]
140 180 (Note)
500/time 5 0.4 25 360 300
220
(198 to 242)
Note. 1 time 8 20 s
13.5
16 .5
( 0
.6 5
) 3.
0 (
0. 12
)
or le
s s
3 0 .0
( 1
.1 8 )
o
r m
or e
4.7 1.0
0.8 (0.03)
[Unit: mm]
(Example) ERZV10D221 (Matsushita Electric Industry)
TNR-10V221K (Nippon chemi-con)
Outline drawing [mm] (ERZ-C10DK221)
13 - 74
13. OPTIONS AND AUXILIARY EQUIPMENT
13.15 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those
radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an
electronic device which handles small signals, the following general noise reduction techniques are required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques
(a) General reduction techniques
Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle
them together. Separate power lines from signal cables.
Use shielded, twisted pair cables for connection with the encoder and for control signal transmission,
and connect the shield to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point (refer to section 3.12).
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays
which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction,
the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings. Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended.
13 - 75
13. OPTIONS AND AUXILIARY EQUIPMENT
(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected to
the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or
statically by the signal cables of the peripheral devices located near the main circuit cables, and those
transmitted through the power supply cables.
Noises produced by servo amplifier
Noises transmitted in the air
Noise radiated directly from servo amplifier
Magnetic induction noise
Static induction noise
Noises transmitted through electric channels
Noise radiated from the power supply cable
Noise radiated from servo motor cable
Noise transmitted through power supply cable
Noise sneaking from grounding cable due to leakage current
Routes 4) and 5)
Route 1)
Route 2)
Route 3)
Route 7)
Route 8)
Route 6)
Instrument Receiver
Servo amplifier
Servo motor M
2)
2)
8)
1)
7)
7) 7)
5)
3)
4) 6)
3)
Sensor power supply
Sensor
13 - 76
13. OPTIONS AND AUXILIARY EQUIPMENT
Noise transmission route Suppression techniques
1) 2) 3)
When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction
due to noise and/or their signal cables are contained in a control box together with the servo amplifier or
run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The
following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power cables or put cables in separate metal conduits.
4) 5) 6)
When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and malfunction
may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Use shielded wires for signal and power cables or put the cables in separate metal conduits.
7)
When the power supply of peripheral devices is connected to the power supply of the servo amplifier
system, noises produced by the servo amplifier may be transmitted back through the power supply
cable and the devices may malfunction. The following techniques are required.
1. Insert the radio noise filter (FR-BIF-(H)) on the power cables (Input cables) of the servo amplifier.
2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the servo amplifier.
8)
When the cables of peripheral devices are connected to the servo amplifier to make a closed loop
circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.
(2) Noise reduction products
(a) Data line filter (Recommended)
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC TOKIN make are available as
data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below. This impedances are reference values and not guaranteed values.
Impedance[ ]
Outline drawing (ZCAT3035-1330)
[Unit: mm]
Loop for fixing the cable band
Lot number Product name
TDK
39 1
34 1
1 3
1
30
1
10 to 100MHz 100 to 500MHz
80 150
13 - 77
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Surge suppressor
The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic
brake or the like near the servo amplifier is shown below. Use this product or equivalent.
Surge suppressor
MC
Surge suppressor Relay
Surge suppressor
This distance should be short (within 20cm(0.79 in.)).
(Ex.) 972A.2003 50411
(Matsuo Electric Co.,Ltd. 200VAC rating)
Rated
voltage
AC[V]
C [ F] R [ ] Test voltage AC[V] Outline drawing [Unit: mm]
Blue vinyl cord Red vinyl cord
Vinyl sheath
200 or more
200 or more
6
31
10 or less 10 or less
48 1.5
15 1 10 310 3 4
18 1.5
200 0.5 50
(1W)
Across
T-C 1000(1 to 5s)
Note that a diode should be installed to a DC relay, DC valve or the
like.
Maximum voltage: Not less than 4 times the drive voltage of the
relay or the like
Maximum current: Not less than twice the drive current of the
relay or the like
Diode
RA
13 - 78
13. OPTIONS AND AUXILIARY EQUIPMENT
(c) Cable clamp fitting AERSBAN- SET
Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown below.
Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to
expose the external conductor, and press that part against the earth plate with the cable clamp. If the
cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the earth plate.
Strip the cable sheath of the clamped area. cutter
cable
Cable clamp (A,B)
Cable
Earth plate
External conductor
Clamp section diagram
4 0
Outline drawing
Earth plate Clamp section diagram
(Note)M4 screw
1 1
3 6
C A
6 22
17.5
35
35
L or less 10 30
7
24 0 0.
2
Note. Screw hole for grounding. Connect it to the earth plate of the control box.
24 0.
3 0
(0 .9
40 )
[Unit: mm]
B 0
.3
2- 5 hole installation hole
Type A B C Accessory fittings Clamp fitting L
AERSBAN-DSET 100 86 30 clamp A: 2pcs. A 70
AERSBAN-ESET 70 56 clamp B: 1pc. B 45
13 - 79
13. OPTIONS AND AUXILIARY EQUIPMENT
(d) Line noise filter (FR-BSF01, FR-BLF)
This filter is effective in suppressing noises radiated from the power supply side and output side of the
servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.
Connection diagram Outline drawing [Unit: mm]
Use the line noise filters for wires of the main power supply
(L1 L2 L3) and of the motor power supply (U V W). Pass
each of the 3-phase wires through the line noise filter an equal
number of times in the same direction. For the main power supply,
the effect of the filter rises as the number of passes increases, but
generally four passes would be appropriate. For the motor power
supply, passes must be four times or less. Do not pass the
grounding (earth) wire through the filter, or the effect of the filter
will drop. Wind the wires by passing through the filter to satisfy the
required number of passes as shown in Example 1. If the wires
are too thick to wind, use two or more filters to have the required
number of passes as shown in Example 2. Place the line noise
filters as close to the servo amplifier as possible for their best
performance.
Example 2
Two filters are used (Total number of turns: 4)
Power supply
Servo amplifier
Line noise filter
NFB
L3
L1
L2
Example 1
(Number of turns: 4)
Power supply
NFB
L1
L2
L3
Servo amplifier
Line noise filter
MC
MC
FR-BSF01 (for wire size 3.5mm2 (AWG12) or less)
4. 5
Approx.110 95 0.5
A p
pr o
x . 22
.5
A pp
ro x.
65
Approx.65
33
2- 5
FR-BLF (for wire size 5.5mm2 (AWG10) or more)
160 180
130 85
80 2.
3
3 5
7
3 1 .5
7
(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 10MHz and lower radio frequency bands. The FR-BIF-(H) is designed for the input only.
Connection diagram Outline drawing (Unit: mm)
Make the connection cables as short as possible.
Grounding is always required.
When using the FR-BIF with a single-phase power supply, always
insulate the wires that are not used for wiring.
Servo amplifierNFB
L3
L2
L1
MC
Power supply
Radio noise filter FR-BIF- (H)
200V class: FR-BIF 400V class: FR-BIF-H
Leakage current: 4mA
29
58
4 2
4
Red BlueWhite Green
44
29 7
hole
A b
ou t 3
00
5
13 - 80
13. OPTIONS AND AUXILIARY EQUIPMENT
(f) Varistors for input power supply (Recommended)
Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier.
When using a varistor, connect it between each phase of the input power supply of the equipment. For
varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by NIPPON CHEMI-
CON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer
catalog.
Power
supply
voltage
Varistor
Maximum rating
Maximum limit
voltage
Static
capacity
(reference
value)
Varistor voltage
rating (range)
V1mA
Permissible circuit
voltage
Surge current
immunity
Energy
immunity
Rated
pulse
power
AC[Vrms] DC[V] 8/20 s[A] 2ms[J] [W] [A] [V] [pF] [V]
100V class TND20V-431K 275 350 10000/1 time 195
1.0 100
710 1300 430(387 to 473)
200V class TND20V-471K 300 385 7000/2 time 215 775 1200 470(423 to 517)
400V class TND20V-102K 625 825 7500/1 time
6500/2 time 400 1650 500 1000(900 to 1100)
[Unit: mm]
d
W E
H
D
L
T
Model D
Max.
H
Max.
T
Max.
E
1.0
(Note)L
min.
d
0.05
W
1.0
TND20V-431K 21.5 24.5
6.4 3.3
TND20V-471K 6.6 3.5 20 0.8 10.0
TND20V-102K 22.5 25.5 9.5 6.4
Note. For special purpose items for lead length (L), contact the manufacturer.
13 - 81
13. OPTIONS AND AUXILIARY EQUIPMENT
13.16 Leakage current breaker
(1) Selection method
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select a leakage current breaker according to the following formula, and ground the servo amplifier, servo
motor, etc. securely.
Make the input and output cables as short as possible, and also make the grounding cable as long as
possible (about 30cm) to minimize leakage currents.
Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] (13.1)
M Servo
amplifier
Noise filter
NV
Ig1 Ign Iga Ig2 Igm
Cable
Cable
K: Constant considering the harmonic contents
Leakage current breaker
K Type
Mitsubishi products
Models provided with harmonic and surge reduction techniques
NV-SP NV-SW NV-CP NV-CW
NV-L
1
General models BV-C1 NFB NV-L
3
Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals of the
servo amplifier (Found from Fig. 13.4.)
Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the
servo motor (Found from Fig. 13.4.)
Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF-(H))
Iga: Leakage current of the servo amplifier (Found from Table 13.5.)
Igm: Leakage current of the servo motor (Found from Table 13.4.)
120
100
80
60
40
20
0 2 3.5
5.5 8 1422 38 80 150
30 60 100
Cable size[mm2]
[mA]
Le ak
a ge
c ur
re nt
120
100
80
60
40
20
0 2 3.5
5.5 8
14 22
38
80 150
30 60
100
Cable size[mm2]
[mA]
L ea
ka g e
c ur
re nt
a. 200V class b. 400V class
Fig. 13.3 Leakage current example (lg1, lg2) for CV cable run in metal conduit
13 - 82
13. OPTIONS AND AUXILIARY EQUIPMENT
Table 13.4 Servo motors leakage current example (Igm) Table 13.5 Servo amplifier's leakage current example (Iga)
Servo motor output [kW] Leakage current [mA] Servo amplifier capacity [kW] Leakage current [mA]
0.05 to 1 0.1 0.1 to 0.6 0.1
2 0.2 0.75 to 3.5 (Note) 0.15
3.5 0.3 5 7 2
5 0.5 11 15 5.5
7 0.7 22 7
11 1.0 Note. For the 3.5kW of 400V class, leakage current is 2mA,
which is the same as for 5kW and 7kW.
15 1.3
22 2.3
Table 13.6 Leakage circuit breaker selection example
Servo amplifier
Rated sensitivity current of leakage
circuit breaker [mA]
MR-J3-10T to MR-J3-350T
MR-J3-10T1 to MR-J3-40T1
MR-J3-60T4 to MR-J3-350T4
15
MR-J3-500T(4) 30
MR-J3-700T(4) 50
MR-J3-11KT(4) to MR-J3-22KT(4) 100 (2) Selection example
Indicated below is an example of selecting a leakage current breaker under the following conditions.
2mm2 5m2mm2 5m
Ig1 Ig2
Servo amplifier
Iga
M HF-KP43
Igm
NV
MR-J3-40T
Use a leakage current breaker generally available.
Find the terms of Equation (13.1) from the diagram.
Ig1 20 1000
5 0.1 [mA]
Ig2 20 1000
5 0.1 [mA]
Ign 0 (not used)
Iga 0.1 [mA]
Igm 0.1 [mA]
Insert these values in Equation (13.1).
Ig 10 {0.1 0 0.1 1 (0.1 0.1)}
4.0 [mA]
According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig)
of 4.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-SP/SW/CP/CW/HW
series.
13 - 83
13. OPTIONS AND AUXILIARY EQUIPMENT
13.17 EMC filter (recommended)
For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter. Some
EMC filters are large in leakage current.
(1) Combination with the servo amplifier
Servo amplifier Recommended filter (Soshin Electric)
Mass [kg]([lb]) Model Leakage current [mA]
MR-J3-10T to MR-J3-100T
MR-J3-10T1 to MR-J3-40T1 (Note) HF3010A-UN
5 3 (6.61)
MR-J3-250T MR-J3-350T (Note) HF3030A-UN 5.5 (12.13)
MR-J3-500T MR-J3-700T (Note) HF3040A-UN 1.5 6.0 (13.23)
MR-J3-11KT to MR-J3-22KT (Note) HF3100A-UN 6.5 15 (33.07)
MR-J3-60T4 to MR-J3-100T4 TF3005C-TX
5.5
6(13.23) MR-J3-200T4 to MR-J3-700T4 TF3020C-TX
MR-J3-11KT4 TF3030C-TX 7.5(16.54)
MR-J3-15KT4 TF3040C-TX 12.5(27.56)
MR-J3-22KT4 TF3060C-TX
Note. A surge protector is separately required to use any of these EMC filters.
(2) Connection example
L1
L2
L3
L11
L21
Servo amplifier
1
2
3
4
5
6
E
MC
(Note 2) Surge protector 1 (RAV-781BYZ-2) (OKAYA Electric Industries Co., Ltd.)
(Note 2) Surge protector 2 (RAV-781BXZ-4) (OKAYA Electric Industries Co., Ltd.)
NFB
(Note 1) Power supply
1
2
3
1 2 3
EMC filter
Note 1. For 1-phase 200V to 230VAC power supply, connect the power supply to L1,L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification.
2. The example is when a surge protector is connected.
13 - 84
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline drawing
(a) EMC filter
HF3010A-UN [Unit: mm]
M4
IN
3-M4
65 4
4-5.5 7
258 4
273 2
288 4
300 5
3-M4
8 5
2
32
2
11 0
4
Approx.41
HF3030A-UN HF-3040A-UN
J 2
H 2
G
1
F
2
E
1
D
2
3-L
6-K
3-L
M
C 1
B 2
A 5
C 1
Model Dimensions [mm]
A B C D E F G H J K L M
HF3030A-UN 260 210 85 155 140 125 44 140 70 R3.25,
length
8
M5 M4
HF3040A-UN 260 210 85 155 140 125 44 140 70 M5 M4
13 - 85
13. OPTIONS AND AUXILIARY EQUIPMENT
HF3100A-UN
2-6.5 8
M8
2- 6.5
1 45
1
1 65
3
M6380 1 400 5
1 60
3
M8
TF3005C-TX TX3020C-TX TF3030C-TX [Unit: mm]
290 2
100 1
308 5
332 5
A p
pr o
x. 12
.2
3-M4
1 6
16
6-R3.25 length8 M4 M4
1 25
2
14 0
1
1 55
2
IN
150 2
Approx.67.5 3
Approx.160
170 5
M4 3 M4
100 1
13 - 86
13. OPTIONS AND AUXILIARY EQUIPMENT
TF3040C-TX TF3060C-TX
[Unit: mm]
K 2
L
J
H 5
M6
C 2
D 1
B 5
A 5
A p
pr o
x. 17
3-M6
2 2
2 2
8-M M4 M4
G 2
3-M6
F 1
E 2
IN
D 1 D 1
Model Dimensions [mm]
A B C D E F G H J K L M
TF3040C-TX 438 412 390 100 175 160 145 200 Approx.190 180 Approx.91.5
R3.25
length 8
(M6) TF3060C-TX
13 - 87
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Surge protector
RAV-781BYZ-2
4. 5
0
.5
1 32
41 1.0
28 .5
1.
0 2
8 1
.0
4.2 0.2
20 0
3 0
0 UL-1015AWG16
5 .5
1
1 1
1
[Unit: mm]
Black 1) 2) 3)
Black Black
RAV-781BXZ-4
1 32
UL-1015AWG16
4.2 0.2
5 .5
1
11
1 28
.5
1 .0
2 00
3 0
0 28
1
.0
41 1.0
4. 5
0.
5
[Unit: mm]
1) 2) 3) 4)
13 - 88
13. OPTIONS AND AUXILIARY EQUIPMENT
13.18 MR-HDP01 manual pulse generator
Use the MR-HDP01 manual pulse generator to rotate the servo motor. The travel of the servo motor to the
pulse signal generated by MR-HDP01 with an external input signal can be changed with the manual pulse
generator multiplication 1 (TP0) and 2 (TP1).
(1) Specifications
Item Specifications
Power supply
Voltage 4.5 to 13.2VDC
Current
consumption 60mA or less
interface Output current max. 20mA for open collector output
Pulse signal form A-phase, B-phase, 2 signals of 90 phase difference
Pulse resolution 100pulse/rev
Max. speed Max. 600r/min instaneously, 200r/min normally
Operating temperature range 10 to 60 (14 to 140 )
Storage temperature range 30 to 80 ( 22 to 176 )
(2) Connection example
5V to 12
Servo amplifier
PP
NP
OPC
DICOM
Plate
19
18
5
SD
CN6
17DOCOM
TP1
29TP0
30
A
0V
B
Manual pulse generator multiplication 1
Manual pulse generator multiplication 2
6
37DOCOMD
CN10
5VDC power supply
Manual pulse generator MR-HDP01
13 - 89
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Terminal layout
5 to 0V A B12V
Signal Description
5 to 12V Power input
0V Common for power and signal
A A-phase pulse output
B B-phase pulse output
(4) Installation
62 2 0
72 0.2
3- 4.8 Equally spaced
Panel cut
(5) Outline drawing
8.89 7.6
M3 6 may only be installed
12V 0V A B 5V to
3-M4 stud L10
P.C.D72 equally spaced
M A
N U
A L
T Y
P E
S E
R IA
L N
O .
3.6 Packing t2.0
16 20 27.0
[Unit: mm]
7 0
5 0
6 0
8 0
13 - 90
13. OPTIONS AND AUXILIARY EQUIPMENT
13.19 MR-DS60 6-digit digital switch
Using the MR-DS60 6-digit digital switch can send the position data in the BCD signal. For the connection of
MR-DS60 and MR-J3-D01, refer to section 3.2.2.
(1) Parameter setting
When using MR-DS60, set the parameter as shown below.
Positioning operation by BCD input.
2 0 Parameter No. Po10
2
Symbol ( / ) of the positioning data in the BCD positioning 0: Invalid / symbol is not used 1: Valid / symbols is used
Strobe signal invalid
(2) Specifications of MR-DS60 Item Specifications
Type MR-DS60A
Number of digits Signal 6-digit BCD
Electrical characteristic 28VDC (0.5A)
Dielectric withstand voltage 500Vr.m.s
Contact resistance 100m or less
Life 1,000,000 times
Operating temperature range 0 to 60 (32 to 140 )
Storage temperature range 5 to 70 (23 to 158 )
(3) Digital switch cable Connect MR-DS60 to MR-J3-D01 with the digital switch cable indicated below.
Cable Model Cable Length
Application 25cm 1m 3m 5m 10m
MS-DSCBL M-G 3 5 10 For between MR-DS60
and MR-J3B-D01
MR-DSCBL 25 100 For between MR-DS60s
13 - 91
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) Terminal layout
TB
DCM2
COM2
DCM1
COM1
Signal Pin No. Description
DO04 Common output 1, sign, 1000, 10000, 100000 side common output
9A
Common output 2, 1, 10, 100 side common output
DO04 DO05
DI03 DI02
DI01 DI00
DI07 DI06
DI05 DI04
DI11 DI10
DI09 DI08 DI13 DI12
10B
1B
10A
1A
CON1,CON2
Signal
DCM2
COM2
Common input 2. Connect with COM2 when selecting a block.
DCM1
Common output 2. Common 2 used for switch selection when two or more digital switches are used.
Common input 1. Connect with COM1 selecting a block.
Common output 1. Common 1 used for switch selection when two or more digital switches are used.
Description
DO05
DI00
DI01
DI02 DI03
DI04
DI05 DI06
DI07
DI08
DI09
DI10
DI11
DI12 DI13
9B
6A
6B
7A 7B
4A
4B 5A
5B
2A
2B 3A
3B
1A 1B
1, 1000 bit 0
10, 10000 bit 0
Sign bit 0
1, 1000 bit 1
1, 1000 bit 2 1, 1000 bit 3
10, 10000 bit 1
10, 10000 bit 2
10, 10000 bit 3 100, 100000 bit 0
100, 100000 bit 1 100, 100000 bit 2
100, 100000 bit 3
Sign bit 1
COM1
(5) Outline drawing
100
5 50
93 4
6 80
3 7
9. 5
9. 5
9. 5
14 .8
1
.6
3. 5
2 8.
4 1
.6 5
2
l 1 2 3 4 5 6
MR-DS60MITSUBISHI
COM1
COM1
COM2
COM2
1A
1B
C O
N 1
C O
N 2
S E
R IA
L P
C 3963 M
R -D
S 60
1A
1B
[Unit: mm]
13 - 92
13. OPTIONS AND AUXILIARY EQUIPMENT
(6) Installation
[Unit: mm]
85
48
68
3 4
9393
Panel cut Panel cut
Front installation Internal installation
Square holeSquare hole
2 5 2 5
13 - 93
13. OPTIONS AND AUXILIARY EQUIPMENT
13.20 External digital display (MR-DP60)
(1) Specifications
Item Specifications
Display Red seven-segment LED, signed, six digits
Power supply Permissible voltage fluctuation Single-phase, 85 to 253VAC, 50/60Hz
Current consumption Within 200mA
Communication Interface Conforms to RS-422A.
Baud rate 4800bps, asynchronous
Bit length Start bit 1, date bit 8, parity bit 1, stop bit 1
Protocol MELSERVO protocol
Communication commands Commands dedicated to MELSERVO
Operating temperature / humidity range 0 to 60 (32 to 140 ), 90%RH or less, non-
condensing
Storage temperature range 5 to 70 (23 to 158 )
(2) Connection example
TXD
MR-DP60
RXD
RXD
L1
L2
Power supply
TXD
LG
30m or less
CN30
MR-J3-D01
100 to 230VAC
3
6
5
4
1
RDP
RDN
SDP
SDN
LG
(Note 2) (Note 1)
Note 1. CN30 is a connector designed exclusively for MR-DP60. 2. Recommended connector (HIROSE) Plug: TM10P-88P Connection tool: CL250-0228-1
(3) Terminal arrangement
TB2
L1
L2
TXD TXD RXDRXD P5 LG
TB1
Signal Description
L1 100 to 230VAC power input
L2
Ground
RXD Receive signal input
RXD Inverse receive signal input
TXD Inverse transmission signal output
TXD Transmission signal output
P5 5VDC output (Note)
LG Control common
Note. Do not use this terminal.
13 - 94
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) Mounting
Front mounting
2- 5 Square hole
141
150
53
[Unit: mm]
Inside mounting
2- 5 Square hole
95
150
2 0
(5) Outline dimension drawing
7.5
MITSUBISHI
7.5150
165
MR-DP60
TB1
TB2
29 29
58
4
43 3 8
48
[Unit: mm]
2- 4.5 mounting hole
2- 6.5, depth 1
13 - 95
13. OPTIONS AND AUXILIARY EQUIPMENT
13.21 Junction terminal block PS7DW-20V14B-F (recommended)
(1) How to use the junction terminal block
Always use the junction terminal block (PS7DW-20V14B-F(YOSHIDA)) with the option cable (MR-J2HBUS
M) as a set. A connection example is shown below.
Cable clamp (AERSBAN-ESET)
Junction terminal block PS7DW-20V14B-F
CN20 MR-J2HBUS M
MR-J3-D01
Ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN-ESET).
For the use of the cable clamp fitting, refer to section 13.15 (2)(c).
(2) Connection of MR-J2HBUS M cable and junction terminal block
VC
1
2
3
4
8
7
9
SD Shell
(Note 1) MR-J2HBUS M
5
6
10
LG
TLA
11
12
P15R 13
14
18
17
19
15
16
20
N12R
1
2
3
4
8
7
9
5
6
10
11
12
13
14
18
17
19
15
16
20
1
2
3
4
8
7
9
5
6
10
11
12
13
14
18
17
19
15
16
20
1
2
3
4
8
7
9
5
6
10
11
12
13
14
18
17
19
15
16
20
VC
SD
LG
TLA
P15R
N12R
E
MR-J3-D01
CN20
Junction terminal block PS7W-20V14B-F
Connector : 10120-6000EL (3M) Shell kit : 10320-3210-000 (3M)
CN (Note 2) Terminal block
1
2
3
4
8
7
9
5
6
10
11
12
13
14
18
17
19
15
16
20
Shell Shell Shell
MO1
LG
MO2
MO1
LG
MO2
Note 1. Symbol indicating cable length is put in .
05: 0.5m
1: 1m
5: 5m
2. Keep open the terminals to which no signal is assigned.
13 - 96
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline drawings of junction terminal block
[Unit: mm]
36 .5
27 .8
1 8.
8
7.62
44.11
54
63
4.5
4 .5
5
4 6
0
5 0
9 .3
27
TB.E( 6)
M3 5L
M3 6L1.426.2
13 - 97
13. OPTIONS AND AUXILIARY EQUIPMENT
13.22 Junction terminal block MR-TB50
(1) How to use the junction terminal block
Always use the junction terminal block (MR-TB50) with the junction terminal block cable (MR-J2M-CN1TBL
M) as a set. A connection example is shown below.
MR-J3-D01
CN10
Junction terminal block MR-TB50Cable clamp
MR-J2M-CN1TBL M
Ground the junction terminal block cable on the junction terminal block side with the standard accessory
cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to section 13.15 (2)(c).
(2) Outline drawing
235
50
2 5
A pp
ro x.
2 5
9
2 1
50 49
[Unit: mm]
MITSUBISHI MR-TB50
2- 4.5
244 2. 5
46.5
1 3 5 7 9 1113151719 2123252729 3133
2 4 6 8 1012141618 2022242628 3032
35 3739 414345 4749
343638 4042444648 50
2
Terminal screw: M3.5 Applicable cable: 2mm Crimping terminal width: 7.2mm or less.
13 - 98
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Connection of MR-J2M-CN1TBL M cable and MR-TB50
SD SD Plate
Symbol(Note 3) (Note 1) MR-J2M-CN1TBL M
CN10
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
MR-J3-D01
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
MR-TB50
DI0
DI3 DI4 DI5 DI6 DI7
DOCOMD
MCD10 MCD11 MCD12 MCD13
PUS MEND CP0 INP
POS00
POS02 POS03 POS10 POS11 POS12 POS13
DICOMD POSP
SP1
POSN STRB SP0
DI1 POS01 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
1 2 3 4 5 6 7 8 9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
(Note 2) Terminal block
JE1S-501PCR-S50FS
PT BCN
MCD00 MCD01 MCD02 MCD03
PRQ2 PRQ1
T2 ST1 PC
TSTP MD0 OVR TP1 TP0 TL1 TL
RES ACD3 ACD2 ACD1 ACD0 SON
SP2
DICOMD
DI2
POS20 POS21 POS22 POS23
Note 1. Symbol indicating cable length is put in .
05: 0.5m
1: 1m
2. Keep open the terminals to which no signal is assigned.
3. PT: When using a point table
BCD: When using a 6-digit BCD input with symbol
14 - 1
14. COMMUNICATION FUNCTION
14. COMMUNICATION FUNCTION
Using the serial communication function of RS-422, this servo amplifier enables servo operation, parameter
change, monitor function, etc.
14.1 Configuration
POINT
A personal computer cannot be connected to the CN30 connector of MR-J3-
D01. (1) Single axis
Operate the single-axis servo amplifier. It is recommended to use the following cable.
Personal computer
To RS-232C connector
10m or less
MR-J3- T MR-J3-D01
CN3 (Note)
RS-422/232C Conversion cable DSV-CABV (Diatrend)
Note. Do not connect to the CN30 connector of MR-J3-D01. It cannot be used if connected.
(2) Multidrop connection
(a) Diagrammatic sketch
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
MR-J3- T MR-J3-D01
CN3
MR-J3- T MR-J3-D01
CN3
MR-J3- T MR-J3-D01
CN3
(Note 2)
(Note 1)(Note 1) (Note 1)
(Note 3)(Note 3)(Note 3)
To RS-232C connector
Personal computer
RS-422/232C conversion cable DSV-CABV (Diatrend)
Note 1. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector.
2. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No.6) on the receiving side (servo amplifier) with a 150 resistor.
3. Do not connect to the CN30 connector of MR-J3-D01. It cannot be used if connected.
14 - 2
14. COMMUNICATION FUNCTION
(b) Cable connection diagram
Wire the cables as shown below.
7
1
2
3
4
5
6
8
7
1
2
3
4
5
6
8
1 2 3 4 5 6 7 8
7
1
2
3
4
5
6
8
(Note 4, 5)
(Note 1) Axis 1 servo amplifier
CN3 connector (RJ45 connector)
LG
P5D
RDP
SDN
SDP
RDN
LG
NC
(Note 5) (Note 5)
7
1
2
3
4
5
6
8
7
1
2
3
4
5
6
8
1 2 3 4 5 6 7 8
7
1
2
3
4
5
6
8
LG
P5D
RDP
SDN
SDP
RDN
LG
NC
(Note 4, 5)
(Note 1) Axis 2 servo amplifier
CN3 connector (RJ45 connector)
7
1
2
3
4
5
6
8
7
1
2
3
4
5
6
8
1 2 3 4 5 6 7 8
7
1
2
3
4
5
6
8
LG
P5D
RDP
SDN
SDP
RDN
LG
NC
(Note 4, 5)
(Note 2)
(Note 1, 7) Axis n servo amplifier
CN3 connector (RJ45 connector)
(Note 6) Branch connector (Note 6) Branch connector (Note 6) Branch connector
(Note 3) 30m or less
RDN
150
RDP (Note 8)
Note 1. Recommended connector (Hirose Electric)
Plug: TM10P-88P
Connection tool: CL250-0228-1
2. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No.6) on the receiving side (servo amplifier) with
a 150 resistor.
3. The overall length is 30m or less in low-noise environment.
4. The wiring between the branch connector and servo amplifier should be as short as possible.
5. Use the EIA568-compliant cable (10BASE-T cable, etc.).
6. Recommended branch connector: BMJ-8 (Hakko Electric Machine Works)
7. n 32 (Up to 32 axes can be connected.)
8. RS-422/232C conversion cable DSV-CABV (Diatrend)
14 - 3
14. COMMUNICATION FUNCTION
14.2 Communication specifications
14.2.1 Communication overview
This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this
instruction (e.g. personal computer) is called a master station and the device which sends a reply in response
to the instruction (servo amplifier) is called a slave station. When fetching data successively, the master station
repeatedly commands the slave station to send data.
Item Description
Baud rate 9600/19200/38400/57600/115200 asynchronous system
Transfer code
Start bit : 1 bit
Data bit : 8 bits
Parity bit : 1 bit (even)
Stop bit : 1 bit
Transfer protocol Character system, half-duplex communication system
1 frame (11bits)
Data
0 1 2 3 4 5 6 7
(LSB) (MSB)
Start Parity Stop Next start
14 - 4
14. COMMUNICATION FUNCTION
14.2.2 Parameter setting
When the USB/RS-422 communication function is used to operate the servo, set the communication
specifications of the servo amplifier in the corresponding parameters.
After setting the values of these parameters, they are made valid by switching power off once, then on again.
(1) Serial communication baud rate
Choose the communication speed. Match this value to the communication speed of the sending end
(master station).
Communication baud rate 0: 9600[bps] 1: 19200[bps] 2: 38400[bps] 3: 57600[bps] 4: 115200[bps]
Parameter No. PC21
(2) RS-422 communication response delay time
Set the time from when the servo amplifier (slave station) receives communication data to when it sends
back data. Set "0" to send back data in less than 800 s or "1" to send back data in 800 s or more.
RS422 communication response delay time 0: Invalid 1: Valid, reply sent in 800 s or more
Parameter No. PC21
(3) Station number setting
Set the station number of the servo amplifier in parameter No. PC20. The setting range is stations 0 to 31.
14 - 5
14. COMMUNICATION FUNCTION
14.3 Protocol
14.3.1 Transmission data configuration
Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No.,
etc. to determine the destination servo amplifier of data communication. Set the station number to each servo
amplifier using the parameter and set the group to each station using the communication command.
Transmission data is valid for the servo amplifier of the specified station number or group.
When "*" is set as the station number added to the transmission data, the transmission data is made valid for
all servo amplifiers connected. However, when return data is required from the servo amplifier in response to
the transmission data, set "0" to the station number of the servo amplifier which must provide the return data.
(1) Transmission of data from the controller to the servo
S O H
S T X
E T X
S T X
E T X
Data No.
Data* Check sum
10 frames (data)
Station number or
group
E rr
or c
od e
Check sum
6 frames Positive response: Error code A Negative response: Error code other than A
Servo side (Slave station)
Controller side (Master station)
C om
m a
nd
Station number or
group
(2) Transmission of data request from the controller to the servo
S O H
S T X
E T X
S T X
E T X
Controller side (Master station)
Servo side (Slave station)
10 frames
C om
m an
d
Data No.
Check sum
E rr
or c
o de
Data* Check sum
6 frames (data)
Station number or
group
Station number or
group
(3) Recovery of communication status by time-out
E O T
Controller side (Master station)
Servo side (Slave station)
EOT causes the servo to return to the receive neutral status.
(4) Data frames The data length depends on the command.
orData
4 frames
Data
8 frames
or 12 frames or 16 frames
14 - 6
14. COMMUNICATION FUNCTION
14.3.2 Character codes
(1) Control codes
Code name Hexadecimal
(ASCII code) Description
Personal computer terminal key operation
(General)
SOH
STX
ETX
EOT
01H
02H
03H
04H
start of head
start of text
end of text
end of transmission
ctrl A
ctrl B
ctrl C
ctrl D
(2) Codes for data
ASCII codes are used.
b8 0 0 0 0 0 0 0 0
b7 0 0 0 0 1 1 1 1
b6 0 0 1 1 0 0 1 1
b5 0 1 0 1 0 1 0 1
b8 to
b5 b4 b3 b2 b1
C
R 0 1 2 3 4 5 6 7
0 0 0 0 0 NUL DLE Space 0 @ P ` p
0 0 0 1 1 SOH DC1 ! 1 A Q a q
0 0 1 0 2 STX DC2 2 B R b r
0 0 1 1 3 ETX DC3 # 3 C S c s
0 1 0 0 4 $ 4 D T d t
0 1 0 1 5 % 5 E U e u
0 1 1 0 6 & 6 F V f v
0 1 1 1 7 7 G W g w
1 0 0 0 8 ( 8 H X h x
1 0 0 1 9 ) 9 I Y i y
1 0 1 0 10 : J Z j z
1 0 1 1 11 ; K [ k {
1 1 0 0 12 , L l |
1 1 0 1 13 M ] m }
1 1 1 0 14 . N ^ n
1 1 1 1 15 / ? O _ o DEL
(3) Station numbers
You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to specify
the stations.
Station number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ASCII code 0 1 2 3 4 5 6 7 8 9 A B C D E F
Station number 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
ASCII code G H I J K L M N O P Q R S T U V
For example, "30H" is transmitted in hexadecimal for the station number of "0" (axis 1).
(4) Group
Group a b c d e f All group
ASCII code a b c d e f
For example, "61H" is transmitted in hexadecimal for group a.
14 - 7
14. COMMUNICATION FUNCTION
14.3.3 Error codes
Error codes are used in the following cases and an error code of single-code length is transmitted.
On receipt of data from the master station, the slave station sends the error code corresponding to that data to
the master station.
The error code sent in upper case indicates that the servo is normal and the one in lower case indicates that an
alarm occurred.
Error code Error name Description Remarks
Servo normal Servo alarm
[A] [a] Normal operation Data transmitted was processed properly. Positive response
[B] [b] Parity error Parity error occurred in the transmitted data.
Negative response
[C] [c] Checksum error Checksum error occurred in the transmitted data.
[D] [d] Character error Character not existing in the specifications was
transmitted.
[E] [e] Command error Command not existing in the specifications was
transmitted.
[F] [f] Data No. error Data No. not existing in the specifications was
transmitted.
14.3.4 Checksum
The checksum is a ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded
hexadecimal numbers up to ETX, with the exception of the first control code (STX or SOH).
Check
Checksum range
ETXSTX or SOH
Station number or
group S T X
02H
[0]
30H
[A]
41H
[1]
31H
[2]
32H
[5]
35H
[F]
46H
E T X
[5] [2]
03H
30H 41H 31H 32H 35H 46H 03H 152H
(Example)
Lower 2 digits 52 is sent after conversion into ASCII code [5][2].
14 - 8
14. COMMUNICATION FUNCTION
14.3.5 Time-out operation
The master station transmits EOT when the slave station does not start reply operation (STX is not received)
300ms after the master station has ended communication operation. 100ms after that, the master station
retransmits the message. Time-out occurs if the slave station does not answer after the master station has
performed the above operation three times. (Communication error)
E O T
300ms 100ms
E O T
300ms 100ms
E O T
300ms 100ms
300ms *Time-out
Controller (Master station)
Servo (Slave station)
M e
ss ag
e
M e
ss ag
e
M e
ss ag
e
M e
ss ag
e
14.3.6 Retry operation
When a fault occurs in communication between the master and slave stations, the error code in the response
data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station
retransmits the message which was sent at the occurrence of the fault (Retry operation). A communication
error occurs if the above operation is repeated and results in the error three or more consecutive times.
M e
ss ag
e
M es
sa ge
M es
sa ge
*Communication error
Controller (Master station)
Servo (Slave station)
S T X
S T X
S T X
Station number or
group
Station number or
group
Station number or
group
Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the slave
station, the master station retransmits the message which was sent at the occurrence of the fault. A
communication error occurs if the retry operation is performed three times.
14 - 9
14. COMMUNICATION FUNCTION
14.3.7 Initialization
After the slave station is switched on, it cannot reply to communication until the internal initialization processing
terminates. Hence, at power-on, ordinary communication should be started after:
(1) 1s or more time has elapsed after the slave station is switched on; and
(2) Making sure that normal communication can be made by reading the parameter or other data which does
not pose any safety problems.
14.3.8 Communication procedure example
The following example reads the set value of alarm history (last alarm) from the servo amplifier of station 0:
Data item Value Description
Station number 0 Servo amplifier station 0
Command 33 Read command
Data No. 10 Alarm history (last alarm)
Checksum 30H 33H 33H 02H 31H 30H 03H FCH
1 0STX ETX33
Yes
No Yes
No
No
No
Yes
Yes
Yes
No
[0][3][3] [1][0]
[0]
Axis No. Command Data No.
Data
Start
Data make-up
Checksum calculation and addition
Addition of SOH to make up transmission data
Data transmission
Data receive
Is there receive data?
3 consecutive times?
Error processing
Other than error code [A] [a]?
Receive data analysis
End
300ms elapsed?
3 consecutive times?
Error processing
100ms after EOT transmission
STX ETX
46H 43HSOH F CTransmission data 33 STX 1 0 ETX
Master station slave station
Master station slave station
Master station slave station
0
14 - 10
14. COMMUNICATION FUNCTION
14.4 Command and data No. list
POINT
If the command and data No. are the same, the description may be different depending on models of servo amplifiers.
14.4.1 Read commands
(1) Status display (Command [0][1]) Command Data No. Description Display Item Frame Length
[0][1] 00 Status display name and unit Current position 16
01 Command position
02 Command remaining distance
03 Point table No.
04 Cumulative feedback pulses
05 Servo motor speed
06 Droop pulses
07 Override voltage
08 Override
09 Analog torque limit voltage
0A Regenerative load ratio
0B Effective load ratio
0C Peak load ratio
0D Instantaneous torque
0E Within one-revolution position
0F ABS counter
10 Load inertia moment ratio
11 Bus voltage
80 Status display data value and
processing information
Current position 12
81 Command position
82 Command remaining distance
83 Point table No.
84 Cumulative feedback pulses
85 Servo motor speed
86 Droop pulses
87 Override voltage
88 Override
89 Analog torque limit voltage
8A Regenerative load ratio
8B Effective load ratio
8C Peak load ratio
8D Instantaneous torque
8E Within one-revolution position
8F ABS counter
90 Load inertia moment ratio
91 Bus voltage
14 - 11
14. COMMUNICATION FUNCTION
(2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8] [0][9])
Command Data No. Description Frame Length
[0] [4] [0] [1] Parameter group read
0000: Basic setting parameter (No.PA )
0001: Gain filter parameter (No.PB )
0002: Extension setting parameter (No.PC )
0003: I/O setting parameter (No.PD )
0009: Option unit parameter (No.Po )
4
[0] [5] [0] [1] to [F] [F] Current values of parameters
Reads the current values of the parameters in the parameter group specified with
the command [8][5] + data No. [0][0]. Before reading the current values, therefore,
always specify the parameter group with the command [8][5] + data No. [0][0].
The decimal equivalent of the data No. value (hexadecimal) corresponds to the
parameter number.
8
[0] [6] [0] [1] to [F] [F] Upper limit values of parameter setting ranges
Reads the permissible upper limit values of the parameters in the parameter group
specified with the command [8][5] + data No. [0][0]. Before reading the upper limit
values, therefore, always specify the parameter group with the command [8][5] +
data No. [0][0].
The decimal equivalent of the data No. value (hexadecimal) corresponds to the
parameter number.
8
[0] [7] [0] [1] to [F] [F] Lower limit values of parameter setting ranges
Reads the permissible lower limit values of the parameters in the parameter group
specified with the command [8][5] + data No. [0][0]. Before reading the lower limit
values, therefore, always specify the parameter group with the command [8][5] +
data No. [0][0].
The decimal equivalent of the data No. value (hexadecimal) corresponds to the
parameter number.
8
[0] [8] [0] [1] to [F] [F] Abbreviations of parameters
Reads the abbreviations of the parameters in the parameter group specified with the
command [8][5] + data No. [0][0]. Before reading the abbreviations, therefore, always
specify the parameter group with the command [8][5] + data No. [0][0].
The decimal equivalent of the data No. value (hexadecimal) corresponds to the
parameter number.
12
[0] [9] [0] [1] to [F] [F] Write enable/disable of parameters
Reads write enable/disable of the parameters in the parameter group specified with
the command [8][5] + data No. [0][0]. Before reading write enable/disable, therefore,
always specify the parameter group with the command [8][5] + data No. [0][0].
0000: Write enabled
0001: Write disabled
4
14 - 12
14. COMMUNICATION FUNCTION
(3) External I/O signals (Command [1][2])
Command Data No. Description Frame Length
[1] [2] [0] [0]
Input device status
8 [0] [1]
[0] [2]
[4] [0] External input pin status
[4] [1]
[6] [0]
Status of input device turned ON by communication [6] [1]
[6] [2]
[8] [0]
Output device status [8] [1]
[8] [2]
[C] [0] External output pin status
[C] [1]
(4) Alarm history (Command [3][3])
Command Data No. Description Alarm Occurrence Sequence Frame Length
[3] [3] [1] [0] Alarm number in alarm history most recent alarm 4
[1] [1] first alarm in past
[1] [2] second alarm in past
[1] [3] third alarm in past
[1] [4] fourth alarm in past
[1] [5] fifth alarm in past
[1] [6] sixth alarm in past
[2] [0] Alarm occurrence time in alarm history most recent alarm 8
[2] [1] first alarm in past
[2] [2] second alarm in past
[2] [3] third alarm in past
[2] [4] fourth alarm in past
[2] [5] fifth alarm in past
[2] [6] sixth alarm in past
14 - 13
14. COMMUNICATION FUNCTION
(5) Current alarm (Command [0][2] [3][5])
Command Data No. Description Frame Length
[0] [2] [0] [0] Current alarm number 4
[3] [5] [0][0] Status display name and unit at
alarm occurrence
Current position 16
[0][1] Command position
[0][2] Command remaining distance
[0][3] Point table No.
[0][4] Cumulative feedback pulses
[0][5] Servo motor speed
[0][6] Droop pulses
[0][7] Override voltage
[0][8] Override
[0][9] Analog torque limit voltage
[0][A] Regenerative load ratio
[0][B] Effective load ratio
[0][C] Peak load ratio
[0][D] Instantaneous torque
[0][E] Within one-revolution position
[0][F] ABS counter
[1][0] Load inertia moment ratio
[1][1] Bus voltage
[0][0] Status display data value and
processing information at alarm
occurrence
Current position 12
[0][1] Command position
[0][2] Command remaining distance
[0][3] Point table No.
[0][4] Cumulative feedback pulses
[0][5] Servo motor speed
[0][6] Droop pulses
[0][7] Override voltage
[0][8] Override
[0][9] Analog torque limit voltage
[0][A] Regenerative load ratio
[0][B] Effective load ratio
[0][C] Peak load ratio
[0][D] Instantaneous torque
[0][E] Within one-revolution position
[0][F] ABS counter
[1][0] Load inertia moment ratio
[1][1] Bus voltage
(6) Point table/position data (Command [4][0])
Command Data No. Description Frame length
[4][0] [0][1] to [F][F] Position data read
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.
8
(7) Point table/speed data (Command [5][0])
Command Data No. Description Frame length
[5][0] [0][1] to [F][F] Speed data read
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.
8
14 - 14
14. COMMUNICATION FUNCTION
(8) Point table/acceleration time constant (Command [5][4])
Command Data No. Description Frame length
[5][4] [0][1] to [F][F] Acceleration time constant read
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.
8
(9) Point table/deceleration time constant (Command [5][8])
Command Data No. Description Frame length
[5][8] [0][1] to [F][F] Deceleration time constant read
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.
8
(10) Point table/dwell (Command [6][0])
Command Data No. Description Frame length
[6][0] [0][1] to [F][F] Dwell read
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.
8
(11) Point table/auxiliary function (Command [6][4])
Command Data No. Description Frame length
[6][4] [0][1] to [F][F] Auxiliary function read
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.
8
(12) Point table/M code (Command [4][5])
Command Data No. Description Frame length
[4][5] [0][1] to [F][F] M code read
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.
8
(13) Group setting (Command [1][F])
Command Data No. Description Frame length
[1][F] [0][0] Reading of group setting value 4
(14) Test operation mode (Command [0][0])
Command Data No. Description Frame length
[0] [0] [1] [2] Test operation mode read
0000: Normal mode (not test operation mode)
0001: JOG operation
0002: Positioning operation
0003: Motorless operation
0004: Output signal (DO) forced output
0005: Single-step feed
4
(15) Others
Command Data No. Description Frame length
[0] [2] [9] [0] Servo motor end pulse unit absolute position 8
[9] [1] Command unit absolute position 8
[7] [0] Software version 16
14 - 15
14. COMMUNICATION FUNCTION
14.4.2 Write commands
(1) Status display (Command [8][1])
Command Data No. Description Setting Range Frame length
[8] [1] [0] [0] Status display data erasure 1EA5 4
(2) Parameters (Command [8][4] [8][5])
Command Data No. Description Setting Range Frame length
[8] [4] [0] [1] to [F]
[F]
Write of parameters
Writes the values of the parameters in the parameter
group specified with the command
[8][5] + data No. [0][0]. Before writing the values,
therefore, always specify the parameter group with the
command [8][5] + data No. [0][0].
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the parameter number.
Depending on the
parameter
8
[8] [5] [0] [0] Parameter group write
0000: Basic setting parameter (No. PA )
0001: Gain filter parameter (No. PB )
0002: Extension setting parameter (No. PC )
0003: I/O setting parameter (No. PD )
0009: Option unit parameter (No. Po )
0000 to 0003 0009 4
(3) External I/O signal (Command [9][2])
Command Data No. Description Setting Range Frame length
[9] [2] [6] [0] Communication input device signal Refer to section 15.5.5 8
[6] [1]
[6] [2]
(4) Alarm history (Command [8][2])
Command Data No. Description Setting Range Frame length
[8] [2] [2] [0] Alarm history erasure 1EA5 4
(5) Current alarm (Command [8][2]) Command Data No. Description Setting Range Frame length
[8] [2] [0] [0] Alarm erasure 1EA5 4
(6) Point table/position data (Command [C][0])
Command Data No. Description Setting range Frame length
[C][0] [0][1] to [F][F] Position data write
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.
999999 to 999999 8
(7) Point table/speed data (Command [C][6])
Command Data No. Description Setting range Frame length
[C][6] [0][1] to [F][F] Speed data write
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.
0 to Permissible
instantaneous speed
8
14 - 16
14. COMMUNICATION FUNCTION
(8) Point table/acceleration time constant (Command [C][7])
Command Data No. Description Setting range Frame length
[C][7] [0][1] to [F][F] Acceleration time constant write
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.
0 to 20000 8
(9) Point table/deceleration time constant (Command [C][8])
Command Data No. Description Setting range Frame length
[C][8] [0][1] to [F][F] Deceleration time constant write
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.
0 to 20000 8
(10) Point table/dwell (Command [C][A])
Command Data No. Description Setting range Frame length
[C][A] [0][1] to [F][F] Dwell write
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.
0 to 20000 8
(11) Point table/auxiliary function (Command [C][B])
Command Data No. Description Setting range Frame length
[C][B] [0][1] to [F][F] Auxiliary function write
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.
0 to 3 8
(12) Point table/M code (Command [C][2])
Command Data No. Description Setting range Frame length
[C][2] [0][1] to [F][F] M code write
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.
00 to 99 8
(13) External input signal disable (Command [9][0])
Command Data No. Description Setting range Frame length
[9][0] [0][0] Turns off the input devices, external analog input signals
and pulse train inputs with the exception of EMG, LSP and
LSN, independently of the external ON/OFF statuses.
1EA5 4
[9][0] [0][3] Disables all output devices (DO). 1EA5 4
[9][0] [1][0] Enables the disabled input devices (DI), external analog
input signals and pulse train inputs with the exception of
EMG, LSP and LSN.
1EA5 4
[9][0] [1][3] Enables the disabled output devices (DO). 1EA5 4
14 - 17
14. COMMUNICATION FUNCTION
(14) Operation mode selection (Command [8][B])
Command Data No. Description Setting Range Frame Length
[8] [B] [0] [0] Operation mode switching
0000: Test operation mode cancel
0001: JOG operation
0002: Positioning operation
0003: Motorless operation
0004: Output signal (DO) forced output
0005: Single-step feed
0000 to 0005 4
(15) Test operation mode data (Command [9][2] [A][0])
Command Data No. Description Setting Range Frame Length
[9] [2] [0] [0] Input signal for test operation Refer to section 14.5.7. 8
[0] [1]
[0] [2]
[A] [0] Forced output of signal pin Refer to section 14.5.9. 8
[A] [0] [1] [0] Writes the speed in the test operation mode (JOG
operation, positioning operation).
0000 to 7FFF 4
[1] [1] Writes the acceleration/deceleration time constant in the
test operation mode (JOG operation, positioning
operation).
00000000 to
7FFFFFFF
8
[2] [0] Sets the moving distance in the test operation mode
(JOG operation, positioning operation).
00000000 to
7FFFFFFF
8
[2] [1] Selects the positioning direction of test operation
(positioning operation).
0: Forward rotation direction 1: Reverse rotation direction 0: Command pulse unit 1: Encoder pulse unit
0 0
0000 to 0001 4
[4] [0] Test operation (positioning operation) start command. 1EA5 4
[4] [1] Used to make a temporary stop during test operation
(positioning operation). in the data indicates a blank.
STOP: Temporary stop
G0 : Restart for remaining distance
CLR : Remaining distance clear.
STOP
G0
CLR
4
(16) Group setting (Command [9][F])
Command Data No. Description Setting range Frame length
[9] [F] [0] [0] Setting of group a to f 4
14 - 18
14. COMMUNICATION FUNCTION
14.5 Detailed explanations of commands
14.5.1 Data processing
When the master station transmits a command data No. or a command data No. data to a slave station,
the servo amplifier returns a reply or data according to the purpose.
When numerical values are represented in these send data and receive data, they are represented in decimal,
hexadecimal, etc.
Therefore, data must be processed according to the application.
Since whether data must be processed or not and how to process data depend on the monitoring, parameters,
etc., follow the detailed explanation of the corresponding command.
The following methods are how to process send and receive data when reading and writing data.
(1) Processing the read data
When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a
decimal point is placed according to the decimal point position information.
When the display type is 1, the eight-character data is used unchanged.
The following example indicates how to process the receive data "003000000929" given to show.
The receive data is as follows.
0 0
Data 32-bit length (hexadecimal representation) (Data conversion is required as indicated in the display type)
Display type 0: Data must be converted into decimal. 1: Data is used unchanged in hexadecimal.
Decimal point position 0: No decimal point 1: First least significant digit (normally not used) 2: Second least significant digit 3: Third least significant digit 4: Forth least significant digit 5: Fifth least significant digit 6: Sixth least significant digit
3 0 0 0 0 0 0 9 2 9
Since the display type is "0" in this case, the hexadecimal data is converted into decimal.
00000929H 2345
As the decimal point position is "3", a decimal point is placed in the third least significant digit.
Hence, "23.45" is displayed.
14 - 19
14. COMMUNICATION FUNCTION
(2) Writing the processed data
When the data to be written is handled as decimal, the decimal point position must be specified. If it is not
specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal
point position.
The data to be sent is the following value.
0 Data is transferred in hexadecimal.
Decimal point position 0: No decimal point 1: First least significant digit 2: Second least significant digit 3: Third least significant digit 4: Forth least significant digit 5: Fifth least significant digit
By way of example, here is described how to process the set data when a value of "15.5" is sent.
Since the decimal point position is the second digit, the decimal point position data is "2".
As the data to be sent is hexadecimal, the decimal data is converted into hexadecimal.
155 9B
Hence, "0200009B" is transmitted.
14 - 20
14. COMMUNICATION FUNCTION
14.5.2 Status display
(1) Reading the status display name and unit
Read the status display name and unit.
(a) Transmission
Transmit command [0][1] and the data No. corresponding to the status display item to be read, [0][0] to
[0][E]. (Refer to section 14.4.1.)
(b) Reply
The slave station sends back the status display name and unit requested.
0 0
Unit characters (5 digits) Name characters (9 digits)
(2) Status display data read
Read the status display data and processing information.
(a) Transmission
Transmit command [0][1] and the data No. corresponding to the status display item to be read.
Refer to section 14.4.1.
(b) Reply
The slave station sends back the status display data requested.
0 0
Data 32 bits long (represented in hexadecimal) (Data conversion into display type is required)
Display type [0]: Used unchanged in hexadecimal [1]: Conversion into decimal required
Decimal point position [0]: No decimal point [1]: Lower first digit (usually not used) [2]: Lower second digit [3]: Lower third digit [4]: Lower fourth digit [5]: Lower fifth digit [6]: Lower sixth digit
(3) Status display data clear
The cumulative feedback pulse data of the status display is cleared. Send this command immediately after reading the status display item. The data of the status display item transmitted is cleared to zero.
Command Data No. Data
[8][1] [0][0] [1][E][A][5]
For example, after sending command [0][1] and data No. [8][0] and receiving the status display data, send
command [8][1], data No. [0][0] and data [1EA5] to clear the cumulative feedback pulse value to zero.
14 - 21
14. COMMUNICATION FUNCTION
14.5.3 Parameters
(1) Specify the parameter group
The group of the parameters to be operated must be specified in advance to read or write the parameter
settings, etc. Write data to the servo amplifier as described below to specify the parameter group to be
operated.
Command Data No. Transmission Data Parameter Group
[8] [5] [0] [0] 0000 Basic setting parameter (No.PA )
0001 Gain filter parameter (No.PB )
0002 Extension setting parameter (No.PC )
0003 I/O setting parameter (No.PD )
(2) Reading the parameter group
Read the parameter group.
(a) Transmission
Send command [0][4] and data No.[0][1].
Command Data No.
[0] [4] [0] [1]
(b) Reply
The slave station sends back the preset parameter group.
0 00
Parameter group 0: Basic setting parameter (No.PA ) 1: Gain filter parameter (No.PB ) 2: Extension setting parameter (No.PC ) 3: I/O setting parameter (No.PD ) 9: Option unit parameter (No.Po )
(3) Reading the symbol
Read the parameter name. Specify the parameter group in advance (refer to (1) in this section).
(a) Transmission
Transmit command [0][8] and the data No. corresponding to the parameter No., [0][1] to [F][F]. (Refer to
section 14.4.1.)
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter number.
(b) Reply
The slave station sends back the name of the parameter No. requested.
0 0 0 Name characters (9 digits)
14 - 22
14. COMMUNICATION FUNCTION
(4) Reading the setting
Read the parameter setting. Specify the parameter group in advance (refer to (1) in this section).
(a) Transmission
Transmit command [0][5] and the data No. corresponding to the parameter No., [0][1] to [F][F]. (Refer to
section 14.4.1.)
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter number.
(b) Reply
The slave station sends back the data and processing information of the parameter No. requested.
0
Data is transferred in hexadecimal.
Display type 0: Used unchanged in hexadecimal. 1: Must be converted into decimal.
Parameter write type 0: Valid after write 1: Valid when power is switched on again after write
Decimal point position [0]: No decimal point [1]: Lower first digit [2]: Lower second digit [3]: Lower third digit [4]: Lower fourth digit [5]: Lower fifth digit
Read enable/disable 0: Read enable 1: Read disable
For example, data "1200270F" means 999.9 (decimal display format) and data "0003ABC" means
3ABC (hexadecimal display format).
When the display type is "0" (hexadecimal) and the decimal point position is other than 0, the display
type is a special hexadecimal display format and "F" of the data value is handled as a blank. Data
"01FFF053" means 053 (special hexadecimal display format).
"1 (Read disable)" is transferred to the "Read enable/disable" section and "000000" is transferred to the
data section when the parameter that was read is the one inaccessible for write/reference in the
parameter write disable setting of parameter No. PA19.
(5) Reading the setting range
Read the parameter setting range. Specify the parameter group in advance (refer to (1) in this section).
(a) Transmission
When reading the upper limit value, transmit command [0][6] and the data No. corresponding to the
parameter No., [0][0] to [F][F]. When reading the lower limit value, transmit command [0][7] and the data
No. corresponding to the parameter No., [0][0] to [F][F]. (Refer to section 14.4.1.)
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter number.
(b) Reply
The slave station sends back the data and processing information of the parameter No. requested.
0 0
Data is transferred in hexadecimal. For example, data "10FFFFEC" means -20.
14 - 23
14. COMMUNICATION FUNCTION
(6) Parameter write
POINT
If setting values need to be changed with a high frequency (i.e. one time or
more per one hour), write the setting values to the RAM, not the EEP-ROM.
The EEP-ROM has a limitation in the number of write times and exceeding
this limitation causes the servo amplifier to malfunction. Note that the number
of write times to the EEP-ROM is limited to approximately 100, 000.
Write the parameter setting into EEP-ROM of the servo amplifier. Specify the parameter group in advance
(refer to (1) in this section).
Write the value within the setting enabled range. For the setting enabled range, refer to chapter 6 or read
the setting range by performing operation in (3) in this section.
Transmit command [8][4], the data No. , and the set data.
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the
parameter number.
When the data to be written is handled as decimal, the decimal point position must be specified. If it is not
specified, data cannot be written. When the data is handled as hexadecimal, specify 0 as the decimal point
position.
Write the data after making sure that it is within the upper/lower limit value range.
Read the parameter data to be written, confirm the decimal point position, and create transmission data to
prevent error occurrence. On completion of write, read the same parameter data to verify that data has
been written correctly.
Command Data No. Set data
[8][4] [0][1] to
[F][F] See below.
Data is transferred in hexadecimal.
Decimal point position 0: No decimal point 1: Lower first digit 2: Lower second digit 3: Lower third digit 4: Lower forth digit 5: Lower fifth digit
Write mode 0: Write to EEP-ROM 3: Write to RAM When the parameter data is changed frequently through communication, set "3" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM.
14 - 24
14. COMMUNICATION FUNCTION
14.5.4 External I/O signal statuses (DIO diagnosis)
(1) Reading of input device statuses
Read the statuses of the input devices.
(a) Transmission
Transmit command [1][2] and the data No. corresponding to the input device.
Command Data No.
[1][2] [0][0]
[0][1]
[0][2]
(b) Reply
The slave station sends back the statuses of the input pins.
b31 b0
0:OFF
1:ON b1
Command of each bit is transmitted to the master station as hexadecimal data.
bit Data No. [0][0] Data No. [0][1] Data No. [0][2]
Device name Symbol Device name Symbol Device name Symbol
0 Servo-on SON
Position data input 1 POS00
1 Forward rotation stroke end LSP Position data input 2 POS01
2 Reverse rotation stroke end LSN Position data input 3 POS02
3 External torque limit selection TL Position data input 4 POS03
4 Internal torque limit selection TL1 Position data input 5 POS10
5 Proportion control PC Position data input 6 POS11
6 Reset RES Position data input 7 POS12
7 Clear CR Position data input 8 POS13
8
Position data input 9 POS20
9 Position data input 10 POS21
10 Position data input 11 POS22
11 Forward rotation start ST1 Position data input 12 POS23
12 Reverse rotation start ST2 Position data input symbol POSP
13
Position data input symbol POSN
14 Strobe input STRB
15
16
17 Automatic/manual selection MD0
18 Proximity dog DOG
19
20 Speed selection 1 SP0
21 Speed selection 2 SP1
22 Speed selection 3 SP2
23 Override selection OVR Speed selection 4 SP3
24 Temporary stop/Restart TSTP Point table No. selection 1 DI0
25 Manual pulse generator multiplication 1
TP0 Point table No. selection 2 DI1
26 Manual pulse generator multiplication 2
TP1 Point table No. selection 3 DI2
27 Gain switch CDP Point table No. selection 4 DI3
28
Point table No. selection 5 DI4
29 Point table No. selection 6 DI5
30 Point table No. selection 7 DI6
31 Point table No. selection 8 DI7
14 - 25
14. COMMUNICATION FUNCTION
(2) External input pin status read
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and the data No. corresponding to the pin.
Command Data No.
[1][2] [4][0]
[4][1]
(b) Reply
The ON/OFF statuses of the input pins are sent back.
b31 b0
0:OFF
1:ON b1
Command of each bit is transmitted to the master station as hexadecimal data.
bit Data No. [4][0] Data No. [4][1]
bit Data No. [4][0] Data No. [4][1]
CN6 connector pin CN10 connector pin CN6 connector pin CN10 connector pin
0 1 1 16
19
1 2 2 17 20
2 3 3 18 21
3 4 4 19 26
4
5 20 27
5 6 21 28
6 7 22 29
7 8 23 30
8 9 24 31
9 10 25 32
10 11 26 33
11 12 27 34
12 15 28 35
13 16 29 36
14 17 30
15 18 31
14 - 26
14. COMMUNICATION FUNCTION
(3) Read of the statuses of input devices switched on through communication
Read the ON/OFF statuses of the input devices switched on through communication.
(a) Transmission
Transmit command [1][2] and the data No. corresponding to the input device.
Command Data No.
[1][2] [6][0]
[6][1]
[6][2]
(b) Reply
The slave station sends back the statuses of the input pins.
b31 b0
0:OFF
1:ON b1
Command of each bit is transmitted to the master station as hexadecimal data.
bit Data No. [6][0] Data No. [6][1] Data No. [6][2]
Device name Symbol Device name Symbol Device name Symbol
0 Servo-on SON
Position data input 1 POS00
1 Forward rotation stroke end LSP Position data input 2 POS01
2 Reverse rotation stroke end LSN Position data input 3 POS02
3 External torque limit selection TL Position data input 4 POS03
4 Internal torque limit selection TL1 Position data input 5 POS10
5 Proportion control PC Position data input 6 POS11
6 Reset RES Position data input 7 POS12
7 Clear CR Position data input 8 POS13
8
Position data input 9 POS20
9 Position data input 10 POS21
10 Position data input 11 POS22
11 Forward rotation start ST1 Position data input 12 POS23
12 Reverse rotation start ST2 Position data input symbol POSP
13
Position data input symbol POSN
14 Strobe input STRB
15
16
17 Automatic/manual selection MD0
18 Proximity dog DOG
19
20 Speed selection 1 SP0
21 Speed selection 2 SP1
22 Speed selection 3 SP2
23 Override selection OVR Speed selection 4 SP3
24 Temporary stop/Restart TSTP Point table No. selection 1 DI0
25 Manual pulse generator multiplication 1
TP0 Point table No. selection 2 DI1
26 Manual pulse generator multiplication 2
TP1 Point table No. selection 3 DI2
27 Gain switch CDP Point table No. selection 4 DI3
28
Point table No. selection 5 DI4
29 Point table No. selection 6 DI5
30 Point table No. selection 7 DI6
31 Point table No. selection 8 DI7
14 - 27
14. COMMUNICATION FUNCTION
(4) External output pin status read
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and the data No. corresponding to the pin.
Command Data No.
[1][2] [C][0]
(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b31 b0
0:OFF
1:ON b1
Command of each bit is transmitted to the master station as hexadecimal data.
bit Data No. [C][0] Data No. [C][1]
bit Data No. [C][0] Data No. [C][1]
CN6 connector pin CN10 connector pin CN6 connector pin CN10 connector pin
0 14 22 16
1 15 23 17
2 16 24 18
3
25 19
4 38 20
5 39 21
6 40 22
7 41 23
8 42 24
9 43 25
10 44 26
11 45 27
12 46 28
13 47 29
14 48 30
15 49 31
14 - 28
14. COMMUNICATION FUNCTION
(5) Read of the statuses of output devices
Read the ON/OFF statuses of the output devices.
(a) Transmission Transmit command [1][2] and the data No. corresponding to the output device.
Command Data No.
[1][2] [8][0] [8][1] [8][2]
(b) Reply
The slave station sends back the statuses of the output devices.
b31 b0
0:OFF
1:ON b1
Command of each bit is transmitted to the master station as hexadecimal data.
bit Data No. [8][0] Data No. [8][1] Data No. [8][2]
Device name Symbol Device name Symbol Device name Symbol
0 Ready RD
M code output 1 MCD00
1 M code output 2 MCD01
2 Zero speed ZSP M code output 3 MCD02
3 Limiting torque TLC M code output 4 MCD03
4 M code output 5 MCD10
5 In position INP M code output 6 MCD11
6 M code output 7 MCD12
7 Warning WNG M code output 8 MCD13
8 Trouble ALM Alarm code 0 ACD0
9 Alarm code 1 ACD1
10 Electromagnetic brake
interlock MBR Alarm code 2 ACD2
11 dynamic brake interlock DB Alarm code 3 ACD3
12
Position data request 1 PRQ1
13 Position data request 2 PRQ2
14
15 Battery warning BWNG
16 Rough match CPO
17 Home position return
completion ZP
18 Position range output POT
19 Temporary stop PUS
20
21
22
23
24 Point table No. output 1 PT0
25 Variable gain selection CDPS Point table No. output 2 PT1
26
Point table No. output 3 PT2
27 Point table No. output 4 PT3
28 Movement finish MEND Point table No. output 5 PT4
29
Point table No. output 6 PT5
30 Point table No. output 7 PT6
31 Point table No. output 8 PT7
14 - 29
14. COMMUNICATION FUNCTION
14.5.5 Device ON/OFF
POINT The ON/OFF states of all devices in the servo amplifier are the states of the data received last. Hence, when there is a device which must be kept ON, send data which turns that device ON every time.
Each input device can be switched on/off. However, when the device to be switched off exists in the external input signal, also switch off that input signal. Send command [9][2], data No. corresponding to the input device and data.
Command Data No. Set data
[9][2] [6][0] See below. [6][1] [6][2]
b31 b0
0:OFF
1:ON b1
Command of each bit is transmitted to the slave station as hexadecimal data.
bit Data No. [6][0] Data No. [6][1] Data No. [6][2]
Device name Symbol Device name Symbol Device name Symbol
0 Servo-on SON
Position data input 1 POS00
1 Forward rotation stroke end LSP Position data input 2 POS01
2 Reverse rotation stroke end LSN Position data input 3 POS02
3 External torque limit selection TL Position data input 4 POS03
4 Internal torque limit selection TL1 Position data input 5 POS10
5 Proportion control PC Position data input 6 POS11
6 Reset RES Position data input 7 POS12
7 Clear CR Position data input 8 POS13
8
Position data input 9 POS20
9 Position data input 10 POS21
10 Position data input 11 POS22
11 Forward rotation start ST1 Position data input 12 POS23
12 Reverse rotation start ST2 Position data input symbol POSP
13
Position data input symbol POSN
14 Strobe input STRB
15
16
17 Automatic/manual selection MD0
18 Proximity dog DOG
19
20 Speed selection 1 SP0
21 Speed selection 2 SP1
22 Speed selection 3 SP2
23 Override selection OVR Speed selection 4 SP3
24 Temporary stop/Restart TSTP Point table No. selection 1 DI0
25 Manual pulse generator multiplication 1
TP0 Point table No. selection 2 DI1
26 Manual pulse generator multiplication 2
TP1 Point table No. selection 3 DI2
27 Gain switch CDP Point table No. selection 4 DI3
28
Point table No. selection 5 DI4
29 Point table No. selection 6 DI5
30 Point table No. selection 7 DI6
31 Point table No. selection 8 DI7
14 - 30
14. COMMUNICATION FUNCTION
14.5.6 Disable/enable of I/O devices (DIO)
Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input signals
(devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be disabled.
Signal Status
Input devices (DI) OFF
(1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs with the
exception of EMG, LSP and LSN.
Transmit the following communication commands.
(a) Disable
Command Data No. Data
[9][0] [0][0] 1EA5
(b) Enable
Command Data No. Data
[9][0] [1][0] 1EA5
(2) Disabling/enabling the output devices (DO)
Transmit the following communication commands.
(a) Disable
Command Data No. Data
[9][0] [0][3] 1EA5
(b) Enable
Command Data No. Data
[9][0] [1][3] 1EA5
14 - 31
14. COMMUNICATION FUNCTION
14.5.7 Input devices ON/OFF (test operation)
Each input devices can be turned on/off for test operation. when the device to be switched off exists in the
external input signal, also switch off that input signal. Send command [9] [2], data No. corresponding to the input device and data.
Command Data No. Set data
[9][2] [0][0] See below
[0][1]
[0][2]
b31 b0
0: OFF
1: ON b1
Command of each bit is transmitted to the slave station as hexadecimal data.
bit Data No. [0][0] Data No. [0][1] Data No. [0][2]
Device name Symbol Device name Symbol Device name Symbol
0 Servo-on SON
Position data input 1 POS00
1 Forward rotation stroke end LSP Position data input 2 POS01
2 Reverse rotation stroke end LSN Position data input 3 POS02
3 External torque limit selection TL Position data input 4 POS03
4 Internal torque limit selection TL1 Position data input 5 POS10
5 Proportion control PC Position data input 6 POS11
6 Reset RES Position data input 7 POS12
7 Clear CR Position data input 8 POS13
8
Position data input 9 POS20
9 Position data input 10 POS21
10 Position data input 11 POS22
11 Forward rotation start ST1 Position data input 12 POS23
12 Reverse rotation start ST2 Position data input symbol POSP
13
Position data input symbol POSN
14 Strobe input STRB
15
16
17 Automatic/manual selection MD0
18 Proximity dog DOG
19
20 Speed selection 1 SP0
21 Speed selection 2 SP1
22 Speed selection 3 SP2
23 Override selection OVR Speed selection 4 SP3
24 Temporary stop/Restart TSTP Point table No. selection 1 DI0
25 Manual pulse generator multiplication 1
TP0 Point table No. selection 2 DI1
26 Manual pulse generator multiplication 2
TP1 Point table No. selection 3 DI2
27 Gain switch CDP Point table No. selection 4 DI3
28
Point table No. selection 5 DI4
29 Point table No. selection 6 DI5
30 Point table No. selection 7 DI6
31 Point table No. selection 8 DI7
14 - 32
14. COMMUNICATION FUNCTION
14.5.8 Test operation mode
POINT
The test operation mode is used to confirm operation. Do not use it for actual
operation.
If communication stops for longer than 0.5s during test operation, the servo
amplifier decelerates to a stop, resulting in servo lock. To prevent this, continue communication all the time, e.g. monitor the status display.
Even during operation, the servo amplifier can be put in the test operation mode.
In this case, as soon as the test operation mode is selected, the base circuit is shut off, coasting the servo amplifier.
(1) Preparation and cancel of test operation mode
(a) Preparation of test operation mode
Set the test operation mode type in the following procedure.
Send the command [8][B] + data No. [0][0] to select the test operation mode.
Command Data No. Transmission Data Test Operation Mode Selection
[8][B] [0][0] 0001 JOG operation
0002 Positioning operation
0003 Motorless operation
0004 DO forced output
0005 Single-step feed
2) Confirmation of test operation mode
Read the test operation mode set for the slave station, and confirm that it is set correctly.
a. Transmission
Send the command [0][0] + data No. [1][2].
Command Data No.
[0][0] [1][2]
b. Return
The slave station returns the set test operation mode.
0 0
Test operation mode read 0: Normal mode (not test operation mode) 1: JOG operation 2: Positioning operation 3: Motorless operation 4: DO forced output 5: Single-step feed
0
14 - 33
14. COMMUNICATION FUNCTION
(2) JOG operation
Send the command, data No. and data as indicated below to execute JOG operation.
Command : [8][B] Data No. : [0][0] Data : 0001(JOG operation)
When LSP/LSN was turned OFF by external input signal or automatically
Command: [9][2] Data No. : [0][0] Data : Forward rotation direction 00000801 (SON, ST1 turned ON) Reverse rotation direction 00001001 (SON, ST2 turned ON)
Start Start
Command : [9][2] Data No. : [0][0] Data : 00000007 (SON, LSP, LSN turned ON)
Command : [9][2] Data No. : [0][0] Data : 00000001 (SON turned ON)
Command : [8][B] Data No. : [0][0] Data : 0000 (JOG operation cancel)
Stop Stop
End
Command : [A][0] Data No. : [1][1] Data : Write the acceleration/ deceleration time constant [ms] in hexadecimal.
When LSP/LSN was turned OFF by external input signal
Acceleration/deceleration time constant setting
Command : [A][0] Data No. : [1][0] Data : Write the speed [r/min] in hexadecimal.
Servo motor speed setting
Start
Select the JOG operation in the test operation mode.
Set the operation pattern.
Start.
Stop.
Cancel the JOG operation.
Command : [9][2] Data No. : [0][0] Data : Forward rotation direction 00000807
(SON, LSP, LSN, ST1 turned ON) Reverse rotation direction 00001007
(SON, LSP, LSN, ST2 turned ON)
Power on the servo amplifier. Shift to the usually operation mode.
14 - 34
14. COMMUNICATION FUNCTION
(3) Positioning operation
(a) Operation procedure
Send the command, data No. and data as indicated below to execute positioning operation.
Command : [8][B] Data No. : [0][0] Data : 0002 (positioning operation)
When LSP/LSN was turned OFF by external input signal or automatically turned ON
Command : [9][2] Data No. : [0][0] Data : 00000001 (SON turned ON)
Make input device valid Make input device valid
Command : [A][0] Data No. : [4][0] Data : 1EA5
Positioning start
When LSP/LSN was turned OFF by external input signal
Acceleration/deceleration time constant setting
Command : [A][0] Data No. : [1][0] Data : Write the speed [r/min] in hexadecimal.
Servo motor speed setting
Start
Select the positioning operation in the test operation mode.
Set the operation pattern.
Turn ON Servo-on (SON) to make the servo amplifier ready.
Command : [A][0] Data No. : [2][0] Data : 0000(forward rotation direction) 0001(reverse rotation)
Rotation direction selection
Command : [A][0] Data No. : [2][0] Data : Write the movement distance [pulse] in hexadecimal.
Movement distance setting
Command : [8][B] Data No. : [0][0] Data : 0000 (Positioning operation cancel)
End
(Note)
Start.
Cancel the positioning operation.
Command : [A][0] Data No. : [1][1] Data : Write the acceleration /deceleration time constant [ms] in hexadecimal.
Command : [9][2] Data No. : [0][0] Data : 00000007 (SON, LSP, LSN turned ON)
Note. There is a 100ms delay.
Power on the servo amplifier. Shift to the usually operation mode.
14 - 35
14. COMMUNICATION FUNCTION
(b) Temporary stop/restart/remaining distance clear
Send the following command, data No. and data during positioning operation to make deceleration to a
stop.
Command Data No. Data
[A][0] [4][1] STOP
Send the following command, data No. and data during a temporary stop to make a restart.
Command Data No. (Note) Data
[A][0] [4][1] GO
Note. indicates a blank.
Send the following command, data No. and data during a temporary stop to stop positioning operation
and erase the remaining movement distance.
Command Data No. (Note) Data
[A][0] [4][1] CLR
Note. indicates a blank.
14 - 36
14. COMMUNICATION FUNCTION
(4) Single-step feed
Set necessary items to the point table before starting the single-step feed.
Send the command, data No. and data as indicated below to execute single-step feed.
Command : [9][2] Data No. : [0][0] Data : 00020807 (ST1 is ON)
Operation start
Command : [8][B] Data No. : [0][0] Data : 0000 (Single-step feed cancel)
End
(Note)
Power on the servo amplifier.
Command : [9][2] Data No. : [0][0] Data : 00020801 (ST1 is ON)
Operation start
(Note)
When LSP/LSN was turned OFF by external input signal or automatically turned ON
Command : [9][2] Data No. : [0][0] Data : 00020001 (SON, MD0 turned ON)
Make input device valid Make input device valid
When LSP/LSN was turned OFF by external input signal
Turn ON Servo-on (SON) to make the servo amplifier ready.
Start.
Cancel the single-step feed.
Command : [9][2] Data No. : [0][0] Data : 00020007 (SON, LSP, LSN, MD0 turned ON)
Command : [8][B] Data No. : [0][0] Data : 0005 (Single-step feed)
Command : [9][2] Data No. : [0][1] Data : Write the point table No. in hexadecimal.
Point table No. setting
Start
Select the single-step feed in the test operation mode.
Set the point table No.
Shift to the usually operation mode.
14 - 37
14. COMMUNICATION FUNCTION
(5) Output signal pin ON/OFF output signal (DO) forced output
In the test operation mode, the output signal pins can be turned on/off independently of the servo status.
Using command [9][0], disable the output signals in advance.
(a) Choosing DO forced output in test operation mode
Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.
0 0
Selection of test operation mode 4: DO forced output (output signal forced output)
0 4
(b) External output signal ON/OFF
Transmit the following communication commands.
Command Data No. Setting data
[9][2] [A][0] See below.
[A][1]
b31 b0
0: OFF
1: ON b1
Command of each bit is transmitted to the slave station as hexadecimal data.
bit Data No. [A][0] Data No. [A][1]
bit Data No. [A][0] Data No. [A][1]
CN6 connector pin CN10 connector pin CN6 connector pin CN10 connector pin
0 14 22 16
1 15 23 17
2 16 24 18
3
25 19
4 38 20
5 39 21
6 40 22
7 41 23
8 42 24
9 43 25
10 44 26
11 45 27
12 46 28
13 47 29
14 48 30
15 49 31
(c) End of DO forced output
Transmit command [8][B] + data No. [0][0] + data to cancel DO forced output.
Command Data No. Transmission data Description
[8][B] [0][0] 0000 End of DO forced output
14 - 38
14. COMMUNICATION FUNCTION
(6) Motorless operation
(a) Performing motorless operation
Transmit command [8][B] + data No. [0][0] + data "0003" to perform motorless operation.
Selection of test operation mode 3: Motorless operation
0 0 0 3
To perform operation after performing the motorless operation, issue a command from the host
controller.
(b) End of motorless operation
The motorless operation cannot be canceled in the same way as the test operation mode (transmit
command [8][B] + data No. [0][0] + data "0000"). To cancel the motorless operation, power on the servo
amplifier and shift to the usually operation mode.
14 - 39
14. COMMUNICATION FUNCTION
14.5.9 Alarm history
(1) Alarm No. read
Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last
alarm) to No. 5 (sixth alarm in the past) are read.
(a) Transmission
Send command [3][3] and data No. [1][0] to [1][5]. Refer to section 14.4.1.
(b) Reply
The alarm No. corresponding to the data No. is provided.
0 0
Alarm No. is transferred in decimal.
For example, "0032" means A32 and "00FF" means A_ _ (no alarm).
(2) Alarm occurrence time read
Read the occurrence time of alarm which occurred in the past.
The alarm occurrence time corresponding to the data No. is provided in terms of the total time beginning
with operation start, with the minute unit omitted.
(a) Transmission
Send command [3][3] and data No. [2][0] to [2][5].
Refer to section 14.4.1.
(b) Reply
The alarm occurrence time is transferred in decimal. Hexadecimal must be converted into decimal.
For example, data "01F5" means that the alarm occurred in 501 hours after start of operation.
(3) Alarm history clear
Erase the alarm history.
Send command [8][2] and data No. [2][0].
Command Data No. Data
[8][2] [2][0] 1EA5
14 - 40
14. COMMUNICATION FUNCTION
14.5.10 Current alarm
(1) Current alarm read
Read the alarm No. which is occurring currently.
(a) Transmission Send command [0][2] and data No. [0][0].
Command Data No.
[0][2] [0][0]
(b) Reply
The slave station sends back the alarm currently occurring.
0 0
Alarm No. is transferred in decimal.
For example, "0032" means A32 and "00FF" means A_ _ (no alarm).
(2) Read of the status display at alarm occurrence
Read the status display data at alarm occurrence. When the data No. corresponding to the status display
item is transmitted, the data value and data processing information are sent back.
(a) Transmission
Send command [3][5] and any of data No. [8][0] to [8][E] corresponding to the status display item to be
read. Refer to section 14.4.1.
(b) Reply
The slave station sends back the requested status display data at alarm occurrence.
0 0 Data 32 bits long (represented in hexadecimal) (Data conversion into display type is required)
Display type 0: Conversion into decimal required 1: Used unchanged in hexadecimal
Decimal point position 0: No decimal point 1: Lower first digit (usually not used) 2: Lower second digit 3: Lower third digit 4: Lower fourth digit 5: Lower fifth digit 6: Lower sixth digit
(3) Current alarm clear
As by the reset (RES) on, reset the servo amplifier alarm to make the servo amplifier ready to operate. After
removing the cause of the alarm, reset the alarm with no command entered.
Command Data No. Data
[8][2] [0][0] 1EA5
14 - 41
14. COMMUNICATION FUNCTION
14.5.11 Point table
(1) Data read
(a) Position data
Read the position data of the point table.
1) Transmission
Transmit command [4][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the position data of the requested point table.
Hexadecimal data
Decimal point position 0: No decimal point 1: Lower first digit (usually not used) 2: Lower second digit 3: Lower third digit 4: Lower fourth digit 5: Lower fifth digit 6: Lower sixth digit
Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Position data write type 0: Valid after write 1: Valid when power is switched on again after write
00
(b) Speed data
Read the speed data of the point table.
1) Transmission
Transmit command [5][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the speed data of the requested point table.
0
Hexadecimal data
Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Speed data write type 0: Valid after write 1: Valid when power is switched on again after write
00
14 - 42
14. COMMUNICATION FUNCTION
(c) Acceleration time constant
Read the acceleration time constant of the point table.
1) Transmission
Transmit command [5][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the acceleration time constant of the requested point table.
0
Hexadecimal data
Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Deceleration time constant write type 0: Valid after write 1: Valid when power is switched on again after write
00
(d) Deceleration time constant
Read the deceleration time constant of the point table.
1) Transmission
Transmit command [5][8] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the deceleration time constant of the requested point table.
0
Hexadecimal data
Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Deceleration time constant write type 0: Valid after write 1: Valid when power is switched on again after write
00
14 - 43
14. COMMUNICATION FUNCTION
(e) Dwell
Read the dwell of the point table.
1) Transmission
Transmit command [6][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the dwell of the requested point table.
0
Hexadecimal data
Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Dwell write type 0: Valid after write 1: Valid when power is switched on again after write
00
(f) Auxiliary function
Read the auxiliary function of the point table.
1) Transmission
Transmit command [6][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the auxiliary function of the requested point table.
0
Hexadecimal data
Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Auxiliary function write type 0: Valid after write 1: Valid when power is switched on again after write
00
14 - 44
14. COMMUNICATION FUNCTION
(g) M code
Read the M code of the point table.
1) Transmission
Transmit command [4][5] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the M code of the requested point table.
0
Hexadecimal data
Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required M code write type 0: Valid after write 1: Valid when power is switched on again after write
00
14 - 45
14. COMMUNICATION FUNCTION
(2) Data write
POINT
If setting values need to be changed with a high frequency (i.e. one time or
more per one hour), write the setting values to the RAM, not the EEP-ROM.
The EEP-ROM has a limitation in the number of write times and exceeding
this limitation causes the servo amplifier to malfunction. Note that the number of write times to the EEP-ROM is limited to approximately 100, 000.
(a) Position data
Write the position data of the point table.
Transmit command [C][0], any of data No. [0][1] to [F][F] corresponding to the point table to be written
to, and the data. Refer to section 14.4.2.
Command Data No. Data
[C][0] [0][1] to [F][F] See below.
Hexadecimal data
The decimal point position should be the same as the feed length multiplication (STM) set in parameter No. 1. The slave station will not accept the decimal point position which is different from the STM setting.
When the position data is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM.
Write mode 0: EEP-ROM, RAM write 1: RAM write
Decimal point position 0: No decimal point 1: Lower first digit 2: Lower second digit 3: Lower third digit 4: Lower fourth digit 5: Lower fifth digit 6: Lower sixth digit
(b) Speed data
Write the speed data of the point table.
Transmit command [C][6], any of data No. [0][1] to [F][F] corresponding to the point table to be written
to, and the data. Refer to section 14.4.2.
Command Data No. Data
[C][6] [0][1] to [F][F] See below.
0 Hexadecimal data
Write mode 0: EEP-ROM, RAM write 1: RAM write
When the speed data is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM.
14 - 46
14. COMMUNICATION FUNCTION
(c) Acceleration time constant
Write the acceleration time constant of the point table.
Transmit command [C][7], any of data No. [0][1] to [F][F] corresponding to the point table to be written
to, and the data. Refer to section 14.4.2.
Command Data No. Data
[C][7] [0][1] to [F][F] See below.
0 Hexadecimal data
Write mode 0: EEP-ROM, RAM write 1: RAM write
When the acceleration time constant is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM.
(d) Deceleration time constant
Write the deceleration time constant of the point table.
Transmit command [C][8], any of data No. [0][1] to [F][F] corresponding to the point table to be written
to, and the data. Refer to section 14.4.2.
Command Data No. Data
[C][8] [0][1] to [F][F] See below.
0 Hexadecimal data
Write mode 0: EEP-ROM, RAM write 1: RAM write
When the deceleration time is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM.
(e) Dwell
Write the dwell of the point table.
Transmit command [C][A], any of data No. [0][1] to [F][F] corresponding to the point table to be written
to, and the data. Refer to section 14.4.2.
Command Data No. Data
[C][A] [0][1] to [F][F] See below.
0 Hexadecimal data
Write mode 0: EEP-ROM, RAM write 1: RAM write
When the dwell constant is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM.
14 - 47
14. COMMUNICATION FUNCTION
(f) Auxiliary function
Write the auxiliary function of the point table.
Transmit command [C][B], any of data No. [0][1] to [F][F] corresponding to the point table to be written
to, and the data. Refer to section 14.4.2.
Command Data No. Data
[C][B] [0][1] to [F][F] See below.
0 Hexadecimal data
Write mode 0: EEP-ROM, RAM write 1: RAM write
When the auxiliary function constant is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM.
(g) M code
Write the M code of the point table.
Transmit command [C][B], any of data No. [0][1] to [F][F] corresponding to the point table to be written
to, and the data. Refer to section 14.4.2.
Command Data No. Data
[C][B] [0][1] to [F][F] See below.
0 Hexadecimal data
Write mode 0: EEP-ROM, RAM write 1: RAM write
When the M code constant is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier. When changing data frequently (once or more within one hour), do not write it to the EEP-ROM.
14 - 48
14. COMMUNICATION FUNCTION
14.5.12 Servo amplifier group designation
With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave
stations set as a group.
(1) Group setting write
Write the group designation value to the slave station.
(a) Transmission
Transmit command [9][F], data No. [0][0] and data.
Command Data No. Data
[9][F] [0][0] See below.
0 0
Group designation 0: No group designation 1: Group a 2: Group b 3: Group c 4: Group d 5: Group e 6: Group f
Response command enable Set whether data can be sent back or not in response to the read command of the master station. 0: Response disable Data cannot be set back. 1: Response enable Data can be set back.
(2) Group setting read
Read the set group designation value from the slave station.
(a) Transmission
Transmit command [1][F] and data No. [0][0].
Command Data No.
[1][F] [0][0]
(b) Reply
The slave station sends back the group setting of the point table requested.
0 0
Group designation 0: No group designation 1: Group a 2: Group b 3: Group c 4: Group d 5: Group e 6: Group f
Response command enable 0: Response disable 1: Response enable
14 - 49
14. COMMUNICATION FUNCTION
14.5.13 Other commands
(1) Servo motor end pulse unit absolute position
Read the absolute position in the servo motor end pulse unit.
Note that overflow will occur in the position of 8192 or more revolutions from the home position.
(a) Transmission Send command [0][2] and data No. [9][0].
Command Data No.
[0][2] [9][0]
(b) Reply
The slave station sends back the requested servo motor end pulses.
Absolute value is sent back in hexadecimal in the servo motor end pulse unit. (Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the motor end pulse unit.
(2) Command unit absolute position
Read the absolute position in the command unit.
(a) Transmission
Send command [0][2] and data No. [9][1].
Command Data No.
[0][2] [9][1]
(b) Reply
The slave station sends back the requested command pulses.
Absolute value is sent back in hexadecimal in the command unit. (Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the command unit.
(3) Software version
Reads the software version of the servo amplifier.
(a) Transmission Send command [0][2] and data No.[7][0].
Command Data No.
[0][2] [7][0]
(b) Reply
The slave station returns the software version requested.
Software version (15 digits) Space
14 - 50
14. COMMUNICATION FUNCTION
MEMO
App. - 1
APPENDIX
App. 1 Parameter list
POINT
For any parameter whose symbol is preceded by *, set the parameter value
and switch power off once, then switch it on again to make that parameter
setting valid.
Basic setting parameters (PA ) Gain/filter parameters (PB )
No. Symbol Name No. Symbol Name
PA01 *STY Control mode PB01 FILT Adaptive tuning mode (Adaptive filter ) PA02 *REG Regenerative option PB02 VRFT Vibration suppression control filter tuning mode
(Advanced vibration suppression control) PA03 *ABS Absolute position detection system PA04 *AOP1 Function selection A-1 PB03 For manufacturer setting PA05 *FTY Feeding function selection PB04 FFC Feed forward gain PA06 *CMX Electronic gear numerator PB05 For manufacturer setting PA07 *CDV Electronic gear denominator PB06 GD2 Ratio of load inertia moment to servo motor
inertia moment PA08 ATU Auto tuning PA09 RSP Auto tuning response PB07 PG1 Model loop gain PA10 INP In-position range PB08 PG2 Position loop gain PA11 TLP Forward torque limit PB09 VG2 Speed loop gain PA12 TLN Reverse torque limit PB10 VIC Speed integral compensation PA13 For manufacturer setting PB11 VDC Speed differential compensation PA14 *POL Rotation direction selection PB12 For manufacturer setting PA15 *ENR Encoder output pulses PB13 NH1 Machine resonance suppression filter 1 PA16 For manufacturer setting PB14 NHQ1 Notch form selection 1
to PB15 NH2 Machine resonance suppression filter 2 PA18 PB16 NHQ2 Notch form selection 2 PA19 *BLK Parameter write inhibit PB17 Automatic setting parameter
PB18 LPF Low-pass filter PB19 VRF1 Vibration suppression control vibration
frequency setting PB20 VRF2 Vibration suppression control resonance
frequency setting PB21 For manufacturer setting PB22 PB23 VFBF Low-pass filter selection PB24 *MVS Slight vibration suppression control selection PB25 For manufacturer setting PB26 *CDP Gain changing selection PB27 CDL Gain changing condition PB28 CDT Gain changing time constant PB29 GD2B Gain changing ratio of load inertia moment to
servo motor inertia moment PB30 PG2B Gain changing position loop gain PB31 VG2B Gain changing speed loop gain PB32 VICB Gain changing speed integral compensation PB33 VRF1B Gain changing vibration suppression control
vibration frequency setting PB34 VRF2B Gain changing vibration suppression control
resonance frequency setting PB35
to PB45
For manufacturer setting
App. - 2
APPENDIX
Extension setting parameters (PC ) I/O setting parameters (PD )
No. Symbol Name No. Symbol Name
PC01 For manufacturer setting PD01 *DIA1 Input signal automatic ON selection 1 PC02 *ZTY Home position return type PD02 For manufacturer setting PC03 *ZDIR Home position return direction PD03 *DIA3 Input signal automatic ON selection 3 PC04 ZRF Home position return speed PD04 *DIA4 Input signal automatic ON selection 4 PC05 CRF Creep speed PD05 For manufacturer setting PC06 ZST Home position shift distance PD06 *DI2 Input signal device selection 2 (CN6-2) PC07 *ZPS Home position return position data PD07 *DI3 Input signal device selection 3 (CN6-3) PC08 DCT Moving distance after proximity dog PD08 *DI4 Input signal device selection 4 (CN6-4) PC09 ZTM Stopper type home position return
stopper time PD09 *DO1 Output signal device selection 1 (CN6-pin 14)
PD10 *DO2 Output signal device selection 2 (CN6-pin 15) PC10 ZTT Stopper type home position return
torque limit value PD11 *DO3 Output signal device selection 3 (CN6-pin 16)
PD12 For manufacturer setting PC11 CRP Rough match output range to PC12 JOG Jog speed PD15 PC13 *STC S-pattern acceleration/deceleration
time constant PD16 *DIAB Input polarity selection
PD17 For manufacturer setting PC14 *BKC Backlash compensation PD18 PC15 For manufacturer setting PD19 *DIF Response level setting PC16 MBR Electromagnetic brake sequence
output PD20 *DOP1 Function selection D-1
PD21 For manufacturer setting PC17 ZSP Zero speed PD22 *DOP3 Function selection D-2 PC18 *BPS Alarm history clear PD23 For manufacturer setting PC19 *ENRS Encoder output pulse selection PD24 *DOP5 Function selection D-5 PC20 *SNO Station number setting PD25 For manufacturer setting PC21 *SOP RS-422 communication function
selection to
PD30
PC22 *COP1 Function selection C-1 PC23 For manufacturer setting PC24 *COP3 Function selection C-3 PC25 For manufacturer setting PC26 *COP5 Function selection C-5 PC27 For manufacturer setting PC28 *COP7 Function selection C-7 PC29 For manufacturer setting PC30 PC31 LMPL Software limit PC32 LMPH PC33 LMNL Software limit PC34 LMNH PC35 TL2 Internal torque limit 2 PC36 *DMD Status display selection PC37 *LPPL Position range output address PC38 *LPPH PC39 *LNPL Position range output address PC40 *LNPH PC41 For manufacturer setting
to
PC50
App. - 3
APPENDIX
Option unit parameters (Po )
No. Symbol Name
Po01 For manufacturer setting Po02 *ODI1 MR-J3-D01 input signal device
selection 1 (CN10-21, 26) Po03 *ODI2 MR-J3-D01 input signal device
selection 2 (CN10-27, 28) Po04 *ODI3 MR-J3-D01 input signal device
selection 3 (CN10-29, 30) Po05 *ODI4 MR-J3-D01 input signal device
selection 4 (CN10-31, 32) Po06 *ODI5 MR-J3-D01 input signal device
selection 5 (CN10-33, 34) Po07 *ODI6 MR-J3-D01 input signal device
selection 6 (CN10-35, 36) Po08 *ODO1 MR-J3-D01 output signal device
selection 1 (CN10-46, 47) Po09 *ODO2 MR-J3-D01 output signal device
selection 2 (CN10-48, 49) Po10 *OOP1 Function selection O-1 Po11 For manufacturer setting Po12 *OOP2 Function selection O-3 Po13 MOD1 MR-J3-D01 analog monitor output 1 Po14 MOD2 MR-J3-D01 analog monitor output 2 Po15 MO1 MR-J3-D01 analog monitor 1 offset Po16 MO2 MR-J3-D01 analog monitor 2 offset Po17 For manufacturer setting
to Po20 Po21 VCO MR-J3-D01 override offset Po22 TLO MR-J3-D01 analog torque limit offset Po23 For manufacturer setting
to Po35
App. - 4
APPENDIX
App. 2 Signal layout recording paper
CN10
When using the point table
CN6
1 14
2 15
DICOM
3 16
DOCOM
4 17
5
6
8
10
12
7
9
11
13
19
21
23
25
18
20
22
24
26 LB
LA
LZ
LG
LBR
LAR
LZR
PP NP
OPC
1
DI02
DI1
27 26
3
DI24
DI3
29 28
5
DI46
DI5
31 30
7
DI68
DI7
33 32
9 10 35
34
11 12 37
36
13 14 39
38
15 16 41
40
17 18 43
42 MCD10
19 20
ACD0
45 44
21
ACD1
22 47
MCD01
46
23 24 49
48
SD
25 50
DICOMD
ACD2
DICOMD
ACD3
DOCOMD
MCD03
MCD11
MCD02
MCD00
When using BCD input
1 POS002
POS01
27 26
3 POS024
POS03
29 28
5
POS12
6 POS11
31 30
7
POS20
8 POS13
33 32
9 10 35
34
11 12 37
36
13 14 39
38
15 16 41
40
17 18 43
42
19 20
ACD0
45 44
21
ACD1
22 47 46
23 24 49
48
SD
25 50
DICOMD
ACD2
DICOMD
ACD3
DOCOMD
POS21
POS23
POSN
SP0
SP2
POS22
POS10
POSP
SP1
STRB
MCD12 MCD13
App. - 5
APPENDIX
App. 3 Change of connector sets to the RoHS compatible products
Connector sets (options) in the following table are changed to the RoHS compatible products after September,
2006 shipment.
Please accept that the current products might be mixed with RoHS compatible products based on availability.
Model Current Product RoHS Compatible Product
MR-J3SCNS
MR-ECNM
Amplifier connector (3M or equivalent of 3M)
36210-0100JL (Receptacle) (Note)
Amplifier connector (3M or equivalent of 3M)
36210-0100PL (Receptacle)
MR-PWCNS4 Power supply connector (DDK)
CE05-6A18-10SD-B-BSS (Connector and Back shell)
CE3057-10A-1 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A18-10SD-D-BSS (Connector and Back shell)
CE3057-10A-1-D (Cable clump)
MR-PWCNS5 Power supply connector (DDK)
CE05-6A22-22SD-B-BSS (Connector and Back shell)
CE3057-12A-1 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A22-22SD-D-BSS (Connector and Back shell)
CE3057-12A-1-D (Cable clump)
MR-PWCNS3 Power supply connector (DDK)
CE05-6A32-17SD-B-BSS (Connector and Back shell)
CE3057-20A-1 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A32-17SD-D-BSS (Connector and Back shell)
CE3057-20A-1-D (Cable clump)
MR-PWCNS1 Power supply connector (DDK)
CE05-6A22-23SD-B-BSS (Connector and Back shell)
CE3057-12A-2 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A22-23SD-D-BSS (Connector and Back shell)
CE3057-12A-2-D (Cable clump)
MR-PWCNS2 Power supply connector (DDK)
CE05-6A24-10SD-B-BSS (Connector and Back shell)
CE3057-16A-2 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A24-10SD-D-BSS (Connector and Back shell)
CE3057-16A-2-D (Cable clump)
MR-BKCN Electromagnetic brake connector
MS3106A10SL-4S(D190) (Plug, DDK)
Electromagnetic brake connector
D/MS3106A10SL-4S(D190) (Plug, DDK)
MR-J2CMP2 Amplifier connector (3M or equivalent of 3M)
10126-3000VE (connector)
Amplifier connector (3M or equivalent of 3M)
10126-3000PE (connector)
Note. RoHS compatible 36210-0100FD may be packed with current connector sets.
App. - 6
APPENDIX
App. 4 MR-J3-200T-RT servo amplifier
Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from June 2014 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. The difference between new MR-J3-200T servo amplifier and existing MR-J3-200T-RT servo amplifier is described in this appendix. Sections within parentheses in the following sections indicate corresponding sections of the instruction manual.
App. 4.1 Parts identification (1.6.1 Parts identification)
5 4
3 2
1 0 9
8 7
6 5 4
3 2
1 0 9
8 7
6
5 4
3 2
1 0 9
8 7
6
Name/Application Detailed Explanation
Section 4.3 Chapter 10
When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure.
Section 3.1 Section 3.3
Section 11.1
Communication alarm display section When using in combination with MR-J3-D01, the LED display does not have any meaning.
Chapter 6
Chapter 6 Chapter 7
Chapter 14
Analog input connector (CN20) Used to connect the analog torque limit or override analog input signal.
Digital display connector (CN30) Used to connect the MR-DP60 digital display. The MR-PRU03 parameter unit or a personal computer cannot be connected.
Section 3.1 Section 3.3
Section 11.1
Fixed part (3 places)
Section 1.4
Section 3.2 Section 3.4
Section 3.10 Section 13.1
Section 4.9 Section 13.7
Section 3.1 Section 3.3
Section 11.1 Section 13.2
Section 4.9
Section 3.1 Section 3.3
Section 11.1
CC-Link connector (CN1) When using in combination with MR-J3-D01, this connector is not used. Do not connect anything to it.
Protective earth (PE) terminal ( ) Ground terminal.
Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Battery holder Contains the battery for absolute position data backup.
Control circuit connector (CNP2) Used to connect the control circuit power supply/ regenerative ption.
Battery connector (CN4) Used to connect the battery for absolute position data backup.
Encoder connector (CN2) Used to connect the servo motor encoder.
I/O signal connector (CN6) Used to connect digital I/O signals.
I/O signal connector (CN10) Used to connect the digital I/O signal or analog output signal.
Servo motor power connector (CNP3) Used to connect the servo motor.
RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer.
USB communication connector (CN5) Used to connect the personal computer.
Main circuit power supply connector (CNP1) Used to connect the input power supply.
Display The 3-digit, seven-segment LED shows the servo status and alarm number.
Rating plate
Cooling fan
App. - 7
APPENDIX
App. 4.2 Configuration including auxiliary equipment (1.7 Configuration including auxiliary equipment)
Regenerative option
(Note 3) Power supply
R S T
CN2
CN4
MR Configurator
L2
L1
L3
P1
P2
L21
L11
U V W
MR-J3-D01
CN10
CN5
CN3
CN20
CN30
CN6
P C
No-fuse breaker (NFB) or fuse
Magnetic contactor (MC)
(Note 2)
Line noise filter (FR-BSF01)
Power factor improving DC reactor (FR-BEL)
(Note 2)
Servo amplifier
Personal computer
(Note 1) Battery MR-J3BAT
Servo motor
I/O signal
External digital display
Analog output signal
I/O signal
Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2.
3. Refer to section 1.2 for the power supply specification.
App. - 8
APPENDIX
App. 4.3 CNP1, CNP2, CNP3 wiring method (3.3.3 CNP1, CNP2, CNP3 wiring method)
(a) Servo amplifier power supply connectors
Servo amplifier power supply connectors
CNP3
CNP1
CNP2
Connector for CNP2 54928-0520 (Molex)
Connector for CNP3 PC4/3-STF-7.62-CRWH
(Phoenix Contact)
Connector for CNP1 PC4/6-STF-7.62-CRWH
(Phoenix Contact)
Servo amplifier
(b) Termination of the cables
1) CNP1 CNP3
Solid wire: After the sheath has been stripped, the cable can be used as it is.
7mm
Sheath Core
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid
a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as
it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires
together.
Cable size Bar terminal type Crimping tool Manufacturer
[mm 2 ] AWG For 1 cable For 2 cables
1.25/1.5 16 AI1.5-8BK AI-TWIN2 1.5-8BK
2.0/2.5 14 AI2.5-8BU AI-TWIN2 2.5-10BU CRIMPFOX-ZA3 Phoenix Contact
3.5 12 AI4-10Y
2) CNP2
CNP2 is the same as MR-J3-100T or smaller capacities. Refer to section 3.3.3 (1) (b).
App. - 9
APPENDIX
App. 4.4 OUTLINE DRAWINGS (Chapter 11 OUTLINE DRAWINGS)
[Unit: mm]
85
678
Approx. 25.5
90
Approx. 68 6
6
45 Approx. 80 195
21.4
6
CNP1
CNP3
CNP2
CN1
6 mounting hole
With MR-J3BAT
Rating plate
Cooling fan wind direction
Mass: 2.3 [kg] (5.07 [lb])
U
V
W
CNP3
P
C
D
L11
L21
CNP2
L1
L2
L3
N
P1
P2
CNP1
Terminal signal layout
PE terminal
Screw size: M4 Tightening torque:
1.2 [N m] (10.6 [lb in])
3-M5 screw
Approx. 90
78 0.3 Approx. 6
Mounting hole process drawing
Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.7[lb in])
Approx. 6
App. - 10
APPENDIX
App. 5 Selection example of servo motor power cable
POINT
Selection condition of wire size is as follows.
Wire length: 30m or less
Depending on the cable selected, there may be cases that the cable does not
fit into the Mitsubishi optional or recommended cable clamp. Select a cable
clamp according to the cable diameter.
Selection example when using the 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT)
for servo motor power (U, V, and W) is indicated below.
Servo motor Wire size [mm2] Servo motor Wire size [mm2] Servo motor Wire size [mm2]
HF-SP52 1.25 HC-RP153 2 HA-LP11K1M 14
HF-SP102 1.25 HC-RP203 (Note) 3.5 HA-LP15K1M 22
HF-SP152 2 HC-RP353 (Note) 5.5 HA-LP22K1M 38
HF-SP202 2 HC-RP503 (Note) 5.5 HA-LP502 5.5
HF-SP352 3.5 HC-LP52 1.25 HA-LP702 8
HF-SP502 5.5 HC-LP102 1.25 HA-LP11K2 14
HF-SP702 8 HC-LP152 2 HA-LP15K2 22
HF-SP51 1.25 HC-LP202 3.5 HA-LP22K2 22
HF-SP81 1.25 HC-LP302 5.5 HA-LP6014 5.5
HF-SP121 2 HC-UP72 1.25 HA-LP8014 5.5
HF-SP201 2 HC-UP152 2 HA-LP12K14 8
HF-SP301 3.5 HC-UP202 3.5 HA-LP15K14 14
HF-SP421 5.5 HC-UP352 5.5 HA-LP20K14 14
HF-SP524 1.25 HC-UP502 5.5 HA-LP701M4 5.5
HF-SP1024 1.25 HA-LP601 8 HA-LP11K1M4 8
HF-SP1524 2 HA-LP801 14 HA-LP15K1M4 14
HF-SP2024 2 HA-LP12K1 14 HA-LP22K1M4 14
HF-SP3524 2 HA-LP15K1 22 HA-LP11K24 8
HF-SP5024 3.5 HA-LP20K1 38 HA-LP15K24 14
HF-SP7024 5.5 HA-LP25K1 38 HA-LP22K24 14
HC-RP103 2 HA-LP701M 8
Note. Use a composite cable and others when combining with wiring of the electromagnetic brake power in the same cable.
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data *Manual Number Revision
Jun. 2006 SH(NA)030061-A First edition
Oct. 2007 SH(NA)030061-B Servo amplifiers MR-J3-60T4 to 22KT4 are added
Servo motors HF-SP524/1024/1524/2024/3524/5024/7024 are added
Servo motor HA-LP6014/701M4 are added
Compliance with
EC directives in EU
Compliance with
UL/C-UL standard
Section 1.1.2
Section 1.5
Section 1.6.1
Section 1.7
Section 2.1 (1)(b)
Section 3.1
Section 3.3.3 (3)
Section 3.3.3 (4)
Section 3.3.3 (5)
Section 3.5.4
Section 3.8.1
Section 3.10.2
(2)(a), (3)(a)
Section3.11.3
Section 4.5.2 (2)(C)
Section 5.1.4
Section 6.1
Section 10.4
Section 11.2
Section 12.1
Section 12.2
Section 12.3
Section 12.5
Section 13.1.1
Section 13.1.1 2)
Section 13.1.2
Section 13.2 (1)
Section 13.2 (2)(b)
Section 13.2 (3)
Section 13.2 (4)
Section 13.2 (5)(b),
(c)
Section 13.2 (5)
MR-J3-60T4 to MR-J3-22KT4 are added
MR-J3-60T4 to MR-J3-22KT4 are added
Note on cooling fan is added
Servo motor combination table is added
Motor power supply connector is changed to servo motor
power connector
Note is added with the power supply indication change
POINT detail is changed
Note on stepdown transformer is added
Wiring for MR-J3-200T 350T4 is added as (3)
Insertion of cable into WAGO JAPAN connector is added
Insertion of cable into Phoenix Contact connector is changed
Permissible current is added to 12VDC power supply
description
Error in the diagram is corrected
400V class motor is added to the servo motor signal
description
Note on shutting off the circuit is deleted
Timing chart is revised
80 to 87 are added to the parameter No.PA02 setting value
Compatible version is added to the table
Added
Connector model is changed due to compliance with RoHS
Layout of the figure is changed
400V class is added
Dynamic brake time constant for 400V class, and load inertia
moment ratio are added. Calculation and graphs are in the
section 12.3.1, and permissible load inertia moment is in
section12.3.2
Inrush currents for 400V class are added
Connector model and shape are changed due to compliance
with RoHS
MR-J3-200T4 350T4 connector is added
Connector model and shape are changed due to compliance
with RoHS
Regenerative options for 400V class are added
Contents of the table are revised
80 to 87 are added to the parameter No.PA02 setting value
Regenerative options for 400V class are added
Variable dimensions and description are added due to the
MR-RB34-4 and MR-RB54-4 addition
Description added
Print Data *Manual Number Revision
Oct. 2007 SH(NA)030061-B Section 13.3
Section 13.4 (2)
Section 13.4 (3)
Section 13.4 (4)
Section 13.5 (3)(b)
Section 13.5 (4)(b)
2)
Section 13.5 (6)
Section 13.6 (2)
Section 13.7 (3)
Section 13.16 (2)
Section 13.19 (1)
App. 6
Brake unit is changed to FR-BU2-(H) brake unit
Note on stepdown transformer is added
FR-RC-H15K, FR-RC-H30K, and FR-RC-H55K are added
FR-RC-H15K, FR-RC-H30K, and FR-RC-H55K are added
Note on stepdown transformer is added
Wire size selection is changed
JIS indication is deleted
Connection example circuit is changed and note on stepdown
transformer is added
Parameter No. for Dynamic brake (DB) is revised
Outline drawing is added
Error on the figure for selection example is corrected
Description of the setting is changed
Change of connector sets to the RoHS compatible products
is added
Feb. 2008 SH(NA)030061-C Safety Instructions
1. To prevent
electric shock
2. To prevent fire
4. Additional
Instructions
(1) Transportation
and installation
(2) Wiring
Partial change of sentence
Partial change of sentence
Partial change of sentence
Sentence is added
CONFORMANCE WITH UL/C-UL STANDARD
(3) Short circuit
<
used for wiring>>
Section 1.2 (1)
Section 1.4.1
Section 1.6.1 (2)
Section 1.7 (3)
Section 2.1 (1)(b)
Section 3.3.3 (2)
Section 3.10.2
(3)(a)
Section 3.10.2
(3)(b)
Section 4.3 (2)
Section 4.5.2 (2)(b)
1)
Section 5.1.13 (3)
Section 6.2
Section 10.2.2
Section 11.1 (5)
Section 13.1.1 2)
Current values changed
Addition
MR-J3-200T capacity changed
MR-J3-200 appearance changed
MR-J3-200T appearance changed Note added
MR-J3-200T appearance changed Note added
POINT Change of sentence
Addition of MR-J3-200T Note added
Note 1 changed
Drawing of terminal box inside (HA-LP601(4), 701M(4),
11K2(4)) changed
Indication list added Note 1 added
Drawing of Positioning that reverses the direction midway
changed
Drawing changed
Personal computer specifications changed. Note 3 added
RS-422/232C converter FA-T-RS40VS (Mitsubishi Electric
Engineering) deleted
Parameter error (A37) definition added
MR-J3-200T drawing changed Point added
MR-J3-200T terminal block configuration changed
Applicable cable size for terminal block produced by WAGO
JAPAN changed
Print Data *Manual Number Revision
Feb. 2008 SH(NA)030061-C Section 13.1.3 (2)
Section 13.1.4 (2)
Section 13.5 (4)
Section 13.5 (4)(b)
1)
Section 13.6 (3)
Section 13.9
Section 13.10
Section 13.11
Section 14.1
App. 4
App. 5
Note added
Note added
POINT addition
Wire size changed
Note in table added
600V grade heat-resistance PVC insulated wire (HIV cable)
added
Fuse class (K5 class) in table changed
Note in table added
RS-422/232C converter FA-T-RS40VS (Mitsubishi Electric
Engineering) deleted
Addition
Addition
Oct. 2008 SH(NA)030061-D Section 3.8.3 (2) Change of diagram
Jun. 2014 SH(NA)030061-E Section 13.2 (4)(c) CAUTION is added.
Country/Region
Sales office Tel/Fax
USA
MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
Tel Fax
: +1-847-478-2100 : +1-847-478-2253
Mexico
MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col.Zona Industrial, Tlalnepantla Edo, C.P.54030, Mxico
Tel Fax
: +52-55-9171-7600 : +52-55-9171-7649
Brazil
MITSUBISHI ELECTRIC DO BRASIL COMRCIO E SERVIOS LTDA. Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Barueri - SP, Brasil
Tel Fax
: +55-11-4689-3000 : +55-11-4689-3016
Germany
MITSUBISHI ELECTRIC EUROPE B.V. German Branch Gothaer Strasse 8, D-40880 Ratingen, Germany
Tel Fax
: +49-2102-486-0 : +49-2102-486-1120
UK
MITSUBISHI ELECTRIC EUROPE B.V. UK Branch Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K.
Tel Fax
: +44-1707-28-8780 : +44-1707-27-8695
Italy
MITSUBISHI ELECTRIC EUROPE B.V. Italian Branch Centro Direzionale Colleoni - Palazzo Sirio Viale Colleoni 7, 20864 Agrate Brianza(Milano) Italy
Tel Fax
: +39-039-60531 : +39-039-6053-312
Spain
MITSUBISHI ELECTRIC EUROPE, B.V. Spanish Branch Carretera de Rub, 76-80-Apdo. 420, 08173 Sant Cugat del Valls (Barcelona), Spain
Tel Fax
: +34-935-65-3131 : +34-935-89-1579
France
MITSUBISHI ELECTRIC EUROPE B.V. French Branch 25, Boulevard des Bouvets, F-92741 Nanterre Cedex, France
Tel Fax
: +33-1-55-68-55-68 : +33-1-55-68-57-57
Czech Republic
MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch Avenir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic
Tel Fax
: +420-251-551-470 : +420-251-551-471
Poland
MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch ul. Krakowska 50, 32-083 Balice, Poland
Tel Fax
: +48-12-630-47-00 : +48-12-630-47-01
Russia
MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua", office 720; RU-195027 St. Petersburg, Russia
Tel Fax
: +7-812-633-3497 : +7-812-633-3499
Turkey
MITSUBISHI ELECTRIC TURKEY A. mraniye Branch erifali Mahallesi Nutuk Sokak No:5 TR-34775 mraniye, stanbul, Trkey
Tel Fax
: +90-216-526-3990 : +90-216-526-3995
South Africa
ADROIT TECHNOLOGIES 20 Waterford Office Park, 189 Witkoppen Road, ZA-Fourways, South Africa
Tel Fax
: +27-11-658-8100 : +27-11-658-8101
China
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Changning District, Shanghai, China
Tel Fax
: +86-21-2322-3030 : +86-21-2322-3000
Taiwan
SETSUYO ENTERPRISE CO., LTD. 6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C.
Tel Fax
: +886-2-2299-2499 : +886-2-2299-2509
Korea
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. 1480-6, Gayang-Dong, Gangseo-Gu, Seoul, 157-200, Korea
Tel Fax
: +82-2-3660-9510 : +82-2-3664-8372/8335
Singapore
MITSUBISHI ELECTRIC ASIA PTE. LTD. 307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943
Tel Fax
: +65-6473-2308 : +65-6476-7439
Thailand
MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD. 12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng Bangpongpang, Khet Yannawa, Bangkok 10120,Thailand
Tel Fax
: +66-2682-6522 to 6531 : +66-2682-6020
Indonesia
PT. MITSUBISHI ELECTRIC INDONESIA Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia
Tel Fax
: +62-21-3192-6461 : +62-21-3192-3942
Vietnam
MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01 - 04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Vietnam
Tel Fax
: +84-8-3910-5945 : +84-8-3910-5947
India
MITSUBISHI ELECTRIC INDIA PVT. LTD. Pune Branch Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune, 411026, Maharashtra State, India
Tel Fax
: +91-20-2710-2000 : +91-20-2710-2100
Australia
MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD. 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia
Tel Fax
: +61-2-9684-7777 : +61-2-9684-7245
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.
Warranty
1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.
[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (Warranty Period). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware
or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety
device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly
maintained and replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of
the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc.
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product (1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.
SH(NA)030061-E
SH (NA) 030061-E (1406) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.
MODEL
MODEL CODE
J3 S eries
E M
R -J3- T
M R
-J3-D 01 S
ervo A m
plifier Instruction M anual (G
eneral-P urpose Interface)
General-Purpose AC Servo
MODEL
MR-J3- T MR-J3-D01 SERVO AMPLIFIER INSTRUCTION MANUAL (General-Purp
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