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Mitsubishi Electric MRJ4A Instruction Manual PDF
Summary of Content for Mitsubishi Electric MRJ4A Instruction Manual PDF
General-Purpose Interface Servo Amplifier Instruction Manual
-MR-J4-_A_ -MR-J4-_A_-RJ -MR-J4-03A6 -MR-J4-03A6-RJ
General-Purpose AC Servo
A - 1
Safety Instructions Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION". WARNING Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury. CAUTION Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, keep it accessible to the operator.
A - 2
1. To prevent electric shock, note the following
WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. Do not operate switches with wet hands. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause an electric shock. Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock. Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the power is off. The servo amplifier is charged and you may get an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. Always connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor. Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply. If a molded-case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions. When using the regenerative resistor, switch power off with the alarm signal. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.
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3. To prevent injury, note the following
CAUTION Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc. Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.
4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc. (1) Transportation and installation
CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. The equipment must be installed in the specified direction. Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet or other equipment. Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing. Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction. Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, it may cause injury, malfunction, etc. Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc. When you keep or use the equipment, please fulfill the following environment.
Item Environment Ambient
temperature Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing) Ambient
humidity Operation
5 %RH to 90 %RH (non-condensing)
Storage Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.) Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (X, Y, Z axes)
When the product has been stored for an extended period of time, contact your local sales office. When handling the servo motor, be careful with the sharp edges of the servo motor. The servo amplifier must be installed in a metal cabinet.
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CAUTION Fumigants that are used to disinfect and protect wooden packaging from insects contain halogens (such as fluorine, chlorine, bromine, and iodine) cause damage if they enter our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products. To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.
(2) Wiring
CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.
U Servo motor
MV
W
U
V
W
U
MV
W
U
V
W
Servo amplifier Servo motorServo amplifier
The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated otherwise. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.
DOCOM (DOCOMD)
Control output signal
Servo amplifier or MR-D01
RA
For sink output interface
24 V DC
DOCOM (DOCOMD)
Control output signal
24 V DC
Servo amplifier or MR-D01
RA
For source output interface
When the wires are not tightened enough to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to tighten the wires with specified torque. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an unexpected restart of the servo amplifier. To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.
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(3) Test run and adjustment
CAUTION When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly. Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not get close to moving parts during the servo-on status.
(4) Usage
CAUTION Provide an external emergency stop circuit to stop the operation and shut the power off immediately. For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision. Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury, etc. Disassembled, repaired, and/or modified products are not covered under warranty. Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident. Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the servo amplifier. Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas. Use the servo amplifier with the specified servo motor. Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may cause an electric shock, fire, injury, etc. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side. If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a malfunction of the dynamic brake or a fire.
A - 6
(5) Corrective actions
CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard. Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened with the emergency stop switch.
Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.
24 V DC
When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation. If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. After an earthquake or other natural disasters, ensure safety by checking the conditions of the installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock, injury, or fire.
(6) Maintenance, inspection and parts replacement
CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch. It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment. When using the servo amplifier that has not been energized for an extended period of time, contact your local sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.
A - 7
DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes Home position setting in the absolute position detection system
STO function of the servo amplifier The servo amplifier complies with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety standard. Refer to app. 12 for schedule. When using the STO function of the servo amplifier, refer to chapter 13. For the MR-J3-D05 safety logic unit, refer to app. 5. Compliance with global standards For the compliance with global standards, refer to app. 4.
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About the manuals
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely. When using the MR-J4-03A6(-RJ), refer to chapter 18.
Relevant manuals
Manual name Manual No.
MELSERVO MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode) (Note 5) SH(NA)030143ENG MELSERVO MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Modbus RTU Protocol) (Note 7)
SH(NA)030175ENG
MELSERVO MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual (Note 6) SH(NA)030153ENG MELSERVO MR-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113ENG MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110ENG MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112ENG MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111ENG MELSERVO EMC Installation Guidelines IB(NA)67310ENG MELSERVO Parameter Unit MR-PRU03 Instruction Manual (MR-J4) SH(NA)030186ENG MELSERVO MR-D30 Instruction Manual (Note 8) SH(NA)030132ENG
Note 1. It is necessary for using a rotary servo motor. 2. It is necessary for using a linear servo motor. 3. It is necessary for using a direct drive motor. 4. It is necessary for using a fully closed loop system. 5. It is necessary for using an MR-J4-_A_-RJ servo amplifier in the positioning mode. 6. It is necessary for using an MR-CV_ power regeneration converter unit, MR-CR_ resistance regeneration
converter unit, and MR-J4-DU_A_(-RJ) drive unit. 7. It is necessary for using the Modbus RTU communication function. 8. It is necessary for using an MR-D30 functional safety unit.
Wiring
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 C. U.S. customary units
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [Nm] 141.6 [ozinch] Moment of inertia 1 [( 10-4 kgm2)] 5.4675 [ozinch2] Load (thrust load/axial load) 1 [N] 0.2248 [lbf] Temperature N [C] 9/5 + 32 N [F]
1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-56
1.1 Summary ........................................................................................................................................... 1- 1 1.2 Function block diagram ..................................................................................................................... 1- 3 1.3 Servo amplifier standard specifications ........................................................................................... 1-11 1.4 Combinations of servo amplifiers and servo motors ........................................................................ 1-18 1.5 Function list ...................................................................................................................................... 1-21 1.6 Model designation ............................................................................................................................ 1-24 1.7 Structure .......................................................................................................................................... 1-25
1.7.1 Parts identification ..................................................................................................................... 1-25 1.7.2 Removal and reinstallation of the front cover ............................................................................ 1-40
1.8 Configuration including peripheral equipment ................................................................................. 1-42
2. INSTALLATION 2- 1 to 2- 8
2.1 Installation direction and clearances ................................................................................................. 2- 2 2.2 Keeping out of foreign materials ....................................................................................................... 2- 4 2.3 Encoder cable stress ........................................................................................................................ 2- 4 2.4 Inspection items ................................................................................................................................ 2- 5 2.5 Parts having service life .................................................................................................................... 2- 6 2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m
above sea level ................................................................................................................................. 2- 7
3. SIGNALS AND WIRING 3- 1 to 3-78
3.1 Input power supply circuit ................................................................................................................. 3- 2 3.1.1 200 V class ................................................................................................................................. 3- 4 3.1.2 400 V class ................................................................................................................................. 3- 9 3.1.3 100 V class ................................................................................................................................ 3-12
3.2 I/O signal connection example ......................................................................................................... 3-13 3.2.1 Position control mode ................................................................................................................ 3-13 3.2.2 Speed control mode .................................................................................................................. 3-16 3.2.3 Torque control mode ................................................................................................................. 3-19
3.3 Explanation of power supply system ............................................................................................... 3-22 3.3.1 Signal explanations ................................................................................................................... 3-22 3.3.2 Power-on sequence .................................................................................................................. 3-23 3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-24
3.4 Connectors and pin assignment ...................................................................................................... 3-28 3.5 Signal (device) explanations ............................................................................................................ 3-31 3.6 Detailed explanation of signals ........................................................................................................ 3-41
3.6.1 Position control mode ................................................................................................................ 3-41 3.6.2 Speed control mode .................................................................................................................. 3-46 3.6.3 Torque control mode ................................................................................................................. 3-48 3.6.4 Position/speed control switching mode ..................................................................................... 3-51 3.6.5 Speed/torque control switching mode ....................................................................................... 3-53 3.6.6 Torque/position control switching mode .................................................................................... 3-55
3.7 Forced stop deceleration function .................................................................................................... 3-56 3.7.1 Forced stop deceleration function ............................................................................................. 3-56 3.7.2 Base circuit shut-off delay time function ................................................................................... 3-58
2
3.7.3 Vertical axis freefall prevention function ................................................................................... 3-59 3.7.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-59
3.8 Alarm occurrence timing chart ......................................................................................................... 3-60 3.8.1 When you use the forced stop deceleration function ................................................................ 3-60 3.8.2 When you do not use the forced stop deceleration function ..................................................... 3-61
3.9 Interfaces ......................................................................................................................................... 3-62 3.9.1 Internal connection diagram ...................................................................................................... 3-62 3.9.2 Detailed explanation of interfaces ............................................................................................. 3-64 3.9.3 Source I/O interfaces ................................................................................................................ 3-68
3.10 Servo motor with an electromagnetic brake .................................................................................. 3-70 3.10.1 Safety precautions .................................................................................................................. 3-70 3.10.2 Timing chart............................................................................................................................. 3-72
3.11 Grounding ...................................................................................................................................... 3-77
4. STARTUP 4- 1 to 4-44
4.1 Switching power on for the first time ................................................................................................. 4- 2 4.1.1 Startup procedure ....................................................................................................................... 4- 2 4.1.2 Wiring check ............................................................................................................................... 4- 3 4.1.3 Surrounding environment ........................................................................................................... 4- 6
4.2 Startup in position control mode ....................................................................................................... 4- 6 4.2.1 Power on and off procedures ..................................................................................................... 4- 6 4.2.2 Stop ............................................................................................................................................ 4- 7 4.2.3 Test operation ............................................................................................................................ 4- 8 4.2.4 Parameter setting ....................................................................................................................... 4- 9 4.2.5 Actual operation ......................................................................................................................... 4- 9 4.2.6 Trouble at start-up ...................................................................................................................... 4- 9
4.3 Startup in speed control mode ......................................................................................................... 4-12 4.3.1 Power on and off procedures .................................................................................................... 4-12 4.3.2 Stop ........................................................................................................................................... 4-13 4.3.3 Test operation ........................................................................................................................... 4-14 4.3.4 Parameter setting ...................................................................................................................... 4-15 4.3.5 Actual operation ........................................................................................................................ 4-15 4.3.6 Trouble at start-up ..................................................................................................................... 4-15
4.4 Startup in torque control mode ........................................................................................................ 4-17 4.4.1 Power on and off procedures .................................................................................................... 4-17 4.4.2 Stop ........................................................................................................................................... 4-17 4.4.3 Test operation ........................................................................................................................... 4-18 4.4.4 Parameter setting ...................................................................................................................... 4-19 4.4.5 Actual operation ........................................................................................................................ 4-19 4.4.6 Trouble at start-up ..................................................................................................................... 4-20
4.5 Display and operation sections ........................................................................................................ 4-21 4.5.1 Summary ................................................................................................................................... 4-21 4.5.2 Display flowchart ....................................................................................................................... 4-22 4.5.3 Status display mode .................................................................................................................. 4-23 4.5.4 Diagnostic mode ........................................................................................................................ 4-30 4.5.5 Alarm mode ............................................................................................................................... 4-32 4.5.6 Parameter mode ........................................................................................................................ 4-33 4.5.7 External I/O signal display ......................................................................................................... 4-35 4.5.8 Output signal (DO) forced output .............................................................................................. 4-38 4.5.9 Test operation mode ................................................................................................................. 4-39
3
5. PARAMETERS 5- 1 to 5-78
5.1 Parameter list .................................................................................................................................... 5- 2 5.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 5- 2 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 3 5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 5 5.1.4 I/O setting parameters ([Pr. PD_ _ ]).......................................................................................... 5- 7 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 5- 8 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-10 5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-11 5.1.8 Option setting parameters ([Pr. Po_ _ ]) ................................................................................... 5-12
5.2 Detailed list of parameters ............................................................................................................... 5-13 5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 5-13 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-26 5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-40 5.2.4 I/O setting parameters ([Pr. PD_ _ ])......................................................................................... 5-55 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 5-63 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-66 5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-69 5.2.8 Option setting parameters ([Pr. Po_ _ ]) ................................................................................... 5-72
5.3 Stop system when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off ...................................................................................................................................... 5-78
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-32
6.1 Different adjustment methods ........................................................................................................... 6- 1 6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1 6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2
6.2 One-touch tuning .............................................................................................................................. 6- 3 6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 5 6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 8 6.2.3 Caution for one-touch tuning ..................................................................................................... 6-22
6.3 Auto tuning ....................................................................................................................................... 6-23 6.3.1 Auto tuning mode ...................................................................................................................... 6-23 6.3.2 Auto tuning mode basis ............................................................................................................. 6-24 6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-25 6.3.4 Response level setting in auto tuning mode ............................................................................. 6-26
6.4 Manual mode ................................................................................................................................... 6-27 6.5 2 gain adjustment mode................................................................................................................... 6-30
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-40
7.1 Filter setting ...................................................................................................................................... 7- 1 7.1.1 Machine resonance suppression filter........................................................................................ 7- 2 7.1.2 Adaptive filter II ........................................................................................................................... 7- 5 7.1.3 Shaft resonance suppression filter ............................................................................................. 7- 8 7.1.4 Low-pass filter ............................................................................................................................ 7- 9 7.1.5 Advanced vibration suppression control II ................................................................................. 7- 9 7.1.6 Command notch filter ................................................................................................................ 7-14
7.2 Gain switching function .................................................................................................................... 7-16 7.2.1 Applications ............................................................................................................................... 7-16
4
7.2.2 Function block diagram ............................................................................................................. 7-17 7.2.3 Parameter .................................................................................................................................. 7-18 7.2.4 Gain switching procedure .......................................................................................................... 7-21
7.3 Tough drive function ........................................................................................................................ 7-25 7.3.1 Vibration tough drive function .................................................................................................... 7-25 7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-27
7.4 Compliance with SEMI-F47 standard .............................................................................................. 7-31 7.5 Model adaptive control disabled ...................................................................................................... 7-34 7.6 Lost motion compensation function ................................................................................................. 7-35 7.7 Super trace control ........................................................................................................................... 7-38
8. TROUBLESHOOTING 8- 1 to 8-14
8.1 Explanation for the lists ..................................................................................................................... 8- 1 8.2 Alarm list ........................................................................................................................................... 8- 2 8.3 Warning list ...................................................................................................................................... 8-11
9. DIMENSIONS 9- 1 to 9-22
9.1 Servo amplifier .................................................................................................................................. 9- 1 9.2 Connector ........................................................................................................................................ 9-20
10. CHARACTERISTICS 10- 1 to 10-16
10.1 Overload protection characteristics .............................................................................................. 10- 1 10.2 Power supply capacity and generated loss .................................................................................. 10- 5 10.3 Dynamic brake characteristics ...................................................................................................... 10- 8
10.3.1 Dynamic brake operation ....................................................................................................... 10- 9 10.3.2 Permissible load to motor inertia when the dynamic brake is used ...................................... 10-12
10.4 Cable bending life ........................................................................................................................ 10-13 10.5 Inrush currents at power-on of main circuit and control circuit .................................................... 10-14
11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-134
11.1 Cable/connector sets .................................................................................................................... 11- 1 11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2 11.1.2 MR-D05UDL3M-B STO cable ................................................................................................ 11- 6 11.1.3 Battery cable/junction battery cable ....................................................................................... 11- 7
11.2 Regenerative options .................................................................................................................... 11- 8 11.2.1 Combination and regenerative power .................................................................................... 11- 8 11.2.2 Selection of regenerative option ........................................................................................... 11-10 11.2.3 Parameter setting .................................................................................................................. 11-14 11.2.4 Connection of regenerative option ........................................................................................ 11-14 11.2.5 Mounting direction ................................................................................................................. 11-20 11.2.6 Dimensions ............................................................................................................................ 11-21
11.3 FR-BU2-(H) Brake unit ................................................................................................................ 11-24 11.3.1 Selection ................................................................................................................................ 11-25 11.3.2 Brake unit parameter setting ................................................................................................. 11-25 11.3.3 Connection example ............................................................................................................. 11-26 11.3.4 Dimensions ............................................................................................................................ 11-36
11.4 FR-RC-(H) power regeneration converter ................................................................................... 11-38
5
11.5 FR-CV-(H) power regeneration common converter ..................................................................... 11-43 11.5.1 Model designation ................................................................................................................. 11-43 11.5.2 Selection example ................................................................................................................. 11-44
11.6 Junction terminal block MR-TB50 ................................................................................................ 11-52 11.7 MR Configurator2 ......................................................................................................................... 11-55
11.7.1 Engineering software ............................................................................................................ 11-55 11.7.2 Precautions for using USB communication function ............................................................. 11-55
11.8 Battery .......................................................................................................................................... 11-56 11.8.1 Selection of battery ............................................................................................................... 11-56 11.8.2 MR-BAT6V1SET battery ....................................................................................................... 11-57 11.8.3 MR-BAT6V1BJ battery for junction battery cable ................................................................. 11-61 11.8.4 MR-BAT6V1SET-A battery ................................................................................................... 11-65 11.8.5 MR-BT6VCASE battery case ................................................................................................ 11-69 11.8.6 MR-BAT6V1 battery .............................................................................................................. 11-75
11.9 Selection example of wires .......................................................................................................... 11-76 11.10 Molded-case circuit breakers, fuses, magnetic contactors ........................................................ 11-80 11.11 Power factor improving DC reactors .......................................................................................... 11-83 11.12 Power factor improving AC reactors .......................................................................................... 11-88 11.13 Relays (recommended) ............................................................................................................. 11-91 11.14 Noise reduction techniques ....................................................................................................... 11-92 11.15 Earth-leakage current breaker ................................................................................................... 11-99 11.16 EMC filter (recommended) ....................................................................................................... 11-102 11.17 External dynamic brake ........................................................................................................... 11-110 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) ........................................................ 11-122 11.19 Multifunction regeneration converter FR-XC-(H) ..................................................................... 11-127
11.19.1 Multifunction regeneration converters and dedicated stand-alone reactors ..................... 11-127 11.19.2 Precautions ....................................................................................................................... 11-127 11.19.3 Servo amplifier settings ..................................................................................................... 11-127 11.19.4 Capacity selection ............................................................................................................. 11-128 11.19.5 Connection diagrams ........................................................................................................ 11-130 11.19.6 Wiring and peripheral options ........................................................................................... 11-132
12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12-30
12.1 Summary ....................................................................................................................................... 12- 1 12.1.1 Features ................................................................................................................................. 12- 1 12.1.2 Restrictions ............................................................................................................................. 12- 2 12.1.3 Structure ................................................................................................................................. 12- 2 12.1.4 Parameter setting ................................................................................................................... 12- 3 12.1.5 Confirmation of absolute position detection data ................................................................... 12- 3
12.2 Battery ........................................................................................................................................... 12- 4 12.2.1 Using MR-BAT6V1SET battery or MR-BAT6V1SET-A battery ............................................. 12- 4 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable ........................................................ 12- 5 12.2.3 Using MR-BT6VCASE battery case ....................................................................................... 12- 6
12.3 Standard connection example ...................................................................................................... 12- 7 12.4 Signal explanation ......................................................................................................................... 12- 8 12.5 Startup procedure ......................................................................................................................... 12- 9 12.6 Absolute position data transfer protocol ...................................................................................... 12-10
12.6.1 Data transfer procedure ........................................................................................................ 12-10 12.6.2 Transfer method .................................................................................................................... 12-11 12.6.3 Home position setting ............................................................................................................ 12-20
6
12.6.4 Use of servo motor with an electromagnetic brake ............................................................... 12-22 12.6.5 How to process the absolute position data at detection of stroke end ................................. 12-23
12.7 Absolute position data transfer errors .......................................................................................... 12-23 12.8 Communication-based absolute position transfer system ........................................................... 12-26
12.8.1 Serial communication command ........................................................................................... 12-26 12.8.2 Absolute position data transfer protocol ................................................................................ 12-26
13. USING STO FUNCTION 13- 1 to 13-14
13.1 Introduction ................................................................................................................................... 13- 1 13.1.1 Summary ................................................................................................................................ 13- 1 13.1.2 Terms related to safety .......................................................................................................... 13- 1 13.1.3 Cautions ................................................................................................................................. 13- 1 13.1.4 Residual risks of the STO function ......................................................................................... 13- 2 13.1.5 Specifications ......................................................................................................................... 13- 3 13.1.6 Maintenance ........................................................................................................................... 13- 4
13.2 STO I/O signal connector (CN8) and signal layouts ..................................................................... 13- 4 13.2.1 Signal layouts ......................................................................................................................... 13- 4 13.2.2 Signal (device) explanations .................................................................................................. 13- 5 13.2.3 How to pull out the STO cable ............................................................................................... 13- 5
13.3 Connection example ..................................................................................................................... 13- 6 13.3.1 Connection example for CN8 connector ................................................................................ 13- 6 13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit .................... 13- 7 13.3.3 External I/O signal connection example using an external safety relay unit ......................... 13-10
13.4 Detailed description of interfaces ................................................................................................. 13-11 13.4.1 Sink I/O interface ................................................................................................................... 13-11 13.4.2 Source I/O interface .............................................................................................................. 13-12
14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 14- 1 to 14-44
14.1 Structure ....................................................................................................................................... 14- 2 14.1.1 Configuration diagram ............................................................................................................ 14- 2 14.1.2 Precautions for using RS-422/RS-232C/USB communication function ................................. 14- 4
14.2 Communication specifications ...................................................................................................... 14- 5 14.2.1 Outline of communication ....................................................................................................... 14- 5 14.2.2 Parameter setting ................................................................................................................... 14- 5
14.3 Protocol ......................................................................................................................................... 14- 6 14.3.1 Transmission data configuration ............................................................................................ 14- 6 14.3.2 Character codes ..................................................................................................................... 14- 7 14.3.3 Error codes ............................................................................................................................. 14- 8 14.3.4 Checksum .............................................................................................................................. 14- 8 14.3.5 Time-out processing ............................................................................................................... 14- 9 14.3.6 Retry processing .................................................................................................................... 14- 9 14.3.7 Initialization............................................................................................................................. 14- 9 14.3.8 Communication procedure example ..................................................................................... 14-10
14.4 Command and data No. list ......................................................................................................... 14-11 14.4.1 Reading command ................................................................................................................ 14-11 14.4.2 Writing commands ................................................................................................................ 14-18
14.5 Detailed explanations of commands ............................................................................................ 14-20 14.5.1 Data processing .................................................................................................................... 14-20 14.5.2 Status display mode .............................................................................................................. 14-22
7
14.5.3 Parameter .............................................................................................................................. 14-23 14.5.4 External I/O signal status (DIO diagnosis) ............................................................................ 14-27 14.5.5 Input device on/off ................................................................................................................. 14-30 14.5.6 Disabling/enabling I/O devices (DIO) .................................................................................... 14-31 14.5.7 Input devices on/off (test operation) ...................................................................................... 14-32 14.5.8 Test operation mode ............................................................................................................. 14-33 14.5.9 Output signal pin on/off (output signal (DO) forced output) .................................................. 14-37 14.5.10 Alarm history ....................................................................................................................... 14-38 14.5.11 Current alarm ...................................................................................................................... 14-39 14.5.12 Specifying servo amplifier groups ....................................................................................... 14-40 14.5.13 Machine diagnosis/service life diagnosis ............................................................................ 14-41 14.5.14 Other commands ................................................................................................................. 14-43
15. USING A LINEAR SERVO MOTOR 15- 1 to 15-32
15.1 Functions and configuration .......................................................................................................... 15- 1 15.1.1 Summary ................................................................................................................................ 15- 1 15.1.2 Configuration including peripheral equipment ........................................................................ 15- 2
15.2 Signals and wiring ......................................................................................................................... 15- 6 15.3 Operation and functions ................................................................................................................ 15- 7
15.3.1 Startup .................................................................................................................................... 15- 7 15.3.2 Magnetic pole detection ........................................................................................................ 15-11 15.3.3 Home position return ............................................................................................................. 15-19 15.3.4 Test operation mode in MR Configurator2 ............................................................................ 15-23 15.3.5 Function ................................................................................................................................. 15-24 15.3.6 Absolute position detection system ....................................................................................... 15-27
15.4 Characteristics ............................................................................................................................. 15-28 15.4.1 Overload protection characteristics ....................................................................................... 15-28 15.4.2 Power supply capacity and generated loss ........................................................................... 15-29 15.4.3 Dynamic brake characteristics .............................................................................................. 15-30 15.4.4 Permissible load to motor mass ratio when the dynamic brake is used ............................... 15-31
16. USING A DIRECT DRIVE MOTOR 16- 1 to 16-20
16.1 Functions and configuration .......................................................................................................... 16- 1 16.1.1 Summary ................................................................................................................................ 16- 1 16.1.2 Configuration including peripheral equipment ........................................................................ 16- 2
16.2 Signals and wiring ......................................................................................................................... 16- 3 16.3 Operation and functions ................................................................................................................ 16- 4
16.3.1 Startup procedure .................................................................................................................. 16- 5 16.3.2 Magnetic pole detection ......................................................................................................... 16- 6 16.3.3 Function ................................................................................................................................. 16-12
16.4 Absolute position detection system ............................................................................................. 16-14 16.5 Characteristics ............................................................................................................................. 16-15
16.5.1 Overload protection characteristics ....................................................................................... 16-15 16.5.2 Power supply capacity and generated loss ........................................................................... 16-17 16.5.3 Dynamic brake characteristics .............................................................................................. 16-18
17. FULLY CLOSED LOOP SYSTEM 17- 1 to 17-24
17.1 Functions and configuration .......................................................................................................... 17- 2
8
17.1.1 Function block diagram .......................................................................................................... 17- 2 17.1.2 Selecting procedure of control mode ..................................................................................... 17- 3 17.1.3 System configuration .............................................................................................................. 17- 4
17.2 Load-side encoder ........................................................................................................................ 17- 6 17.2.1 Linear encoder ....................................................................................................................... 17- 6 17.2.2 Rotary encoder ....................................................................................................................... 17- 6 17.2.3 Configuration diagram of encoder cable ................................................................................ 17- 7 17.2.4 MR-J4FCCBL03M branch cable ............................................................................................ 17- 9
17.3 Operation and functions ............................................................................................................... 17-10 17.3.1 Startup ................................................................................................................................... 17-10 17.3.2 Home position return ............................................................................................................. 17-17 17.3.3 Fully closed loop control error detection functions ................................................................ 17-20 17.3.4 Auto tuning function .............................................................................................................. 17-21 17.3.5 Machine analyzer function .................................................................................................... 17-21 17.3.6 Test operation mode ............................................................................................................. 17-21 17.3.7 Absolute position detection system under fully closed loop system ..................................... 17-22 17.3.8 About MR Configurator2 ....................................................................................................... 17-23
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER 18- 1 to 18-82
18.1 Functions and configuration .......................................................................................................... 18- 1 18.1.1 Summary ................................................................................................................................ 18- 1 18.1.2 Function block diagram .......................................................................................................... 18- 2 18.1 3 Servo amplifier standard specifications ................................................................................. 18- 3 18.1.4 Combinations of servo amplifiers and servo motors .............................................................. 18- 4 18.1.5 Function list ............................................................................................................................ 18- 5 18.1.6 Model definition ...................................................................................................................... 18- 8 18.1.7 Parts identification .................................................................................................................. 18- 9 18.1.8 Configuration including peripheral equipment ....................................................................... 18-10
18.2 Installation .................................................................................................................................... 18-11 18.2.1 Installation direction and clearances ..................................................................................... 18-12 18.2.2 Installation by DIN rail ........................................................................................................... 18-14
18.3 Signals and wiring ........................................................................................................................ 18-16 18.3.1 Input power supply circuit ...................................................................................................... 18-17 18.3.2 Explanation of power supply system ..................................................................................... 18-19 18.3.3 Selection of main circuit power supply/control circuit power supply ..................................... 18-22 18.3.4 Power-on sequence .............................................................................................................. 18-22 18.3.5 I/O signal connection example .............................................................................................. 18-23 18.3.6 Connectors and pin assignment............................................................................................ 18-31 18.3.7 Signal (device) explanations ................................................................................................. 18-34 18.3.8 Alarm occurrence timing chart .............................................................................................. 18-38 18.3.9 Interfaces (Internal connection diagram) .............................................................................. 18-40 18.3.10 Grounding ........................................................................................................................... 18-42
18.4 Startup ......................................................................................................................................... 18-43 18.4.1 Startup procedure ................................................................................................................. 18-44 18.4.2 Troubleshooting when "24 V ERROR" lamp turns on ........................................................... 18-45 18.4.3 Wiring check .......................................................................................................................... 18-46 18.4.4 Surrounding environment ...................................................................................................... 18-47
18.5 Display and operation sections .................................................................................................... 18-47 18.5.1 Summary ............................................................................................................................... 18-47 18.5.2 Display flowchart ................................................................................................................... 18-48
9
18.5.3 Status display mode .............................................................................................................. 18-49 18.5.4 One-touch tuning ................................................................................................................... 18-53 18.5.5 Diagnostic mode ................................................................................................................... 18-57 18.5.6 Alarm mode ........................................................................................................................... 18-60 18.5.7 Parameter mode ................................................................................................................... 18-62 18.5.8 External I/O signal display ..................................................................................................... 18-67 18.5.9 Output signal (DO) forced output .......................................................................................... 18-70 18.5.10 Test operation mode ........................................................................................................... 18-71
18.6 Dimensions .................................................................................................................................... 18-7 18.7 Characteristics ............................................................................................................................. 18-74
18.7.1 Overload protection characteristics ....................................................................................... 18-74 18.7.2 Power supply capacity and generated loss ........................................................................... 18-75 18.7.3 Dynamic brake characteristics .............................................................................................. 18-75 18.7.4 Inrush currents at power-on of main circuit and control circuit ............................................. 18-77
18.8 Options and peripheral equipment ............................................................................................... 18-78 18.8.1 Cable/connector sets ............................................................................................................ 18-78 18.8.2 Combinations of cable/connector sets .................................................................................. 18-79 18.8.3 Selection example of wires ................................................................................................... 18-80 18.8.4 Circuit protector ..................................................................................................................... 18-80
18.9 Communication function (Mitsubishi Electric general-purpose AC servo protocol) ..................... 18-81
19. MR-D01 EXTENSION I/O UNIT 19- 1 to 19-48
19.1 Function block diagram ................................................................................................................. 19- 2 19.2 Structure ....................................................................................................................................... 19- 4
19.2.1 Parts identification .................................................................................................................. 19- 4 19.2.2 Installation and removal of the MR-D01 extension I/O unit ................................................... 19- 5
19.3 Configuration including peripheral equipment .............................................................................. 19- 9 19.4 Installation direction and clearances ............................................................................................ 19-11 19.5 Signals and wiring ........................................................................................................................ 19-13
19.5.1 I/O Signal Connection Example ............................................................................................ 19-14 19.5.2 Connectors and pin assignment............................................................................................ 19-29 19.5.3 Signal (device) explanations ................................................................................................. 19-31 19.5.4 Interface ................................................................................................................................ 19-37
19.6 Monitor display with MR Configurator2 ........................................................................................ 19-41 19.7 Dimensions .................................................................................................................................. 19-43
19.7.1 MR-D01 extension I/O unit .................................................................................................... 19-43 19.7.2 When an MR-D01 extension IO unit is connected to a servo amplifier ................................ 19-43
19.8 Options peripheral equipment ...................................................................................................... 19-44 19.8.1 Combinations of cable/connector sets .................................................................................. 19-44 19.8.2 PS7DW-20V14B-F (Junction terminal block) (recommended) ............................................. 19-45 19.8.3 MR-TB50 (Junction terminal block) ....................................................................................... 19-47
APPENDIX App.- 1 to App.-74
App. 1 Peripheral equipment manufacturer (for reference) .............................................................. App.- 1 App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the
Transport of Dangerous Goods ............................................................................................. App.- 1 App. 3 Symbol for the new EU Battery Directive .............................................................................. App.- 4 App. 4 Compliance with global standards ........................................................................................ App.- 5 App. 5 MR-J3-D05 Safety logic unit ................................................................................................ App.-21
10
App. 6 EC declaration of conformity ................................................................................................ App.-39 App. 7 Analog monitor ..................................................................................................................... App.-42 App. 8 Two-wire type encoder cable for HG-MR/HG-KR ................................................................ App.-55 App. 9 How to replace servo amplifier without magnetic pole detection ......................................... App.-56 App. 10 Special specification ............................................................................................................. App.-58 App. 11 Driving on/off of main circuit power supply with DC power supply ...................................... App.-62 App. 12 STO function with SIL 3 certification .................................................................................... App.-63 App. 13 When using the servo amplifier with the DC power supply input ......................................... App.-65 App. 14 Status of general-purpose AC servo products for compliance with the China RoHS directive .......... App.-70 App. 15 Encoder output pulse setting method................................................................................... App.-72 App. 16 How to adjust the error excessive alarm level ..................................................................... App.-73
1. FUNCTIONS AND CONFIGURATION
1 - 1
1. FUNCTIONS AND CONFIGURATION
POINT In MELSERVO-J4 series, ultra-small capacity servo amplifiers compatible with 48 V DC and 24 V DC power supplies are available as MR-J4-03A6(-RJ). Refer to chapter 18 for details of MR-J4-03A6(-RJ) servo amplifiers.
1.1 Summary
The Mitsubishi Electric MELSERVO-J4 series general-purpose AC servo has further higher performance and higher functions compared to the previous MELSERVO-J3 series. The MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) high- resolution absolute encoder. In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and more accurate control is enabled as compared to the MELSERVO-J3 series. The servo amplifier has position, speed, and torque control modes. In the position control mode, the maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control. With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to the machine. The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN series, have been improved. The MR-J4 servo amplifier supports the improved functions. Additionally, the preventive maintenance support function detects an error in the machine parts. This function provides strong support for the machine maintenance and inspection. The MR-J4-_A_ servo amplifier supports the STO (Safe Torque Off) function. By combining with optional MR-J3-D05, the servo amplifier supports SS1 (Safe Stop 1) function. The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain adjustment, and others. In the MELSERVO-J4 series, servo amplifiers with the CN2L connector are also available as MR-J4-_A_-RJ. By using the CN2L connector, an A/B/Z-phase differential output method external encoder can be connected to the servo amplifier. In a fully closed loop system, a four-wire type external encoder is connectable as well. The following table indicates the communication method of the external encoder compatible with the MR-J4- _A_ and MR-J4-_A_-RJ servo amplifiers.
1. FUNCTIONS AND CONFIGURATION
1 - 2
Table 1.1 Connectors to connect external encoders
Operation mode
External encoder communication
method
Connector
MR-J4-_A_ MR-J4-_A_-RJ
Linear servo system
Two-wire type CN2 (Note 1, 4)
CN2 (Note 1) Four-wire type
A/B/Z-phase differential output
method CN2L
(Note 5)
Fully closed loop system
Two-wire type CN2 (Note 2, 3, 4)
CN2L Four-wire type
A/B/Z-phase differential output
method
Note 1. The MR-J4THCBL03M branch cable is necessary. 2. The MR-J4FCCBL03M branch cable is necessary. 3. When the communication method of the servo motor encoder is four-wire type,
MR-J4-_A_ cannot be used. Use an MR-J4-_A_-RJ. 4. This is used with software version A5 or later. 5. Connect a thermistor to CN2.
1. FUNCTIONS AND CONFIGURATION
1 - 3
1.2 Function block diagram
The function block diagram of this servo is shown below.
POINT The diagram shows MR-J4-_A_-RJ as an example. The MR-J4-_A_ servo amplifier does not have the CN2L connector.
(1) 200 V class
(a) MR-J4-500A(-RJ) or less
U U
U
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
L11
L21
Cooling fan (Note 3)
Encoder
(Note 4) N-C D
L3
L2
L1
Dynamic brake circuit
Power factor improving DC reactor
Current detection
Overcurrent protection
Voltage detection
(Note 2) Power supply
MCMCCB
Base amplifier
STO circuit
Position command
input
Servo amplifier
U
V
W
U
V
W
P3 P4 Diode stack Relay
P+
+
+ B RA
24 V DC
B1
B2
Battery (for absolute position detection system)
C N
4 STO
switch
Model speed Model torque
M
C N
2C N
8
Control circuit power
Model position control
Model speed control
Servo motor
CHARGE lamp
Regene- rative
TR
Current encoder
Regenerative option
CN5 CN3 CN6
Analog monitor (two channel)
I/F USB RS-422/
RS-485 D/AA/D
USB RS-422/ RS-485
ControllerPersonal computer
Analog (two channel)
DI/O control Servo-on Input command pulse. Start Malfunction, etc
CN1
Electromagnetic brake
Step- down circuit
(Note 1)
C N
2L External encoder
(Note 5)
(Note 6)
1. FUNCTIONS AND CONFIGURATION
1 - 4
Note 1. The built-in regenerative resistor is not provided for MR-J4-10A(-RJ). 2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply
specifications, refer to section 1.3. 3. Servo amplifiers MR-J4-70A(-RJ) or more have a cooling fan. 4. The MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1
and P2 of the MR-J3 servo amplifiers. 5. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. 6. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
1. FUNCTIONS AND CONFIGURATION
1 - 5
(b) MR-J4-700A(-RJ)
U U
U
L11
L21
Cooling fan
N-C
L3
L2
L1MCMCCB U
V
W
U
V
W
P3 P4 (Note 2) P+
+
+ B RA B1
B2
C N
4
M
C N
2C N
8
CN5 CN3 CN6 I/F
USB RS-422/ RS-485
D/AA/D
USB RS-422/ RS-485
CN1
(Note 1) Power supply
Servo amplifier
Power factor improving DC reactor
Regenerative option
Diode stack Relay
Regene- rative
TR
CHARGE lamp
Dynamic brake circuit
Current encoder
Servo motor
24 V DC Electromagnetic brake
STO switch
Control circuit power STO
circuit
Current detection
Overcurrent protection
Voltage detection
Base amplifier
Encoder
Step- down circuit
Battery (for absolute position detection system)
Position command
input Model position control
Model speed control
Virtual motor
Virtual encoder
Model position Model speed Model torque
Current control
Actual position control
Actual speed control
Analog monitor (two channel)
ControllerPersonal computer
Analog (two channel)
DI/O control Servo-on Input command pulse. Start Malfunction, etc
C N
2L External encoder
(Note 3)
(Note 4)
Note 1. For the power supply specifications, refer to section 1.3. 2. The MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1
and P2 of MR-J3 servo amplifiers. 3. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. 4. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
1. FUNCTIONS AND CONFIGURATION
1 - 6
(c) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)/MR-J4-22KA(-RJ)
U U
U
L11
L21
N-
(Note 4, 6)
C
L3
L2
L1
External dynamic brake (optional)
MCMCCB U
V
W
U
V
W
P3 P+
+
+ B RA B1
B2
C N
4
M
C N
2C N
8
External regenerative resistor or
regenerative option
CN5 CN3 CN6 I/F
USB RS-422/ RS-485
D/AA/D
USB RS-422/ RS-485
CN1
C N
2L External encoder
(Note 3)
P4
Thyristor
(Note 5)
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
Cooling fan
Encoder
(Note 2)
Power factor improving DC reactor
Current detection
Overcurrent protection
Voltage detection
(Note 1) Power supply
Base amplifier
STO circuit
Position command
input
Servo amplifier
Diode stack
24 V DC
Battery (for absolute position detection system)
STO switch
Model speed Model torque
Control circuit power
Model position control
Model speed control
Servo motor
CHARGE lamp
Regene- rative
TR
Current encoder
Analog monitor (two channel)
ControllerPersonal computer
Analog (two channel)
DI/O control Servo-on Input command pulse. Start Malfunction, etc
Step- down circuit
Electromagnetic brake
Note 1. For the power supply specifications, refer to section 1.3. 2. The MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1
and P2 of the MR-J3 servo amplifiers. 3. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. 4. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.
5. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
6. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
1. FUNCTIONS AND CONFIGURATION
1 - 7
(2) 400 V class
(a) MR-J4-350A4(-RJ) or less
U U
U
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
L11
L21
Cooling fan (Note 2)
Encoder
N-C D
L3
L2
L1
Dynamic brake circuit
(Note 5) Power factor
improving DC reactor
Current detection
Overcurrent protection
Voltage detection
(Note 1) Power supply
MCMCCB
Base amplifier
STO circuit
Position command
input
Servo amplifier
U
V
W
U
V
W
P3 P4 (Note 3)
Diode stack Relay
P+
+
+ B RA
24 V DC
B1
B2
Battery (For absolute position detection system)
C N
4
STO switch
Model speed Model torque
M
C N
2C N
8
Control circuit power supply
Model position control
Model speed control
Servo motor
Charge lamp
Regene- rative TR
Current detector
Regenerative option
CN5 CN3 CN6
Analog monitor (2 channels)
I/F USB RS-422/
RS-485
RS-422/ RS-485
D/AA/D
USB
ControllerPersonal computer
Analog (2 channels)
DI/O control Servo-on Input command pulse. Start Malfunction, etc
CN1
Step- down circuit
External encoder
(Note 4)
Electromagnetic brake
C N
2L
Note 1. Refer to section 1.3 for the power supply specification. 2. Servo amplifiers MR-J4-200A4(-RJ) or more have a cooling fan. 3. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers. 4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. 5. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
1. FUNCTIONS AND CONFIGURATION
1 - 8
(b) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)
U U
U
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
L11
L21
Cooling fan
Encoder
N-C
L3
L2
L1
Dynamic brake circuit
Current detection
Overcurrent protection
Voltage detection
(Note 1) Power supply
MCMCCB
Base amplifier
STO circuit
Position command
input
Servo amplifier
U
V
W
U
V
W
P3 P4 (Note 2) Diode stack Relay
P+
+
+ B RA
24 V DC
B1
B2
Battery (For absolute position detection system)
C N
4
STO switch
Model speed Model torque
M
C N
2C N
8
Control circuit power supply
Model position control
Model speed control
Servo motor
Charge lamp
Regene- rative TR
Current detector
Regenerative option
CN5 CN3 CN6
Analog monitor (2 channels)
I/F USB RS-422/
RS-485
RS-422/ RS-485
D/AA/D
USB
ControllerPersonal computer
Analog (2 channels)
DI/O control Servo-on Input command pulse. Start Malfunction, etc
CN1
Step- down circuit
External encoder
(Note 3)
(Note 4) Power factor
improving DC reactor
Electromagnetic brake
C N
2L
Note 1. Refer to section 1.3 for the power supply specification. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers. 3. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. 4. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
1. FUNCTIONS AND CONFIGURATION
1 - 9
(c) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)/MR-J4-22KA4(-RJ)
External dynamic brake
(optional)
Thyristor
U U
U
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
L11
L21
Cooling fan
Encoder
N-C
L3
L2
L1
Current detection
Overcurrent protection
Voltage detection
(Note 1) Power supply
MCMCCB
Base amplifier
STO circuit
Position command
input
Servo amplifier P3 P4 (Note 2)
(Note 4, 6)
Diode stack
P+
+
+ B RA
24 V DC
B1
B2
Battery (For absolute position detection system)
C N
4
STO switch
Model speed Model torque
M
C N
2C N
8
Control circuit power supply
Model position control
Model speed control
Servo motor
Charge lamp
Regene- rative TR
Current detector
External regenerative resistor
or regenerative option
CN5 CN3 CN6
Analog monitor (2 channels)
I/F USB RS-422/
RS-485
RS-422/ RS-485
D/AA/D
USB
ControllerPersonal computer
Analog (2 channels)
DI/O control Servo-on Input command pulse. Start Malfunction, etc
CN1
Step- down circuit
External encoder
U
V
W
U
V
W
(Note 3)
(Note 5) Power factor
improving DC reactor
Electromagnetic brake
C N
2L
Note 1. Refer to section 1.3 for the power supply specification. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers. 3. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. 4. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.
5. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
6. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
1. FUNCTIONS AND CONFIGURATION
1 - 10
(3) 100 V class
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
L11
L21
Encoder
N-C D
Dynamic brake circuit
Current detection
Overcurrent protection
Voltage detection
(Note 2) Power supply
Base amplifier
STO circuit
Position command
input
Servo amplifier
U
V
W
U
V
W
P+
+ B RA
24 V DC
B1
B2
Battery (For absolute position detection system)
C N
4
STO switch
Model speed Model torque
M
C N
2C N
8
Control circuit power
Model position control
Model speed control
Servo motor
Regene- rative TR
Current encoder
Regenerative option
CN5 CN3 CN6
Analog monitor (two channel)
I/F USB RS-422/
RS-485
RS-422/ RS-485
D/AA/D
USB
ControllerPersonal computer
Analog (two channel)
DI/O control Servo-on Input command pulse. Start Malfunction, etc
CN1
Step- down circuit
C N
2L External encoder
(Note 3)
L2
L1MCMCCB
Diode stack
Relay +
Charge lampU
+
(Note 1)
Electromagnetic brake
Note 1. The built-in regenerative resistor is not provided for MR-J4-10A1(-RJ). 2. Refer to section 1.3 for the power supply specifications. 3. This is for MR-J4-_A1-RJ servo amplifier. MR-J4-_A1 servo amplifier does not have CN2L connector.
1. FUNCTIONS AND CONFIGURATION
1 - 11
1.3 Servo amplifier standard specifications
(1) 200 V class Model: MR-J4-_(-RJ) 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA
Output Rated voltage 3-phase 170 V AC Rated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0
Main circuit power supply input
Voltage/ Frequency
At AC input
3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
3-phase or 1- phase 200 V AC to 240 V AC, 50 Hz/60 Hz (Note 14)
3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
At DC input (Note 17)
283 V DC to 340 V DC
Rated current (Note 11)
[A] 0.9 1.5 2.6 3.2
(Note 5) 3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0
Permissible voltage fluctuation
At AC input
3-phase or 1-phase 170 V AC to 264 V AC
3-phase or 1- phase 170 V AC to 264 V AC (Note 14)
3-phase 170 V AC to 264 V AC
At DC input (Note 17)
241 V DC to 374 V DC
Permissible frequency fluctuation
Within 5%
Power supply capacity
[kVA] Refer to section 10.2.
Inrush current [A] Refer to section 10.5.
Control circuit power supply input
Voltage/ Frequency
At AC input 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
At DC input (Note 17)
283 V DC to 340 V DC
Rated current [A] 0.2 0.3
Permissible voltage fluctuation
At AC input 1-phase 170 V AC to 264 V AC
At DC input (Note 17)
241 V DC to 374 V DC
Permissible frequency fluctuation
Within 5%
Power consumption [W] 30 45 Inrush current [A] Refer to section 10.5.
Interface power supply
Voltage 24 V DC 10% Current capacity [A] 0.5 (including the CN8 connector signals) (Note 1)
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in External option
(Note 8, 12) Fully closed loop control Compatible (Note 9) Load-side encoder interface (Note 10) Mitsubishi Electric high-speed serial communication
Communication function USB: Connection to a personal computer or others (MR Configurator2-compatible)
RS-422/RS-485: 1: n communication (up to 32 axes) (Note 7, 13) Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels
1. FUNCTIONS AND CONFIGURATION
1 - 12
Model: MR-J4-_(-RJ) 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA
Position control mode
Max. input pulse frequency
4 Mpulses/s (for differential receiver) (Note 6), 200 kpulses/s (for open collector)
Positioning feedback pulse
Encoder resolution (resolution per servo motor revolution): 22 bits
Command pulse multiplying factor
Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
In-position range setting 0 pulse to 65535 pulses (command pulse unit) Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control mode
Speed control range Analog speed command 1: 2000, Internal speed command 1: 5000 Analog speed command input
0 to 10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed fluctuation ratio 0.01% or less (load fluctuation: 0% to 100%), 0% (power fluctuation: 10%)
0.2% or less (ambient temperature: 25 C 10 C) when using analog speed command Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Torque control mode
Analog torque command input
0 V DC to 8 V DC/maximum torque (input impedance 10 k to 12 k )
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
Positioning mode Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1.
The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.
Protective functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection,
error excessive protection, magnetic pole detection protection, and linear servo control fault protection Functional safety STO (IEC/EN 61800-5-2)
Safety performance
Standards certified by CB (Note 15)
EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2
Response performance 8 ms or less (STO input off energy shut off)
Test pulse input (STO) (Note 3)
Test pulse interval: 1 Hz to 25 Hz Test pulse off time: Up to 1 ms
Mean time to dangerous failure (MTTFd)
MTTFd 100 [years] (314a)
Diagnostic coverage (DC)
DC = Medium, 97.6 [%]
Average probability of dangerous failures per hour (PFH)
PFH = 6.4 10-9 [1/h]
Compliance with global standards
CE marking LVD: EN 61800-5-1 EMC: EN 61800-3
MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061 UL standard UL 508C
Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling, open (IP20) (Note 4)
Close mounting (Note 2)
3-phase power supply input
Possible Impossible
1-phase power supply input
Possible Impossible
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing) Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude 2000 m or less above sea level (Note 16) Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 0.8 1.0 1.4 2.1 2.3 4.0 6.2 13.4 18.2
1. FUNCTIONS AND CONFIGURATION
1 - 13
Note 1. 0.5 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 C to 45 C or at 75% or smaller
effective load ratio. 3. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to
self-diagnose. 4. Except for the terminal block. 5. The rated current is 2.9 A when the servo amplifier is used with a UL or CSA compliant servo motor. 6. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4
Mpulses/s or lower, change the setting in [Pr. PA13]. 7. RS-422 communication is supported by servo amplifier with software version A3. 8. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. 9. For the compatible version for the fully closed loop system, refer to table 1.1. 10. The MR-J4-_A servo amplifier is compatible only with the two-wire type.
The MR-J4-_A-RJ servo amplifier is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.
11. This value is applicable when a 3-phase power supply is used. 12. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake
interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
13. RS-485 communication is available with servo amplifiers manufactured in November 2014 or later. 14. When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio. 15. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6. 16. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level. 17. The DC power supply input is available only with MR-J4-_A-RJ servo amplifiers. For the connection example of the power
circuit when a DC input is used, refer to app. 13.
1. FUNCTIONS AND CONFIGURATION
1 - 14
(2) 400 V class Model: MR-J4-_(-RJ) 60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4
Output Rated voltage 3-phase 323 V AC Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0
Main circuit power supply input
Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6 Permissible voltage fluctuation
3-phase 323 V AC to 528 V AC
Permissible frequency fluctuation
Within 5%
Power supply capacity
[kVA] Refer to section 10.2.
Inrush current [A] Refer to section 10.5. Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current [A] 0.1 0.2
Control circuit power supply input
Permissible voltage fluctuation
1-phase 323 V AC to 528 V AC
Permissible frequency fluctuation
Within 5%
Power consumption [W] 30 45 Inrush current [A] Refer to section 10.5.
Interface power supply
Voltage 24 V DC 10% Current capacity [A] 0.5 (including CN8 connector signals) (Note 1)
Control method Sine-wave PWM control, current control method Dynamic brake Built-in External option (Note 6, 7) Fully closed loop control Compatible Load-side encoder interface (Note 5) Mitsubishi Electric high-speed serial communication
Communication function USB: connection to a personal computer or others (MR Configurator2-compatible) RS-422/RS-485: 1: n communication (up to 32 axes) (Note 8)
Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels
Position control mode
Max. input pulse frequency 4 Mpulses/s (for differential receiver) (Note 4), 200 kpulses/s (for open collector) Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 22 bits Command pulse multiplying factor
Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
In-position range setting 0 pulse to 65535 pulses (command pulse unit) Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control mode
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000 Analog speed command input
0 to 10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed fluctuation ratio 0.01% or less (load fluctuation 0 % to 100%), 0% (power fluctuation 10%), 0.2% or less (ambient
temperature 25 10 C) when using analog speed command Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Torque control mode
Analog torque command input
0 V DC to 8 V DC/maximum torque (input impedance 10 k to 12 k )
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
Positioning mode Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1.
The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.
Protective functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection,
error excessive protection, magnetic pole detection protection, and linear servo control fault protection Functional safety STO (IEC/EN 61800-5-2)
1. FUNCTIONS AND CONFIGURATION
1 - 15
Model: MR-J4-_(-RJ) 60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4
Safety performance
Standards certified by CB (Note 9)
EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2
Response performance 8 ms or less (STO input off energy shut off)
Test pulse input (STO) (Note 2)
Test pulse interval: 1 Hz to 25 Hz
Test pulse off time: Up to 1 ms
Mean time to dangerous failure (MTTFd)
MTTFd 100 [years] (314a)
Diagnostic coverage (DC) DC = Medium, 97.6 [%] Average probability of dangerous failures per hour (PFH)
PFH = 6.4 10-9 [1/h]
Compliance with standards
CE marking LVD: EN 61800-5-1 EMC: EN 61800-3
MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061
UL standard UL 508C
Structure (IP rating) Natural cooling, open
(IP20) Force cooling, open
(IP20) Force cooling, open (IP20) (Note 3)
Close mounting Impossible
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing) Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Note 10) Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 1.7 2.1 3.6 4.3 6.5 13.4 18.2 Note 1. 0.5 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to
self-diagnose. 3. Except for the terminal block. 4. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4
Mpulses/s or lower, change the setting in [Pr. PA13]. 5. MR-J4-_A4 servo amplifier is compatible only with two-wire type. MR-J4-_A4-RJ servo amplifier is compatible with two-wire
type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details. 6. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. 7. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake
interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
8. RS-485 communication is available with servo amplifiers manufactured in November 2014 or later. 9. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6. 10. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 16
(3) 100 V class Model: MR-J4-_(-RJ) 10A1 20A1 40A1
Output Rated voltage 3-phase 170 V AC Rated current [A] 1.1 1.5 2.8
Main circuit power supply input
Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz Rated current [A] 3.0 5.0 9.0 Permissible voltage fluctuation
1-phase 85 V AC to 132 V AC
Permissible frequency fluctuation
Within 5%
Power supply capacity
[kVA] Refer to section 10.2.
Inrush current [A] Refer to section 10.5.
Control circuit power supply input
Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz Rated current [A] 0.4 Permissible voltage fluctuation
1-phase 85 V AC to 132 V AC
Permissible frequency fluctuation
Within 5%
Power consumption [W] 30 Inrush current [A] Refer to section 10.5.
Interface power supply
Voltage 24 V DC 10%
Current capacity [A] 0.5
(including the CN8 connector signals) (Note 1) Control method Sine-wave PWM control, current control method Dynamic brake Built-in Fully closed loop control Compatible (Note 5) Load-side encoder interface (Note 6) Mitsubishi Electric high-speed serial communication
Communication function USB: Connection to a personal computer or others (MR Configurator2-compatible) RS-422/RS-485: 1: n communication (up to 32 axes) (Note 7)
Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels
Position control mode
Max. input pulse frequency
4 Mpulses/s (for differential receiver) (Note 4), 200 kpulses/s (for open collector)
Positioning feedback pulse
Encoder resolution (resolution per servo motor revolution): 22 bits
Command pulse multiplying factor
Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
In-position range setting 0 pulse to 65535 pulses (command pulse unit) Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control mode
Speed control range Analog speed command 1: 2000, Internal speed command 1: 5000 Analog speed command input
0 to 10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed fluctuation ratio 0.01% or less (load fluctuation: 0% to 100%), 0% (power fluctuation: 10%)
0.2% or less (ambient temperature: 25 C 10 C) when using analog speed command Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Torque control mode
Analog torque command input
0 V DC to 8 V DC/maximum torque (input impedance 10 k to 12 k )
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
Positioning mode Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" section 1.1.
The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.
Protective functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection,
encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection,
error excessive protection, magnetic pole detection protection, and linear servo control fault protection Functional safety STO (IEC/EN 61800-5-2)
1. FUNCTIONS AND CONFIGURATION
1 - 17
Model: MR-J4-_(-RJ) 10A1 20A1 40A1
Safety performance
Standards certified by CB (Note 8)
EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2
Response performance 8 ms or less (STO input off energy shut off)
Test pulse input (STO) (Note 3)
Test pulse interval: 1 Hz to 25 Hz Test pulse off time: Up to 1 ms
Mean time to dangerous failure (MTTFd)
MTTFd 100 [years] (314a)
Diagnostic coverage (DC)
DC = Medium, 97.6 [%]
Average probability of dangerous failures per hour (PFH)
PFH = 6.4 10-9 [1/h]
Compliance with global standards
CE marking LVD: EN 61800-5-1 EMC: EN 61800-3
MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061 UL standard UL 508C
Structure (IP rating) Natural cooling, open (IP20) Close mounting (Note 2) Possible
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing) Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude 2000 m or less above sea level (Note 9) Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 0.8 1.0 Note 1. 0.5 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 C to 45 C or at 75% or smaller
effective load ratio. 3. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to
self-diagnose. 4. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4
Mpulses/s or lower, change the setting in [Pr. PA13]. 5. For the compatible version for the fully closed loop system, refer to table 1.1. 6. The MR-J4-_A servo amplifier is compatible only with the two-wire type.
The MR-J4-_A-RJ servo amplifier is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.
7. RS-485 communication is available with servo amplifiers manufactured in November 2014 or later. 8. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6. 9. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 18
1.4 Combinations of servo amplifiers and servo motors
POINT
When a 1-phase 200 V AC input is used, the maximum torque of 400% cannot be achieved with HG-JR series servo motor. When you use the MR-J4-100A or MR-J4-200A with the 1-phase 200 V AC input, contact your local sales office for the torque characteristics of the HG-UR series, HG-RR series, and HG-JR series servo motors.
1. FUNCTIONS AND CONFIGURATION
1 - 19
(1) 200 V class
Servo amplifier Rotary servo motor Linear servo motor
(primary side) (Note 1) Direct drive motor (Note 1)
HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR MR-J4-10A(-RJ) 053
13 053 13
MR-J4-20A(-RJ)
23 23
LM-U2PAB-05M-0SS0 LM-U2PBB-07M-1SS0
TM-RFM002C20 TM-RG2M002C30 (Note 2) TM-RU2M002C30 (Note 2) TM-RG2M004E30 (Note 2) TM-RU2M004E30 (Note 2)
MR-J4-40A(-RJ)
43 43
LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0
TM-RFM004C20 TM-RG2M004E30 (Note 2, 4) TM-RU2M004E30 (Note 2, 4) TM-RG2M009G30 (Note 2) TM-RU2M009G30 (Note 2)
MR-J4-60A(-RJ)
51 52
53 LM-U2PBD-15M-1SS0 TM-RFM006C20
TM-RFM006E20 MR-J4-70A(-RJ)
73 73 72 73
LM-H3P3B-24P-CSS0 LM-H3P3C-36P-CSS0 LM-H3P7A-24P-ASS0 LM-K2P2A-02M-1SS1 LM-U2PBF-22M-1SS0
TM-RFM012E20 TM-RFM012G20 TM-RFM040J10
MR-J4-100A(-RJ)
81 102
53 (Note 3)
103 TM-RFM018E20
MR-J4-200A(-RJ)
121 201 152 202
152 103 153
73 (Note 3) 103 (Note 3)
153 203
LM-H3P3D-48P-CSS0 LM-H3P7B-48P-ASS0 LM-H3P7C-72P-ASS0 LM-FP2B-06M-1SS0 LM-K2P1C-03M-2SS1 LM-U2P2B-40M-2SS0
MR-J4-350A(-RJ)
301 352
202 203 153 (Note 3) 203 (Note 3)
353
LM-H3P7D-96P-ASS0 LM-K2P2C-07M-1SS1 LM-K2P3C-14M-1SS1 LM-U2P2C-60M-2SS0
TM-RFM048G20 TM-RFM072G20 TM-RFM120J10
MR-J4-500A(-RJ)
421 502
352 502
353 503
353 (Note 3) 503
LM-FP2D-12M-1SS0 LM-FP4B-12M-1SS0 LM-K2P2E-12M-1SS1 LM-K2P3E-24M-1SS1 LM-U2P2D-80M-2SS0
TM-RFM240J10
MR-J4-700A(-RJ)
702
503 (Note 3) 601
701M 703
LM-FP2F-18M-1SS0 LM-FP4D-24M-1SS0
MR-J4-11KA(-RJ)
801 12K1
11K1M 903
LM-FP4F-36M-1SS0
MR-J4-15KA(-RJ)
15K1 15K1M
LM-FP4F-48M-1SS0
MR-J4-22KA(-RJ)
20K1 25K1
22K1M
Note 1. This is available with servo amplifiers with software version A5 or later. 2. This is available with servo amplifiers with software version C8 or later. 3. The combination increases the maximum torque of the servo motor to 400%. 4. The combination increases the rated torque and the maximum torque.
1. FUNCTIONS AND CONFIGURATION
1 - 20
(2) 400 V class
Servo amplifier Rotary servo motor Linear servo motor
(primary side) (Note 1) HG-SR HG-JR MR-J4-60A4(-RJ) 524 534
MR-J4-100A4(-RJ) 1024
534 (Note 2) 734 1034
MR-J4-200A4(-RJ) 1524 2024
734 (Note 2) 1034 (Note 2)
1534 2034
MR-J4-350A4(-RJ) 3524
1534 (Note 2) 2034 (Note 2)
3534 MR-J4-500A4(-RJ)
5024 3534 (Note 2)
5034 MR-J4-700A4(-RJ)
7024
5034 (Note 2) 6014
701M4 7034
MR-J4-11KA4(-RJ)
8014 12K14
11K1M4 9034
MR-J4-15KA4(-RJ) 15K14 15K1M4
MR-J4-22KA4(-RJ) 20K14 25K14
22K1M4
LM-FP5H-60M-1SS0
Note 1. This is available with servo amplifiers with software version A5 or later. 2. The combination is for increasing the maximum torque of the servo motor to 400%.
(3) 100 V class
Servo amplifier Rotary servo motor Linear servo motor
(primary side) (Note 1) Direct drive motor (Note 1) HG-KR HG-MR
MR-J4-10A1(-RJ) 053 13
053 13
MR-J4-20A1(-RJ)
23 23
LM-U2PAB-05M-0SS0 LM-U2PBB-07M-1SS0
TM-RFM002C20 TM-RG2M002C30 (Note 2) TM-RU2M002C30 (Note 2) TM-RG2M004E30 (Note 2) TM-RU2M004E30 (Note 2)
MR-J4-40A1(-RJ)
43 43
LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0
TM-RFM004C20 TM-RG2M004E30 (Note 2, 3) TM-RU2M004E30 (Note 2, 3) TM-RG2M009G30 (Note 2) TM-RU2M009G30 (Note 2)
Note 1. This is available with servo amplifiers with software version A5 or later. 2. This is available with servo amplifiers with software version C8 or later. 3. The combination increases the rated torque and the maximum torque.
1. FUNCTIONS AND CONFIGURATION
1 - 21
1.5 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field.
Function Description Detailed explanation
Model adaptive control
This realizes a high response and stable control following the ideal model. The two- degrees-of-freedom-model model adaptive control enables you to set a response to the command and response to the disturbance separately. Additionally, this function can be disabled. Refer to section 7.5 for disabling this function. This is used with servo amplifiers with software version B4 or later.
Position control mode This servo amplifier is used as a position control servo. Section 3.2.1 Section 3.6.1 Section 4.2
Speed control mode This servo amplifier is used as a speed control servo. Section 3.2.2 Section 3.6.2 Section 4.3
Torque control mode This servo amplifier is used as a torque control servo. Section 3.2.3 Section 3.6.3 Section 4.4
Positioning mode
Used when you use an MR-J4-_A_-RJ servo amplifier in the positioning mode under the point table/program/indexer method. The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later.
MR-J4-_A_- RJ Servo Amplifier Instruction Manual (Positioning Mode)
Position/speed control change mode
Using an input device, control can be switched between position control and speed control. Section 3.6.4
Speed/torque control change mode
Using an input device, control can be switched between speed control and torque control. Section 3.6.5
Torque/position control change mode
Using an input device, control can be switched between torque control and position control. Section 3.6.6
High-resolution encoder High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary servo motor compatible with the MELSERVO-J4 series.
Absolute position detection system
Merely setting a home position once makes home position return unnecessary at every power-on. Chapter 12
Gain switching function You can switch gains during rotation and during stop, and can use an input device to switch gains during operation. Section 7.2
Advanced vibration suppression control II This function suppresses vibration at the arm end or residual vibration. Section 7.1.5
Machine resonance suppression filter
This is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. Section 7.1.1
Shaft resonance suppression filter
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses the vibration.
Section 7.1.3
Adaptive filter II Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Section 7.1.2
Low-pass filter Suppresses high-frequency resonance which occurs as servo system response is increased. Section 7.1.4
Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and servo amplifier. MR Configurator2 is necessary for this function.
Robust filter This function provides better disturbance response in case low response level that load to motor inertia ratio is high for such as roll send axis. [Pr. PE41]
Slight vibration suppression control Suppresses vibration of 1 pulse produced at a servo motor stop. [Pr. PB24]
Electronic gear Input pulses can be multiplied by 1/10 to 4000. [Pr. PA06] [Pr. PA07]
S-pattern acceleration/ deceleration time constant Speed can be increased and decreased smoothly. [Pr. PC03]
1. FUNCTIONS AND CONFIGURATION
1 - 22
Function Description Detailed
explanation
Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Section 6.3
Brake unit Used when the regenerative option cannot provide enough regenerative power. Can be used for the 5 kW or more servo amplifier.
Section 11.3
Power regeneration converter Used when the regenerative option cannot provide enough regenerative power. Can be used for the 5 kW or more servo amplifier.
Section 11.4
Multifunction regeneration converter
Use this function if the regenerative option does not have sufficient regenerative capacity. Section 11.19
Regenerative option Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the large regenerative power generated. Section 11.2
Alarm history clear Alarm history is cleared. [Pr. PC18] Input signal selection (device settings)
ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and other input device can be assigned to any pins.
[Pr. PD03] to [Pr. PD22]
Output signal selection (device settings)
The output devices including MBR (Electromagnetic brake interlock) can be assigned to certain pins of the CN1 connector.
[Pr. PD23] to [Pr. PD26] [Pr. PD28] [Pr. PD47]
Output signal (DO) forced output
Output signal can be forced on/off independently of the servo status. Use this function for checking output signal wiring, etc.
Section 4.5.8
Restart after instantaneous power failure
If the input power supply voltage had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal. (available in the future)
Command pulse selection Command pulse train form can be selected from among three different types. [Pr. PA13]
Torque limit Servo motor torque can be limited to any value.
Section 3.6.1 (5) [Pr. PA11] [Pr. PA12]
Speed limit Servo motor speed can be limited to any value.
Section 3.6.3 (3) [Pr. PC05] to [Pr. PC11]
Status display Servo status is shown on the 5-digit, 7-segment LED display Section 4.5 External I/O signal display On/off statuses of external I/O signals are shown on the display. Section 4.5.7
Automatic VC offset Voltage is automatically offset to stop the servo motor if it does not come to a stop when VC (Analog speed command) or VLA (Analog speed limit) is 0 V. Section 4.5.4
Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code. Chapter 8
Test operation mode Jog operation, positioning operation, motor-less operation, DO forced output, and program operation can be used. MR Configurator2 is required to perform positioning operation or program operation.
Section 4.5.9
Analog monitor output Servo status is output in terms of voltage in real time. [Pr. PC14], [Pr. PC15]
MR Configurator2 Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others. Section 11.7
Linear servo system Linear servo system can be configured using a linear servo motor and linear encoder. Refer to section 1.4 for the software version of a servo amplifier that is compatible.
Chapter 15
Direct drive servo system The direct drive servo system can be configured to drive a direct drive motor. Refer to section 1.4 for the software version of a servo amplifier that is compatible.
Chapter 16
Fully closed loop system Fully closed loop system can be configured using the load-side encoder. This is used with servo amplifiers with software version A5 or later.
Chapter 17
One-touch tuning Gain adjustment is performed just by one click on a certain button on MR Configurator2 or operation section. Section 6.2
SEMI-F47 function
Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 100 V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.
[Pr. PA20] [Pr. PE25] Section 7.4
Tough drive function
This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.
Section 7.3
1. FUNCTIONS AND CONFIGURATION
1 - 23
Function Description Detailed
explanation
Drive recorder function
This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph" button. However, the drive recorder will not operate on the following conditions. 1. You are using the graph function of MR Configurator2. 2. You are using the machine analyzer function. 3. [Pr. PF21] is set to "-1".
[Pr. PA23]
STO function This function is a functional safety that complies with IEC/EN 61800-5-2. You can create a safety system for the equipment easily. Chapter 13
Servo amplifier life diagnosis function
You can check the cumulative energization time and the number of on/off times of the inrush relay. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction. MR Configurator2 is necessary for this function.
Power monitoring function This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2.
Machine diagnosis function
From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in the machine parts, including a ball screw and bearing. MR Configurator2 is necessary for this function.
Lost motion compensation function
This function improves the response delay occurred when the machine moving direction is reversed. This is used with servo amplifiers with software version B4 or later.
Section 7.6
Super trace control This function sets constant and uniform acceleration/deceleration droop pulses to almost 0. This is used with servo amplifiers with software version B4 or later. Section 7.7
Mark detection
Current position latch function
When the mark detection signal is turned on, the current position is latched. The latched data can be read with communication commands.
MR-J4-_A_- RJ Servo Amplifier Instruction Manual (Positioning Mode)
Interrupt positioning function
When MSD (Mark detection) turns on, this function converts the remaining distance to the travel distance set in [Pr. PT30] and [Pr. PT31] (Mark sensor stop travel distance). This is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
MR-D01 extension I/O unit
MR-D01 is an extension I/O unit that can extend the input/output signals of MR-J4- _A_-RJ servo amplifiers. MR-D01 is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later. MR-D01 cannot be used with MR-J4-03A6(-RJ) servo amplifiers.
Chapter 19 MR-J4-_A_- RJ Servo Amplifier Instruction Manual (Positioning Mode)
Modbus RTU communication function
The Modbus protocol uses dedicated message frames for the serial communication between a master and slaves. The dedicated message frames have functions for reading and writing data, and you can write parameters from servo amplifiers and check the operation status of the servo amplifiers by using this function. When the indexer method is used, there are functional restrictions. This function is supported by MR-J4-_A_-RJ servo amplifiers with a capacity of 100 W or more manufactured in November, 2014 or later. This function will be available with MR-J4-03A6-RJ servo amplifiers in the future.
MR-J4-_A_- RJ Servo Amplifier Instruction Manual (Modbus RTU Protocol)
High-resolution analog input (VC)
The analog input resolution can be increased to 16 bits. This function is available with servo amplifiers manufactured in November 2014 or later. This is not available with MR-J4-03A6-RJ servo amplifiers.
[Pr. PC60]
1. FUNCTIONS AND CONFIGURATION
1 - 24
1.6 Model designation
(1) Rating plate The following shows an example of rating plate for explanation of each item.
TOKYO 100-8310, JAPAN MADE IN JAPAN
MODEL Model Capacity Applicable power supply Rated output current Standard, Manual number Ambient temperature IP rating
KC certification number, the year and month of manufacture
Serial number
Country of origin
KCC-REI-MEK-TC300A621G51 DATE: 2014-05
POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300175 Max. Surrounding Air Temp.: 55C IP20
: 100W : 3AC/AC200-240V 0.9A/1.5A 50/60Hz : 3PH170V 0-360Hz 1.1A
AC SERVO
MR-J4-10A SER.A45001001
(2) Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Series
Rated output
General-purpose interface
Special specification
Symbol Rated output [kW] 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
Symbol Special specification None Standard
-RJ Fully closed loop control four-wire type/ load-side encoder A/B/Z-phase input compatible Positioning mode compatible
MR-J4-_A_ without regenerative resistor (Note 1) MR-J4-_A_-RJ without regenerative resistor (Note 1)
-PX -RZ
Power supply Symbol Power supply
None 3-phase or 1-phase 200 V AC to 240 V AC
4 3-phase 380 V AC to 480 V AC
MR-J4-_A_ with a special coating specification (3C2) (Note 3) MR-J4-_A_-RJ with a special coating specification (3C2) (Note 3)
-EB -KS
MR-J4-_A_-RJ without a dynamic brake (Note 2)-RU MR-J4-_A_ without a dynamic brake (Note 2)-ED
1 1-phase 100 V AC to 120 V AC
R JA 46 0 --M R J 4-
Note 1. Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory. Refer to app. 10.2 for details.
2. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. Refer to app. 10.1 for details. 3. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to app. 10.3 for details.
1. FUNCTIONS AND CONFIGURATION
1 - 25
1.7 Structure
1.7.1 Parts identification
(1) 200 V class (a) MR-J4-200A(-RJ) or less
The diagram is for MR-J4-10A-RJ.
Inside of the display cover
MODE UP DOWN SET
(1)
(2)
(4) (12)
(14)
(13)
(17)
Side
(9)
(5) (6)
(7)
(16)
(15)
(8)
(3)
(18)
(10) (11)
(19)
No. Name/Application Detailed explanation
(1) Display The 5-digit, 7-segment LED shows the servo status and the alarm number.
Section 4.5
(2)
Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.
Used to set data. Push this button together with the "MODE" button for 3 s or more to switch to the one-touch tuning mode.
MODE UP DOWN SET
Used to change the display or data in each mode. Used to change the mode. Push this button together with the "SET" button for 3 s or more to switch to the one-touch tuning mode.
Section 4.5
(3) USB communication connector (CN5) Connect with the personal computer.
Section 11.7
(4) Analog monitor connector (CN6) Outputs the analog monitor. Section 3.2
(5) RS-422/RS-485 communication connector (CN3) Connect with the RS-422/RS-485 communication controller, parameter unit, etc.
Chapter 14
(6) STO input signal connector (CN8) Used to connect the MR-J3-D05 safety logic unit and external safety relay.
Chapter 13 App. 5
(7) I/O signal connector (CN1) Used to connect digital I/O signals.
Section 3.2 Section 3.4
(8) (Note
2)
Encoder connector (CN2) Used to connect the servo motor encoder or external encoder. Refer to table 1.1 for the compatible external encoders.
Section 3.4 "Servo Motor Instruction Manual (Vol. 3)"
(9) Battery connector (CN4) Used to connect the battery for absolute position data backup.
Chapter 12
(10) Battery holder Install the battery for absolute position data backup.
Section 12.2
(11) Protective earth (PE) terminal Section 3.1 Section 3.3 (12) Main circuit power connector (CNP1)
Connect the input power supply. (13) Rating plate Section 1.6
(14) Control circuit power connector (CNP2) Connect the control circuit power supply and regenerative option. Section 3.1
Section 3.3 (15) Servo motor power output connector (CNP3)
Connect the servo motor.
(16)
Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
(17) (Note 1, 2)
External encoder connector (CN2L) Refer to table 1.1 for the compatible external encoders.
Section 3.4 "Linear Encoder Instruction Manual"
(18) Optional unit connector (CN7) Connect the optional unit. It is available with MR-J4-_A-RJ servo amplifiers manufactured in November 2014 or later. The MR-J4-_A servo amplifier does not have this connector.
(19)
Optional unit connector (CN9) Connect the optional unit. It is available with MR-J4-_A-RJ servo amplifiers manufactured in November 2014 or later. The MR-J4-_A servo amplifier does not have this connector.
1. FUNCTIONS AND CONFIGURATION
1 - 26
Note 1. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. 2. "External encoder" is a term for linear encoder used in the linear servo system and load-side encoder used in the fully closed
loop system in this manual.
1. FUNCTIONS AND CONFIGURATION
1 - 27
(b) MR-J4-350A(-RJ)
The broken line area is the same as MR-J4-200A(-RJ) or less.
(1)
(3)
(2)
(4) Side
(5) (6)(7)
No. Name/Application Detailed explanation
(1) Main circuit power connector (CNP1) Connect the input power supply.
Section 3.1 Section 3.3
(2) Rating plate Section 1.6
(3) Servo motor power connector (CNP3) Connect the servo motor.
Section 3.1 Section 3.3
(4) Control circuit power connector (CNP2) Connect the control circuit power supply and regenerative option.
(5)
Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
(6) Protective earth (PE) terminal Section 3.1 Section 3.3
(7) Battery holder Install the battery for absolute position data backup.
Section 12.2
1. FUNCTIONS AND CONFIGURATION
1 - 28
(c) MR-J4-500A(-RJ)
POINT
The servo amplifier is shown with the front cover open. The front cover cannot be removed.
(1)
(3)
(2)
(Note)
(8)
(4) Side
(5)
(6)
(7)
The broken line area is the same as MR-J4-200A(-RJ) or less.
No. Name/Application Detailed explanation
(1) Control circuit terminal block (TE2) Used to connect the control circuit power supply. Section 3.1
Section 3.3 (2)
Main circuit terminal block (TE1) Connect the input power supply.
(3) Battery holder Install the battery for absolute position data backup.
Section 12.2
(4) Rating plate Section 1.6
(5)
Regenerative option/power factor improving reactor terminal block (TE3) Used to connect a regenerative option or a power factor improving DC reactor.
Section 3.1 Section 3.3
(6) Servo motor power supply terminal block (TE4) Connect the servo motor.
(7)
Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
(8) Protective earth (PE) terminal Section 3.1 Section 3.3
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 29
(d) MR-J4-700A(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.
(1)
(5) (Note)
(2)
(4) (3)
(6)
The broken line area is the same as MR-J4-200A(-RJ) or less.
(7)
No. Name/Application Detailed explanation
(1) Power factor improving reactor terminal block (TE3) Used to connect the DC reactor.
Section 3.1 Section 3.3
(2) Main circuit terminal block (TE1) Used to connect the input power supply, regenerative option, and servo motor.
(3) Control circuit terminal block (TE2) Used to connect the control circuit power supply.
(4) Protective earth (PE) terminal
(5) Battery holder Install the battery for absolute position data backup.
Section 12.2
(6) Rating plate Section 1.6
(7)
Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 30
(e) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.
The broken line area is the same as MR-J4-200A(-RJ) or less.
(1)
(5) (Note)
(2)
(4)
(3)
(6)
(7)
No. Name/Application Detailed explanation
(1)
Power factor improving reactor terminal block (TE1- 2) Used to connect a power factor improving DC reactor and a regenerative option.
Section 3.1 Section 3.3 (2)
Main circuit terminal block (TE1-1) Used to connect the input power supply and servo motor.
(3) Control circuit terminal block (TE2) Used to connect the control circuit power supply.
(4) Protective earth (PE) terminal
(5) Battery holder Install the battery for absolute position data backup.
Section 12.2
(6) Rating plate Section 1.6
(7)
Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 31
(f) MR-J4-22KA(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.
(7)
(6)
(5) (Note)
(2)
(3)
(4)
(1)
The broken line area is the same as MR-J4-200A(-RJ) or less.
No. Name/Application Detailed explanation
(1)
Power factor improving reactor terminal block (TE1- 2) Used to connect a power factor improving DC reactor and a regenerative option.
Section 3.1 Section 3.3 (2)
Main circuit terminal block (TE1-1) Used to connect the input power supply and servo motor.
(3) Control circuit terminal block (TE2) Used to connect the control circuit power supply.
(4) Protective earth (PE) terminal
(5) Battery holder Install the battery for absolute position data backup.
Section 12.2
(6) Rating plate Section 1.6
(7)
Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 32
(2) 400 V class
(a) For MR-J4-200A4(-RJ) or less The diagram is for MR-J4-60A4-RJ.
Inside of the display cover
MODE UP DOWN SET
(1)
(2)
(3)
(4) (12)
(14)
(13) Side
(15)
(16)
(5) (6)
(7) (8)
(10)
(18)
(11)
(17) (9)
(19)
No. Name/Application Detailed explanation
(1) Display The 5-digit, seven-segment LED shows the servo status and the alarm number.
Section 4.5
(2)
Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.
Used to set data. Push this button together with the "MODE" button for 3 s or more to switch to the one-touch tuning mode.
MODE UP DOWN SET
Used to change the display or data in each mode. Used to change the mode. Push this button together wish the "SET" button for 3 s or more to switch to the one-touch tuning mode.
(3) USB communication connector (CN5) Connect with the personal computer.
Section 11.7
(4) Analog monitor connector (CN6) Outputs the analog monitor. Section 3.2
(5) RS-422/RS-485 communication connector (CN3) Connect with the RS-422/RS-485 communication controller, parameter unit, etc.
Chapter 14
(6) STO input signal connector (CN8) Used to connect MR-J3-D05 safety logic unit and external safety relay.
Chapter 13 App. 5
(7) I/O signal connector (CN1) Used to connect digital I/O signals.
Section 3.2 Section 3.4
(8) (Note
2)
Encoder connector (CN2) Used to connect the servo motor encoder or external encoder. Refer to table 1.1 for the compatible external encoders.
Section 3.4 "Servo Motor Instruction Manual (Vol. 3)"
(9) Battery connector (CN4) Used to connect the battery for absolute position data backup.
Chapter 12
(10) Battery holder Install the battery for absolute position data backup.
Section 12.2
(11) Protective earth (PE) terminal Section 3.1 Section 3.3 (12) Main circuit power connector (CNP1)
Connect the input power supply. (13) Rating plate Section 1.6
(14) Control circuit power connector (CNP2) Connect the control circuit power supply and regenerative option. Section 3.1
Section 3.3 (15) Servo motor power output connector (CNP3)
Connect the servo motor.
(16)
Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
(17) (Note
1)
External encoder connector (CN2L) Used to connect the external encoder. Refer to table 1.1 for the compatible external encoders.
Section 3.4 "Linear Encoder Instruction Manual"
(18)
Optional unit connector (CN7) Connect the optional unit. It is available with MR-J4- _A4-RJ servo amplifiers manufactured in November 2014 or later. MR-J4-_A4 servo amplifier does not have this connector.
(19)
Optional unit connector (CN9) Connect the optional unit. It is available with MR- J4-_A4-RJ servo amplifiers manufactured in November 2014 or later. The MR-J4-_A4 servo amplifier does not have this connector.
1. FUNCTIONS AND CONFIGURATION
1 - 33
Note 1. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. 2. "External encoder" is a term for linear encoder used in the linear servo system and load-side encoder used in the fully closed
loop system in this manual.
1. FUNCTIONS AND CONFIGURATION
1 - 34
(b) MR-J4-350A4(-RJ)
(1)
(3)
(2) Side
(4)
(5)
(6)
(7)
The broken line area is the same as MR-J4-200A4(-RJ) or less.
No. Name/Application Detailed explanation
(1) Main circuit power connector (CNP1) Connect the input power supply.
Section 3.1 Section 3.3
(2) Rating plate Section 1.6
(3) Control circuit power connector (CNP2) Connect the control circuit power supply and regenerative option. Section 3.1
Section 3.3 (4)
Servo motor power output connector (CNP3) Connect the servo motor.
(5)
Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
(6) Protective earth (PE) terminal Section 3.1
Section 3.3
(7) Battery holder Install the battery for absolute position data backup.
Section 12.2
1. FUNCTIONS AND CONFIGURATION
1 - 35
(c) MR-J4-500A4(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.
(1)
(3) (Note)
(2)
(4)
(5)
(6)
(7)
The broken line area is the same as MR-J4-200A4(-RJ) or less.
No. Name/Application Detailed explanation
(1) Control circuit terminal block (TE2) Used to connect the control circuit power supply. Section 3.1
Section 3.3 (2)
Main circuit terminal block (TE1) Used to connect the input power supply, regenerative option and servo motor.
(3) Battery holder Install the battery for absolute position data backup.
Section 12.2
(4) Rating plate Section 1.6
(5)
Power factor improving reactor terminal block (TE3) Used to connect a power factor improving DC reactor.
Section 3.1 Section 3.3
(6)
Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
(7) Protective earth (PE) terminal Section 3.1
Section 3.3
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 36
(d) MR-J4-700A4(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.
(1)
(5) (Note)
(2)
(4) (3)
(6)
The broken line area is the same as MR-J4-200A4(-RJ) or less.
(7)
No. Name/Application Detailed explanation
(1) Power factor improving reactor terminal block (TE3) Used to connect the DC reactor.
Section 3.1 Section 3.3
(2) Main circuit terminal block (TE1) Used to connect the input power supply, regenerative option, and servo motor.
(3) Control circuit terminal block (TE2) Used to connect the control circuit power supply.
(4) Protective earth (PE) terminal
(5) Battery holder Install the battery for absolute position data backup.
Section 12.2
(6) Rating plate Section 1.6
(7)
Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 37
(e) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.
(1)
(5) (Note)
(2)
(4)
(3)
(6)
The broken line area is the same as MR-J4-200A4(-RJ) or less.
(7)
No. Name/Application Detailed explanation
(1)
Power factor improving reactor terminal block (TE1-2) Used to connect a power factor improving DC reactor and a regenerative option.
Section 3.1 Section 3.3 (2)
Main circuit terminal block (TE1-1) Used to connect the input power supply and servo motor.
(3) Control circuit terminal block (TE2) Used to connect the control circuit power supply.
(4) Protective earth (PE) terminal
(5) Battery holder Install the battery for absolute position data backup.
Section 12.2
(6) Rating plate Section 1.6
(7)
Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 38
(f) MR-J4-22KA4(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.
(7)
(6)
(5) (Note)
(2)
(3)
(4)
(1)
The broken line area is the same as MR-J4-200A4(-RJ) or less.
No. Name/Application Detailed explanation
(1)
Power factor improving reactor terminal block (TE1-2) Used to connect a power factor improving DC reactor and a regenerative option.
Section 3.1 Section 3.3 (2)
Main circuit terminal block (TE1-1) Used to connect the input power supply and servo motor.
(3) Control circuit terminal block (TE2) Used to connect the control circuit power supply.
(4) Protective earth (PE) terminal
(5) Battery holder Install the battery for absolute position data backup.
Section 12.2
(6) Rating plate Section 1.6
(7)
Charge lamp When the main circuit is charged, this will light. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 39
(3) 100 V class
The diagram is for MR-J4-10A1-RJ.
Inside of the display cover
MODE UP DOWN SET
(1)
(2)
(4) (12)
(14)
(13)
(17)
Side
(9)
(5) (6)
(7)
(16)
(15)
(8)
(3)
(18)
(10) (11)
(19)
No. Name/Application Detailed explanation
(1) Display The 5-digit, 7-segment LED shows the servo status and the alarm number.
Section 4.5
(2)
Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.
Used to set data. Push this button together with the "MODE" button for 3 s or more to switch to the one-touch tuning mode.
MODE UP DOWN SET
Used to change the display or data in each mode. Used to change the mode. Push this button together with the "SET" button for 3 s or more to switch to the one-touch tuning mode.
Section 4.5
(3) USB communication connector (CN5) Connect with the personal computer.
Section 11.7
(4) Analog monitor connector (CN6) Outputs the analog monitor. Section 3.2
(5) RS-422/RS-485 communication connector (CN3) Connect with the RS-422/RS-485 communication controller, parameter unit, etc.
Chapter 14
(6) STO input signal connector (CN8) Used to connect the MR-J3-D05 safety logic unit and external safety relay.
Chapter 13 App. 5
(7) I/O signal connector (CN1) Used to connect digital I/O signals.
Section 3.2 Section 3.4
(8) (Note
2)
Encoder connector (CN2) Used to connect the servo motor encoder or external encoder. Refer to table 1.1 for the compatible external encoders.
Section 3.4 "Servo Motor Instruction Manual (Vol. 3)"
(9) Battery connector (CN4) Used to connect the battery for absolute position data backup.
Chapter 12
(10) Battery holder Install the battery for absolute position data backup.
Section 12.2
(11) Protective earth (PE) terminal Section 3.1 Section 3.3 (12) Main circuit power connector (CNP1)
Connect the input power supply. (13) Rating plate Section 1.6
(14) Control circuit power connector (CNP2) Connect the control circuit power supply and regenerative option. Section 3.1
Section 3.3 (15) Servo motor power output connector (CNP3)
Connect the servo motor.
(16)
Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables. The lamp may light up when only the control circuit is powered on. Before wiring or inspection, turn off the main circuit power and the control circuit power, and wait for 15 minutes or more until the charge lamp turns off. Then, check the voltage between P+ and N- using the tester, etc.
(17) (Note 1, 2)
External encoder connector (CN2L) Refer to table 1.1 for the compatible external encoders.
Section 3.4 "Linear Encoder Instruction Manual"
(18)
Optional unit connector (CN7) Connect the optional unit. It is available with MR-J4-_A1-RJ servo amplifiers manufactured in November 2014 or later. The MR-J4-_A1 servo amplifier does not have this connector.
(19)
Optional unit connector (CN9) Connect the optional unit. It is available with MR-J4-_A1-RJ servo amplifiers manufactured in November 2014 or later. The MR-J4-_A1 servo amplifier does not have this connector.
Note 1. This is for the MR-J4-_A1-RJ servo amplifier. The MR-J4-_A1 servo amplifier does not have the CN2L connector. 2. "External encoder" is a term for linear encoder used in the linear servo system and load-side encoder used in the fully closed
loop system in this manual.
1. FUNCTIONS AND CONFIGURATION
1 - 40
1.7.2 Removal and reinstallation of the front cover
WARNING
Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
The following shows how to remove and reinstall the front cover of MR-J4-700A(-RJ) to MR-J4-22KA(-RJ) and MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ). The diagram shows MR-J4-700A. (1) Removal of the front cover
A)
A)
1) Hold the ends of lower side of the front cover with both hands.
2) Pull up the cover, supporting at point A).
3) Pull out the front cover to remove.
1. FUNCTIONS AND CONFIGURATION
1 - 41
(2) Reinstallation of the front cover
Front cover setting tab
A)
A)
1) Insert the front cover setting tabs into the sockets of the servo amplifier (2 places).
2) Push down the cover, supporting at point A).
Setting tab
3) Press the cover against the terminal box until the setting tabs click.
1. FUNCTIONS AND CONFIGURATION
1 - 42
1.8 Configuration including peripheral equipment
CAUTION Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
POINT
Equipment other than the servo amplifier and servo motor are optional or recommended products. When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, refer to app. 13.
1. FUNCTIONS AND CONFIGURATION
1 - 43
(1) 200 V class
(a) MR-J4-200A(-RJ) or less The diagram shows MR-J4-20A-RJ.
CN4
CN5
P+
C
L11
L21
P3
P4
MR Configurator2
CN3
CN6
CN8
CN1
D (Note 5)
CN2
W
V
U L1 L2 L3
R S T
CN2L (Note 4)
Line noise filter (FR-BSF01)
Regenerative option
Servo motor
Personal computer
(Note 3) Magnetic contactor (MC)
Power factor improving DC reactor (FR-HEL)
Molded-case circuit breaker (MCCB)
To safety relay or MR-J3-D05 safety logic unit
Junction terminal block
(Note 2) Power supply
Battery
To RS-422/RS-485 communication controller, parameter unit, etc.(Note 1)
Analog monitor
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 44
(b) MR-J4-350A(-RJ)
CN5 MR Configurator2
CN6
CN3
CN8
CN1
P+
C
L11
L21
P3
P4 CN2
W
V U
L1 L2 L3
CN4
R S T
CN2L (Note 4)
(Note 1)
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 3) Magnetic contactor (MC)
Line noise filter (FR-BSF01)
Regenerative option
Power factor improving DC reactor (FR-HEL)
Personal computer
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
To RS-422/RS-485 communication controller, parameter unit, etc.
Battery
Servo motor
D (Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. For the power supply specifications, refer to section 1.3. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 45
(c) MR-J4-500A(-RJ)
P+
C
L11
L21
P3
P4
CN2
W
V
U
L1 L2 L3
CN5 MR Configurator2
CN6
CN3
CN8
CN1
CN4
R S T
CN2L (Note 4)
(Note 1)
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 3) Magnetic contactor (MC)
Line noise filter (FR-BLF)
Regenerative option
Power factor improving DC reactor (FR-HEL)
Personal computer
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
To RS-422/RS-485 communication controller, parameter unit, etc.
Servo motor
Battery
D (Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. For the power supply specifications, refer to section 1.3. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 46
(d) MR-J4-700A(-RJ)
P+ C
L11 L21
P4
P3
CN2
WVU
L3 L2 L1
CN5 MR Configurator2
CN6
CN3
CN8
CN1
CN4
R S T
CN2L (Note 4)
(Note 1)
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 3) Magnetic contactor (MC)
Line noise filter (FR-BLF)
Regenerative option
Power factor improving DC reactor (FR-HEL)
Servo motor
Personal computer
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
To RS-422/RS-485 communication controller, parameter unit, etc.
Battery
(Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. For the power supply specifications, refer to section 1.3. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 47
(e) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)
P+ C
L11 L21
P3
P4
CN2
WVU
L3 L2 L1
CN5 MR Configurator2
CN6
CN3
CN8
CN1
CN4
R S T
CN2L (Note 4)
(Note 1)
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 3) Magnetic contactor (MC)
Line noise filter (FR-BLF)
Regenerative option
Power factor improving DC reactor (FR-HEL)
Servo motor
Personal computer
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
To RS-422/RS-485 communication controller, parameter unit, etc.
Battery
(Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. For the power supply specifications, refer to section 1.3. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 48
(f) MR-J4-22KA(-RJ)
P+ C
L11 L21
P3
P4
CN2
WVU
L3 L2 L1
CN5 MR Configurator2
CN6
CN3
CN8
CN1
CN4
R S T
CN2L (Note 4)
(Note 1)
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 3) Magnetic contactor (MC)
Line noise filter (FR-BLF)
Regenerative option
Power factor improving DC reactor (FR-HEL)
Servo motor
Personal computer
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
To RS-422/RS-485 communication controller, parameter unit, etc.
Battery
(Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. For the power supply specifications, refer to section 1.3. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for the MR-J4-_A-RJ servo amplifier. The MR-J4-_A servo amplifier does not have the CN2L connector. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 49
(2) 400 V class
(a) MR-J4-200A4(-RJ) or less The diagram is for MR-J4-60A4-RJ and MR-J4-100A4-RJ.
Servo motor
CN4
Line noise filter (FR-BSF01)
CN5
Regenerative option
P+
C
L11
L21
P3
P4
Personal computer
MR Configurator2
CN3
CN6
CN8
CN1
CN2
CN2L (Note 4)W
V
U
(Note 3) Magnetic contactor (MC)
L1 L2 L3
(Note 1)
Power factor improving DC reactor (FR-HEL-H)
Molded-case circuit breaker (MCCB)
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
(Note 2) Power supply
Battery
To RS-422/RS-485 communication controller, parameter unit, etc.
R S T
D (Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. Refer to section 1.3 for the power supply specification. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 50
(b) MR-J4-350A4(-RJ)
CN5 MR Configurator2
CN6
CN3
CN8
CN1
P+
C
L11
L21
P3
P4
CN2
CN2L (Note 4)
W V U
L1 L2 L3
(Note 1)
CN4
R S T
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 3) Magnetic contactor (MC)
Line noise filter (FR-BSF01)
Regenerative option
Power factor improving DC reactor (FR-HEL-H)
Personal computer
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
To RS-422/RS-485 communication controller, parameter unit, etc.
Battery
Servo motor
D (Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. Refer to section 1.3 for the power supply specification. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 51
(c) MR-J4-500A4(-RJ)
P+ C
L21
L11
CN2
CN2L (Note 4)
WVU
L1
L2 L3
(Note 1)
P3
P4
CN5 MR Configurator2
CN6
CN3
CN8
CN1
CN4
R S T
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
Line noise filter (FR-BSF01)
(Note 3) Magnetic contactor (MC)
Power factor improving DC reactor (FR-HEL-H)
Personal computer
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
To RS-422/RS-485 communication controller, parameter unit, etc.
Battery
Servo motor
Regenerative option
(Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. Refer to section 1.3 for the power supply specification. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 52
(d) MR-J4-700A4(-RJ)
L11 L21
P4
P3
CN2
CN2L (Note 4)
WVU
L3
(Note 1)
L2 L1
CN5 MR Configurator2
CN6
CN3
CN8
CN1
CN4
R S T
P+ C
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
Line noise filter (FR-BLF)
(Note 3) Magnetic contactor (MC)
Power factor improving DC reactor (FR-HEL-H)
Personal computer
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
To RS-422/RS-485 communication controller, parameter unit, etc.
Battery
Servo motor
Regenerative option
(Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. Refer to section 1.3 for the power supply specification. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 53
(e) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)
P+ C
L11 L21
P3
P4
CN2
WVU
L3
(Note 1)
L2 L1
CN5 MR Configurator2
CN6
CN3
CN8
CN1
CN2L (Note 4) CN4
R S T
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 3) Magnetic contactor (MC)
Line noise filter (FR-BLF)
Power factor improving DC reactor (FR-HEL-H)
Regenerative option
Servo motor
Personal computer
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
To RS-422/RS-485 communication controller, parameter unit, etc.
Battery
(Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. Refer to section 1.3 for the power supply specification. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 54
(f) MR-J4-22KA4(-RJ)
P+ C
L11 L21
P3
P4
CN2
WVU
L3
(Note 1)
L2 L1
CN5 MR Configurator2
CN6
CN3
CN8
CN1
CN2L (Note 4)
CN4
R S T
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
Line noise filter (FR-BLF)
(Note 3) Magnetic contactor (MC)
Power factor improving DC reactor (FR-HEL-H)
Regenerative option
Servo motor
Personal computer
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
To RS-422/RS-485 communication controller, parameter unit, etc.
Battery
(Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. Refer to section 1.3 for the power supply specification. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for MR-J4-_A4-RJ servo amplifier. MR-J4-_A4 servo amplifier does not have CN2L connector. When using MR-J4-_A4- RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 55
(3) 100 V class
The diagram shows MR-J4-20A1-RJ.
CN4
CN5
P+
C
L11
L21
MR Configurator2
CN3
CN6
CN8
CN1
CN2
W
V
U L1 L2
R S T
CN2L (Note 4)
Line noise filter (FR-BSF01)
Regenerative option
Servo motor
Personal computer
(Note 3) Magnetic contactor (MC)
Molded-case circuit breaker (MCCB)
To safety relay or MR-J3-D05 safety logic unit
Junction terminal block
(Note 2) Power supply
Battery
To RS-422/RS-485 communication controller, parameter unit, etc.(Note 1)
Analog monitor
(Note 1) Power factor improving AC reactor (FR-HAL)
D (Note 5)
Note 1. The power factor improving DC reactor cannot be used. 2. For power supply specifications, refer to section 1.3. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. This is for MR-J4-_A1-RJ servo amplifier. MR-J4-_A1 servo amplifier does not have CN2L connector. Refer to Table 1.1 and Linear Encoder Instruction Manual for the compatible external encoders.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
1. FUNCTIONS AND CONFIGURATION
1 - 56
MEMO
2. INSTALLATION
2 - 1
2. INSTALLATION
WARNING To prevent electric shock, ground each equipment securely.
CAUTION
Stacking in excess of the specified number of product packages is not allowed. Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop. Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. Use the equipment within the specified environment. For the environment, refer to section 1.3. Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier. Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction. Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury, malfunction, etc. may occur. Do not install or operate the servo amplifier which have been damaged or have any parts missing. When the equipment has been stored for an extended period of time, contact your local sales office. When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier. The servo amplifier must be installed in the metal cabinet. Fumigants that are used to disinfect and protect wooden packaging from insects contain halogens (such as fluorine, chlorine, bromine, and iodine) cause damage if they enter our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.
POINT
When pulling out CNP1, CNP2, and CNP3 connectors of 100 V class/600 W or lower 200 V class servo amplifier, pull out CN3 and CN8 connectors beforehand.
2. INSTALLATION
2 - 2
2.1 Installation direction and clearances
CAUTION The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction. Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction.
(1) Installation clearances of the servo amplifier
(a) Installation of one servo amplifier
40 mm or more
10 mm or more
Servo amplifier
Cabinet Cabinet
80 mm or more
Wiring allowance
Top
Bottom
10 mm or more (Note 2)
40 mm or more (Note 1)
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more. 2. When mounting MR-J4-500A(-RJ), maintain a minimum clearance of 25 mm on the left side.
2. INSTALLATION
2 - 3
(b) Installation of two or more servo amplifiers
POINT
Close mounting is possible depending on the capacity of the servo amplifier. Refer to section 1.3 for availability of close mounting. When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the left. Otherwise, the CNP1, CNP2, and CNP3 connectors cannot be removed.
Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment. When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within 0 C to 45 C or use the servo amplifier with 75% or less of the effective load ratio.
100 mm or more
30 mm or more
30 mm or more
Cabinet
Top
Bottom
100 mm or more
1 mm
30 mm or more
40 mm or more
Cabinet
1 mm
Leaving clearance Mounting closely
40 mm or more (Note 1)
10 mm or more (Note 2)
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more. 2. When mounting MR-J4-500A(-RJ), maintain a minimum clearance of 25 mm between the MR-J4-500A(-RJ) and a servo
amplifier mounted on the left side.
(2) Others
When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2. INSTALLATION
2 - 4
2.2 Keeping out of foreign materials
(1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier. (2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or
a cooling fan installed on the ceiling. (3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force
clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the cabinet.
2.3 Encoder cable stress
(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and
brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the bending life range. Use the power supply and brake wiring cables within the bending life of the cables.
(3) Avoid any probability that the cable insulator might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles. (4) For installation on a machine where the servo motor moves, the bending radius should be made as large
as possible. Refer to section 10.4 for the bending life.
2. INSTALLATION
2 - 5
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, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office.
CAUTION Do not perform insulation resistance test on the servo amplifier. Otherwise, it may cause a malfunction. Do not disassemble and/or repair the equipment on customer side.
It is recommended that the following points periodically be checked. (1) Check for loose terminal block screws. Retighten any loose screws. (2) Check the cables and the like for scratches or cracks. Inspect them periodically according to operating
conditions especially when the servo motor is movable. (3) Check that the connector is securely connected to the servo amplifier. (4) Check that the wires are not coming out from the connector. (5) Check for dust accumulation on the servo amplifier. (6) Check for unusual noise generated from the servo amplifier. (7) Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
2. INSTALLATION
2 - 6
2.5 Parts having service life
Service life of the following parts is listed below. However, the service life vary depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your sales representative.
Part name Life guideline Smoothing capacitor 10 years
Relay Number of power-on, dynamic brake stop, and forced stop: 100,000 times Number of on and off for STO: 1,000,000 times
Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years) Absolute position battery Refer to section 12.2.
(1) Smoothing capacitor
The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 40 C or less).
(2) Relays
Contact faults occur due to contact wear arisen from switching currents. A relay will reach the end of its service life if the following actions are performed a total of 100,000 times: powering on the servo amplifier, inputting the dynamic brake stop, and inputting the forced stop; or if the following action is performed a total of 1,000,000 times: turning on or off STO during servo-off and servo motor stop. In addition, the service life of a relay may vary depending on the power supply capacity.
(3) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 10,000 hours to 30,000 hours. Normally, therefore, the cooling fan must be replaced in a few years of continuous operation as a guideline. If unusual noise or vibration is found during inspection, the cooling fan must also be replaced. The life indicates under the yearly average ambient temperature of 40 C, free from corrosive gas, flammable gas, oil mist, dust and dirt.
2. INSTALLATION
2 - 7
2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level
(1) Effective load ratio and regenerative load ratio As heat dissipation effects decrease in proportion to the decrease in air density, use the product within the effective load ratio and regenerative load ratio shown in the following figure.
0 20001000 Altitude
95 100
0
R eg
en er
at iv
e lo
ad ra
tio Ef
fe ct
iv e
lo ad
ra tio
[%]
[m]
When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 C to 45 C or at 75% or smaller effective load ratio. (Refer to section 2.1.)
(2) Input voltage
Generally, a withstand voltage decreases as increasing altitude; however, there is no restriction on the withstand voltage. Use in the same manner as in 1000 m or less. (Refer to section 1.3.)
(3) Parts having service life
(a) Smoothing capacitor The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 30 C or less).
(b) Relay
There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.4.)
(c) Servo amplifier cooling fan There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.4.)
2. INSTALLATION
2 - 8
MEMO
3. SIGNALS AND WIRING
3 - 1
3. SIGNALS AND WIRING
WARNING
Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM (DOCOMD)
Control output signal
Servo amplifier or MR-D01
RA
For sink output interface
24 V DC
DOCOM (DOCOMD)
Control output signal
24 V DC
Servo amplifier or MR-D01
RA
For source output interface
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF (-H)) with the power line of the servo motor. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment.
3. SIGNALS AND WIRING
3 - 2
CAUTION
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U Servo motor
MV
W
U
V
W
U
MV
W
U
V
W
Servo amplifier Servo motorServo amplifier
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.
POINT
When you use a linear servo motor, replace the following words in the left to the words in the right. Load to motor inertia ratio Load to motor mass ratio Torque Thrust (Servo motor) speed (Linear servo motor) speed
3.1 Input power supply circuit
CAUTION
Always connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor. Check the servo amplifier model, and then input proper voltage to the servo amplifier power supply. If input voltage exceeds the upper limit of the specification, the servo amplifier will break down. The servo amplifier has a built-in surge absorber (varistor) to reduce exogenous noise and to suppress lightning surge. Exogenous noise or lightning surge deteriorates the varistor characteristics, and the varistor may be damaged. To prevent a fire, use a molded-case circuit breaker or fuse for input power supply. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. The N- terminal is not a neutral point of the power supply. Incorrect wiring will cause a burst, damage, etc. When insulating the main circuit power supply (L1/L2/L3) and the control circuit power supply (L11/L21) of the servo amplifier using an isolation transformer, etc., connect between L1 and L11 and between L2 and L21 at equipotential.
3. SIGNALS AND WIRING
3 - 3
POINT
EM2 has the same function as EM1 in the torque control mode. Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's. When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2. When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, refer to app. 13.
Configure the wirings so that the main circuit power supply is shut off and SON (Servo-on) is turned off after deceleration to a stop due to an alarm occurring, enabled servo forced stop, etc. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.
3. SIGNALS AND WIRING
3 - 4
3.1.1 200 V class
(1) Using 3-phase 200 V AC to 240 V AC power supply for MR-J4-10A(-RJ) to MR-J4-350A(-RJ)
ALM
DOCOM
CN1
RA1
L1
L2
L3
P3 P4
P+
L11
L21
N-
D
C
U
V
W
CNP1
CNP3
CNP2
U
V
W M
CN2
MC
MC
SK
CN1 EM2
SON DICOM
CN8
MCCB (Note 6)
MC
(Note 4)
24 V DC (Note 11)
Malfunction
3-phase 200 V AC to 240 V AC
Servo amplifier
(Note 1)(Note 9)
(Note 2)
(Note 12)
Servo motor
Motor
Encoder(Note 3) Encoder cable
(Note 5)
Malfunction RA1 OFF ON
Emergency stop switch
Forced stop 2
Servo-on (Note 4)
(Note 8) Short-circuit connector (Packed with the servo amplifier)
(Note 7) Main circuit power supply
(Note 10)
(Note 10)
24 V DC (Note 11)
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals (factory-wired). When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)". 4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.) 10. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 11. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 12. Do not ground L11 and L21.
3. SIGNALS AND WIRING
3 - 5
(2) Using 1-phase 200 V AC to 240 V AC power supply for MR-J4-10A(-RJ) to MR-J4-200A(-RJ)
POINT Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Amplifier's. When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.
L1
L2
L3
P3 P4
P+
L11
L21
N-
D
C
U
V
W
CNP1
CNP3
CNP2
U
V
W M
CN2
MC
MC
SK
CN8
MCCB
ALM
DOCOM
CN1
RA1
CN1 EM2
SON DICOM
(Note 6) MC
(Note 4)
24 V DC (Note 11)
Malfunction
1-phase 200 V AC to 240 V AC
Servo amplifier
(Note 1)(Note 9)
(Note 2)
(Note 12)
Servo motor
Motor
Encoder(Note 3) Encoder cable
(Note 5)
Malfunction RA1 OFF ON
Emergency stop switch
Forced stop 2
Servo-on (Note 4)
(Note 8) Short-circuit connector (Packed with the servo amplifier)
(Note 7) Main circuit power supply
(Note 10)
(Note 10)
24 V DC (Note 11)
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals (factory-wired). When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)". 4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 9. When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.) 10. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 11. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 12. Do not ground L11 and L21.
3. SIGNALS AND WIRING
3 - 6
(3) MR-J4-500A(-RJ)
L1
L2
L3
L11 L21
P3
C
N-
P+
P4
U
V
W
U
V
W M
CN2
MC
MC
SK
CN8
MCCB
D
ALM
DOCOM
CN1
RA1
CN1 EM2
SON DICOM
(Note 6) MC
(Note 4)
24 V DC (Note 11)
Malfunction
3-phase 200 V AC to 240 V AC
Servo amplifier
(Note 1)
(Note 12)
(Note 9)
(Note 2)
Servo motor
Motor
Encoder(Note 3) Encoder cable
(Note 5)
Malfunction RA1 OFF ON
Emergency stop switch
Forced stop 2
Servo-on (Note 4)
(Note 8) Short-circuit connector (Packed with the servo amplifier)
(Note 7) Main circuit power supply
(Note 10)
(Note 10)
24 V DC (Note 11)
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals (factory-wired). When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)". 4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.) 10. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 11. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 12. Do not ground L11 and L21.
3. SIGNALS AND WIRING
3 - 7
(4) MR-J4-700A(-RJ)
C
P+
L11
L21
P3
P4
N-
L1
L2
L3
U
V
W
U
V
W M
CN2
MC
MC
SK
CN8
MCCB
ALM
DOCOM
CN1
RA1
CN1 EM2
SON DICOM
(Note 6) MC
(Note 4)
24 V DC (Note 11)
Malfunction
3-phase 200 V AC to 240 V AC
Servo amplifier
(Note 1)
(Note 11)
(Note 9)
(Note 2)
Servo motor
Motor
Encoder(Note 3) Encoder cable
(Note 5)
Malfunction RA1 OFF ON
Emergency stop switch
Forced stop 2
Servo-on (Note 4)
(Note 8) Short-circuit connector (Packed with the servo amplifier)
(Note 7) Main circuit power supply
(Note 10)
(Note 10)
24 V DC (Note 11)
Built-in regenerative resistor
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)". 4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.) 10. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 11. Do not ground L11 and L21.
3. SIGNALS AND WIRING
3 - 8
(5) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)/MR-J4-22KA(-RJ)
C
P+
L11
L21
P3
P4
N-
L1
L2
L3
U
V
W
U
V
W M
CN2
MC
MC
SK
CN8
MCCB
ALM
DOCOM
CN1
RA1
CN1 EM2
SON DICOM
BU BV BW
MCCB
(Note 6) MC
(Note 4)
24 V DC (Note 11)
Malfunction
3-phase 200 V AC to 240 V AC
Servo amplifier
(Note 1)
(Note 16)
(Note 9) Regenerative
resistor (Note 2)
Servo motor
Motor
Encoder(Note 3) Encoder cable
(Note 5)
Malfunction RA1 OFF
ON
Emergency stop switch
Forced stop 2
Servo-on (Note 4)
(Note 8) Short-circuit connector (Packed with the servo amplifier)
(Note 7) Main circuit power supply
(Note 10)
(Note 10)
24 V DC (Note 11)
(Note 12)
(Note 13) Cooling fan power supply
(Note 14, 15) External dynamic brake (optional)
Cooling fan
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)". 4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.) 10. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 11. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 12. For the servo motor with a cooling fan. 13. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". 14. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. For wiring of the external dynamic brake, refer to section 11.17.
15. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
16. Do not ground L11 and L21.
3. SIGNALS AND WIRING
3 - 9
3.1.2 400 V class
(1) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ)
(Note 6) MC
ALM
DOCOM
CN1
(Note 4)
24 V DC (Note 12)
24 V DC (Note 12) MalfunctionRA1
L1
L2
L3
3-phase 380 V AC to 480 V AC
Servo amplifier
P3 P4
P+
L11
L21
N-
D
C
U
V
W
(Note 1)(Note 9)
(Note 2)
(Note 13)
CNP1
CNP3
CNP2
Servo motor
U
V
W M
Motor
EncoderCN2 (Note 3) Encoder cable
(Note 5)
Malfunction RA1 OFF
MC
ON MC
SKEmergency stop switch
CN1 Forced stop 2
Servo-on (Note 4)
EM2
SON DICOM
CN8 (Note 8) Short-circuit connector (Packed with the servo amplifier)
(Note 7) Main circuit power supply
MCCB (Note 10)
(Note 10)
(Note 11) Step-down transformer
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual (Vol. 3)".
4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until
closure of contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit
breaker. (Refer to section 11.10.) 10. Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 11. Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class. 12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience.
However, they can be configured by one. 13. Do not ground L11 and L21.
3. SIGNALS AND WIRING
3 - 10
(2) MR-J4-500A4(-RJ)/MR-J4-700A4(-RJ)
(Note 4)
(Note 4)
C
P+
L11
L21
P3
P4
N-
(Note 1)
Built-in regenerative
resistor
(Note 6) MC
L1
L2
L3
U
V
W(Note 2)
(Note 13)
U
V
W M
Motor
CN2
(Note 5)
OFF
MC
ON MC
SK
CN8
MCCB
(Note 9)
(Note 10)
(Note 10)
ALM
DOCOM
CN1 24 V DC (Note 12)
24 V DC (Note 12) RA1
CN1 EM2
SON DICOM
(Note 11) Step-down transformer
3-phase 380 V AC to 480 V AC
Emergency stop switch
Malfunction RA1
Servo amplifier Servo motor
(Note 3) Encoder cable Encoder
(Note 7) Main circuit power supply
Forced stop 2
Servo-on
(Note 8) Short-circuit connector (Packed with the servo amplifier)
Malfunction
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor
Instruction Manual (Vol. 3)". 4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until
closure of contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit
breaker. (Refer to section 11.10.) 10. Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 11. Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class. 12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience.
However, they can be configured by one. 13. Do not ground L11 and L21.
3. SIGNALS AND WIRING
3 - 11
(3) MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ)
(Note 2)
(Note 4)
(Note 4)
C
P+
L11
L21
P3
P4
N-
(Note 1)
(Note 17)
(Note 6) MC
L1
L2
L3
U
V
W
Regenerative resistor
U
V
W M
Motor
CN2
OFF
MC
ON MC
SK
CN8
MCCB
(Note 9)
(Note 10)
(Note 10)
(Note 15, 16) External
dynamic brake (optional)
(Note 5)
ALM
DOCOM
CN1 24 V DC (Note 14)
24 V DC (Note 14) RA1
CN1 EM2
SON DICOM
(Note 12)Cooling fan
BU BV BW
MCCB
(Note 13) Cooling fan
power supply
3-phase 380 V AC to 480 V AC
(Note 11) Step-down transformer
Malfunction RA1
Emergency stop switch
Servo amplifier Servo motor
(Note 3) Encoder cable
Encoder
Malfunction
(Note 8) Short-circuit connector (Packed with the servo amplifier)
(Note 7) Main circuit power supply
Forced stop 2
Servo-on
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)". 4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 9. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.) 10. Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 11. Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class. 12. For the servo motor with a cooling fan. 13. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". 14. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 15. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. For wiring of the external dynamic brake, refer to section 11.17.
16. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
17. Do not ground L11 and L21.
3. SIGNALS AND WIRING
3 - 12
3.1.3 100 V class
ALM
DOCOM
CN1
RA1
L1
L2
P+
L11
L21
N-
D
C
U
V
W
CNP1
CNP3
CNP2
U
V
W M
CN2
MC
MC
SK
CN1 EM2
SON DICOM
CN8
MCCB (Note 6)
MC
(Note 4)
24 V DC (Note 11)
Malfunction
1-phase 100 V AC to 120 V AC
Servo amplifier
(Note 9)
(Note 2)
(Note 12)
Servo motor
Motor
Encoder(Note 3) Encoder cable
(Note 5)
Malfunction RA1 OFF ON
Emergency stop switch
Forced stop 2
Servo-on (Note 4)
(Note 8) Short-circuit connector (Packed with the servo amplifier)
(Note 7) Main circuit power supply
(Note 10)
(Note 10)
24 V DC (Note 11)
Unassigned
Unassigned Unassigned
Note 1. The power factor improving DC reactor cannot be used. 2. Always connect between P+ and D terminals (factory-wired). When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)". 4. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 5. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
8. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 9. When wires used for L11 and L21 are thinner than wires used for L1 and L2, use a molded-case circuit breaker. (Refer to
section 11.10.) 10. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 11. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 12. Do not ground L11 and L21.
3. SIGNALS AND WIRING
3 - 13
3.2 I/O signal connection example
3.2.1 Position control mode
(1) Sink I/O interface
(Note 12)
Plate
Plate
Servo amplifier
2 m or less
3 MO1 1 LG 2 MO2
(Note 7) CN6
DC 10 V DC 10 V
Analog monitor 1
Analog monitor 2
(Note 2)
Malfunction (Note 6) Zero speed detection Limiting torque
Encoder A-phase pulse (differential line driver)
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 INP
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver)
Control common
Encoder Z-phase pulse (open collector)
(Note 7) CN1
LG
DICOM
10 m or less (Note 8)
41
20 46
49 10 11 35
9 3
36
CLEARCOM
12
15 16
14 13
11
CLEAR RDYCOM READY
PULSE F+ PULSE F-
PG0 PG0 COM
PULSE R+ PULSE R- 18
10
17
9
DOCOM
CR
RD PP PG NP NG LZ
LZR 8
(Note 11)
(Note 7) CN1
Positioning module RD75D/LD75D/QD75D
(Note 4) 24 V DC (Note 4)
24 V DC
In-position
Control common SD
RA1
RA2
RA3
RA4
Plate
(Note 1)
2 m or less
10 m or less
Upper limit setting
42 15 19 17 18 43 44 21 1
27
SD
EM2 SON RES PC TL
LSP LSN
DICOM P15R TLA LG 28
(Note 7) CN1
(Note 4) 24 V DC
Forced stop 2 Servo-on Reset Proportion control External torque limit selection Forward rotation stroke end Reverse rotation stroke end
(Note 3, 5)
(Note 5)
+
(Note 10) USB cable
(option)
(Note 9) MR Configurator2
CN5
CN8
Analog torque limit +10 V/maximum torque
Personal computer
(Note 16)
(Note 12) Short-circuit connector (Packed with the servo amplifier)
(Note 13) Main circuit power supply
3. SIGNALS AND WIRING
3 - 14
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24 V DC 10% to interfaces from outside. The total current capacity is up to 500 mA. 500 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition. When this signal (normally closed contact) is switched off (at occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.
7. The pins with the same signal name are connected in the servo amplifier. 8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector
type. 9. Use SW1DNC-MRC2-_. (Refer to section 11.7.) 10. Controller or parameter units can also be connected via the CN3 connector, enabling RS-422/RS-485 communication. Note
that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.
PRU03
MR-PRU03 parameter unit
CN3
Servo amplifier
or
10BASE-T cable, etc. (EIA568-compliant)
RS-422/RS-485 compatible controller
11. This connection is not required for RD75D, LD75D and QD75D. However, to enhance noise tolerance, it is recommended to connect LG of servo amplifier and control common depending on the positioning module.
12. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 13. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier. 14. Plus and minus of the power of source interface are the opposite of those of sink interface. 15. CLEAR and CLEARCOM of source interface are interchanged to sink interface. 16. When a command cable for connection with the controller side malfunctions due to disconnection or noise, a position
mismatch can occur. To avoid position mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse be checked.
3. SIGNALS AND WIRING
3 - 15
(2) Source I/O interface
POINT For notes, refer to (1) in this section.
Plate
Plate
Servo amplifier
2 m or less
(Note 7) CN6
DC 10 V DC 10 V
Analog monitor 1
Analog monitor 2
(Note 2)
Malfunction (Note 6) Zero speed detection Limiting torque
Encoder A-phase pulse (differential line driver)
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver)
Control common
Encoder Z-phase pulse (open collector)
(Note 7) CN1
10 m or less (Note 8)
(Note 11)
(Note 7) CN1
Positioning module RD75D/LD75D/QD75D
(Note 4, 14) 24 V DC
(Note 4, 14) 24 V DC
(Note 4, 14) 24 V DC
In-position
Control common
RA1
RA2
RA3
RA4
Plate
(Note 1)
2 m or less
10 m or less
Upper limit setting
(Note 7) CN1
Forced stop 2 Servo-on Reset Proportion control External torque limit selection Forward rotation stroke end Reverse rotation stroke end
(Note 3, 5)
(Note 5)
+
(Note 10) USB cable
(option)
(Note 9) MR Configurator2
Analog torque limit +10 V/maximum torque
Personal computer
(Note 12) Short-circuit connector (Packed with the servo amplifier)
(Note 13) Main circuit power supply
3 MO1 1 LG 2 MO2
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 INP
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
LG
DICOM
41
20 46
49 10 11 35
9 3
36
CLEARCOM
12
15 16
14 13
11
CLEAR
RDYCOM READY
PULSE F+ PULSE F-
PG0 PG0 COM
PULSE R+ PULSE R- 18
10
17
9
DOCOM
CR
RD PP PG NP NG LZ
LZR 8
(Note 15)
SD
42 15 19 17 18 43 44 21 1 27
SD
EM2 SON RES PC TL
LSP LSN
DICOM P15R TLA LG 28
CN5
CN8
(Note 16)
3. SIGNALS AND WIRING
3 - 16
3.2.2 Speed control mode
(1) Sink I/O interface
(Note 12) Main circuit power supply
CN8 (Note 11) Short-circuit connector (Packed with the servo amplifier) (Note 1)
(Note 8)
Analog speed command 10 V/rated speed
(Note 2)
(Note 7) CN1
(Note 7) CN1
Plate
Servo amplifier
(Note 7) CN6
2 m or less
3 MO1 1 LG 2 MO2
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 SA
49 RD
( 4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
2 m or less
( 8 LZ 9 LZR
21DICOM
10 m or less
2 1
2 m or less
Upper limit setting 28
27
Plate
Upper limit setting
VC
SD
TLA
LG
P15R
+
(Note 10) USB cable
(option) CN5
Analog torque limit +10 V/maximum torque
(Note 9) MR Configurator2
Personal computer
(Note 4) 24 V DC
(Note 4) 24 V DC
RA1
RA2
RA3
RA4
RA5
42 15 19
17 18 43 44 20
41 16
EM2 SON RES
ST1 ST2 LSP LSN
DICOM
SP1 SP2
Reverse rotation stroke end
Forced stop 2 Servo-on Reset Speed selection 1
Forward rotation start Speed selection 2
Reverse rotation start Forward rotation stroke end
(Note 3, 5)
(Note 5)
DC 10 V DC 10 V
Analog monitor 1
Analog monitor 2
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver) Control common
Encoder Z-phase pulse (open collector)
Encoder Z-phase pulse differential line driver)
Malfunction (Note 6) Zero speed detection Limiting torque
Speed reached
Ready
10 m or less
46 DOCOM
3. SIGNALS AND WIRING
3 - 17
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24 V DC 10% to interfaces from outside. The total current capacity is up to 500 mA. 500 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. The 24 V DC power supply can be used both for input signals and output signals.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact) 7. The pins with the same signal name are connected in the servo amplifier. 8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22]. (Refer to section 3.6.1
(5).) 9. Use SW1DNC-MRC2-_. (Refer to section 11.7.) 10. Controller or parameter units can also be connected via the CN3 connector, enabling RS-422/RS-485 communication. Note
that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.
PRU03
MR-PRU03 parameter unit
CN3
Servo amplifier
or
10BASE-T cable, etc. (EIA568-compliant)
RS-422/RS-485 compatible controller
11. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 12. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier. 13. Plus and minus of the power of source interface are the opposite of those of sink interface.
3. SIGNALS AND WIRING
3 - 18
(2) Source I/O interface
POINT For notes, refer to (1) in this section.
CN8
3 MO1 1 LG 2 MO2
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 SA
49 RD
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
8 LZ 9 LZR
20DICOM 21DICOM
2 1
28
27
VC
SD
TLA
LG
P15R
+
CN5
RA1
RA2
RA3
RA4
RA5
42 15 19
17 18 43 44
41 16
EM2 SON RES
ST1 ST2 LSP LSN
SP1 SP2
DC 10 V DC 10 V
(Note 12) Main circuit power supply
(Note 11) Short-circuit connector (Packed with the servo amplifier) (Note 1)
(Note 8)
Analog speed command 10 V/rated speed
(Note 2)
(Note 7) CN1
(Note 7) CN1
Servo amplifier
(Note 7) CN6
2 m or less
2 m or less
10 m or less
2 m or less
Upper limit setting
Upper limit setting
(Note 10) USB cable
(option)
Analog torque limit +10 V/maximum torque
(Note 9) MR Configurator2
Personal computer
(Note 4, 13) 24 V DC
(Note 4, 13) 24 V DC
Reverse rotation stroke end
Forced stop 2 Servo-on Reset Speed selection 1
Forward rotation start Speed selection 2
Reverse rotation start Forward rotation stroke end
(Note 3, 5)
(Note 5)
Analog monitor 1
Analog monitor 2
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver) Control common
Encoder Z-phase pulse (open collector)
Encoder Z-phase pulse (differential line driver)
Malfunction (Note 6) Zero speed detection Limiting torque
Speed reached
Ready
10 m or less
Plate Plate
46 DOCOM
3. SIGNALS AND WIRING
3 - 19
3.2.3 Torque control mode
POINT EM2 has the same function as EM1 in the torque control mode.
(1) For sink I/O interface
(Note 4) 24 V DC
(Note 4) 24 V DC
Servo amplifier
(Note 6) CN6
2 m or less
3 MO1 1 LG 2 MO2
DC 10 V DC 10 V
Analog monitor 1
Analog monitor 2
(Note 1)
9
(Note 2)
Malfunction (Note 5) Zero speed detection Limiting speed
Encoder A-phase pulse (differential line driver)
48 ALM
23 ZSP
25 VLC
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver) Control common
Encoder Z-phase pulse (open collector)
(Note 6) CN1
49 RD Ready
Encoder Z-phase pulse (differential line driver)
8 LZ LZR
(Note 6) CN1
20
47
DICOM 21DICOM
DOCOM
Personal computer
+
(Note 8) USB cable
(option) CN5
27 1
2 m or less
Upper limit setting 28
2
Plate
Upper limit setting
TC
SD
VLA
LG
P15R Analog torque command 8 V/maximum torque
Analog speed limit 0 to 10 V/rated speed
(Note 7) MR Configurator2
Plate
10 m or less
42 15 19
17 18
46
Forced stop 2 Servo-on Reset
Forward rotation selection Reverse rotation selection
(Note 3)
41 16Speed selection 2
EM2 SON RES
RS1 RS2
DOCOM
SP1 SP2
Speed selection 1
RA1
RA2
RA3
RA4
(Note 9) Short-circuit connector (Packed with the servo amplifier)
CN8
(Note 10) Main circuit power supply
3. SIGNALS AND WIRING
3 - 20
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24 V DC 10% to interfaces from outside. The total current capacity is up to 500 mA. 500 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. The 24 V DC power supply can be used both for input signals and output signals.
5. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact) 6. The pins with the same signal name are connected in the servo amplifier. 7. Use SW1DNC-MRC2-_. (Refer to section 11.7.) 8. Controller or parameter units can also be connected via the CN3 connector, enabling RS-422/RS-485 communication. Note
that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.
PRU03
MR-PRU03 parameter unit
CN3
Servo amplifier
or
10BASE-T cable, etc. (EIA568-compliant)
RS-422/RS-485 compatible controller
9. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 10. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier. 11. Plus and minus of the power of source interface are the opposite of those of sink interface.
3. SIGNALS AND WIRING
3 - 21
(2) For source I/O interface
POINT For notes, refer to (1) in this section.
(Note 4, 11) 24 V DC
(Note 4, 11) 24 V DC
Servo amplifier
(Note 6) CN6
2 m or less
DC 10 V DC 10 V
Analog monitor 1
Analog monitor 2
(Note 1)
(Note 2)
Malfunction (Note 5) Zero speed detection Limiting speed
Encoder A-phase pulse (differential line driver)
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver) Control common
Encoder Z-phase pulse (open collector)
(Note 6) CN1
Ready
Encoder Z-phase pulse (differential line driver)
(Note 6) CN1
Personal computer
+
(Note 8) USB cable
(option) CN5
2 m or less
Upper limit setting
Plate
Upper limit setting Analog torque command 8 V/maximum torque
Analog speed limit 0 to 10 V/rated speed
(Note 7) MR Configurator2
Plate
10 m or less
Forced stop 2 Servo-on Reset
Forward rotation selection Reverse rotation selection
(Note 3)
Speed selection 2 Speed selection 1
(Note 9) Short-circuit connector (Packed with the servo amplifier)
CN8
(Note 10) Main circuit power supply
3 MO1 1 LG 2 MO2
9
47 DOCOM
46 DOCOM
48 ALM
23 ZSP
25 VLC
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
49 RD
8 LZ LZR20
21 DICOM DICOM
27 1
28
2
TC
SD
VLA
LG
P15R
42 15 19
18 17
41 16
EM2 SON RES
RS1 RS2
SP1 SP2
RA1
RA2
RA3
RA4
3. SIGNALS AND WIRING
3 - 22
3.3 Explanation of power supply system
3.3.1 Signal explanations
POINT For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS. When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, refer to app. 13.
Symbol Connection target
(application) Description
L1/L2/L3 Main circuit power supply
Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
Servo amplifier
Power
MR-J4-10A (-RJ) to
MR-J4-200A (-RJ)
MR-J4-350A (-RJ) to
MR-J4-22KA (-RJ)
MR-J4-60A4 (-RJ) to
MR-J4-22KA4 (-RJ)
MR-J4-10A1 to MR-J4-40A1
3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz L1/L2/L3
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz L1/L3
3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz L1/L2/L3
1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz L1/L2
P3/P4 Power factor
improving DC reactor
When not using the power factor improving DC reactor, connect P3 and P4 (factory-wired). When using the power factor improving DC reactor, disconnect P3 and P4, and connect the power factor improving DC reactor to P3 and P4. Additionally, the power factor improving DC reactor cannot be used for the 100 V class servo amplifiers. Refer to section 11.11 for details.
P+/C/D Regenerative option
(1) 200 V class/100 V class 1) MR-J4-500A(-RJ) or less and MR-J4-40A1(-RJ) or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D (factory- wired). When using a regenerative option, disconnect P+ and D, and connect the regenerative option to P+ and C.
2) MR-J4-700A(-RJ) to MR-J4-22KA(-RJ) MR-J4-700A(-RJ) to MR-J4-22KA(-RJ) do not have D. When using a servo amplifier built-in regenerative resistor, connect P+ and C (factory- wired). When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative resistor. And then connect wires of the regenerative option to P+ and C.
(2) 400 V class 1) MR-J4-350A4(-RJ) or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory- wired) When using a regenerative option, disconnect P+ and D, and connect the regenerative option to P+ and C.
2) MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ) MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ) do not have D. When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factory- wired) When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative resistor. And then connect wires of the regenerative option to P+ and C.
Refer to section 11.2 for details.
3. SIGNALS AND WIRING
3 - 23
Symbol Connection target
(application) Description
L11/L21 Control circuit power supply
Supply the following power to L11 and L21. Servo amplifier
Power MR-J4-10A(-RJ) to MR-J4-22KA(-RJ)
MR-J4-60A4(-RJ) to MR-J4-22KA4(-RJ)
MR-J4-10A1 to MR-J4-40A1
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz L11/L21
1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz L11/L21
1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz L11/L21
U/V/W Servo motor power output
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
N-
Power regeneration converter
Power regeneration common converter
Brake unit Multifunction
regeneration converter
This terminal is used for a power regeneration converter, power regeneration common converter, brake unit, and multifunction regeneration converter. Refer to section 11.3 to 11.5 and 11.19 for details.
Protective earth (PE) Connect it to the grounding terminal of the servo motor and to the protective earth (PE) of the cabinet for grounding.
3.3.2 Power-on sequence
POINT The voltage of analog monitor output, output signal, etc. may be unstable at power-on.
(1) Power-on procedure
1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown in above section 3.1. 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 receives the SON (Servo-on) 2.5 s to 3.5 s after the main circuit power supply
is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the main circuit power supply, the base circuit will switch on in about 2.5 s to 3.5 s, and the RD (Ready) will switch on in further about 5 ms, making the servo amplifier ready to operate. (Refer to (2) in this section.)
4) When RES (Reset) is switched on, the base circuit is shut off and the servo motor shaft coasts.
3. SIGNALS AND WIRING
3 - 24
(2) Timing chart
95 ms
95 ms
RD (Ready)
RES (Reset)
SON (Servo-on) OFF ON
OFF ON
ON OFF
Base circuit OFF ON
power supply OFF ON
10 ms5 ms
10 ms
10 ms5 ms
10 ms
5 ms 10 ms
(2.5 s to 3.5 s)
SON (Servo-on) accepted
Main circuit Control circuit
Alarm (OFF) No alarm (ON)ALM
(Malfunction) 2.5 s to 3.5 s
(Note)
Note. The time will be longer during the magnetic pole detection of a linear servo motor and direct drive motor.
3.3.3 Wiring CNP1, CNP2, and CNP3
POINT For the wire sizes used for wiring, refer to section 11.9. When wiring, remove the power connectors from the servo amplifier. Insert only one wire or ferrule to each wire insertion hole. MR-J4-500A(-RJ) or more and MR-J4-500A4(-RJ) or more do not have these connectors.
Use the servo amplifier power connector for wiring CNP1, CNP2, and CNP3. (1) Connector
(a) MR-J4-10A(-RJ) to MR-J4-100A(-RJ)
CNP2
CNP1
CNP3
Servo amplifier
Table 3.1 Connector and applicable wire
Connector Receptacle assembly Applicable wire Stripped
length [mm] Open tool Manufac turer Size Insulator OD
CNP1 06JFAT-SAXGDK-H7.5 AWG 18 to 14 3.9 mm or shorter 9 J-FAT-OT (N) or
J-FAT-OT JST CNP2 05JFAT-SAXGDK-H5.0 CNP3 03JFAT-SAXGDK-H7.5
3. SIGNALS AND WIRING
3 - 25
(b) MR-J4-200A(-RJ)/MR-J4-350A(-RJ)
CNP2
CNP1
CNP3
MR-J4-200A(-RJ) Servo amplifier
CNP3
CNP1
CNP2
MR-J4-350A(-RJ) Servo amplifier
Table 3.2 Connector and applicable wire
Connector Receptacle assembly Applicable wire Stripped
length [mm] Open tool Manufac turer Size Insulator OD
CNP1 06JFAT-SAXGFK-XL AWG 16 to 10 4.7 mm or shorter 11.5
J-FAT-OT-EXL JST CNP3 03JFAT-SAXGFK-XL CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or shorter 9
(c) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ)
CNP2
CNP1
(Note)
CNP3
Servo amplifier
Note. A pin for preventing improper connection is inserted to N- of CNP1 connector.
Table 3.3 Connector and applicable wire
Connector Receptacle assembly Applicable wire Stripped
length [mm] Open tool Manufac turer Size Insulator OD
CNP1 06JFAT-SAXGDK-HT10.5 AWG 16 to 14 3.9 mm or shorter 10 J-FAT-OT-XL JST CNP2 05JFAT-SAXGDK-HT7.5
CNP3 03JFAT-SAXGDK-HT10.5
3. SIGNALS AND WIRING
3 - 26
(d) MR-J4-10A1(-RJ) to MR-J4-40A1(-RJ)
CNP2
CNP1
CNP3
Servo amplifier
Table 3.4 Connector and applicable wire
Connector Receptacle assembly Applicable wire Stripped
length [mm] Open tool Manufac turer Size Insulator OD
CNP1 06JFAT-SAXGDK-H7.5 AWG 18 to 14 3.9 mm or shorter 9 J-FAT-OT (N) or
J-FAT-OT JST CNP2 05JFAT-SAXGDK-H5.0 CNP3 03JFAT-SAXGDK-H7.5
(2) Cable connection procedure
(a) Fabrication on cable insulator Refer to table 3.1 to 3.4 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status.
Insulator Core
Stripped length
Twist strands lightly and straighten them as follows.
Loose and bent strands Twist and straighten the strands.
3. SIGNALS AND WIRING
3 - 27
You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following ferrules and crimp terminal.
Servo amplifier Wire size
Ferrule model (Phoenix Contact) Crimp terminal (Phoenix Contact) For one For two
MR-J4-10A(-RJ) to
MR-J4-100A(-RJ)
AWG 16 AI1.5-10BK AI-TWIN21.5-10BK
AWG 14 AI2.5-10BU
MR-J4-200A(-RJ) to
MR-J4-350A(-RJ)
AWG 16 AI1.5-10BK AI-TWIN21.5-10BK AWG 14 AI2.5-10BU AI-TWIN22.5-10BU AWG 12 AI4-10GY
CRIMPFOX-ZA3 MR-J4-60A4(-RJ)
to MR-J4-350A4(-RJ)
AWG 16 AI1.5-10BK AI-TWIN21.5-10BK
AWG 14 AI2.5-10BU
MR-J4-10A1(-RJ) to
MR-J4-40A1(-RJ)
AWG 16 AI1.5-10BK AI-TWIN21.5-10BK
AWG 14 AI2.5-10BU
(b) Inserting wire
Insert only one wire or ferrule to each wire insertion hole. Insert the open tool as follows and push it down to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the wire insertion depth, and make sure that the cable insulator will not be caught by the spring and that the conductive part of the stripped wire will not be exposed. Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. In addition, make sure that no conductor wire sticks out of the connector. The following shows a connection example of the CNP3 connector for MR-J4-200A(-RJ) and MR-J4- 350A(-RJ).
1) Push down the open tool.
3) Release the open tool to fix the wire.
2) Insert the wire.
3. SIGNALS AND WIRING
3 - 28
3.4 Connectors and pin assignment
POINT The pin assignment of the connectors is as viewed from the cable connector wiring section. For the STO I/O signal connector (CN8), refer to chapter 13. For the CN1 connector, securely connect the external conductive portion of the shielded cable to the ground plate and fix it to the connector shell.
Screw
Screw Ground plate
Cable
PP (CN1-10 pin)/NP (CN1-35 pin) and PP2 (CN1-37 pin)/NP2 (CN1-38 pin) are exclusive. They cannot be used together.
3. SIGNALS AND WIRING
3 - 29
The servo amplifier front view shown is that of the MR-J4-20A-RJ or less. Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers.
2
LG
3
MO2
1
MO1
CN6
CN1
4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
BAT
(Note 2) CN2
MXR
MX
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
4 MRR2
2 LG 8
6
1 P5
5
10
3 MR2
7 9
(Note 1, 2) CN2L (For using serial encoder)
MXR2
THM2
THM1
MX2
4 PAR
2 LG 8
6
1 P5
PBR PSEL
PB 5
10
3 PA
7 9
(Note 1, 2) CN2L (for using A/B/Z-phase pulse encoder)
PZR
PZ
The frames of the CN1 connectors are connected to the protective earth terminal in the servo amplifier.
CN5 (USB connector) refer to section 11.7.
CN3 (RS-422/RS-485 connector) refer to chapter 14.
The 3M make connector is shown.
CN8 For the STO I/O signal connector, refer to section 13.2.
(Battery connector) refer to section 11.8.
CN4
BAT
Note 1. The MR-J4-_A_-RJ servo amplifiers have CN2L connectors. This CN2L is a connector of 3M. When using any other connector, refer to each servo motor instruction manual.
2. Refer to table 1.1 and "Linear Encoder Instruction Manual" for connections of external encoders.
The device assignment of the CN1 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices will be changed using those parameters.
3. SIGNALS AND WIRING
3 - 30
Pin No. (Note 1)
I/O (Note 2) I/O signals in control modes
Related parameter P P/S S S/T T T/P
1 P15R P15R P15R P15R P15R P15R 2 I -/VC VC VC/VLA VLA VLA/- 3 LG LG LG LG LG LG 4 O LA LA LA LA LA LA 5 O LAR LAR LAR LAR LAR LAR 6 O LB LB LB LB LB LB 7 O LBR LBR LBR LBR LBR LBR 8 O LZ LZ LZ LZ LZ LZ 9 O LZR LZR LZR LZR LZR LZR 10 I PP PP/- (Note 6) (Note 6) (Note 6) -/PP PD43/PD44 (Note 5) 11 I PG PG/- -/PG 12 OPC OPC/- -/OPC 13 O (Note 4) (Note 4) (Note 4) (Note 4) (Note 4) (Note 4) PD47 (Note 5) 14 O (Note 4) (Note 4) (Note 4) (Note 4) (Note 4) (Note 4) PD47 (Note 5) 15 I SON SON SON SON SON SON PD03/PD04 16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- PD05/PD06 17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC PD07/PD08 18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL PD09/PD10 19 I RES RES RES RES RES RES PD11/PD12 20 DICOM DICOM DICOM DICOM DICOM DICOM 21 DICOM DICOM DICOM DICOM DICOM DICOM 22 O INP INP/SA SA SA/- -/INP PD23 23 O ZSP ZSP ZSP ZSP ZSP ZSP PD24 24 O INP INP/SA SA SA/- -/INP PD25 25 O TLC TLC TLC TLC/VLC VLC VLC/TLC PD26 26
27 I TLA (Note 3) TLA
(Note 3) TLA
(Note 3) TLA/TC TC TC/TLA
28 LG LG LG LG LG LG 29 30 LG LG LG LG LG LG 31 32 33 O OP OP OP OP OP OP 34 LG LG LG LG LG LG 35 I NP NP/- (Note 6) (Note 6) (Note 6) -/NP PD45/PD46 (Note 5) 36 I NG NG/- -/NG
(Note 8) 37 I PP2 PP2/- (Note 7) (Note 7) (Note 7) -/PP2 PD43/PD44 (Note 5) (Note 8) 38 I NP2 NP2/- (Note 7) (Note 7) (Note 7) -/NP2 PD45/PD46 (Note 5)
39 40 41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD13/PD14 42 I EM2 EM2 EM2 EM2 EM2 EM2 43 I LSP LSP LSP LSP/- -/LSP PD17/PD18 44 I LSN LSN LSN LSN/- -/LSN PD19/PD20 45 I LOP LOP LOP LOP LOP LOP PD21/PD22 46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM 47 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM 48 O ALM ALM ALM ALM ALM ALM 49 O RD RD RD RD RD RD PD28 50
Note 1. I: Input signal, O: Output signal 2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change
mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode 3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22]. 4. Output devices are not assigned by default. Assign the output devices with [Pr. PD47] as necessary. 5. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later. 6. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input
devices with [Pr. PD43] to [Pr. PD46] as necessary. Supply + of 24 V DC to CN1-12 pin. Also, this is available with servo amplifiers with software version B3 or later.
7. This is available as an input device of source interface. Input devices are not assigned by default. Assign the input devices with [Pr. PD43] to [Pr. PD46] as necessary.
8. These pins are available for MR-J4-_A_(-RJ) servo amplifiers manufactured in January 2015 or later with software version B7 or later.
3. SIGNALS AND WIRING
3 - 31
3.5 Signal (device) explanations
The pin numbers in the connector pin No. column are those in the initial status. For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. The symbols in the control mode field of the table shows the followings. P: Position control mode S: Speed control mode T: Torque control mode " " and " " of the table shows the followings.
: Usable device by default. : Usable device by setting the following parameters.
[Pr. PA04], [Pr. PD03] to [Pr. PD26], [Pr. PD28], and [Pr. PD47] (1) I/O device
(a) Input device
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T Forced stop 2 EM2 CN1-42 Turn off EM2 (open between commons) to decelerate the servo motor to a
stop with commands. Turn EM2 on (short between commons) in the forced stop state to reset that state. The following shows the setting of [Pr. PA04].
DI-1
[Pr. PA04] setting EM2/EM1
Deceleration method EM2 or EM1 is off Alarm occurred
0 _ _ _ EM1
MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.
MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.
2 _ _ _ EM2
MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.
MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.
EM2 and EM1 are mutually exclusive. EM2 has the same function as EM1 in the torque control mode.
Forced stop 1 EM1 (CN1-42) When using EM1, set [Pr. PA04] to "0 _ _ _" to enable EM1. When EM1 is turned off (open between commons), the base circuit shuts off, and the dynamic brake operates to decelerate the servo motor to a stop. Turn EM1 on (short between commons) in the forced stop state to reset that state.
DI-1
Servo-on SON CN1-15 Turn SON on to power on the base circuit and make the servo amplifier ready to operate. (servo-on status) Turn it off to shut off the base circuit and coast the servo motor. Set "_ _ _ 4" in [Pr. PD01] to switch this signal on (keep terminals connected) automatically in the servo amplifier.
DI-1
Reset RES CN1-19 Turn on RES for more than 50 ms to reset the alarm. Some alarms cannot be deactivated by RES (Reset). Refer to chapter 8. Turning RES on in an alarm-free status shuts off the base circuit. The base circuit is not shut off when " _ _ 1 _ " is set in [Pr. PD30]. This device is not designed to make a stop. Do not turn it on during operation.
DI-1
3. SIGNALS AND WIRING
3 - 32
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T Forward rotation stroke end
LSP CN1-43 To start operation, turn on LSP and LSN. Turn it off to bring the motor to a sudden stop and make it servo-locked. Setting [Pr. PD30] to " _ _ _ 1" will enable a slow stop.
DI-1
Reverse rotation stroke end
LSN CN1-44 (Note) Input device Operation
LSP LSN
CCW direction Positive direction
CW direction Negative direction
1 1 0 1 1 0 0 0 Note. 0: Off
1: On
Set [Pr. PD01] as indicated below to switch on the signals (keep terminals connected) automatically in the servo amplifier.
[Pr. PD01]
Status LSP LSN _ 4 _ _ Automatic
on
_ 8 _ _ Automatic on
_ C _ _ Automatic on
Automatic on
When LSP or LSN is turned off, [AL. 99 Stroke limit warning] occurs, and
WNG (Warning) turns on. When using WNG, enable it by the setting of [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. However, [Pr. PD47] is not available with MR-J4-03A6(-RJ) servo amplifiers. In the torque control mode, this device cannot be used during normal operation. It can be used during the magnetic pole detection in the linear servo motor control mode and the DD motor control mode. Also, when the magnetic pole detection in the torque control mode is completed, this signal will be disabled.
External torque limit selection
TL CN1-18 Turning off TL will enable [Pr. PA11 Forward torque limit] and [Pr. PA12 Reverse torque limit], and turning on it will enable TLA (Analog torque limit). For details, refer to section 3.6.1 (5).
DI-1
Internal torque limit selection
TL1 To select [Pr. PC35 Internal torque limit 2/internal thrust limit 2], enable TL1 with [Pr. PD03] to [Pr. PD22]. For details, refer to section 3.6.1 (5).
DI-1
Forward rotation start
ST1 CN1-17 This is used to start the servo motor. The following shows the directions.
DI-1
(Note) Input device Servo motor starting direction
ST2 ST1
0 0 Stop (servo-lock) 0 1 CCW 1 0 CW 1 1 Stop (servo-lock) Note. 0: Off
1: On
Reverse rotation start
ST2 CN1-18 If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the [Pr. PC02] setting and servo-locked. When " _ _ _1" is set in [Pr. PC23], the servo motor is not servo-locked after deceleration to a stop.
3. SIGNALS AND WIRING
3 - 33
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T Forward rotation selection
RS1 CN1-18 This is used to select a servo motor torque generation directions. The following shows the torque generation directions.
DI-1
(Note) Input device Torque generation direction
RS2 RS1 0 0 Torque is not generated. Reverse rotation selection
RS2 CN1-17 0 1
Forward rotation in power running mode/reverse
rotation in regenerative mode
1 0
Reverse rotation in power running mode/forward
rotation in regenerative mode
1 1 Torque is not generated. Note. 0: Off
1: On
Speed selection 1
SP1 CN1-41 1. For speed control mode This is used to select the command speed for operation.
DI-1
Speed selection 2
SP2 CN1-16 (Note) Input device Speed command
DI-1
SP3 SP2 SP1 Speed selection 3
SP3 0 0 0 VC (Analog speed command) DI-1
0 0 1 Pr. PC05 Internal speed command 1
0 1 0 Pr. PC06 Internal speed command 2
0 1 1 Pr. PC07 Internal speed command 3
1 0 0 Pr. PC08 Internal speed command 4
1 0 1 Pr. PC09 Internal speed command 5
1 1 0 Pr. PC10 Internal speed command 6
1 1 1 Pr. PC11 Internal speed command 7
Note. 0: Off 1: On
2. For the torque control mode This is used to select the limit speed for operation.
(Note) Input device Speed limit
SP3 SP2 SP1 0 0 0 VLA (Analog speed limit) 0 0 1 Pr. PC05 Internal speed limit 1 0 1 0 Pr. PC06 Internal speed limit 2 0 1 1 Pr. PC07 Internal speed limit 3 1 0 0 Pr. PC08 Internal speed limit 4 1 0 1 Pr. PC09 Internal speed limit 5 1 1 0 Pr. PC10 Internal speed limit 6 1 1 1 Pr. PC11 Internal speed limit 7 Note. 0: Off
1: On
3. SIGNALS AND WIRING
3 - 34
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T Proportion control PC CN1-17 Turn PC on to switch the speed amplifier from the proportional integral
type to the proportional type. If the servo motor at a stop is rotated even for a pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the PC (Proportion control) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift. When the shaft is to be locked for a long time, switch on the PC (Proportion control) and TL (External torque limit selection) at the same time to make the torque less than the rated by TLA (Analog torque limit). Do not use PC (Proportional control) in the torque control. Doing so may cause the operation to be performed at a speed exceeding the speed limit value.
DI-1
Clear CR CN1-41 Turn CR on to clear the position control counter droop pulses on its leading edge. The pulse width should be 10 ms or longer. The delay amount set in [Pr. PB03 Position command acceleration/deceleration time constant] is also cleared. When " _ _ _ 1 " is set to [Pr. PD32], the pulses are always cleared while CR is on.
DI-1
Electronic gear selection 1
CM1 The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in the parameters. CM1 and CM2 cannot be used in the absolute position detection system.
DI-1
(Note) Input device Electronic gear numerator
CM2 CM1 0 0 Pr. PA06 Electronic gear selection 2
CM2 0 1 Pr. PC32 DI-1
1 0 Pr. PC33 1 1 Pr. PC34 Note. 0: Off
1: On
Gain switching CDP Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to motor inertia ratio and gain values.
DI-1
3. SIGNALS AND WIRING
3 - 35
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T Control switching LOP CN1-45 Position/speed control change mode
This is used to select the control mode in the position/speed control switching mode.
DI-1 Refer to Function and application.
(Note) LOP Control mode 0 Position 1 Speed Note. 0: Off
1: On
Speed/torque control change mode This is used to select the control mode in the speed/torque control switching mode.
(Note) LOP Control mode 0 Speed 1 Torque Note. 0: Off
1: On
Torque/position control change mode This is used to select the control mode in the torque/position control switching mode.
(Note) LOP Control mode 0 Torque 1 Position Note. 0: Off
1: On
Second acceleration/dece leration selection
STAB2 The device allows selection of the acceleration/deceleration time constant at servo motor rotation in the speed control mode or torque control mode. The s-pattern acceleration time constant and deceleration time constant is always uniform.
DI-1
(Note) STAB2 Acceleration/deceleration time constant 0 Pr. PC01 Acceleration time constant
Pr. PC02 Deceleration time constant
1 Pr. PC30 Acceleration time constant 2 Pr. PC31 Deceleration time constant 2
Note. 0: Off 1: On
ABS transfer mode
ABSM CN1-17 This is an ABS transfer mode request device. When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, CN1-17 pin will become ABSM. (Refer to chapter 12.)
DI-1
ABS request ABSR CN1-18 This is an ABS request device. When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, CN1-18 pin will become ABSR. (Refer to chapter 12.)
DI-1
Fully closed loop selection
CLD This is used when the semi closed loop control/fully closed loop control switching is enabled with [Pr. PE01]. Turn off CLD to select the semi closed loop control, and turn on CLD to select the fully closed loop control. This device is not available with MR-J4-03A6(-RJ) servo amplifiers.
DI-1
Motor-side/load- side position deviation counter clear
MECR Turn on MECR to clear the motor-side/load-side position deviation counter to zero. - It operates during the fully closed loop control. - It does not affect the position control droop pulses. - Turning on this device during the semi closed loop control does not affect
the operation. - Turning on this device while the fully closed loop control error detection
function is disabled in [Pr. PE03] does not affect the operation. This device is not available with MR-J4-03A6(-RJ) servo amplifiers.
DI-1
3. SIGNALS AND WIRING
3 - 36
(b) Output device
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T Malfunction ALM CN1-48 When an alarm occurs, ALM will turn off.
When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after power-on. When [Pr. PD34] is "_ _ 1 _", an alarming or warning will turn off ALM.
DO-1
Dynamic brake interlock
DB When using the signal, enable it by setting [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. DB turns off when the dynamic brake needs to operate. When using the external dynamic brake on the servo amplifier of 11 kW or more, this device is required. (Refer to section 11.17.) For the servo amplifier of 7 kW or less, it is not necessary to use this device. The external dynamic brake cannot be used with 11 kW or more servo amplifier for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
DO-1
Ready RD CN1-49 Enabling servo-on to make the servo amplifier ready to operate will turn on RD.
DO-1
In-position INP CN1-22 CN1-24
When the number of droop pulses is in the preset in-position range, INP will turn on. The in-position range can be changed using [Pr. PA10]. When the in-position range is increased, INP may be on during low-speed rotation. INP turns on when servo-on turns on.
DO-1
Speed reached SA When the servo motor speed reaches the following range, SA will turn on. Set speed ((Set speed 0.05) + 20) r/min When the preset speed is 20 r/min or less, SA always turns on. SA does not turn on even when the SON (Servo-on) is turned off or the servo motor speed by the external force reaches the preset speed while both ST1 (Forward rotation start) and ST2 (reverse rotation start) are off.
DO-1
Limiting speed VLC CN1-25 VLC turns on when speed reaches a value limited with any of [Pr. PC05 Internal speed limit 1] to [Pr. PC11 Internal speed limit 7] or VLA (Analog speed limit). This turns off when SON (Servo-on) turns off.
DO-1
Limiting torque TLC TLC turns on when a generated torque reaches a value set with any of [Pr. PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA (Analog torque limit).
DO-1
3. SIGNALS AND WIRING
3 - 37
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T Zero speed detection
ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50 r/min) or less. Zero speed can be changed with [Pr. PC17].
OFF ON
Servo motor speed
20 r/min (Hysteresis width)
[Pr. PC17]
20 r/min (Hysteresis width)
OFF level -70 r/min
ON level -50 r/min
ON level 50 r/min
OFF level 70 r/min
0 r/min
[Pr. PC17]
ZSP (Zero speed detection)
1) 3)
2)
4)
Forward rotation direction
Reverse rotation direction
ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)), and will turn off when the servo motor is accelerated to 70 r/min again (at 2)). ZSP will turn on when the servo motor is decelerated again to 50 r/min (at 3)), and will turn off when the servo motor speed has reached -70 r/min (at 4)). The range from the point when the servo motor speed has reached on level, and ZSP turns on, to the point when it is accelerated again and has reached off level is called hysteresis width. Hysteresis width is 20 r/min for this servo amplifier.
DO-1
Electromagnetic brake interlock
MBR When using the device, set operation delay time of the electromagnetic brake in [Pr. PC16]. When a servo-off status or alarm occurs, MBR will turn off.
DO-1
Warning WNG When warning has occurred, WNG turns on. When a warning is not occurring, WNG will turn off in 2.5 s to 3.5 s after power-on.
DO-1
Battery warning BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has occurred. When the battery warning is not occurring, BWNG will turn off in 2.5 s to 3.5 s after power-on.
DO-1
Alarm code ACD0 (CN1-24) To use these signals, set " _ _ _ 1" in [Pr. PD34]. This signal is outputted when an alarm occurs. When an alarm is not occurring, respective ordinary signals are outputted. For details of the alarm codes, refer to chapter 8. When [Pr. PD34] is set to "_ _ _ 1", setting the following will trigger [AL. 37 Parameter error].
"_ _ _ 1" is set in [Pr. PA03] and the absolute position detection system by DIO is selected. MBR, DB, or ALM is assigned to the CN1-22 pin, CN1-23 pin, or CN1-24 pin.
DO-1
ACD1 (CN1-23)
ACD2 (CN1-22)
Variable gain selection
CDPS CDPS turns on during gain switching. DO-1
Absolute position undetermined
ABSV ABSV turns on when the absolute position is undetermined. DO-1
ABS transmission data bit 0
ABSB0 (CN1-22) This is used to output ABS transmission data bit 0. When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr. PA03], the CN1-22 pin will become ABSB0 only during ABS transfer mode. (Refer to chapter 12.)
DO-1
ABS transmission data bit 1
ABSB1 (CN1-23) This is used to output ABS transmission data bit 1. When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr. PA03], the CN1-23 pin will become ABSB1 only during ABS transfer mode. (Refer to chapter 12.)
DO-1
ABS transmission data ready
ABST (CN1-25) This is used to output ABS transmission data ready. When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr. PA03], CN1-25 pin will become ABST only during ABS transfer mode. (Refer to chapter 12.)
DO-1
3. SIGNALS AND WIRING
3 - 38
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T During tough drive
MTTR MTTR turns on when the instantaneous power failure tough drive operates while the tough drive function selection is enabled with [Pr. PA20]. This device is not available with MR-J4-03A6(-RJ) servo amplifiers.
DO-1
During fully closed loop control
CLDS CLDS turns on during fully closed loop control. This device is not available with MR-J4-03A6(-RJ) servo amplifiers.
DO-1
(2) Input signal
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T Analog torque limit
TLA CN1-27 To use the signal in the speed control mode, enable TL (External torque limit selection) with [Pr. PD03] to [Pr. PD22]. When TLA is enabled, torque is limited in the full servo motor output torque range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive terminal of the power supply to TLA. The maximum torque is generated at +10 V. (Refer to section 3.6.1 (5).) If a value equal to or larger than the maximum torque is inputted to TLA, the value is clamped at the maximum torque. Resolution: 10 bits
Analog input
Analog torque command
TC This is used to control torque in the full servo motor output torque range. Apply 0 V to 8 V DC between TC and LG. The maximum torque is generated at 8 V. (Refer to section 3.6.3 (1).) The speed at 8 V can be changed with [Pr. PC13]. If a value equal to or larger than the maximum torque is inputted to TC, the value is clamped at the maximum torque.
Analog input
Analog speed command
VC CN1-2 Apply 0 V to 10 V DC between VC and LG. Speed set in [Pr. PC12] is provided at 10 V. (Refer to section 3.6.2 (1).) If a value equal to or larger than the permissible speed is inputted to VC, the value is clamped at the permissible speed. Resolution: 14 bits or equivalent For MR-J4-_A_-RJ 100 W or more servo amplifiers, setting [Pr. PC60] to "_ _ 1 _" increases the analog input resolution to 16 bits. This function is available with servo amplifiers manufactured in November 2014 or later.
Analog input
Analog speed limit
VLA Apply 0 V to 10 V DC between VLA and LG. Speed set in [Pr. PC12] is provided at 10 V. (Refer to section 3.6.3 (3).) If a value equal to or larger than the permissible speed is inputted to VLA, the value is clamped at the permissible speed.
Analog input
Forward rotation pulse train Reverse rotation pulse train
PP NP PP2 NP2 PG NG
CN1-10 CN1-35 CN1-37 CN1-38 CN1-11 CN1-36
This is used to enter a command pulse train. 1) For open-collector type
The maximum input frequency is 200 kpulses/s. For A-phase/B-phase pulse train, 200 kpulses/s will be the frequency after multiplication by four.
a) Sink input interface Input the forward rotation pulse train between PP and DOCOM. Input the reverse rotation pulse train between NP and DOCOM.
b) Source input interface Input the forward rotation pulse train between PP2 and PG. Input the reverse rotation pulse train between NP2 and NG.
2) For differential receiver type (max. input frequency: 4 Mpulses/s) The maximum input frequency is 4 Mpulses/s. For A-phase/B-phase pulse train, 4 Mpulses/s will be the frequency after multiplication by four. Input the forward rotation pulse train between PG and PP. Input the reverse rotation pulse train between NG and NP.
The command input pulse train form, pulse train logic, and command input pulse train filter are changed in [Pr. PA13]. When the command pulse train is over 1 Mpulse/s and lower than 4 Mpulse/s, set [Pr. PA13] to "_ 0 _ _".
DI-2
3. SIGNALS AND WIRING
3 - 39
(3) Output signal
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T Encoder A- phase pulse (differential line driver)
LA LAR
CN1-4 CN1-5
The encoder output pulses set in [Pr. PA15] are outputted in the differential line driver type. 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 relation between rotation direction and phase difference of the A- phase and B-phase pulses can be changed with [Pr. PC19].
DO-2
Encoder B- phase pulse (differential line driver)
LB LBR
CN1-6 CN1-7
Encoder Z- phase pulse (differential line driver)
LZ LZR
CN1-8 CN1-9
The encoder zero-point signal is outputted in the differential line driver type. One pulse is outputted per servo motor revolution. This 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 100 r/min or less.
DO-2
Encoder Z- phase pulse (open-collector)
OP CN1-33 The encoder zero-point signal is outputted in the open-collector type. DO-2
Analog monitor 1 MO1 CN6-3 This is used to output the data set in [Pr. PC14] to between MO1 and LG in terms of voltage. Output voltage: 10 V Resolution: 10 bits or equivalent
Analog output
Analog monitor 2 MO2 CN6-2 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in terms of voltage. Output voltage: 10 V Resolution: 10 bits or equivalent
Analog output
(4) Communication
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T RS-422/RS-485 I/F
SDP CN3-5 These are terminals for RS-422/RS-485 communication. SDN CN3-4
RDP CN3-3 RDN CN3-6
3. SIGNALS AND WIRING
3 - 40
(5) Power supply
Device Symbol Connector pin No.
Function and application I/O division
Control mode
P S T Digital I/F power supply input
DICOM CN1-20 CN1-21
Input 24 V DC (24 V DC 10% 500 mA) to I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used. For sink interface, connect + of 24 V DC external power supply. For source interface, connect - of 24 V DC external power supply.
Power input for open-collector sink interface
OPC CN1-12 When inputting a pulse train in the open-collector type with sink interface, supply this terminal with the positive (+) power of 24 V DC.
Supply + of 24 V DC to this terminal when using CN1-10 pin and CN1-35 pin by DI. CN1-10 pin and CN1-35 pin are available for MR-J4-_A_-RJ servo amplifiers manufactured in November 2014 or later.
Digital I/F common
DOCOM CN1-46 CN1-47
Common terminal of input signal such as EM2 of the servo amplifier. This is separated from LG. For sink interface, connect - of 24 V DC external power supply. For source interface, connect + of 24 V DC external power supply.
15 V DC power supply
P15R CN1-1 This outputs 15 V DC to between P15R and LG. This is available as power for TC, TLA, VC, or VLA. Permissible current: 30 mA
Control common LG CN1-3 CN1-28 CN1-30 CN1-34 CN3-1 CN3-7 CN6-1
This is a common terminal for TLA, TC, VC, VLA, FPA, FPB, OP ,MO1, MO2, and P15R. Pins are connected internally.
Shield SD Plate Connect the external conductive portion of the shielded cable.
3. SIGNALS AND WIRING
3 - 41
3.6 Detailed explanation of signals
3.6.1 Position control mode
POINT
Adjust the logic of a positioning module and command pulse as follows. MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series positioning module
Signal type
Command pulse logic setting Positioning module
Pr. 23 setting MR-J4-_A_(-RJ) servo
amplifier [Pr. PA13] setting
Open-collector type
Positive logic Positive logic (_ _ 0 _) Negative logic Negative logic (_ _ 1 _)
Differential line driver type Positive logic (Note) Negative logic (_ _ 1 _)
Negative logic (Note) Positive logic (_ _ 0 _)
Note. For MELSEC iQ-R series, MELSEC-Q series and MELSEC-L series, the logic means N-side waveform. Therefore, reverse the input pulse logic of the servo amplifier.
MELSEC-F series positioning module
Signal type
Command pulse logic setting
Positioning module (fixed) MR-J4-_A_(-RJ) servo
amplifier [Pr. PA13] setting
Open-collector Differential line driver Negative logic Negative logic (_ _ 1 _)
(1) Pulse train input
(a) Input pulse waveform selection You can input command pulses in any of three different forms, and can choose positive or negative logic. Set the command pulse train form in [Pr. PA13]. Refer to section 5.2.1 for details.
(b) Connection and waveform
1) Open-collector type Connect as follows.
1.2 k Approx.
1.2 k Approx.
SD
Servo amplifier
OPC
PP
NP
DOCOM
24 V DC
(Note)
Servo amplifier
PP2
PG VCES 1.0 V ICEO 100 A
(Note)
(Note)
Approx. 20 mA
Approx. 20 mA
NP2
SD
NG VCES 1.0 V ICEO 100 A
24 V DC 10% 500 mA
Approx. 1.2 k
Approx. 1.2 k
For sink input interface For source input interface Note. Pulse train input interface is comprised of a photocoupler.
If a resistor is connected to the pulse train signal line, it may malfunction due to reduction in current.
3. SIGNALS AND WIRING
3 - 42
The following section explains about the case where the negative logic and the forward/reverse rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13].
Reverse rotation commandForward rotation command
(OFF)
(OFF) (OFF)(ON) (ON)
(ON) (OFF) (ON) (OFF) (ON)
(OFF) Forward rotation pulse train (transistor) Reverse rotation pulse train (transistor)
(ON)
2) Differential line driver type Connect as follows.
PP
NP
Servo amplifier
PG
NG
SD
Approximately 100
Approximately 100
(Note)
Note. Pulse train input interface is comprised of a photocoupler. If a resistor is connected to the pulse train signal line, it may malfunction due to reduction in current.
The following section explains about the case where the negative logic and the forward/reverse rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13]. The waveforms of PP, PG, NP, and NG are based on LG.
Reverse rotation
PP
PG
NP
NG
Reverse rotation pulse train
Forward rotation pulse train
Forward rotation
3. SIGNALS AND WIRING
3 - 43
(2) INP (In-position)
INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position range ([Pr. PA10]). INP may turn on continuously during a low-speed operation with a large value set as the in-position range.
In-position range
INP (In-position) ON
OFF
ON
OFF
Alarm
No alarm
SON (Servo-on)
Alarm
Droop pulses
(3) RD (Ready)
RD (Ready) ON
OFF
ON
OFF
Alarm
No alarm
SON (Servo-on)
Alarm 100 ms or shorter 10 ms or shorter 10 ms or shorter
(4) Electronic gear switching The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in the parameters. As soon as CM1/CM2 is turned on or off, the numerator of the electronic gear changes. Therefore, if a shock occurs at switching, use the position smoothing ([Pr. PB03]) to relieve the shock.
(Note) Input device
Electronic gear numerator CM2 CM1
0 0 Pr. PA06 0 1 Pr. PC32 1 0 Pr. PC33 1 1 Pr. PC34
Note. 0: Off
1: On
3. SIGNALS AND WIRING
3 - 44
(5) 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. When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] is set properly. Improper settings may cause an unexpected operation such as an overshoot.
(a) Torque limit and torque
By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is always limited to the maximum value during operation. A relation between the limit value and servo motor torque is as follows.
Torque limit value in [Pr. PA11]
Maximum torque
To rq
ue
0 100 [%] Torque limit value in [Pr. PA12]
100
CCW directionCW direction
A relation between the applied voltage of TLA (Analog torque limit) and the torque limit value of the servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently. Therefore, use this function at the voltage of 0.05 V or more.
5%
00 0.05
TL DICOM
P15R TLA LG SD
2 k
(Note)
Connection exampleTLA applied voltage vs. torque limit value
TLA applied voltage [V]
Maximum torque
To rq
ue
Servo amplifier
24 V DC
Upper limit setting 2 k
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
(b) Torque limit value selection
The following shows how to select a torque limit using TL (External torque limit selection) from [Pr. PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and TLA (Analog torque limit). When TL1 (Internal torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22], you can select [Pr. PC35 Internal torque limit 2/internal thrust limit 2]. However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr. PA11] and [Pr. PA12] value will be enabled.
3. SIGNALS AND WIRING
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Input device (Note 1)
Limit value status Enabled torque limit value
TL1 TL CCW power running/CW regeneration
CW power running/CCW regeneration
0 0 Pr. PA11 Pr .PA12
0 1 TLA >
Pr. PA11 Pr. PA12
Pr. PA11 Pr. PA12
TLA < Pr. PA11 Pr. PA12
TLA (Note 2) TLA (Note 3)
1 0 Pr. PC35 >
Pr. PA11 Pr. PA12
Pr. PA11 Pr. PA12
Pr. PC35 < Pr. PA11 Pr. PA12
Pr. PC35 (Note 2) Pr. PC35 (Note 3)
1 1 TLA > Pr. PC35 Pr. PC35 (Note 2) Pr. PC35 (Note 3) TLA < Pr. PC35 TLA (Note 2) TLA (Note 3)
Note 1. 0: Off
1: On 2. When "_ 2 _ _" is set in [Pr. PD33], the value set in [Pr. PA11] is applied. [Pr. PD33] is available with servo amplifiers
with software version B3 or later. 3. When "_ 1 _ _" is set in [Pr. PD33], the value set in [Pr. PA12] is applied. [Pr. PD33] is available with servo amplifiers
with software version B3 or later.
(c) TLC (Limiting torque)
TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit, reverse rotation torque limit or analog torque limit.
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3.6.2 Speed control mode
(1) Speed setting (a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of VC (Analog speed command). A relation between VC (Analog speed command) applied voltage and the servo motor speed is as follows. Rated speed is achieved at 10 V with initial setting. The speed at 10 V can be changed with [Pr. PC12].
Speed [r/min]
CW direction
Rated speed [r/min]
Rated speed [r/min]
0
CCW direction
+10 -10
VC applied voltage [V]
Forward rotation (CCW)
Reverse rotation (CW)
The following table indicates the rotation direction according to ST1 (Forward rotation start) and ST2 (Reverse rotation start) combination.
(Note 1) Input device (Note 2) Rotation direction
ST2 ST1 VC (Analog speed command)
Internal speed command Polarity: + 0 V Polarity: -
0 0 Stop
(servo-lock) Stop
(servo-lock) Stop
(servo-lock) Stop
(servo-lock) 0 1 CCW Stop
(no servo-lock) CW CCW
1 0 CW CCW CW
1 1 Stop
(servo-lock) Stop
(servo-lock) Stop
(servo-lock) Stop
(servo-lock) Note 1. 0: Off
1: On 2. 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.
Normally, connect as follows.
ST2 DICOM
P15R VC LG SD
ST1
2 k
Servo amplifier
(Note) 24 V DC
Upper limit setting 2 k
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
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(b) SP1 (Speed selection 1), SP2 (Speed selection 2), and speed command value
Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows.
(Note) Input device
Speed command value SP2 SP1
0 0 VC (Analog speed command) 0 1 Pr. PC05 Internal speed command 1 1 0 Pr. PC06 Internal speed command 2 1 1 Pr. PC07 Internal speed command 3
Note. 0: Off
1: On
To select VC (Analog speed command) and a speed command value of internal speed commands 1 to 7, enable SP3 (Speed selection 3) with [Pr. PD03] to [Pr. PD22].
(Note) Input device
Speed command value SP3 SP2 SP1
0 0 0 VC (Analog speed command) 0 0 1 Pr. PC05 Internal speed command 1 0 1 0 Pr. PC06 Internal speed command 2 0 1 1 Pr. PC07 Internal speed command 3 1 0 0 Pr. PC08 Internal speed command 4 1 0 1 Pr. PC09 Internal speed command 5 1 1 0 Pr. PC10 Internal speed command 6 1 1 1 Pr. PC11 Internal speed command 7
Note. 0: Off
1: On
You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration time constant in [Pr. PC01] or [Pr. PC02]. When the internal speed commands are used to command a speed, the speed does not vary with the ambient temperature.
(2) SA (Speed reached)
SA turns on when the servo motor speed has nearly reached the speed set to the internal speed command or analog speed command.
Internal speed command 1
Internal speed command 2Set speed selection
ST1 or ST2 ON OFF
Servo motor speed
SA (Speed reached) ON OFF
(3) Torque limit As in section 3.6.1 (5)
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3.6.3 Torque control mode
(1) Torque limit (a) Torque command and torque
The following shows a relation between the applied voltage of TC (Analog torque command) and the torque by the servo motor. The maximum torque is generated at 8 V. The speed at 8 V can be changed with [Pr. PC13].
Forward rotation (CCW)
Reverse rotation (CW)
Maximum torque
Torque
CCW direction
TC applied voltage [V]
CW direction Maximum torque
-8 +8
-0.05 +0.05
Generated torque command values will vary about 5% relative to the voltage depending on products. The torque may vary if the voltage is low (-0.05 V to 0.05 V) and the actual speed is close to the limit value. In such a case, increase the speed limit value. The following table indicates the torque generation directions determined by RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) when TC (Analog torque command) is used.
(Note) Input device Rotation direction
RS2 RS1 TC (Analog torque command)
Polarity: + 0 V Polarity: - 0 0 Torque is not generated.
Torque is not generated.
Torque is not generated.
0 1
CCW (Forward rotation in
power running mode/reverse rotation in
regenerative mode)
CW (Reverse rotation in
power running mode/forward rotation in
regenerative mode)
1 0
CW (Reverse rotation in
power running mode/forward rotation in
regenerative mode)
CCW (Forward rotation in
power running mode/reverse rotation in
regenerative mode) 1 1 Torque is not generated. Torque is not generated.
Note. 0: Off
1: On
Normally, connect as follows.
RS224 V DC DICOM
TC LG SD
RS1
-8 V to 8 V
Servo amplifier
(Note)
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
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(b) Analog torque command offset
Using [Pr. PC38], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage as follows.
TC applied voltage [V]
Maximum torque
Torque
0 8 (-8)
[Pr. PC38] offset range -9999 mV to 9999 mV
(2) Torque limit By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is always limited to the maximum value during operation. A relation between limit value and servo motor torque is as in section 3.6.1 (5). Note that TLA (Analog torque limit) is unavailable.
(3) Speed limit
(a) Speed limit value and speed The speed is limited to the values set with [Pr. PC05 Internal speed limit 0] to [Pr. PC11 Internal speed limit 7] or the value set in the applied voltage of VLA (Analog speed limit). A relation between VLA (Analog speed limit) applied voltage and the servo motor speed is as follows. The speed limit direction and torque command direction are the same direction. When the servo motor speed reaches the speed limit value, torque control may become unstable. Make the set value more than 100 r/min greater than the desired speed limit value.
Speed [r/min]
0 +10/-10 VLA applied voltage [V]
Forward rotation (CCW)
Reverse rotation (CW)
Rated speed [r/min]
The following table indicates the limit direction according to RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) combination.
(Note) Input device TC
(Analog torque command) Speed limit direction
RS1 RS2
VLA (Analog speed limit)
Internal speed limit Voltage polarity
Torque command direction
Polarity: + Polarity: -
1 0 Polarity: + CCW CCW CCW CCW Polarity: - CW CW CW CW
0 1 Polarity: + CW CW CW CW Polarity: - CCW CCW CCW CCW
Note. 0: Off
1: On
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Normally, connect as follows.
2 k
SP2 DICOM
P15R VLA LG SD
SP1
Upper limit setting 2 k
Servo amplifier
(Note) 24 V DC
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
(b) Speed limit value selection
Select any of the speed settings by the internal speed limits 1 to 7 and by VLA (Analog speed limit) using SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) as follows.
(Note) Input device
Speed limit SP3 SP2 SP1
0 0 0 VLA (Analog speed limit) 0 0 1 Pr. PC05 Internal speed limit 1 0 1 0 Pr. PC06 Internal speed limit 2 0 1 1 Pr. PC07 Internal speed limit 3 1 0 0 Pr. PC08 Internal speed limit 4 1 0 1 Pr. PC09 Internal speed limit 5 1 1 0 Pr. PC10 Internal speed limit 6 1 1 1 Pr. PC11 Internal speed limit 7
Note. 0: Off
1: On
When the internal speed limits 1 to 7 are used to limit a speed, the speed does not vary with the ambient temperature.
(c) VLC (Limiting speed)
VLC turns on when the servo motor speed reaches a speed limited with internal speed limits 1 to 7 or analog speed limit.
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3.6.4 Position/speed control switching mode
Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode. This function is not available in the absolute position detection system. (1) LOP (control switching)
Use LOP (Control switching) to switch between the position control mode and the speed control mode with an external contact. The following shows a relation between LOP and control modes.
LOP
(Note 1) Setting value of [Pr. PD32]
0 _ _ _ 1 _ _ _ (Note 2) 0 Position control mode Speed control mode 1 Speed control mode Position control mode
Note 1. 0: Off
1: On 2. This setting value is available on servo amplifiers with software version D4 or later.
You can switch the control mode in the zero speed status. To ensure safety, switch modes after the servo motor has stopped. When position control mode is switched to speed control mode, droop pulses will be reset. If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed regardless of the speed. The following shows a switching timing chart.
Zero speed level
Position control mode
ON
OFF
ON
OFF LOP (Control switching)
ZSP (Zero speed detection)
Servo motor speed
Speed control mode
Position control mode
(Note)(Note)
Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not switched.
(2) Torque limit in position control mode
As in section 3.6.1 (5)
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(3) Speed setting in speed control mode
(a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same as section 3.6.2 (1) (a). Normally, connect as follows.
ST2 DICOM
P15R VC LG SD
Servo amplifier
ST1 (Note)
2 k
24 V DC
Upper limit setting 2 k
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
(b) Speed command value selection
Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows.
(Note) Input device
Speed command value SP2 SP1
0 0 VC (Analog speed command) 0 1 Pr. PC05 Internal speed command 1 1 0 Pr. PC06 Internal speed command 2 1 1 Pr. PC07 Internal speed command 3
Note. 0: Off
1: On
To select VC (Analog speed command) and a speed command value of internal speed commands 1 to 7, enable SP3 (Speed selection 3) with [Pr. PD03] to [Pr. PD22].
(Note) Input device
Speed command value SP3 SP2 SP1
0 0 0 VC (Analog speed command) 0 0 1 Pr. PC05 Internal speed command 1 0 1 0 Pr. PC06 Internal speed command 2 0 1 1 Pr. PC07 Internal speed command 3 1 0 0 Pr. PC08 Internal speed command 4 1 0 1 Pr. PC09 Internal speed command 5 1 1 0 Pr. PC10 Internal speed command 6 1 1 1 Pr. PC11 Internal speed command 7
Note. 0: Off
1: On
You can change the speed during rotation. Acceleration/deceleration is performed with the setting values of [Pr. PC01] and [Pr. PC02]. When the internal speed commands 1 to 7 are used to command a speed, the speed does not vary with the ambient temperature.
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(c) SA (Speed reached)
As in section 3.6.2 (2) 3.6.5 Speed/torque control switching mode
Set " _ _ _ 3" in [Pr. PA01] to switch to the speed/torque control switching mode. (1) LOP (control switching)
Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact. The following shows a relation between LOP and control modes.
LOP
(Note 1) Setting value of [Pr. PD32]
0 _ _ _ 1 _ _ _ (Note 2) 0 Speed control mode Torque control mode 1 Torque control mode Speed control mode
Note 1. 0: Off
1: On 2. This setting value is available on servo amplifiers with software version D4 or later.
The control mode may be switched at any time. The following shows a switching timing chart.
LOP (Control switching)
Servo motor speed
TC (Analog torque command)
ON
OFF
10 V
0 V
(Note)
Load torque
Speed control mode
Torque control mode
Speed control mode
Forward rotation in driving mode
Note. When ST1 (Forward rotation start) and ST2 (Reverse rotation start) are switched off as soon as a mode is switched to the speed control, the servo motor comes to a stop according to the deceleration time constant. A shock may occur at switching control modes.
(2) Speed setting in speed control mode
As in section 3.6.2 (1) (3) Torque limit in speed control mode
As in section 3.6.1 (5) (4) Speed limit in torque control mode
(a) Speed limit value and speed The speed is limited to the limit value of the parameter or the value set in the applied voltage of VLA (Analog speed limit). A relation between the VLA (Analog speed limit) applied voltage and the limit value is as in section 3.6.3 (3) (a).
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Normally, connect as follows.
2 k
DICOM
P15R VLA LG SD
SP1
Upper limit setting 2 k
Servo amplifier
(Note) 24 V DC
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
(b) Speed limit value selection
Select any of the speed settings by the internal speed limit 1 and by VLA (Analog speed limit) using SP1 (Speed selection 1) as follows.
(Note) Input device
Speed command value SP1
0 VLA (Analog speed limit) 1 Pr. PC05 Internal speed limit 1
Note. 0: Off
1: On
You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration time constant in [Pr. PC01] or [Pr. PC02]. When the internal speed limit 1 is used to command a speed, the speed does not vary with the ambient temperature.
(c) VLC (Limiting speed)
As in section 3.6.3 (3) (c) (5) Torque control in torque control mode
As in section 3.6.3 (1) (6) Torque limit in torque control mode
As in section 3.6.3 (2)
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3.6.6 Torque/position control switching mode
Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode. (1) LOP (control switching)
Use LOP (Control switching) to switch between the torque control mode and the position control mode with an external contact. The following shows a relation between LOP and control modes.
LOP
(Note 1) Setting value of [Pr. PD32]
0 _ _ _ 1 _ _ _ (Note 2) 0 Torque control mode Position control mode 1 Position control mode Torque control mode
Note 1. 0: Off
1: On 2. This setting value is available on servo amplifiers with software version D4 or later.
You can switch the control mode in the zero speed status. To ensure safety, switch modes after the servo motor has stopped. When position control mode is switched to torque control mode, droop pulses will be reset. If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed regardless of the speed. The following shows a switching timing chart.
0 V
OFF
(Note) (Note) ON
OFF
ON
10 V
Zero speed level
Torque control mode
Position control mode
Position control mode
Servo motor speed
TC (Analog torque command)
ZSP (Zero speed detection)
LOP (Control switching)
Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not switched.
(2) Speed limit in torque control mode
As in section 3.6.3 (3) (3) Torque control in torque control mode
As in section 3.6.3 (1) (4) Torque limit in torque control mode
As in section 3.6.3 (2)
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(5) Torque limit in position control mode
As in section 3.6.1 (5) 3.7 Forced stop deceleration function
POINT When alarms not related to the forced stop function occur, control of motor deceleration cannot be guaranteed. (Refer to chapter 8.) In the torque control mode, the forced stop deceleration function is not available. Disable the forced stop deceleration function for a machine in which multiple axes are connected together, such as a tandem structure. If an alarm occurs with the forced stop deceleration function disabled, the servo motor will stop with the dynamic brake. Keep SON (Servo-on) on while EM2 (Forced stop 2) is off. If SON (Servo-on) is off, forced stop deceleration, base circuit shut-off delay time, and vertical axis freefall prevention do not function.
3.7.1 Forced stop deceleration function
When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration. During this sequence, the display shows [AL. E6 Servo forced stop warning]. During normal operation, do not use EM2 (Forced stop 2) to alternate stop and drive. The servo amplifier life may be shortened. (1) Connection diagram
Servo amplifier
Forced stop 2
DICOM
EM2
24 V DC
(Note)
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
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(2) Timing chart
When EM2 (Forced stop 2) is turned off, the motor will decelerate according to [Pr. PC51 Forced stop deceleration time constant]. Once the motor speed is below [Pr. PC17 Zero speed] after completion of the deceleration command, base power is cut and the dynamic brake activates.
0 r/min
ON
OFF (Enabled)
ON
OFF
ON
OFF
ON
OFF (Enabled)
SON (Servo-on)
Base circuit (Energy supply to the servo motor)
Servo motor speed
MBR (Electromagnetic brake interlock)
Rated speed
EM2 (Forced stop 2)
Deceleration time
Command
Ordinary operation
Forced stop deceleration
Dynamic brake +
Electromagnetic brake
Zero speed ([Pr. PC17])
[Pr. PC51]
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3.7.2 Base circuit shut-off delay time function
The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop (EM2 goes off) or alarm occurrence due to delay time of the electromagnetic brake. Use [Pr. PC16] to set the delay time between completion of EM2 (Forced stop 2) or activation of MBR (Electromagnetic brake interlock) due to an alarm occurrence, and shut-off of the base circuit. (1) Timing chart
When EM2 (Forced stop 2) turns off or an alarm occurs during driving, the servo motor will decelerate based on the deceleration time constant. MBR (Electromagnetic brake interlock) will turn off, and then after the delay time set in [Pr. PC16], the servo amplifier will be base circuit shut-off status.
ON OFF
Electromagnetic brake
Release
Activate
[Pr. PC16]
SON (Servo-on)
MBR (Electromagnetic brake interlock)
ON OFF (Enabled)
Base circuit (Energy supply to the servo motor)
0 r/min
Servo motor speed
ON
OFF (Enabled) EM2 (Forced stop 2)
ON
OFF
(2) Adjustment While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay time in [Pr. PC16], and set the value to approximately 1.5 times of the smallest delay time in which the servo motor shaft does not freefall.
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3.7.3 Vertical axis freefall prevention function
The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the following case. When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the base circuit shut-off delay time function avoid dropping axis at forced stop. However, those functions may not avoid dropping axis a few m due to the backlash of the servo motor electromagnetic brake. The vertical axis freefall prevention function is performed when all of the following conditions are met.
The control mode is set to the position control mode. A value other than "0" is set in [Pr. PC54 Vertical axis freefall prevention compensation amount]. "Forced stop deceleration function selection" of [Pr. PA04] is set to "Forced stop deceleration function enabled (2 _ _ _ )". EM2 (Forced stop 2) turned off or an alarm occurred while the servo motor speed is zero speed or less. MBR (Electromagnetic brake interlock) is enabled in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47] while the base circuit shut-off delay time is set in [Pr. PC16].
(1) Timing chart
ON
OFF
Electromagnetic brake
Set the base circuit shut-off delay time. ([Pr. PC16])
SON (Servo-on)
MBR (Electromagnetic brake interlock)
ON
OFF (Enabled)
Base circuit (Energy supply to the servo motor)
ON
OFF
Release
Activate
Position Travel distance
ON
OFF (Enabled) EM2 (Forced stop 2)
(2) Adjustment Set the freefall prevention compensation amount in [Pr. PC54]. While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off delay time in [Pr. PC16] in accordance with the travel distance ([Pr. PC54). Adjust it considering the freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.
3.7.4 Residual risks of the forced stop function (EM2)
(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms occur.
(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking
distance until the servo motor stops will be longer than that of normal forced stop deceleration without the dynamic brake.
(3) If STO is turned off during forced stop deceleration, [AL. 63 STO timing error] will occur.
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3.8 Alarm occurrence timing chart
CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being inputted, ensure safety, and reset the alarm before restarting operation.
POINT
In the torque control mode, the forced stop deceleration function is not available.
To deactivate an alarm, cycle the control circuit power, push the "SET" button in the current alarm window, or cycle the RES (Reset) However, the alarm cannot be deactivated unless its cause is removed. 3.8.1 When you use the forced stop deceleration function
POINT To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04]. Disable the forced stop deceleration function for a machine in which multiple axes are connected together, such as a tandem structure. If an alarm occurs with the forced stop deceleration function disabled, the servo motor will stop with the dynamic brake.
(1) When the forced stop deceleration function is enabled
Alarm occurrence
Model speed command 0 and equal to or less than zero speed (Note)
MBR (Electromagnetic brake interlock)
ON
OFF
ON (no alarm)
OFF (alarm)
Base circuit (Energy supply to the servo motor)
ON
OFF
Servo amplifier display
0 r/min
Servo motor speed
ALM (Malfunction)
Command is not received.
Alarm No.No alarm
Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.
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(2) When the forced stop deceleration function is not enabled
MBR (Electromagnetic brake interlock)
ON
OFF
ON (no alarm)
OFF (alarm)
Base circuit (Energy supply to the servo motor)
ON
OFF
Servo amplifier display
0 r/min
Servo motor speed
ALM (Malfunction)
No alarm Alarm No.
Braking by the dynamic brake Dynamic brake + Braking by the electromagnetic brake
Operation delay time of the electromagnetic brake
Alarm occurrence
3.8.2 When you do not use the forced stop deceleration function
POINT To disable the function, set "0 _ _ _" in [Pr. PA04].
The operation status during an alarm is the same as section 3.8.1 (2).
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3.9 Interfaces
3.9.1 Internal connection diagram
POINT Refer to section 13.3.1 for the CN8 connector.
3
CN1
46
22
23
24
25
48
49
13
14
DOCOM
47 DOCOM
INP SA
ZSP
INP
TLC
RD
ZSP
TLC
ALM
(Note 7, 8)
(Note 7, 8)
RD
ZSP
TLC
RD
SA
P S T
CN1 P S T 4 5 6 7 8 9 33 34
5 4 3 6 7
CN3 P S T
LA LAR LB
LBR LZ
LZR OP LG
SDP SDN RDP RDN LG
CN6 P S T
MO1
MO2
LG
3
2
1
CN1P S T
2VC VLA
27TLA TLA TC
1P15R
3LG 28LG 30LG
SD
RS-422/RS-485
CN2 P S T
P S T
2 4
7 8
MR MRR
MX MXR
LG E
USB
P S T
D+ GND
D- 2 3 5
CN5
RA
RA
M
3
(Note 4, 6) CN2L
2 4
7 8
MR2 MRR2
MX2 MXR2
LG
External encoder
Differential line driver output (35 mA or less)
Open-collector output
Case
Isolated
15 V DC
Analog monitor
Servo amplifier
Encoder
Servo motor
(Note 3)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1) (Note 1)
(Note 1)
10 V DC
24 V DC (Note 5)
Encoder
10 V DC
SON SON SON CN1 15
SP2 SP2 16 PC ST1 RS2 17 TL ST2 RS1 18
RES RES 19 CR SP1 41
EM2 42 LSP 43 LSN 44 LOP 45 OPC 12
20 21
LSP LSN LOP
DICOM DICOM
LOP
RES SP1
P S T Approx. 6.2 k
Approx. 6.2 k
(Note 5) 24 V DC
(Note 3)
(Note 1)
PP 10
PG 11 NP 35
PP2 37
NP2 38 NG 36
Approx. 100
Approx. 100
Approx. 1.2 k
Approx. 1.2 k
(Note 2) Approx. 1.2 k
Approx. 1.2 k
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Note 1. P: Position control mode, S: Speed control mode, T: Torque control mode 2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.
DOCOM 46 OPC 12
20 47
PP 10
PG 11 NP 35
NG 36
DICOM DOCOM
PP2 37
NP2 38
24 V DC
DOCOM 46 OPC 12
20 47
PP 10
PG 11 NP 35
NG 36
DICOM DOCOM
PP2 37
NP2 38
24 V DC
For sink input interface For source input interface 3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 4. This is for MR-J4-_A_RJ servo amplifier. The MR-J4-_A_ servo amplifier does not have the CN2L connector. 5. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 6. Refer to table 1.1 for connections of external encoders. 7. Output devices are not assigned by default. Assign the output devices with [Pr. PD47] as necessary. 8. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later.
3. SIGNALS AND WIRING
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3.9.2 Detailed explanation of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external device. (1) Digital input interface DI-1
This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink (open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink input. Refer to section 3.9.3 for source input.
Approximately 5 mA
TR
24 V DC 10% 500 mA
Switch
For transistor EM2, etc.
Servo amplifier
DICOM
VCES 1.0 V ICEO 100 A
Approximately 6.2 k
The following is for when CN1-10 pin and CN1-35 pin are used as digital input interfaces.
Approx. 1.2 k
Servo amplifier 24 V DC 10%
300 mA OPC
CN1-10, CN1-35
DOCOM
SD
10 m or less
VCES 1.0 V ICEO 100 A
Approx. 20 mA
3. SIGNALS AND WIRING
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(2) Digital output interface DO-1
This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal. A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in the servo amplifier. The following shows a connection diagram for sink output. Refer to section 3.9.3 for source output.
(Note) 24 V DC 10% 500 mA
If polarity of diode is reversed, servo amplifier will malfunction.
Servo amplifier
ALM etc.
Load
DOCOM
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
(3) Pulse train input interface DI-2
Give a pulse train signal in the differential line driver type or open-collector type.
(a) Differential line driver type 1) Interface
SD
PG (NG)
PP (NP)
Max. input pulse frequency 4 Mpulses/s (Note 2)
Servo amplifier
Am26LS31 or equivalent
Approximately 100
VOH: 2.5 V VOL: 0.5 V
(Note 1)
10 m or less
Note 1. Pulse train input interface is comprised of a photocoupler. If a resistor is connected to the pulse train signal line, it may malfunction due to reduction in current.
2. When the input pulse frequency is 4 Mpulses/s, set [Pr. PA13] to "_ 0 _ _".
2) Input pulse condition
0.9 0.1
tc tLH
tc tHL
tF
PP PG
NP NG
tLH = tHL < 50 ns tc > 75 ns tF > 3 s
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(b) Open-collector type
1) Interface
Approximately 1.2 k
Servo amplifier
24 V DC OPC
PP, NP
DOCOM
SD
Max. input pulse frequency 200 kpulses/s
2 m or less (Note)
Note. Pulse train input interface is comprised of a photocoupler. If a resistor is connected to the pulse train signal line, it may malfunction due to reduction in current.
2) Input pulse condition
0.9 0.1
tc tLH
tc tHL
tF
PP
NP
tLH = tHL < 0.2 s tc > 2 s tF > 3 s
(4) Encoder output pulse DO-2 (a) Open-collector type
Interface Maximum sink current: 35 mA
Photocoupler
Servo amplifier
OP
LG
SD
Servo amplifier
OP
LG
SD
5 V DC to 24 V DC
3. SIGNALS AND WIRING
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(b) Differential line driver type
1) Interface Maximum output current: 35 mA
150
100 Am26LS32 or equivalent
Servo amplifier
LA (LB, LZ)
LAR (LBR, LZR)
SD LG
High-speed photocoupler
Servo amplifier
LAR (LBR, LZR)
SD
LA (LB, LZ)
2) Output pulse
/2
T
400 s or more
Time cycle (T) is determined by the settings of [Pr. PA15] and [Pr. PC19].
LA
LAR
LB
LBR
LZ LZR
OP
Servo motor CCW rotation
(5) Analog input Input impedance 10 k to 12 k
VC etc.
LG
P15R
SD
Approx. 10 k
+15 V DC
Upper limit setting 2 k
2 k
Servo amplifier
3. SIGNALS AND WIRING
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(6) Analog output
Output voltage: 10 V (Note 1, 2) Maximum output current: 1 mA Resolution: 10 bits or equivalentLG
MO1 (MO2)
Servo amplifier
Note 1. Output voltage range varies depending on the monitored signal. 2. For MR-J4-03A6(-RJ) servo amplifiers, the output voltage becomes 5 V 4 V.
3.9.3 Source I/O interfaces
In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1
This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals using source (open-collector) type transistor output, relay switch, etc. Additionally, the CN1-10 and CN1-35 pins cannot be used for source inputs.
24 V DC 10% 500 mA
Switch
For transistor EM2 etc.
Servo amplifier
DICOM
TR
Approximately 5 mA VCES 1.0 V ICEO 100 A
Approximately 6.2 k
The following shows when the CN1-37 pin and the CN1-38 pin are used as digital input interface:
Approximately 1.2 k
Servo amplifier
PP2 (CN1-37)
PGSwitch
Approximately 1.2 k
NP2 (CN1-38)
NG
SD 24 V DC 10% 500 mA
Switch
3. SIGNALS AND WIRING
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(2) Digital output interface DO-1
This is a circuit in which the emitter side of the output transistor is the output terminal. When the output transistor is turned on, the current flows from the output terminal to a load. A maximum of 2.6 V voltage drop occurs in the servo amplifier.
(Note) 24 V DC 10% 500 mA
Servo amplifier
ALM etc.
DOCOM
Load
If polarity of diode is reversed, servo amplifier will malfunction.
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
(3) Pulse train input interface DI-2
Give a pulse train signal in the open-collector type.
1) Interface
Max. input pulse frequency 200 kpulses/s
Approx. 1.2 k
Approx. 1.2 k
Servo amplifier
PP2
PG VCES 1.0 V ICEO 100 A
(Note)
Approx. 20 mA
Approx. 20 mA
(Note)
NP2
SD
NG VCES 1.0 V ICEO 100 A
24 V DC 10% 500 mA
Note. Pulse train input interface is comprised of a photocoupler. If a resistor is connected to the pulse train signal line, it may malfunction due to reduction in current.
2) Input pulse condition
0.9 0.1
tc tLH
tc tHL
tF
PP2
NP2
tLH = tHL < 0.2 s tc > 2 s tF > 3 s
3. SIGNALS AND WIRING
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3.10 Servo motor with an electromagnetic brake
3.10.1 Safety precautions
CAUTION
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Servo motor
Electromagnetic brake
B U
RA
Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.
24 V DC
Contacts must be opened with the emergency stop switch.
The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking. Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. Do not use the 24 V DC interface power supply for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, it may cause a malfunction. When using EM2 (Forced stop 2), use MBR (Electromagnetic brake interlock) for operating the electromagnetic brake. Operating the electromagnetic brake without using MBR during deceleration to a stop will saturate servo motor torques at the maximum value due to brake torque of the electromagnetic brake. This can result in delay of the deceleration to a stop from a set value.
POINT
Refer to "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the power supply capacity and operation delay time of the electromagnetic brake. Refer to "Servo Motor Instruction Manual (Vol. 3)" for the selection of a surge absorber for the electromagnetic brake.
Note the following when the servo motor with an electromagnetic brake is used.
1) The electromagnetic brake will operate when the power (24 V DC) turns off.
2) The status is base circuit shut-off during RES (Reset) on. When you use the motor in vertical axis system, use MBR (Electromagnetic brake interlock).
3) Turn off SON (Servo-on) after the servo motor stopped.
3. SIGNALS AND WIRING
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(1) Connection diagram
B2
B1
MBR
DOCOM
RA1 U B
Servo motor
24 V DC
ALM (Malfunction)
Servo amplifier
MBR RA1
(Note 1)
(Note 2) 24 V DC
Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch. 2. Do not use the 24 V DC interface power supply for the electromagnetic brake.
(2) Setting
(a) Enable MBR (Electromagnetic brake interlock) with [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47].
(b) In [Pr. PC16 Electromagnetic brake sequence output], set a delay time (Tb) from MBR
(Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in section 3.10.2 (1).
3. SIGNALS AND WIRING
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3.10.2 Timing chart
(1) When you use the forced stop deceleration function
POINT To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(a) SON (Servo-on) on/off
When SON (Servo-on) is turned off, the servo lock will be released after Tb [ms], and the servo motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not drop down for a vertical axis system, etc.
SON (Servo-on)
Position command (Note 4)
MBR (Electromagnetic brake interlock)
(Note 1) ON
OFF
ON
OFF
0 r/min
Base circuit
Servo motor speed
Release
Activate Electromagnetic brake
0 r/min
ON
OFF
Approx. 95 ms
Approx. 95 ms
Operation delay time of the electromagnetic brake
Release delay time and external relay, etc. (Note 2)
(Note 3)
Tb [Pr. PC16 Electromagnetic brake sequence output]
Note 1. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake has been activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay. For the release delay time of electromagnetic brake, refer to "Servo Motor Instruction Manual (Vol. 3)".
3. Give a position command after the electromagnetic brake is released. 4. This is in position control mode.
3. SIGNALS AND WIRING
3 - 73
(b) Forced stop 2 on/off
POINT
In the torque control mode, the forced stop deceleration function is not available. Keep SON (Servo-on) on while EM2 (Forced stop 2) is off. If SON (Servo-on) is turned off earlier than EM2 (Forced stop 2), the servo amplifier operates in the same way as (1) (a) in this section.
Model speed command 0 and equal to or less than zero speed (Note 2)
Release
Activate
ON
OFF
Electromagnetic brake
Tb [Pr. PC16 Electromagnetic brake sequence output]
Operation delay time of the electromagnetic brake
SON (Servo-on)
ON
ON
OFF
ON
OFF
OFF
EM2 (Forced stop 2)
MBR (Electromagnetic brake interlock)
ON (no alarm)
OFF (alarm)
Base circuit (Energy supply to the servo motor)
0 r/min
Servo motor speed
ALM (Malfunction)
(Note 1)
Note 1. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake has been activated.
2. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.
3. SIGNALS AND WIRING
3 - 74
(c) Alarm occurrence
1) When the forced stop deceleration function is enabled
Command is not received.
Alarm occurrence
Alarm No.No alarm
Model speed command 0 and equal to or less than zero speed (Note)
MBR (Electromagnetic brake interlock)
ON
OFF
ON (no alarm)
OFF (alarm)
Base circuit (Energy supply to the servo motor)
ON
OFF
Servo amplifier display
0 r/min
Servo motor speed
ALM (Malfunction)
Tb [Pr. PC16 Electromagnetic brake sequence output]
Operation delay time of the electromagnetic brake
Release
Activate
ON
OFF
Electromagnetic brake
SON (Servo-on)
Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.
2) When the forced stop deceleration function is disabled
The operation status is the same as section 3.8.1 (2).
(d) Both main and control circuit power supplies off
MBR (Electromagnetic brake interlock)
(Note 2) ON
OFF
Base circuit ON
OFF
Alarm [AL. 10 Undervoltage]
No alarm
Alarm
Approx. 10 ms
Dynamic brake Dynamic brake + Electromagnetic brake
Electromagnetic brake
(Note 1)
Operation delay time of the electromagnetic brake
Servo motor speed
ON
OFF Main circuit Control circuit Power supply
0 r/min
Note 1. Variable according to the operation status. 2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake has been activated.
3. SIGNALS AND WIRING
3 - 75
(e) Main circuit power supply off during control circuit power supply on
POINT
In the torque control mode, the forced stop deceleration function is not available.
ALM (Malfunction)
MBR (Electromagnetic brake interlock)
ON
OFF
ON
OFF
ON (no alarm)
OFF (alarm)
(Note 2)
The time until a voltage drop is detected.
Main circuit power supply
ON
OFF
Dynamic brake Forced stop deceleration
Dynamic brake + Electromagnetic brake
Electromagnetic brake
Operation delay time of the electromagnetic brake
Servo motor speed
0 r/min Approx. 10 ms
(Note 1)
Base circuit (Energy supply to the servo motor)
Note 1. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake has been activated.
2. Variable according to the operation status.
(2) When you do not use the forced stop deceleration function
POINT To disable the function, set "0 _ _ _" in [Pr. PA04].
(a) SON (Servo-on) on/off
It is the same as (1) (a) in this section.
(b) EM1 (Forced stop 1) on/off Dynamic brake
Dynamic brake + Electromagnetic brake
Electromagnetic brake
MBR (Electromagnetic brake interlock)
Operation delay time of the electromagnetic brake
Approx. 210 ms
Approx. 210 ms
Electromagnetic brake has released.
(Note) ON
OFF
Base circuit ON
OFF
Servo motor speed
EM1 (Forced stop) ON (Disabled)
OFF (Enabled)
0 r/min Approx. 10 ms
Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake has been activated.
3. SIGNALS AND WIRING
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(c) Alarm occurrence
The operation status during an alarm is the same as section 3.8.2.
(d) Both main and control circuit power supplies off It is the same as (1) (d) in this section.
(e) Main circuit power supply off during control circuit power supply on
Dynamic brake Dynamic brake + Electromagnetic brake
Electromagnetic brake
Operation delay time of the electromagnetic brake
MBR (Electromagnetic brake interlock)
(Note 2)
Base circuit
Alarm [AL. 10 Undervoltage]
No alarm
Alarm
Servo motor speed Approx. 10 ms
(Note 1)
ON
OFF
ON
OFF
Main circuit power supply
ON
OFF
0 r/min
Note 1. Variable according to the operation status. 2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake has been activated.
3. SIGNALS AND WIRING
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3.11 Grounding
WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to "EMC Installation Guidelines".
Ensure to connect the wire to the PE terminal of the servo amplifier. Do not connect the wire directly to the grounding of the cabinet.
EM C
fi lte
r
(Note) Power supply
V
U
Cabinet
Servo motor
M U V WW
Encoder
CN2
Servo amplifier
L11
L1
L2
L3
L21
CN1
Protective earth (PE) Outer box
MCMCCB
Pr og
ra m
m ab
le
Do not ground L11 and L21.
Note. For the power supply specifications, refer to section 1.3.
3. SIGNALS AND WIRING
3 - 78
MEMO
4. STARTUP
4 - 1
4. STARTUP
WARNING When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.
CAUTION
Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly. The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables. During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury. Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.
POINT
When you use a linear servo motor, replace the following words in the left to the words in the right. Load to motor inertia ratio Load to motor mass ratio Torque Thrust (Servo motor) speed (Linear servo motor) speed
4. STARTUP
4 - 2
4.1 Switching power on for the first time
When switching power on for the first time, follow this section to make a startup. 4.1.1 Startup procedure
Wiring check
Parameter setting
Test operation of the servo motor alone in test operation mode
Test operation of the servo motor alone by commands
Test operation with the servo motor and machine connected
Gain adjustment
Actual operation
Stop
Surrounding environment check
Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (section 4.5.8), etc. (Refer to section 4.1.2.) Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 4.1.3.) Set the parameters as necessary, such as the used operation mode and regenerative option selection. (Refer to chapter 5, and sections 4.2.4, 4.3.4, and 4.4.4.) For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.) For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly. After connecting the servo motor with the machine, check machine motions with sending operation commands from the controller. Make gain adjustment to optimize the machine motions. (Refer to chapter 6.) Stop giving commands and stop operation. Other conditions that stops the servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2.
4. STARTUP
4 - 3
4.1.2 Wiring check
(1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring
1) The power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.)
2) Between P3 and P4 should be connected.
P3
P4
Servo amplifier
(Note)
Note. The 100 V class servo amplifiers do not have P3 and P4.
(b) Connection of servo amplifier and servo motor
1) The servo amplifier power output (U/V/W) should match in phase with the servo motor power input terminals (U/V/W).
Servo amplifier Servo motor
M
U
V
W
U
V
W
2) The power supplied to the servo amplifier should not be connected to the power outputs (U/V/W). Otherwise, the servo amplifier and servo motor will malfunction.
Servo amplifier Servo motor
M
U
V
W
U
V
W
L1
L2
L3
3) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier. Servo amplifier Servo motor
M
4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable.
4. STARTUP
4 - 4
(c) When option and auxiliary equipment are used
1) 200 V class a) When you use a regenerative option for 5 kW or less servo amplifiers
The lead wire between P+ terminal and D terminal should not be connected. The regenerative option should be connected to P+ terminal and C terminal. Twisted wires should be used. (Refer to section 11.2.4.)
b) When you use a regenerative option for 7 kW or more servo amplifiers
For 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected. The regenerative option should be connected to P+ terminal and C terminal. Twisted wires should be used. (Refer to section 11.2.4.)
c) When you use a brake unit and power regeneration converter for 5 kW or more servo
amplifiers For 5 kW or less servo amplifiers, the lead wire between P+ terminal and D terminal should not be connected. For 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected. Brake unit or power regeneration converter should be connected to P+ terminal and N- terminal. (Refer to section 11.3 and 11.4.) Twisted wires should be used when wiring is over 5 m and equal to or less than 10 m using a brake unit. (Refer to section 11.3)
d) When you use a power regeneration common converter
For 5 kW or less servo amplifiers, the lead wire between P+ terminal and D terminal should not be connected. For 7 kW servo amplifiers, the lead wires of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected. The wire of power regeneration common converter should be connected to P4 terminal and N- terminal. (Refer to section 11.5.)
e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to
section 11.11.)
(Note)
Power factor improving DC reactor
Servo amplifier
P3
P4
Note. Always disconnect between P3 and P4 terminals.
f) When you use a multifunction regeneration converter
For 5 kW or less servo amplifiers, the lead wire between the P+ terminal and D terminal should be connected. (factory-wired) For 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to the P+ terminal and C terminal should be connected. (factory-wired) The wire of the multifunction regeneration converter should be connected to the P4 terminal and N- terminal. (Refer to section 11.19.)
4. STARTUP
4 - 5
2) 400 V class
a) When you use a regenerative option for 3.5 kW or less servo amplifiers The lead wire between P+ terminal and D terminal should not be connected. The regenerative option should be connected to P+ terminal and C terminal. Twisted wires should be used. (Refer to section 11.2.4.)
b) When you use a regenerative option for 5 kW or more servo amplifiers
For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected. The regenerative option should be connected to P+ terminal and C terminal. Twisted wires should be used. (Refer to section 11.2.4.)
c) When you use a brake unit and power regeneration converter for 5 kW or more servo
amplifiers For 5 kW or 7 kW servo amplifiers, the lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should not be connected. Brake unit, power regeneration converter should be connected to P+ terminal and N- terminal. (Refer to section 11.3 and 11.4.) Twisted wires should be used when wiring is over 5 m and equal to or less than 10 m using a brake unit. (Refer to section 11.3)
d) When you use a power regeneration common converter
Power regeneration common converter should be connected to P4 terminal and N- terminal. (Refer to section 11.5.)
e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to
section 11.11.)
(Note)
Power factor improving DC reactor
Servo amplifier
P3
P4
Note. Always disconnect between P3 and P4.
f) When you use a multifunction regeneration converter
For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to the P+ terminal and C terminal should be connected. (factory-wired) The wire of the multifunction regeneration converter should be connected to the P4 terminal and N- terminal. (Refer to section 11.19.)
3) 100 V class
The lead wire between P+ terminal and D terminal should not be connected. The regenerative option should be connected to P+ terminal and C terminal. Twisted wires should be used. (Refer to section 11.2.4.)
4. STARTUP
4 - 6
(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 CN1 connector. You can use this function to check the wiring. In this case, switch on the control circuit power supply only. Refer to section 3.2 for details of I/O signal connection.
(b) 24 V DC or higher voltage is not applied to the pins of the CN1 connector.
(c) Plate and DOCOM of the CN1 connector is not shorted.
Servo amplifier
DOCOM
Plate
CN1
4.1.3 Surrounding environment
(1) Cable routing (a) The wiring cables should not be stressed.
(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)
(c) The connector of the servo motor should not be stressed.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like. 4.2 Startup in position control mode
Make a startup in accordance with section 4.1. This section provides the methods specific to the position control mode. 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 SON (Servo-on).
2) Make sure that a command pulse train is not input.
3) Switch on the main circuit power supply and control circuit power supply.
When main circuit power/control circuit power is switched on, the display shows "C (Cumulative feedback pulses)", and in 2 s later, shows data.
In the absolute position detection system, first power-on results in [AL. 25 Absolute position erased] and the servo system cannot be switched on. The alarm can be deactivated by then switching power off once and on again. Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.
4. STARTUP
4 - 7
(2) Power-off
1) Make sure that a command pulse train is not input.
2) Switch off SON (Servo-on).
3) Switch off the main circuit power supply and control circuit power supply. 4.2.2 Stop
Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off. If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition Switch of SON (Servo-on). The base circuit is shut off and the servo motor coasts. Alarm occurrence The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to chapter 8. (Note))
EM2 (Forced stop 2) off The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop warning] occurs. EM2 has the same function as EM1 in the torque control mode. Refer to section 3.5 for EM1.
STO (STO1, STO2) off The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.
LSP (Forward rotation stroke end) of LSN (Reverse rotation stroke end) off
It will bring the motor to a sudden stop and make it servo-locked. It can be run in the opposite direction.
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
4. STARTUP
4 - 8
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 the servo motor alone in JOG operation of test
operation mode
Test operation of the servo motor alone by commands
Test operation with the servo motor and machine connected
In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor correctly rotates at the slowest speed. Refer to section 4.5.9 for the test operation mode. In this step, confirm that the servo motor correctly rotates at the slowest speed under the commands from the controller. Make sure that the servo motor rotates in the following procedure. 1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo
amplifier is put in a servo-on status, RD (Ready) switches on. 2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). 3) When a pulse train is input from the controller, the servo motor starts
rotating. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.
In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the controller. Make sure that the servo motor rotates in the following procedure. 1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo
amplifier is put in a servo-on status, RD (Ready) switches on. 2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). 3) When a pulse train is input from the controller, 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, command pulse frequency, load ratio, etc.
4) Then, check automatic operation with the program of the controller.
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4.2.4 Parameter setting
POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H
In the position control mode, the servo amplifier can be used by merely changing the basic setting parameters ([Pr. PA _ _ ]) mainly. As necessary, set other parameters. 4.2.5 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. 4.2.6 Trouble at start-up
CAUTION Never adjust or change the parameter values extremely as it will make operation unstable.
POINT
Using the optional MR Configurator2, you can refer to reason for rotation failure, etc.
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. (1) Troubleshooting
No. Start-up sequence Fault Investigation Possible cause Reference 1 Power on The 5-digit,
7-segment LED is not lit. The 5-digit, 7-segment LED blinks.
Not improved even if CN1, CN2 and CN3 connectors are disconnected.
1. Power supply voltage fault 2. The servo amplifier is
malfunctioning.
Improved when CN1 connector is disconnected.
Power supply of CN1 cabling is shorted.
Improved when CN2 connector is disconnected.
1. Power supply of encoder cabling is shorted.
2. Encoder is malfunctioning. Improved when CN3 connector is
disconnected. Power supply of CN3 cabling is shorted.
Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8 (Note)
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No. Start-up sequence Fault Investigation Possible cause Reference 2 Switch on SON
(Servo-on). Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
(Note) Servo motor shaft is
not servo-locked. (Servo motor shaft is free.)
1. Check the display to see if the servo amplifier is ready to operate.
2. Check the external I/O signal indication (section 4.5.7) to see if SON (Servo-on) is on.
1. SON (Servo-on) is not input. (wiring mistake)
2. 24 V DC power is not supplied to DICOM.
Section 4.5.7
3 Input command pulse. (Test operation)
Servo motor does not rotate.
Check the cumulative command pulse on the status display (section 4.5.3).
1. Wiring mistake (a) For open collector pulse
train input, 24 V DC power is not supplied to OPC.
(b) LSP and LSN are not on. 2. Pulse is not input from the
controller.
Section 4.5.3
Mistake in setting of [Pr. PA13]. Chapter 5 Servo motor run in
reverse direction. 1. Mistake in wiring to controller.
2. Mistake in setting of [Pr. PA14].
4 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 three times or more to complete auto tuning.
Gain adjustment fault Chapter 6
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 three times or more to complete auto tuning.
Gain adjustment fault Chapter 6
5 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.
(2) in this section
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
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(2) How to find the cause of position shift
Encoder
Q P
C
M L
(b) Cumulative command pulses
(c) Cumulative feedback pulses
(d) Machine stop position M
Cause B
(a) Output pulse counter
Cause A SON (Servo-on) input LSP/LSN (Stroke end) input
Servo amplifierController
Servo motor Machine
Electronic gear [Pr. PA05], [Pr. PA06], [Pr. PA07], [Pr. PA21]
Cause C
When a position shift occurs, check (a) output pulse counter display Q, (b) cumulative command pulse P, (c) cumulative feedback pulse C, and (d) machine stop position M in the above diagram. Also, Causes A, B, and C indicate the causes of position mismatch. For example, Cause A indicates that noise entered the wiring between the controller and servo amplifier, causing command input pulses to be miscounted.
In a normal status without position shift, there are the following relationships.
1) Q = P (Output counter = Cumulative command pulses)
2) When [Pr. PA21] is "0 _ _ _"
P CMX [Pr. PA06] CDV [Pr. PA07] = C (Cumulative command pulses Electronic gear = Cumulative feedback
pulses)
3) When [Pr. PA21] is "1 _ _ _"
P 4194304
FBP [Pr. PA05] = C
4) When [Pr. PA21] is "2 _ _ _"
P CMX [Pr. PA06] CDV [Pr. PA07] 16 = C
5) C = M (Cumulative feedback pulses Travel distance per pulse = Machine position)
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Check for a position mismatch in the following sequence.
1) When Q P
Noise entered the pulse train signal wiring between the controller and servo amplifier, causing command input pulses to be miscounted. (Cause A) Make the following check or take the following measures.
Check how the shielding is done. Change the open collector type to the differential line driver type. Run wiring away from the power circuit. Install a data line filter. (Refer to section 11.14 (2) (a).) Change the [Pr. PA13 Command pulse input form] setting.
2) When P CMX CDV C
During operation, SON (Servo-on), LSP (Forward rotation stroke end), or LSN (Reverse rotation stroke end) was switched off; or CR (Clear) or RES (Reset) was switched on. (Cause C)
3) When C M
Mechanical slip occurred between the servo motor and machine. (Cause B) 4.3 Startup in speed control mode
Make a startup in accordance with section 4.1. This section provides the methods specific to the speed control mode. 4.3.1 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 SON (Servo-on).
2) Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) 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 display shows "r (Servo motor speed)", and in 2 s later, shows data.
(2) Power-off 1) Switch off ST1 (Forward rotation start) and ST2 (Reverse rotation start).
2) Switch off SON (Servo-on).
3) Switch off the main circuit power supply and control circuit power supply.
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4.3.2 Stop
Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off. If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition Switch of SON (Servo-on). The base circuit is shut off and the servo motor coasts. Alarm occurrence The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to chapter 8. (Note))
EM2 (Forced stop 2) off The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop warning] occurs. EM2 has the same function as EM1 in the torque control mode. Refer to section 3.5 for EM1.
STO (STO1, STO2) off The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.
LSP (Forward rotation stroke end) of LSN (Reverse rotation stroke end) off
It will bring the motor to a sudden stop and make it servo-locked. It can be run in the opposite direction.
Simultaneous on or off of ST1 (Forward rotation start) and ST2 (Reverse rotation start)
The servo motor is decelerated to a stop.
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
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4.3.3 Test operation
Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.3.1 for the power on and off methods of the servo amplifier.
Test operation of the servo motor alone in JOG operation of test
operation mode
Test operation of the servo motor alone by commands
Test operation with the servo motor and machine connected
In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor correctly rotates at the slowest speed. Refer to section 4.5.9 for the test operation mode. In this step, confirm that the servo motor correctly rotates at the slowest speed under the commands from the controller. Make sure that the servo motor rotates in the following procedure. 1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo
amplifier is put in a servo-on status, RD (Ready) switches on. 2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). 3) When VC (Analog speed command) is input from the controller and ST1
(Forward rotation start) or ST2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.
In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the controller. Make sure that the servo motor rotates in the following procedure. 1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo
amplifier is put in a servo-on status, RD (Ready) switches on. 2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). 3) When VC (Analog speed command) is input from the controller and ST1
(Forward rotation start) or ST2 (Reverse rotation start) is switched 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 controller.
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4.3.4 Parameter setting
POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H
When using this servo in the speed control mode, change [Pr. PA01] setting to select the speed control mode. In the speed control mode, the servo can be used by merely changing the basic setting parameters ([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly. As necessary, set other parameters. 4.3.5 Actual operation
Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. 4.3.6 Trouble at start-up
CAUTION Never adjust or change the parameter values extremely as it will make operation unstable.
POINT
Using the optional MR Configurator2, you can refer to reason for rotation failure, 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 The 5-digit,
7-segment LED is not lit. The 5-digit, 7-segment LED blinks.
Not improved even if CN1, CN2, and CN3 connectors are disconnected.
1. Power supply voltage fault 2. The servo amplifier is
malfunctioning.
Improved when CN1 connector is disconnected.
Power supply of CN1 cabling is shorted.
Improved when CN2 connector is disconnected.
1. Power supply of encoder cabling is shorted.
2. Encoder is malfunctioning. Improved when CN3 connector is
disconnected. Power supply of CN3 cabling is shorted.
Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8 (Note)
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No. Start-up sequence Fault Investigation Possible cause Reference 2 Switch on SON
(Servo-on). Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8
(Note) Servo motor shaft is
not servo-locked. (Servo motor shaft is free.)
1. Check the display to see if the servo amplifier is ready to operate.
2. Check the external I/O signal indication (section 4.5.7) to see if SON (Servo-on) is on.
1. SON (Servo-on) is not input. (wiring mistake)
2. 24 V DC power is not supplied to DICOM.
Section 4.5.7
3 Switch on ST1 (Forward rotation start) or ST2 (Reverse rotation start).
Servo motor does not rotate.
Call the status display (section 4.5.3) and check the input voltage of VC (Analog speed command).
Analog speed command is 0 V. Section 4.5.3
Call the external I/O signal display (section 4.5.7) and check the on/off status of the input signal.
LSP, LSN, ST1, and ST2 are off. Section 4.5.7
Check the internal speed commands 1 to 7 ([Pr. PC05] to [Pr. PC11]).
Set value is 0. Section 5.2.3
Check the forward rotation torque limit ([Pr. PA11]) and the reverse rotation torque limit ([Pr. PA12]).
Torque limit level is too low as compared to the load torque.
Section 5.2.1
When TLA (Analog torque limit) is usable, check the input voltage on the status display.
Torque limit level is too low as compared to the load torque.
Section 4.5.3
4 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 three times or more to complete auto tuning.
Gain adjustment fault Chapter 6
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 three times or more to complete auto tuning.
Gain adjustment fault Chapter 6
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
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4.4 Startup in torque control mode
Make a startup in accordance with section 4.1. This section provides the methods specific to the torque control mode. 4.4.1 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 SON (Servo-on).
2) Make sure that RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off.
3) Switch on the main circuit power supply and control circuit power supply.
Data is displayed in 2 s after "U" (Analog torque command) is displayed.
(2) Power-off 1) Switch off RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).
2) Switch off SON (Servo-on).
3) Switch off the main circuit power supply and control circuit power supply.
4.4.2 Stop
Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off. If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition Switch off SON (Servo-on). The base circuit is shut off and the servo motor coasts. Alarm occurrence The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to chapter 8. (Note))
EM2 (Forced stop 2) off This stops the servo motor with the dynamic brake. [AL. E6 Servo forced stop warning] occurs. EM2 has the same function as EM1 in the torque control mode. Refer to section 3.5 for EM1.
STO (STO1, STO2) off The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.
Simultaneous on or off of RS1 (Forward rotation selection) and RS2 (Reverse rotation selection)
The servo motor coasts.
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
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4.4.3 Test operation
Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.4.1 for the power on and off methods of the servo amplifier.
Test operation of the servo motor alone in JOG operation of test
operation mode
Test operation of the servo motor alone by commands
Test operation with the servo motor and machine connected
In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor correctly rotates at the slowest speed. Refer to section 4.5.9 for the test operation mode. In this step, confirm that the servo motor correctly rotates at the slowest speed under the commands from the controller. Make sure that the servo motor rotates in the following procedure. 1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on
status, RD (Ready) switches on. 2) When TC (Analog speed command) is input from the controller and RS1
(Forward rotation start) or RS2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low torque command at first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.
In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the controller. Make sure that the servo motor rotates in the following procedure. 1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on
status, RD (Ready) switches on. 2) When TC (Analog speed command) is input from the controller and RS1
(Forward rotation start) or RS2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low torque 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.
3) Then, check automatic operation with the program of the controller.
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4.4.4 Parameter setting
POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H
When using this servo in the torque control mode, change [Pr. PA01] setting to select the torque control mode. In the torque control mode, the servo can be used by merely changing the basic setting parameters ([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly. As necessary, set other parameters. 4.4.5 Actual operation
Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings.
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4.4.6 Trouble at start-up
CAUTION Never adjust or change the parameter values extremely as it will make unstable movement.
POINT
Using the optional MR Configurator2, you can refer to reason for rotation failure, 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 The 5-digit,
7-segment LED is not lit. The 5-digit, 7-segment LED blinks.
Not improved even if CN1, CN2, and CN3 connectors are disconnected.
1. Power supply voltage fault 2. The servo amplifier is
malfunctioning.
Improved when CN1 connector is disconnected.
Power supply of CN1 cabling is shorted.
Improved when CN2 connector is disconnected.
1. Power supply of encoder cabling is shorted.
2. Encoder is malfunctioning. Improved when CN3 connector is
disconnected. Power supply of CN3 cabling is shorted.
Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8 (Note)
2 Switch on SON (Servo-on).
Alarm occurs. Refer to chapter 8 and remove cause. Chapter 8 (Note)
(Servo motor shaft is free.)
Call the external I/O signal display (section 4.5.7) and check the on/off status of the input signal.
1. SON (Servo-on) is not input. (wiring mistake)
2. 24 V DC power is not supplied to DICOM.
Section 4.5.7
3 Switch on RS1 (Forward rotation start) or RS2 (Reverse rotation start).
Servo motor does not rotate.
Call the status display (section 4.5.3) and check the input voltage of TC (Analog torque command).
Analog torque command is 0 V. Section 4.5.3
Call the external I/O signal display (section 4.5.7) and check the on/off status of the input signal.
RS1 and RS2 are off. Section 4.5.7
Check the internal speed limit 1 to 7 ([Pr. PC05] to [Pr. PC11]).
Set value is 0. Section 5.2.3
Check the analog torque command maximum output ([Pr. PC13]) value.
Torque command level is too low as compared to the load torque.
Section 5.2.3
Check the forward rotation torque limit ([Pr. PA11]) and the reverse rotation torque limit ([Pr. PA12]).
Set value is 0. Section 5.2.1
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
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4.5 Display and operation sections
4.5.1 Summary
The MR-J4-_A_(-RJ) servo amplifier has the display section (5-digit, 7-segment LED) and operation section (4 pushbuttons) for servo amplifier status display, alarm display, parameter setting, etc. Also, press the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode. The operation section and display data are described below.
MODE UP DOWN SET
MODE
UP DOWN SET
Display mode change Low/High switching Push this button together with the "SET" button for 3 s or more to switch to the one-touch tuning mode. Display/data scrolling Display/data scrolling Display/data determination Data clear Push this button together with the "MODE" button for 3 s or more to switch to the one-touch tuning mode.
Decimal LED Displays the decimal points, alarm presence/absence, etc.
Lit to indicate the decimal point.
Decimal
Lit to indicate a negative when "-" (negative) cannot be displayed.
Blinks to indicate alarm occurrence.
Blinks to indicate the test operation mode.
5-digit, 7-segment LED Displays data.
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4.5.2 Display flowchart
Press the "MODE" button once to shift to the next display mode. Refer to section 4.5.3 and later for the description of the corresponding display mode. To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters, enable them with [Pr. PA19 Parameter writing inhibit].
Display mode transition Initial screen Function Reference
Status display
Diagnosis
Alarms
Basic setting parameters
Gain/filter parameters
Extension setting parameters
Extension setting 2 parameters
Extension setting 3 parameters
I/O setting parameters
Button MODE
One-touch tuning
Linear/DD motor setting parameter
Servo status display. "C" appears at power-on. (Note)
Section 4.5.3
One-touch tuning Select this when performing the one-touch tuning.
Section 6.2
Sequence display, external signal display, output signal (DO) forced output, test operation, software version display, VC automatic offset, servo motor series ID display, servo motor type ID display, servo motor encoder ID display, drive recorder enabled/disabled display.
Section 4.5.4
Current alarm display, alarm history display, parameter error number display.
Section 4.5.5
Display and setting of basic setting parameters.
Section 4.5.6
Display and setting of gain/filter parameters.
Display and setting of extension setting parameters.
Display and setting of I/O setting parameters.
Display and setting of extension setting 2 parameters.
Display and setting of extension setting 3 parameters.
Display and setting of linear/DD motor setting parameters.
Note. When the axis name is set to the servo amplifier with MR Configurator2, the axis name is displayed and the servo status is then
displayed.
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4.5.3 Status display mode
The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears after the symbol of the status display selected in [Pr. PC36] has been shown for 2 s. (1) Display transition
After selecting the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below. (a) Standard control mode/DD motor control mode
Regenerative load ratio
Cumulative feedback pulses
Effective load ratio
Peak load ratio
Instantaneous torque
Within one-revolution position (1 pulse unit)
Servo motor speed/ Linear servo motor speed
Within one-revolution position (1000 pulses unit)
Droop pulses
ABS counter
Cumulative command pulses
Load to motor inertia ratio
Command pulse frequency
Bus voltage
Internal temperature of encoder
Settling time
Oscillation detection frequency
Number of tough drives
Unit power consumption 1 (increment of 1 W)
Unit total power consumption 1 (increment of 1 Wh)
Unit power consumption 2 (increment of 1 kW)
Unit total power consumption 2 (increment of 100 kWh)
Unit total power consumption 2 (increment of 100 kWh)
Cumulative feedback pulses
Analog speed command voltage Analog speed limit voltage
Analog torque limit voltage Analog torque command voltage
DOWN
UP
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(b) Fully closed loop control mode
Cumulative feedback pulses
(Note)
Unit total power consumption 2 (increment of 100 kWh)
Load-side encoder information 2
Load-side encoder cumulative feedback pulses
Load-side encoder droop pulses
Load-side encoder information 1 (1 pulse unit)
Load-side encoder information 1 (100000 pulses unit)
Load-side encoder information 2
Cumulative feedback pulses
Note. The displays in the frames are the standard control modes in one cycle with some displays omitted.
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(c) Linear servo motor control mode
Cumulative feedback pulses
(Note)
Unit total power consumption 2 (increment of 100 kWh)
Electrical angle high
Electrical angle low
Electrical angle high
Cumulative feedback pulses
Z-phase counter low
Z-phase counter high
Note. The displays in the frames are the standard control modes in one cycle with some displays omitted.
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(2) Display examples
The following table shows the display examples.
Item State Displayed data
Servo amplifier display
Servo motor speed
Forward rotation at 2500 r/min
Reverse rotation at 3000 r/min
Reverse rotation is indicated by "- ".
Load to motor inertia ratio 7.00 times
ABS counter
11252 rev
-12566 rev
Lit
Negative value is indicated by the lit decimal points in the upper four digits.
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(3) Status display list
The following table lists the servo statuses that may be shown. Refer to app. 7.3 for the measurement point.
Status display Symbol Unit Description
Cumulative feedback pulses C pulse
Feedback pulses from the servo motor encoder are counted and displayed. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits. Press the "SET" button to reset the display value to zero. The value of minus is indicated by the lit decimal points in the upper four digits.
Servo motor speed/ Linear servo motor speed r r/min
The servo motor speed or Linear servo motor speed is displayed. It is displayed rounding off 0.1 r/min (0.1 mm/s) unit.
Droop pulses E pulse
The number of droop pulses in the deviation counter is displayed. The decimal points in the upper four digits are lit for reverse rotation pulses. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits. The number of pulses displayed is in the encoder pulse unit.
Cumulative command pulses P pulse
Position command input pulses are counted and displayed. As the value displayed is not yet multiplied by the electronic gear (CMX/CDV), it may not match the indication of the cumulative feedback pulses. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits. Press the "SET" button to reset the display value to zero. When the servo motor is rotating in the reverse direction, the decimal points in the upper four digits are lit.
Command pulse frequency n kpulse/s The frequency of position command input pulses is counted and displayed. The value displayed is not multiplied by the electronic gear (CMX/CDV).
Analog speed command voltage Analog speed limit voltage
F V
1) Torque control mode Input voltage of VLA (Analog speed limit) voltage is displayed.
2) Speed control mode Input voltage of VC (Analog speed command) voltage is displayed
Analog torque command voltage Analog torque limit voltage
U V
1) Position control mode and speed control mode Voltage of TLA (Analog torque limit) voltage is displayed.
2) Torque control mode Voltage of TC (Analog torque command) voltage is displayed.
Regenerative load ratio L % The ratio of regenerative power to permissible regenerative power is displayed in %.
Effective load ratio J % The continuous effective load current is displayed. The effective value in the past 15 s is displayed relative to the rated current of 100%.
Peak load ratio b % The maximum occurrence torque is displayed. The highest value in the past 15 s is displayed relative to the rated current of 100%.
Instantaneous torque T % The instantaneous occurrence torque is displayed. The value of torque being occurred is displayed in real time considering a rated torque as 100%.
Within one-revolution position (1 pulse unit) Cy1 pulse
Position within one revolution is displayed in encoder pulses. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits. When the servo motor rotates in the CCW direction, the value is added.
Within one-revolution position (1000 pulses unit) Cy2 1000
pulses
The within one-revolution position is displayed in 1000 pulse increments of the encoder. When the servo motor rotates in the CCW direction, the value is added.
ABS counter LS rev The travel distance from the home position is displayed as multi-revolution counter value of the absolution position encoder in the absolution position detection system.
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Status display Symbol Unit Description
Load to motor inertia ratio dC Multiplier The estimated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed.
Bus voltage Pn V The voltage of main circuit converter (between P+ and N-) is displayed. Internal temperature of encoder ETh C Inside temperature of encoder detected by the encoder is displayed.
Settling time ST ms Settling time is displayed. When it exceeds 1000 ms, "1000" will be displayed. Oscillation detection frequency oF Hz Frequency at the time of oscillation detection is displayed.
Number of tough operations Td times The number of tough drive functions activated is displayed.
Unit power consumption 1 (increment of 1 W) PC1 W
Unit power consumption is displayed by increment of 1 W. Positive value indicate power running, and negative value indicate regeneration. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits.
Unit power consumption 2 (increment of 1 kW) PC2 kW Unit power consumption is displayed by increment of 1 kW. Positive value
indicate power running, and negative value indicate regeneration.
Unit total power consumption 1 (increment of 1 Wh) TPC1 Wh
Unit total power consumption is displayed by increment of 1 Wh. Positive value is cumulated during power running and negative value during regeneration. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits.
Unit total power consumption 2 (increment of 100 kWh) TPC2 100 Wh Unit total power consumption is displayed by increment of 100 kWh. Positive
value is cumulated during power running and negative value during regeneration.
Load-side encoder Cumulative feedback pulses
FC pulse
Feedback pulses from the load-side encoder are counted and displayed. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits. Press the "SET" button to reset the display value to zero. The value of minus is indicated by the lit decimal points in the upper four digits.
Load-side encoder Droop pulses
FE pulse
Droop pulses of the deviation counter between a load-side encoder and a command are displayed. When the count exceeds 99999, it starts from 0. Negative value is indicated by the lit decimal points in the upper four digits. The display shows the average droop pulses of 128 samplings at the rate of 444 [s].
Load-side encoder information 1 (1 pulse unit)
FCY1 pulse
The Z-phase counter of a load-side encoder is displayed in the encoder pulse unit. For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For an absolute position linear encoder, the encoder absolute position is displayed. When the count exceeds 99999, it starts from 0.
Load-side encoder information 1 (100000 pulses unit)
FCY2 100000 pulses
The Z-phase counter of a load-side encoder is displayed by increments of 100000 pulses. For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For an absolute position linear encoder, the encoder absolute position is displayed. When the count exceeds 99999, it starts from 0.
Load-side encoder information 2 FL5 rev
When an incremental linear encoder is used as the load-side encoder, the display shows 0. When an absolute position linear encoder is used as the load-side encoder, the display shows 0. When a rotary encoder is used as the load-side encoder, the display shows the value of the multi-revolution counter.
Z-phase counter low FCY1 pulse
The Z-phase counter is displayed in the encoder pulse unit. For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For an absolute position linear encoder, the encoder absolute position is displayed. When the count exceeds 99999, it starts from 0.
Z-phase counter high FCY2 100000 pulses
The Z-phase counter is displayed by increments of 100000 pulses. For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For an absolute position linear encoder, the encoder absolute position is displayed. When the count exceeds 99999, it starts from 0.
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Status display Symbol Unit Description
Electrical angle low ECY1 pulse The servo motor electrical angle is displayed.
Electrical angle high ECY2 100000 pulses The servo motor electrical angle is displayed by increments of 100000 pulses.
(4) Changing the status display screen
The status display item of the servo amplifier display shown at power-on can be changed by changing [Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows.
Control mode Status display
Position Cumulative feedback pulses Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed Speed/torque Servo motor speed/analog torque command voltage
Torque Analog torque command voltage Torque/position Analog torque command voltage/cumulative feedback
pulses
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4.5.4 Diagnostic mode
Name Display Description
Sequence
Not ready Indicates that the servo amplifier is being initialized or an alarm has occurred.
Ready Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.
Drive recorder enabled/disabled display
Drive recorder enabled When an alarm occurs in the status, the drive recorder will operate and write the status of occurrence.
Drive recorder enabled The drive recorder will not operate on the following conditions. 1. You are using the graph function of MR
Configurator2. 2. You are using the machine analyzer
function. 3. [Pr. PF21] is set to "-1".
External I/O signal display Refer to section 4.5.7.
This Indicates the on/off status of external I/O signal. The upper segments correspond to the input signals and the lower segments to the output signals.
Output signal (DO) forced output
This allows digital output signal to be switched on/off forcibly. For details, refer to section 4.5.8.
Test operation mode
JOG operation
JOG operation can be performed when there is no command from an external controller. For details, refer to section 4.5.9 (2).
Positioning operation
Positioning operation can be performed when there is no command from an external controller. MR Configurator2 is required to perform positioning operation. For details, refer to section 4.5.9 (3).
Motor-less operation
Without connecting the servo motor, output signals or status display monitoring can be provided in response to the input device as if the servo motor is actually running. For details, refer to section 4.5.9 (4).
Machine analyzer operation
Merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured. MR Configurator2 is required to perform machine analyzer operation. Refer to section 11.7 for details.
For manufacturer
This is for manufacturer.
For manufacturer
This is for manufacturer.
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Name Display Description
Software version Lower
Indicates the version of the software.
Software version - Upper
Indicates the system number of the software.
Automatic VC offset
If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at VC (Analog speed command) or VLA (Analog speed limit) of 0 V, this function automatically makes zero- adjustment of offset voltages. When using this function, enable the function in the following procedure. When it is enabled, [Pr. PC37] value changes to the automatically adjusted offset voltage. 1) Push "SET" once. 2) Set the number in the first digit to 1 with
"UP". 3) Push "SET". This function cannot be used if the input voltage of VC or VLA is - +0.4 V or less, or + 0.4 V or more. (Note)
Servo motor series ID
Push the "SET" button to show the series ID of the servo motor currently connected. For indication details, refer to the Servo Motor Instruction Manual (Vol. 3).
Servo motor type ID
Push the "SET" button to show the type ID of the servo motor currently connected. For indication details, refer to the Servo Motor Instruction Manual (Vol. 3).
Servo motor encoder ID
Push the "SET" button to show the encoder ID of the servo motor currently connected. For indication details, refer to the Servo Motor Instruction Manual (Vol. 3).
For manufacturer
This is for manufacturer.
For manufacturer
This is for manufacturer.
Note. Even if Automatic VC offset is performed and 0 V is input, the servo motor may not completely stop due to an internal error. To
completely stop the servo motor, switch off ST1 or ST2.
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4.5.5 Alarm mode
The current alarm, past alarm history and parameter error are displayed. The lower 3 digits on the display indicate the alarm number that has occurred or the parameter number in error.
Name Display Description
Current alarm
Indicates no occurrence of an alarm.
Indicates the occurrence of [AL. 33.1 Main circuit voltage error]. Blinks at alarm occurrence.
Alarm history
Indicates that the last alarm is [AL. 50.1 Thermal overload error 1 during operation].
Indicates the second last alarm is [AL. 33.1 Main circuit voltage error].
Indicates the third last alarm is [AL. 10.1 Voltage drop in the control circuit power].
Indicates that there is no tenth alarm in the past.
Indicates that there is no eleventh alarm in the past.
Indicates that there is no twelfth alarm in the past.
Indicates that there is no sixteenth alarm in the past.
Parameter error No.
This indicates no occurrence of [AL. 37 Parameter error].
The data content error of [Pr. PA12 Reverse rotation torque limit].
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Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation
area. At this time, the decimal point in the fourth digit remains blinking. (3) For any alarm, remove its cause and clear it in any of the following methods. (Refer to chapter 8 for the
alarms that can be cleared.)
(a) Switch power off, then on.
(b) Push the "SET" button on the current alarm screen.
(c) Turn on RES (Reset). (4) Use [Pr. PC18] to clear the alarm history. (5) Push "UP" or "DOWN" to move to the next history. 4.5.6 Parameter mode
(1) Parameter mode transition After selecting the corresponding parameter mode with the "MODE" button, pushing the "UP" or "DOWN" button changes the display as shown below.
[Pr. PB01]
[Pr. PA02]
[Pr. PA01]
I/O setting parameters
[Pr. PD01]
[Pr. PD02]
[Pr. PD47]
[Pr. PD48]
[Pr. PC01]
[Pr. PC02]
[Pr. PC79]
Extension setting parameters
[Pr. PC80]
[Pr. PB02]
[Pr. PB63]
[Pr. PB64]
To status display mode
[Pr. PA31]
Basic setting parameters
[Pr. PA32]
Extension setting 2 parameters
[Pr. PE01]
[Pr. PE02]
[Pr. PE63]
[Pr. PE64]
Extension setting 3 parameters
[Pr. PF01]
[Pr. PF02]
[Pr. PF47]
[Pr. PF48]
Gain/filter parameters
MODE From an alarm
mode Linear/DD motor setting parameter
[Pr. PL01]
[Pr. PL02]
[Pr. PL47]
[Pr. PL48]
UP
DOWN
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(2) Operation example
(a) Parameters of 5 or less digits The following example shows the operation procedure performed after power-on to change the control mode to the speed control mode with [Pr. PA01 Operation mode]. Press "MODE" to switch to the basic setting parameter screen.
The parameter number is displayed. Press "UP" or "DOWN" to change the number.
The set value of the specified parameter number blinks.
Press "SET" twice.
Press "SET" to enter.
Press "UP" twice.
During blinking, the set value can be changed. Use "UP" or "DOWN". (_ _ _ 2: Speed control mode)
To shift to the next parameter, press the "UP" or "DOWN" button. When changing the [Pr. PA01] setting, change its set value, then switch power off once and switch it on again to enable the new value.
(b) Parameters of 6 or more digits
The following example gives the operation procedure to change the electronic gear numerator to "123456" with [Pr. PA06 Electronic gear numerator].
The display blinks.
Press "MODE" to switch to the basic setting parameter screen. Press "UP" or "DOWN" to select [Pr. PA06].
Press "SET" once.
Press "SET" once.
Setting of upper 1 digit
Change the setting with the "UP" or "DOWN" button.
Press "SET" once.
Enter the setting.
Press "MODE" once.
Press "MODE" once. Setting of lower 4 digits
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4.5.7 External I/O signal display
POINT The I/O signal settings can be changed using the I/O setting parameters [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47].
The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation
Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.
Press "UP" twice.
External I/O signal display screen
(2) Display definition The 7-segment LED segments and CN1 connector pins correspond as shown below.
Input signals
Output signals
Always lit
Light on: on Light off: off
CN1-16 CN1-41
CN1-22CN1-48
CN1-19 CN1-15 CN1-44 CN1-43
CN1-23CN1-25 CN1-49CN1-24
CN1-18 CN1-17
CN1-33
CN1-45
CN1-10 (Note 1)/ CN1-37 (Note 2)
CN1-35 (Note 1)/ CN1-38 (Note 2)
CN1-42
CN1-13 (Note 1)
CN1-14 (Note 1)
Note 1. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later. 2. This is available for MR-J4-_A_(-RJ) servo amplifiers manufactured in January 2015 or later with software
version B7 or later.
The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off. The signals corresponding to the pins in the respective control modes are indicated below.
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(a) Control modes and I/O signals
Connector Pin No. Signal
input/output (Note 1) I/O
(Note 2) Symbols of I/O signals in control modes Related parameter
P P/S S S/T T T/P
10 I PP PP/- (Note 5) (Note 5) (Note 5) -/PP PD43/PD44 (Note 4) 13 O (Note 3) (Note 3) (Note 3) (Note 3) (Note 3) (Note 3) PD47 (Note 4) 14 O (Note 3) (Note 3) (Note 3) (Note 3) (Note 3) (Note 3) PD47 (Note 4) 15 I SON SON SON SON SON SON PD03/PD04 16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- PD05/PD06 17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC PD07/PD08 18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL PD09/PD10 19 I RES RES RES RES RES RES PD11/PD12 22 O INP INP/SA SA SA/- -/INP PD23 23 O ZSP ZSP ZSP ZSP ZSP ZSP PD24
CN1 24 O INP INP/SA SA SA/- -/INP PD25 25 O TLC TLC TLC TLC/VLC VLC VLC/TLC PD26 33 O OP OP OP OP OP OP 35 I NP NP/- (Note 5) (Note 5) (Note 5) -/NP PD45/PD46 (Note 4)
37 (Note 7) I PP2 PP2/- (Note 6) (Note 6) (Note 6) -/PP2 PD43/PD44 (Note 4)
38 (Note 7) I NP2 NP2/- (Note 6) (Note 6) (Note 6) -/NP2 PD45/PD46 (Note 4)
41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD13/PD14 42 I EM2 EM2 EM2 EM2 EM2 EM2 43 I LSP LSP LSP LSP/- -/LSP PD17/PD18 44 I LSN LSN LSN LSN/- -/LSN PD19/PD20 45 I LOP LOP LOP LOP LOP LOP PD21/PD22 48 O ALM ALM ALM ALM ALM ALM 49 O RD RD RD RD RD RD PD28
Note 1. I: input signal, O: output signal 2. P: position control mode, S: speed control mode, T: torque control mode
P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position switching mode 3. Output devices are not assigned by default. Assign the output devices with [Pr. PD47] as necessary. 4. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later. 5. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input devices with
[Pr. PD43] to [Pr. PD46] as necessary. Supply + of 24 V DC to CN1-12 pin. Also, this is available with servo amplifiers with software version B3 or later.
6. This is available as an input device of source interface. Input devices are not assigned by default. Assign the input devices with [Pr. PD43] to [Pr. PD46] as necessary.
7. These pins are available for MR-J4-_A_(-RJ) servo amplifiers manufactured in January 2015 or later with software version B7 or later.
(b) Symbol and signal names
Symbol Application Symbol Application
SON Servo-on RES Reset LSP Forward rotation stroke end EM2 Forced stop 2 LSN Reverse rotation stroke end LOP Control switching CR Clear TLC Limiting torque SP1 Speed selection 1 VLC Limiting speed SP2 Speed selection 2 RD Ready PC Proportion control ZSP Zero speed detection ST1 Forward rotation start INP In-position ST2 Reverse rotation start SA Speed reached RS1 Forward rotation selection ALM Malfunction RS2 Reverse rotation selection OP Encoder Z-phase pulse (open collector) TL External torque limit selection
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(3) Display data at initial values
(a) Position control mode
Light on: on Light off: off
PC (CN1-17)
TL (CN1-18) LOP (CN1-45)
EM2 (CN1-42)
Input signal
NP (CN1-35)/ NP2 (CN1-38)
PP (CN1-10)/ PP2 (CN1-37)
Output signals
OP (CN1-33) ALM (CN1-48)
CR (CN1-41) RES (CN1-19) SON (CN1-15) LSN (CN1-44) LSP (CN1-43)
RD (CN1-49) INP (CN1-24) ZSP (CN1-23) TLC (CN1-25) INP (CN1-22)
(b) Speed control mode
Light on: on Light off: off
SP2 (CN1-16) ST1 (CN1-17) ST2 (CN1-18) LOP (CN1-45) EM2 (CN1-42)
Input signal
Output signals
OP (CN1-33) ALM (CN1-48)
SP1 (CN1-41) RES (CN1-19) SON (CN1-15) LSN (CN1-44) LSP (CN1-43)
RD (CN1-49) SA (CN1-24) ZSP (CN1-23) TLC (CN1-25) SA (CN1-22)
(c) Torque control mode
Light on: on Light off: off
SP2 (CN1-16) RS2 (CN1-17) RS1 (CN1-18) LOP (CN1-45) EM2 (CN1-42)
Input signal
Output signals
OP (CN1-33) ALM (CN1-48)
SP1 (CN1-41) RES (CN1-19) SON (CN1-15)
RD (CN1-49)
ZSP (CN1-23) VLC (CN1-25)
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4.5.8 Output signal (DO) forced output
POINT When the servo system is used in a vertical lift application, turning on MBR (Electromagnetic brake interlock) by the DO forced output after assigning it to connector CN1 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.
Output signals can be switched on/off forcibly independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state by turning off the SON (Servo-on). Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.
Switch on/off the signal below the lit segment.
Indicates on/off of output signal. Definitions of on/off are the same as those for the external I/O signals. (Light on: on, light off: off)
Press the "UP" button three times.
Press the "SET" button for 2 s or more.
CN1 33
CN1 48
CN1 22
CN1 25
CN1 23
CN1 24
CN1 49
Press the "MODE" button once.
Press the "UP" button once.
CN1-24 switches on. (Between CN1-24 and DOCOM are connected.)
The lit LED moves to the upper LED of CN1-24.
Press the "DOWN" button once.
CN1-24 switches off.
Press the "SET" button for 2 s or more.
Always lit (The leftmost digit is always lit only for MR-J4-_A_ -RJ servo amplifiers with software version B3 or later.)
CN1 14
(Note)
CN1 13
(Note)
Note. This is used with MR-J4-_A_-RJ servo amplifiers with software version B3 or later.
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4.5.9 Test operation mode
CAUTION The test operation mode is designed for checking servo operation. Do not use it for actual operation. If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.
POINT
Test operation cannot be performed in the absolute position detection system. To perform the test operation, select the incremental system in [Pr. PA03]. MR Configurator2 is required to perform positioning operation. Test operation cannot be performed if SON (Servo-on) is not turned off.
(1) Mode switching
Call the display screen shown after power-on. Select JOG operation or motor-less operation in the following procedure. Using the "MODE" button, show the diagnostic screen.
Press "UP" four times.
Press "SET" for longer than 2 s.
When this screen appears, JOG operation can be performed.
Blinks in the test operation mode.
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(2) JOG operation
POINT When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr. PD01] to " _ C _ _ ".
JOG operation can be performed when there is no command from the controller.
(a) Operation
The servo motor rotates while holding down the "UP" or the "DOWN" button. The servo motor stops rotating by releasing the button. The operation condition can be changed using MR Configurator2. The initial operation condition and setting range for operation are listed below.
Item Initial setting Setting range
Speed [r/min] 200 0 to instantaneous permissible speed
Acceleration/deceleration time constant [ms] 1000 0 to 50000
The following table shows how to use the buttons.
Button Description
"UP" Press to start CCW rotation. Release to stop.
"DOWN" Press to start CW rotation. Release to stop.
If the USB cable is disconnected during JOG operation using the MR Configurator2, the servo motor decelerates to a stop.
(b) Status display
Press the "MODE" button in the JOG operation-ready status to call the status display screen. When the JOG operation is performed using the "UP" or "DOWN" button, the servo status is displayed during the JOG operation. Every time the "MODE" button is pushed, the next status display screen appears. When one cycle of the screen display is complete, it returns to the jog operation-ready status screen. Refer to section 4.5.3 for details of status display. Note that the status display screen cannot be changed by the "UP" or "DOWN" button during the JOG operation.
(c) Termination of JOG operation
To end the JOG operation, shut the power off once, or press the "MODE" button to switch to the next screen, and then hold down the "SET" button for 2 s or longer.
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(3) Positioning operation
POINT MR Configurator2 is required to perform positioning operation. Turn on EM2 (forced stop 2) when performing positioning operation.
Positioning operation can be performed when there is no command from a controller.
(a) Operation
a)
m)
b)
n)
g)
l)
k)j)
c)
d) e) f)
h)
i)
a) Motor speed [r/min] Enter the servo motor speed into the "Motor speed" input field.
b) Acceleration/deceleration time constant [ms]
Enter the acceleration/deceleration time constant into the "Accel./decel. time constant" input field.
c) Travel distance [pulse]
Enter the travel distance into the "Travel distance" input field.
d) LSP/LSN are automatically turned on When setting the external stroke signal to automatic on, click the check box to enable it. When it is not selected, turn on LSP and LSN externally.
e) Move till Z-phase signal
Travel is made until the travel distance is reached and the first Z-phase signal in the travelling direction turns on.
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f) Travel distance unit selection
Select with the option buttons whether the travel distance set in c) is in the command pulse unit or in the encoder pulse unit. When the command input pulse unit is selected, the value, which is the set travel distance multiplied by the electronic gear, will be the command value. When the encoder pulse unit is selected, the travel distance is not multiplied by the electronic gear.
g) Enable repeat operation
To perform repeat operation, click the check. The initial setting and setting range for the repeat operation are listed below.
Item Initial setting Setting range
Repeat pattern Fwd. rot. (CCW) to rev. rot. (CW)
Fwd. rot. (CCW) to rev. rot. (CW) Fwd. rot. (CCW) to fwd. rot. (CCW) Rev. rot. (CW) to fwd. rot. (CCW) Rev. rot. (CW) to rev. rot. (CW)
Dwell time [s] 2.0 0.1 to 50.0 Number of operations
[times] 1 1 to 9999
To perform continuous operation with the repeat pattern and dwell time settings, which are set by referring to the above table, click the check box of "Make the aging function enabled".
h) Forward/reverse the servo motor
Click "Forward" to rotate the servo motor in the forward rotation direction. Click "Reverse" to rotate the servo motor in the reverse rotation direction.
i) Pause the servo motor
Click "Pause" during servo motor rotation to temporarily stop the servo motor. "Pause" is enabled during servo motor rotation.
j) Stop the servo motor
Click "Stop" during servo motor rotation to stop the servo motor.
k) Forced stop Click "Forced stop" during servo motor rotation to make a sudden stop. "Forced stop" is enabled during servo motor rotation.
l) Operation status
The operation status during the repeat operation, and the number of operations are displayed
m) Axis No. Axis No. in operation is displayed.
n) Termination of positioning operation window
Click "X" to cancel the positioning operation mode and close the window.
(b) Status display The status display can be monitored during positioning operation.
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(4) Motor-less operation
Without connecting the servo motor, output signals or status display can be provided in response to the input device as if the servo motor is actually running. This operation can be used to check the sequence of a controller or the like.
(a) Start of motor-less operation
After setting "_ _ _ 1" in [Pr. PC60], cycle the power. After that, perform external operation as in ordinary operation.
(b) Termination of motor-less operation
To terminate the motor-less operation, set [Pr. PC60] to "_ _ _ 0" and then turn the power off. (5) Program operation
Positioning operation can be performed in two or more operation patterns combined, without using a controller. Use this operation with the forced stop reset. This operation may be used independently of whether servo-on or servo-off and whether a controller is connected or not. Exercise control on the program operation screen of MR Configurator2. For details, refer to Help of MR Configurator2.
Operation Screen control
Start Click "Operation start". Stop Click "Stop".
Forced stop Click "Forced stop".
(6) Output signal (DO) forced output
Output signals can be switched on/off forcibly independently of the servo status. This function is used for output signal wiring check, etc. Exercise control on the DO forced output screen of MR Configurator2.
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MEMO
5. PARAMETERS
5 - 1
5. PARAMETERS
CAUTION
Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier.
Changing the values of the parameters for manufacturer setting Setting a value out of the range Changing the fixed values in the digits of a parameter
POINT
The following parameters are not available with MR-J4-03A6(-RJ) servo amplifiers.
[Pr. PA02 Regenerative option] [Pr. PA17 Servo motor series setting] [Pr. PA18 Servo motor type setting] [Pr. PA26 Function selection A-5] [Pr. PC44 Function selection C-9] [Pr. PC45 Function selection C-A] [Pr. PD47 Output device selection 7] [Pr. PE03 Fully closed loop function selection 2] [Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 - Numerator] [Pr. PE05 Fully closed loop control - Feedback pulse electronic gear 1 - Denominator] [Pr. PE06 Fully closed loop control - Speed deviation error detection level] [Pr. PE07 Fully closed loop control - Position deviation error detection level] [Pr. PE08 Fully closed loop dual feedback filter] [Pr. PE10 Fully closed loop function selection 3] [Pr. PE34 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator] [Pr. PE35 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator] [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] [Pr. PF34 RS-422 communication function selection 3]
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with MR-J4-03A6(-RJ) servo amplifiers.
5. PARAMETERS
5 - 2
5.1 Parameter list
POINT To enable a parameter whose symbol is preceded by *, cycle the power after setting it. Abbreviations of operation modes indicate the followings. Standard: Semi closed loop system use of the rotary servo motor Full.: Fully closed loop system use of the rotary servo motor Lin.: Linear servo motor use DD: Direct drive motor use For MR-J4-03A6(-RJ) servo amplifiers, the operation mode is available only in standard (semi closed loop system). The symbols in the control mode column mean as follows. P: Position control mode S: Speed control mode T: Torque control mode For servo amplifier with software version B3 or later, the parameter initial values for the manufacturer setting are partially changed. Setting an out of range value to each parameter will trigger [AL. 37 Parameter error].
5.1.1 Basic setting parameters ([Pr. PA_ _ ])
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PA01 *STY Operation mode 1000h PA02 *REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h PA04 *AOP1 Function selection A-1 2000h PA05 *FBP Number of command input pulses per revolution 10000 PA06 CMX Electronic gear numerator (command pulse multiplication
numerator) 1
PA07 CDV Electronic gear denominator (command pulse multiplication denominator)
1
PA08 ATU Auto tuning mode 0001h PA09 RSP Auto tuning response 16 PA10 INP In-position range 100 [pulse] PA11 TLP Forward rotation torque limit/positive direction thrust limit 100.0 [%] PA12 TLN Reverse rotation torque limit/negative direction thrust limit 100.0 [%] PA13 *PLSS Command pulse input form 0100h PA14 *POL Rotation direction selection/travel direction selection 0 PA15 *ENR Encoder output pulses 4000 [pulse/rev] PA16 *ENR2 Encoder output pulses 2 1 PA17 *MSR Servo motor series setting 0000h PA18 *MTY Servo motor type setting 0000h PA19 *BLK Parameter writing inhibit 00AAh PA20 *TDS Tough drive setting 0000h PA21 *AOP3 Function selection A-3 0001h PA22 *PCS Position control composition selection 0000h PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
5. PARAMETERS
5 - 3
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PA24 AOP4 Function selection A-4 0000h PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%] PA26 *AOP5 Function selection A-5 0000h PA27 For manufacturer setting 0000h PA28 0000h PA29 0000h PA30 0000h PA31 0000h PA32 0000h
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h PB02 VRFT Vibration suppression control tuning mode (advanced
vibration suppression control II) 0000h
PB03 PST Position command acceleration/deceleration time constant (position smoothing)
0 [ms]
PB04 FFC Feed forward gain 0 [%] PB05 For manufacturer setting 500 PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 [Multiplier] PB07 PG1 Model loop gain 15.0 [rad/s] PB08 PG2 Position loop gain 37.0 [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 OVA Overshoot amount compensation 0 [%] PB13 NH1 Machine resonance suppression filter 1 4500 [Hz] PB14 NHQ1 Notch shape selection 1 0000h PB15 NH2 Machine resonance suppression filter 2 4500 [Hz] PB16 NHQ2 Notch shape selection 2 0000h PB17 NHF Shaft resonance suppression filter 0000h PB18 LPF Low-pass filter setting 3141 [rad/s] PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz] PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz] PB21 VRF13 Vibration suppression control 1 - Vibration frequency
damping 0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping
0.00
PB23 VFBF Low-pass filter selection 0000h PB24 *MVS Slight vibration suppression control 0000h PB25 *BOP1 Function selection B-1 0000h PB26 *CDP Gain switching function 0000h PB27 CDL Gain switching condition 10 [kpulse/s]/
[pulse]/ [r/min]
PB28 CDT Gain switching time constant 1 [ms] PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain
switching 7.00 [Multiplier]
5. PARAMETERS
5 - 4
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s] PB31 VG2B Speed loop gain after gain switching 0 [rad/s] PB32 VICB Speed integral compensation after gain switching 0.0 [ms] PB33 VRF1B Vibration suppression control 1 - Vibration frequency after
gain switching 0.0 [Hz]
PB34 VRF2B Vibration suppression control 1 - Resonance frequency after gain switching
0.0 [Hz]
PB35 VRF3B Vibration suppression control 1 - Vibration frequency damping after gain switching
0.00
PB36 VRF4B Vibration suppression control 1 - Resonance frequency damping after gain switching
0.00
PB37
For manufacturer setting 1600
PB38 0.00 PB39 0.00 PB40 0.00 PB41 0000h PB42 0000h PB43 0000h PB44 0.00 PB45 CNHF Command notch filter 0000h PB46 NH3 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h PB48 NH4 Machine resonance suppression filter 4 4500 [Hz] PB49 NHQ4 Notch shape selection 4 0000h PB50 NH5 Machine resonance suppression filter 5 4500 [Hz] PB51 NHQ5 Notch shape selection 5 0000h PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz] PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz] PB54 VRF23 Vibration suppression control 2 - Vibration frequency
damping 0.00
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping
0.00
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching
0.0 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching
0.0 [Hz]
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching
0.00
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching
0.00
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s] PB61 For manufacturer setting 0.0 PB62 0000h PB63 0000h PB64 0000h
5. PARAMETERS
5 - 5
5.1.3 Extension setting parameters ([Pr. PC_ _ ])
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PC01 STA Acceleration time constant 0 [ms] PC02 STB Deceleration time constant 0 [ms] PC03 STC S-pattern acceleration/deceleration time constant 0 [ms] PC04 TQC Torque command time constant/thrust command time
constant 0 [ms]
PC05 SC1 Internal speed command 1 100 [r/min]/ [mm/s]
Internal speed limit 1
PC06 SC2 Internal speed command 2 500 [r/min]/ [mm/s]
Internal speed limit 2
PC07 SC3 Internal speed command 3 1000 [r/min]/ [mm/s]
Internal speed limit 3
PC08 SC4 Internal speed command 4 200 [r/min]/ [mm/s]
Internal speed limit 4
PC09 SC5 Internal speed command 5 300 [r/min]/ [mm/s]
Internal speed limit 5
PC10 SC6 Internal speed command 6 500 [r/min]/ [mm/s]
Internal speed limit 6
PC11 SC7 Internal speed command 7 800 [r/min]/ [mm/s]
Internal speed limit 7
PC12 VCM Analog speed command - Maximum speed 0 [r/min]/ [mm/s]
Analog speed limit - Maximum speed
PC13 TLC Analog torque/thrust command maximum output 100.0 [%] PC14 MOD1 Analog monitor 1 output 0000h PC15 MOD2 Analog monitor 2 output 0001h PC16 MBR Electromagnetic brake sequence output 0 [ms] PC17 ZSP Zero speed 50 [r/min]/
[mm/s]
PC18 *BPS Alarm history clear 0000h PC19 *ENRS Encoder output pulse selection 0000h PC20 *SNO Station No. setting 0 [station] PC21 *SOP RS-422 communication function selection 0000h PC22 *COP1 Function selection C-1 0000h PC23 *COP2 Function selection C-2 0000h PC24 *COP3 Function selection C-3 0000h PC25 For manufacturer setting 0000h PC26 *COP5 Function selection C-5 0000h PC27 *COP6 Function selection C-6 0000h PC28 *COP7 Function selection C-7 0000h PC29 *COP8 Function selection C-8 0000h PC30 STA2 Acceleration time constant 2 0 [ms] PC31 STB2 Deceleration time constant 2 0 [ms] PC32 CMX2 Command input pulse multiplication numerator 2 1 PC33 CMX3 Command input pulse multiplication numerator 3 1 PC34 CMX4 Command input pulse multiplication numerator 4 1 PC35 TL2 Internal torque limit 2/internal thrust limit 2 100.0 [%] PC36 *DMD Status display selection 0000h PC37 VCO Analog speed command offset 0 [mV]
Analog speed limit offset
5. PARAMETERS
5 - 6
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PC38 TPO Analog torque command offset 0 [mV] Analog torque limit offset
PC39 MO1 Analog monitor 1 offset 0 [mV] PC40 MO2 Analog monitor 2 offset 0 [mV] PC41
For manufacturer setting 0
PC42 0 PC43 ERZ Error excessive alarm level 0 [rev]/[mm] PC44 *COP9 Function selection C-9 0000h PC45 *COPA Function selection C-A 0000h PC46
For manufacturer setting 0
PC47 0 PC48 0 PC49 0 PC50 0000h PC51 RSBR Forced stop deceleration time constant 100 [ms] PC52
For manufacturer setting 0
PC53 0 PC54 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001 rev]/
[0.01 mm]
PC55
For manufacturer setting 0
PC56 100 PC57 0000h PC58 0 PC59 0000h PC60 *COPD Function selection C-D 0000h PC61 For manufacturer setting 0000h PC62 0000h PC63 0000h PC64 0000h PC65 0000h PC66 0 PC67 0 PC68 0 PC69 0 PC70 0 PC71 0040h PC72 0000h PC73 ERW Error excessive warning level 0 [rev]/[mm] PC74 For manufacturer setting 0000h PC75 0000h PC76 0000h PC77 0000h PC78 0000h PC79 0000h PC80 0000h
5. PARAMETERS
5 - 7
5.1.4 I/O setting parameters ([Pr. PD_ _ ])
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PD01 *DIA1 Input signal automatic on selection 1 0000h PD02 For manufacturer setting 0000h PD03 *DI1L Input device selection 1L 0202h PD04 *DI1H Input device selection 1H 0202h PD05 *DI2L Input device selection 2L 2100h PD06 *DI2H Input device selection 2H 2021h PD07 *DI3L Input device selection 3L 0704h PD08 *DI3H Input device selection 3H 0707h PD09 *DI4L Input device selection 4L 0805h PD10 *DI4H Input device selection 4H 0808h PD11 *DI5L Input device selection 5L 0303h PD12 *DI5H Input device selection 5H 3803h PD13 *DI6L Input device selection 6L 2006h PD14 *DI6H Input device selection 6H 3920h PD15
For manufacturer setting 0000h
PD16 0000h PD17 *DI8L Input device selection 8L 0A0Ah PD18 *DI8H Input device selection 8H 0A00h PD19 *DI9L Input device selection 9L 0B0Bh PD20 *DI9H Input device selection 9H 0B00h PD21 *DI10L Input device selection 10L 2323h PD22 *DI10H Input device selection 10H 2B23h PD23 *DO1 Output device selection 1 0004h PD24 *DO2 Output device selection 2 000Ch PD25 *DO3 Output device selection 3 0004h PD26 *DO4 Output device selection 4 0007h PD27 For manufacturer setting 0003h PD28 *DO6 Output device selection 6 0002h PD29 *DIF Input filter setting 0004h PD30 *DOP1 Function selection D-1 0000h PD31 *DOP2 Function selection D-2 0000h PD32 *DOP3 Function selection D-3 0000h PD33 *DOP4 Function selection D-4 0000h PD34 DOP5 Function selection D-5 0000h PD35
For manufacturer setting 0000h
PD36 0000h PD37 0000h PD38 0 PD39 0 PD40 0 PD41 0000h PD42 0000h PD43 *DI11L Input device selection 11L 0000h PD44 *DI11H Input device selection 11H 3A00h PD45 *DI12L Input device selection 12L 0000h PD46 *DI12H Input device selection 12H 3B00h PD47 *DO7 Output device selection 7 0000h PD48 For manufacturer setting 0000h
5. PARAMETERS
5 - 8
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PE01 *FCT1 Fully closed loop function selection 1 0000h PE02 For manufacturer setting 0000h PE03 *FCT2 Fully closed loop function selection 2 0003h PE04 *FBN Fully closed loop control - Feedback pulse electronic gear 1 -
Numerator 1
PE05 *FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator
1
PE06 BC1 Fully closed loop control - Speed deviation error detection level
400 [r/min]
PE07 BC2 Fully closed loop control - Position deviation error detection level
100 [kpulse]
PE08 DUF Fully closed loop dual feedback filter 10 [rad/s] PE09 For manufacturer setting 0000h PE10 FCT3 Fully closed loop function selection 3 0000h PE11 For manufacturer setting 0000h PE12 0000h PE13 0000h PE14 0111h PE15 20 PE16 0000h PE17 0000h PE18 0000h PE19 0000h PE20 0000h PE21 0000h PE22 0000h PE23 0000h PE24 0000h PE25 0000h PE26 0000h PE27 0000h PE28 0000h PE29 0000h PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 *FBN2 Fully closed loop control - Feedback pulse electronic gear 2 -
Numerator 1
PE35 *FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator
1
PE36 For manufacturer setting 0.0 PE37 0.00 PE38 0.00 PE39 20 PE40 0000h PE41 EOP3 Function selection E-3 0000h
5. PARAMETERS
5 - 9
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PE42 For manufacturer setting 0 PE43 0.0 PE44 LMCP Lost motion compensation positive-side compensation value
selection 0 [0.01%]
PE45 LMCN Lost motion compensation negative-side compensation value selection
0 [0.01%]
PE46 LMFLT Lost motion filter setting 0 [0.1 ms] PE47 TOF Torque offset 0 [0.01%] PE48 *LMOP Lost motion compensation function selection 0000h PE49 LMCD Lost motion compensation timing 0 [0.1 ms] PE50 LMCT Lost motion compensation non-sensitive band 0 [pulse]/
[kpulse]
PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0.00 PE62 0.00 PE63 0.00 PE64 0.00
5. PARAMETERS
5 - 10
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PF01
For manufacturer setting 0000h
PF02 0000h PF03 0000h PF04 0 PF05 0 PF06 0000h PF07 1 PF08 1 PF09 *FOP5 Function selection F-5 0000h PF10
For manufacturer setting 0000h
PF11 0000h PF12 10000 PF13 100 PF14 100 PF15 DBT Electronic dynamic brake operating time 2000 [ms] PF16
For manufacturer setting 0000h
PF17 10 PF18 *STOD STO diagnosis error detection time 0 [s] PF19
For manufacturer setting 0000h
PF20 0000h PF21 DRT Drive recorder switching time setting 0 [s] PF22 For manufacturer setting 200 PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%] PF24 *OSCL2 Vibration tough drive function selection 0000h PF25 CVAT SEMI-F47 function - Instantaneous power failure detection
time 200 [ms]
PF26
For manufacturer setting 0
PF27 0 PF28 0 PF29 0000h PF30 0 PF31 FRIC Machine diagnosis function - Friction judgment speed 0 [r/min]/
[mm/s]
PF32
For manufacturer setting 50
PF33 0000h PF34 *SOP3 RS-422 communication function selection 3 0000h PF35
For manufacturer setting 0000h
PF36 0000h PF37 0000h PF38 0000h PF39 0000h PF40 0 PF41 0 PF42 0 PF43 0 PF44 0 PF45 0000h PF46 0000h PF47 0000h PF48 0000h
5. PARAMETERS
5 - 11
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D .D
.
P S T
PL01 *LIT1 Linear servo motor/DD motor function selection 1 0301h PL02 *LIM Linear encoder resolution - Numerator 1000 [m] PL03 *LID Linear encoder resolution - Denominator 1000 [m] PL04 *LIT2 Linear servo motor/DD motor function selection 2 0003h PL05 LB1 Position deviation error detection level 0 [mm]/
[0.01 rev]
PL06 LB2 Speed deviation error detection level 0 [r/min]/ [mm/s]
PL07 LB3 Torque/thrust deviation error detection level 100 [%] PL08 *LIT3 Linear servo motor/DD motor function selection 3 0010h PL09 LPWM Magnetic pole detection voltage level 30 [%] PL10 For manufacturer setting 5 PL11 100 PL12 500 PL13 0000h PL14 0000h PL15 20 PL16 0 PL17 LTSTS Magnetic pole detection - Minute position detection method -
Function selection 0000h
PL18 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude
0 [%]
PL19 For manufacturer setting 0 PL20 0 PL21 0 PL22 0 PL23 0000h PL24 0 PL25 0000h PL26 0000h PL27 0000h PL28 0000h PL29 0000h PL30 0000h PL31 0000h PL32 0000h PL33 0000h PL34 0000h PL35 0000h PL36 0000h PL37 0000h PL38 0000h PL39 0000h PL40 0000h PL41 0000h PL42 0000h PL43 0000h PL44 0000h PL45 0000h PL46 0000h PL47 0000h PL48 0000h
5. PARAMETERS
5 - 12
5.1.8 Option setting parameters ([Pr. Po_ _ ])
No. Symbol Name Initial value Unit
Operation mode
Control mode
St an
da rd
Fu ll.
Li n.
D D
P S T
Po01 For manufacturer setting 0000h Po02 *ODI1 MR-D01 input device selection 1 0302h Po03 *ODI2 MR-D01 input device selection 2 0905h Po04 *ODI3 MR-D01 input device selection 3 2524h Po05 *ODI4 MR-D01 input device selection 4 2026h Po06 *ODI5 MR-D01 input device selection 5 0427h Po07 *ODI6 MR-D01 input device selection 6 0807h Po08 *ODO1 MR-D01 output device selection 1 2726h Po09 *ODO2 MR-D01 output device selection 2 0423h Po10 *OOP1 Function selection O-1 2001h Po11 *OOP2 Function selection O-2 0000h Po12 *OOP3 Function selection O-3 0000h Po13 *OMOD1 MR-D01 analog monitor 1 output selection 0000h Po14 *OMOD2 MR-D01 analog monitor 2 output selection 0000h Po15 OMO1 MR-D01 analog monitor 1 offset 0 [mV] Po16 OMO2 MR-D01 analog monitor 2 offset 0 [mV] Po17
For manufacturer setting 0000h
Po18 0000h Po19 0000h Po20 0000h Po21 OVCO MR-D01 override offset 0 [mV] Po22 OTLO MR-D01 override offset 0 [mV] Po23
For manufacturer setting 0000h
Po24 0000h Po25 0000h Po26 0000h Po27 *ODI7 MR-D01 input device selection 7 2D2Ch Po28 *ODI8 MR-D01 input device selection 8 002Eh Po29
For manufacturer setting 0000h
Po30 0000h Po31 0000h Po32 0000h
5. PARAMETERS
5 - 13
5.2 Detailed list of parameters
POINT Set a value to each "x" in the "Setting digit" columns.
5.2.1 Basic setting parameters ([Pr. PA_ _ ])
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA01 *STY Operation mode
_ _ _ x Control mode selection Select a control mode. 0: Position control mode 1: Position control mode and speed control mode 2: Speed control mode 3: Speed control mode and torque control mode 4: Torque control mode 5: Torque control mode and position control mode
0h
_ _ x _ Operation mode selection 0: Standard control mode 1: Fully closed loop control mode 4: Linear servo motor control mode 6: DD motor control mode Setting other than above will trigger [AL. 37 Parameter error]. The linear servo system, direct drive servo system and fully closed loop system are available for the MR-J4-_A_(-RJ) servo amplifiers of which software version is A5 or later. For MR-J4-03A6(-RJ) servo amplifiers, this digit cannot be used when a setting value other than the initial value is set.
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 1h
5. PARAMETERS
5 - 14
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA02 *REG Regenerative option
_ _ x x Regenerative option Select the regenerative option. Incorrect setting may cause the regenerative option to burn. If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter error] occurs. 00: Regenerative option is not used.
For the servo amplifier of 100 W, a regenerative resistor is not used. For the servo amplifier of 0.2 kW to 7 kW, the built-in regenerative resistor is used. The supplied regenerative resistor or a regenerative option is used with the servo amplifier of 11 kW to 22 kW.
01: FR-RC-(H)/FR-CV-(H)/FR-BU2-(H)/FR-XC-(H) To use the FR-RC-(H), FR-CV-(H), or FR-XC-(H), select "When [AL. 10] occurs (_ _ _ 1)" of "Undervoltage alarm detection method selection" in [Pr. PC27].
02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50 (Cooling fan is required.) 08: MR-RB31 09: MR-RB51 (Cooling fan is required.) 0B: MR-RB3N 0C: MR-RB5N (Cooling fan is required.) 80: MR-RB1H-4 81: MR-RB3M-4 (Cooling fan is required.) 82: MR-RB3G-4 (Cooling fan is required.) 83: MR-RB5G-4 (Cooling fan is required.) 84: MR-RB34-4 (Cooling fan is required.) 85: MR-RB54-4 (Cooling fan is required.) 91: MR-RB3U-4 (Cooling fan is required.) 92: MR-RB5U-4 (Cooling fan is required.) FA: When the supplied regenerative resistor or a regenerative option used with the
servo amplifier of 11 kW to 22 kW is cooled by a cooling fan to increase regenerative ability.
For MR-J4-03A6(-RJ) servo amplifiers, this digit cannot be used when a setting value other than the initial value is set.
00h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
5. PARAMETERS
5 - 15
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA03 *ABS Absolute position detection system
_ _ _ x Absolute position detection system selection Set this digit when using the absolute position detection system in the position control mode. 0: Disabled (incremental system) 1: Enabled (absolute position detection system by DIO) 2: Enabled (absolute position detection system by communication) (available for the
software version A3 or later) The absolute position detection system cannot be used when an incremental type linear encoder is used or the semi closed loop/fully closed loop switching is enabled. Enabling the absolute position system will trigger [AL. 37]. There are restrictions when configuring an absolute position detection system. For details, refer to section 12.1.2.
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PA04 _ _ _ x For manufacturer setting 0h *AOP1 _ _ x _ 0h Function selection A-1
_ x _ _ 0h x _ _ _ Forced stop deceleration function selection
0: Forced stop deceleration function disabled (with EM1) 2: Forced stop deceleration function enabled (with EM2) Refer to table 5.1 for details.
2h
Table 5.1 Deceleration method
Setting value EM2/EM1
Deceleration method EM2 or EM1 is off Alarm occurred 0 _ _ _ EM1 MBR (Electromagnetic
brake interlock) turns off without the forced stop deceleration.
MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.
2 _ _ _ EM2 MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.
MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.
PA05 *FBP Number of command input pulses per revolution
The servo motor rotates based on set command input pulses. To enable the parameter value, set "Electronic gear selection" to "Number of command input pulses per revolution (1 _ _ _)" of in [Pr. PA21]. "1 _ _ _" cannot be set in [Pr. PA21] in the Linear servo motor control mode. Setting range: 1000 to 1000000
10000
5. PARAMETERS
5 - 16
No./symbol/
name Setting
digit Function Initial value [unit]
Control mode
PA06 CMX Electronic gear numerator (command pulse multiplication numerator)
Set the numerator of the electronic gear. To enable the parameter, set "Electronic gear selection" to "Electronic gear (0 _ _ _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value compatibility mode (3 _ _ _)" in [Pr. PA21]. For MR-J4-03A6(-RJ) servo amplifiers, "J3 electronic gear setting value compatibility mode (2 _ _ _)" and "J2S electronic gear setting value compatibility mode (3 _ _ _)" cannot be selected. The following shows a standard of the setting range of the electronic gear. 1 10 <
CMX CDV < 4000
If the set value is outside this range, noise may be generated during acceleration/deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.
CDV
FBP Command pulse train
Pt
"0" (initial value) CMX
Deviation counter
+ -
Electronic gear ([Pr. PA06]/[Pr. PA07])
Number of command input pulses per revolution ([Pr. PA05] "1000" to "1000000")
Servo motor
Encoder
M
X16
"1"
CDV CMX"2"
Electronic gear selection (x _ _ _) ([Pr. PA21])
Pt (servo motor resolution): 4194304 pulses/rev
X32 CDV CMX"3" (Note)
1
Note. This parameter is available with servo amplifiers with software version B3 or later.
Always set the electronic gear with servo-off state to prevent unexpected operation due to improper setting. Setting range: 1 to 16777215
PA07 CDV Electronic gear denominator (command pulse multiplication denominator)
Set the denominator of the electronic gear. To enable the parameter, set "Electronic gear selection" to "Electronic gear (0 _ _ _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value compatibility mode (3 _ _ _)" in [Pr. PA21]. For MR-J4-03A6(-RJ) servo amplifiers, "J3 electronic gear setting value compatibility mode (2 _ _ _)" and "J2S electronic gear setting value compatibility mode (3 _ _ _)" cannot be selected. Setting range: 1 to 16777215
1
5. PARAMETERS
5 - 17
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA08 ATU Auto tuning mode
_ _ _ x Gain adjustment mode selection Select the gain adjustment mode. 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode 4: 2 gain adjustment mode 2 Refer to table 5.2 for details.
1h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h
Table 5.2 Gain adjustment mode selection
Setting value
Gain adjustment mode Automatically adjusted parameter
_ _ _ 0 2 gain adjustment mode 1 (interpolation mode)
[Pr. PB06 Load to motor inertia ratio] [Pr. PB08 Position loop gain] [Pr. PB09 Speed loop gain] [Pr. PB10 Speed integral compensation]
_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio] [Pr. PB07 Model loop gain] [Pr. PB08 Position loop gain] [Pr. PB09 Speed loop gain] [Pr. PB10 Speed integral compensation]
_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain] [Pr. PB08 Position loop gain] [Pr. PB09 Speed loop gain] [Pr. PB10 Speed integral compensation]
_ _ _ 3 Manual mode _ _ _ 4 2 gain adjustment
mode 2 [Pr. PB08 Position loop gain] [Pr. PB09 Speed loop gain] [Pr. PB10 Speed integral compensation]
5. PARAMETERS
5 - 18
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA09 RSP Auto tuning response
Set a response of the auto tuning.
16
Setting value
Machine characteristic
Setting value
Machine characteristic
Response
Guideline for machine
resonance frequency [Hz]
Response
Guideline for machine
resonance frequency [Hz]
1 Low response
Middle response
2.7 21 Middle response
High response
67.1 2 3.6 22 75.6 3 4.9 23 85.2 4 6.6 24 95.9 5 10.0 25 108.0 6 11.3 26 121.7 7 12.7 27 137.1 8 14.3 28 154.4 9 16.1 29 173.9 10 18.1 30 195.9 11 20.4 31 220.6 12 23.0 32 248.5 13 25.9 33 279.9 14 29.2 34 315.3 15 32.9 35 355.1 16 37.0 36 400.0 17 41.7 37 446.6 18 47.0 38 501.2 19 52.9 39 571.5 20 59.6 40 642.7 Setting range: 1 to 40 PA10 INP In-position range
Set an in-position range per command pulse. To change it to the servo motor encoder pulse unit, set [Pr. PC24]. Setting range: 0 to 65535
100 [pulse]
PA11 TLP Forward rotation torque limit/positive direction thrust limit
You can limit the torque or thrust generated by the servo motor. Set the parameter referring to section 3.6.1 (5). When you output torque or thrust as analog monitor output, the larger value of [Pr. PA11 Forward rotation torque limit/positive direction thrust limit value] or [Pr. PA12 Reverse rotation torque limit/negative direction thrust limit value] will be the maximum output voltage (8 V). Set the parameter on the assumption that the maximum torque or thrust is 100.0 [%]. The parameter is for limiting the torque of the servo motor in the CCW power running or CW regeneration, or limiting the thrust of the linear servo motor in the positive direction power running or negative direction regeneration. Set this parameter to "0.0" to generate no torque or thrust. Setting range: 0.0 to 100.0
100.0 [%]
PA12 TLN Reverse rotation torque limit/negative direction thrust limit
You can limit the torque or thrust generated by the servo motor. Set the parameter referring to section 3.6.1 (5). When you output torque or thrust with analog monitor output, the larger value of [Pr. PA11 Forward rotation torque limit/positive direction thrust limit value] or [Pr. PA12 Reverse rotation torque limit/negative direction thrust limit value] will be the maximum output voltage (8 V). Set the parameter on the assumption that the maximum torque or thrust is 100.0 [%]. The parameter is for limiting the torque of the servo motor in the CW power running or CCW regeneration, or limiting the thrust of the linear servo motor in the positive direction power running or negative direction regeneration. Set this parameter to "0.0" to generate no torque or thrust. Setting range: 0.0 to 100.0
100.0 [%]
5. PARAMETERS
5 - 19
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA13 *PLSS Command pulse input form
_ _ _ x Command input pulse train form selection 0: Forward/reverse rotation pulse train 1: Signed pulse train 2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after
multiplying by four.) Refer to table 5.3 for settings.
0h
_ _ x _ Pulse train logic selection 0: Positive logic 1: Negative logic Choose the right parameter to match the logic of the command pulse train received from a connected controller. Refer to POINT of section 3.6.1 for logic of MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series/MELSEC-F series. Refer to table 5.3 for settings.
0h
_ x _ _ Command input pulse train filter selection Selecting proper filter enables to enhance noise tolerance. 0: Command input pulse train is 4 Mpulses/s or less. 1: Command input pulse train is 1 Mpulse/s or less. 2: Command input pulse train is 500 kpulses/s or less. 3: Command input pulse train is 200 kpulses/s or less (available for the software
version A5 or later) 1 Mpulse/s or lower commands are supported by "1". When inputting commands over 1 Mpulse/s and 4 Mpulses/s or lower, set "0". Incorrect setting may cause the following malfunctions.
Setting a value higher than actual command will lower noise tolerance. Setting a value lower than actual command will cause a position mismatch.
1h
x _ _ _ For manufacturer setting 0h
5. PARAMETERS
5 - 20
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA13 *PLSS Command pulse input form
Table 5.3 Command input pulse train form selection
Setting value Pulse train form
Forward rotation (positive direction)
command
Reverse rotation (negative direction)
command
_ _ 1 0
N eg
at iv
e lo
gi c
Forward rotation pulse train
(positive direction pulse train)
Reverse rotation pulse train
(negative direction pulse train)
NP
PP
_ _ 1 1 Signed pulse train
PP
L HNP
_ _ 1 2
A-phase pulse train
B-phase pulse train
PP
NP
_ _ 0 0
Po si
tiv e
lo gi
c
Forward rotation pulse train
(positive direction pulse train)
Reverse rotation pulse train
(negative direction pulse train)
NP
PP
_ _ 0 1 Signed pulse train LH
PP
NP
_ _ 0 2
A-phase pulse train
B-phase pulse train
PP
NP
Arrows in the table indicate the timing of importing pulse trains. A-phase and B-phase pulse trains are imported after
they have been multiplied by 4.
5. PARAMETERS
5 - 21
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA14 *POL Rotation direction selection/ travel direction selection
Select command input pulses of the rotation direction or the travel direction of the rotary servo motor, the linear servo motor and the direct drive motor.
0
Setting value
Servo motor rotation direction/ linear servo motor travel direction
When forward rotation pulse is input
When reverse rotation pulse is input
0 CCW or positive direction CW or negative direction 1 CW or negative direction CCW or positive direction
The following shows the servo motor rotation directions.
Forward rotation (CCW)
Reverse rotation (CW)
The positive/negative directions of the linear servo motor are as follows.
Secondary side
Primary side
Positive direction
Negative direction
LM-H3/LM-F series
Negative direction
Positive direction
Secondary side
Primary side
LM-U2 series
Negative direction
Positive direction Table
Primary side
Secondary side
LM-K2 series
Setting range: 0, 1
PA15 *ENR Encoder output pulses
Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) To set a numerator of the electronic gear, select "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC19]. Refer to app. 15 for details. The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this range. Setting range: 1 to 4194304
4000 [pulse/
rev]
PA16 *ENR2 Encoder output pulses 2
Set a denominator of the electronic gear for the A/B-phase pulse output. To set a denominator of the electronic gear, select "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC19]. Refer to app. 15 for details. The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this range. Setting range: 1 to 4194304
1
5. PARAMETERS
5 - 22
No./symbol/
name Setting
digit Function Initial value [unit]
Control mode
P S T PA17 *MSR Servo motor series setting
When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA18] at a time. Refer to the following table for settings. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
0000h
Linear servo motor series
Linear servo motor (primary side)
Parameter [Pr. PA17]
setting [Pr. PA18]
setting
LM-H3P2A-07P-BSS0 2101h LM-H3P3A-12P-CSS0 3101h LM-H3P3B-24P-CSS0 3201h LM-H3P3C-36P-CSS0 3301h LM-H3 LM-H3P3D-48P-CSS0 00BBh 3401h LM-H3P7A-24P-ASS0 7101h LM-H3P7B-48P-ASS0 7201h LM-H3P7C-72P-ASS0 7301h LM-H3P7D-96P-ASS0 7401h LM-U2PAB-05M-0SS0 A201h LM-U2PAD-10M-0SS0 A401h LM-U2PAF-15M-0SS0 A601h LM-U2PBB-07M-1SS0 B201h LM-U2 LM-U2PBD-15M-1SS0 00B4h B401h LM-U2PBF-22M-1SS0 2601h LM-U2P2B-40M-2SS0 2201h LM-U2P2C-60M-2SS0 2301h LM-U2P2D-80M-2SS0 2401h LM-FP2B-06M-1SS0
(natural cooling) 2201h
LM-FP2D-12M-1SS0 (natural cooling) 2401h
LM-FP2F-18M-1SS0 (natural cooling) 2601h
LM-FP4B-12M-1SS0 (natural cooling) 4201h
LM-FP4D-24M-1SS0 (natural cooling) 4401h
LM-FP4F-36M-1SS0 (natural cooling) 4601h
LM-F
LM-FP4H-48M-1SS0 (natural cooling)
00B2h
4801h
LM-FP5H-60M-1SS0 (natural cooling) 5801h
LM-FP2B-06M-1SS0 (liquid cooling) 2202h
LM-FP2D-12M-1SS0 (liquid cooling) 2402h
LM-FP2F-18M-1SS0 (liquid cooling) 2602h
LM-FP4B-12M-1SS0 (liquid cooling) 4202h
LM-FP4D-24M-1SS0 (liquid cooling) 4402h
LM-FP4F-36M-1SS0 (liquid cooling) 4602h
LM-FP4H-48M-1SS0 (liquid cooling) 4802h
LM-FP5H-60M-1SS0 (liquid cooling) 5802h
LM-K2P1A-01M-2SS1 1101h LM-K2P1C-03M-2SS1 1301h
LM-K2 LM-K2P2A-02M-1SS1
00B8h 2101h
LM-K2P2C-07M-1SS1 2301h LM-K2P2E-12M-1SS1 2501h LM-K2P3C-14M-1SS1 3301h LM-K2P3E-24M-1SS1 3501h
5. PARAMETERS
5 - 23
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA18 *MTY Servo motor type setting
When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA17] at a time. Refer to the table of [Pr. PA17] for settings. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
0000h
PA19 *BLK Parameter writing inhibit
Select a reference range and writing range of the parameter. Refer to table 5.4 for settings. Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with MR-J4-03A6(-RJ) servo amplifiers.
00AAh
Table 5.4 [Pr. PA19] setting value and reading/writing range
PA19 Setting operation PA PB PC PD PE PF PL
Other than
below
Reading
Writing
000Ah
Reading Only 19 Writing Only 19
000Bh Reading
Writing
000Ch Reading
Writing 00AAh
(initial value)
Reading
Writing
00ABh
Reading Writing
100Bh Reading
Writing Only 19
100Ch Reading
Writing Only 19
10AAh Reading
Writing Only 19
10ABh Reading
Writing Only 19
5. PARAMETERS
5 - 24
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA20 *TDS Tough drive setting
Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation. You can assign MTTR (During tough drive) to the pins CN1-22 to CN1-25, CN1-49, CN1-13, and CN1-14 with [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. For MR-J4-03A6(-RJ) servo amplifiers, MTTR (during tough drive) cannot be assigned. _ _ _ x For manufacturer setting 0h
_ _ x _ Vibration tough drive selection 0: Disabled 1: Enabled Selecting "1" enables to suppress vibrations by automatically changing setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] in case that the vibration exceed the value of the oscillation level set in [Pr. PF23]. To output the oscillation detection alarm as a warning, set [Pr. PF24 Vibration tough drive function selection]. Refer to section 7.3 for details.
0h
_ x _ _ SEMI-F47 function selection 0: Disabled 1: Enabled Selecting "1" enables to avoid occurring [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. In [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time], set the time period until the occurrence of [AL. 10.1 Voltage drop in the control circuit power]. For MR-J4-03A6(-RJ) servo amplifiers, this digit cannot be used when a setting value other than the initial value is set.
0h
x _ _ _ For manufacturer setting 0h PA21 *AOP3 Function selection A-3
_ _ _ x One-touch tuning function selection 0: Disabled 1: Enabled When the digit is "0", the one-touch tuning is not available.
1h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ Electronic gear selection
0: Electronic gear ([Pr. PA06] and [Pr. PA07]) 1: Number of command input pulses per revolution ([Pr. PA05]) 2: J3 electronic gear setting value compatibility mode
(Electronic gear ([Pr. PA06] and [Pr. PA07] 16)) Use this setting value to replace HF/HC/HA series servo motors (262144 pulses/rev) with HG series servo motors (4194304 pulses/rev). When the digit is set to "2", the setting value for the electronic gear set in the MR-J3 servo amplifier can be used.
3: J2S electronic gear setting value compatibility mode (Electronic gear ([Pr. PA06] and [Pr. PA07] 32)) Use this setting value to replace HC/HA series servo motors (131072 pulses/rev) with HG series servo motors (4194304 pulses/rev). When the digit is set to "3", the setting value for the electronic gear set in the MR-J2S servo amplifier can be used. (available for the software version B3 or later)
For MR-J4-03A6(-RJ) servo amplifiers, "2" and "3" cannot be selected for this digit.
0h
5. PARAMETERS
5 - 25
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PA22 *PCS Position control composition selection
_ _ _ x For manufacturer setting 0h _ _ x _ Super trace control selection
0: Disabled 2: Enabled This parameter setting is used with servo amplifier with software version B4 or later.
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
PA23 DRAT Drive recorder arbitrary alarm trigger setting
_ _ x x Alarm detail No. setting Set the digits when you execute the trigger with arbitrary alarm detail No. for the drive recorder function. When these digits are "0 0", only the arbitrary alarm No. setting will be enabled.
00h
x x _ _ Alarm No. setting Set the digits when you execute the trigger with arbitrary alarm No. for the drive recorder function. When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled.
00h
Setting example: To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0". To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5 0 0 3".
PA24 AOP4 Function selection A-4
_ _ _ x Vibration suppression mode selection 0: Standard mode 1: 3 inertia mode 2: Low response mode When you select the standard mode or low response mode, "Vibration suppression control 2" is not available. When you select the 3 inertia mode, the feed forward gain is not available. Before changing the control mode during the 3 inertia mode or low response mode, stop the motor.
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PA25 OTHOV One-touch tuning - Overshoot permissible level
Set a permissible value of overshoot amount for one-touch tuning as a percentage of the in-position range. Setting "0" will be 50%. Setting range: 0 to 100
0 [%]
PA26 *AOP5 Function selection A-5
_ _ _ x Torque limit function selection at instantaneous power failure (instantaneous power failure tough drive selection) 0: Disabled 1: Enabled When an instantaneous power failure occurs during operation, the torque at acceleration is limited to save electric energy charged in the capacitor in the servo amplifier and the time until [AL. 10.2 Voltage drop in the main circuit power] occurs is extended with the instantaneous power failure tough drive function. Consequently, you can set a longer time in [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. The torque limit function at instantaneous power failure is enabled when "SEMI-F47 function selection" in [Pr. PA20] is "Enabled (_ 1 _ _)". This parameter setting is used with servo amplifier with software version A6 or later. For MR-J4-03A6(-RJ) servo amplifiers, this digit cannot be used when a setting value other than the initial value is set.
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h
5. PARAMETERS
5 - 26
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB01 FILT Adaptive tuning mode (adaptive filter II)
_ _ _ x Filter tuning mode selection Set the adaptive tuning. Select the adjustment mode of the machine resonance suppression filter 1. Refer to section 7.1.2 for details. 0: Disabled 1: Automatic setting (Do not use this in the torque control mode.) 2: Manual setting
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ Tuning accuracy selection
0: Standard 1: High accuracy The frequency is estimated more accurately in the high accuracy mode compared to the standard mode. However, the tuning sound may be larger in the high accuracy mode. This digit is available with servo amplifier with software version C5 or later.
0h
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)
_ _ _ x Vibration suppression control 1 tuning mode selection Select the tuning mode of the vibration suppression control 1. Refer to section 7.1.5 for details. 0: Disabled 1: Automatic setting 2: Manual setting
0h
_ _ x _ Vibration suppression control 2 tuning mode selection Select the tuning mode of the vibration suppression control 2. To enable the setting of this digit, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. Refer to section 7.1.5 for details. 0: Disabled 1: Automatic setting 2: Manual setting
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
5. PARAMETERS
5 - 27
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB03 PST Position command acceleration/ deceleration time constant (position smoothing)
Set the constant of a primary delay to the position command. You can select a control method from "Primary delay" or "Linear acceleration/deceleration" of "Position acceleration/deceleration filter type selection" in [Pr. PB25]. When the linear acceleration/deceleration is selected, the setting range is 0 ms to 10 ms. Setting of longer than 10 ms will be recognized as 10 ms. When the linear acceleration/deceleration is selected, do not set the "Control mode selection" ([Pr. PA01]) to the setting other than "_ _ _ 0". Doing so will cause the servo motor or linear servo motor to make a sudden stop at the time of position control mode switching or restart. (Example) When a command is given from a synchronizing encoder, synchronous
operation will start smoothly even if it start during line operation.
Synchronizing encoder
Start Servo motor Servo amplifier
ON OFF
With time constant setting
Without time constant setting
Servo motor speed
Start
t
Setting range: 0 to 65535
0 [ms]
PB04 FFC Feed forward gain
Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. When the super trace control is enabled, constant speed and uniform acceleration/deceleration droop pulses will be almost 0. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the acceleration time constant up to the rated speed. Setting range: 0 to 100
0 [%]
5. PARAMETERS
5 - 28
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB06 GD2 Load to motor inertia ratio/ load to motor mass ratio
Set the load to motor inertia ratio or load to motor mass ratio. Setting a value considerably different from the actual load moment of inertia or load mass may cause an unexpected operation such as an overshoot. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details. When the parameter is automatic setting, the value will vary between 0.00 and 100.00. Setting range: 0.00 to 300.00
7.00 [Multiplier]
Pr. PA08 This parameter _ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Automatic setting
_ _ _ 1: (Auto tuning mode 1) _ _ _ 2: (Auto tuning mode 2) Manual setting _ _ _ 3 (Manual mode) _ _ _ 4: (2 gain adjustment mode 2) PB07 PG1 Model loop gain
Set the response gain up to the target position. Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and noise. For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited. Refer to section 7.1.5 (4) for details. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details. Setting range: 1.0 to 2000.0
15.0 [rad/s]
Pr. PA08 This parameter _ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Manual setting
_ _ _ 1: (Auto tuning mode 1) Automatic setting _ _ _ 2: (Auto tuning mode 2) _ _ _ 3 (Manual mode) Manual setting _ _ _ 4: (2 gain adjustment mode 2)
5. PARAMETERS
5 - 29
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB08 PG2 Position loop gain
Set the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Increasing the setting value will also increase the response level to the load disturbance but will be liable to generate vibration and noise. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details. Setting range: 1.0 to 2000.0
37.0 [rad/s]
Pr. PA08 This parameter _ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Automatic setting
_ _ _ 1: (Auto tuning mode 1) _ _ _ 2: (Auto tuning mode 2) _ _ _ 3 (Manual mode) Manual setting _ _ _ 4: (2 gain adjustment mode 2) Automatic setting PB09 VG2 Speed loop gain
Set the gain of the speed loop. Set this parameter when vibration occurs on machines of low rigidity or large backlash. Increasing the setting value will also increase the response level but will be liable to generate vibration and noise. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details. Setting range: 20 to 65535
823 [rad/s]
PB10 VIC Speed integral compensation
Set the integral time constant of the speed loop. Decreasing the setting value will increase the response level but will be liable to generate vibration and noise. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details. Setting range: 0.1 to 1000.0
33.7 [ms]
PB11 VDC Speed differential compensation
Set the differential compensation. To enable the setting value, turn on PC (proportional control). Setting range: 0 to 1000
980
PB12 OVA Overshoot amount compensation
Set a dynamic friction torque in percentage to the rated torque at servo motor rated speed. Alternatively, set a dynamic friction force in percentage to the continuous thrust at linear servo motor rated speed. When the response level is low or when the torque/thrust is limited, the efficiency of the parameter may be lower. Setting range: 0 to 100
0 [%]
PB13 NH1 Machine resonance suppression filter 1
Set the notch frequency of the machine resonance suppression filter 1. When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be adjusted automatically by adaptive tuning. When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be enabled. Setting range: 10 to 4500
4500 [Hz]
5. PARAMETERS
5 - 30
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB14 NHQ1 Notch shape selection 1
Set the shape of the machine resonance suppression filter 1. When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be adjusted automatically by adaptive tuning. When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be enabled. _ _ _ x For manufacturer setting 0h
_ _ x _ Notch depth selection 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB
0h
_ x _ _ Notch width selection 0: = 2 1: = 3 2: = 4 3: = 5
0h
x _ _ _ For manufacturer setting 0h PB15 NH2 Machine resonance suppression filter 2
Set the notch frequency of the machine resonance suppression filter 2. To enable the setting value, set "Machine resonance suppression filter 2 selection" to "Enabled (_ _ _ 1)" in [Pr. PB16]. Setting range: 10 to 4500
4500 [Hz]
PB16 NHQ2 Notch shape selection 2
Set the shape of the machine resonance suppression filter 2. _ _ _ x Machine resonance suppression filter 2 selection
0: Disabled 1: Enabled
0h
_ _ x _ Notch depth selection 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB
0h
_ x _ _ Notch width selection 0: = 2 1: = 3 2: = 4 3: = 5
0h
x _ _ _ For manufacturer setting 0h
5. PARAMETERS
5 - 31
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB17 NHF Shaft resonance suppression filter
Set the shaft resonance suppression filter. This is used to suppress a low-frequency machine vibration. When "Shaft resonance suppression filter selection" is set to "Automatic setting (_ _ _ 0)" in [Pr. PB23], the value will be calculated automatically from the servo motor you use and load to motor inertia ratio. It will not be automatically calculated for the linear servo motor. When "Manual setting (_ _ _ 1)" is selected, the value set in this parameter will be used. When "Shaft resonance suppression filter selection" is set to "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this parameter will be disabled. When "Machine resonance suppression filter 4 selection" is "Enabled (_ _ _ 1)" in [Pr. PB49], the shaft resonance suppression filter is not available.
_ _ x x Shaft resonance suppression filter setting frequency selection Refer to table 5.5 for settings. Set the value closest to the frequency you need.
00h
_ x _ _ Notch depth selection 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB
0h
x _ _ _ For manufacturer setting 0h Table 5.5 Shaft resonance suppression filter
setting frequency selection
Setting value Frequency [Hz] Setting
value Frequency [Hz]
_ _ 0 0 Disabled _ _ 1 0 562 _ _ 0 1 Disabled _ _ 1 1 529 _ _ 0 2 4500 _ _ 1 2 500 _ _ 0 3 3000 _ _ 1 3 473 _ _ 0 4 2250 _ _ 1 4 450 _ _ 0 5 1800 _ _ 1 5 428 _ _ 0 6 1500 _ _ 1 6 409 _ _ 0 7 1285 _ _ 1 7 391 _ _ 0 8 1125 _ _ 1 8 375 _ _ 0 9 1000 _ _ 1 9 360 _ _ 0 A 900 _ _ 1 A 346 _ _ 0 B 818 _ _ 1 B 333 _ _ 0 C 750 _ _ 1 C 321 _ _ 0 D 692 _ _ 1 D 310 _ _ 0 E 642 _ _ 1 E 300 _ _ 0 F 600 _ _ 1 F 290 PB18 LPF Low-pass filter setting
Set the low-pass filter. The following shows a relation of a required parameter to this parameter. Setting range: 100 to 18000
3141 [rad/s]
[Pr. PB23] [Pr. PB18] _ _ 0 _ (Initial value) Automatic setting _ _ 1 _ Setting value
enabled
_ _ 2 _ Setting value disabled
5. PARAMETERS
5 - 32
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB19 VRF11 Vibration suppression control 1 - Vibration frequency
Set the vibration frequency for vibration suppression control 1 to suppress low- frequency machine vibration. When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details. Setting range: 0.1 to 300.0
100.0 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency
Set the resonance frequency for vibration suppression control 1 to suppress low- frequency machine vibration. When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details. Setting range: 0.1 to 300.0
100.0 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping
Set the damping of the vibration frequency for vibration suppression control 1 to suppress low-frequency machine vibration. When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details. Setting range: 0.00 to 0.30
0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping
Set a damping of the resonance frequency for vibration suppression control 1 to suppress low-frequency machine vibration. When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details. Setting range: 0.00 to 0.30
0.00
PB23 VFBF Low-pass filter selection
_ _ _ x Shaft resonance suppression filter selection Select the shaft resonance suppression filter. 0: Automatic setting 1: Manual setting 2: Disabled When "Machine resonance suppression filter 4 selection" is set to "Enabled (_ _ _ 1)" in [Pr. PB49], the shaft resonance suppression filter is not available.
0h
_ _ x _ Low-pass filter selection Select the low-pass filter. 0: Automatic setting 1: Manual setting 2: Disabled
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
5. PARAMETERS
5 - 33
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB24 *MVS Slight vibration suppression control
_ _ _ x Slight vibration suppression control selection Select the slight vibration suppression control. 0: Disabled 1: Enabled To enable the slight vibration suppression control, set "Gain adjustment mode selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08]. Slight vibration suppression control cannot be used in the speed control mode.
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PB25 *BOP1 Function selection B-1
_ _ _ x Model adaptive control selection 0: Enabled (model adaptive control) 2: Disabled (PID control) This parameter is available with servo amplifiers with software version B4 or later.
0h
_ _ x _ Position acceleration/deceleration filter type selection Select the position acceleration/deceleration filter type. 0: Primary delay 1: Linear acceleration/deceleration When you select "Linear acceleration/deceleration", do not switch the control mode. Doing so will cause the servo motor to make a sudden stop at the time of control mode switching.
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h PB26 *CDP Gain switching function
Select the gain switching condition. Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60]. _ _ _ x Gain switching selection
0: Disabled 1: Input device (gain switching (CDP)) 2: Command frequency 3: Droop pulses 4: Servo motor speed/linear servo motor speed
0h
_ _ x _ Gain switching condition selection 0: Gain after switching is enabled with gain switching condition or more 1: Gain after switching is enabled with gain switching condition or less
0h
_ x _ _ Gain switching time constant disabling condition selection 0: Switching time constant enabled 1: Switching time constant disabled 2: Return time constant disabled Refer to section 7.2.4 for details. This parameter is used by servo amplifier with software version B4 or later.
0h
x _ _ _ For manufacturer setting 0h PB27 CDL Gain switching condition
This is used to set the value of gain switching (command frequency, droop pulses, and servo motor speed/linear servo motor speed) selected in [Pr. PB26]. The set value unit differs depending on the switching condition item. (Refer to section 7.2.3.) The unit "r/min" will be "mm/s" for linear servo motors. Setting range: 0 to 9999
10 [kpulse/s] /[pulse] /[r/min]
PB28 CDT Gain switching time constant
This is used to set the time constant until the gains switch in response to the conditions set in [Pr. PB26] and [Pr. PB27]. Setting range: 0 to 100
1 [ms]
5. PARAMETERS
5 - 34
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB29 GD2B Load to motor inertia ratio/ load to motor mass ratio after gain switching
This is used to set the load to motor inertia ratio/load to motor mass ratio for when gain switching is enabled. This parameter is enabled only when "Gain adjustment mode selection" is "Manual mode (_ _ _ 3)" in [Pr. PA08]. Setting range: 0.00 to 300.00
7.00 [Multiplier]
PB30 PG2B Position loop gain after gain switching
Set the position loop gain when the gain switching is enabled. When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08]. This parameter is enabled only when "Gain adjustment mode selection" is "Manual mode (_ _ _ 3)" in [Pr. PA08]. Setting range: 0.0 to 2000.0
0.0 [rad/s]
PB31 VG2B Speed loop gain after gain switching
Set the speed loop gain when the gain switching is enabled. When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09]. This parameter is enabled only when "Gain adjustment mode selection" is "Manual mode (_ _ _ 3)" in [Pr. PA08]. Setting range: 0 to 65535
0 [rad/s]
PB32 VICB Speed integral compensation after gain switching
Set the speed integral compensation when the gain changing is enabled. When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10]. This parameter is enabled only when "Gain adjustment mode selection" is "Manual mode (_ _ _ 3)" in [Pr. PA08]. Setting range: 0.0 to 5000.0
0.0 [ms]
PB33 VRF1B Vibration suppression control 1 - Vibration frequency after gain switching
Set the vibration frequency of the vibration suppression control 1 for when the gain switching is enabled. When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19]. This parameter is enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)". "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops. Setting range: 0.0 to 300.0
0.0 [Hz]
PB34 VRF2B Vibration suppression control 1 - Resonance frequency after gain switching
Set the resonance frequency for vibration suppression control 1 when the gain switching is enabled. When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB20]. This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)". "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops. Setting range: 0.0 to 300.0
0.0 [Hz]
5. PARAMETERS
5 - 35
No./symbol/
name Setting
digit Function Initial value [unit]
Control mode
P S T PB35 VRF3B Vibration suppression control 1 - Vibration frequency damping after gain switching
Set a damping of the vibration frequency for vibration suppression control 1 when the gain switching is enabled. This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)". "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops. Setting range: 0.00 to 0.30
0.00
PB36 VRF4B Vibration suppression control 1 - Resonance frequency damping after gain switching
Set a damping of the resonance frequency for vibration suppression control 1 when the gain switching is enabled. This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)". "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops. Setting range: 0.00 to 0.30
0.00
5. PARAMETERS
5 - 36
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB45 CNHF Command notch filter
Set the command notch filter. _ _ x x Command notch filter setting frequency selection
Refer to table 5.6 for the relation of setting values to frequency. 00h
_ x _ _ Notch depth selection Refer to table 5.7 for details.
0h
x _ _ _ For manufacturer setting 0h Table 5.6 Command notch filter setting frequency selection
Setting value Frequency [Hz] Setting
value Frequency [Hz] Setting value Frequency [Hz]
_ _ 0 0 Disabled _ _ 2 0 70 _ _ 4 0 17.6 _ _ 0 1 2250 _ _ 2 1 66 _ _ 4 1 16.5 _ _ 0 2 1125 _ _ 2 2 62 _ _ 4 2 15.6 _ _ 0 3 750 _ _ 2 3 59 _ _ 4 3 14.8 _ _ 0 4 562 _ _ 2 4 56 _ _ 4 4 14.1 _ _ 0 5 450 _ _ 2 5 53 _ _ 4 5 13.4 _ _ 0 6 375 _ _ 2 6 51 _ _ 4 6 12.8 _ _ 0 7 321 _ _ 2 7 48 _ _ 4 7 12.2 _ _ 0 8 281 _ _ 2 8 46 _ _ 4 8 11.7 _ _ 0 9 250 _ _ 2 9 45 _ _ 4 9 11.3 _ _ 0 A 225 _ _ 2 A 43 _ _ 4 A 10.8 _ _ 0 B 204 _ _ 2 B 41 _ _ 4 B 10.4 _ _ 0 C 187 _ _ 2 C 40 _ _ 4 C 10 _ _ 0 D 173 _ _ 2 D 38 _ _ 4 D 9.7 _ _ 0 E 160 _ _ 2 E 37 _ _ 4 E 9.4 _ _ 0 F 150 _ _ 2 F 36 _ _ 4 F 9.1 _ _ 1 0 140 _ _ 3 0 35.2 _ _ 5 0 8.8 _ _ 1 1 132 _ _ 3 1 33.1 _ _ 5 1 8.3 _ _ 1 2 125 _ _ 3 2 31.3 _ _ 5 2 7.8 _ _ 1 3 118 _ _ 3 3 29.6 _ _ 5 3 7.4 _ _ 1 4 112 _ _ 3 4 28.1 _ _ 5 4 7.0 _ _ 1 5 107 _ _ 3 5 26.8 _ _ 5 5 6.7 _ _ 1 6 102 _ _ 3 6 25.6 _ _ 5 6 6.4 _ _ 1 7 97 _ _ 3 7 24.5 _ _ 5 7 6.1 _ _ 1 8 93 _ _ 3 8 23.4 _ _ 5 8 5.9 _ _ 1 9 90 _ _ 3 9 22.5 _ _ 5 9 5.6 _ _ 1 A 86 _ _ 3 A 21.6 _ _ 5 A 5.4 _ _ 1 B 83 _ _ 3 B 20.8 _ _ 5 B 5.2 _ _ 1 C 80 _ _ 3 C 20.1 _ _ 5 C 5.0 _ _ 1 D 77 _ _ 3 D 19.4 _ _ 5 D 4.9 _ _ 1 E 75 _ _ 3 E 18.8 _ _ 5 E 4.7 _ _ 1 F 72 _ _ 3 F 18.2 _ _ 5 F 4.5 Table 5.7 Notch depth selection
Setting value Depth [dB] Setting
value Depth [dB]
_ 0 _ _ -40.0 _ 8 _ _ -6.0 _ 1 _ _ -24.1 _ 9 _ _ -5.0 _ 2 _ _ -18.1 _ A _ _ -4.1 _ 3 _ _ -14.5 _ B _ _ -3.3 _ 4 _ _ -12.0 _ C _ _ -2.5 _ 5 _ _ -10.1 _ D _ _ -1.8 _ 6 _ _ -8.5 _ E _ _ -1.2 _ 7 _ _ -7.2 _ F _ _ -0.6
5. PARAMETERS
5 - 37
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB46 NH3 Machine resonance suppression filter 3
Set the notch frequency of the machine resonance suppression filter 3. To enable the setting value, set "Machine resonance suppression filter 3 selection" to "Enabled (_ _ _ 1)" in [Pr. PB47]. Setting range: 10 to 4500
4500 [Hz]
PB47 NHQ3 Notch shape selection 3
Set the shape of the machine resonance suppression filter 3. _ _ _ x Machine resonance suppression filter 3 selection
0: Disabled 1: Enabled
0h
_ _ x _ Notch depth selection 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB
0h
_ x _ _ Notch width selection 0: = 2 1: = 3 2: = 4 3: = 5
0h
x _ _ _ For manufacturer setting 0h PB48 NH4 Machine resonance suppression filter 4
Set the notch frequency of the machine resonance suppression filter 4. To enable the setting value, set "Machine resonance suppression filter 4 selection" to "Enabled (_ _ _ 1)" in [Pr. PB49]. Setting range: 10 to 4500
4500 [Hz]
PB49 NHQ4 Notch shape selection 4
Set the shape of the machine resonance suppression filter 4. _ _ _ x Machine resonance suppression filter 4 selection
0: Disabled 1: Enabled When the setting of this digit is "Enabled", [Pr. PB17 Shaft resonance suppression filter] is not available.
0h
_ _ x _ Notch depth selection 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB
0h
_ x _ _ Notch width selection 0: = 2 1: = 3 2: = 4 3: = 5
0h
x _ _ _ For manufacturer setting 0h PB50 NH5 Machine resonance suppression filter 5
Set the notch frequency of the machine resonance suppression filter 5. To enable the setting value, set "Machine resonance suppression filter 5 selection" to "Enabled (_ _ _ 1)" in [Pr. PB51]. Setting range: 10 to 4500
4500 [Hz]
5. PARAMETERS
5 - 38
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB51 NHQ5 Notch shape selection 5
Set the shape of the machine resonance suppression filter 5. When "Robust filter selection" is "Enabled (_ _ _ 1)" in [Pr. PE41], the machine resonance suppression filter 5 is not available. _ _ _ x Machine resonance suppression filter 5 selection
0: Disabled 1: Enabled
0h
_ _ x _ Notch depth selection 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB
0h
_ x _ _ Notch width selection 0: = 2 1: = 3 2: = 4 3: = 5
0h
x _ _ _ For manufacturer setting 0h PB52 VRF21 Vibration suppression control 2 - Vibration frequency
Set the vibration frequency for vibration suppression control 2 to suppress low- frequency machine vibration. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details. Setting range: 0.1 to 300.0
100.0 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency
Set the resonance frequency for vibration suppression control 2 to suppress low- frequency machine vibration. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details. Setting range: 0.1 to 300.0
100.0 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping
Set a damping of the vibration frequency for vibration suppression control 2 to suppress low-frequency machine vibration. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. Refer to section 7.1.5 for details. Setting range: 0.00 to 0.30
0.00
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping
Set a damping of the resonance frequency for vibration suppression control 2 to suppress low-frequency machine vibration. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. Refer to section 7.1.5 for details. Setting range: 0.00 to 0.30
0.00
5. PARAMETERS
5 - 39
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching
Set the vibration frequency for vibration suppression control 2 when the gain switching is enabled. When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB52]. This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)". "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ 2 _)". "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops. Setting range: 0.0 to 300.0
0.0 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching
Set the resonance frequency for vibration suppression control 2 when the gain switching is enabled. When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB53]. This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)". "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ 2 _)". "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops. Setting range: 0.0 to 300.0
0.0 [Hz]
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching
Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching is enabled. This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)". "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ 2 _)". "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops. Setting range: 0.00 to 0.30
0.00
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching
Set a damping of the resonance frequency for vibration suppression control 2 when the gain switching is enabled. This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)". "Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ 2 _)". "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops. Setting range: 0.00 to 0.30
0.00
5. PARAMETERS
5 - 40
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PB60 PG1B Model loop gain after gain switching
Set the model loop gain when the gain switching is enabled. When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07]. This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops. Setting range: 0.0 to 2000.0
0.0 [rad/s]
5.2.3 Extension setting parameters ([Pr. PC_ _ ])
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC01 STA Acceleration time constant
Set the acceleration time required to reach the rated speed from 0 r/min or 0 mm/s for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr. PC11 Internal speed command 7].
If the preset speed command is lower than the rated speed, acceleration/ deceleration time will be shorter.
Time [Pr. PC02] setting
0 r/min
Rated speed
Speed
[Pr. PC01] setting (0 mm/s)
For example for the servo motor of 3000 r/min rated speed, set 3000 (3 s) to increase the speed from 0 r/min to 1000 r/min in 1 second. Setting range: 0 to 50000
0 [ms]
PC02 STB Deceleration time constant
Set the deceleration time required to reach 0 r/min or 0 mm/s from the rated speed for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr. PC11 Internal speed command 7]. Setting range: 0 to 50000
0 [ms]
5. PARAMETERS
5 - 41
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC03 STC S-pattern acceleration/ deceleration time constant
Start/stop the servo motor or linear servo motor smoothly. Set the time of the arc part for S-pattern acceleration/deceleration. Setting "0" will make it linear acceleration/deceleration.
Speed command
Se rv
o m
ot or
sp ee
d
0 r/min
STASTC Time
STC STBSTC STC
(L in
ea r s
er vo
m ot
or s
pe ed
)
(0 mm/s)
STA: Acceleration time constant ([Pr. PC01]) STB: Deceleration time constant ([Pr. PC02]) STC: S-pattern acceleration/deceleration time constant ([Pr. PC03])
Long setting of STA (acceleration time constant) or STB (deceleration time constant) may produce an error in the time of the arc part for the setting of the S-pattern acceleration/deceleration time constant. The upper limit value of the actual arc part time is limited by 2000000
STA for acceleration or by 2000000
STB for deceleration.
(Example) At the setting of STA 20000, STB 5000 and STC 200, the actual arc part
times are as follows.
Acceleration: 100 ms
2000000
20000 = 100 [ms] < 200 [ms]
Therefore, it will be limited to 100 ms. Deceleration: 200 ms
2000000
5000 = 400 [ms] > 200 [ms]
Therefore, it will be 200 ms as you set. Setting range: 0 to 5000
0 [ms]
PC04 TQC Torque/thrust command time constant
Set the constant of a primary delay filter for the torque/thrust command.
TQC TQC Time
Torque
Torque command (Thrust command)
After filtering(Thrust)
TQC: Torque/thrust command time constant Setting range: 0 to 50000
0 [ms]
5. PARAMETERS
5 - 42
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC05 SC1 Internal speed command 1 Internal speed limit 1
Set the speed 1 of internal speed commands. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
100 [r/min]/ [mm/s]
Set the speed 1 of internal speed limits. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
PC06 SC2 Internal speed command 2 Internal speed limit 2
Set the speed 2 of internal speed commands. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
500 [r/min]/ [mm/s]
Set the speed 2 of internal speed limits. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
PC07 SC3 Internal speed command 3 Internal speed limit 3
Set the speed 3 of internal speed commands. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
1000 [r/min]/ [mm/s]
Set speed 3 of internal speed limits. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
5. PARAMETERS
5 - 43
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC08 SC4 Internal speed command 4 Internal speed limit 4
Set the speed 4 of internal speed commands. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
200 [r/min]/ [mm/s]
Set the speed 4 of internal speed limits. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
PC09 SC5 Internal speed command 5 Internal speed limit 5
Set the speed 5 of internal speed commands. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
300 [r/min]/ [mm/s]
Set the speed 5 of internal speed limits. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
PC10 SC6 Internal speed command 6 Internal speed limit 6
Set the speed 6 of internal speed commands. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
500 [r/min]/ [mm/s]
Set the speed 6 of internal speed limits. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
5. PARAMETERS
5 - 44
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC11 SC7 Internal speed command 7 Internal speed limit 7
Set the speed 7 of internal speed commands. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
800 [r/min]/ [mm/s]
Set the speed 7 of internal speed limits. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the unit will be r/min or mm/s. When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the unit will be 0.1 r/min or 0.1 mm/s. For example, to set 500.5 r/min while "(_ _ 1 _)" is set in [Pr. PC29], set 5005. If a speed faster than the instantaneous permissible speed is set, the instantaneous permissible speed will be applied. Setting range: 0 to 65535
PC12 VCM Analog speed command - Maximum speed Analog speed limit - Maximum speed
Set the speed of servo motor or linear servo motor at the maximum voltage (10 V) input to VC (Analog speed command). When "0" is set, the rated speed of the connected servo motor or linear servo motor is used. When you input a command value of the permissible speed or more to VC, the value is clamped at the permissible speed. Setting range: 0 to 50000
0 [r/min]/ [mm/s]
Set the speed of servo motor or linear servo motor at the maximum voltage (10 V) input to VLA (Analog speed limit). When "0" is set, the rated speed of the connected servo motor or linear servo motor is used. When you input a limit value of the permissible speed or more to VLA, the value is clamped at the permissible speed. Setting range: 0 to 50000
PC13 TLC Analog torque/thrust command maximum output
Set the output torque/thrust at the analog torque/thrust command voltage (TC = 8 V) of +8 V on the assumption that the maximum torque/thrust is 100.0%. For example, set 50.0.
The maximum torque or thrust 50.0
100.0 is outputted.
When you input a command value of the maximum torque/thrust or more to TC, the value is clamped at the maximum torque/thrust. Setting range: 0.0 to 1000.0
100.0 [%]
5. PARAMETERS
5 - 45
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC14 MOD1 Analog monitor 1 output
_ _ x x Analog monitor 1 output selection Select a signal to output to MO1 (Analog monitor 1). Refer to app. 7.3 for detection point of output selection. Refer to table 5.8 or table 5.9 for settings.
00h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
Table 5.8 Analog monitor setting value (MR-J4-_A_(-RJ) 100 W or more)
Setting value Item
Operation mode (Note 1)
St an
da rd
Fu ll.
Li n.
D D
_ _ 0 0 (Linear) servo motor speed (8 V/max. speed)
_ _ 0 1 Torque or thrust (8 V/max. torque or max. thrust) (Note 3)
_ _ 0 2 (Linear) servo motor speed (+8 V/max. speed)
_ _ 0 3 Torque or thrust (+8 V/max. torque or max. thrust) (Note 3)
_ _ 0 4 Current command (8 V/max. current command) _ _ 0 5 Command pulse frequency (10 V/4 Mpulses/s) _ _ 0 6 Servo motor-side droop pulses (10 V/100 pulses)
(Note 2)
_ _ 0 7 Servo motor-side droop pulses (10 V/1000 pulses) (Note 2)
_ _ 0 8 Servo motor-side droop pulses (10 V/10000 pulses) (Note 2)
_ _ 0 9 Servo motor-side droop pulses (10 V/100000 pulses) (Note 2)
_ _ 0 A Feedback position (10 V/1 Mpulse) (Note 2) _ _ 0 B Feedback position (10 V/10 Mpulses) (Note 2) _ _ 0 C Feedback position (10 V/100 Mpulses) (Note 2) _ _ 0 D Bus voltage (200 V class and 100 V class: +8 V/400 V,
400 V class: +8 V/800 V)
_ _ 0 E Speed command 2 (8 V/max. speed) _ _ 1 0 Load-side droop pulses (10 V/100 pulses) (Note 2) _ _ 1 1 Load-side droop pulses (10 V/1000 pulses) (Note 2) _ _ 1 2 Load-side droop pulses (10 V/10000 pulses) (Note 2) _ _ 1 3 Load-side droop pulses (10 V/100000 pulses) (Note 2) _ _ 1 4 Load-side droop pulses (10 V/1 Mpulse) (Note 2) _ _ 1 5 Servo motor-side/load-side position deviation
(10 V/100000 pulses)
_ _ 1 6 Servo motor-side/load-side speed deviation (8 V/max. speed)
_ _ 1 7 Internal temperature of encoder (10 V/128 C)
Note 1. Items with are available for each operation mode. Standard: Semi closed loop system use of the rotary servo motor Full.: Fully closed loop system use of the rotary servo motor Lin.: Linear servo motor use DD: Direct drive motor use
2. Encoder pulse unit 3. The larger value of [Pr. PA11] or [Pr. PA12] will be the maximum torque or the maximum thrust.
5. PARAMETERS
5 - 46
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC14 MOD1 Analog monitor 1 output
Table 5.9 Analog monitor setting value (MR-J4-03A6(-RJ))
Setting value Item
_ _ 0 0 Servo motor speed (5 V 3 V/max. speed) _ _ 0 1 Torque (5 V 3 V/max. torque) (Note 2) _ _ 0 2 Servo motor speed (5 V + 3 V/max. speed) _ _ 0 3 Torque (5 V + 3 V/max. torque) (Note 2) _ _ 0 4 Current command (5 V 3 V/max. current command) _ _ 0 5 Command pulse frequency (5 V 4 V/4 Mpulses/s) _ _ 0 6 Servo motor-side droop pulses (5 V 4 V/100 pulses)
(Note 1)
_ _ 0 7 Servo motor-side droop pulses (5 V 4 V/1000 pulses) (Note 1)
_ _ 0 8 Servo motor-side droop pulses (5 V 4 V/10000 pulses) (Note 1)
_ _ 0 9 Servo motor-side droop pulses (5 V 4 V/100000 pulses) (Note 1)
_ _ 0 A Feedback position (5 V 4 V/1 Mpulse) (Note 1) _ _ 0 B Feedback position (5 V 4 V/10 Mpulses) (Note 1) _ _ 0 C Feedback position (5 V 4 V/100 Mpulses) (Note 1) _ _ 0 D Bus voltage (5 V + 4 V/100 V) _ _ 0 E Speed command 2 (5 V 3 V/max. speed) _ _ 1 7 Internal temperature of encoder (5 V 4 V/128 C)
Note 1. Encoder pulse unit 2. The larger value of [Pr. PA11] or [Pr. PA12] will be the maximum torque. PC15 MOD2 Analog monitor 2 output
_ _ x x Analog monitor 2 output selection Select a signal to output to MO2 (Analog monitor 2). Refer to app. 7.3 for detection point of output selection. Refer to [Pr. PC14] for settings.
01h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h PC16 MBR Electromagnetic brake sequence output
Set the delay time between MBR (Electromagnetic brake interlock) and the base drive circuit is shut-off. For the timing chart of when the servo motor with an electromagnetic brake is used, refer to section 3.10.2. Setting range: 0 to 1000
0 [ms]
PC17 ZSP Zero speed
Set the output range of ZSP (Zero speed detection). ZSP (Zero speed detection) has hysteresis of 20 r/min or 20 mm/s. Setting range: 0 to 10000
50 [r/min]/ [mm/s]
PC18 *BPS Alarm history clear
_ _ _ x Alarm history clear selection Clear the alarm history. 0: Disabled 1: Enabled When "Enabled" is set, the alarm history will be cleared at the next power-on. Once the alarm history is cleared, the setting becomes disabled automatically.
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h
5. PARAMETERS
5 - 47
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC19 *ENRS Encoder output pulse selection
_ _ _ x Encoder output pulse phase selection Select the encoder pulse direction. 0: A-phase 90 shift in CCW or positive direction 1: A-phase 90 shift in CW or negative direction
0h
Setting value
Servo motor rotation direction/ linear servo motor travel direction
CCW or positive direction CW or negative direction
0 A-phase
B-phase A-phase
B-phase
1
A-phase
B-phase A-phase
B-phase
_ _ x _ Encoder output pulse setting selection
Refer to app. 15 for details. 0: Output pulse setting 1: Dividing ratio setting 2: The same output pulse setting as the command pulse 3: A-phase/B-phase pulse electronic gear setting 4: A/B-phase pulse through output setting
0h
_ x _ _ Selection of the encoders for encoder output pulse Select an encoder for servo amplifier output. 0: Servo motor encoder 1: Load-side encoder
When "_ 1 0 _" is set to this parameter, [AL. 37 Parameter error] will occur. This is only for the fully closed loop system. If "1" is set other than in the fully closed loop system, [AL. 37 Parameter error] will occur.
0h
x _ _ _ For manufacturer setting 0h PC20 *SNO Station No. setting
Set a station No. of the servo amplifier for RS-422 and USB communication. Always set one station to one axis of the servo amplifier. Setting one station number to two or more stations will disable a normal communication. Setting range: 0 to 31
0 [Station]
PC21 *SOP RS-422 communication function selection
Select the details of RS-422 communication function. _ _ _ x For manufacturer setting 0h _ _ x _ RS-422 communication baud rate selection
When using the parameter unit, set "1 _ _ _" in [Pr. PF34]. 0: 9600 [bps] 1: 19200 [bps] 2: 38400 [bps] 3: 57600 [bps] 4: 115200 [bps]
0h
_ x _ _ RS-422 communication response delay time selection 0: Disabled 1: Enabled (responding after 800 s or longer delay time)
0h
x _ _ _ For manufacturer setting 0h
5. PARAMETERS
5 - 48
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC22 *COP1 Function selection C-1
_ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ Encoder cable communication method selection
Select the encoder cable communication method. 0: Two-wire type 1: Four-wire type When using an encoder of A/B/Z-phase differential output method, set "0". Incorrect setting will result in [AL. 16 Encoder initial communication error 1] or [AL. 20 Encoder normal communication error 1]. Setting "1" will trigger [AL. 37] while "Fully closed loop control mode (_ _ 1 _)" is selected in [Pr. PA01] (except MR-J4- _A_-RJ). For MR-J4-03A6(-RJ) servo amplifiers, this digit cannot be used when a setting value other than the initial value is set. Also, it does not comply with encoders of A/B/Z-phase differential output method.
0h
PC23 *COP2 Function selection C-2
_ _ _ x Servo-lock selection at speed control stop Select the servo-lock selection at speed control stop. In the speed control mode, the servo motor shaft can be locked to prevent the shaft from being moved by an external force. 0: Enabled (servo-lock)
The operation to maintain the stop position is performed. 1: Disabled (no servo-lock)
The stop position is not maintained. The control to make the speed 0 r/min or 0 mm/s is performed.
0h
_ _ x _ For manufacturer setting 0h _ x _ _ VC/VLA voltage averaging selection
Select the VC/VLA voltage average. Set the filtering time when VC (Analog speed command) or VLA (Analog speed limit) is imported. Set "0" to vary the speed to voltage fluctuation in real time. Increase the set value to vary the speed slower to voltage fluctuation.
0h
Setting value Filtering time [ms]
0 0 1 0.444 2 0.888 3 1.777 4 3.555 5 7.111 x _ _ _ Speed limit selection at torque control
Select the speed limit selection at torque control. 0: Enabled 1: Disabled Do not use this function except when configuring an external speed loop.
0h
PC24 *COP3 Function selection C-3
_ _ _ x In-position range unit selection Select a unit of in-position range. 0: Command input pulse unit 1: Servo motor encoder pulse unit
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ Error excessive alarm/error excessive warning level unit selection
Select units for error excessive alarm level setting with [Pr. PC43] and for error excessive warning level setting with [Pr. PC73]. 0: Per 1 rev or 1 mm 1: Per 0.1 rev or 0.1 mm 2: Per 0.01 rev or 0.01 mm 3: Per 0.001 rev or 0.001 mm
0h
5. PARAMETERS
5 - 49
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC26 *COP5 Function selection C-5
_ _ _ x [AL. 99 Stroke limit warning] selection Enable or disable [AL. 99 Stroke limit warning]. 0: Enabled 1: Disabled
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PC27 *COP6 Function selection C-6
_ _ _ x [AL. 10 Undervoltage] detection method selection If [AL. 10 Undervoltage] occurs due to power supply voltage distortion while FR-RC- (H), FR-CV-(H), or FR-XC-(H) is being used, use this setting. 0: When [AL. 10] does not occur 1: When [AL. 10] occurs This digit is not available with MR-J4-03A6(-RJ) servo amplifiers. When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, set "1". DC power supply is available with MR-J4-_A-RJ servo amplifiers with software version C2 or later.
0h
_ _ x _ Main circuit power supply selection Select a voltage to be connected to the main circuit power supply with an MR-J4- 03A6(-RJ) servo amplifier. 0: 48 V DC 1: 24 V DC When using 24 V DC for the main circuit power supply, set "1" to this digit. This digit is not available with MR-J4-_A_(-RJ) 100 W or more servo amplifiers. The characteristics of the servo motor vary depending on whether 48 V DC or 24 V DC is used. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".
0h
_ x _ _ Undervoltage alarm selection Select the alarm and warning for when the bus voltage drops to the undervoltage alarm level. 0: [AL. 10.2] regardless of servo motor speed 1: [AL. E9.1] at servo motor speed 50 r/min (50 mm/s) or less, [AL. 10.2] at over 50
r/min (50 mm/s)
0h
x _ _ _ For manufacturer setting 0h PC28 *COP7 Function selection C-7
_ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ Linear scale multipoint Z-phase input function selection
When two or more reference marks exist during the full stroke of the linear encoder, set "1". 0: Disabled 1: Enabled This parameter setting is available with servo amplifiers with software version A5 or later. This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
0h
PC29 *COP8 Function selection C-8
_ _ _ x For manufacturer setting 0h _ _ x _ Speed command input unit selection
Select a speed command input unit. 0: r/min or mm/s 1: 0.1 r/min or 0.1 mm/s This digit is available on servo amplifiers with software version B3 or later.
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h PC30 STA2 Acceleration time constant 2
To enable the parameter, turn on STAB2 (second acceleration/deceleration selection). Set the acceleration time required to reach the rated speed from 0 r/min or 0 mm/s for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr. PC11 Internal speed command 7]. Setting range: 0 to 50000
0 [ms]
5. PARAMETERS
5 - 50
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC31 STB2 Deceleration time constant 2
To enable the parameter, turn on STAB2 (second acceleration/deceleration selection). Set the deceleration time required to reach 0 r/min or 0 mm/s from the rated speed for VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr. PC11 Internal speed command 7]. Setting range: 0 to 50000
0 [ms]
PC32 CMX2 Commanded pulse multiplication numerator 2
To enable the parameter, select "Electronic gear (0 _ _ _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value compatibility mode (3 _ _ _)" of "Electronic gear selection" in [Pr. PA21]. Setting range: 1 to 16777215
1
PC33 CMX3 Commanded pulse multiplication numerator 3
To enable the parameter, select "Electronic gear (0 _ _ _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value compatibility mode (3 _ _ _)" of "Electronic gear selection" in [Pr. PA21]. Setting range: 1 to 16777215
1
PC34 CMX4 Commanded pulse multiplication numerator 4
To enable the parameter, select "Electronic gear (0 _ _ _)", "J3 electronic gear setting value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value compatibility mode (3 _ _ _)" of "Electronic gear selection" in [Pr. PA21]. Setting range: 1 to 16777215
1
PC35 TL2 Internal torque limit 2/internal thrust limit 2
Set the parameter on the assumption that the maximum torque or thrust is 100.0%. The parameter is for limiting the torque of the servo motor or the thrust of the linear servo motor. No torque or thrust is generated when this parameter is set to "0.0". When TL1 (Internal torque limit selection) is turned on, Internal torque limits 1 and 2 are compared and the lower value will be enabled. Set the parameter referring to section 3.6.1 (5). Setting range: 0.0 to 100.0
100.0 [%]
5. PARAMETERS
5 - 51
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC36 *DMD Status display selection
_ _ x x Status display selection at power-on Select a status display shown at power-on. Setting "21" to "27" will trigger [AL. 37] in the mode other than the positioning mode. 00: Cumulative feedback pulses 01: Servo motor speed/linear servo motor speed 02: Droop pulses 03: Cumulative command pulses 04: Command pulse frequency 05: Analog speed command voltage (Note 1) 06: Analog torque command voltage (Note 2) 07: Regenerative load ratio 08: Effective load ratio 09: Peak load ratio 0A: Instantaneous torque/thrust 0B: Within one-revolution position/within virtual one-revolution position (1 pulse unit) 0C: Within one-revolution position/within virtual one-revolution position (1000 pulses
unit) 0D: ABS counter/virtual ABS counter 0E: Load to motor inertia ratio/load to motor mass ratio 0F: Bus voltage 10: Internal temperature of encoder 11: Settling time 12: Oscillation detection frequency 13: Number of tough operations 14: Unit power consumption (increment of 1 W) 15: Unit power consumption (increment of 1 kW) 16: Unit total power consumption (increment of 1 Wh) 17: Unit total power consumption (increment of 100 kWh) 18: Load-side cumulative feedback pulses (Note 3, 5) 19: Load-side droop pulses (Note 3, 5) 1A: Load-side encoder information 1 (1 pulse unit) (Note 3, 5) 1B: Load-side encoder information 1 (100000 pulses unit) (Note 3, 5) 1C: Load-side encoder ABS counter (Note 3, 5) 1D: Z-phase counter (1 pulse unit) (Note 4, 5) 1E: Z-phase counter (100000 pulses unit) (Note 4, 5) 1F: Electrical angle (1 pulse unit) (Note 4, 5) 20: Electrical angle (100000 pulses unit) (Note 4, 5)
00h
Note 1. It is for the speed control mode. It will be the analog speed limit voltage in the torque control mode.
2. It is for the torque control mode. It will be the analog torque limit voltage in the speed control mode and position control mode.
3. Setting "18 to 1C" will trigger [AL. 37] in the mode other than the fully closed loop control mode.
4. Setting "1D to 20" will trigger [AL. 37] in the mode other than the linear servo motor control mode.
5. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
_ x _ _ Status display at power-on in corresponding control mode 0: Depends on the control mode
0h
Control mode Status display at power-on Position Cumulative feedback pulses Position/speed Cumulative feedback pulses/servo motor speed
(linear servo motor speed)
Speed Servo motor speed (linear servo motor speed) Speed/torque Servo motor speed (linear servo motor
speed)/analog torque (thrust) command voltage
Torque Analog torque (thrust) command voltage Torque/position Analog torque (thrust) command
voltage/cumulative feedback pulses
1: Depends on the last 2 digits settings of the parameter x _ _ _ For manufacturer setting 0h
5. PARAMETERS
5 - 52
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC37 VCO Analog speed command offset/ Analog speed limit offset
Set the offset voltage of VC (Analog speed command). For example, if CCW rotation or positive direction travel is provided by switching on ST1 (Forward rotation start) while applying 0 V to VC, set a negative value. When automatic VC offset is used, the automatically offset value is set to this parameter. (Refer to section 4.5.4.) The initial value is provided before shipment by the automatic VC offset function on condition that the voltage between VC and LG is 0 V. Setting range: -9999 to 9999
The value differs depending on the servo amplifiers.
[mV]
Set the offset voltage of VLA (Analog speed limit). For example, if CCW rotation or positive direction travel is provided by switching on RS1 (Forward rotation selection) while applying 0 V to VLA, set a negative value. When automatic VC offset is used, the automatically offset value is set to this parameter. (Refer to section 4.5.4.) The initial value is provided before shipment by the automatic VC offset function on condition that the voltage between VLA and LG is 0 V. Setting range: -9999 to 9999
PC38 TPO Analog torque command offset/ Analog torque limit offset
Set the offset voltage of TC (Analog torque command). Setting range: -9999 to 9999
0 [mV]
Set the offset voltage of TLA (Analog torque limit). Setting range: -9999 to 9999
PC39 MO1 Analog monitor 1 offset
Set the offset voltage of MO1 (Analog monitor 1). Setting range: -9999 to 9999
0 [mV]
PC40 MO2 Analog monitor 2 offset
Set the offset voltage of MO2 (Analog monitor 2). Setting range: -9999 to 9999
0 [mV]
PC43 ERZ Error excessive alarm level
Set an error excessive alarm level. You can change the setting unit with "Error excessive alarm/error excessive warning level unit selection" in [Pr. PC24]. Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be "3 rev", and setting over 200 rev will be clamped with 200 rev. Set this per mm for linear servo motors. Setting "0" will be 100 mm. Refer to app. 17 for the adjustment method. Setting range: 0 to 1000
0 [rev]/ [mm]
PC44 *COP9 Function selection C-9
_ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ Load-side encoder cable communication method selection
Select the communication method of the encoder cable to be connected to the CN2L connector of MR-J4-_A_-RJ. 0: Two-wire type 1: Four-wire type When using a load-side encoder of A/B/Z-phase differential output method, set "0". Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ will trigger [AL. 37]. This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
0h
5. PARAMETERS
5 - 53
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC45 *COPA Function selection C-A
_ _ _ X Encoder pulse count polarity selection Select a polarity of the linear encoder or load-side encoder. 0: Encoder pulse increases in the servo motor CCW or positive direction. 1: Encoder pulse decreases in the servo motor CCW or positive direction. This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
0h
_ _ X _ For manufacturer setting 0h _ X _ _ Selection of A/B/Z-phase input interface encoder Z-phase connection judgment
function Select the non-signal detection status for the pulse train signal from the A/B/Z-phase input interface encoder used as a linear encoder or load-side encoder. This function is enabled only when you use an A/B/Z-phase input interface encoder. This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
0h
Setting value
Detection of disconnection Alarm status
Z-phase-side non- signal
Fully closed loop system
Linear servo system
0 Enabled [AL. 71.6] (Z-phase)
[AL. 20.6] (Z-phase)
1 Disabled X _ _ _ For manufacturer setting 0h PC51 RSBR Forced stop deceleration time constant
Set deceleration time constant when you use the forced stop deceleration function. Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Setting "0" will be 100 ms.
Forced stop deceleration
[Pr. PC51]0 r/min
Servo motor speed
Rated speed Dynamic brake deceleration
(Linear servo motor speed)
(0 mm/s)
[Precautions] If the servo motor torque or linear servo motor thrust is saturated at the maximum value during forced stop deceleration because the set time is too short, the time to stop will be longer than the set time constant. [AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced stop deceleration, depending on the set value. After an alarm that leads to a forced stop deceleration, if an alarm that does not lead to a forced stop deceleration occurs or if the control circuit power supply is cut, dynamic braking will start regardless of the deceleration time constant setting.
Setting range: 0 to 20000
100 [ms]
5. PARAMETERS
5 - 54
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PC54 RSUP1 Vertical axis freefall prevention compensation amount
Set the compensation amount of the vertical axis freefall prevention function. Set it per servo motor rotation amount or linear servo motor travel distance. When setting a positive value, the servo motor or linear servo motor moves in the direction set with [Pr. PA14] for the forward rotation pulse input. When setting a negative value, the servo motor or linear servo motor moves in the direction set with [Pr. PA14] for the reverse rotation pulse input. For example, if a positive compensation amount is set when the [Pr. PA14 Rotation direction selection/travel direction selection] setting is "1", compensation will be performed to the CW direction. The vertical axis freefall prevention function is performed when all of the following conditions are met. 1) Position control mode 2) The value of the parameter is other than "0". 3) "Forced stop deceleration function selection" of [Pr. PA04] is set to "Forced stop
deceleration function enabled (2 _ _ _ )". 4) EM2 (forced stop 2) is off or an alarm occurred when the servo motor speed is
the zero speed or less. 5) MBR (Electromagnetic brake interlock) is enabled with [Pr. PD23] to [Pr. PD26],
[Pr. PD28], and [Pr. PD47], and the base circuit shut-off delay time is set in [Pr. PC16].
Setting range: -25000 to 25000
0 [0.0001
rev]/ [0.01 mm]
PC60 *COPD Function selection C-D
_ _ _ x Motor-less operation selection This is used to select the motor-less operation. This is not used in the linear servo motor control mode, fully closed loop control, and DD motor control mode. 0: Disabled 1: Enabled
0h
_ _ x _ High-resolution analog input selection Select the resolution of VC (analog speed command). When you change parameters, perform offset adjustment with [Pr. PC37 Analog speed command offset]. The offset adjustment can be performed by executing VC automatic offset. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ, MR-J4-_A_-RU, and MR-J4-_A_-RZ will trigger [AL. 37]. 0: Disabled 1: Enabled This digit is available with servo amplifiers manufactured in November 2014 or later. This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
0h
_ x _ _ For manufacturer setting 0h x _ _ _ [AL. 9B Error excessive warning] selection
0: [AL. 9B Error excessive warning] disabled 1: [AL. 9B Error excessive warning] enabled This digit is available with servo amplifier with software version B4 or later.
0h
PC73 ERW Error excessive warning level
Set an error excessive warning level. To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive warning] selection" in [Pr. PC60]. You can change the setting unit with "Error excessive alarm/error excessive warning level unit selection" in [Pr. PC24]. Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be "1 rev", and setting over 200 rev will be clamped with 200 rev. Set this per mm for linear servo motors. Setting "0" will be 50 mm. When an error reaches the set value, [AL. 9B Error excessive warning] will occur. When the error decreases lower than the set value, the warning will be canceled automatically. The minimum pulse width of the warning signal is 100 [ms]. Set as follows.: [Pr. PC73 Error excessive warning level] < [Pr. PC43 Error excessive alarm level] When you set as follows, [AL. 52 Error excessive] will occur earlier than the warning.: [Pr. PC73 Error excessive warning level] [Pr. PC43 Error excessive alarm level] This parameter is used by servo amplifier with software version B4 or later. Setting range: 0 to 1000
0 [rev]/ [mm]
5. PARAMETERS
5 - 55
5.2.4 I/O setting parameters ([Pr. PD_ _ ])
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PD01 *DIA1 Input signal automatic on selection 1
Select input devices to turn on them automatically. _ _ _ x (HEX)
_ _ _ x (BIN): For manufacturer setting 0h _ _ x _ (BIN): For manufacturer setting _ x _ _ (BIN): SON (Servo-on) 0: Disabled (Use for an external input signal.)
1: Enabled (automatic on) x _ _ _ (BIN): For manufacturer setting _ _ x _
(HEX) _ _ _ x (BIN): PC (Proportional control) 0h 0: Disabled (Use for an external input signal.) 1: Enabled (automatic on) _ _ x _ (BIN): TL (External torque/external thrust limit selection) 0: Disabled (Use for an external input signal.) 1: Enabled (automatic on) _ x _ _ (BIN): For manufacturer setting x _ _ _ (BIN): For manufacturer setting
_ x _ _ (HEX)
_ _ _ x (BIN): For manufacturer setting 0h _ _ x _ (BIN): For manufacturer setting _ x _ _ (BIN): LSP (Forward rotation stroke end) 0: Disabled (Use for an external input signal.) 1: Enabled (automatic on) x _ _ _ (BIN): LSN (Reverse rotation stroke end) 0: Disabled (Use for an external input signal.) 1: Enabled (automatic on)
x _ _ _ For manufacturer setting 0h Convert the setting value into hexadecimal as follows.
0
Initial value BIN HEX
Signal name
0 0
0
0 0
SON (Servo-on)
0
Initial value BIN HEX
Signal name
0 0 0 0
PC (Proportional control) TL (External torque/external thrust limit selection)
0
BIN 0: Use for an external input signal. BIN 1: Automatic on
Initial value BIN HEX
Signal name
0 0 0 0
LSP (Forward rotation stroke end) LSN (Reverse rotation stroke end)
When you perform a magnetic pole detection without using LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), setting [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ 1 _ _" allows you to disable LSP and LSN.
5. PARAMETERS
5 - 56
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PD03 *DI1L Input device selection 1L
Any input device can be assigned to the CN1-15 pin. _ _ x x Position control mode - Device selection
Refer to table 5.10. 02h
x x _ _ Speed control mode - Device selection Refer to table 5.10.
02h
Table 5.10 Selectable input devices
Setting value
Input device (Note 1) P S T 02 SON SON SON 03 RES RES RES 04 PC PC 05 TL TL 06 CR 07 ST1 RS2 08 ST2 RS1 09 TL1 TL1 0A LSP LSP LSP (Note 3) 0B LSN LSN LSN (Note 3) 0D CDP CDP
(Note 4) 0E CLD
(Note 4) 0F MECR
20 SP1 SP1 21 SP2 SP2 22 SP3 SP3 23 LOP (Note 2) LOP (Note 2) LOP (Note 2) 24 CM1 25 CM2 26 STAB2 STAB2
Note 1. P: Position control mode, S: Speed control mode, T: Torque control mode The diagonal lines indicate manufacturer settings. Never change the setting.
2. When assigning LOP (Control switching), assign it to the same pin in all control modes. 3. In the torque control mode, this device cannot be used during normal operation. It can be used
during the magnetic pole detection in the linear servo motor control mode and the DD motor control mode. Also, when the magnetic pole detection in the torque control mode is completed, this signal will be disabled.
4. It cannot be set with MR-J4-03A6(-RJ) servo amplifiers.
PD04 *DI1H Input device selection 1H
Any input device can be assigned to the CN1-15 pin. _ _ x x Torque control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 02h
x x _ _ For manufacturer setting 02h PD05 *DI2L Input device selection 2L
Any input device can be assigned to the CN1-16 pin. _ _ x x Position control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 00h
x x _ _ Speed control mode - Device selection Refer to table 5.10 for settings.
21h
PD06 *DI2H Input device selection 2H
Any input device can be assigned to the CN1-16 pin. _ _ x x Torque control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 21h
x x _ _ For manufacturer setting 20h
5. PARAMETERS
5 - 57
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PD07 *DI3L Input device selection 3L
Any input device can be assigned to the CN1-17 pin. When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, the CN1-17 pin will become ABSM (ABS transfer mode). _ _ x x Position control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 04h
x x _ _ Speed control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
07h
PD08 *DI3H Input device selection 3H
Any input device can be assigned to the CN1-17 pin. _ _ x x Torque control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 07h
x x _ _ For manufacturer setting 07h PD09 *DI4L Input device selection 4L
Any input device can be assigned to the CN1-18 pin. When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system by DIO is selected, the CN1-18 pin will become ABSR (ABS transfer request). _ _ x x Position control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 05h
x x _ _ Speed control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
08h
PD10 *DI4H Input device selection 4H
Any input device can be assigned to the CN1-18 pin. _ _ x x Torque control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 08h
x x _ _ For manufacturer setting 08h PD11 *DI5L Input device selection 5L
Any input device can be assigned to the CN1-19 pin. _ _ x x Position control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 03h
x x _ _ Speed control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
03h
PD12 *DI5H Input device selection 5H
Any input device can be assigned to the CN1-19 pin. _ _ x x Torque control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 03h
x x _ _ For manufacturer setting 38h PD13 *DI6L Input device selection 6L
Any input device can be assigned to the CN1-41 pin. _ _ x x Position control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 06h
x x _ _ Speed control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
20h
PD14 *DI6H Input device selection 6H
Any input device can be assigned to the CN1-41 pin. _ _ x x Torque control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 20h
x x _ _ For manufacturer setting 39h PD17 *DI8L Input device selection 8L
Any input device can be assigned to the CN1-43 pin. _ _ x x Position control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 0Ah
x x _ _ Speed control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
0Ah
PD18 *DI8H Input device selection 8H
Any input device can be assigned to the CN1-43 pin. _ _ x x Torque control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 00h
x x _ _ For manufacturer setting 0Ah PD19 *DI9L Input device selection 9L
Any input device can be assigned to the CN1-44 pin. _ _ x x Position control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 0Bh
x x _ _ Speed control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
0Bh
5. PARAMETERS
5 - 58
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PD20 *DI9H Input device selection 9H
Any input device can be assigned to the CN1-44 pin. _ _ x x Torque control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 00h
x x _ _ For manufacturer setting 0Bh PD21 *DI10L Input device selection 10L
Any input device can be assigned to the CN1-45 pin. _ _ x x Position control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 23h
x x _ _ Speed control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
23h
PD22 *DI10H Input device selection 10H
Any input device can be assigned to the CN1-45 pin. _ _ x x Torque control mode - Device selection
Refer to table 5.10 in [Pr. PD03] for settings. 23h
x x _ _ For manufacturer setting 2Bh PD23 *DO1 Output device selection 1
_ _ x x Device selection Any output device can be assigned to the CN1-22 pin. When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr. PA03], the CN1-22 pin will become ABSB0 (ABS send data bit 0) only during ABS transfer mode. Refer to table 5.11 for settings.
04h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
Table 5.11 Selectable output devices
Setting value
Output device (Note 1) P S T _ _ 0 0 Always off Always off Always off _ _ 0 2 RD RD RD _ _ 0 3 ALM ALM ALM _ _ 0 4 INP SA Always off _ _ 0 5 MBR MBR MBR (Note 2)
_ _ 0 6 DB DB DB
_ _ 0 7 TLC TLC VLC _ _ 0 8 WNG WNG WNG _ _ 0 9 BWNG BWNG BWNG _ _ 0 A Always off SA Always off _ _ 0 B Always off Always off VLC _ _ 0 C ZSP ZSP ZSP (Note 2)
_ _ 0 D MTTR MTTR MTTR
_ _ 0 F CDPS Always off Always off (Note 2)
_ _ 1 0 CLDS Always off Always off
_ _ 1 1 ABSV Always off Always off
Note 1. P: Position control mode, S: Speed control mode, T: Torque control mode 2. It cannot be set with MR-J4-03A6(-RJ) servo amplifiers.
5. PARAMETERS
5 - 59
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PD24 *DO2 Output device selection 2
_ _ x x Device selection Any output device can be assigned to the CN1-23 pin. When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr. PA03], the CN1-23 pin will become ABSB1 (ABS send data bit 1) only during ABS transfer mode. Refer to table 5.11 in [Pr. PD23] for settings.
0Ch
_ x _ _ For manufacturer setting 0h x _ _ _ 0h PD25 *DO3 Output device selection 3
_ _ x x Device selection Any output device can be assigned to the CN1-24 pin. Refer to table 5.11 in [Pr. PD23] for settings.
04h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h PD26 *DO4 Output device selection 4
_ _ x x Device selection Any output device can be assigned to the CN1-25 pin. When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr. PA03], the CN1-25 pin will become ABST (ABS send data ready) only during ABS transfer mode. Refer to table 5.11 in [Pr. PD23] for settings.
07h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h PD28 *DO6 Output device selection 6
_ _ x x Device selection Any output device can be assigned to the CN1-49 pin. Refer to table 5.11 in [Pr. PD23] for settings.
02h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h PD29 *DIF Input filter setting
Select a filter for the input signal. _ _ _ x Input signal filter selection
If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 0.888 [ms] 2: 1.777 [ms] 3: 2.666 [ms] 4: 3.555 [ms]
4h
_ _ x _ RES (Reset) dedicated filter selection 0: Disabled 1: Enabled (50 [ms])
0h
_ x _ _ CR (Clear) dedicated filter selection 0: Disabled 1: Enabled (50 [ms])
0h
x _ _ _ For manufacturer setting 0h
5. PARAMETERS
5 - 60
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PD30 *DOP1 Function selection D-1
_ _ _ x Stop method selection for LSP (Forward rotation stroke end) off and LSN (Reverse rotation stroke end) off Select a stop method for LSP (Forward rotation stroke end) off and LSN (Reverse rotation stroke end) off. Setting "2" or "3" will trigger [AL. 37] in the mode other than the positioning mode. 0: Quick stop 1: Slow stop
0h
_ _ x _ Base circuit status selection for RES (Reset) on 0: Base circuit shut-off 1: No base circuit shut-off
0h
_ x _ _ For manufacturer setting 0h x _ _ _ Enabled/disabled selection for a thermistor of servo motor or linear servo motor
0: Enabled 1: Disabled The setting in this digit will be disabled when using a servo motor or linear servo motor without thermistor. This parameter is used by servo amplifier with software version A5 or later.
0h
PD31 *DOP2 Function selection D-2
_ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ INP (In-position) on condition selection
Select a condition that INP (In-position) is turned on. 0: Droop pulses are within the in-position range. 1: The command pulse frequency is 0, and droop pulses are within the in-position range. When the position command is not inputted for about 1 ms, the command pulse frequency is decided as 0. This parameter is used by servo amplifier with software version B4 or later.
0h
x _ _ _ For manufacturer setting 0h PD32 *DOP3 Function selection D-3
_ _ _ x CR (Clear) selection Set CR (Clear). 0: Deleting droop pulses at the leading edge of turning on of CR 1: Continuous deleting of droop pulses while CR is on 2: Disabled (available for the software version B3 or later)
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h
x _ _ _ LOP polarity selection The relation between LOP and control modes can be set. When position/speed control switching mode is set
0h
LOP
Setting value of [Pr. PD32] 0 _ _ _ 1 _ _ _ Off Position control mode Speed control mode On Speed control mode Position control mode
When speed/torque control switching mode is set
LOP
Setting value of [Pr. PD32] 0 _ _ _ 1 _ _ _ Off Speed control mode Torque control mode On Torque control mode Speed control mode
When torque/position control switching mode is set
LOP
Setting value of [Pr. PD32] 0 _ _ _ 1 _ _ _ Off Torque control mode Position control mode On Position control mode Torque control mode
This digit is available on servo amplifiers with software version D4 or later.
5. PARAMETERS
5 - 61
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PD33 *DOP4 Function selection D-4
_ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ Rotation direction selection to enable torque limit/travel direction selection to enable
thrust limit Select a direction which enables internal torque limit 2 or external torque limit. Refer to section 3.6.1 (5) for details. 0: Both of "CCW or positive direction" and "CW or negative direction" are enabled. 1: Enabled with "CCW or positive direction" 2: Enabled with "CW or negative direction" This parameter setting is used with servo amplifier with software version B3 or later.
0h
x _ _ _ For manufacturer setting 0h PD34 *DOP5 Function selection D-5
_ _ _ x Alarm code output Select output status of alarm codes. Alarm codes are outputted to the pins CN1-22, CN1-23, and CN1-24. 0: Disabled 1: Enabled For details of the alarm codes, refer to chapter 8. When "1" is set for this digit, setting the following will trigger [AL. 37 Parameter error].
"_ _ _ 1" is set in [Pr. PA03] and the absolute position detection system by DIO is selected. MBR, DB, or ALM is assigned to the CN1-22 pin, CN1-23 pin, or CN1-24 pin.
0h
_ _ x _ Selection of output device at warning occurrence Select ALM (Malfunction) output status at warning occurrence.
0h
Setting value Device status
0
OFF ON
OFF ON
WNG
ALM
Warning occurrence
1
OFF ON
OFF ON
WNG
ALM
Warning occurrence
_ x _ _ For manufacturer setting 0h x _ _ _ 0h PD43 *DI11L Input device selection 11L
Any input device can be assigned to the CN1-10 pin/CN1-37 pin. Setting "00" will assign PP/PP2 (forward rotation pulse). The parameter is available for the following MR-J4-_A_-RJ servo amplifiers. 1) For 100 W or more
CN1-10 pin: Servo amplifiers with software version B3 or later CN1-37 pin: Servo amplifiers manufactured in January 2015 or later with software version B7 or later
2) For 30 W CN1-10 pin/CN1-37 pin: Any software version and production month
_ _ x x Position control mode - Device selection The setting is disabled.
00h
x x _ _ Speed control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
00h
5. PARAMETERS
5 - 62
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PD44 *DI11H Input device selection 11H
Any input device can be assigned to the CN1-10 pin/CN1-37 pin. Setting "00" will assign PP/PP2 (forward rotation pulse). The parameter is available for the following MR-J4-_A_-RJ servo amplifiers. 1) For 100 W or more
CN1-10 pin: Servo amplifiers with software version B3 or later CN1-37 pin: Servo amplifiers manufactured in January 2015 or later with software version B7 or later
2) For 30 W CN1-10 pin/CN1-37 pin: Any software version and production month
_ _ x x Torque control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
00h
x x _ _ For manufacturer setting 3Ah PD45 *DI12L Input device selection 12L
Any input device can be assigned to the CN1-35 pin/CN1-38 pin. Setting "00" will assign NP/NP2 (reverse rotation pulse). The parameter is available for the following MR-J4-_A_-RJ servo amplifiers. 1) For 100 W or more
CN1-35 pin: Servo amplifiers with software version B3 or later CN1-38 pin: Servo amplifiers manufactured in January 2015 or later with software version B7 or later
2) For 30 W CN1-35 pin/CN1-38 pin: Any software version and production month
_ _ x x Position control mode - Device selection The setting is disabled.
00h
x x _ _ Speed control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
00h
PD46 *DI12H Input device selection 12H
Any input device can be assigned to the CN1-35 pin/CN1-38 pin. Setting "00" will assign NP/NP2 (reverse rotation pulse/manual pulse generator). The parameter is available for the following MR-J4-_A_-RJ servo amplifiers. 1) For 100 W or more
CN1-35 pin: Servo amplifiers with software version B3 or later CN1-38 pin: Servo amplifiers manufactured in January 2015 or later with software version B7 or later
2) For 30 W CN1-35 pin/CN1-38 pin: Any software version and production month
_ _ x x Torque control mode - Device selection Refer to table 5.10 in [Pr. PD03] for settings.
00h
x x _ _ For manufacturer setting 3Bh PD47 *DO7 Output device selection 7
Any output device can be assigned to the CN1-13 pin and CN1-14 pin. This parameter is used by MR-J4-_A_-RJ servo amplifier with software version B3 or later. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers. _ _ x x Device selection
Any output device can be assigned to the CN1-13 pin. Refer to table 5.11 in [Pr. PD23] for settings.
00h
x x _ _ Device selection Any output device can be assigned to the CN1-14 pin. Refer to table 5.11 in [Pr. PD23] for settings.
00h
5. PARAMETERS
5 - 63
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PE01 *FCT1 Fully closed loop function selection 1
_ _ _ x Fully closed loop function selection The fully closed loop function is selected. 0: Always enabled 1: Switching with CLD (Fully closed loop control selection)
0h
Selection using the fully closed loop control
selection (CLD) Control method
Off Semi closed loop control On Fully closed loop control To enable the setting, select "Fully closed loop control mode (_ _ 1 _)" of "operation
mode selection" in [Pr. PA01]. Selecting the "switching with CLD (Fully closed loop control selection)" will trigger [AL. 37] while "absolute position detection system selection" is "Enabled (absolute position detection system by DIO) (_ _ _ 1)" in [Pr. PA03] . This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PE03 *FCT2 Fully closed loop function selection 2
_ _ x x Fully closed loop control error detection function selection Select the fully closed loop control error detection function. This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
: Error detection enabled -: Error detection disabled
03h
Setting value
Speed deviation error
Position deviation error During servo-on During servo-
off
With command Command 0 _ _ 0 0 - - - - _ _ 0 1 - - - _ _ 0 2 - _ _ 0 3 _ _ 1 0 - - - - _ _ 1 1 - - - _ _ 1 2 - - - _ _ 1 3 - - _ _ 2 0 - - - - _ _ 2 1 - - - _ _ 2 2 - - _ _ 2 3 - _ x _ _ For manufacturer setting 0h
x _ _ _ Fully closed loop control error reset selection 0: Reset disabled (reset by powering off/on enabled) 1: Reset enabled This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
0h
PE04 *FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator
Set a numerator of electronic gear for the servo motor encoder pulse at the fully closed loop control. Set the electronic gear so that the number of servo motor encoder pulses for one servo motor revolution is converted to the resolution of the load-side encoder. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers. Setting range: 1 to 65535
1
5. PARAMETERS
5 - 64
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PE05 *FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator
Set a denominator of electronic gear for the servo motor encoder pulse at the fully closed loop control. Set the electronic gear so that the number of servo motor encoder pulses for one servo motor revolution is converted to the resolution of the load-side encoder. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers. Setting range: 1 to 65535
1
PE06 BC1 Fully closed loop control - Speed deviation error detection level
Set [AL. 42.9 Fully closed loop control error by speed deviation] of the fully closed loop control error detection. When the speed deviation between the servo motor encoder and load-side encoder becomes larger than the setting value, the alarm will occur. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers. Setting range: 1 to 50000
400 [r/min]
PE07 BC2 Fully closed loop control - Position deviation error detection level
Set [AL. 42.8 Fully closed loop control error by position deviation] of the fully closed loop control error detection. When the position deviation between the servo motor encoder and load-side encoder becomes larger than the setting value, the alarm will occur. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers. Setting range: 1 to 20000
100 [kpulse]
PE08 DUF Fully closed loop dual feedback filter
Set a dual feedback filter band. Refer to section 17.3.1 (7) for details. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers. Setting range: 1 to 4500
10 [rad/s]
PE10 FCT3 Fully closed loop function selection 3
_ _ _ x For manufacturer setting 0h _ _ x _ Fully closed loop control - Position deviation error detection level - Unit selection
0: 1 kpulse unit 1: 1 pulse unit This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
PE34 *FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator
Set a numerator of electronic gear for the servo motor encoder pulse at the fully closed loop control. Set the electronic gear so that the number of servo motor encoder pulses for one servo motor revolution is converted to the resolution of the load-side encoder. Refer to section 17.3.1 (5) for details. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
Setting range: 1 to 65535
1
PE35 *FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator
Set a denominator of electronic gear for the servo motor encoder pulse at the fully closed loop control. Set the electronic gear so that the number of servo motor encoder pulses for one servo motor revolution is converted to the resolution of the load-side encoder. Refer to section 17.3.1 (5) for details. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers.
Setting range: 1 to 65535
1
5. PARAMETERS
5 - 65
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PE41 EOP3 Function selection E-3
_ _ _ x Robust filter selection 0: Disabled 1: Enabled When you select "Enabled" of this digit, the machine resonance suppression filter 5 set in [Pr. PB51] is not available.
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PE44 LMCP Lost motion compensation positive-side compensation value selection
Set the lost motion compensation for when reverse rotation (CW) switches to forward rotation (CCW) in increments of 0.01% assuming the rated torque as 100%. This parameter is available with servo amplifiers with software version B4 or later. Setting range: 0 to 30000
0 [0.01%]
PE45 LMCN Lost motion compensation negative-side compensation value selection
Set the lost motion compensation for when forward rotation (CCW) switches to reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%. This parameter is available with servo amplifiers with software version B4 or later. Setting range: 0 to 30000
0 [0.01%]
PE46 LMFLT Lost motion filter setting
Set the time constant of the lost motion compensation filter in increments of 0.1 ms. If the time constant is "0", the torque is compensated with the value set in [Pr. PE44] and [Pr. PE45]. If the time constant is other than "0", the torque is compensated with the high-pass filter output value of the set time constant, and the lost motion compensation will continue. This parameter is available with servo amplifiers with software version B4 or later. Setting range: 0 to 30000
0 [0.1 ms]
PE47 TOF Torque offset
Set this when canceling unbalanced torque of vertical axis. Set this assuming the rated torque of the servo motor as 100%. The torque offset does not need to be set for a machine not generating unbalanced torque. The torque offset cannot be used for linear servo motors and direct drive motors. Set 0.00%. The torque offset set with this parameter will be enabled in the position control mode, speed control mode, and torque control mode. Input commands assuming torque offset for the torque control mode. This parameter is available with servo amplifiers with software version B4 or later. Setting range: -10000 to 10000
0 [0.01%]
PE48 *LMOP Lost motion compensation function selection
_ _ _ x Lost motion compensation selection 0: Disabled 1: Enabled This parameter is available with servo amplifiers with software version B4 or later.
0h
_ _ x _ Unit setting of lost motion compensation non-sensitive band 0: 1 pulse unit 1: 1 kpulse unit This parameter is available with servo amplifiers with software version B4 or later.
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h PE49 LMCD Lost motion compensation timing
Set the lost motion compensation timing in increments of 0.1 ms. You can delay the timing to perform the lost motion compensation for the set time. This parameter is available with servo amplifiers with software version B4 or later. Setting range: 0 to 30000
0 [0.1 ms]
5. PARAMETERS
5 - 66
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PE50 LMCT Lost motion compensation non-sensitive band
Set the lost motion compensation non-sensitive band. When the fluctuation of the droop pulse is the setting value or less, the speed will be 0. Setting can be changed in [Pr. PE48]. Set the parameter per encoder unit. This parameter is available with servo amplifiers with software version B4 or later. Setting range: 0 to 65535
0 [pulse]/ [kpulse]
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PF09 *FOP5 Function selection F-5
_ _ _ x Electronic dynamic brake selection 0: Automatic (enabled only for specified servo motors) 2: Disabled Refer to the following table for the specified servo motors.
0h
Series Servo motor HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43 HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43 HG-SR HG-SR51/HG-SR52 HG-AK HG-AK0136/HG-AK0236/HG-AK0336 _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PF15 DBT Electronic dynamic brake operating time
Set an operating time for the electronic dynamic brake. Setting range: 0 to 10000
2000 [ms]
PF18 *STOD STO diagnosis error detection time
Set the time from when an error occurs in the STO input signal or STO circuit until the detection of [AL. 68.1 Mismatched STO signal error]. When 0 s is set, the detection of [AL. 68.1 Mismatched STO signal error] is not performed. The following shows safety levels at the time of parameter setting.
0 [s]
Setting value
STO input diagnosis by TOFB output Safety level
0 Execute EN ISO 13849-1:2015 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL2
Not execute
1 to 60 Execute EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3
Not execute EN ISO 13849-1:2015 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL2
When the short-circuit connector is connected to the CN8 connector, set "0" in the parameter. When MR-D30 functional safety unit is used, the parameter is not available. For safety levels at the time of using MR-D30, refer to "MR-D30 Instruction Manual". This parameter is available with servo amplifiers with software version C1 or later. Setting range: 0 to 60
5. PARAMETERS
5 - 67
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PF21 DRT Drive recorder switching time setting
Set a drive recorder switching time. When a USB communication is cut during using a graph function or a graph function is terminated, the function will be changed to the drive recorder function after the settling time of this parameter. When a value from "1" to "32767" is set, it will switch after the setting value. When "0" is set, it will switch after 600 s. When "-1" is set, the drive recorder function is disabled. Setting range: -1 to 32767
0 [s]
PF23 OSCL1 Vibration tough drive - Oscillation detection level
Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration tough drive is enabled. However, setting "0" will be 50%. Example: When you set "50" to the parameter, the filter will be readjusted at the time
of 50% or more oscillation level. Setting range: 0 to 100
50 [%]
PF24 *OSCL2 Vibration tough drive function selection
_ _ _ x Oscillation detection alarm selection Select alarm or warning when an oscillation continues at a filter readjustment sensitivity level of [Pr. PF23]. The digit is continuously enabled regardless of the vibration tough drive in [Pr. PA20]. 0: [AL. 54 Oscillation detection] will occur at oscillation detection. 1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection. 2: Oscillation detection function disabled
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time
Set the time of the [AL. 10.1 Voltage drop in the control circuit power] occurrence. This parameter setting range differs depending on the software version of the servo amplifier as follows.
Software version C0 or earlier: Setting range 30 ms to 200 ms Software version C1 or later: Setting range 30 ms to 500 ms
To comply with SEMI-F47 standard, it is unnecessary to change the initial value (200 ms). When the instantaneous power failure time exceeds 200 ms, and if the instantaneous power failure voltage is less than 70 % of the rated input voltage, the normal power off may occur even if a value larger than 200 ms is set in the parameter. To disable the parameter, set "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr. PA20]. This parameter is not available with MR-J4-03A6(-RJ) servo amplifiers. Setting range: 30 to 500
200 [ms]
5. PARAMETERS
5 - 68
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PF31 FRIC Machine diagnosis function - Friction judgment speed
Set a (linear) servo motor speed that divides a friction estimation area into high and low during the friction estimation process of the machine diagnosis. Setting "0" will set a value half of the rated speed. When your operation pattern is under the rated speed, we recommend that you set a half value of the maximum speed. Set a larger value than the one set in [Pr. PC17 Zero speed] in this parameter. If the speed is the zero speed or less, the friction estimation process is not performed.
Forward rotation direction (Positive direction)
0 r/min
Operation pattern
[Pr. PF31] setting
Maximum speed in operation
Servo motor speed (Linear servo motor speed)
Reverse rotation direction (Negative direction)
(0 mm/s)
Setting range: 0 to permissible speed
0 [r/min]/ [mm/s]
PF34 *SOP3 RS-422 communi- cation function selection 3
_ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ MR-PRU03 selection
Select this if using an MR-PRU03. 0: Disabled 1: Enabled This parameter setting is used with servo amplifier with software version B3 or later. This digit is not available with MR-J4-03A6(-RJ) servo amplifiers.
0h
5. PARAMETERS
5 - 69
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
POINT Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with MR-J4-03A6(-RJ) servo amplifiers.
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PL01 *LIT1 Linear servo motor/DD motor function selection 1
_ _ _ x Linear servo motor/DD motor magnetic pole detection selection The setting value "0" will be enabled only with absolute position linear encoders. 0: Magnetic pole detection disabled 1: Magnetic pole detection at first servo-on 5: Magnetic pole detection at every servo-on
1h
_ _ x _ For manufacturer setting 0h _ x _ _ Stop interval selection at the home position return
Set a stop interval of the home position returning. The digit is enabled only for linear servo motors. 0: 213 (= 8192) pulses 1: 217 (= 131072) pulses 2: 218 (= 262144) pulses 3: 220 (= 1048576) pulses 4: 222 (= 4194304) pulses 5: 224 (= 16777216) pulses 6: 226 (= 67108864) pulses
3h
x _ _ _ For manufacturer setting 0h PL02 *LIM Linear encoder resolution - Numerator
Set a linear encoder resolution with the settings of [Pr. PL02] and [Pr. PL03]. Set the numerator in [Pr. PL02]. This is enabled only for linear servo motors. Setting range: 1 to 65535
1000 [m]
PL03 *LID Linear encoder resolution - Denominator
Set a linear encoder resolution with the settings of [Pr. PL02] and [Pr. PL03]. Set the denominator in [Pr. PL03]. This is enabled only for linear servo motors. Setting range: 1 to 65535
1000 [m]
PL04 *LIT2 Linear servo motor/DD motor function selection 2
_ _ _ x [AL. 42 Servo control error] detection function selection Refer to the following table.
3h
Setting value
Torque/thrust deviation error (Note)
Speed deviation error (Note)
Position deviation error (Note)
0 Disabled
Disabled 1
Disabled Enabled
2 Enabled
Disabled 3 Enabled
4 Disabled
Disabled 5
Enabled Enabled
6 Enabled
Disabled 7 Enabled
Note. Refer to chapter 15 and 16 for details of each deviation error. _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ [AL. 42 Servo control error] detection function controller reset condition selection
0: Reset disabled (reset by powering off/on enabled) 1: Reset enabled
0h
5. PARAMETERS
5 - 70
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PL05 LB1 Position deviation error detection level
Set the position deviation error detection level of the servo control error detection. When the deviation between a model feedback position and actual feedback position is larger than the setting value, [AL. 42 Servo control error] will occur. However, when "0" is set, the level vary depending on the operation mode in [Pr. PA01]. Linear servo motor: 50 mm Direct drive motor: 0.09 rev Setting range: 0 to 1000
0 [mm]/ [0.01 rev]
PL06 LB2 Speed deviation error detection level
Set the speed deviation error detection level of the servo control error detection. When the deviation between a model feedback speed and actual feedback speed is larger than the setting value, [AL. 42 Servo control error] will occur. However, when "0" is set, the level vary depending on the operation mode in [Pr. PA01]. Linear servo motor: 1000 mm/s Direct drive motor: 100 r/min Setting range: 0 to 5000
0 [mm/s]/ [r/min]
PL07 LB3 Torque/thrust deviation error detection level
Set the torque/thrust deviation error detection level of the servo control error detection. When the deviation between a current command and current feedback is larger than the setting value, [AL. 42.3 Servo control error by torque/thrust deviation] will occur. Setting range: 0 to 1000
100 [%]
PL08 *LIT3 Linear servo motor/DD motor function selection 3
_ _ _ x Magnetic pole detection method selection 0: Position detection method 4: Minute position detection method
0h
_ _ x _ For manufacturer setting 1h _ x _ _ Magnetic pole detection - Stroke limit enabled/disabled selection
0: Enabled 1: Disabled
0h
x _ _ _ Minute position detection method - High-resolution encoder selection 0: Disabled 1: Enabled This digit will be enabled when "minute position detection method" is selected in [Pr. PL08 (_ _ _ x)]. If a linear encoder whose resolution is smaller than 0.05 m is used and also [AL. 27 Initial magnetic pole detection error] occurs because the travel distance at magnetic pole detection is too large or vibration occurs, set "1" (enabled). This digit is available on servo amplifiers with software version A8 or later.
0h
PL09 LPWM Magnetic pole detection voltage level
Set a direct current exciting voltage level during the magnetic pole detection. If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the magnetic pole detection, decrease the setting value. If [AL. 27 Initial magnetic pole detection error] occurs during the magnetic pole detection, increase the setting value. Setting range: 0 to 100
30 [%]
5. PARAMETERS
5 - 71
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection
_ _ _ x Response selection Set a response of the minute position detection method. When reducing a travel distance at the magnetic pole detection, increase the setting value. Refer to table 5.12 for settings.
0h
_ _ x _ Load to motor mass ratio/load to motor inertia ratio selection Select a load to mass of the linear servo motor primary-side ratio or load to mass of the direct drive motor inertia ratio used at the minute position detection method. Set a closest value to the actual load. Refer to table 5.13 for settings.
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
Table 5.12 Response of minute position detection method at magnetic pole detection
Setting value Response Setting value Response _ _ _ 0 Low response _ _ _ 8 Middle response _ _ _ 1
_ _ _ 9
_ _ _ 2 _ _ _ A _ _ _ 3 _ _ _ B _ _ _ 4 _ _ _ C _ _ _ 5 _ _ _ D _ _ _ 6 _ _ _ E _ _ _ 7 Middle response _ _ _ F High response Table 5.13 Load to motor mass ratio/load to motor inertia ratio
Setting
value
Load to motor mass ratio/load to motor
inertia ratio
Setting value
Load to motor mass ratio/load to motor
inertia ratio
_ _ 0 _ 10 times or less _ _ 8 _ 80 times _ _ 1 _ 10 times _ _ 9 _ 90 times _ _ 2 _ 20 times _ _ A _ 100 times _ _ 3 _ 30 times _ _ B _ 110 times _ _ 4 _ 40 times _ _ C _ 120 times _ _ 5 _ 50 times _ _ D _ 130 times _ _ 6 _ 60 times _ _ E _ 140 times _ _ 7 _ 70 times _ _ F _ 150 times or more
PL18 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude
Set an identification signal amplitude used in the minute position detection method. This parameter is enabled only when the magnetic pole detection is the minute position detection method. Setting "0" will be 100% amplitude. Setting range: 0 to 100
0 [%]
5. PARAMETERS
5 - 72
5.2.8 Option setting parameters ([Pr. Po_ _ ])
No./symbol/ name
Setting digit Function
Initial value [unit]
Control mode
P S T Po02 *ODI1 MR-D01 input device selection 1
Any input device can be assigned to the CN10-21 pin and CN10-26 pin. _ _ x x CN10-21 selection
Select an input signal function of the CN10-21 pin. Refer to table 5.14 for settings. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
02h
x x _ _ CN10-26 selection Select an input signal function of the CN10-26 pin. Refer to table 5.14 for settings. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
03h
Table 5.14 Selectable input devices
Setting value
Input device (Note) P S T 02 SON SON SON
03 RES RES RES 04 PC PC 05 TL TL 06 CR 07 ST1 ST1 08 ST2 09 TL1 TL1 0A LSP LSP RS2 0B LSN LSN RS1 0D CDP CDP
0E CLD 0F MECR 20 SP1 SP1 21 SP2 SP2 22 SP3 SP3 23 LOP LOP LOP 24 CM1 25 CM2 26 STAB2 STAB2
Note. P: Position control mode, S: Speed control mode, T: Torque control mode The diagonal lines indicate manufacturer settings. Never change the setting.
Po03 *ODI2 MR-D01 input device selection 2
Any input device can be assigned to the CN10-27 pin and CN10-28 pin. _ _ x x CN10-27 selection
Select an input signal function of the CN10-27 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
05h
x x _ _ CN10-28 selection Select an input signal function of the CN10-28 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
09h
5. PARAMETERS
5 - 73
No./symbol/
name Setting
digit Function Initial value [unit]
Control mode
P S T Po04 *ODI3 MR-D01 input device selection 3
Any input device can be assigned to the CN10-29 pin and CN10-30 pin. _ _ x x CN10-28 selection
Select an input signal function of the CN10-28 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
24h
x x _ _ CN10-30 selection Select an input signal function of the CN10-30 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
25h
Po05 *ODI4 MR-D01 input device selection 4
Any input device can be assigned to the CN10-31 pin and CN10-32 pin. _ _ x x CN10-31 selection
Select an input signal function of the CN10-31 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
26h
x x _ _ CN10-32 selection Select an input signal function of the CN10-32 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
20h
Po06 *ODI5 MR-D01 input device selection 5
Any input device can be assigned to the CN10-33 pin and CN10-34 pin. _ _ x x CN10-33 selection
Select an input signal function of the CN10-33 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
27h
x x _ _ CN10-34 selection Select an input signal function of the CN10-34 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
04h
Po07 *ODI6 MR-D01 input device selection 6
Any input device can be assigned to the CN10-35 pin and CN10-36 pin. _ _ x x CN10-35 selection
Select an input signal function of the CN10-35 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
07h
x x _ _ CN10-36 selection Select an input signal function of the CN10-36 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
08h
5. PARAMETERS
5 - 74
No./symbol/
name Setting
digit Function Initial value [unit]
Control mode
P S T Po08 *ODO1 MR-D01 output device selection 1
Any output device can be assigned to the CN10-46 pin and CN10-47 pin. _ _ x x CN10-46 selection
Select an output signal function of the CN10-46 pin. Refer to table 5.15 for settings. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
26h
x x _ _ CN10-47 selection Select an output signal function of the CN10-47 pin. Refer to table 5.15 for settings. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
27h
Table 5.15 Selectable output devices
Setting value
Output device (Note) P S T 00 Always off Always off Always off
02 RD RD RD 03 ALM ALM ALM 04 INP SA Always off 05 MBR MBR MBR 06 DB DB DB 07 TLC TLC VLC 08 WNG WNG WNG 09 BWNG BWNG BWNG 0A Always off SA Always off 0B Always off Always off VLC 0C ZSP ZSP ZSP 0D MTTR MTTR MTTR 0F CDPS Always off Always off 10 CDLS Always off Always off 11 ABSV Always off Always off
Note. P: Position control mode, S: Speed control mode, T: Torque control mode The diagonal lines indicate manufacturer settings. Never change the setting.
Po09 *ODO9 MR-D01 output device selection 2
Any output device can be assigned to the CN10-48 pin and CN10-49 pin. _ _ x x CN10-48 selection
Select an output signal function of the CN10-48 pin. Refer to table 5.15 in [Pr. Po08] for settings. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
23h
x x _ _ CN10-49 selection Select an output signal function of the CN10-49 pin. Refer to table 5.15 in [Pr. Po08] for settings. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
04h
5. PARAMETERS
5 - 75
No./symbol/
name Setting
digit Function Initial value [unit]
Control mode
P S T Po11 *OOP2 Function selection O-2
Select the input devices of the analog speed command, analog speed limit and torque limit. _ _ _ x For manufacturer setting 0h _ _ x _ Override input CN1-2/CN20-2 switching selection
0: CN1-2 pin enabled 1: CN20-2 pin enabled Setting "1" when no MR-D01 has been connected will trigger [AL. 37]. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
0h
_ x _ _ Torque limit CN1-27/CN20-12 switching selection 0: CN1-27 pin enabled 1: CN20-12 pin enabled Setting "1" when no MR-D01 has been connected will trigger [AL. 37]. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
0h
x _ _ _ For manufacturer setting 0h Po12 *OOP3 Function selection O-3
Select an alarm code output setting and an M code output setting. _ _ _ x MR-D01 alarm code output
0: Disabled 1: Enabled Selecting "1" in this digit will output an alarm code when an alarm occurs. This parameter setting is available with servo amplifiers with software version B7 or later. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
0h
_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h
5. PARAMETERS
5 - 76
No./symbol/
name Setting
digit Function Initial value [unit]
Control mode
P S T Po13 *OMOD1 MR-D01 analog monitor 1 output selection
Set a signal to output to Analog monitor 1. _ _ x x Analog monitor 1 output selection
Refer to table 5.16 for settings. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
00h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
Table 5.16 Analog monitor setting value
Setting value Item
Operation mode (Note 1)
St an
da rd
Fu ll.
Li n.
D D
_ _ 0 0 (Linear) servo motor speed (8 V/max. speed)
_ _ 0 1 Torque or thrust (8 V/max. torque or max. thrust) (Note 3)
_ _ 0 2 (Linear) servo motor speed (+8 V/max. speed)
_ _ 0 3 Torque or thrust (+8 V/max. torque or max. thrust) (Note 3)
_ _ 0 4 Current command (8 V/max. current command) _ _ 0 5 Command pulse frequency (10 V/4 Mpulses/s) _ _ 0 6 Servo motor-side droop pulses (10 V/100 pulses)
(Note 2)
_ _ 0 7 Servo motor-side droop pulses (10 V/1000 pulses) (Note 2)
_ _ 0 8 Servo motor-side droop pulses (10 V/10000 pulses) (Note 2)
_ _ 0 9 Servo motor-side droop pulses (10 V/100000 pulses) (Note 2)
_ _ 0 A Feedback position (10 V/1 Mpulse) (Note 2) _ _ 0 B Feedback position (10 V/10 Mpulses) (Note 2) _ _ 0 C Feedback position (10 V/100 Mpulses) (Note 2) _ _ 0 D Bus voltage (200 V class and 100 V class: +8 V/400 V,
400 V class: +8 V/800 V)
_ _ 0 E Speed command 2 (8 V/max. speed) _ _ 1 0 Load-side droop pulses (10 V/100 pulses) (Note 2) _ _ 1 1 Load-side droop pulses (10 V/1000 pulses) (Note 2) _ _ 1 2 Load-side droop pulses (10 V/10000 pulses) (Note 2) _ _ 1 3 Load-side droop pulses (10 V/100000 pulses) (Note 2) _ _ 1 4 Load-side droop pulses (10 V/1 Mpulse) (Note 2) _ _ 1 5 Servo motor-side/load-side position deviation
(10 V/100000 pulses)
_ _ 1 6 Servo motor-side/load-side speed deviation (8 V/max. speed)
_ _ 1 7 Internal temperature of encoder (10 V/128 C)
Note 1. Items with are available for each operation mode. Standard: Semi closed loop system use of the rotary servo motor Full.: Fully closed loop system use of the rotary servo motor Lin.: Linear servo motor use DD: Direct drive motor use
2. Encoder pulse unit 3. 8 V is outputted at the maximum torque. However, when [Pr. PA11] and [Pr. PA12] are set to limit
torque, 8 V is output at the torque highly limited.
5. PARAMETERS
5 - 77
No./symbol/
name Setting
digit Function Initial value [unit]
Control mode
P S T Po14 OMOD2 MR-D01 analog monitor 2 output selection
Set a signal to output to Analog monitor 2. _ _ x x Analog monitor 2 output selection
Select a signal to output to MO2 (Analog monitor 2). Refer to [Pr. Po13] for settings. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
00h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
Po15 OMO1 MR-D01 analog monitor 1 offset
This is used to set the offset voltage of MO1 (Analog monitor 1). This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later. Setting range: -9999 to 9999
0 [mV]
Po16 OMO2 MR-D01 analog monitor 2 offset
This is used to set the offset voltage of MO2 (Analog monitor 2). This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later. Setting range: -9999 to 9999
0 [mV]
Po21 OVCO MR-D01 analog speed command offset/Analog speed limit offset
This is used to set the offset voltage of the analog speed command offset and Analog speed limit offset. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later. Setting range: -9999 to 9999
0 [mV]
Po22 OTLO MR-D01 analog torque limit offset
This is used to set the offset voltage of the analog torque limit. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later. Setting range: -9999 to 9999
0 [mV]
Po27 *ODI7 MR-D01 input device selection 7
Any input device can be assigned to the CN10-18 pin and CN10-19 pin. _ _ x x CN10-18 selection
Select an input signal function of the CN10-18 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
2Ch
x x _ _ CN10-19 selection Select an input signal function of the CN10-19 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
2Dh
Po28 *ODI8 MR-D01 input device selection 8
Any input device can be assigned to the CN10-20 pin. _ _ x x CN10-20 selection
Select an input signal function of the CN10-20 pin. Refer to table 5.14 in [Pr. Po02] for setting values. This parameter setting is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later.
2Eh
x x _ _ For manufacturer setting 00h
5. PARAMETERS
5 - 78
5.3 Stop system when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off
POINT When LSP/LSN is turned off during forced stop deceleration, the servo motor will stop depending on the setting of [Pr. PD30] as follows.
[Pr. PD30] Stop system _ _ _ 0 Switching to sudden stop _ _ _ 1 Continuing forced stop deceleration
To select how to stop the servo motor when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, set the first digit of [Pr. PD30].
[Pr. PD30]
Stop method selection for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off 0: Quick stop 1: Slow stop
Setting value of
[Pr. PD30]
Operation status Remark
During rotation at constant speed During deceleration to a stop
_ _ _ 0
Servo motor speed (linear servo motor speed) 0 r/min
(0 mm/s)
ON OFF
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
LSP or LSN
Servo motor speed (linear servo motor speed) 0 r/min
(0 mm/s)
ON OFF
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
LSP or LSN
The servo motor stops after clearing the droop pulses. A difference between the command position and the current position will be generated. Perform home position setting again.
_ _ _ 1 (Note)
Servo motor speed (linear servo motor speed) 0 r/min
(0 mm/s)
ON OFF
Part of droop pulses
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
LSP or LSN
Servo motor speed (linear servo motor speed) 0 r/min
(0 mm/s)
ON OFF
Part of droop pulses
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
LSP or LSN
The servo motor stops after having traveled for the droop pulses. A difference between the command position and the current position will be generated. Perform home position setting again.
Note. When LSP/LSN is turned off during forced stop deceleration, forced stop deceleration continues.
6. NORMAL GAIN ADJUSTMENT
6 - 1
6. NORMAL GAIN ADJUSTMENT
POINT In the torque control mode, you do not need to make gain adjustment. Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly. In addition, make gain adjustment with a safety margin considering characteristic differences of each machine. It is recommended that generated torque during operation is under 90% of the maximum torque of the servo motor. When you use a linear servo motor, replace the following words in the left to the words in the right. Load to motor inertia ratio Load to motor mass ratio Torque Thrust (Servo motor) speed (Linear servo motor) speed For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited. For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited. Refer to section 7.1.5 (4) for details.
6.1 Different adjustment methods
6.1.1 Adjustment on a single servo amplifier
The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment, execute "Auto tuning mode 2" and "Manual mode" in this order. (1) Gain adjustment mode explanation
Gain adjustment mode [Pr. PA08] setting Estimation of load to motor inertia ratio
Automatically set parameters
Manually set parameters
Auto tuning mode 1 (initial value)
_ _ _ 1 Always estimated GD2 ([Pr. PB06]) PG1 ([Pr. PB07]) PG2 ([Pr. PB08]) VG2 ([Pr. PB09]) VIC ([Pr. PB10])
RSP ([Pr. PA09])
Auto tuning mode 2 _ _ _ 2 Fixed to [Pr. PB06] value PG1 ([Pr. PB07]) PG2 ([Pr. PB08]) VG2 ([Pr. PB09]) VIC ([Pr. PB10])
GD2 ([Pr. PB06]) RSP ([Pr. PA09])
Manual mode _ _ _ 3 GD2 ([Pr. PB06]) PG1 ([Pr. PB07]) PG2 ([Pr. PB08]) VG2 ([Pr. PB09]) VIC ([Pr. PB10])
2 gain adjustment mode 1 (interpolation mode)
_ _ _ 0 Always estimated GD2 ([Pr. PB06]) PG2 ([Pr. PB08]) VG2 ([Pr. PB09]) VIC ([Pr. PB10])
PG1 ([Pr. PB07]) RSP ([Pr. PA09])
2 gain adjustment mode 2 _ _ _ 4 Fixed to [Pr. PB06] value PG2 ([Pr. PB08]) VG2 ([Pr. PB09]) VIC ([Pr. PB10])
GD2 ([Pr. PB06]) PG1 ([Pr. PB07]) RSP ([Pr. PA09])
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(2) Adjustment sequence and mode usage
2 gain adjustment mode 1 (interpolation mode)
Interpolation made for 2 or more
axes?
The load fluctuation is large during driving?
Start
End
Yes
No
Yes
No
Yes
No
No
Yes
One-touch tuning
Yes
Yes
Yes
Error handling is possible?
Handle the error
Adjustment OK?
Finished normally?
2 gain adjustment mode 2
Manual mode
Auto tuning mode 1
Yes
Adjustment OK?
Auto tuning mode 2
No
NoNo
Adjustment OK?
Adjustment OK?
No
6.1.2 Adjustment using MR Configurator2
This section explains the functions and adjustment using the servo amplifier with MR Configurator2.
Function Description Adjustment Machine analyzer With the machine and servo motor coupled,
the characteristic of the mechanical system can be measured by giving a random vibration command from a personal computer to the servo and measuring the machine response.
You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter.
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6.2 One-touch tuning
POINT After the one-touch tuning is completed, "Gain adjustment mode selection" in [Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio], set "Gain adjustment mode selection" in [Pr. PA08] to "Auto tuning mode 1 (_ _ _ 1)". When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value). At start of the one-touch tuning, only when "Auto tuning mode 1 (_ _ _ 1)" or "2 gain adjustment mode 1 (interpolation mode) (_ _ _ 0)" of "Gain adjustment mode selection" is selected in [Pr. PA08], [Pr. PB06 Load to motor inertia ratio] will be estimated. The amplifier command method can be used with the servo amplifier with software version C1 or later and MR Configurator2 with software version 1.45X or later. When the one-touch tuning is executed in the amplifier command method, MR Configurator2 is required. For MR-J4-03A6(-RJ) servo amplifier, one-touch tuning by the amplifier command method is not available.
The one-touch tuning includes two methods: the user command method and the amplifier command method. (1) User command method
You can execute the one-touch tuning with MR Configurator2 or push buttons. The user command method performs one-touch tuning by inputting commands from outside the servo amplifier.
(2) Amplifier command method
You can execute the one-touch tuning with MR Configurator2. In the amplifier command method, when you simply input a travel distance (permissible travel distance) that collision against the equipment does not occur during servo motor driving, a command for the optimum tuning will be generated inside the servo amplifier to perform one-touch tuning.
Servo motor
Moving part
Movable range
Tuning start position Movable range at tuning
Permissible travel distance
Limit switch
Permissible travel distance
Limit switch
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The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment mode selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other parameters will be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning response].
Table 6.1 List of parameters automatically set with one-touch tuning
Parameter Symbol Name Parameter Symbol Name PA08 ATU Auto tuning mode PB15 NH2 Machine resonance suppression filter 2 PA09 RSP Auto tuning response PB16 NHQ2 Notch shape selection 2
PB01 FILT Adaptive tuning mode (adaptive filter II) PB17 NHF Shaft resonance suppression filter PB18 LPF Low-pass filter setting
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)
PB19 VRF11 Vibration suppression control 1 - Vibration frequency
PB20 VRF12 Vibration suppression control 1 - Resonance frequency
PB03 PST Position command acceleration/ deceleration time constant (position smoothing)
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping
PB06 GD2 Load to motor inertia ratio PB23 VFBF Low-pass filter selection PB07 PG1 Model loop gain PB46 NH3 Machine resonance suppression filter 3 PB08 PG2 Position loop gain PB47 NHQ3 Notch shape selection 3 PB09 VG2 Speed loop gain PB48 NH4 Machine resonance suppression filter 4 PB10 VIC Speed integral compensation PB49 NHQ4 Notch shape selection 4 PB12 OVA Overshoot amount compensation PB51 NHQ5 Notch shape selection 5 PB13 NH1 Machine resonance suppression filter 1 PE41 EOP3 Function selection E-3 PB14 NHQ1 Notch shape selection 1
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6.2.1 One-touch tuning flowchart
(1) User command method (a) When you use MR Configurator2
Make one-touch tuning as follows.
Start
Startup of the system
Operation
One-touch tuning start, mode selection
Response mode selection
One-touch tuning execution
One-touch tuning completion
Tuning result check
One-touch tuning in progress
End
Start a system referring to chapter 4. Rotate the servo motor by a controller. (In the user command method, the one-touch tuning cannot be executed if the servo motor is not operating.) Start one-touch tuning of MR Configurator2, and select "User command method". Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning window of MR Configurator2. Click "Start" during servo motor driving to execute one-touch tuning. Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress will be displayed in % in MR Configurator2. When one-touch tuning is completed normally, the parameters described in table 6.1 will be set automatically. When the tuning is not completed normally, the tuning error will be displayed. (Refer to section 6.2.2 (1) (e).) Check the tuning result. When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to section 6.2.2 (1) (h).)
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(b) When you use push buttons
Make one-touch tuning as follows.
Start
Startup of the system
Operation
One-touch tuning start, mode selection
Response mode selection
One-touch tuning execution
One-touch tuning in progress
End
One-touch tuning completion
Tuning result check
Start a system referring to chapter 4. Rotate the servo motor by a controller. (In the user command method, the one-touch tuning cannot be executed if the servo motor is not operating.)
Push the "MODE" button during motor driving to switch to the initial screen ("AUTO.") of the one-touch tuning. Push the "SET" button for 2 s or more during displaying "AUTO" to switch to the response mode selection ("AUTO.").
Push the "UP" or "DOWN" button to select a response mode from "AUTO.H" (High mode), "AUTO." (Basic mode), or "AUTO.L" (Low mode). Push the "SET" button to start one-touch tuning. Push the "SET" button during servo motor driving.
Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress will be displayed in % on the display (five-digit, seven-segment LED). When one-touch tuning is completed normally, the parameters described in table 6.1 will be set automatically. When the tuning is not completed normally, the tuning error will be displayed. (Refer to section 6.2.2 (1) (e) and section 6.2.2 (2) (d).) Check the tuning result. When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to section 6.2.2 (2) (g).)
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(2) Amplifier command method
Make one-touch tuning as follows.
Start
Startup of the system
Movement to tuning start position
One-touch tuning start, mode selection
Input of permissible travel distance
Response mode selection
One-touch tuning execution
One-touch tuning completion
Tuning result check
One-touch tuning in progress
Servo amplifier power cycling
End
Start a system referring to chapter 4. Move the moving part to the center of a movable range. Start one-touch tuning of MR Configurator2, and select "Amplifier command method". In the one-touch tuning window of MR Configurator2, input a maximum travel distance to move the moving part at one-touch tuning.
Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning window of MR Configurator2. While the servo motor is stopped, click "Start" to start one-touch tuning. After the tuning is started, the servo motor will reciprocate automatically. Executing one-touch tuning during servo motor rotation will cause an error. After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller. Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress will be displayed in % in MR Configurator2.
One-touch tuning will be completed automatically after the tuning. When one-touch tuning is completed normally, the parameters described in table 6.1 will be updated automatically. When the tuning is not completed normally, the tuning error will be displayed. (Refer to section 6.2.2 (1) (e).)
Check the tuning result. When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to section 6.2.2 (1) (h).) After executing the one-touch tuning, cycling the power of the servo amplifier returns to the state in which control is performed from the controller.
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6.2.2 Display transition and operation procedure of one-touch tuning
(1) When you use MR Configurator2 (a) Command method selection
Select a command method from two methods in the one-touch tuning window of MR Configurator2.
1)
2)
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1) User command method
It is recommended to input commands meeting the following conditions to the servo amplifier. If one-touch tuning is executed while commands which do not meet the conditions are inputted to the servo amplifier, the one-touch tuning error may occur.
Servo motor speed
Forward rotation 0 r/min Reverse rotation
One cycle time
Dwell time
Deceleration time constant
Travel distance
Acceleration time constant
Fig. 6.1 Recommended command for one-touch tuning in the user command method
Item Description
Travel distance Set 100 pulses or more in encoder unit. Setting less than 100 pulses will cause the one-touch tuning error "C004".
Servo motor speed Set 150 r/min (mm/s) or higher. Setting less than 150 r/min may cause the one-touch tuning error "C005".
Acceleration time constant Deceleration time constant
Set the time to reach 2000 r/min (mm/s) to 5 s or less. Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10% or more of the rated torque. The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration torque is larger, and the one-touch tuning result will be closer to the optimum value.
Dwell time Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".
One cycle time Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".
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2) Amplifier command method
Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed loop control mode, and in the servo motor-side resolution unit for other control modes. In the amplifier command method, the servo motor will be operated in a range between "current value permissible travel distance". Input the permissible travel distance as large as possible within a range that the movable part does not collide against the machine. Inputting a small permissible travel distance decreases the possibility that the moving part will collide against the machine. However, the estimation accuracy of the load to motor inertia ratio may be lower, resulting in improper tuning. Also, executing the one-touch tuning in the amplifier command method will generate a command for the following optimum tuning inside the servo amplifier to start the tuning.
Servo motor speed
Servo motor speed (Note)
Forward rotation 0 r/min Reverse rotation
Dwell time (Note)
Deceleration time constant
(Note)
Travel distance (Note)
Acceleration time constant
(Note)
Note. It will be automatically generated in the servo amplifier.
Fig. 6.2 Command generated by one-touch tuning in the amplifier command method
Item Description
Travel distance An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible travel distance with MR Configurator2.
Servo motor speed A speed not exceeding 1/2 of the rated speed will be automatically set. Acceleration time constant Deceleration time constant
An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of the rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.
Dwell time A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.
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(b) Response mode selection
Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.
Table 6.2 Response mode explanations Response mode Explanation
High mode This mode is for high-rigid system. Basic mode This mode is for standard system. Low mode This mode is for low-rigid system.
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Refer to the following table for selecting a response mode.
Table 6.3 Guideline for response mode
Response mode Response
Machine characteristic Low mode Basic mode High mode Guideline of corresponding machine
Low response
General machine tool conveyor
Arm robot
Precision working machine
Inserter Mounter Bonder
High response
(c) One-touch tuning execution
POINT
For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PA25 One-touch tuning overshoot permissible level] will shorten the settling time and improve the response. When executing one-touch tuning in the amplifier command method, turn on EM2, LSP, and LSN. When you turn off EM2, LSP, and LSN during one-touch tuning, "C008" will be displayed at status in error code, and the one-touch tuning will be canceled. When setting LSP and LSN to automatic on, enable the check box "LSP, LSN auto ON" in the one-touch tuning window of MR Configurator2. When one-touch tuning is executed in the amplifier command method while magnetic pole detection is not being performed, magnetic pole detection will be performed, and then one-touch tuning will start after the magnetic pole detection is completed.
After the response mode is selected in (1) (b) in this section, clicking "Start" will start one-touch tuning. If "Start" is clicked while the servo motor stops, "C002" or "C004" will be displayed at status in error code. (Refer to (1) (e) in this section for error codes.)
Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier command method, an optimum tuning command will be generated in the servo amplifier after servo- on. Then, the servo motor will reciprocate, and the one-touch tuning will be executed. After the tuning is completed or canceled, the servo amplifier will be the servo-off status. When the servo-on command is inputted from outside, the amplifier will be the servo-on status.
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After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller. To return to the state in which control is performed from the controller, cycle the power.
During processing of one-touch tuning, the progress will be displayed as follows. Tuning will be completed at 100%.
Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and the following window will be displayed. Select whether or not to reflect the tuning result in the project.
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After the one-touch tuning is completed, "0000" will be displayed at status in error code. In addition, settling time and overshoot amount will be displayed in "Adjustment result".
(d) Stop of one-touch tuning During one-touch tuning, clicking the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C000" will be displayed at status in error code. After the one-touch tuning is stopped, parameters will return to the values at the start of the one-touch tuning. To stop one-touch tuning, and execute it again, stop the servo motor once. In addition, after returning the moving part to the tuning start position, execute it.
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(e) If an error occurs
If a tuning error occurs during the one-touch tuning, the tuning will be stopped. With that, the following error code will be displayed in status. Check the cause of tuning error. When executing one-touch tuning again, stop the servo motor once. In addition, after returning the moving part to the tuning start position, execute it.
Display Name Error detail Corrective action example C000 Tuning canceled The stop button was clicked during one-touch
tuning.
C001 Overshoot exceeded Overshoot amount is a value larger than the one set in [Pr. PA10 In-position range] and [Pr. PA25 One-touch tuning - Overshoot permissible level].
Increase the in-position range or overshoot permissible level.
C002 Servo-off during tuning The one-touch tuning was attempted in the user command method during servo-off. The servo amplifier will be servo-off status during one-touch tuning.
When executing one-touch tuning in the user command method, turn to servo-on, and then execute it. Prevent the servo amplifier from being the servo-off status during one-touch tuning.
C003 Control mode error 1. The one-touch tuning was attempted while the torque control mode was selected in the control modes.
Select the position control mode or speed control mode for the control mode, and then execute one-touch tuning. Do not change the control mode during the one-touch tuning. 2. During one-touch tuning, the control mode
was attempted to change from the position control mode to the speed control mode.
C004 Time-out 1. One cycle time during the operation has been over 30 s.
Set one cycle time during the operation (time from the command start to the next command start) to 30 s or less.
2. The command speed is slow. Set the servo motor speed to 100 r/min or higher. Error is less likely to occur as the setting speed is higher. When one-touch tuning by the amplifier command is used, set a permissible travel distance so that the servo motor speed is 100 r/min or higher. Set a permissible travel distance to two or more revolutions as a guide value to set the servo motor speed to 100 r/min.
3. The operation interval of the continuous operation is short.
Set the stop interval during operation to 200 ms or more. Error is less likely to occur as the setting time is longer.
C005 Load to motor inertia ratio misestimated
1. The estimation of the load to motor inertia ratio at one-touch tuning was a failure.
Drive the motor with meeting conditions as follows.
The acceleration time constant/deceleration time constant to reach 2000 r/min (mm/s) is 5 s or less. Speed is 150 r/min (mm/s) or higher. The load to servo motor (mass of linear servo motor's primary side or direct drive motor) inertia ratio is 100 times or less. The acceleration/deceleration torque is 10% or more of the rated torque.
2. The load to motor inertia ratio was not estimated due to an oscillation or other influences.
Set to the auto tuning mode that does not estimate the load to motor inertia ratio as follows, and then execute the one-touch tuning.
Select "Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)" of "Gain adjustment mode selection" in [Pr. PA08]. Set [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] properly with manual setting.
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Display Name Error detail Corrective action example C006 Amplifier command start
error One-touch tuning was attempted to start in the amplifier command method under the following speed condition. Servo motor speed: 20 r/min (mm/s) or higher
Execute the one-touch tuning in the amplifier command method while the servo motor is stopped.
C007 Amplifier command generation error
1. One-touch tuning was executed in the amplifier command method when the permissible travel distance is set to 100 pulses or less in the encoder pulse unit, or the distance is set not to increase the servo motor speed to 150 r/min (mm/s) (50 r/min for direct drive motor) or higher at the time of load to motor inertia ratio estimation.
Set a permissible travel distance to 100 pulses or more in the encoder pulse unit, or a distance so as to increase the servo motor speed to 150 r/min (mm/s) (50 r/min for direct drive motor) or higher at the time of load to motor inertia ratio estimation, and then execute the one-touch tuning. Set a permissible travel distance to four or more revolutions as a guide value. Load to motor inertia ratio will be estimated when "0000" or "0001" is set in [Pr. PA08 Auto tuning mode] at the start of one-touch tuning. If the permissible travel distance is short and the servo motor speed cannot be increased to 150 r/min (mm/s) (50 r/min for direct drive motor) or higher, select "Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)" of "Gain adjustment mode selection" in [Pr. PA08].
2. The torque limit has been set to 0. Set the torque limit value to greater than 0. C008 Stop signal EM2, LSP, and LSN were turned off during
one-touch tuning in the amplifier command method.
Review the one-touch tuning start position and permissible travel distance for the amplifier command method. After ensuring safety, turn on EM2, LSP, and LSN.
C009 Parameter Parameters for manufacturer setting have been changed.
Return the parameters for manufacturer setting to the initial values.
C00A Alarm One-touch tuning was attempted to start in the amplifier command method during alarm or warning. Alarm or warning occurred during one-touch tuning by the amplifier command method.
Start one-touch tuning when no alarm or warning occurs. Prevent alarm or warning from occurring during one-touch tuning.
C00F One-touch tuning disabled
"One-touch tuning function selection" in [Pr. PA21] is "Disabled (_ _ _ 0)".
Select "Enabled (_ _ _ 1)".
(f) If an alarm occurs
If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated. Remove the cause of the alarm and execute one-touch tuning again. When executing one-touch tuning in the amplifier command method again, return the moving part to the tuning start position.
(g) If a warning occurs
If a warning which continues the motor driving occurs during one-touch tuning by the user command method, the tuning will be continued. If a warning which does not continue the motor driving occurs during the tuning, one-touch tuning will be stopped. One-touch tuning will be stopped when warning occurs during one-touch tuning by the amplifier command method regardless of the warning type. Remove the cause of the warning, and return the moving part to the tuning start position. Then, execute the tuning again.
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(h) Initializing one-touch tuning
Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to return the parameter to the initial value. Refer to table 6.1 for the parameters which you can initialize. Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 enables to return the parameter to the value before clicking "Start".
When the initialization of one-touch tuning is completed, the following window will be displayed. (returning to initial value)
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(2) When you use push buttons
POINT Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the response mode selection ("AUTO.") without going through the initial screen of the one-touch tuning ("AUTO"). When you use push buttons, one-touch tuning can be executed in the user command method only. Tuning cannot be executed in the amplifier command method with the buttons.
(a) Response mode selection
Select a response mode of the one-touch tuning from 3 modes with "UP" or "DOWN". Refer to (1) (b) in this section for a guideline of response mode.
Response mode selection display
Low mode: This mode is for low-rigid system.
Basic mode: This mode is for standard system.
High mode: This mode is for high-rigid system.
DOWNUP
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(b) One-touch tuning execution
POINT
For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PA25 One-touch tuning - Overshoot permissible level] will shorten the settling time and improve the response.
After the response mode is selected in (a), pushing the "SET" button will start one-touch tuning.
Completing the one-touch tuning will start writing the auto-tuned parameters to the servo amplifier.
The one-touch tuning progress is displayed with 0% to 100%. The decimal point moves right to left in rotation during the tuning. To switch the display to the status display during the tuning, push the "MODE" button.
One-touch tuning in progress
Complete
(c) Stop of one-touch tuning
The stop symbol and error code "C 000" (cancel during tuning) will be displayed by turns with 2 s interval.
2 s interval
Error code
The one-touch tuning mode can be stopped by pushing the "SET" button regardless of displayed item.
Stop symbol
Initial screen Pushing the "SET" button will switch to the initial screen.
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(d) If an error occurs
Check the error cause referring to the table 6.2 of (1) (e) in this section.
2 s interval
Error code
If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the stop symbol and error code from "C 001" to "C 00F" will be displayed by turns with 2 s interval.
Stop symbol
Initial screen Pushing the "SET" button will switch to the initial screen.
(e) If an alarm occurs
If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated and the alarm No. will be displayed.
One-touch tuning in progress
Alarm display
(f) If a warning occurs
If a warning occurs during the one-touch tuning, the alarm No. of the warning will be displayed. When the warning is one which continue the motor driving, the one-touch tuning will be continued.
One-touch tuning in progress
Alarm display (warning)
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(g) Clearing one-touch tuning
Refer to table 6.1 for the parameters which you can clear. You can initialize the parameters changed by the one-touch tuning with the clear mode. You can reset the parameters to before tuning with the back mode.
1) Switch to the initial screen "AUTO" of the one-touch tuning with the "MODE" button.
2) Select the clear mode or back mode with the "UP" or "DOWN" button. One-touch tuning clear mode selection
DOWNUP
To clear the one-touch tuning, push the "SET" button for 2 s.
The one-touch tuning clear mode is in progress. The clear mode symbol blinks for 3 s.
Clearing one-touch tuning is completed, the initial screen will be displayed.
One-touch tuning clear mode display (initializing)
Initial screen
Auto mode
Clear mode
Back mode
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6.2.3 Caution for one-touch tuning
(1) Caution common for user command method and amplifier command method (a) The tuning is not available in the torque control mode.
(b) The one-touch tuning cannot be executed while an alarm or warning which does not continue the
motor driving is occurring.
(c) You can execute the one-touch tuning during the following test operation modes marked by " ".
How to one-touch tuning Test operation mode
Output signal (DO) forced output JOG operation Positioning
operation Motor-less operation
Program operation
MR Configurator2 Push buttons
(d) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or
unusual noise may occur during the tuning. (2) Caution for amplifier command method
(a) Starting one-touch tuning while the servo motor is rotating displays "C006" at status in error code, and the one-touch tuning cannot be executed.
(b) One-touch tuning is not available during the test operation mode. The following test operation modes
cannot be executed during one-touch tuning.
1) Positioning operation
2) JOG operation
3) Program operation
4) Machine analyzer operation
5) Single-step feed
(c) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot, set a value sufficient to prevent machine collision.
(d) When Auto tuning mode 2, Manual mode, or 2 gain adjustment mode 2 is selected in [Pr. PA08 Auto
tuning mode], the load to motor inertia ratio will not be estimated. An optimum acceleration/deceleration command will be generated by [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] at the start of one-touch tuning. When the load to motor inertia ratio is incorrect, the optimum acceleration/deceleration command may not be generated, causing the tuning to fail.
(e) When one-touch tuning is started by using communication, if the communication is interrupted during
the tuning, the servo motor will stop, and the tuning will also stop. The parameter will return to the one at the start of the one-touch tuning.
(f) When one-touch tuning is started during the speed control mode, the mode will be switched to the
position control mode automatically. The tuning result may differ from the one obtained by executing tuning by using the speed command.
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6.3 Auto tuning
6.3.1 Auto tuning mode
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier. (1) Auto tuning mode 1
The servo amplifier is factory-set to the auto tuning mode 1. In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains automatically. The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio 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 all of the following conditions are not satisfied.
The acceleration/deceleration time constant to reach 2000 r/min (mm/s) is 5 s or less. Speed is 150 r/min (mm/s) or higher. The load to servo motor (mass of linear servo motor's primary side or direct drive motor) inertia ratio is 100 times or less. The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode to make gain adjustment.
(2) Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor inertia ratio in [Pr. PB06]. The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter Symbol Name
PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation
6. NORMAL GAIN ADJUSTMENT
6 - 24
6.3.2 Auto tuning mode basis
The block diagram of real-time auto tuning is shown below.
Loop gain PG1, PG2, VG2, VIC
Current control
Load to motor inertia ratio
estimation section Gain table
[Pr. PB06 Load to motor inertia ratio]
Response level setting
Gain adjustment mode selection
[Pr. PA08]
+ -
+ -
Real-time auto tuning section
Set 0 or 1 to turn on.
Switch
Current feedback
Position/speed feedback
Speed feedback
Load moment of inertia
Encoder Command
Automatic setting
[Pr. PA09]
M
Servo motor
0 0 0
When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of estimation are written to [Pr. PB06 Load to motor inertia ratio]. These results can be confirmed on the status display screen of the MR Configurator2. If you have already known the value of the load to motor inertia ratio or failed to estimate, set "Gain adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] to stop the estimation (turning off the switch in above diagram), and set the load to motor inertia ratio ([Pr. PB06]) manually. From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop gains are automatically set on the basis of the internal gain table. The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on. At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as an initial value.
POINT If sudden disturbance torque is imposed during operation, the load to motor inertia ratio may be misestimated temporarily. In such a case, set "Gain adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and then set the correct load to motor inertia ratio in [Pr. PB06]. When any of the auto tuning mode 1 and auto tuning mode settings is changed to the manual mode 2 setting, the current loop gains and load to motor inertia ratio estimation value are saved in the EEP-ROM.
6. NORMAL GAIN ADJUSTMENT
6 - 25
6.3.3 Adjustment procedure by auto tuning
Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment
Acceleration/deceleration repeated
Auto tuning conditions are not satisfied? (Estimation of
load to motor inertia ratio is difficult.)
Load to motor inertia ratio estimation value stable?
Set [Pr. PA08] to "_ _ _ 2" and set [Pr. PB06 Load to motor inertia ratio] manually.
Adjust response level setting so that desired response is achieved on vibration-free level.
To 2 gain adjustment mode 2
Requested performance satisfied?
End
Yes
No
Yes
No
No
Yes
Acceleration/deceleration repeated
6. NORMAL GAIN ADJUSTMENT
6 - 26
6.3.4 Response level setting in auto tuning mode
Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, trackability to a command improves and settling time decreases, but setting the response level too high will generate vibration. Set a value to obtain the desired response level within the vibration-free range. If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr. PB13] to [Pr. PB16], [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. Suppressing machine resonance may allow the response level setting to increase. Refer to section 7.2 and 7.3 for settings of the adaptive tuning mode and machine resonance suppression filter.
[Pr. PA09]
Setting value
Machine characteristic Reference (setting value of MR-J3)
Setting value
Machine characteristic Reference (setting value of MR-J3)
Response Guideline for
machine resonance frequency [Hz]
Response Guideline for
machine resonance frequency [Hz]
1 Low response
2.7 21 Middle response
67.1 17 2 3.6 22 75.6 18 3
4.9 23
85.2 19 4 6.6 24 95.9 20 5 10.0 1 25 108.0 21 6 11.3 2 26 121.7 22 7 12.7 3 27 137.1 23 8 14.3 4 28 154.4 24 9 16.1 5 29 173.9 25
10 18.1 6 30 195.9 26 11 20.4 7 31 220.6 27 12 23.0 8 32 248.5 28 13 25.9 9 33 279.9 29 14 29.2 10 34 315.3 30 15 32.9 11 35 355.1 31 16 37.0 12 36 400.0 32 17 41.7 13 37 446.6 18 47.0 14 38 501.2 19 Middle
response 52.9 15 39 High
response 571.5
20 59.6 16 40 642.7
6. NORMAL GAIN ADJUSTMENT
6 - 27
6.4 Manual mode
If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually.
POINT If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. (Refer to section 7.2 to 7.3.)
(1) For speed control
(a) Parameter The following parameters are used for gain adjustment.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio 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 6.2.3.
2 Change the setting of auto tuning to the manual mode ([Pr. PA08]: _ _ _ 3).
3 Set the estimated value to the load to motor inertia ratio. (If the estimate value with auto tuning is correct, setting change is not required.)
4 Set a small value to the model loop gain. Set a large 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 overshoot 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 the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 7.
Suppression of machine resonance Refer to section 7.2 and 7.3.
9 While checking the motor status, fine-adjust each gain. Fine adjustment
6. NORMAL GAIN ADJUSTMENT
6 - 28
(c) Parameter adjustment
1) [Pr. PB09 Speed loop gain] This parameter determines the response level of the speed control loop. Increasing this value will improve responsiveness, but increasing the value excessively will cause the mechanical system to easily vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Speed loop response frequency [Hz] = (1 + Load to motor inertia ratio) 2
Speed loop gain
2) [Pr. PB10 Speed integral compensation]
To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load to motor inertia ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.
Speed integral compensation setting [ms] 2000 to 3000
Speed loop gain/(1 + Load to motor inertia ratio)
3) [Pr. PB07 Model loop gain]
This parameter determines the response level to a speed command. Increasing the value improves trackability to a speed command, but a too high value will make overshoot liable to occur at settling.
Model loop gain guideline (1 + Load to motor inertia ratio)
Speed loop gain 8
1 4 1 to
(2) For position control
(a) Parameter The following parameters are used for gain adjustment.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation
6. NORMAL GAIN ADJUSTMENT
6 - 29
(b) Adjustment procedure
Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 6.2.3.
2 Change the setting of auto tuning to the manual mode ([Pr. PA08]: _ _ _ 3).
3 Set the estimated value to the load to motor inertia ratio. (If the estimate value with auto tuning is correct, setting change is not required.)
4 Set a small value to the model loop gain and the position loop gain. Set a large 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 overshoot takes place.
Increase the model 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 the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8.
Suppression of machine resonance Refer to section 7.2 and 7.3.
10 While checking the settling characteristic and motor status, fine- adjust each gain.
Fine adjustment
(c) Parameter adjustment
1) [Pr. PB09 Speed loop gain] This parameter determines the response level of the speed control loop. Increasing this value will improve responsiveness, but increasing the value excessively will cause the mechanical system to easily vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Speed loop response frequency [Hz] = (1 + Load to motor inertia ratio) 2
Speed loop gain
2) [Pr. PB10 Speed integral compensation]
To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load to motor inertia ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.
Speed integral compensation setting [ms] 2000 to 3000
Speed loop gain/(1 + Load to motor inertia ratio)
6. NORMAL GAIN ADJUSTMENT
6 - 30
3) [Pr. PB08 Position loop gain]
This parameter determines the response level to a disturbance to the position control loop. Increasing the value increases the response level to the disturbance, but a too high value will increase vibration of the mechanical system.
Position loop gain guideline (1 + Load to motor inertia ratio)
Speed loop gain 8
1 4 1 to
4) [Pr. PB07 Model loop gain]
This parameter determines the response level to a position command. Increasing the value improves trackability to a position command, but a too high value will make overshoot liable to occur at settling.
Model loop gain guideline (1 + Load to motor inertia ratio)
Speed loop gain 8
1 4 1 to
6.5 2 gain adjustment mode
The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command trackability. Other parameters for gain adjustment are set automatically. (1) 2 gain adjustment mode 1 (interpolation mode)
The 2 gain adjustment mode 1 manually set the model loop gain that determines command trackability. The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for gain adjustment to optimum gains using auto tuning response. The following parameters are used for 2 gain adjustment mode 1.
(a) Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
Parameter Symbol Name PB06 GD2 Load to motor inertia ratio PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation
(b) Manually adjusted parameter
The following parameters are adjustable manually.
Parameter Symbol Name PA09 RSP Auto tuning response PB07 PG1 Model loop gain
6. NORMAL GAIN ADJUSTMENT
6 - 31
(2) 2 gain adjustment mode 2
Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load to motor inertia ratio in [Pr. PB06]. The following parameters are used for 2 gain adjustment mode 2.
(a) Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
Parameter Symbol Name PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation
(b) Manually adjusted parameter
The following parameters are adjustable manually.
Parameter Symbol Name PA09 RSP Auto tuning response PB06 GD2 Load to motor inertia ratio PB07 PG1 Model loop gain
(3) Adjustment procedure of 2 gain adjustment mode
POINT Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain adjustment mode.
Step Operation Description
1 Set to the auto tuning mode. Select the auto tuning mode 1.
2 During operation, increase the response level setting value in [Pr. PA09], and return the setting if vibration occurs.
Adjustment in auto tuning mode 1.
3 Check value of the model loop gain and the load to motor inertia ratio in advance.
Check the upper setting limits.
4 Set the 2 gain adjustment mode 1 ([Pr. PA08]: _ _ _ 0). Select the 2 gain
adjustment mode 1 (interpolation mode).
5 When the load to motor inertia ratio is different from the design value, select the 2 gain adjustment mode 2 ([Pr. PA08]: _ _ _ 4) and then set the load to motor inertia ratio manually in [Pr. PB06].
Check the load to motor inertia ratio.
6 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 model loop gain.
7 Considering the interpolation characteristic and motor status, fine-adjust the model loop gain and response level setting. Fine adjustment
6. NORMAL GAIN ADJUSTMENT
6 - 32
(4) Parameter adjustment
[Pr. PB07 Model loop gain] This parameter determines the response level of the position control loop. Increasing the value improves trackability to a position command, but a too high value will make overshoot liable to occur at settling. Number of droop pulses is determined by the following expression.
Number of droop pulses [pulse] = Model loop gain setting
Position command frequency [pulse/s]
Position command frequency differs depending on the operation mode.
Position command frequency
= Speed [r/min]
60 Encoder resolution (number of pulses per servo motor revolution)
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 1
7. SPECIAL ADJUSTMENT FUNCTIONS
POINT The functions given in this chapter need not be used normally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6. When you use a linear servo motor, replace the following words in the left to the words in the right. Load to motor inertia ratio Load to motor mass ratio Torque Thrust (Servo motor) speed (Linear servo motor) speed
7.1 Filter setting
The following filters are available with MR-J4 servo amplifiers.
Command pulse train
Command filter
Low-pass filter
setting
Encoder
Servo motor
PWM M
Load
[Pr. PB18]
+ -
Machine resonance
suppression filter 1
[Pr. PB13] [Pr. PB15] [Pr. PB46] Machine
resonance suppression
filter 2
Machine resonance
suppression filter 3
Machine resonance
suppression filter 4
Machine resonance
suppression filter 5
Shaft resonance
suppression filter
Robust filter
[Pr. PB48] [Pr. PB50]
[Pr. PB17]
Speed control
[Pr. PB49] [Pr. PE41]
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 2
7.1.1 Machine resonance suppression filter
POINT The machine resonance suppression filter is a delay factor for the servo system. Therefore, vibration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide. If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration. A wider notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration. The machine characteristic can be grasped beforehand by the machine analyzer on MR Configurator2. This allows the required notch frequency and notch characteristics to be determined.
If a mechanical system has a unique resonance point, increasing the servo system response level may cause resonance (vibration or unusual noise) in the mechanical system. at that resonance frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system. The setting range is 10 Hz to 4500 Hz.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 3
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width.
R es
po ns
e of
m ec
ha ni
ca l s
ys te
m N
ot ch
ch ar
ac te
ris tic
s
Machine resonance point
Notch frequency Frequency
Frequency
Notch width
Notch depth
You can set five machine resonance suppression filters at most.
Filter Setting parameter Precaution
Parameter that is reset with vibration
tough drive function
Parameter automatically
adjusted with one- touch tuning
Machine resonance suppression filter 1
PB01/PB13/PB14 The filter can be set automatically with "Filter tuning mode selection" in [Pr. PB01].
PB13 PB01/PB13/PB14
Machine resonance suppression filter 2
PB15/PB16 PB15 PB15/PB16
Machine resonance suppression filter 3
PB46/PB47 PB46/PB47
Machine resonance suppression filter 4
PB48/PB49 Enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter. Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation. The shaft resonance suppression filter is enabled for the initial setting.
PB48/PB49
Machine resonance suppression filter 5
PB50/PB51 Enabling the robust filter disables the machine resonance suppression filter 5. The robust filter is disabled for the initial setting.
PB51
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 4
(2) Parameter
(a) Machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]) When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.
(b) Machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in [Pr. PB16]. How to set the machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).
(c) Machine resonance suppression filter 3 ([Pr. PB46]/[Pr. PB47])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection" in [Pr. PB47]. How to set the machine resonance suppression filter 3 ([Pr. PB46]/[Pr. PB47]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).
(d) Machine resonance suppression filter 4 ([Pr. PB48]/[Pr. PB49])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter. How to set the machine resonance suppression filter 4 ([Pr. PB48]/[Pr. PB49]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).
(e) Machine resonance suppression filter 5 ([Pr. PB50]/[Pr. PB51])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5 selection" in [Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance suppression filter 5. How to set the machine resonance suppression filter 5 ([Pr. PB50]/[Pr. PB51]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 5
7.1.2 Adaptive filter II
POINT The machine resonance frequency which adaptive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds. When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated. After filter generation, the adaptive tuning mode automatically shifts to the manual setting. Adaptive tuning generates the optimum filter with the currently set control gains. If vibration occurs when the response setting is increased, execute adaptive tuning again. During adaptive tuning, a filter having the best notch depth at the set control gain is generated. To allow a filter margin against machine resonance, increase the notch depth in the manual setting. Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics. Adaptive tuning in the high accuracy mode is available with servo amplifiers with software version C5 or later. The frequency is estimated more accurately in the high accuracy mode compared to the standard mode. However, the tuning sound may be larger in the high accuracy mode.
(1) Function
Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.
R es
po ns
e of
m ec
ha ni
ca l s
ys te
m N
ot ch
de pt
h
Machine resonance point
Notch frequency Frequency
Frequency
R es
po ns
e of
m ec
ha ni
ca l s
ys te
m N
ot ch
de pt
h
Machine resonance point
Notch frequency Frequency
Frequency
When machine resonance is large and frequency is low
When machine resonance is small and frequency is high
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 6
(2) Parameter
Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)]. [Pr. PB01]
Filter tuning mode selection
0 0
0 1 2
Setting value Filter tuning mode selection
Disabled Automatic setting Manual setting
PB13/PB14
Automatically set parameter
Tuning accuracy selection (Note) 0: Standard 1: High accuracy
Note. This digit is available with servo amplifier with software version C5 or later.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 7
(3) Adaptive tuning mode procedure
No
No
Yes
Yes
No
Yes
Execute or re-execute adaptive tuning in the high accuracy mode. (Set [Pr. PB01] to "1 _ _ 1".)
In the standard mode In the high accuracy mode
Execute or re-execute adaptive tuning in the standard mode. (Set [Pr. PB01] to "0 _ _ 1".)
Tuning ends automatically after the predetermined period of time. ([Pr. PB01] will be "_ _ _ 2" or "_ _ _ 0".)
Adaptive tuning
Operation
Is the target response reached?
Decrease the response until vibration or unusual noise is resolved.
End
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.
Factor The response has increased to the machine limit. The machine is too complicated to provide the optimum filter.
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.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 8
7.1.3 Shaft resonance suppression filter
POINT This filter is set properly by default according to servo motor you use and load moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0" (automatic setting) because changing "Shaft resonance suppression filter selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may lower the performance.
(1) Function
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses the vibration. When you select "Automatic setting", the filter will be set automatically on the basis of the motor you use and the load to motor inertia ratio. The disabled setting increases the response of the servo amplifier for high resonance frequency.
(2) Parameter
Set "Shaft resonance suppression filter selection" in [Pr. PB23]. [Pr. PB23]
Shaft resonance suppression filter selection 0: Automatic setting 1: Manual setting 2: Disabled
0 0 0
To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting". To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting values are as follows.
Shaft resonance suppression filter setting frequency selection
Setting value Frequency [Hz] Setting
value Frequency [Hz]
_ _ 0 0 Disabled _ _ 1 0 562 _ _ 0 1 Disabled _ _ 1 1 529 _ _ 0 2 4500 _ _ 1 2 500 _ _ 0 3 3000 _ _ 1 3 473 _ _ 0 4 2250 _ _ 1 4 450 _ _ 0 5 1800 _ _ 1 5 428 _ _ 0 6 1500 _ _ 1 6 409 _ _ 0 7 1285 _ _ 1 7 391 _ _ 0 8 1125 _ _ 1 8 375 _ _ 0 9 1000 _ _ 1 9 360 _ _ 0 A 900 _ _ 1 A 346 _ _ 0 B 818 _ _ 1 B 333 _ _ 0 C 750 _ _ 1 C 321 _ _ 0 D 692 _ _ 1 D 310 _ _ 0 E 642 _ _ 1 E 300 _ _ 0 F 600 _ _ 1 F 290
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 9
7.1.4 Low-pass filter
(1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a default. The filter frequency of the low-pass filter is automatically adjusted to the value in the following equation.
Filter frequency ([rad/s]) = 1 + GD2 VG2
10
However, when an automatically adjusted value is smaller than VG2, the filter frequency will be the VG2 value. To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr. PB23].
(2) Parameter
Set "Low-pass filter selection" in [Pr. PB23]. [Pr. PB23]
Low-pass filter selection 0: Automatic setting 1: Manual setting 2: Disabled
0 0 0
7.1.5 Advanced vibration suppression control II
POINT The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is "Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)". The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range, set manually. Stop the servo motor before changing the vibration suppression control-related parameters. Otherwise, it may cause an unexpected operation. For positioning operation during execution of vibration suppression control tuning, provide a stop time to ensure a stop after vibration damping. Vibration suppression control tuning may not make normal estimation if the residual vibration at the servo motor side is small. Vibration suppression control tuning sets the optimum parameter with the currently set control gains. When the response setting is increased, set vibration suppression control tuning again. When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 10
(1) Function
Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not vibrate.
Vibration suppression: off (normal)
Servo motor side Load side
t
Po si
tio n
Vibration suppression control: on
Servo motor side Load side
Po si
tio n
t
When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine side vibration two times at most. In the vibration suppression control tuning mode, this mode shifts to the manual setting after the positioning operation is performed the predetermined number of times. For manual setting, adjust the vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr. PB52] to [Pr. PB55].
(2) Parameter
Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)]. When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning mode selection" in addition.
[Pr. PB02]
Vibration suppression control 1 tuning mode
0 0
_ _ _ 0 _ _ _ 1 _ _ _ 2
Setting value
Vibration suppression control 1 tuning mode selection
Disabled Automatic setting Manual setting
PB19/PB20/PB21/PB22
Automatically set parameter
Vibration suppression control 2 tuning mode
_ _ 0 _ _ _ 1 _ _ _ 2 _
Setting value
Vibration suppression control 2 tuning mode selection
Disabled Automatic setting Manual setting
PB52/PB53/PB54/PB55
Automatically set parameter
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 11
(3) Vibration suppression control tuning procedure
The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning.
No
Vibration suppression control tuning
Operation
Is the target response reached?
Execute or re-execute vibration suppression control tuning. (Set [Pr. PB02] to "_ _ _ 1".)
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 a machine analyzer or considering load-side vibration waveform, set the vibration suppression control manually.
Factor Estimation cannot be made as load-side vibration has not been transmitted to the servo motor side. The response of the model loop gain has increased to the load-side vibration frequency (vibration suppression control limit).
Yes
Tuning ends automatically after positioning operation is performed the predetermined number of times. ([Pr. PB02] will be "_ _ _ 2" or "_ _ _ 0".)
Stop operation.
Resume operation.
7. SPECIAL ADJUSTMENT FUNCTIONS
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(4) Vibration suppression control manual mode
POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external equipment, do not set the same value but set different values to improve the vibration suppression performance. The setting range of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53] varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled.
Measure work-side vibration and device shake with the machine analyzer or external measuring instrument, and set the following parameters to adjust vibration suppression control manually.
Setting item Vibration suppression
control 1 Vibration suppression
control 2 Vibration suppression control - Vibration frequency [Pr. PB19] [Pr. PB52]
Vibration suppression control - Resonance frequency [Pr. PB20] [Pr. PB53]
Vibration suppression control - Vibration frequency damping [Pr. PB21] [Pr. PB54]
Vibration suppression control - Resonance frequency damping [Pr. PB22] [Pr. PB55]
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 13
Step 1 Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or
"Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr. PB02].
Step 2 Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control - Resonance frequency" as follows.
However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency have the following usable range and recommended range.
Vibration suppression
control Usable range Recommended setting range
Vibration suppression control 1
[Pr. PB19] > 1/2 (0.9 [Pr. PB07]) [Pr. PB20] > 1/2 (0.9 [Pr. PB07])
[Pr. PB19] > 1/2 (1.5 [Pr. PB07]) [Pr. PB20] > 1/2 (1.5 [Pr. PB07])
Vibration suppression control 2
When [Pr. PB19] < [Pr. PB52], [Pr. PB52] > (5.0 + 0.1 [Pr. PB07]) [Pr. PB53] > (5.0 + 0.1 [Pr. PB07])
1.1 < [Pr. PB52]/[Pr. PB19] < 5.5 [Pr. PB07] < 2 (0.3 [Pr. PB19] + 1/8 [Pr. PB52])
When [Pr. PB19] < [Pr. PB52], [Pr. PB52], [Pr. PB53] > 6.25 Hz 1.1 < [Pr. PB52]/[Pr. PB19] < 4
[Pr. PB07] < 1/3 (4 [Pr. PB19] + 2 [Pr. PB52])
(a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external
equipment.
1 Hz
Gain characteristics
Phase
-90 degrees
300 Hz
Vibration suppression control 1 - Vibration frequency
(anti-resonance frequency) [Pr. PB19]
Vibration suppression control 1 - Resonance frequency
[Pr. PB20]
Vibration suppression control 2 - Vibration frequency
(anti-resonance frequency) [Pr. PB52]
Vibration suppression control 2 - Resonance frequency
[Pr. PB53]
Resonance of more than 300 Hz is not the target of control.
(b) When vibration can be confirmed using monitor signal or external sensor
t
Motor-side vibration (droop pulses)
Position command frequency
t
External acceleration pickup signal, etc.
Vibration suppression control - Vibration frequency
Vibration suppression control - Resonance frequency
Set the same value.
Vibration cycle [Hz] Vibration cycle [Hz]
Step 3 Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration suppression control - Resonance frequency damping".
7. SPECIAL ADJUSTMENT FUNCTIONS
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7.1.6 Command notch filter
POINT By using the advanced vibration suppression control II and the command notch filter, the load-side vibration of three frequencies can be suppressed. The frequency range of machine vibration, which can be supported by the command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to the machine vibration frequency and within the range. When [Pr. PB45 Command notch filter] is changed during the positioning operation, the changed setting is not reflected. The setting is reflected approximately 150 ms after the servo motor stops (after servo-lock).
(1) Function
Command notch filter has a function that lowers the gain of the specified frequency contained in a position command. By lowering the gain, load-side vibration, such as work-side vibration and base shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be set.
Po si
tio n
Load side
t
Command notch filter: disabled
Load side
t
Po si
tio n
Command notch filter: enabled
7. SPECIAL ADJUSTMENT FUNCTIONS
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(2) Parameter
Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency, set the closest value to the vibration frequency [Hz] at the load side.
Setting value
Command notch filter setting frequency Setting value
Frequency [Hz]
00 01 02 03
0
Frequency [Hz]
Setting value
Frequency [Hz]
04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F
20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F
40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F
Disabled 2250 1125 750 562 450 375 321 281 250 225 204 187 173 160 150 140 132 125 118 112 107 102 97 93 90 86 83 80 77 75 72
70 66 62 59 56 53 51 48 46 45 43 41 40 38 37 36
35.2 33.1 31.3 29.6 28.1 26.8 25.6 24.5 23.4 22.5 21.6 20.8 20.1 19.4 18.8 18.2
17.6 16.5 15.6 14.8 14.1 13.4 12.8 12.2 11.7 11.3 10.8 10.4 10.0 9.7 9.4 9.1 8.8 8.3 7.8 7.4 7.0 6.7 6.4 6.1 5.9 5.6 5.4 5.2 5.0 4.9 4.7 4.5
Notch depth
0 1 2 3 4 5 6 7 8 9 A B C D E F
Setting value
Depth [dB]
[Pr. PB45]
-40.0 -24.1 -18.1 -14.5 -12.0 -10.1 -8.5 -7.2 -6.0 -5.0 -4.1 -3.3 -2.5 -1.8 -1.2 -0.6
7. SPECIAL ADJUSTMENT FUNCTIONS
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7.2 Gain switching function
You can switch gains with the function. You can switch gains during rotation and during stop, and can use an input device to switch gains during operation. 7.2.1 Applications
The following shows when you use the function. (1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation. (2) You want to increase the gains during settling to shorten the stop settling time. (3) You want to change the gains using an input device to ensure stability of the servo system since the load
to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).
7. SPECIAL ADJUSTMENT FUNCTIONS
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7.2.2 Function block diagram
The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition].
Command pulse frequency
+ -
Droop pulses
Model speed
Input device (CDP)
Comparator
Changing
CDP [Pr. PB26]
+ -
+ -
GD2 [Pr. PB06]
GD2B [Pr. PB29]
Enabled GD2 value
PG1 [Pr. PB07]
PG1B [Pr. PB60]
Enabled PG1 value
PG2 [Pr. PB08]
PG2B [Pr. PB30]
Enabled PG2 value
VG2 [Pr. PB09]
VG2B [Pr. PB31]
Enabled VG2 value
VIC [Pr. PB10]
VICB [Pr. PB32]
Enabled VIC value
VRF11 [Pr. PB19]
VRF1B [Pr. PB33]
Enabled VRF11 value
VRF12 [Pr. PB20]
VRF2B [Pr. PB34]
Enabled VRF12 value
CDL [Pr. PB27]
VRF13 [Pr. PB21]
VRF3B [Pr. PB35]
Enabled VRF13 value
VRF14 [Pr. PB22]
VRF4B [Pr. PB36]
Enabled VRF14 value
VRF21 [Pr. PB52]
VRF21B [Pr. PB56]
Enabled VRF21 value
VRF22 [Pr. PB53]
VRF22B [Pr. PB57]
Enabled VRF22 value
VRF23 [Pr. PB54]
VRF23B [Pr. PB58]
Enabled VRF23 value
VRF24 [Pr. PB55]
VRF24B [Pr. PB59]
Enabled VRF24 value
7. SPECIAL ADJUSTMENT FUNCTIONS
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7.2.3 Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode. (1) Parameter for setting gain switching condition
Parameter Symbol Name Unit Description PB26 CDP Gain switching function Select a switching condition. PB27 CDL Gain switching condition [kpulse/s]
/[pulse] /[r/min]
Set a switching condition values.
PB28 CDT Gain switching time constant [ms] Set the filter time constant for a gain change at switching.
(a) [Pr. PB26 Gain switching function]
Used to set the gain switching condition. Select the switching condition in the first to third digits.
Gain switching selection 0: Disabled 1: Input device (gain switching (CDP)) 2: Command frequency 3: Droop pulses 4: Servo motor speed/linear servo motor speed
0
Gain switching condition 0: Gain after switching is enabled with gain switching condition or more 1: Gain after switching is enabled with gain switching condition or less
[Pr. PB26]
Gain switching time constant disabling condition selection (Note) 0: Switching time constant enabled 1: Switching time constant disabled 2: Return time constant disabled
Note. This parameter setting is available with servo amplifiers with software version B4 or later.
(b) [Pr. PB27 Gain switching condition]
Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or "Servo motor speed" with the gain switching selection in [Pr. PB26 Gain switching function]. The setting unit is as follows.
Gain switching condition Unit
Command frequency [kpulse/s] Droop pulses [pulse]
Servo motor speed [r/min]
(c) [Pr. PB28 Gain switching time constant]
You can set the primary delay filter to each gain at gain switching. This parameter is used to suppress shock given to the machine if the gain difference is large at gain switching, for example.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 19
(2) Switchable gain parameter
Loop gain Before switching After switching
Parameter Symbol Name Parameter Symbol Name Load to motor inertia ratio/ load to motor mass ratio
PB06 GD2 Load to motor inertia ratio/ load to motor mass ratio
PB29 GD2B Load to motor inertia ratio/ load to motor mass ratio
Model loop gain PB07 PG1 Model loop gain PB60 PG1B Model loop gain after gain switching
Position loop gain PB08 PG2 Position loop gain PB30 PG2B Position loop gain after gain switching
Speed loop gain PB09 VG2 Speed loop gain PB31 VG2B Speed loop gain after gain switching
Speed integral compensation
PB10 VIC Speed integral compensation
PB32 VICB Speed integral compensation after gain switching
Vibration suppression control 1 - Vibration frequency
PB19 VRF11 Vibration suppression control 1 - Vibration frequency
PB33 VRF1B Vibration suppression control 1 - Vibration frequency after gain switching
Vibration suppression control 1 - Resonance frequency
PB20 VRF12 Vibration suppression control 1 - Resonance frequency
PB34 VRF2B Vibration suppression control 1 - Resonance frequency after gain switching
Vibration suppression control 1 - Vibration frequency damping
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping
PB35 VRF3B Vibration suppression control 1 - Vibration frequency damping after gain switching
Vibration suppression control 1 - Resonance frequency damping
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping
PB36 VRF4B Vibration suppression control 1 - Resonance frequency damping after gain switching
Vibration suppression control 2 - Vibration frequency
PB52 VRF21 Vibration suppression control 2 - Vibration frequency
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching
Vibration suppression control 2 - Resonance frequency
PB53 VRF22 Vibration suppression control 2 - Resonance frequency
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching
Vibration suppression control 2 - Vibration frequency damping
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching
Vibration suppression control 2 - Resonance frequency damping
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching
(a) [Pr. PB06] to [Pr. PB10]
These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio, position loop gain, model loop gain, speed loop gain, and speed integral compensation to be switched.
(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]
These parameters are the same as in ordinary manual adjustment. Executing gain switching while the servo motor stops, You can change vibration frequency, resonance frequency, vibration frequency damping, and resonance frequency damping.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 20
(c) [Pr. PB29 Load to motor inertia ratio after gain switching]
Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia ratio].
(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],
and [Pr. PB32 Speed integral compensation after gain switching] Set the values of after switching position loop gain, speed loop gain and speed integral compensation.
(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]),
and [Pr. PB60 Model loop gain after gain switching] The gain switching vibration suppression control and gain switching model loop gain are used only with input device (CDP) on/off. You can switch the vibration frequency, resonance frequency, vibration frequency damping, resonance frequency damping, and model loop gain of the vibration suppression control 1 and vibration suppression control 2.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 21
7.2.4 Gain switching procedure
This operation will be described by way of setting examples. (1) When you choose switching by input device (CDP)
(a) Setting example
Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio/load to motor
mass ratio 4.00 [Multiplier]
PB07 PG1 Model loop gain 100 [rad/s] PB08 PG2 Position loop gain 120 [rad/s] PB09 VG2 Speed loop gain 3000 [rad/s] PB10 VIC Speed integral compensation 20 [ms] PB19 VRF11 Vibration suppression control 1 - Vibration
frequency 50 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency
50 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping
0.20
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping
0.20
PB52 VRF21 Vibration suppression control 2 - Vibration frequency
20 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency
20 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping
0.10
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping
0.10
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching
10.00 [Multiplier]
PB60 PG1B Model loop gain after gain switching 50 [rad/s] PB30 PG2B Position loop gain after gain switching 84 [rad/s] PB31 VG2B Speed loop gain after gain switching 4000 [rad/s] PB32 VICB Speed integral compensation after gain
switching 50 [ms]
PB26 CDP Gain switching function 0001 (Switch by input device (CDP) on/off.)
PB28 CDT Gain switching time constant 100 [ms] PB33 VRF1B Vibration suppression control 1 - Vibration
frequency after gain switching 60 [Hz]
PB34 VRF2B Vibration suppression control 1 - Resonance frequency after gain switching
60 [Hz]
PB35 VRF3B Vibration suppression control 1 - Vibration frequency damping after gain switching
0.15
PB36 VRF4B Vibration suppression control 1 - Resonance frequency damping after gain switching
0.15
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching
30 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching
30 [Hz]
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching
0.05
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching
0.05
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 22
(b) Switching timing chart
After-switching gain
63.4%
CDT = 100 ms Before-switching gain
Gain switching
CDP (gain switching) OFF ON OFF
Model loop gain 100 50 100 Load to motor inertia ratio/load to motor mass ratio 4.00 10.00 4.00
Position loop gain 120 84 120 Speed loop gain 3000 4000 3000 Speed integral compensation 20 50 20 Vibration suppression control 1 - Vibration frequency 50 60 50
Vibration suppression control 1 - Resonance frequency 50 60 50
Vibration suppression control 1 - Vibration frequency damping 0.20 0.15 0.20
Vibration suppression control 1 - Resonance frequency damping 0.20 0.15 0.20
Vibration suppression control 2 - Vibration frequency 20 30 20
Vibration suppression control 2 - Resonance frequency 20 30 20
Vibration suppression control 2 - Vibration frequency damping 0.10 0.05 0.10
Vibration suppression control 2 - Resonance frequency damping 0.10 0.05 0.10
(2) When you choose switching by droop pulses
The vibration suppression control after gain switching and model loop gain after gain switching cannot be used.
(a) Setting example
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio
4.00 [Multiplier]
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 Load to motor inertia ratio/load to
motor mass ratio after gain switching
10.00 [Multiplier]
PB30 PG2B Position loop gain after gain switching
84 [rad/s]
PB31 VG2B Speed loop gain after gain switching
4000 [rad/s]
PB32 VICB Speed integral compensation after gain switching
50 [ms]
PB26 CDP Gain switching selection 0003 (switching by droop pulses)
PB27 CDL Gain switching condition 50 [pulse] PB28 CDT Gain switching time constant 100 [ms]
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 23
(b) Switching timing chart
After-switching gain
63.4%
CDT = 100 ms Before-switching gain
Gain switching
Droop pulses [pulse]
+CDL
-CDL 0
Command pulses Droop pulses
Command pulses
Load to motor inertia ratio 4.00 10.00 4.00 10.00 Position loop gain 120 84 120 84 Speed loop gain 3000 4000 3000 4000 Speed integral compensation 20 50 20 50
(3) When the gain switching time constant is disabled
(a) Switching time constant disabled was selected. The gain switching time constant is disabled. The time constant is enabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr. PB28 (CDT)] = 100 [ms].
Command pulses
Droop pulses
+100 pulses
-100 pulses 0Droop pulses [pulse]
Switching at 0 ms in switching time constant disabled
After-switching gain
Before-switching gain
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning) CDT = 100 ms
63.4%
Switching at 0 ms
After-switching gain
Gain switching
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 24
(b) Return time constant disabled was selected.
The gain switching time constant is enabled. The time constant is disabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28 (CDT)] = 100 [ms].
ONCDP (Gain switching)
After-switching gain
Before-switching gain
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)
CDT = 100 ms
Return time constant disabled Switching at 0 ms
OFF OFF
63.4%
Gain switching
7. SPECIAL ADJUSTMENT FUNCTIONS
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7.3 Tough drive function
POINT Set enable/disable of the tough drive function with [Pr. PA20 Tough drive setting]. (Refer to section 5.2.1.)
This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive functions are the vibration tough drive and the instantaneous power failure tough drive. 7.3.1 Vibration tough drive function
This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to varied vibration frequency caused by machine aging. To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance. Set [Pr. PB13] and [Pr. PB15] as follows. (1) One-touch tuning execution (section 6.1) (2) Manual setting (section 4.2.2) The vibration tough drive function operates when a detected machine resonance frequency is within 30% for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance suppression filter 2]. To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation detection level].
POINT Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is performed constantly. However, the number of write times to the EEPROM is limited to once per hour. The vibration tough drive function does not reset [Pr. PB46 Machine resonance suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr. PB50 Machine resonance suppression filter 5]. The vibration tough drive function does not detect a vibration of 100 Hz or less.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 26
The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a parameter whose set value is closer.
Filter Setting parameter Precaution
Parameter that is reset with vibration
tough drive function
Machine resonance suppression filter 1
PB01/PB13/PB14 The filter can be set automatically with "Filter tuning mode selection" in [Pr. PB01].
PB13
Machine resonance suppression filter 2
PB15/PB16 PB15
Machine resonance suppression filter 3
PB46/PB47
Machine resonance suppression filter 4
PB48/PB49 Enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter. Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation. The shaft resonance suppression filter is enabled for the initial setting.
Machine resonance suppression filter 5
PB50/PB51 Enabling the robust filter disables the machine resonance suppression filter 5. The robust filter is disabled for the initial setting.
Command pulse train
Command filter
Encoder
Servo motor
PWM M
Load
+ -
Machine resonance
suppression filter 1
[Pr. PB13] [Pr. PB15] [Pr. PB46] Machine
resonance suppression
filter 2
Machine resonance
suppression filter 3
Machine resonance
suppression filter 4
Machine resonance
suppression filter 5
Shaft resonance
suppression filter
Robust filter
[Pr. PB48] [Pr. PB50]
[Pr. PB17]
[Pr. PB49] [Pr. PE41]
Updates the parameter whose setting is the closest to the machine resonance frequency.
Vibration tough drive
Torque
ALM (Malfunction)
WNG (Warning)
MTTR (During tough drive)
ON
OFF
[Pr. PF23 Vibration tough drive - Oscillation detection level]
Detects the machine resonance and reconfigures the filter automatically.
During tough drive (MTTR) is not turned on in the vibration tough drive function.
ON
OFF
ON
OFF
5 s
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 27
7.3.2 Instantaneous power failure tough drive function
The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the tolerance against instantaneous power failure using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL. 10 Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the control circuit power] detection time for the control circuit power supply can be changed by [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. In addition, [AL. 10.2 Voltage drop in the main circuit power] detection level for the bus voltage is changed automatically.
POINT MBR (Electromagnetic brake interlock) will not turn off during the instantaneous power failure tough drive. When selecting "Enabled (_ _ _ 1)" for "Torque limit function selection at instantaneous power failure" in [Pr. PA26], if an instantaneous power failure occurs during operation, you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration. You can also delay the time until the occurrence of [AL. 10.2 Voltage drop in the main circuit power]. Doing this will enable you to set a longer time in [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. When the load of instantaneous power failure is large, [AL. 10.2] caused by the bus voltage drop may occur regardless of the set value of [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs. MR-J4-03A6(-RJ) servo amplifier is not compatible with instantaneous power failure tough drive. The setting range of [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] differs depending on the software version of the servo amplifier as follows.
Software version C0 or earlier: Setting range 30 ms to 200 ms Software version C1 or later: Setting range 30 ms to 500 ms
To comply with SEMI-F47 standard, it is unnecessary to change the initial value (200 ms). When the instantaneous power failure time exceeds 200 ms, and if the instantaneous power failure voltage is less than 70 % of the rated input voltage, the power may be turned off normally even if a value larger than 200 ms is set in the parameter.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 28
(1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time] The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. MTTR (During tough drive) turns on after detecting the instantaneous power failure. MBR (Electromagnetic brake interlock) turns off when the alarm occurs.
Control circuit power supply
Bus voltage
Undervoltage level (Note)
ALM (Malfunction)
[Pr. PF25]
Instantaneous power failure time of the control circuit power supply
MTTR (During tough drive)
MBR (Electromagnetic brake interlock)
Base circuit
ON OFF
ON (energization) OFF (power failure)
ON OFF
WNG (Warning)
ON OFF
ON OFF
ON OFF
Note. Refer to table 7.1 for the undervoltage level.
7. SPECIAL ADJUSTMENT FUNCTIONS
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(2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time] Operation status differs depending on how bus voltage decrease.
(a) When the bus voltage decrease lower than undervoltage level within the instantaneous power failure
time of the control circuit power supply [AL. 10 Undervoltage] occurs when the bus voltage decrease lower than undervoltage level regardless of the enabled instantaneous power failure tough drive.
ON (energization) OFF (power failure)
[Pr. PF25]
Instantaneous power failure time of the control circuit power supply
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
Control circuit power supply
Bus voltage
Undervoltage level (Note)
ALM (Malfunction)
MTTR (During tough drive)
MBR (Electromagnetic brake interlock)
Base circuit
WNG (Warning)
Note. Refer to table 7.1 for the undervoltage level.
7. SPECIAL ADJUSTMENT FUNCTIONS
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(b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power
failure time of the control circuit power supply The operation continues without alarming.
Control circuit power supply
Bus voltage
Undervoltage level (Note)
ALM (Malfunction)
MTTR (During tough drive)
MBR (Electromagnetic brake interlock)
Base circuit
WNG (Warning)
[Pr. PF25]
Instantaneous power failure time of the control circuit power supply
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON (energization) OFF (power failure)
Note. Refer to table 7.1 for the undervoltage level.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 31
7.4 Compliance with SEMI-F47 standard
POINT The control circuit power supply of the MR-J4-_A_(-RJ) 100 W or more servo amplifier can comply with SEMI-F47 standard. However, a back-up capacitor may be necessary for instantaneous power failure in the main circuit power supply depending on the power supply impedance and operating situation. Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 100 V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs. Be sure to perform actual machine tests and detail checks for power supply instantaneous power failure of SEMI-F47 standard with your equipment. The MR-J4-03A6(-RJ) servo amplifier is not compatible with SEMI-F47 standard.
The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag immunity test" of MR-J4 series. This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. (1) Parameter setting
Setting [Pr. PA20] and [Pr. PF25] as follows will enable SEMI-F47 function.
Parameter Setting value Description
PA20 _ 1 _ _ Enable SEMI-F47 function selection.
PF25 200 Set the time [ms] of the [AL. 10.1 Voltage drop in the control circuit power] occurrence.
Enabling SEMI-F47 function will change operation as follows.
(a) The voltage will drop in the control circuit power at "Rated voltage 50% or less". After 200 ms, [AL.
10.1 Voltage drop in the control circuit power] will occur.
(b) [AL. 10.2 Voltage drop in the main circuit power] will occur when bus voltage is as follows.
Table 7.1 Voltages which trigger [AL. 10.2 Voltage drop in the main circuit power] Servo amplifier Bus voltage which triggers alarm
MR-J4-10A(-RJ) to
MR-J4-700A(-RJ) 158 V DC
MR-J4-11KA(-RJ) to
MR-J4-22KA(-RJ) 200 V DC
MR-J4-60A4(-RJ) to
MR-J4-22KA4(-RJ) 380 V DC
(c) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit
power] occurs.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 32
(2) Requirements conditions of SEMI-F47 standard
Table 7.2 shows the permissible time of instantaneous power failure for instantaneous power failure of SEMI-F47 standard.
Table 7.2 Requirements conditions of SEMI-F47 standard
Instantaneous power failure voltage
Permissible time of instantaneous power
failure [s] Rated voltage 80% 1 Rated voltage 70% 0.5 Rated voltage 50% 0.2
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 33
(3) Calculation of tolerance against instantaneous power failure
Table 7.3 shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage 50%" and instantaneous power failure time is 200 ms.
Table 7.3 Tolerance against instantaneous power failure (instantaneous
power failure voltage = rated voltage 50%, instantaneous power failure time = 200 ms)
Servo amplifier Instantaneous maximum output [W]
Tolerance against instantaneous
power failure [W] (voltage drop between lines)
MR-J4-10A(-RJ) 350 250 MR-J4-20A(-RJ) 700 420 MR-J4-40A(-RJ) 1400 630 MR-J4-60A(-RJ) 2100 410 MR-J4-70A(-RJ) 2625 1150
MR-J4-100A(-RJ) 3000 1190 MR-J4-200A(-RJ) 5400 2040 MR-J4-350A(-RJ) 10500 2600 MR-J4-500A(-RJ) 15000 4100 MR-J4-700A(-RJ) 21000 5900 MR-J4-11KA(-RJ) 40000 2600 MR-J4-15KA(-RJ) 50000 3500 MR-J4-22KA(-RJ) 56000 4300 MR-J4-60A4(-RJ) 1900 190
MR-J4-100A4(-RJ) 3500 200 MR-J4-200A4(-RJ) 5400 350 MR-J4-350A4(-RJ) 10500 730 MR-J4-500A4(-RJ) 15000 890 MR-J4-700A4(-RJ) 21000 1500 MR-J4-11KA4(-RJ) 40000 2400 MR-J4-15KA4(-RJ) 50000 3200 MR-J4-22KA4(-RJ) 56000 4200
Instantaneous maximum output means power which servo amplifier can output in maximum torque at rated speed. You can examine margins to compare the values of following conditions and instantaneous maximum output. Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the maximum output. This can be handled as a margin. The following shows the conditions of tolerance against instantaneous power failure.
(a) Delta connection
For the 3-phase (L1/L2/L3) delta connection, an instantaneous power failure occurs in the voltage between a pair of lines (e.g. between L1 and L2) among voltages between three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1).
(b) Star connection
For the 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure occurs in the voltage between a pair of lines (e.g. between L1 and N) among voltages at six locations, between three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1) and between one of the lines and the neutral point (between L1 and N, L2 and N, or L3 and N).
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 34
7.5 Model adaptive control disabled
POINT Change the parameters while the servo motor stops. When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operation status of the servo motor. This is used with servo amplifiers with software version B4 or later.
(1) Summary
The servo amplifier has a model adaptive control. The servo amplifier has a virtual motor model and drives the servo motor following the output of the motor model in the model adaptive control. At model adaptive control disabled, the servo amplifier drives the motor with PID control without using the model adaptive control. The following shows the available parameters at model adaptive control disabled.
Parameter Symbol Name
PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation
(2) Parameter setting
Set [Pr. PB25] to "_ _ _ 2". (3) Restrictions
The following functions are not available at model adaptive control disabled.
Function Explanation
Forced stop deceleration function ([Pr. PA04])
Disabling the model adaptive control while the forced stop deceleration function is enabled, [AL. 37] will occur. The forced stop deceleration function is enabled at factory setting. Set [Pr. PA04] to "0 _ _ _" (Forced stop deceleration function disabled).
Vibration suppression control 1 ([Pr. PB02]/[Pr. PB19]/[Pr. PB20])
Vibration suppression control 2 ([Pr. PB02]/[Pr. PB52]/[Pr. PB53])
The vibration suppression control uses the model adaptive control. Disabling the model adaptive control will also disable the vibration suppression control.
Overshoot amount compensation ([Pr. PB12])
The overshoot amount compensation uses data used by the model adaptive control. Disabling the model adaptive control will also disable the overshoot amount compensation.
Super trace control ([Pr. PA22])
The super trace control uses the model adaptive control. Disabling the model adaptive control will also disable the super trace control.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 35
7.6 Lost motion compensation function
POINT The lost motion compensation function is enabled only in the position control mode.
The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting. This function is effective when a high follow-up performance is required such as drawing an arc with an X-Y table.
The locus before compensation The locus after compensation
Compensation
Travel direction
(1) Parameter setting Setting [Pr. PE44] to [Pr. PE50] enables the lost motion compensation function.
(a) Lost motion compensation function selection ([Pr. PE48])
Select the lost motion compensation function.
Lost motion compensation selection 0: Lost motion compensation disabled 1: Lost motion compensation enabled
0
Unit setting of lost motion compensation non-sensitive band 0: 1 pulse unit 1: 1 kpulse unit
[Pr. PE48]
0
(b) Lost motion compensation ([Pr. PE44]/[Pr. PE45]) Set the same value for the lost motion compensation for each of when the forward rotation switches to the reverse rotation and when the reverse rotation switches to the forward rotation. When the heights of protrusions differ depending on the travel direction, set the different compensation for each travel direction. Set a value twice the usual friction torque and adjust the value while checking protrusions.
(c) Torque offset ([Pr. PE47])
For a vertical axis, unbalanced torque occurs due to the gravity. Although setting the torque offset is usually unnecessary, setting unbalanced torque of a machine as a torque offset cancels the unbalanced torque. The torque offset does not need to be set for a machine not generating unbalanced torque. The torque offset cannot be used for linear servo motors and direct drive motors. Set 0.00%.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 36
(d) Lost motion compensation timing ([Pr. PE49])
You can set the delay time of the lost motion compensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.
(e) Lost motion compensation non-sensitive band ([Pr. PE50])
When the travel direction reverses frequently around the zero speed, unnecessary lost motion compensation is triggered by the travel direction switching. By setting the lost motion compensation non-sensitive band, the speed is recognized as 0 when the fluctuation of the droop pulse is the setting value or less. This prevents unnecessary lost motion compensation. When the value of this parameter is changed, the compensation timing is changed. Adjust the value of Lost motion compensation timing ([Pr. PE49]).
(f) Lost motion filter setting ([Pr. PE46])
Changing the value of this parameter is usually unnecessary. When a value other than 0.0 ms is set in this parameter, the high-pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues.
(2) Adjustment procedure of the lost motion compensation function
(a) Measuring the load current Measure the load currents during the forward direction feed and reverse direction feed with MR Configurator2.
(b) Setting the lost motion compensation
Calculate the friction torque from the measurement result of (2) (a) in this section and set a value twice the friction torque in [Pr. PE44] and [Pr. PE45] as lost motion compensation.
Friction torque [%] = 2
|(load current during feed in the forward rotation direction [%]) - (load current during feed in the reverse rotation direction [%])|
(c) Checking protrusions
Drive the servo motor and check that the protrusions are corrected.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 37
(d) Adjusting the lost motion compensation
When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are eliminated. Different values can be set as the compensation for each of when the forward rotation (CCW) switches to the reverse rotation (CW) and when the reverse rotation (CW) switches to the forward rotation (CCW).
The locus before compensation The locus after compensation
Compensation
Travel direction
(e) Adjusting the lost motion compensation timing When the machine has low rigidity, the speed loop gain is set lower than the standard setting value, or the servo motor is rotating at high speed, quadrant projections may occur behind the quadrant change points. In this case, you can suppress the quadrant projections by delaying the lost motion compensation timing with [Pr. PE49 Lost motion compensation timing]. Increase the setting value of [Pr. PE49] from 0 ms (initial value) by approximately 0.5 ms to adjust the compensation timing.
Before timing delay compensation After timing delay compensation
Compensation
Travel direction
(f) Adjusting the lost motion compensation non-sensitive band When the lost motion is compensated twice around a quadrant change point, set [Pr. PE50 Lost motion compensation non-sensitive band]. Increase the setting value so that the lost motion is not compensated twice. Setting [Pr. PE50] may change the compensation timing. Adjust the lost motion compensation timing of (2) (e) in this section.
Before timing delay compensation After timing delay compensation
Compensation
Travel direction
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 38
7.7 Super trace control
(1) Summary In the normal position control, droop pulses are generated against the position control command from the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However, droop pulses generated during acceleration/deceleration cannot be suppressed. With the ideal model in the servo amplifier, the super trace control enables to set constant speed and uniform acceleration/deceleration droop pulses to almost 0 that cannot be coped with by the feed forward gain.
Control Position command (the same command) Droop pulses
Normal control
Time
Se rv
o m
ot or
s pe
ed
Time
D ro
op p
ul se
s
Droop pulses are always generated.
Feed forward gain
Time
Se rv
o m
ot or
s pe
ed
Time
D ro
op p
ul se
s
Droop pulses are generated during acceleration/ deceleration.
Super trace control
Time
Se rv
o m
ot or
s pe
ed
Time
D ro
op p
ul se
s
Droop pulses are almost 0 including the time of acceleration or deceleration.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 39
(2) Adjustment procedure
POINT In the super trace control, droop pulses are near 0 during the servo motor control. Thus, the normal INP (In-position) may always be turned on. Be sure to set "INP (In-position) on condition selection" in [Pr. PD31] to " _ 1 _ _". When you use the super trace control, it is recommended that the acceleration time constant up to the rated speed be set to 1 s or more.
The following shows the adjustment procedure.
Step Operation
1 Execute the gain adjustment with one-touch tuning, auto tuning, etc. Refer to chapter 6 for details.
2 Change the setting of auto tuning mode to the manual mode ([Pr. PA08]: _ _ _ 3).
3 Change the setting of feed forward gain ([Pr. PB04]), and adjust that droop pulses will be 0 at a constant speed.
4 Set the setting of INP (In-position) on condition selection ([Pr. PD31]) to " _ 1 _ _".
5 Enable the super trace control. ([Pr. PA22]: _ _ 2 _)
6 Change the setting of model loop gain ([Pr. PB07]), and adjust droop pulses during acceleration/deceleration.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 40
MEMO
8. TROUBLESHOOTING
8 - 1
8. TROUBLESHOOTING
POINT Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
When an error occurs during operation, the corresponding alarm and warning are displayed. When an alarm or warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM will turn off. 8.1 Explanation for the lists
(1) No./Name/Detail No./Detail name Indicates each No./Name/Detail No./Detail name of alarms or warnings.
(2) Stop method
For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or "EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.
(3) Alarm deactivation
After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated with alarm reset or cycling the power.
Alarm deactivation Explanation
Alarm reset 1. Turning on RES (Reset) with input device 2. Pushing the "SET" button while the display of the servo amplifier is the current
alarm display status 3. Clicking the "Occurred Alarm Reset" button in the "Alarm Display" window of MR
Configurator2 Cycling the power Turning the power off and then turning it on again.
(4) Alarm code
To output alarm codes, set [Pr. PD34] to "_ _ _ 1". Alarm codes are outputted by on/off of bit 0 to bit 2. Warnings ([AL. 91] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be outputted when they occur. The alarm codes will not be outputted in normal condition. When using an MR-D01 extension IO unit, you can output alarm codes by setting [Pr. Po12] to "_ _ _ 1". Alarm codes are outputted by on/off of bit 0 to bit 3.
8. TROUBLESHOOTING
8 - 2
8.2 Alarm list
No. Name Detail No. Detail name
Stop Type
(Note 2, 3)
Alarm deactivation Alarm code
Alarm reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
10 Undervoltage 10.1 Voltage drop in the control
circuit power EDB 0 0 1 0
10.2 Voltage drop in the main circuit power SD
11 Switch setting error 11.1 Axis number setting error/station
number setting error DB
11.2 Disabling control axis setting error DB
12.1 RAM error 1 DB 12.2 RAM error 2 DB
12 Memory error 1
(RAM) 12.3 RAM error 3 DB 0 0 0 0
12.4 RAM error 4 DB 12.5 RAM error 5 DB 12.6 RAM error 6 DB
13 Clock error 13.1 Clock error 1 DB
0 0 0 0 13.2 Clock error 2 DB 14.1 Control process error 1 DB 14.2 Control process error 2 DB 14.3 Control process error 3 DB 14.4 Control process error 4 DB
Control process error
14.5 Control process error 5 DB 0 0 0 0
14 14.6 Control process error 6 DB 14.7 Control process error 7 DB 14.8 Control process error 8 DB 14.9 Control process error 9 DB 14.A Control process error 10 DB 14.B Control process error 11 DB
15 Memory error 2 (EEP-ROM)
15.1 EEP-ROM error at power on DB
0 0 0 0 15.2 EEP-ROM error during operation DB 15.4 Home position information read
error DB
16 Encoder initial communication
error 1
16.1 Encoder initial communication - Receive data error 1 DB
0 1 1 0
16.2 Encoder initial communication - Receive data error 2 DB
16.3 Encoder initial communication - Receive data error 3 DB
16.4 Encoder initial communication - Encoder malfunction (Note 6) DB
16.5 Encoder initial communication - Transmission data error 1 DB
16.6 Encoder initial communication - Transmission data error 2 DB
16.7 Encoder initial communication - Transmission data error 3 DB
16.8 Encoder initial communication - Incompatible encoder (Note 6) DB
16.A Encoder initial communication - Process error 1 DB
16.B Encoder initial communication - Process error 2 DB
16.C Encoder initial communication - Process error 3 DB
16.D Encoder initial communication - Process error 4 DB
16.E Encoder initial communication - Process error 5 DB
16.F Encoder initial communication - Process error 6 DB
8. TROUBLESHOOTING
8 - 3
No. Name Detail No. Detail name
Stop Type
(Note 2, 3)
Alarm deactivation Alarm code
Alarm reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m 17.1 Board error 1 DB
17.3 Board error 2 DB 17.4 Board error 3 DB
0 0 0 0 17 Board error
17.5 Board error 4 DB 17.6 Board error 5 DB 17.7 Board error 7 DB 17.8 Board error 6 EDB 17.9 Board error 8 DB
Memory error 3 (Flash-ROM)
19.1 Flash-ROM error 1 DB 0 0 0 0
19 19.2 Flash-ROM error 2 DB 19.3 Flash-ROM error 3 DB 1A.1 Servo motor combination error 1 DB
1A Servo motor combination error 1A.2 Servo motor control mode
combination error DB 0 1 1 0
1A.4 Servo motor combination error 2 DB 1B Converter alarm 1B.1 Converter unit error DB 0 0 1 0
1E Encoder initial communication
error 2
1E.1 Encoder malfunction DB 0 1 1 0
1E.2 Load-side encoder malfunction DB
1F
Encoder initial communication
error 3
1F.1 Incompatible encoder DB 0 1 1 0 1F.2 Incompatible load-side encoder DB
20.1 Encoder normal communication - Receive data error 1 EDB
20.2 Encoder normal communication - Receive data error 2 EDB
20.3 Encoder normal communication - Receive data error 3 EDB
20 Encoder normal communication
error 1
20.5 Encoder normal communication - Transmission data error 1 EDB
0 1 1 0 20.6 Encoder normal communication
- Transmission data error 2 EDB
20.7 Encoder normal communication - Transmission data error 3 EDB
20.9 Encoder normal communication - Receive data error 4 EDB
20.A Encoder normal communication - Receive data error 5 EDB
21.1 Encoder data error 1 EDB 21.2 Encoder data update error EDB Encoder normal
communication error 2
21.3 Encoder data waveform error EDB 21 21.4 Encoder non-signal error EDB 0 1 1 0 21.5 Encoder hardware error 1 EDB 21.6 Encoder hardware error 2 EDB 21.9 Encoder data error 2 EDB
24 Main circuit error 24.1 Ground fault detected at
hardware detection circuit DB 1 1 0 0
24.2 Ground fault detected by software detection function DB
25 Absolute position erased
25.1 Servo motor encoder - Absolute position erased DB
1 1 1 0 25.2 Scale measurement encoder -
Absolute position erased DB
8. TROUBLESHOOTING
8 - 4
No. Name Detail No. Detail name
Stop Type
(Note 2, 3)
Alarm deactivation Alarm code
Alarm reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
27 Initial magnetic pole detection error
27.1 Initial magnetic pole detection - Abnormal termination DB
1 1 1 0
27.2 Initial magnetic pole detection - Time out error DB
27.3 Initial magnetic pole detection - Limit switch error DB
27.4 Initial magnetic pole detection - Estimated error DB
27.5 Initial magnetic pole detection - Speed deviation error DB
27.6 Initial magnetic pole detection - Position deviation error DB
27.7 Initial magnetic pole detection - Current error DB
28 Linear encoder error 2 28.1 Linear encoder - Environment
error EDB 0 1 1 0
2A.1 Linear encoder error 1-1 EDB 2A.2 Linear encoder error 1-2 EDB 2A.3 Linear encoder error 1-3 EDB
2A Linear encoder error 1
2A.4 Linear encoder error 1-4 EDB 0 1 1 0
2A.5 Linear encoder error 1-5 EDB 2A.6 Linear encoder error 1-6 EDB 2A.7 Linear encoder error 1-7 EDB 2A.8 Linear encoder error 1-8 EDB
2B Encoder counter error
2B.1 Encoder counter error 1 EDB 1 1 1 0
2B.2 Encoder counter error 2 EDB 30.1 Regeneration heat error DB
(Note 1)
(Note 1)
30 Regenerative error 30.2 Regeneration signal error DB (Note 1)
(Note 1) 0 0 0 1
30.3 Regeneration feedback signal error DB
(Note 1)
(Note 1)
31 Overspeed 31.1 Abnormal motor speed SD 0 1 0 1
32.1 Overcurrent detected at hardware detection circuit (during operation)
DB
32 Overcurrent
32.2 Overcurrent detected at software detection function (during operation)
DB
0 1 0 0
32.3 Overcurrent detected at hardware detection circuit (during a stop)
DB
32.4
Overcurrent detected at software detection function (during a stop)
DB
33 Overvoltage 33.1 Main circuit voltage error EDB 1 0 0 1
34 SSCNET receive error 1
34.1 SSCNET receive data error SD 34.2 SSCNET connector connection
error SD
34.3 SSCNET communication data error SD
34.4 Hardware error signal detection SD 34.5 SSCNET receive data error
(safety observation function) SD
34.6
SSCNET communication data error (safety observation function)
SD
35 Command frequency error 35.1 Command frequency error SD 1 1 0 1
36 SSCNET receive error 2
36.1 Continuous communication data error SD
36.2
Continuous communication data error (safety observation function)
SD
8. TROUBLESHOOTING
8 - 5
No. Name Detail No. Detail name
Stop Type
(Note 2, 3)
Alarm deactivation Alarm code
Alarm reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
37 Parameter error 37.1 Parameter setting range error DB
1 0 0 0 37.2 Parameter combination error DB 37.3 Point table setting error DB
39 Program error
39.1 Program error DB
0 0 0 0
39.2 Instruction argument external error DB
39.3 Register No. error DB 39.4 Non-correspondence instruction
error DB
3A
Inrush current suppression circuit
error 3A.1 Inrush current suppression
circuit error EDB 0 0 0 0
3D Parameter setting
error for driver communication
3D.1 Parameter combination error for driver communication on slave DB
3D.2 Parameter combination error for driver communication on master DB
3E Operation mode
error 3E.1 Operation mode error DB
3E.6 Operation mode switch error DB 1 0 0 0
42
Servo control error (for linear servo motor and direct
drive motor)
42.1 Servo control error by position deviation EDB (Note 4)
0 1 1 0
42.2 Servo control error by speed deviation EDB (Note 4)
42.3 Servo control error by torque/ thrust deviation EDB (Note 4)
Fully closed loop control error
(for fully closed loop control)
42.8 Fully closed loop control error by position deviation EDB (Note 4)
42.9 Fully closed loop control error by speed deviation EDB (Note 4)
42.A
Fully closed loop control error by position deviation during command stop
EDB (Note 4)
45 Main circuit device overheat
45.1 Main circuit device overheat error 1 SD
(Note 1)
(Note 1) 0 0 1 1
45.2 Main circuit device overheat error 2 SD
(Note 1)
(Note 1) 46.1 Abnormal temperature of servo
motor 1 SD (Note 1)
(Note 1)
46.2 Abnormal temperature of servo motor 2 SD
(Note 1)
(Note 1)
46 Servo motor
overheat
46.3 Thermistor disconnected error SD (Note 1)
(Note 1)
0 0 1 1 46.4 Thermistor circuit error SD
(Note 1)
(Note 1)
46.5 Abnormal temperature of servo motor 3 DB
(Note 1)
(Note 1)
46.6 Abnormal temperature of servo motor 4 DB
(Note 1)
(Note 1)
47 Cooling fan error
47.1 Cooling fan stop error SD 0 0 1 1
47.2 Cooling fan speed reduction error SD
50.1 Thermal overload error 1 during operation SD
(Note 1)
(Note 1)
50.2 Thermal overload error 2 during operation SD
(Note 1)
(Note 1)
50 Overload 1
50.3 Thermal overload error 4 during operation SD
(Note 1)
(Note 1) 0 0 1 1
50.4 Thermal overload error 1 during a stop SD
(Note 1)
(Note 1)
50.5 Thermal overload error 2 during a stop SD
(Note 1)
(Note 1)
50.6 Thermal overload error 4 during a stop SD
(Note 1)
(Note 1)
8. TROUBLESHOOTING
8 - 6
No. Name Detail No. Detail name
Stop Type
(Note 2, 3)
Alarm deactivation Alarm code
Alarm reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
51 Overload 2 51.1 Thermal overload error 3 during
operation DB (Note 1)
(Note 1)
0 0 1 1 51.2 Thermal overload error 3 during
a stop DB (Note 1)
(Note 1)
52.1 Excess droop pulse 1 SD 52.3 Excess droop pulse 2 SD
52 Error excessive
52.4 Error excessive during 0 torque limit SD
0 1 0 1 52.5 Excess droop pulse 3 EDB
52.6 Excessive droop pulse at servo- off SD
54 Oscillation detection 54.1 Oscillation detection error EDB 0 0 1 1
56 Forced stop error 56.2 Over speed during forced stop EDB
0 1 1 0 56.3 Estimated distance over during
forced stop EDB
61 Operation error 61.1 Point table setting error DB 0 1 0 1
STO timing error 63.1 STO1 off DB
0 1 1 0 63 63.2 STO2 off DB 63.5 STO by functional safety unit DB
Functional safety unit setting error
64.1 STO input error DB 64 64.2 Compatibility mode setting error DB 1 0 0 0 64.3 Operation mode setting error DB
65 Functional safety unit connection
error
65.1 Functional safety unit communication error 1 SD
0 0 0 0
65.2 Functional safety unit communication error 2 SD
65.3 Functional safety unit communication error 3 SD
65.4 Functional safety unit communication error 4 SD
65.5 Functional safety unit communication error 5 SD
65.6 Functional safety unit communication error 6 SD
65.7 Functional safety unit communication error 7 SD
65.8 Functional safety unit shut-off signal error 1 DB
65.9 Functional safety unit shut-off signal error 2 DB
66.1
Encoder initial communication - Receive data error 1 (safety observation function)
DB
66
Encoder initial communication error (safety observation
function)
66.2 Encoder initial communication - Receive data error 2 (safety observation function)
DB
66.3 Encoder initial communication - Receive data error 3 (safety observation function)
DB 0 1 1 0
66.7 Encoder initial communication - Transmission data error 1 (safety observation function)
DB
66.9 Encoder initial communication - Process error 1 (safety observation function)
DB
8. TROUBLESHOOTING
8 - 7
No. Name Detail No. Detail name
Stop Type
(Note 2, 3)
Alarm deactivation Alarm code
Alarm reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
67.1 Encoder normal communication - Receive data error 1 (safety observation function)
DB
67
Encoder normal communication error 1 (safety observation
function)
67.2 Encoder normal communication - Receive data error 2 (safety observation function)
DB
67.3 Encoder normal communication - Receive data error 3 (safety observation function)
DB 0 1 1 0
67.4 Encoder normal communication - Receive data error 4 (safety observation function)
DB
67.7 Encoder normal communication - Transmission data error 1 (safety observation function)
DB
68 STO diagnosis error 68.1 Mismatched STO signal error DB 0 0 0 0
69 Command error
69.1 Forward rotation-side software limit detection - Command excess error
SD
69.2 Reverse rotation-side software limit detection - Command excess error
SD
69.3 Forward rotation stroke end detection - Command excess error
SD
69.4 Reverse rotation stroke end detection - Command excess error
SD
69.5 Upper stroke limit detection - Command excess error SD
69.6 Lower stroke limit detection - Command excess error SD
70 Load-side encoder
initial communication error 1
70.1 Load-side encoder initial communication - Receive data error 1
DB
0 1 1 0
70.2 Load-side encoder initial communication - Receive data error 2
DB
70.3 Load-side encoder initial communication - Receive data error 3
DB
70.4 Load-side encoder initial communication - Encoder malfunction (Note 6)
DB
70.5 Load-side encoder initial communication - Transmission data error 1
DB
70.6 Load-side encoder initial communication - Transmission data error 2
DB
70.7 Load-side encoder initial communication - Transmission data error 3
DB
70.8 Load-side encoder initial communication - Incompatible encoder (Note 6)
DB
70.A Load-side encoder initial communication - Process error 1 DB
70.B Load-side encoder initial communication - Process error 2 DB
70.C Load-side encoder initial communication - Process error 3 DB
70.D Load-side encoder initial communication - Process error 4 DB
70.E Load-side encoder initial communication - Process error 5 DB
70.F Load-side encoder initial communication - Process error 6 DB
8. TROUBLESHOOTING
8 - 8
No. Name Detail No. Detail name
Stop Type
(Note 2, 3)
Alarm deactivation Alarm code
Alarm reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
71.1 Load-side encoder normal communication - Receive data error 1
EDB
71.2 Load-side encoder normal communication - Receive data error 2
EDB
71.3
Load-side encoder normal communication - Receive data error 3
EDB
71
Load-side encoder normal
communication error 1
71.5 Load-side encoder normal communication - Transmission data error 1
EDB
0 1 1 0
71.6 Load-side encoder normal communication - Transmission data error 2
EDB
71.7
Load-side encoder normal communication - Transmission data error 3
EDB
71.9
Load-side encoder normal communication - Receive data error 4
EDB
71.A
Load-side encoder normal communication - Receive data error 5
EDB
72
Load-side encoder normal
communication error 2
72.1 Load-side encoder data error 1 EDB
0 1 1 0
72.2 Load-side encoder data update error EDB
72.3 Load-side encoder data waveform error EDB
72.4 Load-side encoder non-signal error EDB
72.5 Load-side encoder hardware error 1 EDB
72.6 Load-side encoder hardware error 2 EDB
72.9 Load-side encoder data error 2 EDB
74 Option card error 1
74.1 Option card error 1 DB 74.2 Option card error 2 DB 74.3 Option card error 3 DB 74.4 Option card error 4 DB 74.5 Option card error 5 DB
75 Option card error 2 75.3 Option card connection error EDB
75.4 Option card disconnected DB
79 Functional safety unit diagnosis error
79.1 Functional safety unit power voltage error DB
(Note 5)
1 1 1 1
79.2 Functional safety unit internal error DB
79.3 Abnormal temperature of functional safety unit SD
(Note 5)
79.4 Servo amplifier error SD 79.5 Input device error SD 79.6 Output device error SD 79.7 Mismatched input signal error SD 79.8 Position feedback fixing error DB
7A Parameter setting
error (safety observation function)
7A.1 Parameter verification error (safety observation function) DB
1 0 0 0
7A.2 Parameter setting range error (safety observation function) DB
7A.3 Parameter combination error (safety observation function) DB
7A.4 Functional safety unit combination error (safety observation function)
DB
8. TROUBLESHOOTING
8 - 9
No. Name Detail No. Detail name
Stop Type
(Note 2, 3)
Alarm deactivation Alarm code
Alarm reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
7B.1 Encoder diagnosis error 1 (safety observation function) DB
7B Encoder diagnosis
error (safety observation function)
7B.2 Encoder diagnosis error 2 (safety observation function) DB
0 1 1 0 7B.3 Encoder diagnosis error 3
(safety observation function) DB
7B.4 Encoder diagnosis error 4 (safety observation function) DB
7C
Functional safety unit communication
diagnosis error (safety observation
function)
7C.1 Functional safety unit communication setting error (safety observation function)
SD (Note 5)
0 0 0 0
7C.2 Functional safety unit communication data error (safety observation function)
SD (Note 5)
7D Safety observation
error
7D.1 Stop observation error DB (Note 3)
1 1 1 1 7D.2 Speed observation error DB
(Note 5)
82 Master-slave operation error 1 82.1 Master-slave operation error 1 EDB
Network module initialization error
84.1 Network module undetected error DB
84 84.2 Network module initialization error 1 DB
84.3 Network module initialization error 2 DB
Network module error
85.1 Network module error 1 SD 85 85.2 Network module error 2 SD 85.3 Network module error 3 SD
Network communication error
86.1 Network communication error 1 SD 86 86.2 Network communication error 2 SD 86.3 Network communication error 3 SD
8A
USB communication
time-out error/serial communication
time-out error/Modbus RTU
communication time-out error
8A.1 USB communication time-out error/Serial communication time- out error
SD
0 0 0 0
8A.2 Modbus RTU communication time-out error SD
8D CC-Link IE communication error
8D.1 CC-Link IE communication error 1 SD
8D.2 CC-Link IE communication error 2 SD
8D.3 Master station setting error 1 DB 8D.5 Master station setting error 2 DB
8D.6 CC-Link IE communication error 3 SD
8D.7 CC-Link IE communication error 4 SD
8D.8 CC-Link IE communication error 5 SD
8D.9 Synchronization error 1 SD 8D.A Synchronization error 2 SD
8. TROUBLESHOOTING
8 - 10
No. Name Detail No. Detail name
Stop Type
(Note 2, 3)
Alarm deactivation Alarm code
Alarm reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
8E
USB communication error/serial
communication error/Modbus RTU
communication error
8E.1 USB communication receive error/Serial communication receive error
SD
0 0 0 0
8E.2 USB communication checksum error/Serial communication checksum error
SD
8E.3
USB communication character error/serial communication character error
SD
8E.4
USB communication command error/Serial communication command error
SD
8E.5
USB communication data number error/Serial communication data number error
SD
8E.6 Modbus RTU communication receive error SD
8E.7 Modbus RTU communication message frame error SD
8E.8 Modbus RTU communication CRC error SD
88888 Watchdog 8888._ Watchdog DB Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes. 2. The following shows three stop methods of DB, EDB, and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.) Coasts for MR-J4-03A6(-RJ). Note that EDB is applied when an alarm below occurs: [AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2]
EDB: Electronic dynamic brake stop (available with specified servo motors) Refer to the following table for the specified servo motors. The stop method for other than the specified servo motors will be DB.
Series Servo motor
HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43 HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43 HG-SR HG-SR51/HG-SR52 HG-AK HG-AK0136/HG-AK0236/HG-AK0336
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04]. 4. The alarm can be canceled by setting as follows:
For the fully closed loop control: set [Pr. PE03] to "1 _ _ _". When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _".
5. Reset this while all the safety observation functions are stopped. 6. This alarm will occur only in the J3 compatibility mode.
8. TROUBLESHOOTING
8 - 11
8.3 Warning list
No. Name Detail No. Detail name
Stop method (Note 2,
3)
W ar
ni ng
Home position return incomplete warning
90.1 Home position return incomplete
90 90.2 Home position return abnormal termination
90.5 Z-phase unpassed
91 Servo amplifier
overheat warning (Note 1)
91.1 Main circuit device overheat warning
92
Battery cable disconnection
warning
92.1 Encoder battery cable disconnection warning
92.3 Battery degradation
93 ABS data transfer warning 93.1
Magnetic pole detection incomplete warning at ABS data transfer request
95 STO warning
95.1 STO1 off detection DB 95.2 STO2 off detection DB
95.3 STO warning 1 (safety observation function) DB
95.4 STO warning 2 (safety observation function) DB
95.5 STO warning 3 (safety observation function) DB
96 Home position setting warning
96.1 In-position warning at home positioning
96.2 Command input warning at home positioning
96.3 Servo off warning at home positioning
96.4 Magnetic pole detection incomplete warning at home positioning
97 Positioning
specification warning 97.1 Program operation disabled
warning
97.2 Next station position warning
98 Software limit
warning
98.1 Forward rotation-side software stroke limit reached
98.2 Reverse rotation-side software stroke limit reached
99.1 Forward rotation stroke end off (Note 4)
99 Stroke limit warning 99.2 Reverse rotation stroke end off (Note 4)
99.4 Upper stroke limit off 99.5 Lower stroke limit off
9A Optional unit input data error warning
9A.1 Optional unit input data sign error
9A.2 Optional unit BCD input data error
9B Error excessive warning
9B.1 Excess droop pulse 1 warning 9B.3 Excess droop pulse 2 warning
9B.4 Error excessive warning during 0 torque limit
9C Converter warning 9C.1 Converter unit warning
9D.1 Station number switch change warning
9D CC-Link IE warning
1
9D.2 Master station setting warning
9D.3 Overlapping station number warning
9D.4 Mismatched station number warning
9E CC-Link IE warning 2 9E.1 CC-Link IE communication
warning
9F Battery warning
9F.1 Low battery 9F.2 Battery degradation warning
8. TROUBLESHOOTING
8 - 12
No. Name Detail No. Detail name
Stop method (Note 2,
3)
W ar
ni ng
E0 Excessive regeneration warning E0.1 Excessive regeneration warning
E1.1 Thermal overload warning 1 during operation
E1.2 Thermal overload warning 2 during operation
E1.3 Thermal overload warning 3 during operation
E1 Overload warning 1
E1.4 Thermal overload warning 4 during operation
E1.5 Thermal overload warning 1 during a stop
E1.6 Thermal overload warning 2 during a stop
E1.7 Thermal overload warning 3 during a stop
E1.8 Thermal overload warning 4 during a stop
E2 Servo motor overheat warning E2.1 Servo motor temperature
warning
E3 Absolute position counter warning
E3.1 Multi-revolution counter travel distance excess warning
E3.2 Absolute position counter warning
E3.4 Absolute positioning counter EEP-ROM writing frequency warning
E3.5 Encoder absolute positioning counter warning
E4 Parameter warning E4.1 Parameter setting range error warning
E5 ABS time-out warning
E5.1 Time-out during ABS data transfer
E5.2 ABSM off during ABS data transfer
E5.3 SON off during ABS data transfer
E6 Servo forced stop warning
E6.1 Forced stop warning SD
E6.2 SS1 forced stop warning 1 (safety observation function) SD
E6.3 SS1 forced stop warning 2 (safety observation function) SD
E7 Controller forced stop warning E7.1 Controller forced stop input
warning SD
E8 Cooling fan speed
reduction warning E8.1 Decreased cooling fan speed
warning
E8.2 Cooling fan stop
E9 Main circuit off warning
E9.1 Servo-on signal on during main circuit off DB
E9.2 Bus voltage drop during low speed operation DB
E9.3 Ready-on signal on during main circuit off DB
E9.4 Converter unit forced stop DB
EA ABS servo-on
warning EA.1 ABS servo-on warning
EB The other axis error warning EB.1 The other axis error warning DB
EC Overload warning 2 EC.1 Overload warning 2
ED Output watt excess warning ED.1 Output watt excess warning
F0 Tough drive warning
F0.1 Instantaneous power failure tough drive warning
F0.3 Vibration tough drive warning
8. TROUBLESHOOTING
8 - 13
No. Name Detail No. Detail name
Stop method (Note 2,
3)
W ar
ni ng
F2 Drive recorder - Miswriting warning
F2.1 Drive recorder - Area writing time-out warning
F2.2 Drive recorder - Data miswriting warning
F3 Oscillation detection warning F3.1 Oscillation detection warning
F4 Positioning warning
F4.4 Target position setting range error warning
F4.6 Acceleration time constant setting range error warning
F4.7 Deceleration time constant setting range error warning
F4.9 Home position return type error warning
F5 Simple cam
function - Cam data miswriting warning
F5.1 Cam data - Area writing time-out warning
F5.2 Cam data - Area miswriting warning
F5.3 Cam data checksum error
F6 Simple cam
function - Cam control warning
F6.1 Cam axis one cycle current value restoration failed
F6.2 Cam axis feed current value restoration failed
F6.3 Cam unregistered error
F6.4 Cam control data setting range error
F6.5 Cam No. external error F6.6 Cam control inactive
F7 Machine diagnosis warning
F7.1 Vibration failure prediction warning
F7.2 Friction failure prediction warning
F7.3 Total travel distance failure prediction warning
Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes. 2. The following shows two stop methods of DB and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.) Coasts for MR-J4-03A6(-RJ).
SD: Forced stop deceleration 3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04]. 4. Quick stop or slow stop can be selected using [Pr. PD30].
8. TROUBLESHOOTING
8 - 14
MEMO
9. DIMENSIONS
9 - 1
9. DIMENSIONS
9.1 Servo amplifier
POINT Only MR-J4-_A_-RJ are shown for dimensions. MR-J4-_A_ does not have CN2L, CN7 and CN9 connectors. The dimensions of MR-J4-_A_ are the same as those of MR-J4-_A_-RJ except CN2L, CN7 and CN9 connectors.
9. DIMENSIONS
9 - 2
(1) 200 V class
(a) MR-J4-10A(-RJ)/MR-J4-20A(-RJ)
[Unit: mm]
135
16 8
16 1
40
6
6
PE
6 6
15 6
CNP1
CNP2
CNP3
4
Lock knob 6 mounting hole
Approx. 38.5
With MR-BAT6V1SET
Ap pr
ox . 2
1
Approx. 69.3
Approx. 80
Mass: 0.8 [kg]
L2
P3
L11
L21
P4
L3
L1
C D
P+
PE
Terminal CNP1
CNP2
V W
U CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
N-
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
0.
5 Ap
pr ox
. 6
Ap pr
ox . 1
68
Approx. 40
Mounting hole process drawingAp pr
ox . 6
2-M5 screw Approx. 6
9. DIMENSIONS
9 - 3
(b) MR-J4-40A(-RJ)/MR-J4-60A(-RJ)
[Unit: mm]
40
16 8
16 1
6
6
PE
6
6 15
6
CNP1
CNP2
CNP3
5
170Lock knob
With MR-BAT6V1SET
6 mounting hole
Approx. 38.5
Ap pr
ox . 2
1
Approx. 80
Approx. 69.3
Mass: 1.0 [kg]
L2
P3
L11
L21
P4
L3
L1
C D
P+
PE
Terminal CNP1
CNP2
V W
U CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
N-
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
0.
5 Ap
pr ox
. 6
Ap pr
ox . 1
68
Approx. 40
Mounting hole process drawingAp pr
ox . 6
2-M5 screw Approx. 6
9. DIMENSIONS
9 - 4
(c) MR-J4-70A(-RJ)/MR-J4-100A(-RJ)
[Unit: mm]
CNP1
CNP2
CNP3
PE
60 12
6
6
15 6
6
16 1
16 8
6
185
12 42
Lock knob 6 mounting hole
Approx. 38.5
Ap pr
ox . 2
1
With MR-BAT6V1SET
Cooling fan air intake
Exhaust
Approx. 80
Approx. 69.3
Mass: 1.4 [kg]
L2
P3
L11
L21
P4
L3
L1
C D
P+
PE
Terminal CNP1
CNP2
V W
U CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
N-
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
0.
5
Mounting hole process drawing
Ap pr
ox . 6
Ap pr
ox . 6
Ap pr
ox . 1
68
42 0.3
3-M5 screw
Approx. 6Approx. 12
Approx. 60
9. DIMENSIONS
9 - 5
(d) MR-J4-200A(-RJ)
[Unit: mm]
90 85
45
6 15
6 6
16 8
16 1
6 6
678
PE
CNP1
CNP2
CNP3
195
6
6 mounting hole Lock knob
Approx. 80
Approx. 69.3
Approx. 38.5 Ap pr
ox . 2
1
With MR-BAT6V1SET
Cooling fan air intake
Exhaust
Mass: 2.1 [kg]
L2
P3
L11
L21
P4
L3
L1
C D
P+
PE
Terminal CNP1
CNP2
V W
U CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
N-
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Approx. 90
Ap pr
ox . 6
3-M5 screw
78 0.3 Approx. 6Approx. 6
Mounting hole process drawing
Ap pr
ox . 6
15 6
0.
5
Ap pr
ox . 1
68
9. DIMENSIONS
9 - 6
(e) MR-J4-350A(-RJ)
[Unit: mm]
90 85
45
6 15
6 6
6 6 78 6
16 8
195
6
CNP1
CNP3
CNP2
PE
16 1
Lock knob
6 mounting hole Approx. 80
Approx. 69.3
Exhaust
Cooling fan air intake
Approx. 38.5 Ap pr
ox . 2
1
With MR-BAT6V1SET
Mass: 2.3 [kg]
PE
L3
L1
P3 P4
N-
L2
CNP1
L11
L21
C D
P+ CNP2
V W
U CNP3
Terminal
Screw size: M4 Tightening torque: 1.2 [Nm]
6
10
(R)
13 hole
Mounting hole dimensions
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
3-M5 screw
Approx. 6
Mounting hole process drawing
Ap pr
ox . 6
Approx. 6 78 0.3
15 6
0.
5
Ap pr
ox . 1
68 Ap
pr ox
. 6
Approx. 90
9. DIMENSIONS
9 - 7
(f) MR-J4-500A(-RJ)
[Unit: mm]
69367. 5
25 0
7. 5
23 5
6
6 200105
11
21.8
22 3
13
(= 3
9) 3
13
(= 3
9) 16
1160.5
39 .6
15
8
180 PE
TE1
TE3
TE4
TE2
3
13 (=
3 9)
With MR-BAT6V1SET
2-6 mounting hole
Cooling fan exhaust
Intake
Terminal block layout
Approx. 25
Approx. 28 Approx. 80
Mass: 4.0 [kg]
L2
N-
P3
L11
L21
P4
L3
L1
C
D
P+
PE
Terminal
TE2
TE1
V W
U
TE3
TE4
TE2
TE1
TE3
TE4
PE
Screw size: M3.5 Tightening torque: 0.8 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
93 0.5 Approx. 105
Approx. 6Approx. 6
4-M5 screw
Ap pr
ox . 7
.5 23
5
0. 5
Ap pr
ox . 2
50
Mounting hole process drawing
Ap pr
ox . 7
.5
9. DIMENSIONS
9 - 8
(g) MR-J4-700A(-RJ)
[Unit: mm]
132625TE3 TE1
3 13 (= 39)
11
14.5
15.5
172 160 66
7. 5
28 5
6
30 0
7. 5
200 6
102.1 82
148.7
PE
27 46.5 13
4 23
.650 .1
TE2
Approx. 28 Approx. 80
Cooling fan exhaust
Intake
With MR-BAT6V1SET
2-6 mounting hole
Terminal block layout
Built-in regenerative resistor lead terminal fixing screw
Mass: 6.2 [kg]
TE1
TE2
PE TE3
PE
N- P3 P4TE3
L2 L3L1 CP+TE1 V WU L11 L21TE2
Terminal
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M3.5 Tightening torque: 0.8 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
160 0.5
4-M5 screw
28 5
0.
5
Mounting hole process drawing
Ap pr
ox .
7. 5
Ap pr
ox .
7. 5
Ap pr
ox . 3
00
Approx. 6 Approx. 6 Approx. 172
9. DIMENSIONS
9 - 9
(h) MR-J4-11KA(-RJ)/MR-J4-15KA(-RJ)
[Unit: mm]
220 19612
10
77
70.7 57.9
5 25.5 (= 127.5)
TE1-1
25.5
PE
TE1-2
22.8 188
237.4 224.2
12
6
40 0
38 0
10
TE2
1124.2
43 60 78
.5
260 10.5
Cooling fan exhaust 2-6 mounting hole
Approx. 28
Approx. 80
With MR-BAT6V1SET
Intake
Terminal block layout
Mass: 13.4 [kg]
TE1-2
TE2
Screw size: M6 Tightening torque: 3.0 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
PE TE1-1
PE
Screw size: M6 Tightening torque: 3.0 [Nm]
Screw size: M6 Tightening torque: 3.0 [Nm]
N-P3 P4
TE1-1 L2 L3L1
CP+TE1-2
V WU
L11 L21TE2
Terminal
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
38 0
0.
5
196 0.5
Mounting hole process drawing
Ap pr
ox .
10 Ap
pr ox
. 4 00
Approx. 12Approx. 12 Approx. 220
4-M5 screw
Ap pr
ox .
10
9. DIMENSIONS
9 - 10
(i) MR-J4-22KA(-RJ)
[Unit: mm]
260
40 0
12 12
12
236 260
188.5 223.4 235.4
37 6
12
12 PE
5 25.5 (= 127.5)
40 .5
40 26
.5
25.9
11
TE1-2 TE1-1TE2
59.9 25.5
21.7
2.3
23
43
2-12 mounting hole
With MR-BAT6V1SET Intake
Cooling fan exhaust
Terminal block layout
Approx. 28
Approx. 80
Mass: 18.2 [kg]
TE1-2
TE2
Screw size: M8 Tightening torque: 6.0 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
PE
TE1-1
PE
Screw size: M8 Tightening torque: 6.0 [Nm]
Screw size: M8 Tightening torque: 6.0 [Nm]
N-P3 P4
TE1-1 L2 L3L1
CP+TE1-2
V WU
L11 L21TE2
Terminal
Mounting screw Screw size: M10 Tightening torque: 26.5 [Nm]
236 0.5
37 6
0.
5
Mounting hole process drawing
Ap pr
ox .
12 Ap
pr ox
. 4 00
Approx. 12Approx. 12 Approx. 260
4-M10 screwAp pr
ox .
12
9. DIMENSIONS
9 - 11
(2) 400 V class
(a) MR-J4-60A4(-RJ)/MR-J4-100A4(-RJ)
[Unit: mm]
60
16 1
16 8
195
6 12
15 6
6 4212
6
6
CNP1
CNP2
CNP3
PE
6 mounting hole
With MR-BAT6V1SET
Lock knob
Approx. 38.5
Ap pr
ox . 2
1 Approx. 69.3
Approx. 80
Mass: 1.7 [kg]
L2
N-
P3
L11
L21
P4
L3
L1
C D
P+
PE
Terminal CNP1
CNP2
V W
U CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
0.
5
Mounting hole process drawing
42 0.3
Approx. 60
Approx. 6Approx. 12
Ap pr
ox .
6 Ap
pr ox
. 6
3-M5 screw
Ap pr
ox . 1
68
9. DIMENSIONS
9 - 12
(b) MR-J4-200A4(-RJ)
[Unit: mm]
16 8
90
6
6 6 78
6
45 85
6 15
6
6
16 1
CNP1
CNP2
CNP3
PE
195 Lock knob 6 mounting hole
Approx. 38.5
Ap pr
ox . 2
1
Cooling fan air intake
Exhaust
Approx. 80
Approx. 69.3
With MR-BAT6V1SET
Mass: 2.1 [kg]
L2
N-
P3
L11
L21
P4
L3
L1
C D
P+
PE
Terminal CNP1
CNP2
V W
U CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
3-M5 screw
15 6
0.
5
78 0.3
Mounting hole process drawing
Ap pr
ox .
6 Ap
pr ox
. 6
Approx. 6 Approx. 6
Ap pr
ox . 1
68
Approx. 90
9. DIMENSIONS
9 - 13
(c) MR-J4-350A4(-RJ)
[Unit: mm]
6936 105
7. 5
23 5
7. 5 6
25 0
6 200
CNP1
CNP2
CNP3
PE
Lock knob
2-6 mounting hole
With MR-BAT6V1SET
Approx. 80
Cooling fan exhaust
Intake
Approx. 28
Mass: 3.6 [kg]
L2
N-
P3
L11
L21
P4
L3
L1
C D
P+
PE
Terminal CNP1
CNP2
V W
U CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
23 5
0.
5
93 0.5 Approx. 6Approx. 6
Ap pr
ox .
7. 5
4-M5 screw
Approx. 105
Ap pr
ox . 2
50
Mounting hole process drawing
Ap pr
ox .
7. 5
9. DIMENSIONS
9 - 14
(d) MR-J4-500A4(-RJ)
[Unit: mm]
26.6 11
1186 130
7. 5
25 0
200 6
13 18.3
28
7. 5
23 5
6
52 .8
4
28.6
15.4
3 13 (= 39)
37.8
6
81.5 106.6
141.2
TE2 TE1
PE
TE3
26 13
With MR-BAT6V1SET
2-6 mounting hole
Cooling fan exhaust
Intake
Approx. 28 Approx. 80
Terminal block layout
Built-in regenerative resistor lead terminal fixing screw
Mass: 4.3 [kg]
TE1
TE2
PE
TE3
PE
N- P3 P4TE3
L2 L3L1 CP+TE1 V WU
L11 L21TE2
Terminal
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M3.5 Tightening torque: 0.8 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
23 5
0.
5
118 0.5
Mounting hole process drawing
Ap pr
ox .
7. 5
Ap pr
ox . 2
50
4-M5 screw
Approx. 130 Approx. 6Approx. 6
Ap pr
ox .
7. 5
9. DIMENSIONS
9 - 15
(e) MR-J4-700A4(-RJ)
[Unit: mm]
132625TE3 TE1
3 13 (= 39)
11
14.5
15.5
172 160 66
7. 5
28 5
6
30 0
7. 5
200 6
102.1 82
148.7
PE
27 46.5 13
4 23
.650 .1
TE2
Approx. 28 Approx. 80
Cooling fan exhaust
Intake
With MR-BAT6V1SET
2-6 mounting hole
Terminal block layout
Built-in regenerative resistor lead terminal fixing screw
Mass: 6.5 [kg]
TE1
TE2
PE TE3
PE
N- P3 P4TE3
L2 L3L1 CP+TE1 V WU L11 L21TE2
Terminal
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M3.5 Tightening torque: 0.8 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
28 5
0. 5
0.5160
4-M5 screw
Approx. 6Approx. 6 Approx. 172
Ap pr
ox .
7. 5
Mounting hole process drawing
Ap pr
ox .
7. 5
Ap pr
ox . 3
00
9. DIMENSIONS
9 - 16
(f) MR-J4-11KA4(-RJ)/MR-J4-15KA4(-RJ)
[Unit: mm]
220 19612
10
77
70.7 57.9
5 25.5 (= 127.5)
TE1-1
25.5
PE
TE1-2
22.8 188
237.4 224.2
12
6
40 0
38 0
10
TE2
1124.2
43 60 78
.5
260 10.5
Cooling fan exhaust 2-6 mounting hole
Approx. 28
Approx. 80
With MR-BAT6V1SET
Intake
Terminal block layout
Mass: 13.4 [kg]
TE1-2
TE2
Screw size: M6 Tightening torque: 3.0 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
PE TE1-1
PE
Screw size: M6 Tightening torque: 3.0 [Nm]
Screw size: M6 Tightening torque: 3.0 [Nm]
N-P3 P4
TE1-1 L2 L3L1
CP+TE1-2
V WU
L11 L21TE2
Terminal
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
38 0
0.
5
196 0.5
Mounting hole process drawing
Ap pr
ox .
10 Ap
pr ox
. 4 00
Approx. 12Approx. 12 Approx. 220
4-M5 screw
Ap pr
ox .
10
9. DIMENSIONS
9 - 17
(g) MR-J4-22KA4(-RJ)
[Unit: mm]
260
40 0
12 12
12
236 260
188.5 223.4 235.4
37 6
12
12 PE
5 25.5 (= 127.5)
40 .5
40 26
.5
25.9
11
TE1-2 TE1-1TE2
59.9 25.5
21.7
2.3
23
43
2-12 mounting hole
With MR-BAT6V1SET Intake
Cooling fan exhaust
Terminal block layout
Approx. 28
Approx. 80
Mass: 18.2 [kg]
TE1-2
TE2
Screw size: M8 Tightening torque: 6.0 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
PE
TE1-1
PE
Screw size: M8 Tightening torque: 6.0 [Nm]
Screw size: M8 Tightening torque: 6.0 [Nm]
N-P3 P4
TE1-1 L2 L3L1
CP+TE1-2
V WU
L11 L21TE2
Terminal
Mounting screw Screw size: M10 Tightening torque: 3.24 [Nm]
236 0.5
37 6
0.
5
Mounting hole process drawing
Ap pr
ox .
12 Ap
pr ox
. 4 00
Approx. 12Approx. 12 Approx. 260
4-M10 screwAp pr
ox .
12
9. DIMENSIONS
9 - 18
(3) 100 V class
(a) MR-J4-10A1(-RJ)/MR-J4-20A1(-RJ)
[Unit: mm]
15 6
6
6
40
6 6
135
4
16 8
16 1
CNP2
CNP1
CNP3
PE
Approx. 38.5
Ap pr
ox . 2
1 Approx. 69.3With MR-BAT6V1SET
6 mounting hole Lock knob
Approx. 80
Mass: 0.8 [kg]
L11
L21
L2
L1
C D
P+
PE
Terminal CNP1
CNP2
V W
U CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
N-
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
0.
5 Ap
pr ox
. 6
Ap pr
ox . 1
68
Approx. 40
Mounting hole process drawingAp pr
ox . 6
2-M5 screw Approx. 6
9. DIMENSIONS
9 - 19
(b) MR-J4-40A1(-RJ)
[Unit: mm]
CNP2
CNP3
CNP1
40 6
15 6
16 1
16 8
6 PE
170
6 6
5
Approx. 38.5
Ap pr
ox . 2
1 Approx. 69.3With MR-BAT6V1SET
6 mounting holeLock knob Approx. 80
Mass: 1.0 [kg]
L11
L21
L2
L1
C D
P+
PE
Terminal CNP1
CNP2
V W
U CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
N-
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
0.
5 Ap
pr ox
. 6
Ap pr
ox . 1
68
Approx. 40
Mounting hole process drawingAp pr
ox . 6
2-M5 screw Approx. 6
9. DIMENSIONS
9 - 20
9.2 Connector
(1) Miniature delta ribbon (MDR) system (3M) (2) One-touch lock type
[Unit: mm]
E
B
A 23
.839 .0
12.7
C
Logo, etc., are indicated here.
D
Connector Shell kit Variable dimensions
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 .839
.0
12.7
C
Logo, etc., are indicated here.
5. 2
F
D
Connector Shell kit Variable dimensions
A B C D E F 10150-3000PE 10350-52A0-008 41.1 52.4 18.0 14.0 17.0 46.5
9. DIMENSIONS
9 - 21
(2) SCR connector system (3M)
Receptacle: 36210-0100PL Shell kit: 36310-3200-008
[Unit: mm]
34.8 39.5
22 .4
11 .0
9. DIMENSIONS
9 - 22
MEMO
10. CHARACTERISTICS
10 - 1
10. CHARACTERISTICS
POINT For the characteristics of the linear servo motor and the direct drive motor, refer to sections 15.4 and 16.5.
10.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig. 10.1 [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or broken line in the graph. For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or less of the rated torque. This servo amplifier has solid-state servo motor overload protection. (The servo motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
10. CHARACTERISTICS
10 - 2
The following table shows combinations of each servo motor and graph of overload protection characteristics.
Rotary servo motor Graph of overload protection
characteristics HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR
053 13
053 13
72 Characteristics a
23 43 73
23 43 73
51 81 52 102
53 (Note) 73 103
Characteristics b
121 201 152 202 301 352
152 202
103 153 203
73 (Note) 103 (Note) 153 (Note) 203 (Note) 353
Characteristics c
421 502 702
352 502
353 503
353 (Note) 601 701M 503 (Note) 703
Characteristics d
801 12K1 15K1 20K1 25K1 11K1M 15K1M 22K1M 903
Characteristics e
524 1024
534 (Note) 734 1034
Characteristics b
1524 2024 3524
734 (Note) 1034 (Note) 1534 (Note) 2034 (Note) 3534
Characteristics c
5024 7024
3534 (Note) 6014 701M4 5034 (Note) 7034
Characteristics d
8014 12K14 15K14 20K14 25K14 11K1M4 15K1M4 22K1M4 9034
Characteristics e
Note. The combination is for increasing the maximum torque of the servo motor to 400%.
10. CHARACTERISTICS
10 - 3
The following graphs show overload protection characteristics.
(Note 1, 2) Load ratio [%]
1000
100
10
1
0.1 100 200 300 3500 50 150 250
Operating
Servo-lock
O pe
ra tio
n tim
e [s
]
1000
100
10
1
0.1 100 200 300 4000 50 150 250 350
Load ratio [%](Note 1, 2, 3)
Servo-lock
Operating
O pe
ra tio
n tim
e [s
]
Characteristics a Characteristics b
1000
100
10
1
0.1 100 200 300 4000 50 150 250 350
Load ratio [%](Note 1, 3)
Servo-lock
Operating
O pe
ra tio
n tim
e [s
]
1000
100
10
1
0.1 100 200 300 4000 50 150 250 350
Load ratio [%](Note 1, 3)
Servo-lock
Operating
O pe
ra tio
n tim
e [s
]
Characteristics c Characteristics d
10. CHARACTERISTICS
10 - 4
10000
1000
100
10
1 0 100 200 300
Operating
Servo-lock
50 150 250
(Note 1) Load ratio [%]
O pe
ra tio
n tim
e [s
]
Characteristics e Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo
motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.
2. The load ratio ranging from 300% to 350% applies to the HG-KR servo motor. 3. The operation time at the load ratio of 300% to 400% applies when the maximum torque of HG-JR servo motor is increased to
400% of rated torque.
Fig. 10.1 Electronic thermal protection characteristics
10. CHARACTERISTICS
10 - 5
10.2 Power supply capacity and generated loss
(1) Amount of heat generated by the servo amplifier Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the servo motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.
Table 10.1 Power supply capacity and generated loss per servo motor at rated output
Servo amplifier Servo motor
Power supply capacity
[kVA] (Note 1)
Servo amplifier-generated heat [W] (Note 2)
Area required for heat dissipation
[m2] At rated output
At rated output [Generated heat in the cabinet when
cooled outside the cabinet] (Note 3)
With servo-off
MR-J4-10A(-RJ)
HG-MR053 0.3 25 15 0.5 HG-MR13 0.3 25 15 0.5 HG-KR053 0.3 25 15 0.5 HG-KR13 0.3 25 15 0.5
MR-J4-20A(-RJ) HG-MR23 0.5 25 15 0.5 HG-KR23 0.5 25 15 0.5
MR-J4-40A(-RJ) HG-MR43 0.9 35 15 0.7 HG-KR43 0.9 35 15 0.7
MR-J4-60A(-RJ) HG-SR52 1.0 40 15 0.8 HG-SR51 1.0 40 15 0.8 HG-JR53 1.0 40 15 0.8
MR-J4-70A(-RJ)
HG-MR73 1.3 50 15 1.0 HG-KR73 1.3 50 15 1.0 HG-UR72 1.3 50 15 1.0 HG-JR73 1.3 50 15 1.0
MR-J4-100A(-RJ) HG-SR102 1.7 50 15 1.0 HG-SR81 1.5 50 15 1.0 HG-JR103 1.7 50 15 1.0
MR-J4-200A(-RJ)
HG-SR152 2.5 90 20 1.8 HG-SR202 3.5 90 20 1.8 HG-SR121 2.1 90 20 1.8 HG-SR201 3.5 90 20 1.8 HG-RR103 1.7 50 15 1.0 HG-RR153 2.5 90 20 1.8 HG-UR152 2.5 90 20 1.8 HG-JR153 2.5 90 20 1.8 HG-JR203 3.5 90 20 1.8
MR-J4-350A(-RJ)
HG-SR352 5.5 130 20 2.6 HG-SR301 4.8 120 20 2.4 HG-RR203 3.5 90 20 1.8 HG-UR202 3.5 90 20 1.8 HG-JR353 5.5 160 20 2.7
MR-J4-500A(-RJ)
HG-SR502 7.5 195 25 3.9 HG-SR421 6.3 160 25 3.2 HG-RR353 5.5 135 25 2.7 HG-RR503 7.5 195 25 3.9 HG-UR352 5.5 195 25 3.9 HG-UR502 7.5 195 25 3.9 HG-JR503 7.5 195 25 3.9
MR-J4-700A(-RJ)
HG-SR702 10 300 25 6.0 HG-JR703 10 300 25 6.0 HG-JR701M 10 300 25 6.0 HG-JR601 8.6 250 25 5.0
10. CHARACTERISTICS
10 - 6
Servo amplifier Servo motor
Power supply capacity
[kVA] (Note 1)
Servo amplifier-generated heat [W] (Note 2)
Area required for heat dissipation
[m2] At rated output
At rated output [Generated heat in the cabinet when
cooled outside the cabinet] (Note 3)
With servo-off
MR-J4-11KA(-RJ)
HG-JR903 13 435 130 45 8.7 HG-JR11K1M 16 530 160 45 11.0 HG-JR801 12 370 110 45 7.0 HG-JR12K1 18 570 170 45 11.5
MR-J4-15KA(-RJ) HG-JR15K1M 22 640 195 45 13.0 HG-JR15K1 22 640 195 45 12.8
MR-J4-22KA(-RJ) HG-JR22K1M 33 850 260 55 17.0 HG-JR20K1 30 800 240 55 16.0 HG-JR25K1 38 900 270 55 19.0
MR-J4-60A4(-RJ) HG-SR524 1.0 40
18 0.8 HG-JR534 1.0 40 18 0.8
HG-SR1024 1.7 60 18 1.2 MR-J4-100A4(-RJ) HG-JR734 1.3 60 18 1.2 HG-JR1034 1.7 60 18 1.2 HG-SR1524 2.5 90 20 1.8
MR-J4-200A4(-RJ) HG-SR2024 3.5 90 20 1.8 HG-JR1534 2.5 90 20 1.8
HG-JR2034 3.5 90 20 1.8
MR-J4-350A4(-RJ) HG-SR3524 5.5 130 20 2.6 HG-JR3534 5.5 160 20 2.7
MR-J4-500A4(-RJ) HG-SR5024 7.5 195 25 3.9 HG-JR5034 7.5 195 25 3.9
MR-J4-700A4(-RJ)
HG-SR7024 10 300 25 6.0 HG-JR7034 10 300 25 6.0 HG-JR701M4 10 300 25 6.0 HG-JR6014 8.6 250 25 5.0
MR-J4-11KA4(-RJ)
HG-JR9034 13 435 130 45 8.7 HG-JR11K1M4 16 530 160 45 11.0 HG-JR8014 12 370 110 45 7.0 HG-JR12K14 18 570 170 45 11.5
MR-J4-15KA4(-RJ) HG-JR15K1M4 22 640 195 45 13.0 HG-JR15K14 22 640 195 45 12.8
MR-J4-22KA4(-RJ) HG-JR22K1M4 33 850 260 55 17.0 HG-JR20K14 30 800 240 55 16.0 HG-JR25K14 38 900 270 55 19.0
MR-J4-10A1(-RJ)
HG-MR053 0.3 25 15 0.5 HG-MR13 0.3 25 15 0.5 HG-KR053 0.3 25 15 0.5 HG-KR13 0.3 25 15 0.5
MR-J4-20A1(-RJ) HG-MR23 0.5 25 15 0.5 HG-KR23 0.5 25 15 0.5
MR-J4-40A1(-RJ) HG-MR43 0.9 35 15 0.7 HG-KR43 0.9 35 15 0.7
Note 1. The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power
factor improving AC reactor or power factor improving DC reactor is not used. 2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 11.2. 3. This value is applicable when the servo amplifier is cooled by using the panel through attachment.
10. CHARACTERISTICS
10 - 7
(2) Heat dissipation area for an enclosed type cabinet
The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 C at the ambient temperature of 40 C. (With an approximately 5 C safety margin, the system should operate within a maximum 55 C limit.) The necessary cabinet heat dissipation area can be calculated by equation 10.1.
A = K P
T (10.1)
A P T K
: Heat dissipation area [m2] : Loss generated in the cabinet [W] : Difference between internal and ambient temperatures [C] : Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with equation 10.1, assume that P is the sum of all losses generated in the cabinet. Refer to table 10.1 for heat generated by the servo amplifier. "A" indicates the effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra amount must be added to the cabinet's surface area. The required heat dissipation area will vary with the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a cooling fan should be considered. Table 10.1 contains information on the required heat dissipation area (estimated) of servo amplifier cabinets when operating amplifiers at a rated load in ambient temperatures of 40 C.
(Outside the cabinet) (Inside the cabinet)
Air flow
Fig. 10.2 Temperature distribution in an enclosed type cabinet
When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the temperature slope inside and outside the cabinet will be steeper.
10. CHARACTERISTICS
10 - 8
10.3 Dynamic brake characteristics
CAUTION
The coasting distance is a theoretically calculated value that does not consider factors such as friction. The calculated value will be longer than the actual distance. If the braking distance is not longer than the calculated value, a moving part may crash into the stroke end, causing a dangerous situation. Install an anti- crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes. Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 (Forced stop 1) frequently in other than emergency. Servo motors for MR-J4 may have the different coasting distance from that of the previous model. The electronic dynamic brake operates in the initial state for the HG series servo motors of 600 W or smaller capacity. The time constant "" for the electronic dynamic brake will be shorter than that of normal dynamic brake. Therefore, coasting distance will be longer than that of normal dynamic brake. For how to set the electronic dynamic brake, refer to [Pr. PF06] and [Pr. PF12].
10. CHARACTERISTICS
10 - 9
10.3.1 Dynamic brake operation
(1) Calculation of coasting distance Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to (2) (a), (b) in this section.) A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a maximum coasting distance calculated with the following equation.
V0
OFF
ON
Machine speed
te Time
EM1 (Forced stop 1)
Dynamic brake time constant
Fig. 10.3 Dynamic brake operation diagram
Lmax = 60 V0 te + JM
1 + JL (10.2)
Lmax: Maximum coasting distance [mm] V0: Machine's fast feed speed [mm/min] JM: Moment of inertia of the servo motor [ 10-4 kgm2] JL: Load moment of inertia converted into equivalent value on servo motor shaft [ 10-4 kgm2] : Dynamic brake time constant [s] te: Delay time of control section [s]
For 7 kW or lower servo amplifier, there is internal relay delay time of about 10 ms. For 11 kW to 22 kW servo amplifier, there is delay caused by magnetic contactor built into the external dynamic brake (about 50 ms) and delay caused by the external relay.
10. CHARACTERISTICS
10 - 10
(2) Dynamic brake time constant
The following shows necessary dynamic brake time constant for equation 10.2. (a) 200 V class
0
10
20
30
40
50
0 1000 2000 3000 4000 5000 6000
73 43
23
13 053
Speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
10
20
30
40
50
0 1000 2000 3000 4000 5000 6000
73 43
23
13 053
Speed [r/min]
HG-MR series HG-KR series
121
0
20
40
60
80
100
0 250 500 750 1000 1250 1500
51 81
201
301421
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Speed [r/min]
0 500 1000 1500 2000 2500 3000
52 102
0
100 50
200 150
250 300 350
352 202
702
152 502 D
yn am
ic b
ra ke
ti m
e co
ns ta
nt
[m s]
Speed [r/min]
HG-SR 1000 r/min series HG-SR 2000 r/min series
0
20 10
30 40 50 60 70 80 90
100
0 500 1000 1500 2000
15K1 25K1
20K1
801 60112K1
Speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Speed [r/min]
80
0
70 60 50 40 30 20 10
500 1000 1500 2000 2500 30000
15K1M
11K1M
22K1M
701M
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
HG-JR1000 r/min series HG-JR1500 r/min series
503 353
203
53
103
73
153
260
0
220
180
140
100
60
20 1000 2000 3000 4000 5000 60000
703
903
Speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Speed [r/min]
0 2 4 6 8
10 12 14 16 18
0 500 1000 1500 2000 2500 3000
153
503103
353 203
HG-JR3000 r/min series HG-RR series
10. CHARACTERISTICS
10 - 11
352
500 1000 1500 20000 0
10 20 30 40 50 60 70 80 90
100
502 72
202152D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Speed [r/min]
HG-UR series
(b) 400 V class
Speed [r/min] 0 500 1000 1500 2000 2500 3000
1524
5024
1024
524 100
80
60
40
20
0
2024
3524
7024
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
10
20
30
40
50
60
0 500 1000 1500 2000 6014
8014
25K14
12K14 20K14
15K14
Speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
HG-SR series HG-JR1000 r/min series
Speed [r/min]
50
0
40
30
20
10
500 1000 1500 2000 2500 30000
11K1M4
22K1M4
15K1M4701M4
70
60
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Speed [r/min] 0 1000 2000 3000 4000 5000 6000
7341534
5034
1034
534
120
100
80
60
40
20
0 2034
3534
9034
7034
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
HG-JR1500 r/min series HG-JR3000 r/min series
10. CHARACTERISTICS
10 - 12
10.3.2 Permissible load to motor inertia when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia moment is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor. The value in the parenthesis shows the value at the rated speed.
Servo motor Permissible load to motor inertia ratio [multiplier] Servo motor Permissible load to motor inertia
ratio [multiplier] HG-KR053 HG-JR53 HG-KR13 HG-JR73 HG-KR23 30 HG-JR103 30 HG-KR43 HG-JR153 HG-KR73 HG-JR203 HG-MR053 35 HG-JR353 16 (30) HG-MR13 HG-JR503 15 (30) HG-MR23
32 HG-JR703 11 (30)
HG-MR43 HG-JR903 18 (30) HG-MR73 HG-JR701M 5 HG-SR51
30
HG-JR11K1M 10 (30)
HG-SR81 HG-JR15K1M HG-SR121 HG-JR22K1M 20 (30) HG-SR201 HG-JR601 5 HG-SR301 16 HG-JR801 30 HG-SR421 15 HG-JR12K1 20 (30) HG-SR52
30 HG-JR15K1 17 (30)
HG-SR102 HG-JR20K1 26 (30) HG-SR152
21 HG-JR25K1 21 (30)
HG-SR202 HG-JR534 HG-SR352
13 (15) HG-JR734
HG-SR502 HG-JR1034 30 (30) HG-SR702 5 (15) HG-JR1534 HG-SR524 5 (15) HG-JR2034 HG-SR1024
5 (17) HG-JR3534 20 (30) (Note)
HG-SR1524 HG-JR5034 15 (30) HG-SR2024
5 (15)
HG-JR7034 11 (30) HG-SR3524 HG-JR9034 18 (30) HG-SR5024 HG-JR701M4 7 (10) HG-SR7024 HG-JR11K1M4
10 (30) HG-UR72
30 HG-JR15K1M4
HG-UR152 HG-JR22K1M4 20 (30) HG-UR202
16 HG-JR6014 10
HG-UR352 HG-JR8014 30 HG-UR502 15 HG-JR12K14 20 (30) HG-RR103
30 HG-JR15K14 30 (30)
HG-RR153 HG-JR20K14 26 (30) HG-RR203 16 HG-JR25K14 21 (30) HG-RR353
15
HG-RR503
Note. When the maximum torque is increased to 400%, the permissible load to motor inertia ratio at the maximum speed of the servo motor is 25 times.
10. CHARACTERISTICS
10 - 13
10.4 Cable bending life
The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
a:
b: Standard encoder cable Standard motor power cable Standard electromagnetic brake cable
Long bending life encoder cable Long bending life motor power cable Long bending life electromagnetic brake cable
N um
be r o
f b en
di ng
ti m
es [t
im e]
1 108
5 107
1 107
5 106
1 106
5 105
1 105
5 104
1 104
5 103
1 103
4 7 10 20 40 70 100 200 Bend radius [mm]
a
b
10. CHARACTERISTICS
10 - 14
10.5 Inrush currents at power-on of main circuit and control circuit
POINT For a servo amplifier of 600 W or less, the inrush current values can change depending on frequency of turning on/off the power and ambient temperature.
A molded-case circuit breaker and magnetic contactor may fail or malfunction due to an inrush current flowing through the servo amplifier's power lines (input lines) at power on. Therefore, use products with the specifications as described. (Refer to section 11.10.) When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used. (1) 200 V class
The following shows the inrush currents (reference data) that will flow when 240 V AC is applied at the power supply capacity. When you use a 1-phase 200 V AC power supply with MR-J4-10A(-RJ) to MR- J4-200A(-RJ), the inrush currents of the main circuit power supply are the same.
Servo amplifier Inrush currents (A0-P)
Main circuit power supply (L1/L2/L3)
Control circuit power supply (L11/L21)
MR-J4-10A(-RJ) MR-J4-20A(-RJ) MR-J4-40A(-RJ) MR-J4-60A(-RJ)
30 A (attenuated to approx. 3 A in 20 ms)
20 A to 30 A (attenuated to approx. 1 A in 20 ms) MR-J4-70A(-RJ)
MR-J4-100A(-RJ) 34 A
(attenuated to approx. 7 A in 20 ms) MR-J4-200A(-RJ) MR-J4-350A(-RJ)
113 A (attenuated to approx. 12 A in 20 ms)
MR-J4-500A(-RJ) 42 A (attenuated to approx. 20 A in 20 ms) 34 A
(attenuated to approx. 2 A in 20 ms) MR-J4-700A(-RJ) 85 A
(attenuated to approx. 20 A in 30 ms)
MR-J4-11KA(-RJ) 226 A (attenuated to approx. 30 A in 30 ms)
42 A (attenuated to approx. 2 A in 30 ms) MR-J4-15KA(-RJ) 226 A
(attenuated to approx. 50 A in 30 ms)
MR-J4-22KA(-RJ) 226 A (attenuated to approx. 70 A in 30 ms)
10. CHARACTERISTICS
10 - 15
(2) 400 V class
The following shows the inrush currents (reference data) that will flow when 480 V AC is applied at the power supply capacity.
Servo amplifier Inrush currents (A0-P)
Main circuit power supply (L1/L2/L3)
Control circuit power supply (L11/L21)
MR-J4-60A4(-RJ) MR-J4-100A4(-RJ)
65 A (attenuated to approx. 5 A in 10 ms)
40 A to 50 A (attenuated to approx. 0 A in 2 ms) MR-J4-200A4(-RJ) 80 A
(attenuated to approx. 5 A in 10 ms)
MR-J4-350A4(-RJ) 100 A (attenuated to approx. 20 A in 10 ms)
MR-J4-500A4(-RJ) 65 A (attenuated to approx. 9 A in 20 ms) 41 A
(attenuated to approx. 0 A in 3 ms) MR-J4-700A4(-RJ) 68 A
(attenuated to approx. 34 A in 20 ms)
MR-J4-11KA4(-RJ) 339 A (attenuated to approx. 10 A in 30 ms)
38 A (attenuated to approx. 1 A in 30 ms) MR-J4-15KA4(-RJ) 339 A
(attenuated to approx. 15 A in 30 ms)
MR-J4-22KA4(-RJ) 339 A (attenuated to approx. 20 A in 30 ms)
(3) 100 V class
The following shows the inrush currents (reference data) that will flow when 120 V AC is applied at the power supply capacity.
Servo amplifier Inrush currents (A0-P)
Main circuit power supply (L1/L2)
Control circuit power supply (L11/L21)
MR-J4-10A1(-RJ) MR-J4-20A1(-RJ) MR-J4-40A1(-RJ)
38 A (attenuated to approx. 14 A in 10 ms)
20 A to 30 A (attenuated to approx. 0 A
in 1 ms to 2 ms)
10. CHARACTERISTICS
10 - 16
MEMO
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 1
11. OPTIONS AND PERIPHERAL EQUIPMENT
WARNING
Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
CAUTION Use the specified auxiliary equipment and options to prevent a malfunction or a fire.
POINT
We recommend using HIV wires to wire the servo amplifiers, options, and peripheral equipment. Therefore, the recommended wire sizes may differ from those used for the previous servo amplifiers.
11.1 Cable/connector sets
POINT The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.
Purchase the cable and connector options indicated in this section.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 2
11.1.1 Combinations of cable/connector sets
For MR-J4-_A_ servo amplifier
Refer to "Servo Motor Instruction Manual (Vol. 3)" for the options for the servo motor power, electromagnetic brake, encoder, and thermistor.
CNP1
CNP2
CNP3
5)
1)
7) CN9
CN10
MR-J3-D05
3)
2)
4)
CN5
CN6
CN3
CN8
CN1
CN2
CN4
6)
Linear servo motor
Linear encoder Power connector
Direct drive motor
Encoder connector
To CN2
To CN2 (The connection method changes depending on incremental system and absolute position detection system.)
Refer to "Linear Encoder Instruction Manual" about options for linear encoder.
Refer to "Direct Drive Motor Instruction Manual" about options for direct drive motor power and encoder.
(Packed with the servo amplifier)
(Note 1)
Personal computer
To 24 V DC power supply for electromagnetic brake
Servo motor
Encoder connector
Safety logic unit
Servo amplifier
Operation panel
Controller
Power connector
Brake connector
(Note 2)
Battery
10)
9) Battery unit MR-BT6VCASE and MR-BAT6V1 battery
Servo amplifier
CN5
CN6
CN3
CN8
CN1
CN2
CN4
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block. 2. When not using the STO function, attach a short-circuit connector (8)) supplied with a servo amplifier.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 3
For MR-J4-_A_-RJ servo amplifier
CNP1
CNP2
CNP3
5)
1)
7) CN9
CN10
MR-J3-D05
3)
2)
4)
CN5
CN6
CN3
CN8
CN1
CN4 CN2L CN2
6) (Packed with the servo amplifier)
(Note 1)
Personal computer
To 24 V DC power supply for electromagnetic brake
Servo motor
Encoder connector
Safety logic unit
Servo amplifier
Operation panel
Controller
Power connector
Brake connector
(Note 2)
Refer to "Servo Motor Instruction Manual (Vol. 3)" for the options for the servo motor power, electromagnetic brake, encoder, and thermistor.
Linear servo motor
Linear encoder Power connector
Direct drive motor
Encoder connector
To CN2
(The connection method changes depending on incremental system and absolute position detection system.)
Refer to "Linear Encoder Instruction Manual" about options for linear encoder.
Refer to "Direct Drive Motor Instruction Manual" about options for direct drive motor power and encoder.
To CN2
Battery
10)
9) Battery unit MR-BT6VCASE and MR-BAT6V1 battery
Servo amplifier
CN5
CN6
CN3
CN8
CN1
CN2
CN4
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block. 2. When not using the STO function, attach a short-circuit connector (8)) supplied with a servo amplifier.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 4
No. Name Model Description Remark 1) Servo amplifier
power connector set
Supplied with 200 V class and 100 V class servo amplifiers of 1 kW or less.
CNP1 Connector: 06JFAT-SAXGDK-H7.5 (JST)
CNP2 Connector: 05JFAT-SAXGDK-H5.0 (JST)
CNP3 Connector: 03JFAT-SAXGDK-H7.5 (JST)
Applicable wire size: 0.8 mm2 to 2.1 mm2 (AWG 18 to 14) Insulator OD: to 3.9 mm
Open tool J-FAT-OT (N) or J-FAT-OT (JST)
Supplied with 200 V class servo amplifiers of 2 kW and 3.5 kW.
CNP1 Connector: 06JFAT-SAXGFK-XL (JST)
CNP2 Connector: 05JFAT-SAXGDK-H5.0 (JST)
CNP3 Connector: 03JFAT-SAXGFK-XL (JST)
CNP3 Applicable wire size: 1.25 mm2 to 5.5 mm2 (AWG 16 to 10) Insulator OD: to 4.7 mm
CNP2 Applicable wire size: 0.8 mm2 to 2.1 mm2 (AWG 18 to 14) Insulator OD: to 3.9 mm
Open tool J-FAT-OT-EXL (JST)
Supplied with 400 V class servo amplifiers of 3.5 kW or less. CNP1 connector:
06JFAT-SAXGDK- HT10.5 (JST)
CNP2 connector: 05JFAT-SAXGDK- HT7.5 (JST)
CNP3 connector: 03JFAT-SAXGDK- HT10.5 (JST)
Applicable wire size: 1.25 mm2 to 2.1 mm2 (AWG 16 to 14) Insulator OD: to 3.9 mm
Open tool J-FAT-OT-XL (JST)
2) Junction terminal block cable
MR-J2M- CN1TBL_M Cable length: 0.5 m, 1 m (Refer to section 11.6.)
Junction terminal block connector Connector: D7950-B500FL (3M)
CN1 connector Connector: 10150-6000EL Shell kit: 10350-3210-000 (3M or equivalent)
For junction terminal block connection
3) CN1 connector set
MR-J3CN1 Connector: 10150-3000PE Shell kit: 10350-52F0-008 (3M or equivalent)
4) Junction terminal block
MR-TB50 Refer to section 11.6.
5) USB cable MR-J3USBCBL3M Cable length: 3 m
CN5 connector mini-B connector (5 pins)
Personal computer connector A connector
For connection with PC-AT compatible personal computer
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 5
No. Name Model Description Remark 6) Monitor cable MR-J3CN6CBL1M
Cable length: 1 m 3 (Red) 2 (White) 1 (Black)
CN6 connector Housing: 51004-0300 Terminal: 50011-8100 (Molex)
7) STO cable MR-D05UDL3M-B Connector set: 2069250-1 (TE Connectivity)
Connection cable for the CN8 connector
8) Short-circuit connector
Supplied
with servo amplifier
9) Battery cable MR-BT6V1CBL_M Cable length:
0.3/1 m (Refer to section 11.1.3.)
Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST)
Connector: 10114-3000PE Shell kit: 10314-52F0-008 (3M or equivalent)
For connection with battery unit
10) Junction battery cable
MR-BT6V2CBL_M Cable length:
0.3/1 m (Refer to section 11.1.3.)
Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST)
Housing: PALR-02VF-O Contact: SPAL-001GU-P0.5 (JST)
For battery junction
Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 6
11.1.2 MR-D05UDL3M-B STO cable
This cable is for connecting an external device to the CN8 connector.
Cable model Cable length Cable OD (Note) Application MR-D05UDL3M-B 3 m 5.7 mm Connection cable for the CN8 connector
Note. Standard OD. The maximum OD is about 10 % greater for dimensions without tolerances.
(1) Configuration diagram
Servo amplifier
MR-D05UDL3M-B CN8
(2) Internal wiring diagram
1 2 3
6 7
Plate
STO2 TOFB1 TOFB2
Shield
STO1
TOFCOM8
4 5
STOCOM Yellow (with black dots) Yellow (with red dots) Gray (with black dots) Gray (with red dots) White (with black dots) White (with red dots)
(Note)
2 1
64 8
CN8 connector
3 5 7
Viewed from the connection part
Note. Do not use the two core wires with orange sheath (with red or black dots).
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 7
11.1.3 Battery cable/junction battery cable
(1) Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available.
Cable model
Cable length Bending life Application/remark
0.3 m 1 m
MR-BT6V1CBL_M 03 1 Standard For connection with MR- BT6VCASE
MR-BT6V2CBL_M 03 1 Standard For junction
(2) MR-BT6V1CBL_M
(a) Appearance
2) 1) 3)
Components Description 1) Cable VSVC 7/0.18 2C
2) Connector Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST)
3) Connector Connector: 10114-3000PE Shell kit: 10314-52F0-008 (3M or equivalent)
(b) Internal wiring diagram
BT LG
7 14
1 2 LG
BT
1)2) 3)
SD
White Black
Plate
(3) MR-BT6V2CBL_M (a) Appearance
1)
2) 3)4) 5)
Components Description 1) Cable
VSVC 7/0.18 2C 2) Cable 3) Connector Housing: PAP-02V-O
Contact: SPHD-001G-P0.5 (JST) 4) Connector
5) Connector Housing: PALR-02VF-O Contact: SPAL-001GU-P0.5 (JST)
(b) Internal wiring diagram
BT LG
1 2
1 2 LG
BT
3)
1 2 LG
BT
White Black
1)4)
2) 5)
White Black
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 8
11.2 Regenerative options
CAUTION Do not use servo amplifiers with regenerative options other than the combinations specified below. Otherwise, it may cause a fire.
11.2.1 Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers. (1) 200 V class
Servo amplifier
Regenerative Power [W]
Built-in regenerative
resistor
MR-RB032 [40 ]
MR-RB12 [40 ]
MR-RB30 [13 ]
MR-RB3N [9 ]
MR-RB31 [6.7 ]
MR-RB32 [40 ]
(Note 1) MR-RB50
[13 ]
(Note 1) MR-RB5N
[9 ]
(Note 1) MR-RB51
[6.7 ] MR-J4-10A (-RJ) 30
MR-J4-20A (-RJ) 10 30 100
MR-J4-40A (-RJ) 10 30 100
MR-J4-60A (-RJ) 10 30 100
MR-J4-70A (-RJ) 20 30 100 300
MR-J4-100A (-RJ) 20 30 100 300
MR-J4-200A (-RJ) 100 300 500
MR-J4-350A (-RJ) 100 300 500
MR-J4-500A (-RJ) 130 300 500
MR-J4-700A (-RJ) 170 300 500
Servo amplifier
(Note 2) Regenerative power [W] External regenerative resistor (accessory)
MR-RB5R [3.2 ]
MR-RB9F [3 ]
MR-RB9T [2.5 ]
MR-J4-11KA (-RJ) 500 (800) 500 (800)
MR-J4-15KA (-RJ) 850 (1300) 850 (1300)
MR-J4-22KA (-RJ) 850 (1300) 850 (1300)
Note 1. Always install a cooling fan. 2. Values in parentheses assume the installation of a cooling fan.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 9
(2) 400 V class
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 ]
(Note 1) MR-
RB3U-4 [22 ]
(Note 1) MR-
RB5U-4 [22 ]
MR-J4-60A4(-RJ) 15 100 300 MR-J4-100A4(-RJ) 15 100 300 MR-J4-200A4(-RJ) 100 300 500 MR-J4-350A4(-RJ) 100 300 500 MR-J4-500A4(-RJ) 130 300 500 MR-J4-700A4(-RJ) 170 300 500
Servo amplifier
(Note 2) Regenerative power [W] External
regenerative resistor
(accessory)
MR-RB5K-4 [10 ]
MR-RB6K-4 [10 ]
MR-J4-11KA4(-RJ) 500 (800) 500 (800) MR-J4-15KA4(-RJ) 850 (1300) 850 (1300) MR-J4-22KA4(-RJ) 850 (1300) 850 (1300)
Note 1. Always install a cooling fan. 2. Values in parentheses assume the installation of a cooling fan.
(3) 100 V class
Servo amplifier
Regenerative power [W] Built-in
regenerative resistor
MR-RB032 [40 ]
MR-RB12 [40 ]
MR-J4-10A1(-RJ) 30 MR-J4-20A1(-RJ) 10 30 100 MR-J4-40A1(-RJ) 10 30 100
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 10
11.2.2 Selection of regenerative option
A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section. To select a regenerative option precisely, use the capacity selection software. (1) Rotary servo motor
(a) Regenerative energy calculation Servo motor
Moving part
N V
WL
FC
2)
1) V
3)
4) Forward rotation
6)
5) 7)
Reverse rotation
8) Time
Feed speed of moving part
tpsa1 t1 tpsd1 t2 tpsa2 t3 t4tpsd2
V: Feed speed of moving part [mm/min] N: Servo motor speed (N = V/S) [r/min] S: Travel distance per servo motor
revolution (S = PB) [mm/rev]
PB: Ball screw lead [mm] LB: Ball screw length [mm] DB: Ball screw diameter [mm] WL: Moving part mass [kg] FC: Load antidrag setting [N] TL: Load torque converted into equivalent
value on servo motor shaft [Nm] [Nm]
: Drive system efficiency : Friction coefficient JL: Load moment of inertia converted into
equivalent value on servo motor shaft [kgcm2]
JM: Moment of inertia of the servo motor [kgcm2] : Pi constant g: Gravitational acceleration [m/s2]
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 11
Formulas for calculating torque and energy in operation
Regenerative power
Torque applied to servo motor [Nm] (Note 1, 2) Energy E [J]
1) T1 = 9.55 104 (JL/ + JM) N
tpsa1
1 + TL E1 = 2
0.1047 N T1 tpsa1
2) T2 = TL E2 = 0.1047 N T2 t1
3) T3 = 9.55 104 -(JL + JM) N
tpsd1
1 + TL E3 = 2
0.1047 N T3 tpsd1
4), 8) T4, T8 = 0 E4, E8 = 0 (No regeneration)
5) T5 = 9.55 104
(JL/ + JM) N tpsa2
1 + TL E5 = 2
0.1047 N T5 tpsa2
6) T6 = TL E6 = 0.1047 N T6 t3
7) T7 = 9.55 104 -(JL + JM) N
tpsd2
1 + TL E7 = 2
0.1047 N T7 tpsd2
Note 1. Load torque converted into equivalent value on servo motor shaft TL can be calculated
with the following expression. TL = {(FC + ( WL g)) S}/(2000 )
2. Load moment of inertia converted into equivalent value on servo motor shaft JL can be calculated with the following expression. JL = JL1 + JL2 + JL3
JL1 is the load moment of inertia of the moving part, JL2 is the load moment of inertia of the ball screw, and JL3 is the load moment of inertia of the coupling. JL1 and JL2 can be calculated with the following expressions. JL1 = WL (S/(20 ))2 JL2 = {( 0.0078 (LB/10))/32} (DB/10)4
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 12
(b) Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
Servo amplifier Inverse
efficiency [%] Capacitor
charging [J] Servo amplifier Inverse efficiency [%]
Capacitor charging [J]
MR-J4-10A(-RJ) 55 9 MR-J4-60A4(-RJ) 85 12 MR-J4-20A(-RJ) 75 9 MR-J4-100A4(-RJ) 85 12 MR-J4-40A(-RJ) 85 11 MR-J4-200A4(-RJ) 85 25 MR-J4-60A(-RJ) 85 11 MR-J4-350A4(-RJ) 85 43 MR-J4-70A(-RJ) 85 18 MR-J4-500A4(-RJ) 90 45 MR-J4-100A(-RJ) 85 18 MR-J4-700A4(-RJ) 90 70 MR-J4-200A(-RJ) 85 36 MR-J4-11KA4(-RJ) 90 120 MR-J4-350A(-RJ) 85 40 MR-J4-15KA4(-RJ) 90 170 MR-J4-500A(-RJ) 90 45 MR-J4-22KA4(-RJ) 90 250 MR-J4-700A(-RJ) 90 70 MR-J4-10A1(-RJ) 55 4 MR-J4-11KA(-RJ) 90 120 MR-J4-20A1(-RJ) 75 4 MR-J4-15KA(-RJ) 90 170 MR-J4-40A1(-RJ) 85 10 MR-J4-22KA(-RJ) 90 250
Inverse efficiency (m): Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Efficiency varies with the speed and generated torque. Since the characteristics of the electrolytic capacitor change with time, allow for approximately 10% higher inverse efficiency.
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J] = m Es - Ec
Calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf [s] to select the necessary regenerative option.
PR [W] = ER/tf
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 13
(2) Linear servo motor
(a) Thrust and energy calculation Linear servo motor
secondary-side (magnet)
Load V
M1 M2
Linear servo motor primary-side (coil)
Linear servo motor
Ft
2)
1) V
3)
4) Positive direction
6)
5) 7) Negative direction
8) Time
Feed speed
tpsa1 t1 tpsd1 t2 tpsa2 t3 t4tpsd2
The following shows equations of the linear servo motor thrust and energy at the driving pattern above.
Section Thrust F of linear servo motor [N] Energy E [J]
1) F1 = (M1 + M2) V/tpsa1 + Ft E1 = V/2 F1 tpsa1
2) F2 = F1 E2 = V F2 t1
3) F3 = -(M1 + M2) V/tpsd1 + Ft E3 = V/2 F3 tpsd1
4), 8) F4, F8 = 0 E4, E8 = 0 (No regeneration)
5) F5 = (M1 + M2) V/tpsa2 + Ft E5 = V/2 F5 tpsa2
6) F6 = Ft E6 = V F6 t3
7) F7 = -(M1 + M2) V/tpsd2 + Ft E7 = V/2 F7 tpsd2
From the calculation results in 1) to 8), find the absolute value (Es) in the sum total of negative energies.
(b) Losses of servo motor and servo amplifier in regenerative mode
For inverse efficiency and capacitor charging energy, refer to (1) (b) in this section.
(c) Regenerative energy calculation Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative resistor.
ER [J] = Es - Ec
From the total of ER's whose subtraction results are positive and one-cycle period, the power consumption PR [W] of the regenerative option can be calculated with the following equation.
PR [W] = total of positive ER's/one-cycle operation period (tf)
Select a regenerative option from the PR value. Regenerative option is not required when the energy consumption is equal to or less than the built-in regenerative energy.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 14
11.2.3 Parameter setting
Set [Pr. PA02] according to the option to be used.
0 0 [Pr. PA02]
Regenerative option selection 00: Regenerative option is not used.
For servo amplifier of 100 W, regenerative resistor is not used. Built-in regenerative resistors are used on servo amplifiers with a capacity of 0.2 kW to 7 kW. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11 kW to 22 kW.
01: FR-BU2/FR-BU2-H/FR-RC/FR-RC-H/FR-CV/FR-CV-H/FR-XC/FR-XC-H 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50 (Cooling fan is required) 08: MR-RB31 09: MR-RB51 (Cooling fan is required) 0B: MR-RB3N 0C: MR-RB5N (Cooling fan is required) 80: MR-RB1H-4 81: MR-RB3M-4 (Cooling fan is required.) 82: MR-RB3G-4 (Cooling fan is required.) 83: MR-RB5G-4 (Cooling fan is required.) 84: MR-RB34-4 (Cooling fan is required.) 85: MR-RB54-4 (Cooling fan is required.) 91: MR-RB3U-4 (Cooling fan is required.) 92: MR-RB5U-4 (Cooling fan is required.) FA: Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory.
11.2.4 Connection of regenerative option
POINT When the MR-RB50, MR-RB51, MR-RB5N, MR-RB3M-4, MR-RB3G-4, MR- RB5G-4, MR-RB34-4, MR-RB54-4, MR-RB5K-4, or MR-RB6K-4 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer. For the sizes of wires used for wiring, refer to section 11.9.
The regenerative option generates heat of 100 C higher than the ambient temperature. Fully consider heat dissipation, installation position, used wires, etc. to place the option. For wiring, use flame-resistant wires or make the wires flame-resistant and keep them away from the regenerative option. Use twisted wires with a maximum length of 5 m for a connection with the servo amplifier.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 15
(1) MR-J4-500A(-RJ) or less/MR-J4-350A4(-RJ) or less
Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.
D
P+
C
G4
G3
C
P
Regenerative option
5 m or less
Servo amplifier Always remove the lead from across P+ to D.
(Note 3)
Cooling fan (Note 1, 2)
Note 1.
When using the MR-RB50, MR-RB5N, MR-RB51, MR-RB3M-4, MR-RB3G-4, or MR-RB5G-4, forcibly cool it with a cooling fan (92 mm 92 mm, minimum air flow: 1.0 m3).
2. When the ambient temperature is more than 55 C and the regenerative load ratio is more than 60% in MR-RB30, MR-RB-31, MR-RB32 and MR-RB3N, forcefully cool the air with a cooling fan (1.0 m3/min or more, 92 mm 92 mm). A cooling fan is not required if the ambient temperature is 35 C or less. (A cooling fan is required for the shaded area in the following graph.)
100
60
0 0
Ambient temperature [C] 35 55
A cooling fan is not required.
A cooling fan is required.
Lo ad
ra tio
[% ]
3. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs. G3-G4 contact specifications
Maximum voltage: 120 V AC/DC Maximum current: 0.5 A/4.8 V DC Maximum capacity: 2.4 VA
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 16
(2) MR-J4-500A4(-RJ)/MR-J4-700A(-RJ)/MR-J4-700A4(-RJ)
Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor.
P+
C
G4
G3
C
P
Regenerative option
5 m or less
Servo amplifier
(Note 2)
Cooling fan (Note 1)
Note 1. When using the MR-RB51, MR-RB34-4, MR-RB54-4, MR-RB3U-4, or MR-RB5U- 4, forcibly cool it with a cooling fan (92 mm 92 mm, minimum air flow: 1.0 m3).
2. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs. G3-G4 contact specifications
Maximum voltage: 120 V AC/DC Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
When using the regenerative option, remove the servo amplifier's built-in regenerative resistor wires (across P+ to C), fit them back to back, and secure them to the frame with the accessory screw as shown below.
Built-in regenerative resistor lead terminal fixing screw
Accessory screw
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 17
(3) MR-J4-11KA(-RJ) to MR-J4-22KA(-RJ)/MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ) (when using the
supplied regenerative resistor)
CAUTION
The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protective cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock. Even if the power was shut-off, be careful until the bus voltage discharged and the temperature decreased because of the following reasons.
It may cause a burn injury due to very high temperature without cooling. It may cause an electric shock due to charged capacitor of the servo amplifier.
Do not use servo amplifiers with external regenerative resistors other than the combinations specified below. Otherwise, it may cause a fire.
When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative resistors burn. Install the resistors at intervals of about 70 mm. Cooling the resistors with two cooling fans (1.0 m3/min or more, 92 mm 92 mm) improves the regeneration capability. In this case, set "_ _ F A" in [Pr. PA02].
P+ C
Servo amplifier
Cooling fan
(Note) Series connection
5 m or shorter
Note. The number of resistors connected in series depends on the resistor type. The thermal sensor is not mounted on the attached regenerative resistor. An abnormal heating of resistor may be generated at a regenerative circuit failure. Install a thermal sensor near the resistor and establish a protective circuit to shut off the main circuit power supply when abnormal heating occurs. The detection level of the thermal sensor varies according to the settings of the resistor. Set the thermal sensor in the most appropriate position on your design basis, or use the thermal sensor built-in regenerative option. (MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, or MR-RB6K-4)
Servo amplifier Regenerative resistor Symbol (Note) Regenerative power [W] Resultant
resistance [] Number of resistors Normal Cooling
MR-J4-11KA(-RJ) GRZG400-0.8 GR400 R80K 500 800 3.2 4 MR-J4-15KA(-RJ) GRZG400-0.6 GR400 R60K
850 1300 3
5 MR-J4-22KA(-RJ) GRZG400-0.5 GR400 R50K 2.5 MR-J4-11KA4(-RJ) GRZG400-2.5 GR400 2R5K 500 800 10 4 MR-J4-15KA4(-RJ) MR-J4-22KA4(-RJ)
GRZG400-2 GR400 2R0K 850 1300 10 5
Note. The following shows an indication example of symbol.
GR400 R80K
Symbol
Regenerative resistor
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 18
(4) MR-J4-11KA-PX to MR-J4-22KA-PX/MR-J4-11KA-RZ to MR-J4-22KA-RZ/MR-J4-11KA4-PX to MR-J4-
22KA4-PX/MR-J4-11KA4-RZ to MR-J4-22KA4-RZ (when using the regenerative option) The MR-J4-11KA-PX to MR-J4-22KA-PX, MR-J4-11KA-RZ to MR-J4-22KA-RZ, MR-J4-11KA4-PX to MR-J4-22KA4-PX, and MR-J4-11KA4-RZ to MR-J4-22KA4-RZ servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the regenerative option MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, and MR-RB6K-4. Cooling the regenerative option with cooling fans improves regenerative capability. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Regenerative option
Configure up a circuit which shuts off main circuit power when thermal protector operates.
Servo amplifier
C
P+
5 m or shorter
(Note)
P
C
G3
G4
Note. G3-G4 contact specifications Maximum voltage: 120 V AC/DC Maximum current: 0.5 A/4.8 V DC Maximum capacity: 2.4 VA
Servo amplifier Regenerative option
Resistance []
Regenerative power [W]
Without cooling fans
With cooling fans
MR-J4-11KA-PX MR-J4-11KA-RZ
MR-RB5R 3.2 500 800
MR-J4-15KA-PX MR-J4-15KA-RZ
MR-RB9F 3 850 1300
MR-J4-22KA-PX MR-J4-22KA-RZ
MR-RB9T 2.5 850 1300
MR-J4-11KA4-PX MR-J4-11KA4-RZ
MR-RB5K-4 10 500 800
MR-J4-15KA4-PX MR-J4-15KA4-RZ MR-J4-22KA4-PX MR-J4-22KA4-RZ
MR-RB6K-4 10 850 1300
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 19
When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option.
MR-RB5R/MR-RB9F/MR-RB9T/ MR-RB5K-4/MR-RB6K-4
Mounting screw 4-M3
Top
Bottom
TE1
G4 G3 C P TE1 terminal block
Cooling fan 2 (1.0 m3/min or more, 92 mm 92 mm)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 20
11.2.5 Mounting direction
The mounting direction of the regenerative option is shown below.
Regenerative option Mounting direction MR-RB032 Vertical mounting MR-RB12 Vertical mounting MR-RB32 Vertical mounting MR-RB30 Vertical mounting MR-RB50 (A cooling fan is required.) Vertical mounting/horizontal mounting MR-RB31 Vertical mounting MR-RB51 (A cooling fan is required.) Vertical mounting/horizontal mounting MR-RB3N Vertical mounting MR-RB5N (A cooling fan is required.) Vertical mounting/horizontal mounting MR-RB5R Vertical mounting MR-RB9F Vertical mounting MR-RB9T Vertical mounting MR-RB1H-4 Vertical mounting MR-RB3M-4 (A cooling fan is required.) Vertical mounting MR-RB3G-4 (A cooling fan is required.) Vertical mounting MR-RB5G-4 (A cooling fan is required.) Vertical mounting/horizontal mounting MR-RB34-4 (A cooling fan is required.) Vertical mounting MR-RB54-4 (A cooling fan is required.) Vertical mounting/horizontal mounting MR-RB3U-4 (A cooling fan is required.) Vertical mounting MR-RB5U-4 (A cooling fan is required.) Vertical mounting/horizontal mounting MR-RB5K-4 Vertical mounting MR-RB6K-4 Vertical mounting
Top
Bottom
Top
Bottom
Vertical installation Horizontal installation
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 21
11.2.6 Dimensions
(1) MR-RB12 [Unit: mm]
5
14 4
Approx. 20
169
16 8
15 6
6 12
6
36 40
6 mounting hole
TE1
15
Ap pr
ox . 6
149 2
TE1 terminal
G3
G4
P
C
Applicable wire size: 0.2 mm2 to 2.5 mm2 (AWG 14 to 12) Tightening torque: 0.5 to 0.6 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Mass: 1.1 [kg]
(2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR-RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4 [Unit: mm]
8. 5
12 5
15 0
Ap pr
ox . 3
0 14
2 79
82 .5
30
8. 5
10 90 101.5 82.5
318A B
Intake
7
100
Cooling fan mounting screw (2-M4 screw)
Terminal block
P
C
G3
G4
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 5.4 [Nm]
Regenerative option
Variable dimensions Mass
[kg] A B
MR-RB30
17 335
2.9
MR-RB31 MR-RB32 MR-RB3N MR-RB34-4
23 341 MR-RB3M-4 MR-RB3G-4 MR-RB3U-4
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 22
(3) MR-RB50/MR-RB51/MR-RB5N/MR-RB54-4/MR-RB5G-4/MR-RB5U-4
[Unit: mm]
2.3
13 3
82 .5
49 82.5
Cooling fan mounting screw (2-M3 screw) On opposite side
200 A B 8120
1081212 .5
16 2.
5 35
0 16
2. 5
12 .5
7 Approx. 30
7 14 slotted hole
Intake
Terminal block
P
C
G3
G4
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 5.4 [Nm]
Regenerative option
Variable dimensions Mass
[kg] A B
MR-RB50
17 217
5.6
MR-RB51 MR-RB5N MR-RB54-4
23 223 MR-RB5G-4 MR-RB5U-4
(4) MR-RB032
[Unit: mm]
TE1
30
15
99 1.6
119
14 4
12
15 6
16 8
66
5
Ap pr
ox . 6
Ap pr
ox . 1
2
Approx. 20
6 mounting hole
TE1 terminal
G3
G4
P
C
Applicable wire size: 0.2 mm2 to 2.5 mm2 (AWG 24 to 12)
Tightening torque: 0.5 to 0.6 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Mass: 0.5 [kg]
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 23
(5) MR-RB5R/MR-RB9F/MR-RB9T/MR-RB5K-4/MR-RB6K-4
[Unit: mm]
48 0
10
260 230
10
2-10 mounting hole
50 0
30 42
7 43
197 15 2.3
Cooling fan intake
215 1523015
10
15 15
82 .5
82.582.5
Ap pr
ox . 4
2
Screw for mounting cooling fan 4-M3 screw
TE1 terminal block
PCG3G4
Screw size: M5 Tightening torque: 2.0 [Nm]
Mounting screw Screw size: M8 Tightening torque: 13.2 [Nm]
Regenerative
option Mass [kg]
MR-RB5R 10 MR-RB9F
11 MR-RB9T MR-RB5K-4 10 MR-RB6K-4 11
(6) MR-RB1H-4 [Unit: mm]
15 6
16 8
14 4
6 2
149
173
6
Ap pr
ox . 6
Approx. 24
6
15 6 mounting hole
36
40
TE1 terminal
P
C
G3
G4
Applicable wire size: AWG 24 to 10 Tightening torque: 0.5 to 0.6 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Mass: 1.1 [kg]
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 24
(7) GRZG400-0.8/GRZG400-0.6/GRZG400-0.5/GRZG400-2.5/GRZG400-2.0
(standard accessories)
[Unit: mm]
Ap pr
ox . K
1. 6
Approx. 47
9.5 40
411 385
10 Approx. C
Approx. A Approx. 2.4
40 Approx. 330
Regenerative resistor
Variable dimensions Mounting screw size
Tightening torque [Nm]
Mass [kg] A C K
GRZG400-0.8 10 5.5 39
M8 13.2 0.8 GRZG400-0.6
16 8.2 46 GRZG400-0.5 GRZG400-2.5
10 5.5 39 GRZG400-2.0
11.3 FR-BU2-(H) Brake unit
POINT Use a 200 V class brake unit and a resistor unit with a 200 V class servo amplifier, and a 400 V class brake unit and a resistor unit with a 400 V class servo amplifier. Combination of different voltage class units cannot be used. When a brake unit and a resistor unit are installed horizontally or diagonally, the heat dissipation effect diminishes. Install them on a flat surface vertically. Temperature of the resistor unit case rises to higher than +100 C. Keep cables and flammable materials away from the case. Ambient temperature condition of the brake unit is between -10 C to 50 C. Note that the condition is different from the ambient temperature condition of the servo amplifier (between 0 C and 55 C). Configure the circuit to shut down the power-supply with the alarm output of the brake unit and the resistor unit under abnormal condition. Use the brake unit with a combination indicated in section 11.3.1. To perform continuous regenerative operation, use the FR-RC-(H) power regeneration converter, FR-CV-(H) power regeneration common converter, or FR-XC-(H) multifunction regeneration converter. Brake unit and regenerative options (Regenerative resistor) cannot be used simultaneously.
Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient regenerative capability. When using the brake unit, set [Pr. PA02] of the servo amplifier to "_ _ 0 1". When using the brake unit, always refer to the FR-BU2 Instruction Manual.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 25
11.3.1 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]
Resultant resistance
[]
Applicable servo amplifier (Note 3)
200 V class
FR-BU2-15K FR-BR-15K 1 0.99 8 MR-J4-500A(-RJ) (Note 1)
2 (parallel) 1.98 4 MR-J4-500A(-RJ) MR-J4-700A(-RJ) MR-J4-11KA(-RJ) MR-J4-15KA(-RJ)
FR-BU2-30K FR-BR-30K 1 1.99 4 MR-J4-500A(-RJ) MR-J4-700A(-RJ) MR-J4-11KA(-RJ) MR-J4-15KA(-RJ)
FR-BU2-55K FR-BR-55K 1 3.91 2 MR-J4-11KA(-RJ) MR-J4-15KA(-RJ) MR-J4-22KA(-RJ)
MT-BR5-55K 1 5.5 2 MR-J4-22KA(-RJ) 400 V class
FR-BU2-H30K FR-BR-H30K 1 1.99 16 MR-J4-500A4(-RJ) MR-J4-700A4(-RJ) MR-J4-11KA4(-RJ) (Note 2)
FR-BU2-H55K FR-BR-H55K 1 3.91 8 MR-J4-11KA4(-RJ) MR-J4-15KA4(-RJ) MR-J4-22KA4(-RJ)
FR-BU2-H75K MT-BR5-H75K 1 7.5 6.5 MR-J4-22KA4(-RJ)
Note 1. Only when using servo motor HG-RR353/HG-UR352 2. When HG-JR11K1M4 servo motor is used, limit the torque during power running to 180% or less, or the servo
motor speed to 1800 r/min or less. 3. When the brake unit is selected by using the capacity selection software, a brake unit other than the combinations
listed may be shown. Refer to the combinations displayed on the capacity selection software for detailed combinations.
11.3.2 Brake unit parameter setting
Whether a parameter can be changed or not is listed below.
Parameter Change possible/
impossible Remark
No. Name
0 Brake mode switchover Impossible Do not change the parameter 1 Monitor display data selection Possible Refer to the FR-BU2 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
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 26
11.3.3 Connection example
POINT EM2 has the same function as EM1 in the torque control mode. Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit.
(1) Combination with FR-BR-(H) resistor unit
(a) When connecting a brake unit to a servo amplifier 1) 200 V class
MCMCCB L1 L2 L3 L11 L21
ALM RA1
MC
MC
SK
P3 P4
P+
N- C
N/- P/+
BUE SD
PR
B C
A SD
MSG
FR-BU2
FR-BR
P PR
TH2 TH1
48 ALM
EM2 42
46
DICOM
DOCOM
47 DOCOM
15SON
20
DICOM 21
CN1
CN1
RA1
(Note 10) Main circuit power supply
Emergency stop switch
Servo amplifier (Note 9)
(Note 1) Power supply
OFF ON
(Note 3)
(Note 7)
(Note 2)
(Note 11)
(Note 4)
(Note 6)(Note 8)
(Note 5)
24 V DC (Note 12)
24 V DC (Note 12)
Note 1. For power supply specifications, refer to section 1.3. 2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or
less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.
3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo amplifier and brake unit malfunction.
5. Contact rating: 1b contact, 110 V AC_5 A/220 V AC_3 A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC_0.3 A/30 V DC_0.3 A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
7. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier. 8. Always connect BUE and SD terminals. (factory-wired) 9. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
10. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
11. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 27
2) 400 V class
Emergency stop switch
Servo amplifier (Note 9)
MCMCCB (Note 1) Power supply
L1 L2 L3 L11 L21
ALM RA1 OFF
MC
ON MC
SK
P3 P4
(Note 3)
P+
N- C
(Note 2)
(Note 7)
(Note 11)
N/- P/+
BUE SD
PR
B C
A SD
MSG
(Note 4)
(Note 6)
FR-BU2-H
FR-BR-H
P PR
TH2 TH1(Note 5)
(Note 8)
48 ALM
EM2 42
24 V DC (Note 12) 46
DICOM
DOCOM
47 DOCOM
15SON
20
DICOM 21
CN1
RA1
(Note 10) Main circuit power supply
24 V DC (Note 12)
Step-down transformer
CN1
Note 1. For the power supply specifications, refer to section 1.3. 2. For the servo amplifier of 5 kW and 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected
to P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.
3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo amplifier and brake unit malfunction.
5. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
7. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier. 8. Always connect BUE and SD terminals. (factory-wired) 9. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
10. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
11. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 28
(b) When connecting two brake units to a servo amplifier
POINT
To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction. Always connect the terminals for master/slave (MSG to MSG, SD to SD) between the two brake units. Do not connect the converter unit and brake units as below. Connect the cables with a terminal block to distribute as indicated in this section.
N/- P/+
Brake unit
Brake unitServo amplifier
P+ N- N/-
P/+
Connecting two cables to P+ and N- terminals
N/- P/+
Brake unit
Brake unitServo amplifier
P+ N- N/-
P/+
Passing wiring
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 29
P3 P4
N- C
MCMCCB L1 L2 L3 L11 L21
ALM RA1
MC
MC
SK
P+ N/- P/+
BUE SD
PR
B C
A SD
MSG
FR-BU2
FR-BR
P PR
TH2 TH1
N/- P/+
BUE SD
PR
B C
A SD
MSG
FR-BU2
FR-BR
P PR
TH2 TH1
48 ALM
EM2 42
46
DICOM
DOCOM
47 DOCOM
15SON
20
DICOM 21
CN1
CN1
RA1
(Note 12) Main circuit power supply
(Note 4)
(Note 6)(Note 8)
(Note 9)
Emergency stop switch
Servo amplifier (Note 11)
(Note 1) Power supply
OFF ON
(Note 3)
(Note 7)
(Note 2)
(Note 13)
(Note 4)
(Note 6)(Note 8)
(Note 5)
24 V DC (Note 14)
(Note 10)
Terminal block
(Note 9)
(Note 5)
24 V DC (Note 14)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 30
Note 1. For power supply specifications, refer to section 1.3. 2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or
less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.
3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo amplifier and brake unit malfunction.
5. Contact rating: 1b contact, 110 V AC_5 A/220 V AC_3 A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC_0.3 A/30 V DC_0.3 A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
7. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier. 8. Always connect BUE and SD terminals. (factory-wired) 9. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in servo
amplifier and brake unit malfunction. 10. For 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. 11. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
12. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
13. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 14. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 31
(2) Combination with MT-BR5-(H) resistor unit
(a) 200 V class
Emergency stop switch
Servo amplifier (Note 9)
MCMCCB (Note 1) Power supply
L1 L2 L3 L11 L21
ALM RA1 OFF
MC
ON MC
SK
P3 P4
(Note 3)
P+
N- C
(Note 2)
(Note 7)
(Note 11)
N/- P/+
BUE SD
PR
B C
A SD
MSG
(Note 4)
(Note 6)
FR-BU2
MT-BR5
P PR
TH2 TH1(Note 5)
(Note 8)
48 ALM
EM2 42
24 V DC (Note 12) 46
DICOM
DOCOM
47 DOCOM
15SON
20
DICOM 21
CN1
CN1
RA1
(Note 10) Main circuit power supply
24 V DC (Note 12)
SK
RA2
RA2
Note 1. For the power supply specifications, refer to section 1.3. 2. Do not connect a supplied regenerative resistor to the P+ and C terminals. 3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo amplifier and brake unit malfunction.
5. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
7. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier. 8. Always connect BUE and SD terminals. (factory-wired) 9. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
10. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
11. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 32
(b) 400 V class
(Note 8) MCMCCB
L1 L2 L3 L11 L21
ALM RA1 OFF RA2
MC
ON MC
SK
P3 P4
(Note 2)
P+
N- (Note 6)
(Note 10)
N/- P/+
BUE SD
PR
B C
A SD
MSG
(Note 3)
(Note 5)
FR-BU2-H
MT-BR5-H
P PR
TH2 TH1(Note 4)
(Note 7)
48 ALM
EM2 42
24 V DC (Note 11) 46
DICOM
DOCOM
47 DOCOM
15SON
20
DICOM 21
CN1
RA1
24 V DC (Note 11)
CN1
RA2
SK
(Note 1) Power supply
Step-down transformer
Servo amplifier
Emergency stop switch
(Note 9) Main circuit power supply
Note 1. For power supply specifications, refer to section 1.3. 2. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
3. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo amplifier and brake unit malfunction.
4. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
5. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
6. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier. 7. Always connect BUE and SD terminals. (factory-wired) 8. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
9. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 11. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 33
(3) Connection instructions
Keep the wires between the servo amplifier and the brake unit, and between the resistor unit and the brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter. The wires should not exceed 10 m even when the wires are twisted. If wires exceeding 5 m without twisted or exceeding 10 m with or without twisted are used, the brake unit may malfunction.
Servo amplifier
Brake unit
5 m or shorter 5 m or shorter
Servo amplifier
Brake unit
10 m or shorter 10 m or shorter
P+ N-
P/+ N/-
P PR
P PR
P/+ N/-
P PR
P PR
Twist Twist
Resistor unit Resistor unit
P+ N-
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 34
(4) Cables
(a) Cables for the brake unit For the brake unit, HIV cable (600 V grade heat-resistant PVC insulated wire) is recommended.
1) Main circuit terminal
N/- P/+ PR
Terminal block
Brake unit
Main circuit screw size
Crimp terminal Tightening
torque [Nm]
Wire size
N/-, P/+, PR,
N/-, P/+, PR, HIV wire
[mm2] AWG
200 V class
FR-BU2-15K M4 5.5-4 1.5 3.5 12 FR-BU2-30K M5 5.5-5 2.5 5.5 10 FR-BU2-55K M6 14-6 4.4 14 6
400 V class
FR-BU2-H30K M4 5.5-4 1.5 3.5 12 FR-BU2-H55K M5 5.5-5 2.5 5.5 10 FR-BU2-H75K M6 14-6 4.4 14 6
2) Control circuit terminal
POINT
Under tightening can cause a cable disconnection or malfunction. Over tightening can cause a short circuit or malfunction due to damage to the screw or the brake unit.
A RESPC
B SDBUE
C MSGSD MSG SD SD
Jumper
Terminal block
Insulator Core
6 mm
Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it. Screw size: M3 Tightening torque: 0.5 Nm to 0.6 Nm Wire size: 0.3 mm2 to 0.75 mm2 Screw driver: Small flat-blade screw driver
(Tip thickness: 0.4 mm/Tip width 2.5 mm)
(b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of the brake unit
Brake unit
Wire size HIV wire [mm2] AWG
FR-BU2-15K 8 8
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 35
(5) Crimp terminals for P+ and N- terminals of servo amplifier
(a) Recommended crimp terminals
POINT Always use recommended crimp terminals or equivalent since some crimp terminals cannot be installed depending on the size.
Servo amplifier Brake unit Number of connected
units Crimp terminal (Manufacturer)
(Note 1) Applicable
tool 200 V class
MR-J4-500A(-RJ) FR-BU2-15K 1 FVD5.5-S4 (JST) a 2 8-4NS (JST) (Note 2) b
FR-BU2-30K 1 FVD5.5-S4 (JST) a MR-J4-700A(-RJ) FR-BU2-15K 2 8-4NS (JST) (Note 2) b FR-BU2-30K 1 FVD5.5-S4 (JST) a MR-J4-11KA(-RJ) FR-BU2-15K 2 FVD8-6 (JST) c FR-BU2-30K 1 FVD5.5-6 (JST) a FR-BU2-55K 1 FVD14-6 (JST) d MR-J4-15KA(-RJ) FR-BU2-15K 2 FVD8-6 (JST) c FR-BU2-30K 1 FVD5.5-6 (JST) a FR-BU2-55K 1 FVD14-6 (JST) d MR-J4-22KA(-RJ) FR-BU2-55K 1 FVD14-8 (JST) d 400 V class
MR-J4-500A4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a MR-J4-700A4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a
MR-J4-11KA4(-RJ) FR-BU2-H30K 1 FVD5.5-6 (JST) a FR-BU2-H55K 1 FVD5.5-6 (JST) a MR-J4-15KA4(-RJ) FR-BU2-H55K 1 FVD5.5-6 (JST) a MR-J4-22KA4(-RJ) FR-BU2-H55K 1 FVD5.5-8 (JST) a FR-BU2-H75K 1 FVD14-8 (JST) d
Note 1. Symbols in the applicable tool field indicate applicable tools in (4) (b) in this section. 2. Coat the crimping part with an insulation tube.
(b) Applicable tool
Symbol Servo amplifier-side crimp terminals
Crimp terminal Applicable tool
Manufacturer Body Head Dice
a FDV5.5-S4 FDV5.5-6
YNT-1210S
JST b 8-4NS YHT-8S
c FVD8-6 YF-1
E-4 YNE-38 DH-111
DH-121
d FVD14-6 FVD14-8
YF-1 E-4
YNE-38 DH-112 DH-122
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 36
11.3.4 Dimensions
(1) FR-BU2-(H) Brake unit
[Unit: mm]
FR-BU2-15K
Rating plate
68 6 56 6
5 5 11
8 5
12 8
18.5 52 62 4
132.5
5 hole (Screw size: M4)
[Unit: mm]
FR-BU2-30K/FR-BU2-H30K
129.5
5 5918.5
Rating plate
52
2-5 hole (Screw size: M4)
12 8
5 5
11 8
5
108 6 696
[Unit: mm]
FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K
18.5
Rating plate
52 72
5
142.5
12 8
11 8
5 5
5 61586
170
2-5 hole (Screw size: M4)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 37
(2) FR-BR-(H) Resistor unit
[Unit: mm]
H 3
1
H 1
3
Ap pr
ox .
H 2
Ap pr
ox .
H 2
D 1
H
5
2-C
Control circuit terminal
Main circuit terminal
W1 1Approx. 35 Approx. 35 C C
W 5
D
5
(Note)
(Note)
Ap pr
ox .
40
33
204Eyebolt
For FR-BR-55K/FR-BR-H55K, an eyebolt is placed on two locations. (Refer to the following diagram. )
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]
200 V class
FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15 FR-BR-30K 340 270 600 560 20 582 220 4 10 30 FR-BR-55K 480 410 700 620 40 670 450 3.2 12 70
400 V class
FR-BR-H30K 340 270 600 560 20 582 220 4 10 30 FR-BR-H55K 480 410 700 620 40 670 450 3.2 12 70
(3) MT-BR5-(H) resistor unit
[Unit: mm]
415 mounting hole 30075 75 4507.5 7.5
M6 M4
193 189
480 510
85
85 80
0
37 60 2110
40 30
NP
Resistor unit Resistance Approximate
mass [kg] 200 V class MT-BR5-55K 2.0 50 400 V class MT-BR5-H75K 6.5 70
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 38
11.4 FR-RC-(H) power regeneration converter
POINT When using the FR-RC-(H), power regeneration converter, set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). When using the FR-RC-(H) power regeneration converter, refer to "Power Regeneration Converter FR-RC Instruction Manual (IB(NA)66330)".
When using the FR-RC-(H) power regeneration converter, set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC27] to "_ _ _ 1". (1) Selection example
The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the 5 kW to 22 kW.
Power regeneration converter
Nominal regenerative
power [kW]
Servo amplifier
Nominal regenerative power [%] 50 75 100 1500
500
300
200
100
50 30 20
C on
tin uo
us e
ne rg
iz at
io n
tim e
[s ]
FR-RC-15K 15 MR-J4-500A(-RJ) MR-J4-700A(-RJ) MR-J4-11KA(-RJ) MR-J4-15KA(-RJ) FR-RC-30K 30
FR-RC-55K 55 MR-J4-22KA(-RJ)
FR-RC-H15K 15 MR-J4-500A4(-RJ) MR-J4-700A4(-RJ)
FR-RC-H30K 30 MR-J4-11KA4(-RJ) MR-J4-15KA4(-RJ)
FR-RC-H55K 55 MR-J4-22KA4(-RJ)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 39
(2) Connection example
POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available.
(a) 200 V class
P3 P4 CN- P+
N/- P/+RD
SE
MCMCCB
RX
R
SX
S
TX
T
R/L1
S/L2
T/L3
B
C
EM1
SON DICOM
CN1 DOCOM
ALM
CN1
RA
B C
FR-RC ALM RA
MC
MC
SK
L11
L21
L1
L2
L3
A
B
C
(Note 1) Phase detection terminals
Ready
Alarm output
RDY output
(Note 7)
(Note 5) Power supply
Malfunction (Note 3)
Power factor improving AC reactor
(Note 10)
Forced stop 1 (Note 6) Servo-on
Power regeneration converter FR-RC
Operation ready OFF
ON
Forced stop 1 (Note 6)
Servo amplifier
(Note 2)
5 m or shorter(Note 4)
24 V DC (Note 9)
(Note 8) (Note 8)
24 V DC (Note 9)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 40
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed,
the FR-RC will not operate. 2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or
less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.
3. If ALM (Malfunction) output is disabled with the parameter, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.
4. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
5. For power supply specifications, refer to section 1.3. 6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with
external circuit at EM1 (Forced stop 1) off. 7. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 8. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 9. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 10. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual
(IB(NA)66330)".
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 41
(b) 400 V class
(Note 1) Phase detection terminals
P3 P4 CN- P+
N/- P/+
(Note 4) RD
SELady
Alarm output
RDY output
MCMCCB (Note 5) Power supply
(Note 7)
RX
R
SX
S
TX
T
R/L1
S/L2
T/L3
B
C
EM1
SON DICOM
CN1 DOCOM
ALM
CN1 (Note 9) 24 V DC
Malfunction (Note 3)
(Note 8)
Power factor improving AC reactor
(Note 10)
Forced stop 1 (Note 6) Servo-on(Note 8)
Power regeneration converter FR-RC-H
RA
B C
FR-RC-H ALM RA
Operation ready
OFF
MC
ON MC
Forced stop 1 (Note 6) SK
L11
L21
L1
L2
L3
Servo amplifier
(Note 2)
5 m or shorter
A
B
C
24 V DC (Note 9)
Step-down transformer
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC-H will not operate.
2. When using the servo amplifier of 7 kW and 5 kW, make sure to disconnect the wiring of built-in regenerative resistor across the P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.
3. If ALM (Malfunction) output is disabled with the parameter, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side.
4. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
5. For the power supply specifications, refer to section 1.3. 6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with
external circuit at EM1 (Forced stop 1) off. 7. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 8. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 9. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 10. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual
(IB(NA)66330)".
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 42
(3) Dimensions
Cooling fan
Mounting foot (removable) Mounting foot (movable)
2-D hole
BBA
AA A
Heat generation area outside mounting dimension
C
F KD
EE E
Rating plate
Front cover Display panel window
[Unit: mm]
Power regeneration converter A AA B BA C D E EE K F Approximate
mass [kg] FR-RC-15K 270 200 450 432 195 10 10 8 3.2 87 19 FR-RC-30K 340 270 600 582 195 10 10 8 3.2 90 31 FR-RC-55K 480 410 700 670 250 12 15 15 3.2 135 55
FR-RC-H15K 340 270 600 582 195 10 10 8 3.2 90 31
FR-RC-H30K FR-RC-H55K 480 410 700 670 250 12 15 15 3.2 135 55
(4) Mounting hole machining dimensions
The following shows mounting hole dimensions for mounting the heat generation area of the power regeneration converter outside a cabinet as measures against heat generation when the converter is mounted in an enclosed type cabinet.
[Unit: mm]
(AA)
(B A) b
a
(2-D hole)
(Mounting hole)
Power regeneration converter a b D AA BA
FR-RC-15K 260 412 10 200 432 FR-RC-30K 330 562 10 270 582 FR-RC-55K 470 642 12 410 670
FR-RC-H15K 330 562 10 270 582
FR-RC-H30K FR-RC-H55K 470 642 12 410 670
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 43
11.5 FR-CV-(H) power regeneration common converter
POINT For details of the power regeneration common converter FR-CV-(H), refer to the FR-CV Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1/L2/L3) of the servo amplifier. Otherwise, the servo amplifier and FR-CV-(H) will malfunction. Connect the DC power supply between the FR-CV-(H) and servo amplifier with correct polarity. Connection with incorrect polarity will fail the FR-CV-(H) and servo amplifier. Two or more FR-CV-(H)'s cannot be installed to improve regeneration capability. Two or more FR-CV-(H)'s cannot be connected to the same DC power supply line. When using FR-CV-(H), set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
When using the FR-CV-(H) power regeneration common converter, set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC27] to "_ _ _ 1". 11.5.1 Model designation
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Capacity Symbol Capacity [kW]
22K 22 30K 30 37K 37 55K 55
Symbol Voltage class
H 400 V class
7.5K 7.5 11K 11 15K 15
None 200 V class
R CF HV K57 .--
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 44
11.5.2 Selection example
(1) 200 V class FR-CV power regeneration common converter can be used for the 200 V class servo amplifier of 100 W to 22 kW. The following shows the restrictions on using the FR-CV.
(a) Up to six servo amplifiers can be connected to one FR-CV.
(b) FR-CV capacity [W] Total of rated capacities [W] 2 of servo amplifiers connected to FR-CV.
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV.
(d) Among the servo amplifiers connected to the FR-CV, the rated capacity of the servo amplifier with the maximum rated capacity should be equal to or less than the value of "Maximum servo amplifier capacity" in the following table.
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
When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).
Power regeneration common
converter Dedicated stand-alone
reactor FR-CV-7.5K(-AT) FR-CVL-7.5K FR-CV-11K(-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
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 45
(2) 400 V class
FR-CV-H power regeneration common converter can be used for the servo amplifier of 600 W to 22 kW. 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] 2 of servo amplifiers connected to FR-CV-H.
(c) When FR-CV-H capacity is less than the total of rated capacities of the connected servo amplifiers
2.5, make the maximum torque of the connected servo motors equal to or less than 200 % of the rated torque. When FR-CV-H capacity exceeds the total of rated capacities of the connected servo amplifiers 2.5, the maximum torque of the connected servo amplifiers is not limited.
(d) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV-H.
(e) Among the servo amplifiers connected to the FR-CV-H, the rated capacity of the servo amplifier with the maximum rated capacity should be equal to or less than the value of "Maximum servo amplifier capacity" in the following table.
The following table lists the restrictions.
Item
FR-CV-H_ 7.5K 11K 15K 22K 30K 37K 55K
Maximum number of connected servo amplifiers 6
Total capacity of connectable servo amplifiers [kW] 3.75 5.5 7.5 11 15 18.5 27.5
Total rated current of connectable servo motors [A] 17 23 31 43 57 71 110
Maximum servo amplifier capacity [kW] 3.5 5 7 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-H7.5K(-AT) FR-CVL-H7.5K FR-CV-H11K(-AT) FR-CVL-H11K FR-CV-H15K(-AT) FR-CVL-H15K FR-CV-H22K(-AT) FR-CVL-H22K FR-CV-H30K(-AT) FR-CVL-H30K FR-CV-H37K FR-CVL-H37K FR-CV-H55K FR-CVL-H55K
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 46
(3) Connection diagram
POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available.
(a) 200 V class
POINT
When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).
RA1 (Note 3) EM1
SON
DOCOM
ALM
DICOM
RA3 (Note 2)
EM1 (Note 1, 5)
SON
RA3
RA2
MCMCCB R/L11
S/L21
T/L31
S2/L22
R2/L12
T2/L32
FR-CVL
MC
RA2 EM1
MC
SK
R2/L1
S2/L2
N/L-
P24
SD
RDYB
RDYA
P/L+ T2/L3
R/L11
S/L21
T/MC1
L11
L21
P4
N-
U
V
W
U
V
W
CN2
FR-CV
B
C
A RA1RA1
(Note 2)
3-phase 200 V AC to 230 V AC
OFF ON
(Note 1)
(Note 1)
Servo motorServo amplifier
(Note 4)
(Note 6)
24 V DC (Note 7)
(Note 1)
24 V DC (Note 7)
24 V DC (Note 7)
SE
Note 1. Configure a sequence that will shut off main circuit power at the follow cases. FR-CV or servo amplifier alarm occurs. EM1 (forced stop 1) turns off.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV is ready. 3. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in
the FR-CV. 4. When using FR-CV, always disconnect wiring between P3 and P4 terminals. 5. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). 6. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 7. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 47
(b) 400 V class
POINT
When using the servo amplifier of 7 kW or less, be sure to disconnect the wiring of built-in regenerative resistor (3.5 kW or less: P+ and D, 5 kW/7 kW: P+ and C).
(Note 2)
RA1 (Note 3) EM1
SON
DOCOM
ALM
DICOM
(Note 1)
RA3 (Note 2)
EM1 (Note 1, 5)
SON
RA3
RA2
24 V DC (Note 7)
MCMCCB R/L11 3-phase 380 V AC to 480 V AC
S/L21
T/L31
S2/L22
R2/L12
T2/L32
FR-CVL-H
MC
RA2 EM1 OFF ON
(Note 1)
MC
SK
R2/L1
S2/L2
N/L-
P24
SD
RDYB
RDYA
P/L+ T2/L3
R/L11
S/L21
T/MC1
(Note 1)
L11
L21
P4
N-
U
V
W
U
V
W
CN2
FR-CV-H
Servo motorServo amplifier
(Note 4)
(Note 6)
24 V DC (Note 7)
24 V DC (Note 7)
B
C
A RA1RA1
Step-down transformer
SE
Note 1. Configure a sequence that will shut off main circuit power in the following. An alarm occurred at FR-CV-H or servo amplifier. EM1 (Forced stop 1) is enabled.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV-H is ready. 3. Configure a sequence that will make a stop with the forced stop input of the servo amplifier if an alarm occurs in the FR-CV-H. 4. When using FR-CV-H, always disconnect wiring between P3 and P4 terminals. 5. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). 6. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 7. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 48
(4) Selection example of wires used for wiring
POINT Selection conditions of wire size are as follows. Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair
(a) Wire sizes
1) Across P to P4, N to N The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals) between the FR-CV and servo amplifier.
Total of servo amplifier capacities [kW] Wire [mm2]
1 or less 2 (AWG 14) 2 3.5 (AWG 12) 5 5.5 (AWG 10) 7 8 (AWG 8)
11 14 (AWG 6) 15 22 (AWG 4) 22 50 (AWG 1/0)
27.5 50 (AWG 1/0)
The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals) between the FR-CV-H and servo amplifier.
Total of servo amplifier capacities [kW] Wire [mm2]
2 or less 2 (AWG 14) 3.5 3.5 (AWG 12) 5 5.5 (AWG 10) 7 5.5 (AWG 10)
11 8 (AWG 8) 15 8 (AWG 8) 22 14 (AWG 6)
27.5 22 (AWG 4)
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 8 (AWG 8)
FR-CV-22K/FR-CV-30K 22 (AWG 4) FR-CV-37K/FR-CV-55K 38 (AWG 2)
FR-CV-H7.5K to FR-CV-H15K 3.5 (AWG 12) FR-CV-H22K/FR-CV-H30K 8 (AWG 8) FR-CV-H37K/FR-CV-H55K 14 (AWG 6)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 49
(b) Example of selecting the wire sizes
When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P4, N-. Also, connect the servo amplifiers in the order of larger to smaller capacities.
1) 200 V class
R2/L1
S2/L2
T2/L3
R/L11
S/L21
T/MC1
P/L+
N/L-
P4
N-
50 mm2
Overall wiring length 5 m or less
First unit: 50 mm2 assuming that the total of servo amplifier capacities is 27.5 kW since 15 kW + 7 kW + 3.5 kW + 2.0 kW = 27.5 kW.
P4
N-
P4
N-
P4
N-
22 mm2
8 mm2
22 mm2
8 mm2
3.5 mm2
5.5 mm2
Junction terminals
Wire as short as possible.
Second unit: 22 mm2 assuming that the total of servo amplifier capacities is 15 kW since 7 kW + 3.5 kW + 2.0 kW = 12.5 kW.
Third unit: 8 mm2 assuming that the total of servo amplifier capacities is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW.
Fourth unit: 2 mm2 assuming that the total of servo amplifier capacities is 2 kW since 2.0 kW = 2.0 kW.
FR-CV-55K Servo amplifier (15 kW)
Servo amplifier (7 kW)
Servo amplifier (3.5 kW)
Servo amplifier (2 kW)
(Note)
(Note)
(Note)
(Note)
Note. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).
2) 400 V class
R2/L1
S2/L2
T2/L3
R/L11
S/L21
T/MC1
P/L+
N/L-
P4
N-
22 mm2
Overall wiring length 5 m or less
First unit: 22 mm2 assuming that the total of servo amplifier capacities is 27.5 kW since 15 kW + 7 kW + 3.5 kW + 2.0 kW = 27.5 kW.
P4
N-
P4
N-
P4
N-
8 mm2
5.5 mm2
8 mm2
5.5 mm2
2 mm2
3.5 mm2
Junction terminals
Wire as short as possible.
Second unit: 8 mm2 assuming that the total of servo amplifier capacities is 15 kW since 7 kW + 3.5 kW + 2.0 kW = 12.5 kW.
Third unit: 5.5 mm2 assuming that the total of servo amplifier capacities is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW.
Fourth unit: 2 mm2 assuming that the total of servo amplifier capacities is 2 kW since 2.0 kW = 2.0 kW.
FR-CV-H55K Servo amplifier (15 kW)
Servo amplifier (7 kW)
Servo amplifier (3.5 kW)
Servo amplifier (2 kW)
(Note)
(Note)
(Note)
(Note)
Note. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or less: P+ and D, 7 kW: P+ and C).
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 50
(5) Other precautions
(a) When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Do not use the power factor improving AC reactor (FR-HAL-(H)) or Power factor improving DC reactor (FR- HEL-(H)).
(b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency
components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them. In this case, interference can be reduced by installing the radio noise filter (FR-BIF(-H)) or line noise filter (FR-BSF01, FR-BLF).
(c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo
amplifiers should be 5 m or less, and the wiring must be twisted. (6) Specifications
Power regeneration common converter
FR-CV-_ Item
7.5K 11K 15K 22K 30K 37K 55K
Total of connectable servo amplifier capacities [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
O ut
pu t 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, 60 s (Note 1) Continuous rating 100% torque
Po w
er
su pp
ly Rated input AC voltage/frequency 3-phase 200 V AC to 220 V AC, 50 Hz, 200 V AC to 230 V AC, 60 Hz
Permissible AC voltage fluctuation 3-phase 170 V AC to 242 V AC, 50 Hz, 170 V AC to 253 V AC, 60 Hz Permissible frequency fluctuation 5% Power supply capacity (Note 2) [kVA] 17 20 28 41 52 66 100
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
En vi
ro nm
en t Ambient temperature -10 C to 50 C (non-freezing)
Ambient humidity 5 %RH to 90 %RH (non-condensing)
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude, vibration resistance 1000 m or less above sea level, 5.9 m/s2 Molded-case circuit breaker or earth- leakage current breaker
30 AF 30 A
50 AF 50 A
100 AF 75 A
100 AF 100 A
125AF 125 A
125AF 125 A
225 AF 175 A
Magnetic contactor S-N20 S-T21
S-N35 S-T35
S-N50 S-T50
S-N65 S-T65
S-N80 S-T80
S-N95 S-T100
S-N125
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 51
Power regeneration common converter
FR-CV-H_ Item
7.5K 11K 15K 22K 30K 37K 55K
Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 185 27.5
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
O ut
pu t Total of connectable servo
motor rated currents [A] 17 23 31 43 57 71 110
Regenerative braking torque
Short-time rating Total capacity of applicable servo motors, 300% torque, 60 s (Note 1) Continuous rating 100% torque
Po w
er s
up pl
y Rated input AC voltage/frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Permissible AC voltage fluctuation 3-phase 323 V AC to 528 V AC, 50 Hz/60 Hz
Permissible frequency fluctuation 5% Power supply capacity (Note 2) [kVA] 17 20 28 41 52 66 100
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
En vi
ro nm
en t Ambient temperature -10 C to 50 C (non-freezing)
Ambient humidity 5 %RH to 90 %RH (non-condensing)
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude, vibration resistance 1000 m or less above sea level, 5.9 m/s2 Molded-case circuit breaker or earth-leakage current breaker
30AF 15A
30AF 20A
30AF 30A
50AF 50A
60AF 60A
100AF 75A
100AF 100A
Magnetic contactor S-N20 S-T21
S-N20 S-T21
S-N20 S-T21
S-N25 S-T25
S-N35 S-T35
S-N50 S-T50
S-N65 S-T65
Note 1. This is the time when the protective function of the FR-CV-(H) is activated. The protective function of the servo amplifier is
activated in the time indicated in section 10.1. 2. The specified value is the power supply capacity of FR-CV-(H). The total power supply capacities of the connected servo
amplifiers are actually required.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 52
11.6 Junction terminal block MR-TB50
(1) Usage Always use the junction terminal block (MR-TB50) with the option cable (MR-J2M-CN1TBL_M) as a set.
Servo amplifier
CN1
Junction terminal block MR-TB50
Junction terminal block cable (MR-J2M-CN1TBL_M)
Cable clamp
Ground the junction terminal block cable on the junction terminal block side with the supplied cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to section 11.14, (2) (c).
(2) Terminal labels
Use the following junction terminal block labels. This label is supplied with the junction terminal block MR-TB50.
SONP15R LG LAR LBR LZR PG PC RES DICOM ZSP TLC TLA OP NP CR LSP LOP DOCOM RD
LA LB LZ PP OPC TL INP INP LG LG NG EMG LSN ALM SDDICOM LG DOCOM
Position control mode
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
SONP15R LG LAR LBR LZR ST1 RES DICOM ZSP TLC TLA OP SP1 LSP LOP DOCOM RD
LAVC LB LZ ST2 SA SASP2 LG LG EMG LSN ALM SDDICOM LG DOCOM
Speed control mode
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
SONP15R LG LAR LBR LZR SR2 RES DICOM ZSP VLC TC OP SP1 LOP DOCOM RD
LAVLA LB LZ RS1SP2 LG LG EMG ALM SDDICOM LG DOCOM
Torque control mode
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
(3) Dimensions [Unit: mm]
235
50 25
9
2 1
50 49
MITSUBISHI MR-TB50
244 2. 5
46.5
1 3 5 7 9 11131517192123252729 3133 2 4 6 8 101214161820222426283032
3537394143454749 3436384042444648 50
Ap pr
ox .
25
Screw size: M3.5 Applicable wire: 2 mm2
Crimp terminal width: 7.2 mm or less.
2-4.5 [Unit: mm]
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 53
(4) Junction terminal block cable MR-J2M-CN1TBL_M
(a) Model explanations
Model:
05 1
Symbol Cable length [m] 0.5 1
M M_MR C NJ T B L12 --
(b) Connection diagram 1) MR-J4-_A_(-RJ) 100 W or more
10150-6000EL (Servo amplifier side) D7950-B500FL (Junction terminal side)
Position P15R
LG LA
LAR LB
LBR LZ
LZR PP PG
OPC
SON LOP PC TL
RES DICOM DICOM
INP ZSP INP TLC
TLA LG
LG
OP LG NP NG PP2 NP2
CR EMG LSP LSN LOP
DOCOM DOCOM
ALM RD
SD
Speed P15R VC LG LA
LAR LB
LBR LZ
LZR
SON SP2 ST1 ST2 RES
DICOM DICOM
SA ZSP SA TLC
TLA LG
LG
OP LG
SP1 EMG LSP LSN LOP
DOCOM DOCOM
ALM RD
SD
Torque P15R VLA LG LA
LAR LB
LBR LZ
LZR
SON SP2 RS2 RS1 RES
DICOM DICOM
ZSP
TLC
TC LG
LG
OP LG
SP1 EMG
LOP DOCOM DOCOM
ALM RD
SD
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
Plate
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
Signal symbol Pin No. Pin No.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 54
2) MR-J4-03A6(-RJ)
10150-6000EL (Servo amplifier side) D7950-B500FL (Junction terminal side)
Position P15R
LG LA
LAR LB
LBR LZ
LZR PP PG
OPC SDP SDN SON LOP PC TL
RES DICOM DICOM
INP ZSP INP TLC MO1 TLA LG
MO2 LG
TRE
OP LG NP NG PP2 NP2 RDP RDN CR
EMG LSP LSN LOP
DOCOM DOCOM
ALM RD
SD
Speed P15R VC LG LA
LAR LB
LBR LZ
LZR
SDP SDN SON SP2 ST1 ST2 RES
DICOM DICOM
SA ZSP SA TLC MO1 TLA LG
MO2 LG
TRE
OP LG
RDP RDN SP1 EMG LSP LSN LOP
DOCOM DOCOM
ALM RD
SD
Torque P15R VLA LG LA
LAR LB
LBR LZ
LZR
SDP SDN SON SP2 RS2 RS1 RES
DICOM DICOM
ZSP
TLC MO1 TC LG
MO2 LG
TRE
OP LG
RDP RDN SP1 EMG
LOP DOCOM DOCOM
ALM RD
SD
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
Plate
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
Signal symbol Pin No. Pin No.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 55
11.7 MR Configurator2
POINT MR-J4-_A_-RJ servo amplifier is supported with software version 1.19V or later.
11.7.1 Engineering software
The following engineering software is available with this servo amplifier.
Engineering software Installation guide
MR Configurator2 SW1DNC-MRC2-_ MR Configurator2 SW1DNC-MRC2-_ INSTALLATION GUIDE (IB(NA)0300163ENG)
For the engineering software specifications and system configuration, refer to the installation guide. 11.7.2 Precautions for using USB communication function
Note the following to prevent an electric shock and malfunction of the servo amplifier. (1) Power connection of personal computers
Connect your personal computer with the following procedures.
(a) When you use a personal computer with AC power supply 1) When using a personal computer with a three-core power plug or power plug with grounding wire,
use a three-pin socket or ground the grounding wire.
2) When your personal computer has two-core plug and has no grounding wire, connect the personal computer to the servo amplifier with the following procedures.
a) Disconnect the power plug of the personal computer from an AC power socket.
b) Check that the power plug was disconnected and connect the device to the servo amplifier.
c) Connect the power plug of the personal computer to the AC power socket.
(b) When you use a personal computer with battery
You can use as it is. (2) Connection with other devices using servo amplifier communication function
When the servo amplifier is charged with electricity due to connection with a personal computer and the charged servo amplifier is connected with other devices, the servo amplifier or the connected devices may malfunction. Connect the servo amplifier and other devices with the following procedures.
(a) Shut off the power of the device for connecting with the servo amplifier.
(b) Shut off the power of the servo amplifier which was connected with the personal computer and check
the charge lamp is off.
(c) Connect the device with the servo amplifier.
(d) Turn on the power of the servo amplifier and the device.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 56
11.8 Battery
POINT Refer to app. 2 and 3 for battery transportation and the new EU Battery Directive.
This battery is used to construct an absolute position detection system. Refer to chapter 12 for construction of the absolute position detection system. 11.8.1 Selection of battery
The available batteries vary depending on servo amplifiers. Select a required battery. (1) Applications of the batteries
Model Name Application Built-in battery MR-BAT6V1SET Battery For absolute position data backup MR-BAT6V1
MR-BAT6V1BJ Battery for junction battery cable For transporting a servo motor and machine apart
MR-BAT6V1SET-A Battery For absolute position data backup MR-BAT6V1
MR-BT6VCASE Battery case For absolute position data backup of multi-axis servo motor MR-BAT6V1
(2) Combinations of batteries and the servo amplifier
Model MR-J4-_A_(-RJ) 100 W or more MR-J4-03A6(-RJ)
MR-BAT6V1SET MR-BAT6V1BJ
MR-BAT6V1SET-A MR-BT6VCASE
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 57
11.8.2 MR-BAT6V1SET battery
POINT For the specifications and year and month of manufacture of the built-in MR- BAT6V1 battery, refer to section 11.8.6.
(1) Parts identification and dimensions
[Unit: mm]
Connector for servo amplifier
Case
Rating plate
28 69.3
38 .5
Mass: 55 [g] (including MR-BAT6V1 battery) (2) Battery mounting
Connect as follows.
CN2 CN4
Servo amplifier
Encoder cable
Servo motor MR-BAT6V1SET
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 58
(3) Battery replacement procedure
WARNING
Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and N- with a voltage tester or others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
CAUTION
The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions.
Ground human body and work bench. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.
POINT
Replacing battery with the control circuit power off will erase the absolute position data. Before replacing batteries, check that the new battery is within battery life.
Replace the battery while only control circuit power is on. Replacing battery with the control circuit power on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(a) Battery installation and removal procedure
1) Installation procedure
POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
Install a battery, and insert the plug into the CN4 connector.
Install a battery, and insert the plug into the CN4 connector.
Install a battery, and pass the battery cable through a gap between the battery and servo amplifier.
For the servo amplifier with a battery holder on the bottom
For the servo amplifier with a battery holder on the front
2) Removal procedure
CAUTION Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery.
While pressing the lock release lever, pull out the connector.
While pressing the lock release lever, slide the battery case toward you.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(4) Replacement procedure of the built-in battery
When the MR-BAT6V1SET reaches the end of its life, replace the built-in MR-BAT6V1 battery.
Cover
Locking part
1) While pressing the locking part, open the cover.
MR-BAT6V1
2) Replace the battery with a new MR-BAT6V1.
Projection
3) Press the cover until it is fixed with the projection of the locking part to close the cover.
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11.8.3 MR-BAT6V1BJ battery for junction battery cable
POINT MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. MR-BAT6V1BJ cannot be used for fully closed loop system.
(1) Parts identification and dimensions
[Unit: mm]
Orange: Connector for servo amplifier
Black: Connector for branch cable Case
34.8 69.3
38 .5
Rating plate
Mass: 66 [g] (2) Year and month of manufacture of battery
Production year and month are indicated in a serial number (SERIAL) on the rating plate. The second digit from left in the number indicates the first digit of the year, the third digit from left indicates a month (Oct.: X, Nov.: Y, Dec.: Z). For November 2013, the serial is like, "SERIAL: _ 3Y _ _ _ _ _ _".
(3) Specification list
Item Description Battery pack 2CR17335A (CR17335A 2 pcs. in series) Nominal voltage [V] 6 Nominal capacity [mAh] 1650 Storage temperature [C] 0 to 55 Operating temperature [C] 0 to 55 Lithium content [g] 1.2 Mercury content Less than 1 ppm
Dangerous goods class Not subject to the dangerous goods (Class 9)
Refer to app. 2 for details. Operating humidity and storage humidity 5 %RH to 90 %RH (non-condensing)
(Note) Battery life 5 years from date of manufacture Mass [g] 66
Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from
the production date regardless of the connection status.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(4) Battery mounting
Connect the MR-BAT6V1BJ using the MR-BT6VCBL03M junction battery cable as follows. Servo amplifier
Orange: Connector for servo amplifier Black: Connector for branch cable
Encoder cable
HG series servo motors
MR-BT6VCBL03M
MR-BAT6V1BJ
CN2 CN4
(5) Transporting a servo motor and machine apart
POINT Be sure to connect the connector for branch cable connection (black) when transporting a servo motor and machine apart. When the connector for branch cable connection (black) is not connected to the MR-BT6VCBL03M junction battery cable, no alarm will occur. However, the absolute position data will be erased when you transport a servo motor and machine apart.
When you transport a servo motor and machine apart, disconnect only CN2 and CN4 of the servo amplifier. When other connectors or cables are disconnected between the servo motor and battery, the absolute position data will be deleted.
CN2 CN4
Servo amplifier
Orange: Connector for servo amplifier Black: Connector for branch cable
Encoder cableMR-BT6VCBL03M
MR-BAT6V1BJ HG series servo motors
Disconnect only CN2 and CN4.
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(6) Battery replacement procedure
WARNING
Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and N- with a voltage tester or others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
CAUTION
The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions.
Ground human body and work bench. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.
The battery built in MR-BAT6V1BJ cannot be replaced. Do not disassemble the MR-BAT6V1BJ. Otherwise, it may cause a malfunction.
POINT
To replace the MR-BAT6V1BJ, follow the procedures given in this section to avoid erasing absolute position data. Before replacing batteries, check that the new battery is within battery life.
For MR-BAT6V1BJ, the battery can be replaced with the control circuit power supply off.
(a) Battery installation and removal procedure
The battery installation and removal procedure to the servo amplifier are the same as for the MR- BAT6V1SET battery. Refer to (3) of section 11.8.3.
(b) Preparation for replacing MR-BAT6V1BJ
Prepare a new MR-BAT6V1BJ as follows.
Model Number and use Remark MR-BAT6V1BJ 1 for replacement Battery within two years from the production date.
(c) Procedures of replacing MR-BAT6V1BJ
Replace the product as follows regardless of on/off of the control circuit power supply. When it is replaced with other procedures, the absolute position data will be erased.
1) Remove the connector for branch cable connection (black) of the old MR-BAT6V1BJ.
MR-BT6VCBL03M
CN4
CN2
Servo amplifier
Old MR-BAT6V1BJ New MR-BAT6V1BJ
Orange Orange
Black
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2) Connect the connector for branch cable connection (black) of the new MR-BAT6V1BJ.
MR-BT6VCBL03M
CN4
CN2
Servo amplifier
Old MR-BAT6V1BJ New MR-BAT6V1BJ
Orange
Orange
Black
3) Remove the connector for servo amplifier (orange) of the old MR-BAT6V1BJ. When the control circuit power supply is on, performing 3) without [AL. 9F.1 Low battery] will trigger [AL. 9F.1].
MR-BT6VCBL03M
CN4
CN2
Servo amplifier
Old MR-BAT6V1BJ New MR-BAT6V1BJ
Orange
Orange
Black
4) Remove the old MR-BAT6V1BJ from servo amplifier and mount the new MR-BAT6V1BJ. When the control circuit power supply is on, [AL. 9F.1] will occur after 3).
MR-BT6VCBL03M
CN4
CN2
Servo amplifier
New MR-BAT6V1BJ
Old MR-BAT6V1BJ Orange
Orange BlackBlack
5) Mount the connector for servo amplifier (orange) of the new MR-BAT6V1BJ. When the control circuit power supply is on, [AL. 9F.1] will be canceled.
MR-BT6VCBL03M
CN4
CN2
Servo amplifier
New MR-BAT6V1BJ
Orange
Black
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11.8.4 MR-BAT6V1SET-A battery
POINT Use MR-BAT6V1SET-A for MR-J4-03A6(-RJ) servo amplifier. The MR-BAT6V1SET-A cannot be used for MR-J4-_A_(-RJ) 100 W or more servo amplifiers. For the specifications and year and month of manufacture of the built-in MR- BAT6V1 battery, refer to section 11.8.6.
(1) Parts identification and dimensions
[Unit: mm]
27.4
Connector for servo amplifier
Case
51
37 .5
Mass: 55 [g] (including MR-BAT6V1 battery) (2) Battery mounting
Connect as follows.
CN2
Encoder cable
Servo motors
MR-BAT6V1SET-A
CN4
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(3) Battery replacement procedure
WARNING Before replacing a battery, turn off the main circuit power supply and wait until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
CAUTION
The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions.
Ground human body and work bench. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.
POINT
Replacing battery with the control circuit power off will erase the absolute position data. Before replacing batteries, check that the new battery is within battery life.
Replace the battery while only control circuit power is on. Replacing battery with the control circuit power on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.
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(a) Installation procedure
Insert the battery along the rails.
Insert the connector of the battery into CN4.
(b) Removal procedure
CAUTION Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery.
While pressing the lock release lever, pull out the connector.
Pull the lock release lever, and slide the battery toward you.
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(4) Replacement procedure of the built-in battery
When the MR-BAT6V1SET-A reaches the end of its life, replace the built-in MR-BAT6V1 battery. Tab
Cover
1) While pressing the locking part, open the cover.
2) Replace the battery with a new MR-BAT6V1 battery.
Projection (four places)
3) Press the cover until it is fixed with the projection of the locking part to close the cover.
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11.8.5 MR-BT6VCASE battery case
POINT MR-BT6VCASE cannot be used for MR-J4-03A6(-RJ) servo amplifiers. The battery unit consists of an MR-BT6VCASE battery case and five MR- BAT6V1 batteries. For the specifications and year and month of manufacture of MR-BAT6V1 battery, refer to section 11.8.6.
MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. A battery case does not have any batteries. Please prepare MR-BAT6V1 batteries separately. (1) The number of connected servo motors
One MR-BT6VCASE holds absolute position data up to eight axes servo motors. For direct drive motors, up to four axes can be connected. Servo motors and direct drive motors in the incremental system are included as the axis Nos. Linear servo motors are not counted as the axis Nos. Refer to the following table for the number of connectable axes of each servo motor.
Servo motor Number of axes
Rotary servo motor 0 1 2 3 4 5 6 7 8 Direct drive motor 4 4 4 4 4 3 2 1 0
(2) Dimensions
[Unit: mm]
Mounting hole process drawing
2-M4 screw
Approx. 25
Ap pr
ox . 1
30
Ap pr
ox . 5
Ap pr
ox . 5
12 0
0.
5 5
5
5 130Approx. 70
25
13 0
4.6
12 0
5
2-5 mounting hole
Mounting screw Screw size: M4
[Mass: 0.18 kg]
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(3) Battery mounting
POINT One battery unit can be connected to up to 8-axis servo motors. However, when using direct drive motors, the number of axes of the direct drive motors should be up to 4 axes. Servo motors and direct drive motors in the incremental system are included as the axis Nos. Linear servo motors are not counted as the axis Nos.
(a) When using 1-axis servo amplifier
CN4
CN10 MR-BT6VCASE
MR-BT6V1CBL_M
Servo amplifier
(b) When using up to 8-axis servo amplifiers
CN4
CN10 MR-BT6VCASE
MR-BT6V1CBL_M
MR-BT6V2CBL_M MR-BT6V2CBL_M
CN4 CN4
Servo amplifier Servo amplifier Servo amplifier
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(4) Battery replacement procedure
WARNING
Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and N- with a voltage tester or others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
CAUTION
The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions.
Ground human body and work bench. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.
POINT
Replacing battery with the control circuit power off will erase the absolute position data. Before replacing batteries, check that the new battery is within battery life.
Replace the battery while only control circuit power is on. Replacing battery with the control circuit power on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.
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(a) Assembling a battery unit
CAUTION Do not mount new and old batteries together. When you replace a battery, replace all batteries at the same time.
POINT
Always install five MR-BAT6V1 batteries to an MR-BT6VCASE battery case.
1) Required items
Product name Model Quantity Remark
Battery case MR-BT6VCASE 1 MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries.
Battery MR-BAT6V1 5 Lithium battery (primary battery, nominal + 6 V)
2) Disassembly and assembly of the battery case MR-BT6VCASE
a) Disassembly of the case MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be disassembled.
Threads
Remove the two screws using a Phillips screwdriver.
CON2
CON3
CON1
CON4
CON5
Parts identification
BAT1
BAT2 BAT3
BAT4 BAT5
Cover
Remove the cover.
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b) Mounting MR-BAT6V1
BAT1
Securely mount an MR-BAT6V1 to the BAT1 holder.
CON1
Click
Insert the MR-BAT6V1 connector mounted on BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect direction, the connector will break. Place the MR-BAT6V1 lead wire to the duct designed to store lead wires. Insert MR-BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5.
Bring out the lead wire from the space between the ribs, and bend it as shown above to store it in the duct. Connect the lead wire to the connector. Be careful not to get the lead wire caught in the case or other parts. When the lead wire is damaged, external short circuit may occur, and the battery can become hot.
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c) Assembly of the case
After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 Nm.
POINT
When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.
Threads
d) Precautions for removal of battery The connector attached to the MR-BAT6V1 battery has the lock release lever. When removing the connector, pull out the connector while pressing the lock release lever.
3) Battery cable removal
CAUTION Pulling out the connector of the MR-BT6V1CBL and the MR-BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the MR-BT6V1CBL or MR-BT6V2CBL.
While pressing the lock release lever, pull out the connector.
Battery cable
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11.8.6 MR-BAT6V1 battery
The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET-A and MR-BAT6V1SET and a primary lithium battery built-in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use. The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put on an MR-BAT6V1 battery.
Rating plate
2CR17335A WK17
11-04 6V 1650mAh
The year and month of manufacture
Item Description Battery pack 2CR17335A (CR17335A 2 pcs. in series) Nominal voltage [V] 6 Nominal capacity [mAh] 1650 Storage temperature [C] 0 to 55 Operating temperature [C] 0 to 55 Lithium content [g] 1.2 Mercury content Less than 1 ppm
Dangerous goods class Not subject to the dangerous goods (Class 9)
Refer to app. 2 for details. Operating humidity and storage humidity 5 %RH to 90 %RH (non-condensing)
(Note) Battery life 5 years from date of manufacture Mass [g] 34
Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from
the production date regardless of the connection status.
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11.9 Selection example of wires
POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for wiring. To comply with other standards, use a wire that is complied with each standard. For the selection example when the MR-J4-_A-RJ servo amplifier is used with the DC power supply input, refer to app. 13.3. Selection conditions of wire size are as follows. Construction condition: Single wire set in midair Wire length: 30 m or less
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
5) Power regeneration converter lead
Power regeneration converter
N-
3) Regenerative option lead
Regenerative option
2) Control circuit power supply lead
C
P+
L1
L2
L3
L11
L21
1) Main circuit power supply lead
Power supply Servo amplifier
U
V
W
M
4) Servo motor power supply lead
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(1) Example of selecting the wire sizes
Use the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following shows the wire size selection example.
(a) 200 V class
Table 11.1 Wire size selection example (HIV wire)
Servo amplifier Wire [mm2] (Note 1)
1) L1/L2/L3/ 2) L11/L21 3) P+/C 4) U/V/W/
(Note 3) MR-J4-10A(-RJ)
2 (AWG 14) 1.25 to 2 (AWG 16 to 14) (Note 4)
2 (AWG 14)
AWG 18 to 14 (Note 4)
MR-J4-20A(-RJ) MR-J4-40A(-RJ) MR-J4-60A(-RJ) MR-J4-70A(-RJ) MR-J4-100A(-RJ) MR-J4-200A(-RJ) (3-phase power supply input)
AWG 16 to 10 MR-J4-200A(-RJ) (1-phase power supply input) MR-J4-350A(-RJ)
3.5 (AWG 12)
MR-J4-500A(-RJ) (Note 2) 5.5 (AWG 10): a
1.25 (AWG 16): a 2 (AWG 14): d (Note 4)
2 (AWG 14): c
2 (AWG 14): c 3.5 (AWG 12): a 5.5 (AWG 10): a
MR-J4-700A(-RJ) (Note 2) 8 (AWG 8): b
2 (AWG 14): c 3.5 (AWG 12): a 5.5 (AWG 10): a 8 (AWG 8): b
MR-J4-11KA(-RJ) (Note 2) 14 (AWG 6): f
1.25 (AWG 16): c 2 (AWG 14): c (Note 4)
3.5 (AWG 12): g
14 (AWG 6): f 55 (AWG 10): g (Note 5) 8 (AWG 8): k
MR-J4-15KA(-RJ) (Note 2) 22 (AWG 4): h 5.5 (AWG 10): g
22 (AWG 4): h 8 (AWG 8): k (Note 5)
MR-J4-22KA(-RJ) (Note 2) 38 (AWG 2): i 5.5 (AWG 10): j 38 (AWG 2): i
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to
(2) in this section. 2. To connect these models to a terminal block, be sure to use the screws that come with the
terminal block. 3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
connecting to the servo motor, refer to "Servo Motor Instruction Manual (Vol. 3)". 4. Be sure to use the size of 2 mm2 when corresponding to IEC/EN/UL/CSA standard. 5. This is for connecting to the linear servo motor with natural cooling method.
Use wires 5) of the following sizes with the power regeneration converter (FR-RC).
Model Wires [mm2]
FR-RC-15K 14 (AWG 6) FR-RC-30K 14 (AWG 6) FR-RC-55K 22 (AWG 4)
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(b) 400 V class
Table 11.2 Wire size selection example (HIV wire)
Servo amplifier Wires [mm2] (Note 1)
1) L1/L2/L3/ 2) L11/L21 3) P+/C 4) U/V/W/
(Note 3) MR-J4-60A4(-RJ) MR-J4-100A4(-RJ)
2 (AWG 14) 1.25 to 2 (AWG 16 to 14) (Note 4)
2 (AWG 14) AWG 16 to 14 MR-J4-200A4(-RJ) MR-J4-350A4(-RJ) MR-J4-500A4(-RJ) (Note 2) 2 (AWG 14): b 1.25 (AWG 16): a
2 (AWG 14): c (Note 4)
2 (AWG 14): b 3.5 (AWG 12): a
MR-J4-700A4(-RJ) (Note 2) 3.5 (AWG 12): a 5.5 (AWG 10): a
MR-J4-11KA4(-RJ) (Note 2) 5.5 (AWG 10): d
1.25 (AWG 16): b 2 (AWG 14): b (Note 4)
2 (AWG 14): f 8 (AWG 8): g
MR-J4-15KA4(-RJ) (Note 2) 8 (AWG 8): g 3.5 (AWG 12): d
MR-J4-22KA4(-RJ) (Note 2) 14 (AWG 6): i 3.5 (AWG 12): e
5.5 (AWG 10): e (Note 5) 8 (AWG 8): h (Note 6) 14 (AWG 6): i
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to
(2) in this section. 2. To connect these models to a terminal block, be sure to use the screws that come with the
terminal block. 3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
connecting to the servo motor, refer to each servo amplifier instruction manual. 4. Be sure to use the size of 2 mm2 when corresponding to IEC/EN/UL/CSA standard. 5. This is for connecting to the linear servo motor with natural cooling method. 6. This is for connecting to the linear servo motor with liquid cooling method.
Use wires (5)) of the following sizes with the power regeneration converter (FR-RC-H).
Model Wire [mm2]
FR-RC-H15K 14 (AWG 6) FR-RC-H30K
FR-RC-H55K
(c) 100 V class
Table 11.3 Wire size selection example (HIV wire)
Servo amplifier Wires [mm2]
1) L1/L2/ 2) L11/L21 3) P+/C 4) U/V/W/
(Note 1) MR-J4-10A1(-RJ)
2 (AWG 14) 1.25 to 2 (AWG 16 to 14) (Note 2)
2 (AWG 14) AWG 18 to 14 (Note 2) MR-J4-20A1(-RJ)
MR-J4-40A1(-RJ)
Note 1. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer to each servo amplifier instruction manual.
2. Be sure to use the size of 2 mm2 when corresponding to IEC/EN/UL/CSA standard.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(2) Selection example of crimp terminals
(a) 200 V class
Symbol Servo amplifier-side crimp terminals
(Note 2) Crimp terminal
Applicable tool Manufacturer
Body Head Dice a FVD5.5-4 YNT-1210S
JST
b (Note 1) 8-4NS YHT-8S c FVD2-4
YNT-1614
d FVD2-M3 e FVD1.25-M3 YNT-2216
f FVD14-6 YF-1 YNE-38 DH-122 DH-112
g FVD5.5-6 YNT-1210S
h FVD22-6 YF-1 YNE-38 DH-123 DH-113
i FVD38-8 YF-1 YNE-38 DH-124 DH-114
j FVD5.5-8 YNT-1210S
k FVD8-6 YF-1/E-4 YNE-38 DH-121 DH-111
Note 1. Coat the crimping part with an insulation tube. 2. Some crimp terminals may not be mounted depending on the size. Make sure to use the
recommended ones or equivalent ones.
(b) 400 V class
Symbol Servo amplifier-side crimp terminals
Manufacturer Crimp terminal (Note)
Applicable tool Body Head Dice
a FVD5.5-4 YNT-1210S
JST
b FVD2-4 YNT-1614
c FVD2-M3 d FVD5.5-6 YNT-1210S e FVD5.5-8 YNT-1210S f FVD2-6 YNT-1614 g FVD8-6
YF-1 YNE-38 DH-121/DH-111
h FVD8-8 i FVD14-8 DH-122/DH-112
Note. Some crimp terminals may not be mounted depending on the size. Make sure to use the
recommended ones or equivalent ones.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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11.10 Molded-case circuit breakers, fuses, magnetic contactors
CAUTION To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed. Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
POINT
For the selection when the MR-J4-_A-RJ servo amplifier is used with the DC power supply input, refer to app. 13.4.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(1) For main circuit power supply
When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.
Servo amplifier
Molded-case circuit breaker (Note 1) Fuse Magnetic contactor (Note 2)
Frame, rated current Voltage AC
[V] Class Current [A] Voltage AC [V]
Power factor improving reactor is
not used
Power factor improving reactor is
used MR-J4-10A(-RJ) 30 A frame 5 A 30 A frame 5 A
240 T
10
300
S-N10 S-T10
MR-J4-20A(-RJ) 30 A frame 5 A 30 A frame 5 A MR-J4-40A(-RJ) 30 A frame 10 A 30 A frame 5 A 15 MR-J4-60A(-RJ) 30 A frame 15 A 30 A frame 10 A
20 MR-J4-70A(-RJ) 30 A frame 15 A 30 A frame 10 A MR-J4-100A(-RJ) (3-phase power supply input)
30 A frame 15 A 30 A frame 10 A
MR-J4-100A(-RJ) (1-phase power supply input)
30 A frame 15 A 30 A frame 15 A 30
MR-J4-200A(-RJ) 30 A frame 20 A 30 A frame 20 A 40 S-N20
(Note 3) S-T21
MR-J4-350A(-RJ) 30 A frame 30 A 30 A frame 30 A 70 S-N20 S-T21
MR-J4-500A(-RJ) 50 A frame 50 A 50 A frame 50 A 125 S-N35 S-T35
MR-J4-700A(-RJ) 100 A frame 75 A 60 A frame 60 A 150 S-N50 S-T50 MR-J4-11KA(-RJ) 100 A frame 100 A 100 A frame 100 A 200
MR-J4-15KA(-RJ) 125 A frame 125 A 125 A frame 125 A 250 S-N65 S-T65
MR-J4-22KA(-RJ) 225 A frame 175 A 225 A frame 175 A 350 S-N95 S-T100
MR-J4-60A4(-RJ) 30 A frame 5 A 30 A frame 5 A
480 T
10
600
S-N10 S-T10 MR-J4-100A4(-RJ) 30 A frame 10 A 30 A frame 5 A 15
MR-J4-200A4(-RJ) 30 A frame 15 A 30 A frame 10 A 25 MR-J4-350A4(-RJ) 30 A frame 20 A 30 A frame 15 A 35 S-N20
(Note 3) S-T21 MR-J4-500A4(-RJ) 30 A frame 20 A 30 A frame 20 A 50
MR-J4-700A4(-RJ) 30 A frame 30 A 30 A frame 30 A 65 S-N20 S-T21
MR-J4-11KA4(-RJ) 50 A frame 50 A 50 A frame 50 A 100 S-N25 S-T35
MR-J4-15KA4(-RJ) 60 A frame 60 A 60 A frame 60 A 150 S-N35 S-T35
MR-J4-22KA4(-RJ) 100 A frame 100 A 100 A frame 100 A 175 S-N50 S-T50
MR-J4-10A1(-RJ) 30 A frame 5 A 30 A frame 5 A 240 T
10 300
S-N10 S-T10
MR-J4-20A1(-RJ) 30 A frame 10 A 30 A frame 10 A 15 MR-J4-40A1(-RJ) 30 A frame 15 A 30 A frame 10 A 20
Note 1. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 4. 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. 3. S-N18 can be used when auxiliary contact is not required.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 82
The Type E Combination motor controller can also be used instead of a molded-case circuit breaker.
Servo amplifier Rated input voltage AC [V] Input phase
Type E Combination motor controller SCCR
[kA] Model Rated
voltage AC [V]
Rated current [A]
(Heater design) MR-J4-10A(-RJ)
200 to 240 3-phase
MMP-T32
240
1.6
50
MR-J4-20A(-RJ) 2.5 MR-J4-40A(-RJ) 4 MR-J4-60A(-RJ) 6.3 MR-J4-70A(-RJ) 6.3 MR-J4-100A(-RJ) 8 MR-J4-200A(-RJ) 18 MR-J4-350A(-RJ) 25
25 MR-J4-500A(-RJ) 32 MR-J4-60A4(-RJ)
380 to 480 3-phase 480Y/277
2.5
50 MR-J4-100A4(-RJ) 4 MR-J4-200A4(-RJ) 8 MR-J4-350A4(-RJ) 13 MR-J4-500A4(-RJ) 18 MR-J4-700A4(-RJ) 25 25
(2) For control circuit power supply
When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.
Servo amplifier
Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5) Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-10A(-RJ) MR-J4-20A(-RJ) MR-J4-40A(-RJ) MR-J4-60A(-RJ) MR-J4-70A(-RJ) MR-J4-100A(-RJ) MR-J4-200A(-RJ) 30 A frame 5 A 240 1 300 1 250 MR-J4-350A(-RJ) MR-J4-500A(-RJ) MR-J4-700A(-RJ) MR-J4-11KA(-RJ) MR-J4-15KA(-RJ) MR-J4-22KA(-RJ) MR-J4-60A4(-RJ) MR-J4-100A4(-RJ) MR-J4-200A4(-RJ) MR-J4-350A4(-RJ) MR-J4-500A4(-RJ) 30 A frame 5 A 480 1 600 1 600 MR-J4-700A4(-RJ) MR-J4-11KA4(-RJ) MR-J4-15KA4(-RJ) MR-J4-22KA4(-RJ) MR-J4-10A1(-RJ) MR-J4-20A1(-RJ) 30 A frame 5 A 240 1 300 1 250 MR-J4-40A1(-RJ)
Note. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 4.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 83
11.11 Power factor improving DC reactors
The following shows the advantages of using power factor improving DC reactor. It improves the power factor by increasing the form factor of the servo amplifier's input current. It decreases the power supply capacity. The input power factor is improved to be about 85%. As compared to the power factor improving AC reactor (FR-HAL-(H)), it decreases the loss.
When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P3 and P4. If it remains connected, the effect of the power factor improving DC reactor is not produced. When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10 cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 84
(1) 200 V class
2-d mounting hole (Varnish is removed from right mounting hole (face and back side).) (Note 1)
D or less
W 2 W1
H
P P1
4-d mounting hole (Varnish is removed from front right mounting hole (face and back side).) (Note 1)
D or less
W 2 W1
H
D1
D3
D2
P P1
Fig. 11.1 Fig. 11.2
H
2
D2 D1 2
W1 W 2
P P1
D or less D3 or less
4-d mounting hole (Note 1)
P3 P4
FR-HEL
P
P1 (Note 2)
Servo amplifier
5 m or less
Fig. 11.3 Note 1. Use this for grounding. 2. When using the Power factor improving DC reactor, remove the short bar across P3-P4.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 85
Servo amplifier Power factor improving DC
reactor Dimensions
Dimensions [mm] Terminal
size Mass [kg]
Wire [mm2] (Note 2) W W1 H D
(Note 1) D1 D2 D3 d
MR-J4-10A(-RJ) MR-J4-20A(-RJ) FR-HEL-0.4K
Fig. 11.1
70 60 71 61
21
M4 M4 0.4
2 (AWG 14) MR-J4-40A(-RJ) FR-HEL-0.75K 85 74 81 61 21 M4 M4 0.5 MR-J4-60A(-RJ) MR-J4-70A(-RJ) FR-HEL-1.5K 85 74 81 70 30 M4 M4 0.8
MR-J4-100A(-RJ) FR-HEL-2.2K 85 74 81 70 30 M4 M4 0.9 MR-J4-200A(-RJ) FR-HEL-3.7K
Fig. 11.2
77 55 92 82 66 57 37 M4 M4 1.5 MR-J4-350A(-RJ) FR-HEL-7.5K 86 60 113 98 81 72 43 M4 M5 2.5 3.5 (AWG 12) MR-J4-500A(-RJ) FR-HEL-11K 105 64 133 112 92 79 47 M6 M6 3.3 5.5 (AWG 10) MR-J4-700A(-RJ) FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 8 (AWG 8) MR-J4-11KA(-RJ) FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 14 (AWG 6)
MR-J4-15KA(-RJ) FR-HEL-22K Fig. 11.3
105 64 93 175 117 104 115 (Note 1) M6 M10 5.6 22 (AWG 4)
MR-J4-22KA(-RJ) FR-HEL-30K 114 72 100 200 125 101 135 (Note 1) M6 M10 7.8 38 (AWG 2)
Note 1. Maximum dimensions. The dimension varies depending on the input/output lines. 2. Selection conditions of wire size are as follows.
Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 86
(2) 400 V class
W1 D2 W 2.5
H
2 .5
D or less (D3)
D1 1
4-d mounting hole (Note 1)
P P1
Fig. 11.4
W1 W 2.5
D2 D1 1
H
2 .5
P P1
D or less (D3)
4-d mounting hole (Note 1)
Fig. 11.5
H
2 .5
W1 W 2.5
D2 D1 1
P P1
D or less (D3)
4-d mounting hole (Note 1)
6
Fig. 11.6
P3 P4
FR-HEL-H
P
P1 Servo amplifier
5 m or less
(Note 2)
Note 1. Use this for grounding. 2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 87
Servo amplifier Power factor improving DC
reactor Dimensions
Dimensions [mm] Terminal size
Mass [kg]
Wire [mm2] (Note) W W1 H D D1 D2 D3 d
MR-J4-60A4(-RJ) FR-HEL-H1.5K Fig. 11.4
66 50 100 80 74 54 37 M4 M3.5 1.0 2 (AWG 14) MR-J4-100A4(-RJ) FR-HEL-H2.2K 76 50 110 80 74 54 37 M4 M3.5 1.3 2 (AWG 14) MR-J4-200A4(-RJ) FR-HEL-H3.7K 86 55 120 95 89 69 45 M4 M4 2.3 2 (AWG 14) MR-J4-350A4(-RJ) FR-HEL-H7.5K Fig. 11.5 96 60 128 105 100 80 50 M5 M4 3.5 2 (AWG 14) MR-J4-500A4(-RJ) FR-HEL-H11K 105 75 137 110 105 85 53 M5 M5 4.5 3.5 (AWG 12) MR-J4-700A4(-RJ)
FR-HEL-H15K Fig. 11.6
105 75 152 125 115 95 62 M5 M6 5.0 5.5 (AWG 10)
MR-J4-11KA4(-RJ) 8 (AWG 8) MR-J4-15KA4(-RJ) FR-HEL-H22K 133 90 178 120 95 75 53 M5 M6 6.0 8 (AWG 8) MR-J4-22KA4(-RJ) FR-HEL-H30K 133 90 178 120 100 80 56 M5 M6 6.5 14 (AWG 6)
Note. Selection conditions of wire size are as follows.
Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 88
11.12 Power factor improving AC reactors
The following shows the advantages of using power factor improving AC reactor. It improves the power factor by increasing the form factor of the servo amplifier's input current. It decreases the power supply capacity. The input power factor is improved to be about 80%.
When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated. (1) 200 V class/100 V class
4-d mounting hole (Varnish is removed from front right mounting hole (face and back side).) (Note 1)
Terminal layout R X ZS Y T
W or less (Note 2) W1
D1 D2
H
D or less
Fig. 11.7
Y
Z
S
T
Y
Z
S
T
MCMCCB
MCMCCB
FR-HAL
Servo amplifier 3-phase 200 V class
XR L1
L2
L3
3-phase 200 V AC to 240 V AC
FR-HAL
Servo amplifier 1-phase 200 V class
XR L1
L2
(Note) 1-phase 200 V AC to 240 V AC
L3
Y
Z
S
T
MCMCCB FR-HAL
Servo amplifier 1-phase 100 V class
XR L1
Unassigned
L2
1-phase 100 V AC to 120 V AC
Note 1. 2.
Use this hole for grounding. W 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K.
Note. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
4-d mounting hole (Varnish is removed from front right mounting hole (face and back side).) (Note)
Terminal layout R X ZS Y T
W 2
H
D1
D or less
W1 D2
Fig. 11.8
X
D or less
D1 2 D2W1
W or less
R TS
Y Z H
5
4-d mounting hole (Note)
Fig. 11.9 Note. Use this hole for grounding. Note. Use this for grounding.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 89
Servo amplifier Power factor improving AC
reactor Dimensions
Dimensions [mm] Terminal size
Mass [kg] W W1 H D (Note) D1 D2 d
MR-J4-10A(-RJ) MR-J4-20A(-RJ) FR-HAL-0.4K
Fig. 11.7
104 84 99 72 51 40 M5 M4 0.6
MR-J4-40A(-RJ) MR-J4-10A1(-RJ) FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8
MR-J4-60A(-RJ) MR-J4-70A(-RJ) MR-J4-20A1(-RJ)
FR-HAL-1.5K 104 84 99 77 61 50 M5 M4 1.1
MR-J4-100A(-RJ) (3-phase power supply input) MR-J4-40A1(-RJ)
FR-HAL-2.2K 115 (Note) 40 115 77 71 57 M6 M4 1.5
MR-J4-100A(-RJ) (1-phase power supply input) MR-J4-200A(-RJ) (3-phase power supply input)
FR-HAL-3.7K 115 (Note) 40 115 83 81 67 M6 M4 2.2
MR-J4-200A(-RJ) (1-phase power supply input)
FR-HAL-5.5K 115 (Note) 40 115 83 81 67 M6 M4 2.3
MR-J4-350A(-RJ) FR-HAL-7.5K
Fig. 11.8
130 50 135 100 98 86 M6 M5 4.2 MR-J4-500A(-RJ) FR-HAL-11K 160 75 164 111 109 92 M6 M6 5.2 MR-J4-700A(-RJ) FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0 MR-J4-11KA(-RJ) FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
MR-J4-15KA(-RJ) FR-HAL-22K 185 (Note) 75 150 158 100 87 M6 M8 9.0
MR-J4-22KA(-RJ) FR-HAL-30K Fig. 11.9 185 (Note) 75 150 168 100 87 M6 M10 9.7
Note. Maximum dimensions. The dimension varies depending on the input/output lines.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 90
(2) 400 V class
W 0.5 W1
R X ZS Y T
H
5
D1 D2
4-d mounting hole (Note) (5 groove)
D or less
Fig. 11.10
Y
Z
S
T
MCMCCB FR-HAL-H
Servo amplifier 3-phase
400 V class
XR L1
L2
L3
3-phase 380 V AC to 480 V AC
W 0.5 W1
D1 D2
H
5
125 D or less 150
4-d mounting hole (Note)
ZY TR X S
(6 groove)
Fig. 11.11
D or less
4-d mounting hole (Note)
ZY TR X S
H
5
180
W 0.5 W1
D1 D2
(8 groove)
Fig. 11.12 Note. Use this for grounding.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 91
Servo amplifier Power factor improving AC
reactor Dimensions
Dimensions [mm] Terminal
size Mass [kg] W W1 H D
(Note) D1 D2 d
MR-J4-60A4(-RJ) FR-HAL-H1.5K 135 120 115 59 59.6 45 M4 M3.5 1.5 MR-J4-100A4(-RJ) FR-HAL-H2.2K Fig. 11.10 135 120 115 59 59.6 45 M4 M3.5 1.5 MR-J4-200A4(-RJ) FR-HAL-H3.7K 135 120 115 69 70.6 57 M4 M3.5 2.5 MR-J4-350A4(-RJ) FR-HAL-H7.5K
Fig. 11.11
160 145 142 91 91 75 M4 M4 5.0 MR-J4-500A4(-RJ) FR-HAL-H11K 160 145 146 91 91 75 M4 M5 6.0 MR-J4-700A4(-RJ) MR-J4-11KA4(-RJ) FR-HAL-H15K 220 200 195 105 90 70 M5 M5 9.0
MR-J4-15KA4(-RJ) FR-HAL-H22K Fig. 11.12
220 200 215 170 90 70 M5 M8 9.5 MR-J4-22KA4(-RJ) FR-HAL-H30K 220 200 215 170 96 75 M5 M8 11
Note. Maximum dimensions. The dimension varies depending on the input/output lines.
11.13 Relays (recommended)
The following relays should be used with the interfaces
Interface Selection example Digital input (interface DI-1) Relay used for digital input command signals
To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY
Digital output (interface DO-1) Relay used for digital output signals
Small relay with 12 V DC or 24 V DC of rated current 40 mA or less (Ex.) Omron : type MY
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 92
11.14 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral 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 malfunctions due to noises produced by the servo amplifier, noise suppression measures must be taken. The measures will vary slightly with the routes of noise transmission. (1) Noise reduction techniques
(a) General reduction techniques Avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables. Use a shielded twisted pair cable for connection with the encoder and for control signal transmission, and connect the external conductor of the cable to the SD terminal. Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11.)
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises. Attach data line filters to the signal cables. Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings. Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral 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
Noise radiated from the power supply cable
Noise radiated from servo motor cable
Magnetic induction noise
Static induction noise
Noises transmitted through electric channels 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)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 93
Instrument Receiver
Servo amplifier
Servo motor M
2)
2)
8)
1)
7)
7) 7)
5)
3)
4) 6)
3)
Sensor power supply
Sensor
Noise transmission route Suppression techniques
1) 2) 3)
When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1. Provide maximum clearance between easily affected devices and the servo amplifier. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier. 3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side
or bundling them together. 4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line. 5. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
4) 5) 6)
When the power lines and the signal lines are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. The following techniques are required. 1. Provide maximum clearance between easily affected devices and the servo amplifier. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier. 3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side
or bundling them together. 4. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
7)
When the power supply of peripheral equipment is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required. 1. Install the radio noise filter (FR-BIF(-H)) on the power lines (Input lines) of the servo amplifier. 2. Install the line noise filter (FR-BSF01/FR-BLF) on the power lines of the servo amplifier.
8) If the grounding wires of the peripheral equipment and the servo amplifier make a closed loop circuit, leakage current may flow through, causing the equipment to malfunction. In this case, the malfunction may be prevented by the grounding wires disconnected from the equipment.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 94
(2) Noise reduction techniques
(a) Data line filter (recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, ZCAT3035-1330 by TDK, ESD-SR-250 by TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters. As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below. These impedances are reference values and not guaranteed values.
Impedance [] [Unit: mm]
Outline drawing (ZCAT3035-1330)
Loop for fixing the cable band
Lot numberProduct name
TDK
39 1 34 1
1 3
1
3 0
1
10 MHz to 100 MHz 100 MHz to 500 MHz
80 150
(b) Surge killer (recommended) Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo amplifier. Use the following surge killer or equivalent.
MC
SK
Surge killer
Relay Surge killer
MC
ON OFF
This distance should be short (within 20 cm).
(Ex.) CR-50500 Okaya Electric Industries) Rated voltage AC [V]
C [F 20%]
R [ 30%]
Test voltage Dimensions [Unit: mm]
6 1 300 min. 300 min.
Soldered
Band (clear) AWG 18 Twisted wire 15 1
48 1.5
CR-50500
6 1
16 1 (18.5 + 5) max.
3.6
( 18
.5 +
2 )
1
250 0.5 50
(1/2 W)
Between terminals: 625 V AC, 50/60 Hz 60 s
Between terminal and case: 2000 V AC, 50/60 Hz 60 s
Note that a diode should be installed to a DC relay 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
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 95
(c) Cable clamp fitting AERSBAN-_SET
Generally, connecting the grounding of the shielded wire to the SD terminal of the connector provides a sufficient effect. However, the effect can be increased when the shielded wire is connected directly to the grounding plate as shown below. Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the grounding plate with the cable clamp. If the cable is thin, clamp several cables in a bunch. The clamp comes as a set with the grounding plate.
[Unit: mm]
Cable clamp (A, B)
Cable
Earth plate
External conductor Clamp section diagram
40
cutter
cable
Strip the cable sheath of the clamped area.
Dimensions [Unit: mm]
Earth plate
(Note) M4 screw
11 3
6
C A
6 22
17.5
35
35
7
24 0 -0
.2
B
0. 3
2-5 hole installation hole
[Unit: mm]
Clamp section diagram
L or less 10
30 24
+ 0.
3
0
Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.
Model A B C Accessory fittings Clamp fitting L
AERSBAN-DSET 100 86 30 Clamp A: 2 pcs. A 70 AERSBAN-ESET 70 56 Clamp B: 1 pc. B 45
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 96
(d) Line noise filter (FR-BSF01/ FR-BLF)
This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band.
Connection diagram Dimensions [Unit: mm]
The line noise filters can be mounted on lines of the main power supply (L1/L2/L3) and of the servo motor power (U/V/W). Pass each of the wires through the line noise filter an equal number of times in the same direction. For wires of the main power supply, the effect of the filter rises as the number of passes increases, but generally four passes would be appropriate. For the servo motor power lines, passes must be four times or less. Do not pass the grounding wire through the filter. Otherwise, the effect of the filter will drop. Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1. If the wires are too thick to wind, use two or more filters to have the required number of passes as shown in Example 2. Place the line noise filters as close to the servo amplifier as possible for their best performance.
MCMCCBExample 1
Power supply
Power supply
Servo amplifier
Line noise filter
L1 L2 L3
(Number of passes: 4)
MCMCCB
Line noise filter
Example 2
Servo amplifier
L1 L2 L3
Two filters are used (Total number of passes: 4)
FR-BSF01 (for wire size 3.5 mm2 (AWG 12) or less))
33
4. 5
Approx. 110 95 0.5
Ap pr
ox . 2
2. 5
Ap pr
ox . 6
5
Approx. 65
2-5
11 .2
5
0. 5
FR-BLF (for wire size 5.5 mm2 (AWG 10) or more))
130 85
35
31 .5
7
80 2.
3 160 180
7
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 97
(e) Radio noise filter (FR-BIF(-H))
This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the input only.
200 V class/100 V class: FR-BIF 400 V class: FR-BIF-H
Connection diagram Dimensions [Unit: mm]
Make the connection cables as short as possible. Grounding is always required. When using the FR-BIF with a single-phase power supply, always insulate the lead wires that are not used for wiring.
MR-J4-350A(-RJ) or less/MR-J4-350A4(-RJ) or less/MR-J4- 40A1(-RJ) or less
Radio noise filter
Servo amplifier
Power supply
MCMCCB
L3
L2
L1
Terminal block
MR-J4-500A(-RJ) or less/MR-J4-500A4(-RJ) or less
L3
L2
L1MCMCCB
Radio noise filter
Servo amplifier
Power supply
hole
Leakage current: 4 mA
29
58
42
4
Red BlueWhite Green
44 29 7
5
Ap pr
ox . 3
00
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 98
(f) Varistor for input power supply (recommended)
Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by NIPPON CHEMI-CON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.
Power supply voltage
Varistor
Maximum rated Maximum
limit voltage
Static capacity
(reference value)
Varistor voltage rating (range) V1 mA Permissible circuit
voltage
Surge current
immunity
Energy immunity
Rated pulse power [A] [V]
AC [Vrms] DC [V] 8/20 s [A] 2 ms [J] [W] [pF] [V] 200 V class/ 100 V class
TND20V-431K 275 350 10000/1 time 195
1.0 100 710 1300 430 (387 to 473)
TND20V-471K 300 385 7000/2 time 215 775 1200 470 (423 to 517)
400 V class TND20V-102K 625 825
7500/1 time
6500/2 times
400 1.0 100 1650 560 1000 (900 to 1100)
[Unit: mm]
d
W E
H
D
L
T
Model D
Max. H
Max. T
Max. E
1.0
L Min.
(Note)
d 0.05 or less
W 1.0 or less
TND20V-431K 21.5 24.5
6.4 3.3 20 0.8 10.0
TND20V-471K 6.6 3.5 TND20V-102K 22.5 25.5 9.5 6.4 20 0.8 10.0
Note. For special purpose items for lead length (L), contact the manufacturer.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 99
11.15 Earth-leakage current breaker
(1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select an earth-leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely. To minimize leakage currents, make the input and output wires as short as possible, and keep a distance of 30 cm or longer between the wires and ground.
Rated sensitivity current 10 {Ig1 + Ign + Iga + K (Ig2 + Igm)} [mA](11.1)
Ign
Noise filter Cable
Ig1 Iga Ig2 Igm
MServo amplifier
NV Cable
Earth-leakage current breaker K
Type Mitsubishi Electric products
Models provided with harmonic and surge reduction techniques
NV-SP NV-SW NV-CP NV-CW NV-HW
1
General models BV-C1 NFB NV-L
3
Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input
terminals of the servo amplifier (Found from Fig. 11.13.) Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo
motor (Found from Fig. 11.13.) Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF(-H)) Iga: Leakage current of the servo amplifier (Found from table 11.5.) Igm: Leakage current of the servo motor (Found from table 11.4.)
Le ak
ag e
cu rre
nt [m
A]
Cable size [mm2]
120 100
80 60 40 20 0 2 5.5 14
3.5 8 38100
22 30
60150 80
120 100
80 60 40 20
0 2 3.5
5.5 8 14
22 38
80 150
30 60
100
Le ak
ag e
cu rre
nt [m
A]
Cable size [mm ]2
200 V class/100 V class (Note) 400 V class
Note. "Ig1" of 100 V class servo amplifiers will be 1/2 of 200 V class servo amplifiers.
Fig. 11.13 Leakage current example (lg1, lg2) for CV cable run in metal conduit
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 100
Table 11.4 Servo motor leakage current example (lgm)
Servo motor power [kW] Leakage current [mA] 0.05 to 1 0.1 1.2 to 2 0.2 3 to 3.5 0.3 4.2 to 5 0.5 6 to 7 0.7
8 to 11 1.0 12 to 15 1.3 20 to 25 2.3
Table 11.5 Servo amplifier leakage current example (Iga)
Servo amplifier capacity [kW] Leakage current [mA] 0.1 to 0.6 0.1
0.75 to 3.5 0.15 5/7 2
11/15 5.5 22 7
Table 11.6 Earth-leakage current breaker selection example
Servo amplifier Rated sensitivity current of earth- leakage current breaker [mA]
MR-J4-10A(-RJ) to MR-J4-350A(-RJ)
MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ)
MR-J4-10A1(-RJ) to MR-J4-40A1(-RJ)
15
MR-J4-500A(-RJ) MR-J4-500A4(-RJ)
30
MR-J4-700A(-RJ) MR-J4-700A4(-RJ)
50
MR-J4-11KA(-RJ) to MR-J4-22KA(-RJ)
MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ)
100
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 101
(2) Selection example
Indicated below is an example of selecting an earth-leakage current breaker under the following conditions.
Servo motor HG-KR43
2 mm2 5 m2 mm2 5 m
M
NV
Ig1 Iga Ig2 Igm
Servo amplifier MR-J4-40A
Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find the terms of equation (11.1) from the diagram.
Ig1 = 20 5
1000 = 0.1 [mA]
Ig2 = 20 5
1000 = 0.1 [mA]
Ign = 0 (not used)
Iga = 0.1 [mA]
Igm = 0.1 [mA]
Insert these values in equation (11.1).
Ig 10 {0.1 + 0 + 0.1 + 1 (0.1 + 0.1)}
4 [mA]
According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity current (Ig) of 4.0 [mA] or more. An earth-leakage current breaker having Ig of 15 [mA] is used with the NV-SP/SW/CP/CW/HW series.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 102
11.16 EMC filter (recommended)
POINT For when multiple servo amplifiers are connected to one EMC filter, refer to section 6.4 of "EMC Installation Guidelines".
It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current. (1) Combination with the servo amplifier
Servo amplifier Recommended filter (Soshin Electric)
Mass [kg] Model Rated current [A] Rated voltage
[VAC] Leakage current
[mA] MR-J4-10A(-RJ) to MR-J4-100A(-RJ)
HF3010A-UN (Note) 10
250
5 3.5
MR-J4-200A(-RJ) MR-J4-350A(-RJ)
HF3010A-UN (Note) 30 5.5
MR-J4-500A(-RJ) MR-J4-700A(-RJ)
HF3040A-UN (Note) 40
6.5
6
MR-J4-11KA(-RJ) MR-J4-15KA(-RJ) MR-J4-22KA(-RJ)
HF3100A-UN (Note) 100 12
MR-J4-60A4(-RJ) MR-J4-100A4(-RJ) TF3005C-TX 5
6 MR-J4-200A4(-RJ) to MR-J4-700A4(-RJ) TF3020C-TX 20
500 5.5 MR-J4-11KA4(-RJ) TF3030C-TX 30 7.5 MR-J4-15KA4(-RJ) TF3040C-TX 40
12.5 MR-J4-22KA4(-RJ) TF3060C-TX 60 MR-J4-10A1(-RJ) to MR-J4-40A1(-RJ)
HF3010A-UN (Note) 10 250 5 3.5
Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.
Servo amplifier Recommended filter (COSEL)
Mass [kg] Model Rated current [A] Rated voltage
[VAC] Leakage current
[mA] MR-J4-11KA(-RJ) to MR-J4-22KA(-RJ)
FTB-100-355-L (Note) 100 500 40 5.3
MR-J4-22KA4(-RJ) FTB-80-355-L (Note) 80 500 80 5.3
Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 103
(2) Connection example
(a) For 3-phase 200 V AC to 240 V AC power supply
MCCB 1
2
3
1 2 3
MC L1
L2
L3
L11
L21
4
5
6
Servo amplifier
Surge protector (Note)
3-phase 200 V AC to 240 V AC
EMC filter
Note. When a surge protector is used.
(b) For 1-phase 200 V AC to 240 V AC power supply
1
2
3
1 2 3
MC L1
L2
L3
L11
L21
4
5
6
MCCB
Servo amplifier
Surge protector (Note)
1-phase 200 V AC to 240 V AC
EMC filter
Note. When a surge protector is used.
(c) For 3-phase 380 V AC to 480 V AC power supply
MCCB 1
2
3
1 2 3
MC L1
L2
L3
L11
L21
4
5
6
Servo amplifier
Surge protector (Note)
3-phase 380 V AC to 480 V AC
EMC filter
Note. When a surge protector is used.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 104
(d) For 1-phase 100 V AC to 120 V AC power supply
1
2
3
1 2 3
MC L1
L11
L21
4
5
6
MCCB
L2
Servo amplifier
Surge protector (Note)
1-phase 100 V AC to 120 V AC
EMC filter
Unassigned
Note. When a surge protector is used.
(3) Dimensions
(a) EMC filter
HF3010A-UN [Unit: mm]
32
2
85
2
11 0
4
258 4
273 2
288 4
300 5
M4
IN
3-M4
65 4
Approx. 41
4-5.5 73-M4
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 105
HF3030A-UN/HF-3040A-UN
[Unit: mm]
12 5
2
44
1
260 5 140 2
70 2
14 0
1
15 5
2
3-M5
6-R3.25 length: 8
3-M5
M4
85 1 210 2
85 1
HF3100A-UN [Unit: mm]
2-6.5 8
M8
14 5
1
16 5
3
M6380 1 400 5
16 0
3
M8 2- 6.5
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 106
TF3005C-TX/TX3020C-TX/TF3030C-TX
[Unit: mm]
290 2
100 1
308 5
332 5
Ap pr
ox . 1
2. 2
3-M4
16
6-R3.25 length 8 M4 M4
12 5
2
14 0
1
15 5
2
IN
150 2
Approx. 67.5 3
Approx. 160
170 5
M4 3-M4
100 1
16
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 107
TF3040C-TX/TF3060C-TX
[Unit: mm]
180 2
Approx. 91.5
Approx. 190
200 5
M6
390 2
100 1
412 5
438 5
Ap pr
ox . 1
7
3-M6
22 2
2
8-R3.25 Length 8 (for M6)
M4 M4
14 5
2
3-M6
16 0
1
17 5
2
IN
100 1 100 1
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 108
FTB-100-355-L/FTB-80-355-L
[Unit: mm]
309
350
335 0.5
2-6.5
80
0 .5
20
14 3
10 0
26
6. 5
6. 5
20 28
14 3 17
0
3-M8 (option-S: hexagon socket head cap screw) Output
Protective earth (PE)
M6 (option-S: hexagon socket head cap screw)
Input
Protective earth (PE)
3-M8 (option-S: hexagon socket head cap screw)
M6 (option-S: hexagon socket head cap screw) Terminal block coverTerminal block cover
Mounting hole
Mounting hole
Mounting plate
(Note)
Model plate
Note. No heat radiation holes on the opposite face.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 109
(b) Surge protector
RSPD-250-U4/RSPD-500-U4
41 1
28 .5
1
2 8
1
4.2 0.5 5. 5
1
11
1 +3
0 0
20 0
4. 5
0.
51 32
Lead
Case
Resin
[Unit: mm]
1 2 3
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 110
11.17 External dynamic brake
CAUTION
Use an external dynamic brake for a servo amplifier of MR-J4-11KA(-RJ) to MR- J4-22KA(-RJ) and MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ). Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
POINT
EM2 has the same function as EM1 in the torque control mode. Configure up a sequence which switches off the magnetic contactor of the external dynamic brake after (or as soon as) SON (Servo-on) has been turned off at a power failure or a malfunction. For the braking time taken when the external dynamic brake is operated, refer to section 10.3. The external dynamic brake is rated for a short duration. Do not use it very frequently. When using the 400 V class external dynamic brake, the power supply voltage is restricted to 1-phase 380 V AC to 463 V AC (50 Hz/60 Hz). The external dynamic brake operates when an alarm or [AL. E6 Servo forced stop warning] occurs, STO (STO1, STO2) is turned off, or the power is turned off. Do not use external dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the external dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes. Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 (Forced stop 1) frequently in other than emergency.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 111
(1) Selection of external dynamic brake
The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7 kW or less servo amplifier. Since it is not built in the 11 kW or more servo amplifier, purchase it separately. Assign DB (Dynamic brake interlock) to any of CN1-22 to CN1-25, CN1-49, CN1-13, and CN1-14 pins in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47].
Servo amplifier External dynamic brake Molded-case circuit breaker Fuse (Class T) Fuse (Class K5)
Frame, rated current Voltage AC [V] Current [A] Voltage
AC [V] Current [A] Voltage AC [V]
MR-J4-11KA(-RJ) DBU-11K 30 A frame 5 A 240 1 300 1 250 MR-J4-15KA(-RJ) DBU-15K
MR-J4-22KA(-RJ) DBU-22K-R1 MR-J4-11KA4(-RJ) DBU-11K-4
30 A frame 5 A 480 1 600 1 600 MR-J4-15KA4(-RJ) DBU-22K-4
MR-J4-22KA4(-RJ)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 112
(2) Connection example
(a) 200 V class
U V
46 DOCOM
(Note 3) MC
1314 W
External dynamic brake
a
bRA2
L11
L21
P3
P4
Servo amplifier
L3
L2
L1
U
V
W
U
V
W
E
M
Servo motor
Operation ready
CN1
MCCB
MC
ALM RA1 OFF ON
MC
Emergency stop switch
Dynamic brake interlock
SK
(Note 2) Power supply
(Note 1, 7) DB
48 ALM
47 DOCOM
24 V DC (Note 5)
RA1
RA2
24 V DC (Note 5)
(Note 4) Main circuit
power supply
15SON
42
20
21
EM2
CN1
(Note 6)
DICOM
DICOM
(Note 8)
(Note 8)
Note 1. Assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. 2. Refer to section 1.3 for the power supply specifications. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. Turn off EM2 when the main power circuit power supply is off. 5. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 6. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
7. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 11.10 and (1) in this section.)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 113
(b) 400 V class
U V
46 DOCOM
(Note 3) MC
1314 W
External dynamic brake
a
bRA2
L11
L21
Servo amplifier
L3
L2
L1 Power supply
U
V
W
U
V
W
E
M
Servo motor
Operation ready
CN1
MCCB
MC
ALM RA1 OFF ON
MC
Emergency stop switch
Dynamic brake interlock
SK
(Note 2)
(Note 1, 9) DB
48 ALM
47 DOCOM
24 V DC (Note 5)
RA1
RA2
24 V DC (Note 5)
(Note 4) Main circuit
power supply
15SON
42
20
21
EM2
CN1
DICOM
DICOM
P3
P4 (Note 6)
(Note 8)
(Note 7) Step-down transformer
(Note 10)
(Note 10)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 114
Note 1. Assign DB (Dynamic brake interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. 2. For power supply specifications, refer to section 1.3. 3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. Turn off EM2 when the main power circuit power supply is off. 5. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 6. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
7. Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class. 8. The power supply voltage of the inside magnet contactor for 400 V class external dynamic brake DBU-11K-4 and DBU-22K-4
is restricted as follows. When using these external dynamic brakes, use them within the range of the power supply.
External dynamic brake Power supply voltage DBU-11K-4 DBU-22K-4
1-phase 380 V AC to 463 V AC, 50 Hz/60 Hz
9. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake
interlock) in [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
10. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 11.10 and (1) in this section.)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 115
(3) Timing chart
(a) When using the forced stop deceleration function 1) EM2 (Forced stop 2) off
POINT
Keep SON (Servo-on) on while EM2 (Forced stop 2) is off. When SON (Servo- on) is turned off before EM2 (Forced stop 2), the forced stop deceleration function will not be executed.
ON
OFF
0 r/min
Base circuit (Energy supply to the servo motor)
Servo motor speed
Disabled (ON)
Enabled (OFF)
Release
Activate
ALM (Malfunction)
SON (Servo-on)
ON (no alarm)
OFF (alarm)
EM2 (Forced stop 2)
Coasting Dynamic brake
Release
Activate Dynamic brake
Release delay time + external relay, etc. (Note 3)
Model speed command = 0 and the speed is zero speed or less (Note 1)
DB (Dynamic brake interlock) (Note 2)
Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.
2. ON: Dynamic brake is not activated OFF: Dynamic brake is activated
3. There is delay caused by the magnetic contactor built into the external dynamic brake (about 50 ms) and delay caused by the external relay.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 116
2) Alarm occurrence
a) When the forced stop deceleration function is enabled
ON
OFF
0 r/min
ON
OFF DB (Dynamic brake interlock) (Note 2)
Alarm occurrence
Servo motor speed
Base circuit (Energy supply to the servo motor)
Servo amplifier display No alarm Alarm No.
ALM (Malfunction)
ON (no alarm)
OFF (alarm)
Release
Activate Dynamic brake
Dynamic brake Coasting
Release delay time + external relay, etc. (Note 3)
Model speed command = 0 and the speed is zero speed or less (Note 1)
Commands are not received.
Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.
2. ON: Dynamic brake is not activated OFF: Dynamic brake is activated
3. There is delay caused by the magnetic contactor built into the external dynamic brake (about 50 ms) and delay caused by the external relay.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 117
b) When the forced stop deceleration function is disabled
OFF
ON
0 r/min
ON
OFF
Coasting
Dynamic brake
Release delay time + external relay, etc. (Note 2)
DB (Dynamic brake interlock) (Note 1)
Alarm occurrence
Servo amplifier display
ALM (Malfunction)
Dynamic brake
ON (no alarm)
OFF (alarm)
Release
Activate
Base circuit (Energy supply to the servo motor)
Servo motor speed
No alarm Alarm No.
Note 1. ON: Dynamic brake is not activated OFF: Dynamic brake is activated
2. There is delay caused by the magnetic contactor built into the external dynamic brake (about 50 ms) and delay caused by the external relay.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 118
3) When both the main circuit power supply and the control circuit power supply are turned off
ON
OFF
ON
OFF
ON
0 r/min
OFF
ON
ON
OFF
10 ms
Coasting Dynamic brake
DB (Dynamic brake interlock) (Note 4)
MBR (Electromagnetic brake interlock) (Note 3)
Dynamic brake Release
Activate
Base circuit
Servo motor speed Electromagnetic brake interlock
ALM (Malfunction)
OFF (enabled)
Power supplyMain circuit Control circuit
Release delay time + external relay, etc. (Note 5)
15 to 60 ms (Note 2) Operation delay time of the electromagnetic brake
7 ms (Note 1)
Note 1. When the power is off, DB (dynamic brake interlock) will turn off. Before an output short-circuit occurs, the base circuit turns off more faster than normal cases. (Only when DB is assigned as an output signal)
2. The length of time varies depending on the operation status. 3. ON: Electromagnetic brake is not activated
OFF: Electromagnetic brake is activated 4. ON: Dynamic brake is not activated
OFF: Dynamic brake is activated 5. There is delay caused by the magnetic contactor built into the external dynamic brake (about 50 ms) and delay caused by the
external relay.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 119
(b) When the forced stop deceleration function is not used
1) EM1 (Forced stop 1) off
ON
OFF
0 r/min
ON
OFF
Coasting
Dynamic brake
Servo motor speed
Release
Activate
DB (Dynamic brake interlock) (Note 1)
Dynamic brake
EM1 (Forced stop 1)
Base circuit (Energy supply to the servo motor)
Disabled (ON)
Enabled (OFF)
ON (no alarm)
OFF (alarm) ALM (Malfunction)
Release delay time + external relay, etc. (Note 2)
Note 1. ON: Dynamic brake is not activated OFF: Dynamic brake is activated
2. There is delay caused by the magnetic contactor built into the external dynamic brake (about 50 ms) and delay caused by the external relay.
3) Alarm occurrence
For information on the alarm occurrence, refer to section 11.17 (3) (a) 2) b).
4) When both the main circuit power supply and the control circuit power supply are turned off For information on when both the main circuit power supply and the control circuit power supply are turned off, refer to section 11.17 (3) (a) 3).
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 120
(4) Dimensions
(a) DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm]
C D 100 D
5 E E
B A
5
F 2.3G
Terminal block
a b 13 14
Screw: M3.5 Tightening torque: 0.8 [Nm]
WVU
Screw: M4 Tightening torque: 1.2 [Nm]
External dynamic brake A B C D E F G Mass [kg]
(Note) Connection wire [mm2] U/V/W Except U/V/W
DBU-11K 200 190 140 20 5 170 163.5 2 5.5 (AWG 10) 2 (AWG 14) DBU-15K/DBU-22K-R1 250 238 150 25 6 235 228 6 5.5 (AWG 10) 2 (AWG 14)
Note. Selection conditions of wire size are as follows.
Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 121
(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
26 0
28 0
43
10
2-7 mounting hole
195
22 8
26 26
210
2.3
Mass: 6.7 [kg]
Terminal block TE1
a b 13 14
Screw: M3.5 Tightening torque: 0.8 [Nm]
TE2
WVU
Screw: M4 Tightening torque: 1.2 [Nm]
External dynamic brake (Note) Connection wire [mm2]
U/V/W Except U/V/W DBU-11K-4 5.5 (AWG 10) 2 (AWG 14) DBU-22K-4 5.5 (AWG 10) 2 (AWG 14)
Note. Selection conditions of wire size are as follows.
Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 122
11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)
Use the panel through attachment to mount the heat generation area of the servo amplifier in the outside of the cabinet to dissipate servo amplifier-generated heat to the outside of the cabinet and reduce the amount of heat generated in the cabinet. In addition, designing a compact cabinet is allowed. In the cabinet, machine a hole having the panel cut dimensions, fit the panel through attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the cabinet. Please prepare screws for mounting. They do not come with. The environment outside the cabinet when using the panel through attachment should be within the range of the servo amplifier operating environment. The panel through attachments are used for MR-J4-11KA(-RJ) to MR-J4-22KA(-RJ) and MR-J4-11KA4(-RJ) to MR-J4-22KA4(-RJ). The following shows the combinations.
Servo amplifier Panel through attachment MR-J4-11KA(-RJ) MR-J4-15KA(-RJ) MR-J4ACN15K
MR-J4-22KA(-RJ) MR-J3ACN MR-J4-11KA4(-RJ) MR-J4-15KA4(-RJ) MR-J4ACN15K
MR-J4-22KA4(-RJ) MR-J3ACN
(1) MR-J4ACN15K
(a) Panel cut dimensions [Unit: mm]
196 218
18 51
0
41 053
5 Ap
pr ox
. 12
5
163 4-M10 Screw
Punched hole
(b) How to assemble the attachment for panel through attachments
Screw (2 places)
Attachment
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 123
(c) Mounting method
Attachment
Attachment
Fit using the assembling screws.
Servo amplifier
a. Assembling the panel through attachment
Cabinet
Punched hole
Servo amplifier
b. Mounting it to inside cabinet
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(d) Mounting dimensional diagram
[Unit: mm]
12 51
058 0
Ap pr
ox . 5
8
18 8 14
5 Ap
pr ox
. 4 00
78
35
196 240
3.2 155 108.3
Approx. 263.3
Panel
Panel
20.6
Attachment
Mounting hole
Servo amplifier Servo amplifier
(2) MR-J3ACN (a) Panel cut dimensions
[Unit: mm]
236
255
270
Ap pr
ox .
12 5
33 1
39 .5
53 5
51 0
18
203
39 .5
4-M10 Screw
Punched hole
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 125
(b) How to assemble the attachment for panel through attachment
Screw (2 places)
Attachment
(c) Mounting method
Fit using the assembling screws.
Attachment
Servo amplifier
Attachment
Servo amplifier
Punched hole
Cabinet
a. Assembling the panel through attachment b. Mounting it to inside cabinet
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 126
(d) Mounting dimensional diagram
[Unit: mm]
Ap pr
ox . 5
8 51
058 0
12 236 280
Approx. 260 84
19 4
20
14 5
Ap pr
ox . 4
00 35
3.2 105155
Approx. 260 Approx. 11.5
Servo amplifier Servo amplifier
Mounting hole
Panel
Panel
Attachment
11. OPTIONS AND PERIPHERAL EQUIPMENT
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11.19 Multifunction regeneration converter FR-XC-(H)
POINT For details on the multifunction regeneration converter (FR-XC-(H)), refer to "FR- XC INSTRUCTION MANUAL (IB(NA)-0600668ENG)".
11.19.1 Multifunction regeneration converters and dedicated stand-alone reactors
Install a dedicated stand-alone reactor on the multifunction regeneration converter FR-XC-(H) according to the following table.
Multifunction regeneration converter
Dedicated stand-alone reactor
FR-XC-7.5K FR-XCL-7.5K FR-XC-11K FR-XCL-11K FR-XC-15K FR-XCL-15K FR-XC-22K FR-XCL-22K FR-XC-30K FR-XCL-30K FR-XC-37K FR-XCL-37K FR-XC-55K FR-XCL-55K FR-XC-H7.5K FR-XCL-H7.5K FR-XC-H11K FR-XCL-H11K FR-XC-H15K FR-XCL-H15K FR-XC-H22K FR-XCL-H22K FR-XC-H30K FR-XCL-H30K FR-XC-H37K FR-XCL-H37K FR-XC-H55K FR-XCL-H55K
11.19.2 Precautions
Set the FR-XC-(H) to the common bus regeneration mode by turning on switch 1 of the function selecting switch (SW2). Do not supply power to the main circuit power supply terminals (L1/L2/L3) of the servo amplifier. Doing so may fail the servo amplifier and the FR-XC-(H). Connect the polarities of the DC power supply between the FR-XC-(H) and the servo amplifier correctly. Failing to do so may fail the FR-XC-(H) and the servo amplifier. For 400 V, use the rated voltage and permissible fluctuation of the input power supply within the following range. Rated voltage: 3-phase 380 V to 480 V, 50 Hz/60 Hz Permissible fluctuation: 3-phase 323 V to 528 V, 50 Hz/60 Hz
11.19.3 Servo amplifier settings
When using the FR-XC-(H), set the parameters as follows. [Pr. PA02]: "_ _ 0 1" [Pr. PA04]: "0 _ _ _" [Pr. PC27]: "_ _ _ 1"
11. OPTIONS AND PERIPHERAL EQUIPMENT
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11.19.4 Capacity selection
(1) Selection conditions The multifunction regeneration converter FR-XC-(H) can be used with 200 V class servo amplifiers with capacities of 100 W to 22 kW and 400 V class servo amplifiers with capacities of 600 W to 22 kW. Select a multifunction regeneration converter based on the following selection conditions.
Number of servo amplifiers to be connected to one FR-XC-(H) is 10 or less Total capacity of servo amplifiers [kW] Total capacity of servo amplifiers that can be connected to the FR-XC-(H) [kW] Effective value of the total servo motor output power [kW] Continuous output of the FR-XC-(H) [kW] Maximum value of the total servo motor output power [kW] Instantaneous maximum output of the FR-XC-(H) [kW]
Item
FR-XC-(H)_ 7.5K 11K 15K 22K 30K 37K 55K
Rated capacity [kW] 7.5 11 15 22 30 37 55 Maximum number of connectable servo amplifiers 10 Total capacity of connectable servo amplifiers [kW] (Note) 3.5 (5.5) 5.5 (7.5) 7.5 (11) 22 30 37 55
Continuous output [kW] (Note) 3.5 (5.5) 5.5 (7.5) 7.5 (11) 18.5 22 30 45 Instantaneous maximum output [kW] 11.25 16.5 22.5 33 45 55.5 82.5
Note. Values in parentheses are when six servo amplifiers or less are connected.
(2) Selection example
The following information explains how to select a multifunction regeneration converter to connect to the servo amplifiers listed below.
Servo amplifier Servo motor
MR-J4-500A HG-SR502 MR-J4-500A HG-SR502 MR-J4-11KA HG-JR11K1M MR-J4-22KA HG-JR22K1M
(a) Calculate the running power and regenerative power from the servo motor speed and torque with the
following formulas. For rotary servo motors Running power and regenerative power [W] = Servo motor speed [r/min] Torque [Nm]/9.55 For linear servo motors Running power and regenerative power [W] = Servo motor speed [m/s] Thrust [N] (Running power is indicated by positive values, and regenerative power is indicted by negative values.)
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(b) Calculate the total output power of the servo motors from the running power and regenerative power
of each servo motor.
-15 kW
-15 kW-15 kW
0.1 s0.1 s
5 kW 0.1 s
40 kW
0.5 s
0.7 s
0.6 s
0.2 s0.3 s
0.1 s
0.1 s 0.2 s
0.1 s
0.1 s
0.1 s
0.1 s
0.1 s 0.1 s
5 kW
20 kW
20 kW
15 kW
-5 kW
10 kW 0.1 s 0.1 s
0.1 s
-5 kW
10 kW
15 kW
20 kW
MR-J4-500A/ HG-SR502
MR-J4-11KA/ HG-JR11K1M
MR-J4-22KA/ HG-JR22K1M
0.2 s
0.1 s
0.6 s
0.1 s 0.1 s
0.1 s-5 kW
10 kW 0.1 s 0.1 s
-5 kW
10 kW
MR-J4-500A/ HG-SR502
0.1 s
0.6 s
Power running energy
Regenerative power
Power running energy
Regenerative power
Power running energy
Regenerative power
Power running energy
Regenerative power
1.2 s per cycle
Power running energy
Regenerative power
Total output power of servo motors
Total of each servo motor output
(c) Select a multifunction regeneration converter based on the selection conditions. Number of servo amplifiers: 4 10
Number of servo amplifiers OK. Total capacity of servo amplifiers [kW] = 5 kW + 5 kW + 11 kW + 22 kW = 43 kW
FR-XC-55K Effective value of the total servo motor output power [kW]
= (202 0.1 + 52 0.2 + 202 0.5 + 402 0.1 + 52 0.1 + (-15)2 0.1)/1.2 = 18.93 kW
FR-XC-30K or more Maximum value of the total servo motor output power [kW] = 40 kW
FR-XC-30K or more Therefore, the multifunction regeneration converter selected should be the "FR-XC-55K".
11. OPTIONS AND PERIPHERAL EQUIPMENT
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11.19.5 Connection diagrams
(1) 200 V class
T/L3
S/L2
R/L1
T2/L32
MCMCCB
S2/L22
R2/L12
FR-XCL
MC
RA2RA1 EM1
MC
SK
RA1 EM1
R2/L12
S2/L22
N/-
P4
RYB
RYA
SE
P/+ T2/L32
R/L1
S/L2
T/L3
L11
L21
P4
N-
U
V
W
EM1
R1/L11
S1/L21
U
V
W
E
CN2
FR-XC
DICOM
B
C
A RA1
DOCOM
ALM RA2
3-phase 200 V AC to 240 V AC
Off On
Servo motorServo amplifier
Controller
24 V DC
24 V DC
24 V DC
(Note 6)
(Note 11)
(Note 10)
(Note 1)
(Note 8)
(Note 2)
(Note 9)
(Note 7)
(Note 1) (Note 3)
(Note 7)
(Note 1, 5)
(Note 7)
(Note 4)
Note 1. Configure a sequence that shuts off the main circuit power supply in the following situations: When an alarm occurs in the FR-XC or servo amplifier When EM1 (Forced stop 1) is enabled
2. Configure a sequence that shifts the status to servo-on once the FR-XC is ready. 3. Ensure that the servo motor stops with a forced stop input of the servo amplifier when an alarm occurs in the FR-XC. If the
controller does not have an emergency stop input, use the forced stop input of the servo amplifier to stop the servo motor. 4. When using the FR-XC, remove the wire between P3 and P4. 5. To use EM1 (Forced stop 1), set [Pr. PA04] to "0 _ _ _". 6. If wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 7. Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative
purposes, the system can be configured to use a single 24 V DC power supply. 8. Remove the R1/L11 and S1/L21 jumpers when using a dedicated power supply for the control circuit. 9. Do not connect anything to the P4 terminal of the FR-XC. 10. Install a fuse on each wire between the FR-XC and servo amplifier. 11. Make sure to wire the built-in regenerative resistor when using servo amplifiers with a capacity of 7 kW or less. (factory-wired)
(5 kW or less: Between P+ and D, 7 kW: Between P+ and C)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 131
(2) 400 V class
T/L3
S/L2
R/L1
T2/L32
MCMCCB
S2/L22
R2/L12
FR-XCL-H
MC
RA2RA1 EM1
MC
SK
RA1 EM1
R2/L12
S2/L22
N/-
P4
RYB
RYA
SE
P/+ T2/L32
R/L1
S/L2
T/L3
L11
L21
P4
N-
U
V
W
EM1
R1/L11
S1/L21
U
V
W
E
CN2
FR-XC-H
DICOM
B
C
A RA1
DOCOM
ALM RA2
3-phase 380 V AC to 480 V AC
Off On
Servo motorServo amplifier
Controller
24 V DC
24 V DC
24 V DC
Step-down transformer
(Note 6)
(Note 11)
(Note 10)
(Note 1)
(Note 8)
(Note 2)
(Note 9)
(Note 7)
(Note 7)
(Note 1) (Note 3)(Note 1, 5)
(Note 7)
(Note 4)
Note 1. Configure a sequence that shuts off the main circuit power supply in the following situations: When an alarm occurs in the FR-XC-H or servo amplifier When EM1 (Forced stop 1) is enabled
2. Configure a sequence that shifts the status to servo-on once the FR-XC-H is ready. 3. Ensure that the servo motor stops with a forced stop input of the servo amplifier when an alarm occurs in the FR-XC-H. If the
controller does not have an emergency stop input, use the forced stop input of the servo amplifier to stop the servo motor. 4. When using the FR-XC-H, remove the wire between P3 and P4. 5. To use EM1 (Forced stop 1), set [Pr. PA04] to "0 _ _ _". 6. If wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 7. Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative
purposes, the system can be configured to use a single 24 V DC power supply. 8. Remove the R1/L11 and S1/L21 jumpers when using a dedicated power supply for the control circuit. 9. Do not connect anything to the P4 terminal of the FR-XC-H. 10. Install a fuse on each wire between the FR-XC-H and servo amplifier. 11. Make sure to wire the built-in regenerative resistor when using servo amplifiers with a capacity of 7 kW or less. (factory-wired)
(3.5 kW or less: Between P+ and D, 5 kW/7 kW: Between P+ and C)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 132
11.19.6 Wiring and peripheral options
(1) Wire size
POINT Selection requirements for the wire size are as follows.
Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction requirements: Single wire set in midair
(a) Between P/+ and P4, and between N/- and N-
The following table shows the size of the wire between the FR-XC-(H) and servo amplifier.
Total capacity of servo amplifiers [kW] Wire size [mm2]
200 V class 400 V class 1 or less 2 (AWG 14) 2 (AWG 14) 2 3.5 (AWG 12) 2 (AWG 14) 3.5 5.5 (AWG 10) 3.5 (AWG 12) 5 5.5 (AWG 10) 5.5 (AWG 10) 7 8 (AWG 8) 5.5 (AWG 10) 11 14 (AWG 6) 8 (AWG 8) 15 22 (AWG 4) 8 (AWG 8) 18.5 38 (AWG 2) 8 (AWG 8) 22 50 (AWG 1/0) 14 (AWG 6) 27.5 50 (AWG 1/0) 22 (AWG 4) 30 60 (AWG 2/0) 22 (AWG 4) 37 80 (AWG 3/0) 38 (AWG 2) 45 100 (AWG 4/0) 38 (AWG 2) 55 100 (AWG 4/0) 50 (AWG 1/0)
(b) Grounding
The following table shows the size of the grounding wire for the FR-XC-(H). Use the shortest size wire possible.
Multifunction regeneration converter
Wire size [mm2] Rated capacity of multifunction regeneration converter Total capacity of connected servo
amplifiers 2
Rated capacity of multifunction regeneration converter < Total capacity of connected servo
amplifiers 2 FR-XC-7.5K 8 (AWG 8) 8 (AWG 8) FR-XC-11K 8 (AWG 8) 14 (AWG 6) FR-XC-15K 8 (AWG 8) 22 (AWG 4) FR-XC-22K 22 (AWG 4) 38 (AWG 2) FR-XC-30K 22 (AWG 4) 38 (AWG 2) FR-XC-37K 38 (AWG 2) 60 (AWG 2/0) FR-XC-55K 38 (AWG 2) 80 (AWG 3/0) FR-XC-H7.5K 3.5 (AWG 12) 3.5 (AWG 12) FR-XC-H11K 3.5 (AWG 12) 5.5 (AWG 10) FR-XC-H15K 3.5 (AWG 12) 8 (AWG 8) FR-XC-H22K 8 (AWG 8) 14 (AWG 6) FR-XC-H30K 8 (AWG 8) 22 (AWG 4) FR-XC-H37K 14 (AWG 6) 22 (AWG 4) FR-XC-H55K 14 (AWG 6) 38 (AWG 2)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 133
(2) Wire size selection example (between P/+ and P4, between N/- and N-)
When connecting multiple servo amplifiers to the FR-XC, junction terminal blocks must be used for the wiring to terminals P4 and N- on the servo amplifiers. Connect the servo amplifiers in order with the largest capacity first.
(a) 200 V class
R2/L12
S2/L22
T2/L32
R/L1
S/L2
T/L3
P/+
N/-
P4
N-
50 mm2
P4
N-
P4
N-
P4
N-
22 mm2
8 mm2
22 mm2
8 mm2
5.5 mm2
3.5 mm2
FR-XC-55K Servo amplifier (15 kW) First unit: Total of servo amplifier capacities 15 kW + 7 kW + 3.5 kW + 2.0 kW = 27.5 kW 50 mm2 corresponding to 27.5 kW
Second unit: Total of servo amplifier capacities 7 kW + 3.5 kW + 2.0 kW = 12.5 kW 22 mm2 corresponding to 15 kW
Third unit: Total of servo amplifier capacities 3.5 kW + 2.0 kW = 5.5 kW 8 mm2 corresponding to 7 kW
Fourth unit: Total of servo amplifier capacities 2.0 kW = 2.0 kW 3.5 mm2 corresponding to 2 kW
Servo amplifier (7 kW)
Servo amplifier (3.5 kW)
Servo amplifier (2 kW)
Total wiring length 5 m or shorter
Junction terminal
Wiring as short as possible
(b) 400 V class
R2/L12
S2/L22
T2/L32
R/L1
S/L2
T/L3
P/+
N/-
P4
N-
22 mm2
P4
N-
P4
N-
P4
N-
8 mm2
5.5 mm2
8 mm2
5.5 mm2
3.5 mm2
2 mm2
FR-XC-H55K Servo amplifier (15 kW) First unit: Total of servo amplifier capacities 15 kW + 7 kW + 3.5 kW + 2.0 kW = 27.5 kW 22 mm2 corresponding to 27.5 kW
Second unit: Total of servo amplifier capacities 7 kW + 3.5 kW + 2.0 kW = 12.5 kW 8 mm2 corresponding to 15 kW
Third unit: Total of servo amplifier capacities 3.5 kW + 2.0 kW = 5.5 kW 5.5 mm2 corresponding to 7 kW
Fourth unit: Total of servo amplifier capacities 2.0 kW = 2.0 kW 2 mm2 corresponding to 2 kW
Servo amplifier (7 kW)
Servo amplifier (3.5 kW)
Servo amplifier (2 kW)
Total wiring length 5 m or shorter
Junction terminal
Wiring as short as possible
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 134
(3) Fuses (between P/+ and P4, between N/- and N-)
The following table shows the recommended fuses which are to be installed between the FR-XC-(H) and servo amplifier.
Servo amplifier capacity
[kW] 200 V class 400 V class
Fuse rating [A] Model (Note) Fuse rating [A] Model (Note) 0.1 20 6.900CPGR10.38 0020 0.2 20 6.900CPGR10.38 0020 0.4 25 6.900CPGR10.38 0025 0.6 25 6.900CPGR10.38 0025 20 6.900CPGR10.38 0020 0.75 30 6.900CPGR10.38 0030 1 32 6.900CPGR10.38 0032 20 6.900CPGR10.38 0020 2 63 6.9URD30TTF0063 25 6.900CPGR10.38 0025 3.5 80 6.9URD30TTF0080 63 6.9URD30TTF0063 5 160 6.9URD30TTF0160 80 6.9URD30TTF0080 7 200 6.9URD30TTF0200 100 6.9URD30TTF0100 11 250 6.9URD30TTF0250 160 6.9URD30TTF0160 15 315 6.9URD30TTF0315 160 6.9URD30TTF0160 22 350 6.9URD30TTF0350 200 6.9URD30TTF0200
Note. Manufacturer: Mersen Fma Japan KK
Service inquiries: Sun-wa Technos Corp.
(4) Molded-case circuit breakers/earth-leakage current breakers and magnetic contactors
Recommended molded-case circuit breakers/earth-leakage current breakers and magnetic contactors are listed in the table below.
(a) 200 V class
Item
FR-XC-_ 7.5K 11K 15K 22K 30K 37K 55K
Molded-case circuit breaker or earth- leakage current breaker (Note)
100AF 60A (30AF 30A)
100AF 75A (50AF 50A)
225AF 125A (100AF 75A)
225AF 175A (100AF 100A)
225AF 225A (125AF 125A)
400AF 250A (125AF 125A)
400AF 400A (225AF 175A)
Magnetic contactor (Note)
S-T35 (S-T21)
S-T50 (S-T35)
S-T65 (S-T50)
S-T100 (S-T65)
S-N125 (S-T80)
S-N150 (S-T100)
S-N220 (S-N125)
Note. Models in parentheses can be used when the rated capacity of multifunction regeneration converter total capacity of connected
servo amplifiers 2.
(b) 400 V class
Item
FR-XC-H_ 7.5K 11K 15K 22K 30K 37K 55K
Molded-case circuit breaker or earth- leakage current breaker (Note)
30AF 30A (30AF 15A)
50AF 50A (30AF 20A)
100AF 60A (30AF 30A)
100AF 100A (50AF 50A)
225AF 125A (60AF 60A)
225AF 150A (100AF 75A)
225AF 200A (100AF 100A)
Magnetic contactor (Note) S-T21 S-T25
(S-T21) S-T35
(S-T21) S-T50
(S-T25) S-T65
(S-T35) S-T80
(S-T50) S-N125 (S-T65)
Note. Models in parentheses can be used when the rated capacity of multifunction regeneration converter total capacity of connected
servo amplifiers 2.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 1
12. ABSOLUTE POSITION DETECTION SYSTEM
CAUTION
If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation. If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short circuit of the battery, the MR-BAT6V1 battery can become hot. Use the MR-BAT6V1 battery with case to prevent getting burnt.
POINT
Refer to section 11.8 for the replacement procedure of the battery. There are four types of batteries, MR-BAT6V1SET, MR-BAT6V1BJ, MR- BAT6V1SET-A and MR-BT6VCASE available to construct the absolute position detection system. MR-BAT6V1BJ has the following advantages compared to other batteries.
You can disconnect the encoder cable from the servo amplifier. You can replace the battery with the control circuit power supply off.
When absolute position data is erased from the encoder, always execute home position setting before operation. The absolute position data of the encoder will be erased in the followings. Additionally, when the battery is used out of specification, the absolute position data can be erased. MR-BAT6V1SET , MR-BAT6V1SET-A and MR-BT6VCASE
The encoder cable was disconnected. The battery was replaced when the control circuit power supply was off.
MR-BAT6V1BJ A connector or cable was disconnected between the servo motor and battery. The battery was replaced with procedures other than those of (6) in section 11.8.3.
If the following parameters are changed, the home position will be erased at the next power-on. Execute the home position return again after power-on.
[Pr. PA06 Electronic gear numerator (command pulse multiplication numerator)] [Pr. PA07 Electronic gear denominator (command pulse multiplication denominator)] [Pr. PA14 Rotation direction selection/travel direction selection] [Pr. PT08 Home position return position data] [Pr. PT28 Number of stations per rotation]
12.1 Summary
12.1.1 Features
For normal operation, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions. The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the programmable controller power is on or off. Therefore, once home position return is made at the time of machine installation, home position return is not needed when power is switched on thereafter. Even at a power failure or a malfunction, the system can be easily restored.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 2
12.1.2 Restrictions
The system cannot be configured under the following conditions. Additionally, test operation cannot be performed in the absolute position detection system. To perform test operation, select incremental system in [Pr. PA03]. (1) Speed control mode and torque control mode (2) Control switch-over mode (position/speed, speed/torque, and torque/position) (3) Stroke-less coordinate system, e.g. rotary shaft, infinitely long positioning (4) Changing electronic gear after home position setting. (5) Using alarm code output. (6) Using incremental value command method ([Pr. PT01] = "_ _ _ 1").
To configure absolute position detection system in incremental value command method, specify the incremental value command with the sub function of the point table or the command in the program. For details, refer to 4.2.2 and 5.2.2 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual (Positioning Mode)".
12.1.3 Structure
The following shows a configuration of the absolute position detection system. Refer to section 11.8 for each battery connection.
Positioning module I/O module
RD75P4, RD75D4 RX40C7, RX41C4, RX42C4 RY40NT5P, RY41NT2P, RY42NT2P RY40PT5P, RY41PT1P, RY42PT1P
QD75P_N, QD75D_N QX40, QX41, QX42 QY40, QY41P, QY42P, QY50
LD75P4, LD75D4 LX40C6, LX41C4, LX42C4 LY40NT5P, LY41NT1P, LY42NT1P LY40PT5P, LY41PT1P, LY42PT1P
FX2N-_GM, FX2N-_PG FX2N series, FX0N series
Servo motor
RD75D_ etc.
Programmable controller Servo amplifier
CN1 CN2
Battery
I/O
CN4
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 3
12.1.4 Parameter setting
POINT Set "_ _ _ 2" in [Pr. PA03] when using the absolute position detection system by communication. This parameter setting is supported by servo amplifier with software version A3 or later.
Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system. Set "_ _ _ 2" when using the ABS transfer system by communication. Refer to section 12.8 for the ABS transfer system by communication.
Absolute position detection system selection 0: Disabled (incremental system) 1: Enabled (absolute position detection system by DIO) 2: Enabled (absolute position detection system by communication-based) (available for the software version A3 or later)
[Pr. PA03]
1
12.1.5 Confirmation of absolute position detection data
You can check the absolute position data with MR Configurator2. Choose "Monitor" and "ABS Data Display" to open the absolute position data display screen.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 4
12.2 Battery
12.2.1 Using MR-BAT6V1SET battery or MR-BAT6V1SET-A battery
(1) Configuration diagram
EEP-ROM memory
Servo amplifier
Current position Current
position
Positioning module
Output
Input
I/O module
LS Detecting the
number of revolutions
1X Detecting the position within one revolution
Po si
tio n
co nt
ro l
Sp ee
d co
nt ro
l
MR-BAT6V1SET
Counter within one revolution
Cumulative revolution counter (1 pulse/rev)
Servo motor
Pulse train command
High-speed serial
communication
CPU
LSO 1XO
Backed up in the case of power
failure
Home position data
C ha
ng in
g th
e cu
rre nt
po si
tio n
da ta
General purpose programmable controller
Step-down circuit
Battery
(6 V 3.4 V)
(2) Specifications (a) Specification list
Item Description
System Electronic battery backup type Maximum revolution range Home position 32767 rev.
(Note 1) Maximum speed at power failure [r/min]
Rotary servo motor 6000
(only when acceleration time until 6000 r/min is 0.2 s or more)
Direct drive motor 500
(only when acceleration time until 500 r/min is 0.1 s or more)
(Note 2) Battery backup time
Rotary servo motor
Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 C)
Approximately 29,000 hours (power-on time ratio: 25%, ambient temperature: 20 C) (Note 3)
Direct drive motor
Approximately 5,000 hours (equipment power supply: off, ambient temperature: 20 C)
Approximately 15,000 hours (power-on time ratio: 25%, ambient temperature: 20 C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is
switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like. 2. The data-holding time by the battery using MR-BAT6V1SET or MR-BAT6V1SET-A. Replace the batteries within three years
since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.
3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 5
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable
POINT MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. MR-BAT6V1BJ cannot be used for fully closed loop system.
(1) Configuration diagram
EEP-ROM memory
Servo amplifier
Current position
Positioning module
Output
Input
I/O module
Current position
LS Detecting the
number of revolutions
1X Detecting the position within one revolution
MR-BAT6V1BJ Battery
Counter within one revolution
Cumulative revolution counter (1 pulse/rev)
Servo motor
Pulse train command
High-speed serial
communication
CPU
LSO 1XO
Backed up in the case of power
failure
Home position data
C ha
ng in
g th
e cu
rre nt
po si
tio n
da ta
General purpose programmable controller
Step-down circuit
Step-down circuit
Primary lithium battery
Sp ee
d co
nt ro
l
Po si
tio n
co nt
ro l
(6 V 3.4 V)
(2) Specifications (a) Specification list
Item Description
System Electronic battery backup type Maximum revolution range Home position 32767 rev. (Note 1) Maximum speed at power failure [r/min]
Rotary servo motor 6000
(only when acceleration time until 6000 r/min is 0.2 s or more)
(Note 2) Battery backup time
Rotary servo motor
Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 C)
Approximately 29,000 hours (power-on time ratio: 25%, ambient temperature: 20 C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is
switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like. 2. The data-holding time by the battery using MR-BAT6V1BJ. Replace the batteries within three years since the operation start
regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.
3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 6
12.2.3 Using MR-BT6VCASE battery case
POINT One MR-BT6VCASE holds absolute position data up to eight axes servo motors. Always install five MR-BAT6V1 batteries to an MR-BT6VCASE.
(1) Configuration diagram
EEP-ROM memory
Servo amplifier
Current position
Positioning module
Output
Input
I/O module
Current position
LS Detecting the
number of revolutions
1X Detecting the position within one revolution
Counter within one revolution
Cumulative revolution counter (1 pulse/rev)
Servo motor
Pulse train command
High-speed serial
communication
CPU
LSO 1XO
Backed up in the case of power
failure
Home position data
C ha
ng in
g th
e cu
rre nt
po si
tio n
da ta
General purpose programmable controller
Sp ee
d co
nt ro
l
Po si
tio n
co nt
ro l
MR-BT6VCASE
MR-BAT6V1 5
Step-down circuit
( 6 V 3.4 V )
(2) Specification list
Item Description System Electronic battery backup type Maximum revolution range Home position 32767 rev.
(Note 1) Maximum speed at power failure [r/min]
Rotary servo motor 6000
(only when acceleration time until 6000 r/min is 0.2 s or more)
Direct drive motor 500
(only when acceleration time until 500 r/min is 0.1 s or more)
(Note 2) Battery backup time
Rotary servo motor
Approximately 40,000 hours/2 axes or less, 30,000 hours/3 axes, or 10,000 hours/8 axes
(equipment power supply: off, ambient temperature: 20 C) Approximately 55,000 hours/2 axes or less, 38,000 hours/
3 axes, or 15,000 hours/8 axes (power-on time ratio: 25%, ambient temperature: 20 C) (Note 4)
Direct drive motor
Approximately 10,000 hours/2 axes or less, 7,000 hours/ 3 axes, or 5,000 hours/4 axes
(equipment power supply: off, ambient temperature: 20 C) Approximately 15,000 hours/2 axes or less, 13,000 hours/
3 axes, or 10,000 hours/4 axes (power-on time ratio: 25%, ambient temperature: 20 C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is
switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like. 2. The data-holding time by the battery using five MR-BAT6V1s. The battery life varies depending on the number of axes
(including axis for using in the incremental system). Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.
3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 7
12.3 Standard connection example
Analog torque limit + 10 V/max. torque
Proximity dog signal
Stop signal Power supply (24 V)
Ready Zero-point
signal
Clear
Command pulses
(for differential line driver type)
Reset
CR DOCOM
20 46DOCOM
43LSP 44LSN 18TL 19RES 46DOCOM
15SON 42EM2
17ABSM 18ABSR 22ABSB0 23ABSB1 25ABST
DICOM
DOCOM 47
21DICOM 49RD 1P15R
33OP 41 47
10PP 11PG 35NP 36NG
1P15R 27TLA 28LG
PlateSD
Servo amplifier
I/O unit
Dog Stop
Input
Output Electromagnetic
brake output
Reset
(Note)
Forced stop 2 Servo-on
ABS transmission mode
ABS request ABS transmission data bit 0
ABS transmission data bit 1
ABS transmission data ready
Upper limit setting
CN1
RA2
24 V DC
External torque limit selection Stroke end in reverse rotation Stroke end in forward rotation
Po si
tio ni
ng m
od ul
e
Note. For operation, always turn on LSP and LSN.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 8
12.4 Signal explanation
When the absolute position data is transferred, the signals of connector CN1 change as described in this section. They return to the previous status on completion of data transfer. The other signals are as described in section 3.5. For the I/O interfaces (symbols in the I/O Category column in the table), refer to section 3.8.2.
Signal name Code CN1
connector pin No.
Function/Application I/O category
Control mode
ABS transfer mode ABSM (Note)
17
While ABSM is on, the servo amplifier is in the ABS transfer mode, and the functions of CN1-22, CN1-23, and CN1-25 are as indicated in this table.
DI-1
ABS request ABSR (Note)
18 Turn on ABSR to request the absolute position data in the ABS transfer mode. DI-1
ABS transmission data bit 0 ABSB0 22
Indicates the lower bit of the absolute position data (2 bits) which is sent from the servo to the programmable controller in the ABS transfer mode. If there is a signal, D01 turns on.
DO-1 P
(Position control) ABS transmission data
bit 1 ABSB1 23
Indicates the upper bit of the absolute position data (2 bits) which is sent from the servo to the programmable controller in the ABS transfer mode.
DO-1
ABS transmission data ready ABST 25
Indicates that the data to be sent is being prepared in the ABS transfer mode. At the completion of the ready state, ABST turns on.
DO-1
Home position setting CR 41
When CR is turned on, the position control counter is cleared and the home position data is stored into the non-volatile memory (backup memory).
DI-1
Note. When "Used in absolute position detection system" is selected in [Pr. PA03], pin 17 acts as ABSM and pin 18 as
ABSR. They do not return to the original signals if data transfer ends.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 9
12.5 Startup procedure
(1) Battery installation. Refer to section 12.2.
(2) Parameter setting
Set "_ _ _ 1" in [Pr. PA03] of the servo amplifier and switch power off, then on. (3) Resetting of [AL. 25 Absolute position erased]
After connecting the encoder cable, [AL. 25] occurs at first power-on. Turn off the power, then on to reset the alarm.
(4) Confirmation of absolute position data transfer
When SON is turned on, the absolute position data is transferred to the programmable controller. Transferring the proper absolute position data will trigger the followings.
(a) RD (Ready) turns on.
(b) The absolute position data ready contact of programmable controller turns on.
(c) The MR Configurator2 ABS data display window (refer to section 12.1.5) and programmable
controller side ABS data registers show the same value (at the home position address of 0). If any warning such as [AL. E5 ABS time-out warning] or programmable controller side transfer error occurs, refer to section 12.7 or chapter 8 and take corrective action.
(5) Home position setting
The home position must be set if.
(a) System set-up is performed;
(b) The servo amplifier has been changed;
(c) The servo motor has been changed; or
(d) [AL. 25 Absolute position erased] occurred.
In the absolute position detection system, the absolute position coordinates are made up by making home position setting at the time of system set-up. The motor shaft may operate unexpectedly if positioning operation is performed without home position setting. Always make home position setting before starting. For the home position setting method and types, refer to section 12.6.3.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 10
12.6 Absolute position data transfer protocol
POINT After switching on ABSM, turn on SON. When the ABS transfer mode is off, turning on SON does not switch on the base circuit.
12.6.1 Data transfer procedure
Each time SON is turned on (when the power is switched on for example), the programmable controller reads the position data (present position) of the servo amplifier. Time-out monitoring is performed by the programmable controller.
ON (Servo-on) on
Servo amplifier Programmable controller
ABSM on
ABST on
ABSR on
ABST off
ABSR off
ABST on
ABSR on
ABST off
ABSR off
ABST on
ABSM off
DI0 allocation change
Transmission data set
Transmission data set
DI0 allocation change
Watch dog timer
Reading 2 bits
Shift and addition
Watch dog timer
Reading 2 bits
Shift and addition
Setting the current position
Sum check
Every time the SON is turned ON, ABSM is turned ON to set the data to be transmitted.
The data is read in units of 2 bits; the read data is written to the lowest bits, and the register is shifted right until 32-bit data is configured.
The data is read in units of 2 bits; the read data is written to the lowest bits, and the register is shifted right until 6-bit data is configured.
A sum check is executed for the received 32-bit data. After making sure that there are no errors in the data, the current position is set.
St ar
t p ro
ce ss
in g
R ep
ea te
d to
c on
fig ur
e 32
-b it
da ta
R ep
ea te
d to
c on
fig ur
e 6-
bi t d
at a
En d
pr oc
es si
ng
16 times
3 times
Current position data
Sum check data
ABST off
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 11
12.6.2 Transfer method
The following shows a sequence how to turn on the base circuit while it is off state because SON is off, EM2 is off, or an alarm is occurring. In the absolute position detection system, every time SON is turned on, ABSM should always be turned on to read the current position in the servo amplifier to the controller. The servo amplifier transmits to the controller the current position latched when ABSM switches from off to on. At the same time, this data is set as a position command value inside the servo amplifier. Unless ABSM (ABS transfer mode) is turned on, the base circuit cannot be turned on. (1) At power-on
(a) Timing chart
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
95 ms 95 ms
1)
2), 3)
Power supply
SON
4) ABSM
ABSR
ABST
Base circuit
RD
If SON is turned ON before ABSM is input
During transfer of ABS During transfer of ABS
(Note) (Note)
(Note) (Note)
(Note) (Note) Absolute position
data
Operation enabled
Operation enabled
ABSB0 ABSB1
Absolute position data
Note. For details, refer to (1) (b) in this section.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 12
1) After the absolute position data is transmitted, RD turns on by ABSM-off. When RD is on, ABSM-
on is not received.
2) Even if SON is turned on before ABSM is turned on, the base circuit is not turned on until ABSM is turned on. If an alarm has occurred, ABSM is not received. ABSM allows data transmission even while a warning is occurring.
3) If ABSM is turned off during the ABS transfer mode, the ABS transfer mode is interrupted and
[AL. E5 ABS time-out warning] occurs. If SON is turned off, RES is turned on, and EM2 is turned off during the ABS transfer mode, [AL. E5 ABS time-out warning] occurs.
4) Note that if ABSM is turned on for a purpose other than absolute position data transmission, the
output signals will be assigned the functions of absolute position data transmission.
CN1 Pin No. Output signal ABSM (ABS transfer mode): off ABSM (ABS transfer mode): on
22 Positioning completion transmission data bit 03 23 Zero speed detection transmission data bit 1 25 During torque limit control transmission data ready
5) ABSM is not accepted while the base circuit is on. For re-transferring, turn off SON signal and
keep the base circuit in the off state for 20 ms or longer.
(b) Detailed description of absolute position data transfer
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
3)
4)
5)
7) (Note)
1)
2) 6)
Servo-on in programmable controller
SON
ABSM
ABSR
ABST
ABSB0 ABSB1
During transfer of ABS
Lower 2 bits
Checksum Upper 2 bits
Note. If SON does not turn on within 1 s after ABSM off, [AL. EA ABS servo-on warning] will occur. But it will not influence the transfer. SON on will cancel [AL. EA] automatically.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 13
1) The programmable controller turns on ABSM and SON at the leading edge of the internal servo-
on.
2) In response to ABS transfer mode, the servo detects and calculates the absolute position and turns on ABST to notify the programmable controller that the servo is ready for data transmission.
3) After acknowledging that ABST is turned on, the programmable controller will turn on ABSR.
4) In response to ABSR, the servo outputs the lower 2 bits of the absolute position data and ABST
in the off state.
5) After acknowledging that ABST has been turned off, which implies that 2 bits of the absolute position data have been transmitted, the programmable controller reads the lower 2 bits of the absolute position data and then turns off ABSR.
6) The servo turns on ABST so that it can respond to the next request. Steps 3) to 6) are repeated
until 32-bit data and the 6-bit checksum have been transmitted.
7) After receiving of the checksum, the programmable controller confirms that the 19th ABST is turned on, and then turns off ABSM. If ABSM is turned off during data transmission, ABSM is interrupted and the [AL. E5 ABS time-out warning] occurs.
(c) Checksum
he checksum is the code which is used by the programmable controller to check for errors in the received absolute position data. The 6-bit checksum is transmitted following the 32-bit absolute position data. At the programmable controller, calculate the sum of the received absolute position data using the ladder program and compare it with the checksum code sent from the servo. The method of calculating the checksum is shown. Every time the programmable controller receives 2 bits of absolute position data, it adds the data to obtain the sum of the received data. The checksum is 6-bit data.
Example: absolute position data: -10 (FFFFFFF6H)
10b
01b
11b
11b
11b
11b
11b
11b
11b
11b
11b
11b
11b
11b
11b
11b
101101b
- 10
FFFF FFF6
1111 1111 1111 0110
Appendix Decimal
Hexadecimal
Binary
+
When the binary data of each 2 bits of the absolute position data is added up, "10 1101b" is obtained.
Therefore, the checksum of "-10" (absolute position data) is "2DH"
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 14
(2) Transmission error
(a) [AL. E5 ABS time-out warning] In the ABS transfer mode, the servo amplifier processes time-out below, and displays [AL. E5] when a time-out error occurs. [AL. E5 ABS time-out warning] is cleared when ABSM changes from off to on.
1) ABS request off-time time-out check (applied to 32-bit absolute position data in 2-bit units
checksum) If the ABS request signal is not turned on by the programmable controller within 5 s after ABST is turned on, this is regarded as a transmission error and [AL. E5 ABS time-out warning] is output.
OFF
ON
OFF
ON
OFF
ON
5 s
ABSM
ABSR
ABST
[AL. E5]
Signal is not turned ON
No
Yes
2) ABS request on-time time-out check (applied to 32-bit absolute position data in 2-bit units checksum) If the ABSR is not turned off by the programmable controller within 5 s after ABST is turned off, this is regarded as the transmission error and [AL. E5 ABS time-out warning] is output.
OFF
ON
OFF
ON
OFF
ON
5 s
ABSM
ABSR
ABST
[AL. E5]
Signal is not turned OFF
No
Yes
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 15
3) ABS transfer mode finish-time time-out check
If ABSM is not turned off within 5 s after the last ABS transmission data ready (19th signal for absolute position data transmission) is turned on, it is regarded as the transmission error and the [AL. E5 ABS time-out warning] is output.
OFF
ON
OFF
ON
OFF
ON
1 2 3 4 18 19
1 2 3 4 18 19
5 s
ABSM
ABSR
ABST
[AL. E5]
Signal is not turned OFF
No
Yes
4) ABSM-off check during the ABS transfer When the ABSM is turned on to start transferring and then the ABS transfer mode is turned off before the 19th ABS transmission data ready is turned on, [AL. E5 ABS time-out warning] occurs, regarding it as a transfer error.
OFF
ON
OFF
ON
OFF
ON 1 2 3 4 18 19
1 2 3 4 18 19
Yes
No
ABSM
ABSR
ABST
[AL. E5]
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 16
5) SON off, RES on, and EM2 off check during the ABS transfer
When the ABS transfer mode is turned on to start transferring and then SON is turned off, RES is turned on, or EM2 is turned on before the 19th ABST is turned on, [AL. E5 ABS time-out warning] occurs, regarding it as a transfer error.
OFF
ON
OFF
ON
OFF
ON 1 2 3 4 18 19
1 2 3 4 18 19
OFF
ON
Yes
No
ABSM
ABSR
ABST
[AL. E5]
SON
(b) Checksum error If the checksum error occurs, the programmable controller should retry transmission of the absolute position data. Using the ladder check program of the programmable controller, turn off ABSM. After a lapse of 10 ms or longer, turn off SON (off time should be longer than 20 ms) and then turn it on again. If the absolute position data transmission fails even after retry, process the ABS checksum error. The start command should be interlocked with ABST to disable positioning operation when an checksum error occurs. The following shows an example of three retries.
20 ms or longer
OFF
ON
OFF
ON
OFF
ON
OFF
ON
10 ms or longer
20 ms or longer
20 ms or longer
Retry 1 Retry 2 Retry 3 10 ms
or longer 10 ms
or longer 10 ms
or longer
SON
Yes
No
ABSM
ABSR
ABST
ABS checksum error
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 17
(3) At the time of alarm reset
If an alarm occurs, turn off SON by detecting ALM. If an alarm has occurred, ABSM cannot be accepted. In the reset state, ABSM can be input.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
95 ms
OFF
ON
OFF
ON
SON
RES
ABSM
ABSR
ABST
ABSB0 ABSB1
Base circuit
ALM
RD
Occurrence of alarm
During transfer of ABS
Absolute position data
Operation enabled
OFF
ON
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 18
(4) At the time of forced stop reset
(a) If the power is switched on in the forced stop state he forced stop state can be reset while the absolute position data is being transferred. If the forced stop state is reset while the absolute position data is transmitted, the base circuit is turned on 95 ms after resetting. If ABSM is off when the base circuit is turned on, RD is turned on 5 ms after the turning on of the base circuit. If ABSM is on when the base circuit is turned on, it is turned off and then RES is turned on. The absolute position data can be transmitted after the forced stop state is reset. The current position in the servo amplifier is updated even during an forced stop. When SON or ABSM are turned on during an forced stop as shown below, the servo amplifier transmits to the controller the current position latched when ABSM switches from off to on, and at the same time, the servo amplifier sets this data as a position command value. However, since the base circuit is off during a forced stop, the servo-lock status is not encountered. Therefore, if the servo motor is rotated by external force or the like after ABSM is turned on, this travel distance is accumulated in the servo amplifier as droop pulses. If the forced stop is cleared in this status, the base circuit turns on and the motor returns to the original position rapidly to compensate for the droop pulses. To avoid this status, reread the absolute position data before clearing the forced stop.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
95 ms
OFF
ON
5 ms
Power supply
SON
EM2
ABSM
ABSR
ABST
ABSB0 ABSB1
Base circuit
RD
Reset
During transfer of ABS
Operation enabled
Absolute position data
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 19
(b) If forced stop is activated during servo-on
ABSM is permissible while in the forced stop state. In this case, the base circuit and RD are turned on after the forced stop state is reset.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
95 ms
OFF
ON
OFF
ON
SON
EM2
ABSM
ABSR
ABST
ABSB0 ABSB1
Base circuit
RD
During transfer of ABS
Operation enabled
Absolute position data
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 20
12.6.3 Home position setting
(1) Dog type home position return Preset a home position return creep speed at which the machine will not be given impact. On detection of a zero pulse, CR is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the home position absolute position data. CR should be turned on after it has been confirmed that INP is on. If this condition is not satisfied, [AL. 96 Home position setting warning] will occur, but that warning will be reset automatically by making home position return correctly. The number of home position setting times is limited to 1,000,000 times.
OFF
ON DOG (Proximity dog)
OFF
ON INP (In-position)
OFF
ON
OFF
ON
OFF
ON
CR (Home position setting)
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
Servo motor
Update
Proximity dog
20 ms or longer 20 ms or longer
ABSV (Absolute position undetermined)
Control circuit power supply
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 21
(2) Data set type home position return
POINT Never make home position setting during command operation or servo motor rotation. It may cause home position sift. It is possible to execute data set type home position return during the servo off.
Move the machine to the position where the home position is to be set by performing manual operation such as JOG operation. When CR is on for longer than 20 ms, the stop position is stored into the non- volatile memory as the home position absolute position data. When the servo on, set CR to on after confirming that INP is on. If this condition is not satisfied, [AL. 96 Home position setting warning] will occur, but that warning will be reset automatically by making home position return correctly. The number of home position setting times is limited to 100,000 times.
OFF
ON INP (In-position)
OFF
ON CR (Home position setting)
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
Servo motor
Update
20 ms or longer
Manual feed (JOG, etc.)
OFF
ON
OFF
ON
ABSV (Absolute position undetermined)
Control circuit power supply
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 22
12.6.4 Use of servo motor with an electromagnetic brake
The timing charts at power on/off and SON on/off are given below. Preset [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47] of the servo amplifier to enable MBR. When MBR is set for the CN1-23 pin, turning ABSM on will change the CN1-23 pin to ABSB1 (ABS transmission data bit 1). Therefore, configure an external sequence to generate the electromagnetic brake torque as soon as ABSM and MBR turn off.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
95 ms
5 ms
Tb
95 ms
5 ms
Tb
Power supply
SON
ABSM
ABSR
ABST
ABSB0 ABSB1
Base circuit
RD
MBR
Electromagnetic brake torque
During transmission of ABS
During transmission of ABS
Absolute position data
Absolute position data
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 23
12.6.5 How to process the absolute position data at detection of stroke end
The servo amplifier stops the acceptance of the command pulse when off of LSP or LSN are detected, clears the droop pulses to 0 at the same time, and stops the servo motor. At this time, the programmable controller keeps outputting the command pulse. Since this causes a discrepancy between the absolute position data of the servo amplifier and the programmable controller, position mismatch will occur if the operation is continued. To prevent this difference in position data from occurring, do as described below. When the servo amplifier has detected the stroke end, perform JOG operation or the like to clear the stroke end. After that, switch SON off once, then on again, or switch the power off once, then on again. This causes the absolute position data of the servo amplifier to be transferred to the programmable controller, restoring the normal data. 12.7 Absolute position data transfer errors
POINT When the following alarm or warning occurs, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. [AL. 25 Absolute position erased] [AL. 96 Home position setting warning] [AL. E3 Absolute position counter warning] [AL. E5 ABS time-out warning] [AL. EA ABS servo-on warning]
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 24
(1) The off period of the ABS transmission data ready signal output from the servo amplifier is checked. If
the off period is 1 s or longer, regard as a transfer fault and generate the ABS communication error. Generate the ABS communication error if [AL. E5 ABS time-out warning] is generated at the servo amplifier due to an ABS request on time time-out.
OFF
ON
OFF
ON
OFF
ON
1 s
ABSM
ABSR
ABST
ABS communication error
The signal does not come ON
NO
YES
(2) The time required for the ABS transfer mode signal to go off after it has been turned on (ABS transfer time) is checked. If the ABS transfer time is longer than 5 s, regard that a transfer fault has occurred, and generate the ABS communication error. Generate the ABS communication error if [AL. E5 ABS time-out warning] is generated at the servo amplifier due to an ABS transfer mode completion time time- out.
OFF
ON
OFF
ON
OFF
ON
1 2 3 4 18 19
1 2 3 4 18 19
5 s
ABSM
ABSR
ABST
ABS communication error
The signal does not go OFF
NO
YES
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 25
(3) The time required for the ABS request signal to go off after it has been turned on (ABS transfer time) is
checked. To detect [AL. E5 ABS time-out warning] at the servo amplifier. If the ABS request remains on for longer than 1 s, regard that a fault relating to the ABS request signal or the ABST has occurred and generate the ABS communication error. Generate the ABS communication error if [AL. E5 ABS time-out warning] is generated at the servo amplifier due to an ABS request off time time-out.
OFF
ON
OFF
ON
OFF
ON
1 s
ABSM
ABSR
ABST
ABS communication error
The signal does not go OFF
NO
YES
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 26
12.8 Communication-based absolute position transfer system
12.8.1 Serial communication command
The following commands are available for reading absolute position data using the serial communication function. When reading data, take care to specify the correct station number of the servo amplifier from where the data will be read. When the master station sends the data No. to the slave station (servo amplifier), the slave station returns the data value to the master station. (1) Transmission
Transmit command [0] [2] and data No. [9] [1]. (2) Reply
The absolute position data in the command pulse unit is returned in hexadecimal.
Data 32-bit length (hexadecimal representation)
12.8.2 Absolute position data transfer protocol
(1) Data transfer procedure Every time SON turns on at power-on or like, the controller must read the current position data in the servo amplifier. Not performing this operation will cause a position shift. Time-out monitoring should be performed by the controller.
Servo amplifier Controller
Watch dog timerAbsolute position data acquisition
SON on
RD on
Absolute position data command transmission
Command [0][2] + data No.[9][1]
Absolute position data return
Position command start
Current position acquisition
Current value change
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 27
(2) Transfer method
The following shows a sequence how to turn on the base circuit while it is off state because SON is off, EM2 is off, or an alarm is occurring. In the absolute position detection system, always give the serial communication command to read the current position in the servo amplifier to the controller every time RD turns on. The servo amplifier sends the current position to the controller on receipt of the command. At the same time, this data is set as a position command value in the servo amplifier.
(a) Sequence processing at power-on
OFF
95 ms
ON
OFF ON
OFF ON
OFF ON
5 ms
Power supply
Base circuit
Absolute position data command transmission
Absolute position data receive
Current position
Pulse train command
Current position change
During this period, get absolute position data.
SON
RD
Absolute position data
1) The base circuit turns on after 95 ms.
2) After the base circuit is turned on, RD turns on.
3) After RD turned on and the controller acquired the absolute position data, give command pulses to the servo amplifier. If the controller gives command pulses before acquiring the absolute position data, a position shift can occur.
(b) Communication error
If a communication error occurs between the controller and servo amplifier, the servo amplifier sends the error code. The definition of the error code is the same as that of the communication function. Refer to section 14.3.3 for details. If a communication error has occurred, perform retry operation. If several retries do not result in a normal termination, perform error processing.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 28
(c) At the time of alarm reset
If an alarm has occurred, detect ALM and turn off SON. After removing the alarm occurrence factor and deactivating the alarm, get the absolute position data again from the servo amplifier in accordance with the procedure in (a) in this section.
ON
95 ms
OFF
ON OFF
ON OFF
ON OFF
ON OFF
5 ms
Base circuit
Absolute position data command transmission
Absolute position data receive
Current position
Pulse train command
During this period, get absolute position data.
Current position change
SON
RES
ALM
RD
Absolute position data
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 29
(d) At the time of forced stop reset
210 ms after the forced stop is deactivated, the base circuit turns on, and RD turns on further 5 ms after that, turns on. Always get the current position data using RD as the trigger before the position command is issued.
1) When power is switched on in a forced stop status
OFF
210 ms
ON
OFF ON
OFF ON
OFF ON
OFF ON
5 ms
During this period, get absolute position data.
Current position change
Power supply
Base circuit
Pulse train command
Current position
Absolute position data receive
Absolute position data command transmission
SON
EM2
RD
Absolute position data
2) When a forced stop is activated during servo on
95 ms
ON OFF
ON OFF
ON OFF
ON OFF
5 ms
Pulse train command
Current position
Absolute position data receive
Absolute position data command transmission
Current position change
During this period, get absolute position data.
Base circuit
SON
EM2
RD
Absolute position data
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 30
MEMO
13. USING STO FUNCTION
13 - 1
13. USING STO FUNCTION
POINT In the torque control mode, the forced stop deceleration function is not available. The MR-J4-03A6(-RJ) servo amplifier is not compatible with the STO function.
13.1 Introduction
This section provides the cautions of the STO function. 13.1.1 Summary
This servo amplifier complies with the following safety standards. ISO/EN ISO 13849-1:2015 Category 3 PL e IEC 61508 SIL 3 IEC/EN 61800-5-2 IEC/EN 62061 SIL CL3
13.1.2 Terms related to safety
The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in the servo amplifier. The purpose of this function is as follows. (1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1 (2) Preventing unexpected start-up 13.1.3 Cautions
The following basic safety notes must be read carefully and fully in order to prevent injury to persons or damage to property. Only qualified personnel are authorized to install, start-up, repair, or service the machines in which these components are installed. They must be familiar with all applicable local regulations and laws in which machines with these components are installed, particularly the standards mentioned in this manual. The staff responsible for this work must be given express permission from the company to perform start-up, programming, configuration, and maintenance of the machine in accordance with the safety standards.
WARNING Improper installation of the safety related components or systems may cause improper operation in which safety is not assured, and may result in severe injuries or even death.
Protective Measures
This servo amplifier satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by preventing the energy supply from the servo amplifier to the servo motor. If an external force acts upon the drive axis, additional safety measures, such as brakes or counterbalances must be used.
13. USING STO FUNCTION
13 - 2
13.1.4 Residual risks of the STO function
Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi Electric is not liable for any damages or injuries caused by these risks. (1) The STO function disables energy supply to the servo motor by electrical shut-off. The function does not
mechanically disconnect electricity from the motor. Therefore, it cannot prevent exposure to electric shock. To prevent an electric shock, install a magnetic contactor or a molded-case circuit breaker to the main circuit power supply (L1/L2/L3) of the servo amplifier.
(2) The STO function disables energy supply to the servo motor by electrical shut-off. It does not guarantee
stop control or deceleration control of the servo motor. (3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety
related component. (4) In the safety circuit, use components that are confirmed safe or meet the required safety standards. (5) The STO function does not guarantee that the drive part of the servo motor will not rotate due to external
or other forces. (6) Safety is not assured until safety-related components of the system are completely installed or adjusted. (7) When replacing this servo amplifier, confirm that the model name of servo amplifiers are exactly the
same as those being replaced. Once installed, make sure to verify the performance of the functions before commissioning the system.
(8) Perform all risk assessments to the machine or the whole system. (9) To prevent accumulation of malfunctions, perform malfunction checks at regular intervals based on the
risk assessments of the machine or the system. Regardless of the system safety level, malfunction checks should be performed at least once per year.
(10) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously,
the servo motor may make a half revolution at a maximum. (11) The STO input signals (STO1 and STO2) must be supplied from one power source. Otherwise, the
STO function may not function properly due to a sneak current, failing to bring the STO shut-off state. (12) For the STO I/O signals of the STO function, supply power by using a safety extra low voltage (SELV)
power supply with the reinforced insulation.
13. USING STO FUNCTION
13 - 3
13.1.5 Specifications
(1) Specifications
Item Specifications Functional safety STO (IEC/EN 61800-5-2)
Safety performance (Note 2) ISO/EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3,
EN 62061 SIL CL3, EN 61800-5-2 Mean time to dangerous failure (MTTFd) MTTFd 100 [years] (314a) (Note 1)
Diagnostic converge (DC) DC = Medium, 97.6 [%] (Note 1) Average probability of dangerous failures per hour (PFH) PFH = 6.4 10-9 [1/h]
Number of on/off times of STO 1,000,000 times
CE marking LVD: EN 61800-5-1 EMC: EN 61800-3
MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061
Note 1. This is the value required by safety standards. 2. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and
whether STO input diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.
(2) Function block diagram (STO function)
Base power supply for upper arm
Base power supply for lower arm
Shut-off signal (STO1) CN8
Monitor signal (TOFB1)
Shut-off signal (STO2)
Monitor signal (TOFB2)
Shut- off
Shut- off
Servo motorM
Power module
(3) Operation sequence (STO function)
STO1/STO2
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0 r/min
(8 ms)
Servo motor speed
EM2 (Forced stop 2)
Magnetic contactor
Base circuit (Supplying energy to the servo motor)
13. USING STO FUNCTION
13 - 4
13.1.6 Maintenance
This servo amplifier has alarms and warnings for maintenance that supports the Drive safety function. (Refer to chapter 8.) 13.2 STO I/O signal connector (CN8) and signal layouts
13.2.1 Signal layouts
POINT The pin assignment of the connectors is as viewed from the cable connector wiring section.
TOFB2
STO2TOFB1
STO1 STOCOM
2
CN8 STO I/O signal connector
Servo amplifier
1
4 3
6 5
8 7 TOFCOM
13. USING STO FUNCTION
13 - 5
13.2.2 Signal (device) explanations
(1) I/O device
Signal name Connector pin No. Description I/O
division STOCOM CN8-3 Common terminal for input signal of STO1 and STO2 DI-1 STO1 CN8-4 Inputs STO state 1.
STO state (base shut-off): Open between STO1 and STOCOM. STO release state (in driving): Close between STO1 and STOCOM. Be sure to turn off STO1 after the servo motor stops by the servo-off state or with forced stop deceleration by turning off EM2 (Forced stop 2).
DI-1
STO2 CN8-5 Inputs STO state 2. STO state (base shut-off): Open between STO2 and STOCOM. STO release state (in driving): Close between STO2 and STOCOM. Be sure to turn off STO2 after the servo motor stops by the servo-off state or with forced stop deceleration by turning off EM2 (Forced stop 2).
DI-1
TOFCOM CN8-8 Common terminal for monitor output signal in STO state DO-1 TOFB1 CN8-6 Monitor output signal in STO1 state
STO state (base shut-off): Between TOFB1 and TOFCOM is closed. STO release state (in driving): Between TOFB1 and TOFCOM is opened.
DO-1
TOFB2 CN8-7 Monitor output signal in STO2 state STO state (base shut-off): Between TOFB2 and TOFCOM is closed. STO release state (in driving): Between TOFB2 and TOFCOM is opened.
DO-1
(2) Signals and STO state
The following table shows the TOFB and STO states when the power is on in normal state and STO1 and STO2 are on (closed) or off (opened).
Input signal Status
STO1 STO2 Between TOFB1 and
TOFCOM (STO1 state)
Between TOFB2 and TOFCOM
(STO2 state)
Between TOFB1 and TOFB2 (STO state) STO
Off Off On: STO state On: STO state On STO state Off On On: STO state Off STO release state Off (Note) STO state On Off Off STO release state On: STO state Off (Note) STO state On ON Off STO release state Off STO release state Off STO release state
Note. Between TOFB1 and TOFB2 is off, but the servo amplifier is in the STO state.
(3) Test pulse of STO input signal
Set the test pulse off time inputted from outside to 1 ms or less. 13.2.3 How to pull out the STO cable
The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier.
1)
2)
While pressing knob 1) of the STO cable plug in the direction of the arrow, pull out the plug 2). (This figure shows the MR-J4-_B_(-RJ) servo amplifier. This procedure also applies to the MR-J4-_A_(-RJ) servo amplifier.)
13. USING STO FUNCTION
13 - 6
13.3 Connection example
POINT Turn off STO (STO1 and STO2) after the servo motor stops by the servo off state or with forced stop deceleration by turning off EM2 (Forced stop 2). Configure an external sequence that has the timings shown as below using an external device such as the MR-J3-D05 safety logic unit.
STO1/STO2 ON OFF
ON OFFEM2
0 r/min Servo motor speed
If STO is turned off during operation, the servo motor is in dynamic brake stop (stop category 0), and [AL. 63 STO timing error] will occur.
13.3.1 Connection example for CN8 connector
This servo amplifier is equipped with the connector (CN8) in accordance with the STO function. When this connector is used with a certified external safety relay, power to the motor can be safely removed and unexpected restart can be prevented. The safety relay used should meet the applicable safety standards and have forcibly guided or mirror contacts for the purpose of error detection. In addition, the MR-J3-D05 safety logic unit can be used instead of a safety relay for implementation of various safety standards. Refer to app. 5 for details. The following diagram is for source interface. For sink interface, refer to section 13.4.1.
STO1
STO2
CN8
8
6
TOFCOM
7 TOFB2
TOFB1 STO1
CN8
4
STO2 5
STOCOM 3
Approx. 3.0 k
24 V DC Door
Open
(Note 2)
(Note 2)
(Note 3)
(Note 1) Approx. 3.0 k
Servo amplifier
Note 1. By using TOFB, whether the servo is in the STO state can be confirmed. For connection examples, refer to section 13.3.2 to 13.3.3. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.
2. When using the STO function, turn off STO1 and STO2 at the same time. Turn off STO1 and STO2 after the servo motor stops by the servo off state or with forced stop deceleration by turning off EM2 (Forced stop 2).
3. Configure the interlock circuit so that the door is open after the servo motor is stopped.
13. USING STO FUNCTION
13 - 7
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit
POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.
13. USING STO FUNCTION
13 - 8
(1) Connection example
(Note 2) S2
RESA
STO1
4
5
3
6
7
8
CN1
EM2 (B-axis)
CN8
SDO1A+4A
4B SDO1A-
SDI1A+1A
1B SDI1A-
SDI2A+
SRESA+
SDO2A+
TOFA
3A
3B
1A
1B
6A
6B
8A
SDI2A-
SDO2A-
SRESA-
CN9
CN10
STO1
TOFB2
TOFCOM
STO2
STOCOM
TOFB1
Servo amplifier
SW1
FG
4
5
3
6
7
8
CN1
EM2 (A-axis)
CN8
TOFB2
TOFCOM
STO2
STOCOM
TOFB1
Servo amplifier
SDO1B+3A
3B SDO1B-
SDI1B+2A
2B SDI1B-
SDI2B+
SRESB+
SDO2B+
TOFB
4A
4B
2A
2B
5A
5B
8B
+24 V7A
0 V7B
SDI2B-
SDO2B-
SRESB-
CN9
CN10
SW2
MR-J3-D05 (Note 1) (Note 1)
S1
24 V
0 V
STOA
S3
STOB
MC
M
Servo motor
MC
M
Servo motor
Control circuit
Control circuit
(Note 2) S4
RESB
CN8A
CN8B
EM2 (A-axis)
EM2 (B-axis)
Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located in a recessed area to prevent accidental setting changes.
2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.
13. USING STO FUNCTION
13 - 9
(2) Basic operation example
The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1A and SDO2A of MR-J3-D05. The switch status of STOB is input to SDI2B+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1B and SDO2B of MR-J3-D05.
A-axis shutdown 1 and 2
B-axis shutdown 1 and 2
STO1, STO2
Stop
Operation
Energizing (close)
Shut-off (open)
EM2 input
STO shut-offNormal (close)
Shut-off (open)
0 r/min
Servo motor drivable
Servo motor speed
Servo amplifier
Shut off delay
STO status
13. USING STO FUNCTION
13 - 10
13.3.3 External I/O signal connection example using an external safety relay unit
POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.
This connection example complies with the requirement of ISO/EN ISO 13849-1:2015 Category 3 PL d. For details, refer to the safety relay module users manual.
Safety relay module MELSEC
(QS90SR2S)
24 V
0 V
S2
S1 or EMG (Note)
K3
S1: STO shut-off switch (STO switch) S2: Start switch (STO release switch) S3: On switch S4: Off switch KM1: Magnetic contactor K3: Safety relay EMG: Emergency stop switch
+24V XS0 XS1 Z00 Z10 Z20
X0COM024G X1COM1 Z01 Z11 Z21
K3
CN8
KM1
CN1
20
STO1
TOFB1
TOFCOM TOFB2
STO2
STOCOM
M
KM1
KM1
EMGS4S3
Control circuit
Power supply
Fuse
EM1 or
EM2
Control circuit
Servo amplifier
Servo motor
Note. To enable the STO function of the servo amplifier by using "Emergency switching off", change S1 to EMG. The stop category at this time is "0". If STO is turned off while the servo motor is rotating, [AL. 63 STO timing error] will occur.
13. USING STO FUNCTION
13 - 11
13.4 Detailed description of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 13.2. Refer to this section and make connection with the external device. 13.4.1 Sink I/O interface
(1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink (open-collector) type transistor output, relay switch, etc.
Approx. 3.0 k
STO1 STO2
Servo amplifier
Switch
Approx. 5 mA
For transistor
STOCOM TR
VCES 1.0 V ICEO 100 A
24 V DC 10% 500 mA
(2) Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal. A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 5.2 V voltage drop occurs in the servo amplifier.
(a) When outputting two STO states by using each TOFB
TOFCOM
Servo amplifier
TOFB2
If polarity of diode is reversed, servo amplifier will malfunction.LoadTOFB1
Load
(Note) 24 V DC 10% 500 mA
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
13. USING STO FUNCTION
13 - 12
(b) When outputting two STO states by using one TOFB
If polarity of diode is reversed, servo amplifier will malfunction.
TOFCOM
Servo amplifier
TOFB2
LoadTOFB1
(Note) 24 V DC 10% 500 mA
Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
13.4.2 Source I/O interface
In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1
This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
Approx. 3.0 k
STO1 STO2
Servo amplifier
Switch
STOCOM TR
Approx. 5 mA VCES 1.0 V ICEO 100 A
24 V DC 10% 500 mA
(2) Digital output interface DO-1 This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, current will be applied from the output to a load. A maximum of 5.2 V voltage drop occurs in the servo amplifier.
(a) When outputting two STO states by using each TOFB
Servo amplifier
Load
(Note) 24 V DC 10% 500 mA
TOFCOM
TOFB2
TOFB1
Load
If polarity of diode is reversed, servo amplifier will malfunction.
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
13. USING STO FUNCTION
13 - 13
(b) When outputting two STO states by using one TOFB
Servo amplifier
Load
(Note) 24 V DC 10% 500 mA
TOFCOM
TOFB2
TOFB1
If polarity of diode is reversed, servo amplifier will malfunction.
Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
13. USING STO FUNCTION
13 - 14
MEMO
14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)
14 - 1
14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO
PROTOCOL)
CAUTION The CN3 connector is designed for RS-422/RS-485 communication and parameter unit only. Do not connect the CN3 connector to an Ethernet port, etc. Doing so may cause a malfunction.
POINT
RS-422 serial communication function is supported by servo amplifier with software version A3 or later. The USB communication function (CN5 connector) and the RS-422 communication function (CN3 connector) are mutually exclusive functions. They cannot be used together.
You can operate servo driving, parameter change, monitor function, etc. using RS-422 communication (Mitsubishi Electric general-purpose AC servo protocol) with the servo amplifier.
14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)
14 - 2
14.1 Structure
14.1.1 Configuration diagram
(1) Single axis Operate the single-axis servo amplifier. It is recommended to use the following cable.
To RS-232C connector
Servo amplifier Personal computer
RS-422/232C conversion cable DSV-CABV (Diatrend)
10 m or less
CN3
(2) Multi-drop connection (a) Diagrammatic sketch
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
To RS-232C connector
RS-422/232C conversion cable DSV-CABV (Diatrend)
Personal computer
(Note 1)
(Note 2)
(Note 1)(Note 1)
Servo amplifier
CN3
Servo amplifier
CN3
Servo amplifier
CN3
Note 1. The BMJ-8 (Hachiko Electric) 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.
14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)
14 - 3
(b) Cable connection diagram
Wire the cables as follows.
(Note 6) Branch connector
(Note 4, 5) LG P5D RDP SDN SDP RDN LG NC
(Note 5) 1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
(Note 6) Branch connector
(Note 4, 5)
(Note 1) The second axis servo amplifier
Connector for CN3 (RJ45 Connector)
(Note 1) The first axis servo amplifier
Connector for CN3 (RJ45 Connector)
LG P5D RDP SDN SDP RDN LG NC
(Note 5)
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
(Note 6) Branch connector
(Note 4, 5)
(Note 1, 7) The n axis servo amplifier
Connector for CN3 (RJ45 Connector)
LG P5D RDP SDN SDP RDN LG NC
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
(Note 2) 150
RDP
RDN
(Note 3) 30 m or less
(Note 8)
Note 1. Recommended connector (Hirose Electric) Plug: TM10P-88P Connection tool: CL250-0228-1 The following shows pin assignment viewed from connector wiring section.
8
6
7
RDN 5
SDP 4
SDN 3
RDP 2
P5D 1
LG
LG
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 30 m 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 (Hachiko Electric) 7. n 32 (Up to 32 axes can be connected.) 8. RS-422/232C conversion cable DSV-CABV (Diatrend)
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14.1.2 Precautions for using RS-422/RS-232C/USB communication function
Note the following to prevent an electric shock and malfunction of the servo amplifier. (1) Power connection of personal computers
Connect your personal computer with the following procedures.
(a) When you use a personal computer with AC power supply 1) When using a personal computer with a three-core power plug or power plug with grounding wire,
use a three-pin socket or ground the grounding wire.
2) When your personal computer has two-core plug and has no grounding wire, connect the personal computer to the servo amplifier with the following procedures.
a) Disconnect the power plug of the personal computer from an AC power socket.
b) Check that the power plug was disconnected and connect the device to the servo amplifier.
c) Connect the power plug of the personal computer to the AC power socket.
(b) When you use a personal computer with battery
You can use as it is. (2) Connection with other devices using servo amplifier communication function
When the servo amplifier is charged with electricity due to connection with a personal computer and the charged servo amplifier is connected with other devices, the servo amplifier or the connected devices may malfunction. Connect the servo amplifier and other devices with the following procedures.
(a) Shut off the power of the device for connecting with the servo amplifier.
(b) Shut off the power of the servo amplifier which was connected with the personal computer and check
the charge lamp is off.
(c) Connect the device with the servo amplifier.
(d) Turn on the power of the servo amplifier and the device.
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14.2 Communication specifications
14.2.1 Outline of communication
Receiving a command, this servo amplifier returns data. The device which gives the command (e.g. personal computer) is called a master station and the device (servo amplifier) which returns data in response to the command is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.
Item Definition
Baud rate [bps] 9600/19200/38400/57600/115200 asynchronous system
Transfer code
Start bit Data bit Parity bit Stop bit
1 bit 8 bits 1 bit (even) 1 bit
Transfer method Character method Half-duplex communication method
1 frame (11 bits)
Data
Start 0 1 2 3 4 5 6 7 Parity Stop Next start
(LSB) (MSB)
14.2.2 Parameter setting
When the RS-422 communication function is used to operate the servo, set the communication specifications of the servo amplifier with the parameters. To enable the parameter values, cycle the power after setting. (1) Serial communication baud rate
Select the communication speed. Match this value to the communication speed of the sending end (master station).
Serial communication baud rate 0: 9600 [bps] 3: 57600 [bps] 1: 19200 [bps] 4: 115200 [bps] 2: 38400 [bps]
[Pr. PC21]
(2) RS-422 communication response delay time Set the time from when the servo amplifier (slave station) receives communication data to when it returns data. Set "0" to return data in less than 800 s or "1" to return data in 800 s or longer.
RS-422 communication response delay time 0: Disabled 1: Enabled (responding after 800
[Pr. PC21]
s or longer delay time)
(3) Station No. setting Set the station No. of the servo amplifier to [Pr. PC20]. The setting range is station No. 0 to 31.
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14.3 Protocol
14.3.1 Transmission data configuration
Since up to 32 axes can be connected to the bus, add a station No. or group to the command or data No., etc. to determine the destination servo amplifier of data communication. Set one station No. to one servo amplifier using parameters, and set one group to one station using communication commands. Transmission data is enabled for the servo amplifier of the specified station No. or group. When "*" is set as the station No. added to the transmission data, the transmission data is enabled 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 No. of the servo amplifier which must provide the return data. (1) Transmission of data from the controller to the servo
Data*
SO H
ST X
C om
m an
d
Data No. ET
X
ST X
ET X
C he
ck su
m
C he
ck su
m
10 frames + (data)
6 frames Positive response: Error code = A Negative response: Error code = other than A
Station No. or group
Station No. or group
Controller side (master station)
Servo side (slave station)
Er ro
r c od
e
(2) Transmission of data request from the controller to the servo
Data*
SO H
ST X
C om
m an
d
Data No. ET
X
ST X
ET X
C he
ck su
m
C he
ck su
m
Station No. or group
Station No. or group
Controller side (master station)
Servo side (slave station)
Er ro
r c od
e
10 frames
6 frames + (Data)
(3) Recovery of communication status by time-out
EOT causes the servo to return to the receive neutral status.
EO TController side
(master station)
Servo side (slave station)
(4) Data frames The data length depends on the command.
12 framesData
4 frames
Data
8 frames
or or or 16 frames
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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 unit codes are used.
b8 b7 b6 b5
0 0 0 0
0 0 0 1
0 0 1 0
0 0 1 1
0 1 0 0
0 1 0 1
0 1 1 0
0 1 1 1
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
NUL SOH STX ETX
DLE DC1
DC2
DC3
Space 0 1 2 3 4 5 6 7 8 9 : ; < = > ?
@ A B C D E F G H I J K L M N O
P Q R S T U V W X Y Z [ ] ^ _
` a b c d e f g h i j k l
m n o
p q r s t u v w x y z { | }
DEL
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1
0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1
0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1
0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1
b8 to b5 R C 0 1 2 3b4 b3 b2 b1 4 5 6 7
! # $ % & ( ) * + , - . /
(3) Station numbers You may set 32 station Nos. from station 0 to station 31 and the ASCII unit codes are used to specify the stations.
Station No. 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 No. 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 No. "0" (axis 1).
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(4) Groups
Group a b c d e f All groups ASCII code a b c d e f *
For example, transmit "61H" in hexadecimal for group "a". Set only one servo amplifier for data return processing within one group. If two or more servo amplifiers return data to the controller at the same time, they may fail.
14.3.3 Error codes
Error codes are used in the following cases and an error code of single-code length is transmitted. Receiving 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 Explanation Remark
Servo: normal Servo: alarm [A] [a] Normal Data transmitted was processed normally. 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 The transmitted character is out of specifications.
[E] [e] Command error The transmitted command is out of specifications.
[F] [f] Data No. error The transmitted data No. is out of specifications.
14.3.4 Checksum
The checksum is an 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).
STX or
SOH ETX Check
Checksum range
Station No.
[5][2]ST X
30H + 41H + 31H + 32H + 35H + 46H + 03H = 152H
[0] [A] [1] [F] [5] [2]ET X
02H 30H 41H 31H 32H 35H 46H 03H
Lower 2 digits 52 is sent after conversion into ASCII code [5] [2].
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14.3.5 Time-out processing
The master station transmits EOT when the slave station does not start return processing (STX is not received) 300 [ms] after the master station has ended communication processing. 100 ms 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 communication processing three times. (communication error)
M es
sa ge
300 ms
Controller side (master station)
Servo side (slave station)
EO T
100 ms
M es
sa ge
300 ms
EO T
100 ms
M es
sa ge
300 ms
EO T
100 ms
M es
sa ge
300 ms *Time-out
14.3.6 Retry processing
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 processing). A communication error occurs if the above processing is repeated and results in the error three or more consecutive times.
ST X
M es
sa ge
M es
sa ge
*Communication error
M es
sa ge
Station No. Station No.Station No.
Controller side (master station)
Servo side (slave station) ST
X
ST X
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 processing is performed three times. 14.3.7 Initialization
After the slave station is switched on, it cannot return to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after. (1) Wait for 3.5 s or longer after the slave station is switched on. (2) Check that normal communication can be made by reading the parameter or other data which does not
pose any safety problems.
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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 No. 0 Servo amplifier station 0 Command 3 3 Reading command Data No. 1 0 Alarm history (last alarm)
Data = [0] = [0] [3] [3]
Transmission data =
Other than error code [A] or [a]?
3 consecutive times?
300 ms elapsed?
Start
Data make-up
Checksum calculation and addition
Addition of SOH to make up transmission data
Data transmission
Data receive
3 consecutive times?
Receive data analysis
End
100 ms after EOT transmission
Error processingError processing
No
Yes
Yes
Yes
No
No
NoNo
Yes
Yes
Master station
Is there receive data?
Command Data No.
Checksum = 30H + 33H + 33H + 02H + 31H + 30H + 03H =
46H 43H
Station No.
Slave station
Master station Slave station
Master station Slave station
ETXSTX ETXSTX33 1 0+ + + +
ETXSOH 0STX33 1 CF0+ + + + + +
FCH
[1] [0]
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14.4 Command and data No. list
POINT Even if a command or data No. is the same between different model servo amplifiers, its description may differ.
14.4.1 Reading command
(1) Status display (command [0] [1]) Command Data No. Description Status display Frame length
[0] [1] [0] [0] Status display symbol and unit Cumulative feedback pulses Motor-side cumu. feedback pulses (after gear)
16
[0] [1] Servo motor speed (Note 2) Servo motor speed (Note 2)
[0] [2] Droop pulses Motor-side droop pulses
[0] [3] Cumulative command pulses [0] [4] Command pulse frequency [0] [5] Analog speed command voltage
Analog speed limit voltage
[0] [6] Analog torque limit voltage Analog torque command voltage
[0] [7] Regenerative load ratio [0] [8] Effective load ratio [0] [9] Peak load ratio [0] [A] Instantaneous torque
Instantaneous thrust
[0] [B] Position within one-revolution Motor encoder position within one-revolution Virtual position within one-revolution
[0] [C] ABS counter Motor encoder ABS counter Virtual ABS counter
[0] [D] Load to motor inertia ratio Load to motor mass ratio
[0] [E] Bus voltage [0] [F] (Note 1) Load-side cumulative feedback pulses [1] [0] (Note 1) Load-side droop pulses [1] [1] (Note 1) Load-side encoder information 1
Z-phase counter
[1] [2] (Note 1) Load-side encoder information 2 [1] [6] (Note 1) Temperature of motor thermistor [1] [7] (Note 1) Motor-side cumu. feedback pulses (before gear) [1] [8] (Note 1) Electrical angle [1] [E] (Note 1) Motor-side/load-side position deviation [1] [F] (Note 1) Motor-side/load-side speed deviation [2] [0] Internal temperature of encoder [2] [1] Settling time [2] [2] Oscillation detection frequency [2] [3] Number of tough operations [2] [8] Unit power consumption [2] [9] Unit total power consumption
Note 1. This is not available on the MR-J4-03A6(-RJ) servo amplifier. 2. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the decimal point is not used.
When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the decimal point is located in the second digit from the end.
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Command Data No. Description Status display Frame length
[0] [1] [8] [0] Status display data value and processing information
Cumulative feedback pulses Motor-side cumu. feedback pulses (after gear)
12
[8] [1] Servo motor speed (Note 2) Servo motor speed (Note 2)
[8] [2] Droop pulses Motor-side droop pulses
[8] [3] Cumulative command pulses [8] [4] Command pulse frequency [8] [5] Analog speed command voltage
Analog speed limit voltage [8] [6] Analog torque limit voltage
Analog torque command voltage [8] [7] Regenerative load ratio [8] [8] Effective load ratio [8] [9] Peak load ratio [8] [A] Instantaneous torque
Instantaneous thrust [8] [B] Position within one-revolution
Motor encoder position within one-revolution Virtual position within one-revolution
[8] [C] ABS counter Motor encoder ABS counter Virtual ABS counter
[8] [D] Load to motor inertia ratio Load to motor mass ratio
[8] [E] Bus voltage [8] [F] (Note 1) Load-side cumulative feedback pulses [9] [0] (Note 1) Load-side droop pulses [9] [1] (Note 1) Load-side encoder information 1
Z-phase counter
[9] [2] (Note 1) Load-side encoder information 2 [9] [6] (Note 1) Temperature of motor thermistor [9] [7] (Note 1) Motor-side cumu. feedback pulses (before gear) [9] [8] (Note 1) Electrical angle [9] [E] (Note 1) Motor-side/load-side position deviation [9] [F] (Note 1) Motor-side/load-side speed deviation [A] [0] Internal temperature of encoder [A] [1] Settling time [A] [2] Oscillation detection frequency [A] [3] Number of tough operations [A] [8] Unit power consumption [A] [9] Unit total power consumption
Note 1. This is not available on the MR-J4-03A6(-RJ) servo amplifier. 2. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the decimal point is not used.
When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the decimal point is located in the second digit from the end.
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(2) Parameters (command [0] [4], [0] [5], [0] [6], [0] [7], [0] [8], and [0] [9]) Command Data No. Description Frame length
[0] [4] [0] [1] Parameter group reading 0000: Basic setting parameters ([Pr. PA_ _ ]) 0001: Gain/filter parameters ([Pr. PB_ _ ]) 0002: Extension setting parameters ([Pr. PC_ _ ]) 0003: I/O setting parameters ([Pr. PD_ _ ]) 0004: Extension setting 2 parameters ([Pr. PE_ _ ]) 0005: Extension setting 3 parameters ([Pr. PF_ _ ]) 000B: Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) (Note)
4
[1] [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 No.
12
[1] [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 No.
12
[1] [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 No.
12
[0] [8] [0] [1] to [F] [F] Parameter symbols Reads the symbols of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Before reading the symbols, 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 No.
12
[0] [9] [0] [1] to [F] [F] Writing enable/disable of parameters Reads writing enable/disable 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]. 0000: Writing enabled 0001: Writing disabled
4
Note. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
(3) External I/O signals (command [1] [2]) Command Data No. Description Frame length
[1] [2] [0] [0] Input device status 8 [4] [0] External input pin status [6] [0] Status of input device turned on by communication [8] [0] Output device status [C] [0] External output pin status
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(4) Alarm history (command [3] [3]) Command Data No. Description Alarm occurrence sequence Frame length
[3] [3] [1] [0] Alarm No. 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 [1] [7] Seventh alarm in past [1] [8] Eighth alarm in past [1] [9] Ninth alarm in past [1] [A] Tenth alarm in past [1] [B] Eleventh alarm in past [1] [C] Twelfth alarm in past [1] [D] Thirteenth alarm in past [1] [E] Fourteenth alarm in past [1] [F] Fifteenth 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 [2] [7] Seventh alarm in past [2] [8] Eighth alarm in past [2] [9] Ninth alarm in past [2] [A] Tenth alarm in past [2] [B] Eleventh alarm in past [2] [C] Twelfth alarm in past [2] [D] Thirteenth alarm in past [2] [E] Fourteenth alarm in past [2] [F] Fifteenth alarm in past [4] [0] Alarm detail No. in alarm history Most recent alarm 4 [4] [1] First alarm in past [4] [2] Second alarm in past [4] [3] Third alarm in past [4] [4] Fourth alarm in past [4] [5] Fifth alarm in past [4] [6] Sixth alarm in past [4] [7] Seventh alarm in past [4] [8] Eighth alarm in past [4] [9] Ninth alarm in past [4] [A] Tenth alarm in past [4] [B] Eleventh alarm in past [4] [C] Twelfth alarm in past [4] [D] Thirteenth alarm in past [4] [E] Fourteenth alarm in past [4] [F] Fifteenth alarm in past
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(5) Current alarm (command [0] [2]) Command Data No. Description Frame length
[0] [2] [0] [0] Current alarm No. 4
(6) Status display at alarm occurrence (command [3] [5]) Command Data No. Description Status display Frame length
[3] [5] [0] [0] Status display symbol and unit Cumulative feedback pulses Motor-side cumu. feedback pulses (after gear)
16
[0] [1] Servo motor speed (Note 2) Servo motor speed (Note 2)
[0] [2] Droop pulses Motor-side droop pulses
[0] [3] Cumulative command pulses [0] [4] Command pulse frequency [0] [5] Analog speed command voltage
Analog speed limit voltage [0] [6] Analog torque limit voltage
Analog torque command voltage [0] [7] Regenerative load ratio [0] [8] Effective load ratio [0] [9] Peak load ratio [0] [A] Instantaneous torque
Instantaneous thrust [0] [B] Position within one-revolution
Motor encoder position within one-revolution Virtual position within one-revolution
[0] [C] ABS counter Motor encoder ABS counter Virtual ABS counter
[0] [D] Load to motor inertia ratio Load to motor mass ratio
[0] [E] Bus voltage [0] [F] (Note 1) Load-side cumulative feedback pulses [1] [0] (Note 1) Load-side droop pulses [1] [1] (Note 1) Load-side encoder information 1
Z-phase counter
[1] [2] (Note 1) Load-side encoder information 2 [1] [6] (Note 1) Temperature of motor thermistor [1] [7] (Note 1) Motor-side cumu. feedback pulses (before gear) [1] [8] (Note 1) Electrical angle [1] [E] (Note 1) Motor-side/load-side position deviation [1] [F] (Note 1) Motor-side/load-side speed deviation [2] [0] Internal temperature of encoder [2] [1] Settling time [2] [2] Oscillation detection frequency [2] [3] Number of tough operations [2] [8] Unit power consumption [2] [9] Unit total power consumption
Note 1. This is not available on the MR-J4-03A6(-RJ) servo amplifier. 2. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the decimal point is not used.
When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the decimal point is located in the second digit from the end.
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Command Data No. Description Status display Frame length
[3] [5] [8] [0] Status display data value and processing information
Cumulative feedback pulses Motor-side cumu. feedback pulses (after gear)
12
[8] [1] Servo motor speed (Note 2) Servo motor speed (Note 2)
[8] [2] Droop pulses Motor-side droop pulses
[8] [3] Cumulative command pulses [8] [4] Command pulse frequency [8] [5] Analog speed command voltage
Analog speed limit voltage [8] [6] Analog torque limit voltage
Analog torque command voltage [8] [7] Regenerative load ratio [8] [8] Effective load ratio [8] [9] Peak load ratio [8] [A] Instantaneous torque
Instantaneous thrust [8] [B] Position within one-revolution
Motor encoder position within one-revolution Virtual position within one-revolution
[8] [C] ABS counter Motor encoder ABS counter Virtual ABS counter
[8] [D] Load to motor inertia ratio Load to motor mass ratio
[8] [E] Bus voltage [8] [F] (Note 1) Load-side cumulative feedback pulses [9] [0] (Note 1) Load-side droop pulses [9] [1] (Note 1) Load-side encoder information 1
Z-phase counter
[9] [2] (Note 1) Load-side encoder information 2 [9] [6] (Note 1) Temperature of motor thermistor [9] [7] (Note 1) Motor-side cumu. feedback pulses (before gear) [9] [8] (Note 1) Electrical angle [9] [E] (Note 1) Motor-side/load-side position deviation [9] [F] (Note 1) Motor-side/load-side speed deviation [A] [0] Internal temperature of encoder [A] [1] Settling time [A] [2] Oscillation detection frequency [A] [3] Number of tough operations [A] [8] Unit power consumption [A] [9] Unit total power consumption
Note 1. This is not available on the MR-J4-03A6(-RJ) servo amplifier. 2. When "Speed command input unit selection (_ _ 0 _)" is set in [Pr. PC29], the decimal point is not used.
When "Speed command input unit selection (_ _ 1 _)" is set in [Pr. PC29], the decimal point is located in the second digit from the end.
(7) Test operation mode (command [0] [0]) Command Data No. Description Frame length
[0] [0] [1] [2] Test operation mode reading 0000: Normal mode (not test operation mode) 0001: JOG operation 0002: Positioning operation 0003: Motor-less operation 0004: Output signal (DO) forced output
4
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(8) Software version (command [0] [2]) Command Data No. Description Frame length
[0] [2] [9] [0] Servo motor-side pulse unit absolute position 8 [9] [1] Command unit absolute position 8 [7] [0] Software version 16
(9) Group setting (command [1] [F]) Command Data No. Description Frame length
[1] [F] [0] [0] Reading the group setting value 4
(10) Machine diagnosis/service life diagnosis (command [0] [2], [0] [0]) Command Data No. Description Frame length
[0] [2] [6] [0] Reading the cumulative power-on time The cumulative power-on time (on an hourly basis) is transferred in hexadecimal.
8
[6] [1] Reading the number of times that the power is turned on/off The number of times that the power is turned on/off is transferred in hexadecimal.
8
[0] [0] [4] [1] Reading the machine diagnostic status The current machine diagnostic status is transferred in hexadecimal.
0
Friction estimation status at forward rotation
Friction estimation status at reverse rotation
0: Estimation in progress. (normal) 1: Estimation has finished. (normal) 2: The motor may have rotated more frequently in one direction than the other. (warning) 3: The servo motor speed may be too slow for friction estimation. (warning) 4: The change in the servo motor speed may be too small for friction estimation. (warning) 5: The acceleration/deceleration time constants may be too short for friction estimation. (warning) 6: The operation time may be insufficient. (warning) When warning conditions for 2 to 6 are established at the same time, the smallest number is returned. Once an estimation finishes even after a warning has occurred, the status will change to "Estimation has finished".
0
Vibration estimation status
0: Estimation in progress. 1: Estimation has finished.
4
[4] [2] Reading the static friction at forward rotation torque The static friction at forward rotation torque is transferred in increments of 0.1% in hexadecimal. For example, if the value is 10.0, "0064" is transferred. If the value is -10.0, "FF9C" is transferred.
4
[4] [3] Reading the dynamic friction at forward rotation torque (at rated speed) The dynamic friction at forward rotation torque (at rated speed) is transferred in increments of 0.1% in hexadecimal. For example, if the value is 10.0, "0064" is transferred. If the value is -10.0, "FF9C" is transferred.
4
[4] [4] Reading the static friction at reverse rotation torque The static friction at reverse rotation torque is transferred in increments of 0.1% in hexadecimal. For example, if the value is 10.0, "0064" is transferred. If the value is -10.0, "FF9C" is transferred.
4
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Command Data No. Description Frame length
[0] [0] [4] [5] Reading the dynamic friction at reverse rotation torque (at rated speed) The dynamic friction at reverse rotation torque is transferred in increments of 0.1% in hexadecimal. For example, if the value is 10.0, "0064" is transferred. If the value is -10.0, "FF9C" is transferred.
4
[4] [6] Reading the vibration frequency during stop/servo-lock The vibration frequency during stop/servo-lock is transferred in increments of 1 Hz in hexadecimal. For example, if the value is 700, "02BC" is transferred.
4
[4] [7] Reading the vibration level during stop/servo-lock The vibration level during stop/servo-lock is transferred in increments of 0.1% in hexadecimal. For example, if the value is 50.0, "01F4" is transferred.
4
[4] [8] Reading the vibration frequency during operation The vibration frequency during operation is transferred in increments of 1 Hz in hexadecimal. For example, if the value is 700, "02BC" is transferred.
4
[4] [9] Reading the vibration level during operation The vibration level during operation is transferred in increments of 0.1% in hexadecimal. For example, if the value is 50.0, "01F4" is transferred.
4
14.4.2 Writing commands
(1) Status display (command [8] [1]) Command Data No. Description Setting range Frame length
[8] [1] [0] [0] Status display data deletion 1EA5 4
(2) Parameters (command [9] [4], [8] [5]) Command Data No. Description Setting range Frame length
[9] [4] [0] [1] to [F] [F] Writing each parameter 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 No.
Depending on the parameter
12
[8] [5] [0] [0] Parameter group writing 0000: Basic setting parameters ([Pr. PA_ _ ]) 0001: Gain/filter parameters ([Pr. PB_ _ ]) 0002: Extension setting parameters ([Pr. PC_ _ ]) 0003: I/O setting parameters ([Pr. PD_ _ ]) 0004: Extension setting 2 parameters ([Pr. PE_ _ ]) 0005: Extension setting 3 parameters ([Pr. PF_ _ ]) 000B: Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
(Note)
0000 to 0005 4
Note. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
(3) External I/O signals (command [9] [2]) Command Data No. Description Setting range Frame length
[9] [2] [6] [0] Communication input device signal Refer to section 14.5.5.
8
(4) Alarm history (command [8] [2]) Command Data No. Description Setting range Frame length
[8] [2] [2] [0] Alarm history clear 1EA5 4
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(5) Current alarm (command [8] [2]) Command Data No. Description Setting range Frame length
[8] [2] [0] [0] Alarm clear 1EA5 4
(6) I/O device prohibition (command [9] [0]) Command Data No. Description Setting range Frame length
[9] [0] [0] [0] Turns off the input device, external analog input signal or pulse train input, except EMG, LSP and LSN, independently of the external on/off status.
1EA5 4
[0] [3] Disables all output devices (DO). 1EA5 4 [1] [0] Cancels the prohibition of the input device, external analog input
signal or pulse train input, except EMG, LSP and LSN. 1EA5 4
[1] [3] Cancels the prohibition of the output device. 1EA5 4
(7) Operation mode selection (command [8] [B]) Command Data No. Description Setting range Frame length
[8] [B] [0] [0] Selection of test operation mode 0000: Test operation mode cancel 0001: JOG operation 0002: Positioning operation 0004: Output signal (DO) forced output
0000 to 0002, 0004 4
(8) 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
[A] [0] Forced output of signal pin Refer to section 14.5.9.
8
[A] [0] [1] [0] Writes the servo motor speed in the test operation mode (JOG operation and positioning operation).
0000 to 7FFF 4
[1] [1] Writes the acceleration/deceleration time constant in the test operation mode (JOG operation and positioning operation).
00000000 to 7FFFFFFF
8
[2] [0] Sets the travel distance in the test operation mode (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 0101 4
[4] [0] This is a start command for test operation (positioning operation). 1EA5 4 [4] [1] This is used to make a temporary stop during test operation
(positioning operation). " " in the data indicates a blank. STOP: Temporary stop GO: Restart for remaining distance CLR: Remaining distance clear
STOP GO CLR
4
(9) Group setting (command [9] [F]) Command Data No. Description Setting range Frame length
[9] [F] [0] [0] Reading the group setting value Refer to section 14.5.12.
4
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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 response or data in accordance with 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 in accordance with 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 a 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 3 0 0 0 0 0 0 9 2 9
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
Data 32-bit length (hexadecimal representation) (Data conversion is required as indicated in the display type.)
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.
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(2) Writing 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.
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
0 Data is transferred in hexadecimal.
For 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 least significant 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.
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14.5.2 Status display mode
(1) Reading the status display name and unit The following shows how to read the status display name and unit.
(a) Transmission
Transmit the command [0] [1] and the data No. corresponding to the status display item to be read. (Refer to section 14.4.1.)
(b) Return
The slave station returns the status display name and unit requested.
0 0 Unit characters (5 digits) Name characters (9 digits)
(2) Status display data reading The following shows how to read the status display data and processing information.
(a) Transmission
Transmit the command [0] [1] and the data No. corresponding to the status display item to be read. (Refer to section 14.4.1.)
(b) Return
The slave station returns the status display data requested.
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
Data 32-bit length (hexadecimal representation) (Data conversion is required as indicated in the display type.)
0 0
(3) Status display data clear To clear the cumulative feedback pulse data of the status display, send this command immediately after reading each status display item. The data of the status display item transmitted is cleared to "0".
Command Data No. Data
[8] [1] [0] [0] 1EA5
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 "0".
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14.5.3 Parameter
(1) Specification of the parameter group To read or write the parameter settings, etc., the group of the parameters to be operated must be specified in advance. Write data to the servo amplifier as follows to specify the parameter group.
Command Data No. Transmission
data Parameter group
[8] [5] [0] [0] 0000 Basic setting parameters ([Pr. PA_ _ ]) 0001 Gain/filter parameters ([Pr. PB_ _ ]) 0002 Extension setting parameters ([Pr. PC_ _ ]) 0003 I/O setting parameters ([Pr. PD_ _ ])
0004 Extension setting 2 parameters ([Pr. PE_ _ ]) 0005 Extension setting 3 parameters ([Pr. PF_ _ ]) 000B
(Note) Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
Note. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
(2) Parameter group reading
The following shows how to read the parameter group set with slave station.
(a) Transmission Transmit command [0] [4] and data No. [0] [1].
Command Data No.
[0] [4] [0] [1]
(b) Return
The slave station returns the preset parameter group.
0 0 Parameter group 0: Basic setting parameters ([Pr. PA_ _ ]) 1: Gain/filter parameters ([Pr. PB_ _ ]) 2: Extension setting parameters ([Pr. PC_ _ ]) 3: I/O setting parameters ([Pr. PD_ _ ]) 4: Extension setting 2 parameters ([Pr. PE_ _ ]) 5: Extension setting 3 parameters ([Pr. PF_ _ ]) B: Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
0
(3) Reading symbols The following shows how to read symbols of parameters. Specify a parameter group in advance. (Refer to (1) in this section.)
(a) Transmission
Transmit the command [0] [8] and the data No. corresponding to the status display item to be read. (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 No.
(b) Return
The slave station returns the symbol of the parameter requested.
0 0 0 Symbol characters (9 digits)
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(4) Reading the setting
The following shows how to read the parameter setting. Specify a parameter group in advance. (Refer to (1) in this section.)
(a) Transmission
Transmit the command [1] [5] and the data No. corresponding to the status display item to be read. (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 No.
(b) Return
The slave station returns the data and processing information of the parameter No. requested.
0 Display type 0: Data is used unchanged in hexadecimal. 1: Data must be converted into decimal.
Parameter writing type 0: Enabled after writing 1: Enabled when power is cycled after writing
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
Data is transferred in hexadecimal.
00 0 Sign 0: Sign 1: No sign
0
Readable/unreadable 0: Readable 1: Unreadable
For example, data "00120000270F" means 999.9 (decimal display format) and data "000000003ABC" 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 "0001FFFFF053" means 053 (special hexadecimal display format). "008000000000" is transferred when the parameter that was read is the one inaccessible for reference in the parameter writing inhibit setting of [Pr. PA19].
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(5) Reading the setting range
The following shows how to read the parameter setting range. Specify a parameter group in advance. (Refer to (1) in this section.)
(a) Transmission
When reading an upper limit value, transmit the command [1] [6] and the data No. corresponding to the status display item to be read. When reading a lower limit value, transmit the command [1] [7] and the data No. corresponding to the status display item to be read. (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 No.
(b) Return
The slave station returns the data and processing information of the parameter No. requested.
Data is transferred in hexadecimal.
For example, data "FFFFFFEC" means "-20". (6) Parameters writable/not writable
The following describes how to check whether parameters can be written or not. Specify a parameter group in advance. (Refer to (1) in this section.)
(a) Transmission
Transmit the command [0] [9] and the data No. corresponding to the status display item to be read. (Refer to section 14.4.1.) The data No. is represented in hexadecimal. The decimal converted from the data No. value corresponds to the parameter No.
(b) Return
The slave station returns the data and processing information of the requested parameter No.
0 00 Parameters writable/not writable 0: Writable 1: Not writable
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(7) Writing setting values
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 EEPROM 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 a parameter group in advance. (Refer to (1) in this section.) Write any value within the setting enabled range. For the setting enabled range, refer to chapter 5 or read the setting range by performing operation in (4) in this section. Transmit command [9] [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 No. 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. Check the writing data is within the upper/lower limit value before writing. To prevent an error, read the parameter data to be written, confirm the decimal point position, and create transmission data. On completion of writing, read the same parameter data to verify that data has been written correctly.
Command Data No. Data
[9] [4] [0] [1] to [F] [F] See below.
Writing mode 0: Writing to EEP-ROM 3: Writing to RAM When the parameter data is changed frequently through communication, set "3" to the 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.
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
Data is transferred in hexadecimal.
0 0
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14.5.4 External I/O signal status (DIO diagnosis)
(1) Reading input device status The following shows how to read the status of the input devices.
(a) Transmission
Transmit command [1] [2] and data No. [0] [0].
Command Data No. [1] [2] [0] [0]
(b) Return
The slave station returns the status of the input devices. b31 b1b0
1: On 0: Off
Command of each bit is transmitted to the master station as hexadecimal data.
Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1/RS2 19 27 CDP 4 TL1 12 ST2/RS1 20 STAB2 28 CLD (Note) 5 PC 13 CM1 21 29 MECR (Note) 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31
Note. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
(2) Reading external input pin status
The following shows how to read the on/off status of the external input pins.
(a) Transmission Transmit command [1] [2] and data No. [4] [0].
Command Data No.
[1] [2] [4] [0]
(b) Return
The on/off status of the input pins are returned. b31 b1b0
1: On 0: Off
Command of each bit is transmitted to the master station as hexadecimal data.
Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin 0 43 8 18 16 24 1 44 9 45 17 25 2 42 10 18 26 3 15 11 19 27 4 19 12 20 28 5 41 13 21 29 6 16 14 22 30 7 17 15 23 31
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(3) Reading the status of input devices switched on with communication
The following shows how to read the on/off status of the input devices switched on with communication.
(a) Transmission Transmit command [1] [2] and data No. [6] [0].
Command Data No.
[1] [2] [6] [0]
(b) Return
The slave station returns the status of the input devices. b31 b1b0
1: On 0: Off
Command of each bit is transmitted to the master station as hexadecimal data.
Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1/RS2 19 27 CDP 4 TL1 12 ST2/RS1 20 STAB2 28 CLD (Note) 5 PC 13 CM1 21 29 MECR (Note) 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31
Note. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
(4) Reading external output pin status
The following shows how to read the on/off status of the external output pins.
(a) Transmission Transmit command [1] [2] and data No. [C] [0].
Command Data No.
[1] [2] [C] [0]
(b) Return
The slave station returns the status of the output devices. b31 b1b0
1: On 0: Off
Command of each bit is transmitted to the master station as hexadecimal data.
Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin 0 49 8 14 (Note) 16 24 1 24 9 17 25 2 23 10 18 26 3 25 11 19 27 4 22 12 20 28 5 48 13 21 29 6 33 14 22 30 7 13 (Note) 15 23 31
Note. This is available when devices are assigned to the CN1-13 pin and CN1-14 pin with MR-J4-_A_-RJ 100 W or more servo
amplifiers with software version B3 or later. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
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(5) Reading output device status
The following shows how to read the on/off status of the output devices.
(a) Transmission Transmit command [1] [2] and data No. [8] [0].
Command Data No.
[1] [2] [8] [0]
(b) Return
The slave station returns the status of the input/output devices. b31 b1b0
1: On 0: Off
Command of each bit is transmitted to the master station as hexadecimal data.
Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 RD 8 ALM 16 24 1 SA 9 OP 17 25 CDPS 2 ZSP 10 MBR 18 26 CLDS (Note) 3 TLC 11 DB (Note) 19 27 ABSV 4 VLC 12 ACD0 20 28 5 INP 13 ACD1 21 29 6 14 ACD2 22 30 7 WNG 15 BWNG 23 31 MTTR (Note)
Note. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
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14.5.5 Input device on/off
POINT The on/off status of all devices in the servo amplifier are the status of the data received at last. Therefore, when there is a device which must be kept on, transmit data which turns the device on every time.
Each input device can be switched on/off. However, when the device to be switched off is in the external input signal, also switch off the input signal. Transmit command [9] [2], data No. [6] [0], and data.
Command Data No. Set data [9] [2] [6] [0] See below.
b31 b1b0
1: On 0: Off
Command of each bit is transmitted to the master station as hexadecimal data.
Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1/RS2 19 27 CDP 4 TL1 12 ST2/RS1 20 STAB2 28 CLD (Note) 5 PC 13 CM1 21 29 MECR (Note) 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31
Note. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
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14.5.6 Disabling/enabling I/O devices (DIO)
You can disable inputs regardless of the I/O device status. When inputs are disabled, the input signals (devices) are recognized as follows. However, EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end) cannot be disabled.
Signal Status Input device (DI) Off External analog input signal 0 V Pulse train input None
(1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs except
EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end). Transmit the following communication commands.
(a) Disabling
Command Data No. Data
[9] [0] [0] [0] 1EA5
(b) Enabling
Command Data No. Data
[9] [0] [1] [0] 1EA5
(2) Disabling/enabling the output devices (DO)
Transmit the following communication commands.
(a) Disabling
Command Data No. Data [9] [0] [0] [3] 1EA5
(b) Enabling
Command Data No. Data
[9] [0] [1] [3] 1EA5
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14.5.7 Input devices on/off (test operation)
Each input devices can be turned on/off for test operation. However, when the device to be switched off is in the external input signal, also switch off the input signal. Transmit command [9] [2], data No. [0] [0], and data.
Command Data No. Set data [9] [2] [0] [0] See below.
b31 b1b0
1: On 0: Off
Command of each bit is transmitted to the master station as hexadecimal data.
Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 19 27 CDP 4 TL1 12 ST2 20 STAB2 28 CLD (Note) 5 PC 13 CM1 21 29 MECR (Note) 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31
Note. This is not available with the MR-J4-03A6(-RJ) servo amplifier.
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14.5.8 Test operation mode
POINT The test operation mode is used to check operation. Do not use it for actual operation. If communication stops for longer than 0.5 s during test operation, the servo amplifier decelerates to a stop, resulting in servo-lock. To prevent this, continue communication all the time by monitoring the status display, etc. Even during operation, you can switch the servo amplifier to the test operation mode. In this case, switching to the test operation mode will shut off the base circuit to coast the motor.
(1) How to prepare and cancel the test operation mode
(a) Preparing the test operation mode Set the test operation mode type with the following procedure.
1) Selection of test operation mode
Send the command [8] [B] + data No. [0] [0] + data to select the test operation mode.
Command Data No. Transmission data Selection of test operation mode
[8] [B] [0] [0] 0001 JOG operation 0002 Positioning operation 0004 Output signal (DO) forced output (Note)
Note. Refer to section 14.5.9 for output signal (DO) forced output.
2) Check of test operation mode
Read the test operation mode set for the slave station, and check that it is set correctly.
a) Transmission Transmit command [0] [0] and data No. [1] [2].
Command Data No.
[0] [0] [1] [2]
b) Reply
The slave station returns the preset operation mode.
0 0 Test operation mode reading 0: Normal mode (not test operation mode) 1: JOG operation 2: Positioning operation 3: Motor-less operation 4: Output signal (DO) forced output
0
(b) Cancel of test operation mode To terminate the test operation mode, send the command [8] [B] + data No. [0] [0] + data.
Command Data No. Transmission
data Selection of test operation mode
[8] [B] [0] [0] 0000 Test operation mode cancel
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(2) JOG operation
Transmit the command, data No., and data as follows to execute JOG operation.
: [8] [B] : [0] [0] : 0001 (JOG operation)
: [A] [0] : [1] [0] : Write the servo motor speed [r/min] in hexadecimal.
: [A] [0] : [1] [1] : Write the acceleration/ deceleration time constant [ms] in hexadecimal.
: [9] [2] : [0] [0] : 00000007 (Turn on SON, LSP,
and LSN.)
: [9] [2] : [0] [0] 00000001 (Turn on SON.)
: [8] [B] : [0] [0] 0000 (Test operation mode is canceled.)
: [9] [2] : [0] [0] : Forward rotation direction
00000807 (Turn on SON, LSP, LSN, and ST1.) Reverse rotation direction 00001007 (Turn on SON, LSP, LSN, and ST2.)
: [9] [2] : [0] [0] : Forward rotation direction
00000801 (Turn on SON and ST1.) Reverse rotation direction 00001001 (Turn on SON and ST2.)
Command Data No. Data
Command Data No. Data
Command Data No. Data
Command Data No. Data
Command Data No. Data
Command Data No. Data
Command Data No. Data
Command Data No. Data
Start
Start
Stop
End
Stop
Stop
Test operation mode is canceled.
Start
Start
Select the JOG operation in the test operation mode.
Set the operation pattern.
Servo motor speed setting
Acceleration/deceleration time constant setting
When LSP/LSN was turned Off by external input signal
When LSP/LSN was turned On by external input signal or automatically
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(3) Positioning operation
(a) Operation procedure Transmit the command, data No., and data as follows to execute positioning operation.
Acceleration/deceleration time constant setting
[A] [0] [1] [0] Write the speed [r/min] in hexadecimal.
Command Data No. Data
[A] [0] [1] [1] Write the acceleration/ deceleration time constant [ms] in hexadecimal.
: : :
Command Data No. Data
: : :
Command Data No. Data
: : :
Command Data No. Data
: : :
Command Data No. Data
: : :
Command Data No. Data
: : :
Command Data No. Data
: : :
Servo motor speed setting
Select the JOG operation in the test operation mode.
Set the operation pattern.
Start
Test operation mode is canceled.
[8] [B] [0] [0] 0002 (Positioning operation)
Start Command Data No. Data
: : :
Command Data No. Data
: : :
[9] [2] [0] [0] 00000007 (SON, LSP, and LSN turned on.)
[9] [2] [0] [0] 00000001 (SON turned on.)
Enable input device. Enable input device.
[A] [0] [4] [0] 1EA5
Start positioning operation
When LSP/LSN was turned Off by external input signal
Turn on SON (Servo-on) to make the servo amplifier ready.
[A] [0] [2] [1] 0000 (Forward rotation direction) 0001 (Reverse rotation direction)
Rotation direction selection
[A] [0] [2] [0] Write the travel distance [pulse] in hexadecimal.
Travel distance setting
[8] [B] [0] [0] 0000 (Test operation mode is canceled.)
End
(Note)
When LSP/LSN was turned On by external input signal or automatically
Note. It has 100 ms delay.
14. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)
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(b) Temporary stop/restart/remaining distance clear
Transmit 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
Transmit the following command, data No., and data during a temporary stop to restart.
Command Data No. (Note) Data
[A] [0] [4] [1] GO
Note. "" indicates a blank.
Transmit the following command, data No., and data during a temporary stop to stop positioning operation and erase the travel remaining distance.
Command Data No. (Note) Data
[A] [0] [4] [1] CLR
Note. "" indicates a blank.
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14.5.9 Output signal pin on/off (output signal (DO) forced output)
In the test operation mode, the output signal pins can be turned on/off regardless of the servo status. Using command [9] [0], disable the external output signals in advance. (1) Selecting output signal (DO) forced output in the test operation mode
Transmit command + [8] [B] + data No. [0] [0] + data "0004" to select output signal (DO) forced output.
0 0 4 Selection of test operation mode 4: Output signal (DO) forced output
0
(2) External output signal on/off Transmit the following communication commands.
Command Data No. Set data
[9] [2] [A] [0] See below.
b31 b1b0 1: On 0: Off
Command of each bit is transmitted to the master station as hexadecimal data.
Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin 0 49 8 14 (Note) 16 24 1 24 9 17 25 2 23 10 18 26 3 25 11 19 27 4 22 12 20 28 5 48 13 21 29 6 33 14 22 30 7 13 (Note) 15 23 31
Note. The MR-J4-_A_-RJ 100 W or more servo amplifier is available with software version B3 or later. This is not available with the
MR-J4-03A6(-RJ) servo amplifier.
(3) Output signal (DO) forced output
Transmit command [8] [B] + data No. [0] [0] + data to stop output signal (DO) forced output.
Command Data No. Transmission data Selection of test operation mode
[8] [B] [0] [0] 0000 Test operation mode cancel
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14.5.10 Alarm history
(1) Alarm No. reading The following shows how to read alarm Nos. which occurred in the past. The numbers of the 0th alarm (last alarm) through the 15th alarm (sixteenth last alarm) can be read.
(a) Transmission
Transmit the command [3] [3] and the data No. corresponding to the status display item to be read. (Refer to section 14.4.1.)
(b) Return
Alarm Nos. corresponding to the data No. is provided.
0 0 Alarm No. is transferred in hexadecimal.
For example, "0032" means [AL. 32] and "00FF" means [AL. _ _ ] (no alarm). (2) Alarm occurrence time reading
The following shows how to read alarm occurrence times which occurred in the past. 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
Transmit the command [3] [3] and the data No. corresponding to the status display item to be read. (Refer to section 14.4.1.)
(b) Return
The alarm occurrence time is transferred in hexadecimal. Hexadecimal must be converted into decimal.
For example, data "01F5" means that the alarm occurred in 501 hours after starting operation. (3) Reading alarm detail numbers
The following describes how to read the detail number of an alarm that has occurred. The detail numbers of the 0th alarm (last alarm) through the 15th alarm (sixteenth last alarm) can be read.
(a) Transmission
Transmit the command [3] [3] and the data No. corresponding to the status display item to be read. (Refer to section 14.4.1.)
(b) Return
The alarm detail number corresponding to the data No. can be obtained.
0 00 Alarm detail No. is transferred in hexadecimal.
For example, "0001" means [AL. _ _ .1].
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(4) Clearing the alarm history
Alarm history is cleared. Transmit command [8] [2] and data No. [2] [0].
Command Data No. Data
[8] [2] [2] [0] 1EA5
14.5.11 Current alarm
(1) Current alarm reading The following shows how to read the alarm No. which is occurring currently.
(a) Transmission
Transmit command [0] [2] and data No. [0] [0].
Command Data No. [0] [2] [0] [0]
(b) Return
The slave station returns the alarm currently occurring.
0 0 Alarm No. is transferred in hexadecimal.
For example, "0032" means [AL. 32] and "00FF" means [AL. _ _ ] (no alarm). (2) Reading status display at alarm occurrence
The following shows how to 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 will be returned.
(a) Transmission
Transmit the command [3] [5] and the data No. corresponding to the status display item to be read. (Refer to section 14.4.1.)
(b) Return
The slave station returns the status display data of requested alarm at occurrence.
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
Data 32-bit length (hexadecimal representation) (Data conversion is required as indicated in the display type.)
0 0
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(3) Current alarm reset
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
14.5.12 Specifying servo amplifier groups
Each slave station is assigned to a group so that data can be transmitted to multiple slave stations in a group. (1) Writing group setting values
Write a group setting value to a slave station. Transmit the command [9] [F] + data No. [0] [0] + data.
Command Data No. Data
[9] [F] [0] [0] See below.
0 0 Group specification 0: No group is specified 1: a Group 2: b Group 3: c Group 4: d Group 5: e Group 6: f Group
Responding command allowance The digit sets whether data can be returned to the reading command of the master station.
0: Response not allowed Data cannot be returned
1: Response allowed Data can be returned
(2) Reading group setting values Read a group setting value set by a slave station.
(a) Transmission
Transmit the command [1] [F] + data No. [0] [0].
Command Data No. [1] [F] [0] [0]
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(b) Return
A slave station returns a group setting value of the point table requested.
0 0 Group specification 0: No group is specified 1: a Group 2: b Group 3: c Group 4: d Group 5: e Group 6: f Group
Responding command allowance 0: Response not allowed 1: Response allowed
14.5.13 Machine diagnosis/service life diagnosis
(1) Reading machine diagnostic status The following shows how to read the machine diagnostic status.
(a) Transmission
Transmit the command [0] [0] + data No. [4] [1].
Command Data No. [0] [0] [4] [1]
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(b) Return
A slave station returns the machine diagnostic status.
0
Friction estimation status at forward rotation 0: Estimation in progress. (normal) 1: Estimation has finished. (normal) 2: The motor may have rotated more frequently in one direction than
the other. (warning) 3: The servo motor speed may be too slow for friction estimation.
(warning) 4: The change in the servo motor speed may be too small for friction
estimation. (warning) 5: The acceleration/deceleration time constants may be too short
for friction estimation. (warning) 6: The operation time may be insufficient. (warning)
When warning conditions for 2 to 6 are established at the same time, the smallest number is returned. Once an estimation finishes even after a warning has occurred, the status will change to "Estimation has finished".
Friction estimation status at reverse rotation 0: Estimation in progress. (normal) 1: Estimation has finished. (normal) 2: The motor may have rotated more frequently in one direction than
the other. (warning) 3: The servo motor speed may be too slow for friction estimation.
(warning) 4: The change in the servo motor speed may be too small for friction
estimation. (warning) 5: The acceleration/deceleration time constants may be too short
for friction estimation. (warning) 6: The operation time may be insufficient. (warning)
When warning conditions for 2 to 6 are established at the same time, the smallest number is returned. Once an estimation finishes even after a warning has occurred, the status will change to "Estimation has finished".
Vibration estimation status 0: Estimation in progress. 1: Estimation has finished.
Estimation in progress Estimation has finished
Estimated value Estimated value
Friction estimation status at reverse rotation
Vibration estimation status
Friction estimation status at forward rotation Bit 0 to bit 3
Bit 4 to bit 7
Bit 8 to bit 11
Machine diagnostic status
Static friction at forward rotation torque/ dynamic friction at rated speed
Static friction at reverse rotation torque/ dynamic friction at rated speed
Vibration frequency/ vibration level during stop and servo-lock Vibration frequency/vibration level during operation
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14.5.14 Other commands
(1) Servo motor-side pulse unit absolute position The following shows how to read the absolute position in the servo motor-side pulse unit. Note that overflow will occur in the position of 8192 or more revolutions from the home position.
(a) Transmission
Transmit command [0] [2] and data No. [9] [0].
Command Data No. [0] [2] [9] [0]
(b) Return
The slave station returns the requested servo motor-side pulses.
Absolute position is sent back in hexadecimal in the servo motor-side pulse unit. (Data must be converted into decimal.)
For example, data "000186A0" is 100000 pulses in the motor-side pulse unit. (2) Command unit absolute position
The following shows how to read the absolute position in the command unit.
(a) Transmission Transmit command [0] [2] and data No. [9] [1].
Command Data No.
[0] [2] [9] [1]
(b) Return
The slave station returns the requested command pulses.
Absolute position is sent back in hexadecimal in the command unit. (Data must be converted into decimal.)
For example, data "000186A0" is 100000 pulses in the command unit.
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(3) Software version
The following shows how to read the software version of the servo amplifier.
(a) Transmission Transmit command [0] [2] and data No. [7] [0].
Command Data No.
[0] [2] [7] [0]
(b) Return
The slave station returns the requested software version.
Software version (15 digits)
Space
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15. USING A LINEAR SERVO MOTOR
WARNING When using the linear servo motor, read "Linear Servo Motor Instruction Manual" and "Linear Encoder Instruction Manual".
POINT
The linear servo system is available for the servo amplifiers of which software version is A5 or later. The MR-J4-03A6(-RJ) servo amplifier is not compatible with linear servo motor.
15.1 Functions and configuration
15.1.1 Summary
The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy, high speed, and efficiency. Therefore, the number of systems using a linear servo motor for a drive axis has been increasing. Since the linear servo system can obtain the characteristics of the high speed and the high acceleration/deceleration greater than the ball screw drive system. The linear servo system also does not have a ball screw wear which is a weak point in the ball screw drive system. This will extend the life of the equipment. In addition, since a response error due to backlash and friction does not occur, you can establish a high-accuracy system. The following shows the differences between the linear servo motor and the rotary servo motor.
Category Item Differences
Remark Linear servo motor Rotary servo motor
Motor pole adjustment
Magnetic pole detection Required Not required (default setting)
Automatically executed at the first servo-on after the power is turned on. For the absolute position linear encoder, [Pr. PL01] can disable the magnetic pole detection. The timing of the magnetic pole detection can be changed with [Pr. PL01]. (Refer to (2) (b) of section 15.3.3.)
Home position return
Reference home position 1048576 pulses unit (initial value)
One servo motor revolution unit
Home position return pitch can be changed with parameter setting. (Refer to section 15.3.3.)
Absolute position detection system
Absolute position encoder battery
Not required Required The following alarms and warnings are not provided for the linear servo motor.
[AL. 25 Absolute position erased] [AL. 92 Battery cable disconnection warning] [AL. 9F Battery warning] [AL. E3 Absolute position counter warning]
Auto tuning Load to motor inertia ratio (J)
Load to motor mass ratio
Load to motor inertia ratio
MR Configurator2 (SW1DNC-MRC2-_)
Motor speed (Data display and setting)
mm/s unit r/min unit
(software version 1.19V or later)
Test operation function
Positioning operation
Supported Supported
Motor-less operation
Not supported Supported
JOG operation Not supported Supported Program
operation Supported Supported
15. USING A LINEAR SERVO MOTOR
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15.1.2 Configuration including peripheral equipment
CAUTION Connecting a linear servo motor of the wrong axis to the U, V, W, or CN2 may cause a malfunction.
POINT
Equipment other than the servo amplifier and linear servo motor are optional or recommended products. When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".
(1) MR-J4-_A_
The configuration diagram is an example of MR-J4-20A. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders. Refer to section 1.8 depending on servo amplifiers you use.
Line noise filter (FR-BSF01)
CN5
Regenerative option
P+
C
L11
L21
P3
P4
Personal computer
MR Configurator2
CN3
CN6
CN8
CN1
CN2
W
V
U
Magnetic contactor
L1 L2 L3
(Note 3)
(Note 1) (MC)
Power factor improving DC reactor (FR-HEL)
Molded-case circuit breaker
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
Power supply (Note 2)
To RS-422/RS-485 communication controller, parameter unit, etc.
D (Note 5)
(Note 4)
Linear encoder
Linear servo motor
Encoder cable
SCALE
THM
R S T
(MCCB)
(Note 6)
Thermistor
15. USING A LINEAR SERVO MOTOR
15 - 3
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200A or less. For 1-phase 200
V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. For the branch cable, use the MR-J4THCBL03M (optional). 5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2. 6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger
[AL. 16].
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(2) When using serial linear encoder with MR-J4-_A_-RJ
The configuration diagram is an example of MR-J4-20A-RJ. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders. Refer to section 1.8 depending on servo amplifiers you use.
Line noise filter (FR-BSF01)
CN5
Regenerative option
P+
C
L11
L21
P3
P4
Personal computer
MR Configurator2
CN3
CN6
CN8
CN1
CN2
W
V
U
Magnetic contactor
L1 L2 L3
(Note 3)
(Note 1) (MC)
Power factor improving DC reactor (FR-HEL)
Molded-case circuit breaker
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
Power supply (Note 2)
To RS-422/RS-485 communication controller, parameter unit, etc.
D (Note 5)
(Note 4)
Serial linear encoder
Linear servo motor
Encoder cable
SCALE
THM
R S T
(MCCB)
(Note 6)
Thermistor
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200A-RJ or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. For the branch cable, use the MR-J4THCBL03M (optional). 5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2. 6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger
[AL. 16].
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(3) When using A/B/Z-phase differential output linear encoder with MR-J4-_A_-RJ
The configuration diagram is an example of MR-J4-20A-RJ. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of linear servo motors and linear encoders. Refer to section 1.8 depending on servo amplifiers you use.
Line noise filter (FR-BSF01)
CN5
Regenerative option
P+
C
L11
L21
P3
P4
Personal computer
MR Configurator2
CN3
CN6
CN8
CN1
CN2
CN2L
W
V
U
Magnetic contactor
L1 L2 L3
(Note 3)
(Note 1)
(MC)
Power factor improving DC reactor (FR-HEL)
Molded-case circuit breaker
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
Power supply (Note 2)
To RS-422/RS-485 communication controller, parameter unit, etc.
D (Note 4)
A/B/Z-phase differential output linear encoder
Linear servo motor
Encoder cable
R S T
(MCCB)
Thermistor
(Note 5)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-J4-200A-RJ or less. For 1- phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2. 5. Connect the thermistor to CN2 of servo amplifier and connect the encoder cable to CN2L correctly. Incorrect setting will trigger
[AL. 16].
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15.2 Signals and wiring
WARNING
Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and the linear servo motor securely. Do not attempt to wire the servo amplifier and the linear servo motor until they have been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION
Wire the equipment correctly and securely. Otherwise, the linear servo motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control output signal
Servo amplifier
RA
For sink output interface
24 V DC
DOCOM
Control output signal
24 V DC Servo amplifier
RA
For source output interface
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF (-H)) with the power wire of the linear servo motor. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Connect the servo amplifier power output (U/V/W) to the linear servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier Servo amplifier Linear servo
motor Linear servo
motor
U
MV
W
U
V
W
U
MV
W
U
V
W
15. USING A LINEAR SERVO MOTOR
15 - 7
CAUTION
Connecting a linear servo motor of the wrong axis to the U, V, W, or CN2 may cause a malfunction. Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction. Do not modify the equipment. The cables such as power wires deriving from the primary side cannot stand the long-term bending action. Avoid the bending action by fixing the cables to the moving part, etc. Also, use the cable that stands the long-term bending action for the wiring to the servo amplifier.
This section does not describe the following items. For details of the items, refer to each section of the detailed description field.
Item Detailed explanation Input power supply circuit Section 3.1 Explanation of power supply system Section 3.3 Signal (device) explanations Section 3.5 Alarm occurrence timing chart Section 3.8 Interface Section 3.9 Grounding Section 3.11 Display and operation sections Section 4.5
15.3 Operation and functions
15.3.1 Startup
POINT When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".
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15 - 8
(1) Startup procedure
Start up the linear servo system in the following procedure.
Set the linear servo motor series and linear servo motor type. (Refer to (2) in this section.)
(Note 1) Set the linear encoder direction and the linear servo motor direction. (Refer to (3) in this section.)
(Note 1) Set the linear encoder resolution. (Refer to (4) in this section.)
Set "_ _ _ 1" in [Pr. PA03].
Change the setting to disable the magnetic pole detection. (Refer to (3) in section 15.3.2.)
What is the type of the linear encoder?
Installation and wiring
(Note 1) Perform the magnetic pole detection. (Refer to (3) in section 15.3.2.)
Release [AL. 93 ABS data transfer warning].
Positioning operation check using the controller (Refer to section 15.3.5.)
Home position return operation (Refer to section 15.3.3.)
Positioning operation
Incremental linear encoder Absolute position linear encoder
(Note 1) Positioning operation check using the test operation mode (Refer to section 15.3.4.)
Note 1. Use MR Configurator2. 2. To cancel [AL. 93 ABS data transfer warning], cycle SON (Servo-on) or set a home position.
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(2) Setting of linear servo motor series and linear servo motor type
To use the linear servo motor, set the linear servo motor series and linear servo motor type with [Pr. PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. (Refer to section 5.2.1.)
(3) Setting of linear encoder direction and linear servo motor direction
POINT If an incorrect value is set for [Pr. PC45], the servo motor may not operate properly, or [AL. 50] or [AL. 51] may occur at the positioning operation or the magnetic pole detection.
Set the first digit of [Pr. PC45] (Encoder pulse count polarity selection) so that the positive direction of the linear servo motor matches with the increasing direction of the linear encoder feedback.
[Pr. PC45]
Encoder pulse count polarity selection 0: Linear servo motor positive direction and linear encoder increasing direction 1: Linear servo motor positive direction and linear encoder decreasing direction
(a) Parameter setting method 1) Confirm the positive direction of the linear servo motor. [Pr. PA14] determines the relation of the
travel direction of the linear servo motor under commands as shown below.
[Pr. PA14] setting Travel direction of linear servo motor
Address increasing command
Address decreasing command
0 Positive direction Negative direction 1 Negative direction Positive direction
The positive/negative directions of the linear servo motor are as follows.
Secondary side
Primary side
Positive direction
Negative direction
LM-H3 and LM-F series
Negative direction
Positive direction
Secondary side
Primary side
LM-U2 series
Negative direction
Positive direction Table
Primary side
Secondary side
LM-K2 series
2) Confirm the increasing direction of the linear encoder.
3) If the positive direction of the linear servo motor matches with the increasing direction of the linear
encoder, set [Pr. PC45] to "_ _ _ 0". If the positive direction of the linear servo motor does not match with the increasing direction of the linear encoder, set [Pr. PC45] to "_ _ _ 1".
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(b) Confirmation method
Confirm the positive direction of the linear servo motor and the increasing direction of the linear encoder in the following procedure.
1) In servo-off status, move the linear servo motor in the positive direction manually.
2) Confirm the motor speed (in the positive and negative directions) at that time with MR
Configurator2.
3) When [Pr. PC45] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches with the increasing direction of the linear encoder, if the linear servo motor operates in the positive direction, the motor speed will be a positive value. If the positive direction of the linear servo motor does not match with the increasing direction of the linear encoder, the motor speed will be a negative value. When [Pr. PC45] is set to "_ _ _ 1" and the positive direction of the linear servo motor matches with the increasing direction of the linear encoder, if the linear servo motor operates in the positive direction, the motor speed will be a negative value.
(4) Linear encoder resolution setting
POINT To enable the parameter values, cycle the power after setting. If an incorrect value is set for [Pr. PL02] or [Pr. PL03], the linear servo motor may not operate properly, or [AL. 27] or [AL. 42] may occur at the positioning operation or the magnetic pole detection.
Set the ratio of the electronic gear to the linear encoder resolution with [Pr. PL02 Linear encoder resolution - Numerator] and [Pr. PL03 Linear encoder resolution - Denominator].
(a) Parameter setting
Set the values that apply to the following equation.
[Pr. PL02 Linear encoder resolution - Numerator] [Pr. PL03 Linear encoder resolution - Denominator = Linear encoder resolution [m]
(b) Parameter setting example
When the linear encoder resolution is 0.5 m
[Pr. PL02] [Pr. PL03] = Linear encoder resolution = 0.5 m = 2
1
The following shows the simplified chart for the setting values of [Pr. PL02] and [Pr. PL03].
Linear encoder resolution [m] 0.01 0.02 0.05 0.1 0.2 0.5 1.0 2.0
Setting value
[Pr. PL02] 1 1 1 1 1 1 1 2 [Pr. PL03] 100 50 20 10 5 2 1 1
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15.3.2 Magnetic pole detection
POINT Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic pole detection.
Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection. When [Pr. PL01] is set to the initial value, perform the magnetic pole detection only at the first servo-on after the power is turned on. The magnetic pole detection includes the following two methods. Each method has advantages and disadvantages. Select a magnetic pole detection method suitable for your usage. The position detection method is selected the initial value.
Magnetic pole detection Advantage Disadvantage Position detection method 1. The magnetic pole detection has a
high degree of accuracy. 2. The adjustment procedure at the
magnetic pole detection is simple.
1. The travel distance at the magnetic pole detection is long.
2. For equipment with small friction, the initial magnetic pole detection error may occur.
Minute position detection method 1. The travel distance at the magnetic pole detection is short.
2. Even for equipment with small friction, the magnetic pole detection is available.
1. The adjustment procedure at the magnetic pole detection is complex.
2. If a disturbance occurs during the magnetic pole detection, [AL. 27 Initial magnetic pole detection error] may occur.
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(1) Magnetic pole detection method by using MR Configurator2
The following shows the magnetic pole detection procedure by using MR Configurator2.
(a) Magnetic pole detection by the position detection method
Have [AL. 32 Overcurrent], [AL. 50 Overload 1], [AL. 51 Overload 2], and
[AL. E1 Overload warning 1] occurred?
1) Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic pole detection method to "Position detection method".
Cycle the servo amplifier power.
5) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".
6) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
7) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)
2)
3)
4)
The magnetic pole detection is carried out.
Is [Pr. PL09] the final value?
Has [AL. 27 Initial magnetic pole detection error] occurred?
Reset the alarm or cycle the servo amplifier power.
Cycle the servo amplifier power.
Reset the alarm or cycle the servo amplifier power.
Increase the value of [Pr. PL09] by five.
Set an approximately 70% of the value set for [Pr. PL09] as the final setting value. If [AL. 27 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at [AL. E1 Overload warning 1] and the value set at [AL. 27 Initial magnetic pole detection error] as the final setting value.
NO
YES
YES
NO
YES
NO
Magnetic pole detection
End
Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic pole detection at first servo-on". (Note)
Note. For the incremental system, the [Pr. PL01] setting is not required.
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(b) Magnetic pole detection by the minute position detection method
Is the travel distance during the magnetic pole detection acceptable?
(Note 3)
1) Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 4" to set the magnetic pole detection method to "Minute position detection method".
Cycle the servo amplifier power.
5) With [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection], set the load to mass of the linear servo motor primary side ratio. (Note 2)
6) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
7) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)
2)
3)
4)
The magnetic pole detection is carried out.
Is "Response selection" of [Pr. PL17] set to a
final setting value?
Has an abnormal sound or vibration occurred during the
magnetic pole detection? Decrease the value set in "Response selection" of [Pr. PL17] by two.
Increase the value set in "Response selection" of [Pr. PL17] by one.
Not acceptable
YES
Acceptable
NO
YES
NO
Magnetic pole detection
End
Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic pole detection at first servo-on". (Note 1)
Note 1. For the incremental system, the [Pr. PL01] setting is not required. 2. If the load to primary-side linear servo motor mass ratio is unknown, perform the magnetic pole
detection by the position detection method, and then perform the auto tuning to set an estimated value. 3. For the magnetic pole detection by the minute position detection method, the maximum travel distance
at the magnetic pole detection must be 0.5 mm or less. To shorten the travel distance, increase the value of "Response selection" in [Pr. PL17].
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(2) Operation at the magnetic pole detection
WARNING Note that the magnetic pole detection automatically starts simultaneously with the turning-on of the servo-on command.
CAUTION If the magnetic pole detection is not executed properly, the linear servo motor may operate unexpectedly.
POINT
Establish the machine configuration to use LSP (Upper stroke end) and LSN (Lower stroke end). The machine may be damaged due to a collision without LSP and LSN. Assign LSP and LSN and perform the magnetic pole detection also in the torque control mode. At the magnetic pole detection, whether the linear servo motor moves in the positive or negative direction is unpredictable. Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage level], an overload, overcurrent, magnetic pole detection alarm, or others may occur. After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of MR Configurator2. When the absolute position linear encoder is used, if a gap is generated to the positional relation between the linear encoder and the linear servo motor, perform the magnetic pole detection again. The accuracy of the magnetic pole detection improves with no load. An alarm may occur when the linear encoder is not mounted properly, or when the linear encoder resolution setting ([Pr. PL02] and [Pr. PL03]) or the setting value of [Pr. PL09 Magnetic pole detection voltage level] is incorrect. For the machine that its friction becomes 30% or more of the continuous thrust, the linear servo motor may not operate properly after the magnetic pole detection. For the horizontal shaft of the machine that its unbalanced thrust becomes 20% or more of the continuous thrust, the linear servo motor may not operate properly after the magnetic pole detection. For the machine that multiple axes are connected like a tandem configuration, if you try to perform the magnetic pole detection simultaneously for multiple axes, the magnetic pole detection may not be executed. Perform the magnetic pole detection for each axis. At this time, set the axes that the magnetic pole detection is not performed for to servo-off.
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(a) For the incremental linear encoder
POINT
For the incremental linear encoder, the magnetic pole detection is required every time the power is turned on.
By turning on SON (Servo-on) after power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of [Pr. PL01]) for executing the magnetic pole detection.
1) Timing chart
15 s or less
ON OFF
ON OFF
ON OFF
95 ms SON (Servo-on)
Base circuit
RD (Ready)
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on.
2) Linear servo motor movement (when LSP (Forward rotation stroke end) and LSN (Reverse
rotation stroke end) are on)
LSN (Note 1)
LSP (Note 1)
(Note 2) Magnetic pole detection completion position
Servo-on position (Magnetic pole detection start position)
Note 1. When you turn off LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) during the magnetic pole detection, the operation of the magnetic pole detection is carried on to the opposite direction. When both LSP and LSN are off, [AL. 27 Initial magnetic pole detection error] occurs.
2. The following shows the pitch against the magnetic pole.
Linear servo motor series LM-H3 LM-F
LM-U2
LM-K2 Medium thrust (Continuous thrust: Less than 400 N)
Large thrust (Continuous thrust:
400 N or more) Pitch against magnetic pole [mm] 48 30 60 48
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3) Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation
stroke end) is off) When LSP or LSN is off at servo-on, the magnetic pole detection is carried out as follows.
LSN LSP
(Note) Magnetic pole detection completion position
Magnetic pole detection start position
Servo-on position
The linear servo motor moves to a magnetic pole detection start position upon servo-on, and the magnetic pole detection is executed.
The linear servo motor reciprocates several times and returns to the magnetic pole detection start position to complete the magnetic pole detection and to go into the servo-lock status. At this time, there may be a gap, approximately a quarter of the pitch against magnetic pole, from the start position.
Note. For the pitch against magnetic pole, refer to (2) (a) 2) Note 2 in this section.
(b) For the absolute position linear encoder
POINT
The magnetic pole detection is required at the following timing. When the system is set up (at the first startup of equipment) After a servo amplifier is replaced After a linear servo motor (primary-side or secondary-side) is replaced After a linear encoder (scale or head) is replaced or remounted
If a gap is generated to the positional relation between the linear encoder and the linear servo motor, perform the magnetic pole detection again.
Perform the magnetic pole detection in the following procedure.
1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole
detection at first servo-on). [Pr. PL01]
Magnetic pole detection at first servo-on (Initial value)
1
2) Execute the magnetic pole detection. (Refer to (2) (a) in this section.)
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3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection disabled). [Pr. PL01]
Magnetic pole detection disabled
0
After the magnetic pole detection, by disabling the magnetic pole detection function with [Pr. PL01], the magnetic pole detection after each power-on is not required.
(3) Magnetic pole detection method setting
POINT In the following cases, set the magnetic pole detection method to the minute position detection method.
When a shorten travel distance at the magnetic pole detection is required When the magnetic pole detection by the position detection method is not completed
When a linear encoder with a resolution smaller than 0.05 m is used and the magnetic pole detection does not complete normally by minute position detection method, select "Enabled (1 _ _ _)" of "Minute position detection method - High-resolution encoder selection" in [Pr. PL08].
Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection method selection).
[Pr. PL08]
Magnetic pole detection method selection 0: Position detection method 4: Minute position detection method
(4) Setting of the magnetic pole detection voltage level by the position detection method For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
(a) Guideline of parameter settings
Set the parameters by referring to the following table.
[Pr. PL09] setting (guide value)
Servo status
Small Medium Large (10 or less (initial value) 50 or more)
Thrust at operation Small Large Overload, overcurrent alarm Seldom occurs Frequently occurs Magnetic pole detection alarm Frequently occurs Seldom occurs Magnetic pole detection accuracy Low High
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(b) Setting procedure
1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occur. Increase the setting value by five as a guide value. When these alarms and warnings occur during the magnetic pole detection by using MR Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off status is established.
2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],
[AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value. However, if [AL. 27 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] and the value set at the magnetic pole detection alarm as the final setting value.
3) Perform the magnetic pole detection again with the final setting value to check there is no
problem.
(c) Setting example
Occurring Not occurring
Linear encoder magnetic pole detection
[Pr. PL09] setting
Alarm
An alarm has occurred when the setting value of [Pr. PL09] is set to "70".
While increasing the setting value of [Pr. PL09], carry out the magnetic pole detection repeatedly.
30 35 40 45 65 70
In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70 0.7).
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15.3.3 Home position return
POINT Change the third digit value of [Pr. PL01] according to the linear encoder resolution. The incremental linear encoder and the absolute position linear encoder have different reference home positions at the home position return. For the incremental linear encoder, a home position (reference mark) of the linear encoder is necessary in the home position return direction. When you configure as follows, move the mover to LSN with JOG operation and perform home position to perform it in safe.
LSN LSP
Home position of linear encoder (reference mark)Home position return direction
Non-returnable area: Home position return cannot be performed when started from this area.
Returnable area: Home position return can be performed when started from this area.
Dog
(1) Incremental linear encoder
CAUTION If the resolution or the stop interval (the third digit of [Pr. PL01]) of the linear encoder is large, it is very dangerous since the linear servo motor may crash into the stroke end.
(a) When the linear encoder home position (reference mark) exists in the home position return direction
When you use an incremental linear encoder, LZ (Encoder Z-phase pulse) from the servo amplifier will be the home position (reference mark) of the linear encoder. When two or more reference marks exist during the full stroke of the linear encoder, select "Enabled (1 _ _ _)" of "Linear scale multipoint Z-phase input function selection" in [Pr. PC28].
Servo motor speed
Linear encoder home position Home position
Home position return speed
Creep speed
Home position return direction
ON OFF
Proximity dog signal
Reference home position
Machine position
Equivalent to one servo motor revolution
0 r/min
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(b) When the linear encoder home position (reference mark) does not exist in the home position return
direction
POINT To execute a home position return securely, start a home position return after moving the linear servo motor to the opposite stroke end with JOG operation and others. Change the third digit value of [Pr. PL01] according to the linear encoder resolution.
The home position return cannot be performed from the position which the home position of the linear encoder does not exist in the home position return direction. Move the mover to the stroke end on the opposite side of the home position return direction with the JOG operation from the controller and others, and then perform a home position return.
Stroke end Home position start positionHome position
Home position return speed
Creep speed
Home position return direction
ON OFF
ON OFF
Proximity dog signal
LZ (Encoder Z-phase pulse)
Machine position
Linear encoder home position
JOG operation
Home position returnable area Home position non-returnable area
Servo motor speed
0 r/min
(c) Caution for passing the home position (reference mark) An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoders. For details, refer to "Linear Encoder Instruction Manual".)
Example: When Z-phase is recognized at startup
Home position signal
B A
B is recognized as the on position.
A is recognized as the on position.
The position which turns on LZ (Encoder Z-phase pulse) differs depending on the directions of home position passing. When you need to set the home position return completion to the same position each time such as dog type home position return, always start home position return with the same direction.
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(d) Caution for linear encoder which does not have the home position (reference mark)
The linear encoder which does not have the home position (reference mark), LZ (Encoder Z-phase pulse) of the servo amplifier does not be outputted. It is depending on positioning controllers to use whether LZ (Encoder Z-phase pulse) is necessary or not for home position return. Check the specifications of controllers.
(2) Absolute position linear encoder
POINT The data set type home position return can also be carried out.
The home position reference position using an absolute type linear encoder will be per 1048576 pulses based on the linear encoder home position (absolute position data = 0). You can change the stop interval at home position return with the third digit of [Pr. PL01].
[Pr. PL01]
Stop interval setting at the home position return Setting value Stop interval [pulse]
0 8192 1 131072 2 262144 3 1048576 (initial value) 4 4194304 5 16777216 6 67108864
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The following shows the relation between the stop interval at the home position return and the linear encoder resolution. For example, when the linear encoder resolution is 0.001 m and the parameter for the stop interval at the home position return, [Pr. PL01], is set to "_ 5 _ _" (16777216 pulses), the stop interval is 16.777 mm. The value inside a bold box indicates the recommended stop interval for each linear encoder resolution.
[Unit: mm]
Pr. PL01 Linear encoder
resolution [m] 0.001 0.005 0.01 0.02 0.05 0.1 0.2 0.5 1 2
Stop interval [pulse]
_ 0 _ _ 8192 0.008 0.041 0.082 0.164 0.410 0.819 1.638 4.096 8.192 16.384
_ 1 _ _ 131072 0.131 0.655 1.311 2.621 6.554 13.107 26.214 65.536 131.072 262.144
_ 2 _ _ 262144 0.262 1.311 2.621 5.243 13.107 26.214 52.429 131.072 262.144 524.288
_ 3 _ _ 1048576 1.049 5.243 10.486 20.972 52.429 104.858 209.715 524.288 1048.576 2097.152
_ 4 _ _ 4194304 4.194 20.972 41.943 83.886 209.715 419.430 838.861 2097.152 4194.304 8388.608
_ 5 _ _ 16777216 16.777 83.886 167.772 335.544 838.861 1677.722 3355.443 8388.608 16777.216 33554.432
_ 6 _ _ 67108864 67.109 335.544 671.089 1342.177 3355.443 6710.886 13421.773 33554.432 67108.864 134217.728
In the case of a proximity dog type home position return, the nearest reference home position after proximity dog off is the home position. The linear encoder home position can be set in any position. LZ (Encoder Z-phase pulse) is outputted based on "Stop interval selection at the home position return" in [Pr. PL01].
Linear encoder home position Home position
Home position return speed
Creep speed
Home position return direction
ON OFFProximity dog
signal
Linear servo motor
Reference home position
Linear servo motor position
0 mm/s
(Note) 1048576 pulses
1048576 pulses n
Note. Changeable with [Pr. PL01].
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15.3.4 Test operation mode in MR Configurator2
CAUTION The test operation mode is designed for checking servo operation. It is not for checking machine operation. Do not use this mode with the machine. Always use the linear servo motor alone. If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.
POINT
The content described in this section indicates the environment where the servo amplifier and a personal computer are directly connected.
By using a personal computer and MR Configurator2, you can execute the positioning operation, the output signal (DO) forced output, and the program operation without connecting the controller. (1) Positioning operation
Positioning operation can be performed when there is no command from the controller. Use this operation with the forced stop reset. This operation may be used independently of whether servo-on, servo-off, or whether a controller is connected or not. Exercise control on the positioning operation screen of MR Configurator2.
(a) Operation pattern
Item Initial value Setting range
Travel distance [pulse] 1048576 0 to 99999999 Speed [mm/s] 10 0 to Maximum speed
Acceleration/decelerati on time constant [ms] 1000 0 to 50000
Repeat pattern Positive direction travel Negative direction travel
Positive direction travel Negative direction travel
Positive direction travel Positive direction travel
Negative direction travel Positive direction travel
Negative direction travel Negative direction travel
Dwell time [s] 2.0 0.1 to 50.0 Number of repeats
[time] 1 1 to 9999
(b) Operation method
Operation Screen control
Positive direction travel Click "Positive Direction Movement". Negative direction travel Click "Reverse Direction Movement".
Pause Click "Pause". Stop Click "Stop".
Forced stop Click "Forced Stop".
(2) Output signal (DO) forced output
Output signals can be switched on/off forcibly independently of the servo status. This function is used for output signal wiring check, etc. Exercise control on the DO forced output screen of MR Configurator2.
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(3) Program operation
Positioning operation can be performed in two or more operation patterns combined, without using a controller. Use this operation with the forced stop reset. This operation may be used independently of whether servo-on, servo-off, or whether a controller is connected or not. Exercise control on the program operation screen of MR Configurator2. For details, refer to Help of MR Configurator2.
Operation Screen control
Start Click "Operation start". Pause Click "Pause". Stop Click "Stop".
Forced stop Click "Forced Stop".
15.3.5 Function
(1) Linear servo control error detection function
POINT For the linear servo control error detection function, the position and speed deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)
If the linear servo control gets unstable for some reasons, the linear servo motor may not operate properly. To detect this state and to stop operation, the linear servo control error detection function is used as a protective function. The linear servo control error detection function has three different detection methods: the position deviation, speed deviation, and thrust deviation. An error is detected when each method is enabled with [Pr. PL04 Linear servo motor/DD motor function selection 2]. The detection level can be changed with [Pr. PL05], [Pr. PL06], and [Pr. PL07].
Servo amplifier internal value 1) Model feedback position [mm] 3) Model feedback speed [mm/s] 5) Command thrust [%]
Linear encoder 2) Feedback position [mm] 4) Feedback speed [mm/s] 6) Feedback thrust [%]
Servo amplifier
Linear servo motor
Linear encoder
Figure 15.1 Outline of linear servo control error detection function
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(a) Position deviation error detection
Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection. [Pr. PL04]
Position deviation error detection enabled
1
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 15.1, if the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 mm to 1000 mm), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 50 mm. Change the set value as necessary.
(b) Speed deviation error detection
Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection. [Pr. PL04]
Speed deviation error detection enabled
2
When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 15.1, if the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 mm/s to 5000 mm/s), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 1000 mm/s. Change the set value as necessary.
(c) Thrust deviation error detection level
Set [Pr. PL04] to "_ _ _ 4" to enable the thrust deviation error detection. [Pr. PL04]
Thrust deviation error detection enabled
4
When you compare the command thrust ( 5)) and the feedback thrust ( 6)) in figure 15.1, if the deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to 1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 100%. Change the set value as necessary.
(d) Detecting multiple deviation errors
When [Pr. PL04] is set as follows, multiple deviation errors can be detected. For the error detection methods, refer to (1) (a), (b), (c) in this section.
[Pr. PL04]
Position deviation error detection
Setting value
Speed deviation error detection
Thrust deviation error detection
1
5 6 7
3 2
4
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(2) Auto tuning function
POINT The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied.
Time to reach 2000 mm/s is the acceleration/deceleration time constant of 5 s or less. The linear servo motor speed is 150 mm/s or higher. The load to mass of the linear servo motor primary-side ratio is 100 times or less. The acceleration/deceleration thrust is 10% or less of the continuous thrust.
The auto tuning function during the linear servo motor operation is the same as that of the rotary servo motor. However, the calculation method of the load to motor mass ratio (J ratio) differs. The load to motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass of the linear servo motor primary side.
Example) Mass of linear servo motor primary side
Load mass (excluding the mass of the linear servo motor primary side) Mass ratio
= 2 kg = 4 kg = 4/2 = 2 times
For the parameters set by the auto tuning function, refer to chapter 6.
(3) Machine analyzer function
POINT Make sure to perform the machine analyzer function after the magnetic pole detection. If the magnetic pole detection is not performed, the machine analyze function may not operate properly. The stop position at the completion of the machine analyzer function can be any position.
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15.3.6 Absolute position detection system
When the linear servo motor is used with the absolute position detection system, an absolute position linear encoder is required. (1) Operating conditions of absolute position detection system
(a) Use an absolute type linear encoder.
(b) Perform the magnetic pole detection in the incremental system and disable the magnetic pole detection after the detection.
(c) Enable the absolute position detection system with [Pr. PA03 Absolute position detection system].
(2) Alarm detection
[AL. 25 Absolute position erased], [AL. 92 Battery cable disconnection warning], [AL. 9F Battery warning], and [AL. E3 Absolute position counter warning] are not provided for the linear servo motor.
(3) Backup
The linear encoder backs up the absolute position data. Therefore, the encoder battery need not be installed to the servo amplifier.
(4) Absolute position data transfer to controller
Refer to section 12.8 for absolute position data transfer to the controller.
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15.4 Characteristics
15.4.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the linear servo motor, servo amplifier and linear servo motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig. 15.2. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken line in the graph. Use the linear servo motor with 70% or less of the effective load ratio when it is in the servo lock state or in a small reciprocating motion. This servo amplifier has solid-state linear servo motor overload protection. (The servo motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
1000
100
10
1
0.1 0 50 150 200 250 300100
O pe
ra tio
n tim
e [s
]
Load ratio [%]
Servo-lock
Operating
1000
100
10
1
0.1 0 200 300 400100
O pe
ra tio
n tim
e [s
]
Load ratio [%]
Operating
Servo-lock
a. LM-H3 series LM-K2 series
b. LM-U2 series
1000
100
10
1
0.1 0 100 300 400 500 600200
O pe
ra tio
n tim
e [s
]
Load ratio [%]
Operating
Servo-lock
1000
100
10
1
0.1 0 50 150 200 250 300100
O pe
ra tio
n tim
e [s
]
Load ratio [%]
Operating
Servo-lock
c. LM-F series (natural cooling) d. LM-F series (liquid cooling)
Fig. 15.2 Electronic thermal protection characteristics
15. USING A LINEAR SERVO MOTOR
15 - 29
15.4.2 Power supply capacity and generated loss
Table 15.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the linear servo motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change. Mounting a heat sink outside of the cabinet enables to reduce heat in the cabinet and design a compact enclosed type cabinet.
Table 15.1 Power supply capacity and generated loss per linear servo motor at rated output
Linear servo motor (primary side) Servo amplifier
Power supply capacity [kVA]
(Note 1)
Servo amplifier-generated heat [W] (Note 2)
Area required for heat dissipation
[m2] At rated output With servo-off LM-H3P2A-07P-BSS0 MR-J4-40A(-RJ)
MR-J4-40A1(-RJ) 0.9 35 15 0.7
LM-H3P3A-12P-CSS0 0.9 35 15 0.7 LM-H3P3B-24P-CSS0
MR-J4-70A(-RJ) 1.3 50 15 1.0
LM-H3P3C-36P-CSS0 1.9 75 15 1.5 LM-H3P3D-48P-CSS0 MR-J4-200A(-RJ) 3.5 90 20 1.8 LM-H3P7A-24P-ASS0 MR-J4-70A(-RJ) 1.3 50 15 1.0 LM-H3P7B-48P-ASS0
MR-J4-200A(-RJ) 3.5 90 20 1.8
LM-H3P7C-72P-ASS0 3.8 100 20 1.1 LM-H3P7D-96P-ASS0 MR-J4-350A(-RJ) 5.5 130 20 2.7
LM-U2PAB-05M-0SS0 MR-J4-20A(-RJ)
MR-J4-20A1(-RJ) 0.5 25 15 0.5
LM-U2PAD-10M-0SS0 MR-J4-40A(-RJ) MR-J4-40A1(-RJ)
0.9 35 15 0.7 LM-U2PAF-15M-0SS0 0.9 35 15 0.7
LM-U2PBB-07M-1SS0 MR-J4-20A(-RJ)
MR-J4-20A1(-RJ) 0.5 25 15 0.5
LM-U2PBD-15M-1SS0 MR-J4-60A(-RJ) 1.0 40 15 0.8 LM-U2PBF-22M-1SS0 MR-J4-70A(-RJ) 1.3 50 15 1.0 LM-U2P2B-40M-2SS0 MR-J4-200A(-RJ) 3.5 90 20 1.8 LM-U2P2C-60M-2SS0 MR-J4-350A(-RJ) 5.5 130 20 2.7 LM-U2P2D-80M-2SS0 MR-J4-500A(-RJ) 7.5 195 25 3.9 LM-FP2B-06M-1SS0 MR-J4-200A(-RJ) 3.5 90 20 1.8 LM-FP2D-12M-1SS0 MR-J4-500A(-RJ) 7.5 195 25 3.9 LM-FP2F-18M-1SS0 MR-J4-700A(-RJ) 10 300 25 6.0 LM-FP4B-12M-1SS0 MR-J4-500A(-RJ) 7.5 195 25 3.9 LM-FP4D-24M-1SS0 MR-J4-700A(-RJ) 10 300 25 6.0 LM-FP4F-36M-1SS0 MR-J4-11KA(-RJ) 14 460 45 9.2 LM-FP4H-48M-1SS0 MR-J4-15KA(-RJ) 18 580 45 11.6 LM-FP5H-60M-1SS0 MR-J4-22KA4(-RJ) 22 640 45 12.8
LM-K2P1A-01M-2SS1 MR-J4-40A(-RJ)
MR-J4-40A1(-RJ) 0.9 35 15 0.7
LM-K2P1C-03M-2SS1 MR-J4-200A(-RJ) 3.5 90 20 1.8 LM-K2P2A-02M-1SS1 MR-J4-70A(-RJ) 1.3 50 15 1.0 LM-K2P2C-07M-1SS1 MR-J4-350A(-RJ) 5.5 130 20 2.7 LM-K2P2E-12M-1SS1 MR-J4-500A(-RJ) 7.5 195 25 3.9 LM-K2P3C-14M-1SS1 MR-J4-350A(-RJ) 5.5 130 20 2.7 LM-K2P3E-24M-1SS1 MR-J4-500A(-RJ) 7.5 195 25 3.9
Note 1. 2.
The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power factor improving AC reactor or power factor improving DC reactor are not used. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 11.2.
15. USING A LINEAR SERVO MOTOR
15 - 30
15.4.3 Dynamic brake characteristics
CAUTION
The coasting distance is a theoretically calculated value that does not consider factors such as friction. The calculated distance is longer than the actual distance. If the braking distance is not longer than the calculated value, a moving part may crash into the stroke end, causing a dangerous situation. Install an anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor mass ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes. Be sure to enable EM1 (Forced stop 1) after the linear servo motor stops when using EM1 (Forced stop 1) frequently in other than emergency.
The approximate coasting distance from when the dynamic brake is activated until when the linear servo motor stops can be calculated with the equation below. Lmax = V0 (0.03 + M (A + B V0
2)) Lmax: Coasting distance of the machine [m] V0: Speed when the brake is activated [m/s] M: Full mass of the moving part [kg] A: Coefficient (Refer to the following tables.) B: Coefficient (Refer to the following tables.)
Linear servo motor (primary side) Coefficient A Coefficient B Linear servo motor
(primary side) Coefficient A Coefficient B
LM-H3P2A-07P-BSS0 7.15 10-3 2.94 10-3 LM-U2PAB-05M-0SS0 5.72 10-2 1.72 10-4 LM-H3P3A-12P-CSS0 2.81 10-3 1.47 10-3 LM-U2PAD-10M-0SS0 2.82 10-2 8.60 10-5 LM-H3P3B-24P-CSS0 7.69 10-3 2.27 10-4 LM-U2PAF-15M-0SS0 1.87 10-2 5.93 10-5 LM-H3P3C-36P-CSS0 7.22 10-3 1.13 10-4 LM-U2PBB-07M-1SS0 3.13 10-2 1.04 10-4 LM-H3P3D-48P-CSS0 1.02 10-3 2.54 10-4 LM-U2PBD-15M-1SS0 1.56 10-2 5.18 10-5 LM-H3P7A-24P-ASS0 7.69 10-3 2.14 10-4 LM-U2PBF-22M-1SS0 4.58 10-2 1.33 10-5 LM-H3P7B-48P-ASS0 9.14 10-4 2.59 10-4 LM-U2P2B-40M-2SS0 1.47 10-3 1.27 10-5 LM-H3P7C-72P-ASS0 7.19 10-4 1.47 10-4 LM-U2P2C-60M-2SS0 1.07 10-3 7.66 10-6 LM-H3P7D-96P-ASS0 6.18 10-4 9.59 10-5 LM-U2P2D-80M-2SS0 9.14 10-4 5.38 10-6
Linear servo motor
(primary side) Coefficient A Coefficient B Linear servo motor (primary side) Coefficient A Coefficient B
LM-FP2B-06M-1SS0 8.96 10-4 1.19 10-3 LM-K2P1A-01M-2SS1 5.36 10-3 6.56 10-3 LM-FP2D-12M-1SS0 5.55 10-4 4.81 10-4 LM-K2P1C-03M-2SS1 1.17 10-3 3.75 10-4 LM-FP2F-18M-1SS0 4.41 10-4 2.69 10-4 LM-K2P2A-02M-1SS1 2.49 10-2 1.02 10-3 LM-FP4B-12M-1SS0 5.02 10-4 4.36 10-4 LM-K2P2C-07M-1SS1 6.85 10-4 2.80 10-4 LM-FP4D-24M-1SS0 3.55 10-4 1.54 10-4 LM-K2P2E-12M-1SS1 5.53 10-4 1.14 10-4 LM-FP4F-36M-1SS0 1.79 10-4 1.36 10-4 LM-K2P3C-14M-1SS1 2.92 10-4 1.16 10-4 LM-FP4H-48M-1SS0 1.15 10-4 1.19 10-4 LM-K2P3E-24M-1SS1 2.53 10-4 5.52 10-5 LM-FP5H-60M-1SS0 1.95 10-4 4.00 10-5
15. USING A LINEAR SERVO MOTOR
15 - 31
15.4.4 Permissible load to motor mass ratio when the dynamic brake is used
Use the dynamic brake under the load to motor mass ratio indicated in the following table. If the ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office. The values of the permissible load to motor mass ratio in the table are the values when the linear servo motor is used at the maximum speed.
Linear servo motor (primary side)
Permissible load to motor mass ratio [Multiplier]
LM-H3 series 40 LM-U2 series
100 LM-F series
LM-K2 series 50
When actual speed does not reach the maximum speed of the linear servo motor, calculate the permissible load to motor mass ratio at the time of using the dynamic brake by the following equation. (The upper limit is 300 times.) Permissible load to motor mass ratio of the dynamic brake = Value in the table (Servo motor maximum speed2/Actual using speed2) For example, when an actual using speed is 2 m/s or less for the LM-H3P2A-07P motor (maximum speed: 3.0 m/s), the equation will be as follows. Permissible load to motor mass ratio of dynamic brake = 40 32/22 = 90 [times]
15. USING A LINEAR SERVO MOTOR
15 - 32
MEMO
16. USING A DIRECT DRIVE MOTOR
16 - 1
16. USING A DIRECT DRIVE MOTOR
CAUTION
When using the direct drive motor, read "Direct Drive Motor Instruction Manual".
POINT
Refer to section 1.4 for the software version of the servo amplifier that is compatible with the direct drive servo system. The MR-J4-03A6(-RJ) servo amplifier is not compatible with direct drive motor.
16.1 Functions and configuration
16.1.1 Summary
The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy and efficiency. Therefore, the number of systems using a direct drive motor for a drive axis has been increasing. The direct drive servo system includes the following features. (1) Performance
(a) The direct drive servo system ensures the high-rigidity and the high-torque. A high-resolution encoder enables the high-accuracy control.
(b) The high-resolution encoder contributes to the high-accuracy indexing.
(c) Since reducer is no longer required, no backlash occurs. In addition, the settling time is reduced, and
the high-frequency operation is enabled.
(d) Since reducer is no longer required, the motor does not deteriorate with time by reducer. (2) Mechanism
(a) The motor's low profile design contributes to compact moving part of the machine and a low center of gravity for enhanced equipment stability.
(b) The motor has an inner rotor with hollow shaft which enables cables and pipes to be passed through.
(c) Lubrication and the maintenance due to abrasion are not required.
The following shows the differences between the direct drive motor and the rotary servo motor.
Category Item Differences
Remark Direct drive motor Rotary servo motor
Motor pole adjustment
Magnetic pole detection Required Not required (default setting)
Automatically executed at the first servo-on after the power is turned on. For the absolute position detection system, [Pr. PL01] can disable the magnetic pole detection. (Refer to (2) (b) of 16.3.3.)
Absolute position detection system
Absolute position encoder battery
Required Required
Absolute position storage unit (MR-BTAS01)
Required Not required
16. USING A DIRECT DRIVE MOTOR
16 - 2
16.1.2 Configuration including peripheral equipment
CAUTION Connecting a direct drive motor of the wrong axis to the U, V, W, or CN2 may cause a malfunction.
POINT
Equipment other than the servo amplifier and direct drive motor are optional or recommended products. When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".
The configuration diagram is an example of MR-J4-20A. When using the other servo amplifiers, the configuration will be the same as rotary servo motors except for connections of direct drive motors. Refer to section 1.8 depending on servo amplifiers you use.
(Note 4)
Battery unit
CN4 (Note 6) Absolute position storage unit MR-BTAS01
Direct drive motor
(Note 7)
Line noise filter (FR-BSF01)
CN5
Regenerative option
P+
C
L11
L21
P3
P4
Personal computer
MR Configurator2
CN3
CN6
CN8
CN1
CN2
W
V
U
Magnetic contactor
L1 L2 L3
(Note 3)
(Note 1)
(MC)
Power factor improving DC reactor (FR-HEL)
Molded-case circuit breaker
R S T
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
Power supply (Note 2)
To RS-422/RS-485 communication controller, parameter unit, etc.
D (Note 5)
(MCCB)
16. USING A DIRECT DRIVE MOTOR
16 - 3
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200A(-RJ) or less. For 1-phase
200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. The battery unit is used for the absolute position detection system. (Refer to chapter 12.) 5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2. 6. The absolute position storage unit is used for the absolute position detection system. 7. This is for MR-J4-_A_, MR-J4-_A_-RJ has a CN2L connector. However, CN2L is not used for the direct drive servo system.
16.2 Signals and wiring
WARNING
Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and the direct drive motor securely. Do not attempt to wire the servo amplifier and direct drive motor until they have been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION
Wire the equipment correctly and securely. Otherwise, the direct drive motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control output signal
24 V DC Servo amplifier
RA
For sink output interface
DOCOM
Control output signal
24 V DC Servo amplifier
RA
For source output interface
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option) on the power wire of the direct drive motor.
16. USING A DIRECT DRIVE MOTOR
16 - 4
CAUTION
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. Connect the servo amplifier power output (U/V/W) to the direct drive motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier Servo amplifier Direct drive motorDirect drive motor
U
MV
W
U
V
W
U
MV
W
U
V
W
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.
This section does not describe the following items. For details of the items, refer to each section of the detailed description field.
Item Detailed explanation Input power supply circuit Section 3.1 Explanation of power supply system Section 3.3 Signal (device) explanations Section 3.5 Alarm occurrence timing chart Section 3.8 Interface Section 3.9 Grounding Section 3.11 Display and operation sections Section 4.5 Parameter Chapter 5 Troubleshooting Chapter 8
16.3 Operation and functions
POINT When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _". For the test operation, refer to section 4.2.3, 4.3.3, 4.4.3, and 4.5.9. After power on, the Z-phase mark of the direct drive motor must pass the connector area once. In a system which prevents the direct drive motor from making a full rotation, install the direct drive motor in a position where the Z- phase mark can pass over the connector area.
16. USING A DIRECT DRIVE MOTOR
16 - 5
16.3.1 Startup procedure
Start up the direct drive servo system in the following procedure.
Set "_ _ _ 1" in [Pr. PA03].
Release [AL. 25 Absolute position erased]. (Note 5)
Absolute position detection system
Installation and wiring
Turn on the Z-phase pulse of the direct drive motor by using the JOG operation of controller. (Note 1, 2)
Perform the magnetic pole detection. (Note 6) Transfer of absolute position data (Refer to section 16.4.)
Absolute position detection system?
Incremental system
Can you manually turn on the Z-phase pulse of the direct
drive motor?
Change the setting to disable the magnetic pole detection. (Refer to section 16.3.2.)
Turn on the Z-phase pulse of the direct drive motor manually. (Note 3)
Positioning operation check using the controller (Refer to section 16.3.3.)
Home position return operation (Refer to the controller manual used.)
Positioning operation
Perform the magnetic pole detection. (Refer to section 16.3.2.) (Note 1, 4)
Positioning operation check using the test operation mode (Note 1, 4)
No
Release [AL. 93 ABS data transfer warning]. (Note 7)
No
Yes
Perform this procedure once at startup.
16. USING A DIRECT DRIVE MOTOR
16 - 6
Note 1. Use MR Configurator2. 2. For the absolute position detection system, always turn on the Z-phase pulse of the direct drive motor while the servo amplifier
power is on, and then turn the servo amplifier power supply off and on again. By turning off and on the power supply, the absolute position becomes confirmed. Without this operation, the absolute position will not be regained properly, and a warning will occur at the controller.
3 If the Z-phase pulse of the direct drive motor can be turned on manually, the Z-phase pulse does not have to be turned on by the magnetic pole detection or the JOG operation. For this operation, make sure to connect the direct drive motor encoder and the servo amplifier, and turn on the control circuit power supply of the servo amplifier (L11/L21) (turn off the main circuit power supply L1, L2, and L3). Ensure safety at this time.
4. Test operation cannot be performed in the absolute position detection system, either. To perform test operation, select "Disabled (incremental system) (_ _ _ 0)" in [Pr. PA03]. Refer to section 16.3.2 (1) for details.
5. After the servo amplifier is connected to the direct drive motor with an encoder cable, [AL. 25 Absolute position erased] will occur at the first power on. Cancel the alarm by turning on/off the power.
6. When the magnetic pole detection is performed with absolute position detection system by DIO transfer, [AL. 93 ABS data transfer warning] will occur. Refer to section 16.4 for details.
7. To cancel [AL. 93 ABS data transfer warning], cycle SON (Servo-on) or set a home position.
16.3.2 Magnetic pole detection
POINT The magnetic pole detection is not required for the configured absolute position detection system where the Z-phase pulse of the direct drive motor can be turned on manually. For this operation, always connect the direct drive motor encoder and the servo amplifier and turn on the control circuit power supply of the servo amplifier. Perform this operation by considering the safety. When performing a magnetic pole detection without using LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ 1 _ _" to disable LSP and LSN. Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic pole detection. For the magnetic pole detection of vertical axis with direct drive motors, refer to section 2.1 of "Direct Drive Motor Instruction Manual".
Before the positioning operation of the direct drive motor, make sure to perform the magnetic pole detection. Before starting up the equipment, perform the test operation (positioning operation) of MR Configurator2.
16. USING A DIRECT DRIVE MOTOR
16 - 7
(1) Magnetic pole detection method by using MR Configurator2
The following shows the magnetic pole detection procedure by using MR Configurator2.
(a) Magnetic pole detection by the position detection method
Have [AL. 32 Overcurrent], [AL. 50 Overload 1], [AL. 51 Overload 2], and
[AL. E1 Overload warning 1] occurred?
1)
5)
6)
7)
2)
3)
4)
The magnetic pole detection is carried out.
Is [Pr. PL09] the final value?
Has [AL. 27 Initial magnetic pole detection error] occurred?
Reset the alarm or cycle the servo amplifier power.
Cycle the servo amplifier power.
Reset the alarm or cycle the servo amplifier power.
Increase the value of [Pr. PL09] by five.
Set an approximately 70% of the value set for [Pr. PL09] as the final setting value. If [AL. 27 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at [AL. E1 Overload warning 1] and the value set at [AL. 27 Initial magnetic pole detection error] as the final setting value.
NO
YES
YES
NO
YES
NO
Magnetic pole detection
End
Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic pole detection method to "Position detection method".
Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole detection always enabled". (Note)
Cycle the servo amplifier power.
Set [Pr. PL09 Magnetic pole detection voltage level] to "10".
Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)
Note. For the incremental system, the [Pr. PL01] setting is not required.
16. USING A DIRECT DRIVE MOTOR
16 - 8
(b) Magnetic pole detection by the minute position detection method
Is the travel distance during the magnetic pole detection acceptable?
(Note 3)
4)
6)
2)
The magnetic pole detection is carried out.
Is "Response selection" of [Pr. PL17] set to a final setting value?
Has an abnormal sound or vibration occurred during the magnetic
pole detection? Decrease the value set in "Response selection" of [Pr. PL17] by two.
Increase the value set in "Response selection" of [Pr. PL17] by one.
Not acceptable
YES
Acceptable
NO
YES
NO
Magnetic pole detection
End
7)
1)
3)
5)
Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.
Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 4" to set the magnetic pole detection method to "Minute position detection method".
[Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole detection always enabled". (Note 1)
Cycle the servo amplifier power.
Set the load inertia moment ratio of the direct drive motor with [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection]. (Note 2)
Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)
Note 1. For the incremental system, the [Pr. PL01] setting is not required. 2. If the load to direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the
position detection method, and then perform the auto tuning to set an estimated value. 3. For the magnetic pole detection by the minute position detection method, the maximum rotation angle at
the magnetic pole detection must be five degrees or less. To shorten the travel distance, increase the value of "Response selection" in [Pr. PL17].
16. USING A DIRECT DRIVE MOTOR
16 - 9
(2) Operation at the magnetic pole detection
WARNING Note that the magnetic pole detection automatically starts simultaneously with the turning-on of the servo-on command.
CAUTION If the magnetic pole detection is not executed properly, the direct drive motor may operates unexpectedly.
POINT
Establish the machine configuration to use LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). The machine may be damaged due to a collision without LSP and LSN. Assign LSP and LSN and perform the magnetic pole detection also in the torque control mode. At the magnetic pole detection, whether the motor rotates in the forward or reverse direction is unpredictable. Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage level], an overload, overcurrent, magnetic pole detection alarm, or others may occur. After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of MR Configurator2. The accuracy of the magnetic pole detection improves with no load.
(a) Incremental system
POINT
For the incremental system, the magnetic pole detection is required every time the power is turned on.
By turning on SON (Servo-on) after power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of [Pr. PL01]) for executing the magnetic pole detection.
1) Timing chart
15 s or less
ON OFF
ON OFF
ON OFF
95 ms SON (Servo-on)
Base circuit
RD (Ready)
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on.
16. USING A DIRECT DRIVE MOTOR
16 - 10
2) Direct drive motor movement (when LSP and LSN are on)
Magnetic pole detection completion position
Servo-on position (Magnetic pole detection start position)
Center of direct drive motor rotation part
LSP (Note)(Note) LSN
10 degrees or less
Note. When the stroke limit (LSP or LSN) is turned off during the magnetic pole detection, the magnetic pole detection is carried on to the opposite direction. When both LSP and LSN are off, [AL. 27 Initial magnetic pole detection error] occurs.
3) Direct drive motor movement (when LSP or LSN is off)
When LSP or LSN is off at servo-on, the magnetic pole detection is carried out as follows.
Magnetic pole detection completion position
Magnetic pole detection start position
After the machine moves to the position where the stroke limit (LSP or LSN) is set, the magnetic pole detection starts.
Servo-on position
Center of direct drive motor rotation part
LSP LSN
10 degrees or less
(b) Absolute position detection system
POINT The magnetic pole detection is required in the following timings.
System set-up (at the first startup of equipment) When the Z-phase pulse of the direct drive motor is not turned on at the system setup (When the Z-phase pulse of the direct drive motor can be turned on manually, the magnetic pole detection is not required.) After a direct drive motor is replaced When [AL. 25 Absolute position erased] has occurred
Turn on the Z-phase pulse of the direct drive motor in JOG operation from the controller after the magnetic pole detection.
Perform the magnetic pole detection in the following procedure.
1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole
detection at first servo-on). [Pr. PL01]
Magnetic pole detection at first servo-on (initial value)
1
16. USING A DIRECT DRIVE MOTOR
16 - 11
2) Execute the magnetic pole detection. (Refer to (2) (a) in this section.)
3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection disabled). [Pr. PL01]
Magnetic pole detection disabled
0
After the magnetic pole detection, by turning on the Z-phase pulse of the direct drive motor in JOG operation and by disabling the magnetic pole detection function with [Pr. PL01], the magnetic pole detection after each power-on is not required.
(3) Magnetic pole detection method setting
Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection method selection).
[Pr. PL08]
Magnetic pole detection method selection 0: Position detection method 4: Minute position detection method
(4) Setting of the magnetic pole detection voltage level by the position detection method For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
(a) Guideline of parameter settings
Set the parameters by referring to the following table.
[Pr. PL09] setting (guide value)
Servo status
Small Medium Large (10 or less (initial value) 50 or more)
Torques required for operation Small Large Overload, overcurrent alarm Seldom occurs Frequently occurs Magnetic pole detection alarm Frequently occurs Seldom occurs Magnetic pole detection accuracy Low High
(b) Setting procedure
1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occur. Increase the setting value by five as a guide value. When these alarms and warnings occur during the magnetic pole detection by using MR Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off status is established.
2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],
[AL. 51 Overload 2], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value. However, if [AL. 27 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. E1 Overload warning 1], or [AL. EC Overload warning 2] and the value set at the magnetic pole detection alarm as the final setting value.
3) Perform the magnetic pole detection again with the final setting value.
16. USING A DIRECT DRIVE MOTOR
16 - 12
(c) Setting example
Existent Non-existentAlarm
Magnetic pole detection
[Pr. PL09] setting value
An alarm has occurred when the setting value of [Pr. PL09] is set to "70".
While increasing the setting value of [Pr. PL09], carry out the magnetic pole detection repeatedly.
30 35 40 45 65 70
In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70 0.7).
16.3.3 Function
(1) Servo control error detection function
POINT For the servo control error detection function, the position and speed deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)
If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To detect this state and to stop operation, the servo control error detection function is used as a protective function. The servo control error detection function has three different detection methods: the position deviation, speed deviation, and torque deviation. An error is detected when each method is enabled with [Pr. PL04 Linear servo motor/DD motor function selection 2]. The detection level can be changed with [Pr. PL05], [Pr. PL06], and [Pr. PL07].
Servo amplifier internal value 1) Model feedback position [rev] 3) Model feedback speed [r/min] 5) Command torque [%]
Encoder 2) Feedback position [rev] 4) Feedback speed [r/min] 6) Feedback torque [%]
Servo amplifier Direct drive motor
Encoder
Figure 16.1 Outline of servo control error detection function
(a) Position deviation error detection Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.
[Pr. PL04]
Position deviation error detection enabled
1
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 16.1, if the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 (0.01 rev) to 1000 (10 rev)), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 0.09 rev. Change the set value as necessary.
16. USING A DIRECT DRIVE MOTOR
16 - 13
(b) Speed deviation error detection
Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection. [Pr. PL04]
Speed deviation error detection enabled
2
When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 16.1, if the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 r/min to 2000 r/min), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 100 r/min. Change the set value as necessary.
(c) Torque deviation error detection level
Set [Pr. PL04] to "_ _ _ 4" to enable the torque deviation error detection. [Pr. PL04]
Torque deviation error detection enabled
4
When you compare the command torque ( 5)) and the feedback torque ( 6)) in figure 16.1, if the deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to 1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 100%. Change the set value as necessary.
(d) Detecting multiple deviation errors
When [Pr. PL04] is set as follows, multiple deviation errors can be detected. For the error detection methods, refer to (1) (a), (b), (c) in this section.
[Pr. PL04]
Position deviation error detection
Setting value
Speed deviation error detection
Torque deviation error detection
1
5 6 7
3 2
4
16. USING A DIRECT DRIVE MOTOR
16 - 14
16.4 Absolute position detection system
POINT To configure the absolute position detection system by using the direct drive motor, the battery and the absolute position storage unit (MR-BTAS01) are required. For encoder cables and absolute position storage units, refer to "Direct Drive Motor Instruction Manual". Replacing the absolute position storage unit (MR-BTAS01) will erase the absolute position. Start up the direct drive motor again and perform home positioning. Replace the battery while the control circuit power is on. Replacing the unit during control circuit power supply off will cause [AL. 25 Absolute position erased]. A battery cannot be replaced using battery connection cable (MR- J3BTCBL03M). [AL. 25 Absolute position erased] will occur if the encoder cable is disconnected.
When you use the system with absolute position detection system by DIO transfer (set [Pr. PA03] to "_ _ _ 1") with the following conditions, the first servo-on after power on will trigger the magnetic pole detection and [AL. 93 ABS data transfer warning] will occur.
Magnetic pole detection always enabled (Set [Pr. PL03] to "_ _ _ 1".) The Z-phase pulse of the direct drive motor has not turned on.
When the magnetic pole detection is performed with absolute position detection system by DIO transfer, a deviation occurs between absolute position data of the servo amplifier side and controller side. If the operation is continued, positions will be mismatched. Therefore, [AL. 93 ABS data transfer warning] will occur on the servo amplifier side. To cancel [AL. 93 ABS data transfer warning], cycle SON (Servo-on) or set a home position.
16. USING A DIRECT DRIVE MOTOR
16 - 15
Timing chart at power on under the condition of performing magnetic pole detection
OFF
ON Power
OFF
ON SON (Servo-on)
OFF
ON
OFF
ON ABSR (ABS request)
OFF
ON ABST (ABS transmission data ready)
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
OFF
ON Base circuit
OFF
ON RD (Ready) Operation
possible Operation possible
95 ms 95 ms
Absolute position data
Absolute position data
During ABS transfer During ABS transferABSM (ABS transfer mode)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
Warning
Second or later servo-onFirst servo-on after power on
15 s or less Magnetic pole detection time
(Note 2) Existent
Non-existent
Note 1. Refer to section 12.8.2 (1) (b) for details. 2. Performing the magnetic pole detection triggers [AL. 93 ABS data transfer warning].
For transferring absolute position data to the controller, refer to section 12.8. 16.5 Characteristics
16.5.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo amplifier, direct drive motor, and direct drive motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig. 16.2. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken line in the graph. For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or less of the rated torque. This servo amplifier has solid-state direct drive motor overload protection for each axis. (The direct drive motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
16. USING A DIRECT DRIVE MOTOR
16 - 16
1000
100
10
1
0.1 0 50 150 200 250 300100
Servo-lock
O pe
ra tio
n tim
e [s
]
(Note) Load ratio [%]
Operating
TM-RFM002C20/TM-RFM004C20/ TM-RFM006C20/TM-RFM006E20/ TM-RFM012E20/TM-RFM018E20/ TM-RFM012G20/TM-RFM040J10
1000
100
10
1
0.1 0 50 150 200 250 300100
Servo-lock
O pe
ra tio
n tim
e [s
] (Note) Load ratio [%]
Operating
TM-RFM048G20/TM-RFM072G20/ TM-RFM120J10
10000
1000
100
10
1 0 50 150 200 250 300100
Servo-lock
O pe
ra tio
n tim
e [s
]
(Note) Load ratio [%]
Operating
TM-RFM240J10
0 50 100 150 200 250 300 350
1000
100
10
1
0.1
Servo-lock
O pe
ra tio
n tim
e [s
]
(Note) Load ratio [%]
Operating
TM-RG2M002C30/TM-RU2M002C30/ TM-RG2M004E30/TM-RU2M004E30/ TM-RG2M009G30/TM-RU2M009G30
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a direct drive
motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.
Fig. 16.2 Electronic thermal protection characteristics
16. USING A DIRECT DRIVE MOTOR
16 - 17
16.5.2 Power supply capacity and generated loss
Table 16.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the direct drive motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.
Table 16.1 Power supply capacity and generated loss per direct drive motor at rated output
Direct drive motor Servo amplifier Power supply capacity [kVA]
Servo amplifier-generated heat [W] Area required for heat dissipation [m2] At rated output With servo-off
TM-RG2M002C30 MR-J4-20A(-RJ) MR-J4-20A1(-RJ) 0.25 25 15 0.5
TM-RU2M002C30 TM-RG2M004E30 MR-J4-20A(-RJ)
MR-J4-20A1(-RJ) 0.5 25 15 0.5
TM-RU2M004E30 TM-RG2M004E30 (Note) MR-J4-40A(-RJ)
MR-J4-40A1(-RJ) 0.7 35 15 0.7
TM-RU2M004E30 (Note) TM-RG2M009G30 MR-J4-40A(-RJ)
MR-J4-40A1(-RJ) 0.9 35 15 0.7
TM-RU2M009G30
TM-RFM002C20 MR-J4-20A(-RJ)
MR-J4-20A1(-RJ) 0.25 25 15 0.5
TM-RFM004C20 MR-J4-40A(-RJ)
MR-J4-40A1(-RJ) 0.38 35 15 0.7
TM-RFM006C20 MR-J4-60A(-RJ) 0.53 40 15 0.8 TM-RFM006E20 MR-J4-60A(-RJ) 0.46 40 15 0.8 TM-RFM012E20 MR-J4-70A(-RJ) 0.81 50 15 1.0 TM-RFM018E20 MR-J4-100A(-RJ) 1.3 50 15 1.0 TM-RFM012G20 MR-J4-70A(-RJ) 0.71 50 15 1.0 TM-RFM048G20 MR-J4-350A(-RJ) 2.7 90 20 1.8 TM-RFM072G20 MR-J4-350A(-RJ) 3.8 110 20 2.2 TM-RFM040J10 MR-J4-70A(-RJ) 1.2 50 15 1.0 TM-RFM120J10 MR-J4-350A(-RJ) 3.4 90 20 1.8 TM-RFM240J10 MR-J4-500A(-RJ) 6.6 160 25 3.2
Note. The combination increases the rated torque and the maximum torque.
16. USING A DIRECT DRIVE MOTOR
16 - 18
16.5.3 Dynamic brake characteristics
CAUTION
The coasting distance is a theoretically calculated value that does not consider factors such as friction. The calculated distance is longer than the actual distance. If the braking distance is not longer than the calculated value, a moving part may crash into the stroke end, causing a dangerous situation. Install an anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes. Be sure to enable EM1 (Forced stop 1) after the direct drive motor stops when using EM1 (Forced stop 1) frequently in other than emergency.
(1) Dynamic brake operation
(a) Calculation of coasting distance Fig. 16.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 16.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the direct drive motor and machine operation speeds. (Refer to (1) (b) in this section.)
Dynamic brake time constant
Timete
V0
ON
OFF EM1 (Forced stop 1)
Machine speed
Fig. 16.3 Dynamic brake operation diagram
Lmax = 60 V0 JM
te + 1 + JL (16.1)
Lmax: Maximum coasting distance [mm] V0: Machine's fast feed speed [mm/min] JM: Moment of inertia of direct drive motor [kgcm2] JL: Load moment of inertia converted into equivalent value on direct drive motor rotor [kgcm2] : Dynamic brake time constant [s] te: Delay time of control section There is internal relay delay time of about 10 ms.
[s]
16. USING A DIRECT DRIVE MOTOR
16 - 19
(b) Dynamic brake time constant
The following shows necessary dynamic brake time constant for equation 16.1.
Speed [r/min]
0 0 100 200
5
15
20
25
30
300 400 500
006
004
10
002 Ti
m e
co ns
ta nt [
m s]
00 100 200
70
300 400 500
012
006 018
10 20 30 40 50 60
Speed [r/min]
Ti m
e co
ns ta
nt [
m s]
TM-RFM_C20 TM-RFM_E20
0 0
10
30
40
50
60
20
100 200 300 400 500 Speed [r/min]
072
048
012
Ti m
e co
ns ta
nt [
m s]
00
60
50 100 150 200
70 80
50 40 30 20 10
Speed [r/min]
120
040
240
Ti m
e co
ns ta
nt [
m s]
TM-RFM_G20 TM-RFM_J10
0 0
25
30
20
15
10
5
100 200 300 400 500 600 Speed [r/min]
Ti m
e co
ns ta
nt [
m s]
0 0
5
15
20
25
30
10
100 200 300 400 500 600 Speed [r/min]
Ti m
e co
ns ta
nt [
m s]
TM-RG2M002C30 TM-RU2M002C30
TM-RG2M004E30 TM-RU2M004E30
0 0
60 70 80
50 40 30 20 10
100 200 300 400 500 600 Speed [r/min]
Ti m
e co
ns ta
nt [
m s]
TM-RG2M009G30 TM-RU2M009G30
16. USING A DIRECT DRIVE MOTOR
16 - 20
(2) Permissible load to motor inertia ratio when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office. The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the direct drive motor. The value in the parenthesis shows the value at the rated speed of the direct drive motor.
Direct drive motor Permissible load to motor inertia ratio
[multiplier] TM-RFM_C20
100 (300) TM-RFM_E20
TM-RG2M002C30 TM-RU2M002C30
TM-RFM_G20 50 (300) TM-RFM_J10 50 (200)
TM-RG2M_E30
20 (80) TM-RG2M_G30 TM-RU2M_E30 TM-RU2M_G30
17. FULLY CLOSED LOOP SYSTEM
17 - 1
17. FULLY CLOSED LOOP SYSTEM
POINT The fully closed loop system is available for the servo amplifiers of which software version is A5 or above. When fully closed loop control system is used with this servo amplifier, "Linear Encoder Instruction Manual" is needed. Fully closed loop control system is available with position control mode. When fully closed loop control system is configured with MR-J4-_A_ servo amplifier, the following restrictions will be applied. However, these restrictions will not be applied for MR-J4-_A_-RJ servo amplifiers.
A/B/Z-phase differential output method encoder cannot be used. The load-side encoder and servo motor encoder is compatible with only the two-wire type. The four-wire type load-side encoder and servo motor encoder cannot be used. When you use the KG-KR and HG-MR series for driving and load-side encoder, the optional four-wire type encoder cables (MR-EKCBL30M-L, MR- EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used. When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to app. 8.
The MR-J4-03A6(-RJ) servo amplifier is not compatible with the fully closed loop system. The synchronous encoder Q171ENC-W8 can be used with servo amplifiers with software version A8 or later.
17. FULLY CLOSED LOOP SYSTEM
17 - 2
17.1 Functions and configuration
17.1.1 Function block diagram
A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the load-side encoder unit.
Servo motor-side cumulative feedback pulses
(load-side encoder resolution unit) (Servo motor side) Droop pulses
(Servo motor side) Cumulative feedback pulses
Load-side droop pulses
Cumulative load-side feedback pulses
Fully closed loop dual feedback filter ([Pr. PE08]) (Note 2)
FBD
Servo motor
Linear encoder
Controller
(Note 1, 2) Fully closed loop selection ([Pr. PE01] and [Pr. PE08])
+
-
FBN
S
+
- Encoder pulse setting ([Pr. PA15], [Pr. PA16] and [Pr. PC03])
Fully closed loop control error detection function selection ([Pr. PE03])
+
-
+
+
-
+
-
+
Control Monitor
Load-side feedback pulses
CDV CMX
Electronic gear
Note 1. Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of [Pr. PE01]. When semi closed loop control is selected, a control is always performed on the bases of the position data of the servo motor encoder independently of whether the servo motor is at a stop or running.
2. When the fully closed loop system is enabled in [Pr. PE01], dual feedback control in which the servo motor feedback signal and load-side encoder feedback signal are combined by the dual feedback filter in [Pr. PE08] is performed. In this case, fully closed loop control is performed when the servo motor is at a stop, and semi closed loop control is performed when the servo motor is operating to improve control performance. When "4500" is set as the filter value of [Pr. PE08 Fully closed loop dual feedback filter], fully closed loop control is always performed.
The following table shows the functions of each control mode.
Control Description
Semi closed loop control
Feature Position is controlled according to the servo motor-side data.
Advantage Since this control is insusceptible to machine influence (such as machine resonance), the gains of the servo amplifier can be raised and the settling time shortened.
Disadvantage If the servo motor side is at a stop, the side may be vibrating or the load-side accuracy not obtained.
Dual feedback control
Feature Position is controlled according to the servo motor-side data and load-side data.
Advantage Control is performed according to the servo motor-side data during operation, and according to the load side-data at a stop in sequence to raise the gains during operation and shorten the settling time. A stop is made with the load-side accuracy.
Fully closed loop control
Feature Position is controlled according to the load-side data. Advantage The load-side accuracy is obtained not only at a stop but also during operation.
Disadvantage Since this control is susceptible to machine resonance or other influences, the gains of the servo amplifier may not rise.
17. FULLY CLOSED LOOP SYSTEM
17 - 3
17.1.2 Selecting procedure of control mode
(1) Control mode configuration In this servo, a semi closed loop system or fully closed loop system can be selected as a control system. In addition, the fully closed loop control and dual feedback control can be selected by the [Pr. PE08] settings on the fully closed loop system.
Semi closed/fully closed switching command
"4500"
Fully closed loop function selection 1
([Pr. PE01])
Operation mode selection ([Pr. PA01])
"_ _ _ 1"
"_ _ _ 0"
Fully closed loop control
Semi closed loop control
"_ _ 0 _"
Servo amplifier "_ _ 1 _"
(Refer to section 17.3.1 (2) (a))
OFF
ON
(Refer to section 17.3.1 (2) (b)) Dual feedback
control
Semi closed loop control
"1 to 4499"
Fully closed loop system
CLD (Fully closed loop control selection)
Fully closed loop dual feedback filter
([Pr. PE08])
Semi closed loop system
(2) Dual feedback filter equivalent block diagram A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
Servo motor during a stop (0 to )
Fully closed loop control
In operation ( or more) Semi closed loop control
Semi closed loop control
Fully closed loop control
+
+
+ -
Dual feedback filter
Servo motor
Linear encoder
Position control unit
High-pass filter
Low-pass filter
(Note)
Frequency [rad/s]
Operation status Control status
Note. "" (a dual feedback filter band) is set by [Pr. PE08].
17. FULLY CLOSED LOOP SYSTEM
17 - 4
17.1.3 System configuration
(1) For a linear encoder (a) MR-J4-_A_ servo amplifier
CN2
Table
(Note) Two-wire type serial interface compatible linear encoder
Load-side encoder signal
Servo motor encoder signal
Linear encoder head
Servo motor
Servo amplifier
Controller
Note. Applicable for the absolute position detection system when an absolute position linear encoder is used. In that case, a battery is not required.
(b) MR-J4-_A_-RJ servo amplifier
(Note) A/B/Z-phase pulse train interface compatible linear encoder or two-wire/four-wire type serial interface compatible linear encoder
Load-side encoder signal CN2L
(A/B/Z-phase pulse train interface or serial interface)
CN2
Table
Servo motor encoder signal
Linear encoder head
Servo motor
Servo amplifier
Controller
Note. Applicable for the absolute position detection system when an absolute position linear encoder is used. In that case, a battery is not required.
17. FULLY CLOSED LOOP SYSTEM
17 - 5
(2) For a rotary encoder
(a) MR-J4-_A_ servo amplifier
Controller
Servo motor
(Note)
(Note)
Two-wire type rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev)
Drive part
Servo amplifier
CN2
Load-side encoder signal
Servo motor encoder signal
Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.
(b) MR-J4-_A_-RJ servo amplifier
Servo motor
A/B/Z-phase differential output, two-wire type, or four-wire type rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev) or synchronous encoder Q171ENC-W8 (4194304 pulses/rev)
Drive part
CN2L
Load-side encoder signal
Servo motor encoder signal
Controller
CN2
Servo amplifier
17. FULLY CLOSED LOOP SYSTEM
17 - 6
17.2 Load-side encoder
POINT Always use the load-side encoder cable introduced in this section. Using other products may cause a malfunction. For details of the load-side encoder specifications, performance and assurance, contact each encoder manufacturer.
17.2.1 Linear encoder
Refer to "Linear Encoder Instruction Manual" for usable linear encoders. 17.2.2 Rotary encoder
If using a rotary encoder as a load-side encoder, use the following servo motor or encoder.
Servo amplifier HG-KR HG-MR Synchronous encoder Q171ENC-W8 A/B/Z-phase
differential output (Note)
MR-J4-_A_ MR-J4-_A_-RJ
Note. A/B/Z-phase differential output rotary encoders with the same specifications as A/B/Z-phase differential output
linear encoders can be used as load-side encoders. Refer to "Linear Encoder Instruction Manual".
Use a two-wire type encoder cable for MR-J4-_A_ servo amplifiers. Do not use MR-EKCBL30M-L, MREKCBL30M-H, MR-EKCBL40M-H, or MR-EKCBL50M-H as they are four-wire type. If a 30 to 50 m encoder cable is required, fabricate a two-wire type encoder cable by referring to app. 9.
17. FULLY CLOSED LOOP SYSTEM
17 - 7
17.2.3 Configuration diagram of encoder cable
Configuration diagram for servo amplifier and load-side encoder is shown below. Cables used vary, depending on the load-side encoder. (1) Linear encoder
Refer to Linear Encoder Instruction Manual for encoder cables for linear encoder.
(a) MR-J4-_A_ servo amplifier
Servo amplifier
Linear encoder
CN2
MR-J4FCCBL03M branch cable (Refer to section 17.2.4)
Encoder of rotary servo motor
Encoder cable (Refer to the Linear Encoder Instruction Manual.)
CN2 MOTOR
SCALE Load-side encoder
(b) MR-J4-_A_-RJ servo amplifier You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_A_-RJ servo amplifier. You can also use a four-wire type linear encoder. Servo amplifier
Linear encoder
CN2 Encoder of rotary servo motor
CN2L
Encoder cable (Refer to the Linear Encoder Instruction Manual.)
Load-side encoder
17. FULLY CLOSED LOOP SYSTEM
17 - 8
(2) Rotary encoder
Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders.
(a) MR-J4-_A_ servo amplifier
Servo amplifier CN2
MR-J4FCCBL03M branch cable (Refer to section 17.2.4)
Encoder of rotary servo motor
Encoder cable (Refer to the Servo Motor Instruction Manual (Vol. 3).)
CN2 MOTOR
SCALE
(Note)
(Note)
Load-side encoder
Servo motor HG-KR HG-MR
Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.
(b) MR-J4-_A_-RJ servo amplifier
For the MR-J4-_A_-RJ servo amplifier, a rotary encoder can be connected without the branch cable shown in the above (a). In addition, a four-wire type or A/B/Z-phase differential output rotary encoder can also be used.
CN2
CN2L
Q170ENCCBL_M-A
HG-KR HG-MR
Servo amplifier
Encoder of rotary servo motor
Encoder cable (Refer to "Servo Motor Instruction Manual (Vol. 3)".)
Load-side encoder
Servo motor
Synchronous encoder Q171ENC-W8
Encoder cable (Refer to "Linear Encoder Instruction Manual".)
A/B/Z-phase differential output rotary encoder (Note)
Note. A/B/Z-phase differential output rotary encoders with the same specifications as A/B/Z-phase differential output linear encoders can be used as load-side encoders. Refer to "Linear Encoder Instruction Manual".
17. FULLY CLOSED LOOP SYSTEM
17 - 9
17.2.4 MR-J4FCCBL03M branch cable
Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2 connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual".
LG
View seen from wiring side.
4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
THM2
THM1
MXR SEL THM2
THM1
SEL
MX BAT
SD
3 4
1
CN2 MOTOR Plate
(Note 1) (Note 2)
0.3 m
MR
P5
MRR
SD
MR
P5
MRR 3 4
1 Plate
View seen from wiring side.
4 MRR
2 8
6
1 P5
5
10
3 MR
7 9
View seen from wiring side.
4 2
8 6
15
10
37 9
BAT
2
THM2 6 7MX
LG LG2
MXR 8 BAT SEL
9 10
5THM1 5 THM1 6 THM2
9 BAT 10 SEL
SCALE (Note 2)
P5 SD
SEL
LG 1 2
10
Plate
4 MXR BAT9
3 MX BAT
SEL LG
P5
MXR
MX
Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M) 2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)
17. FULLY CLOSED LOOP SYSTEM
17 - 10
17.3 Operation and functions
17.3.1 Startup
(1) Startup procedure Start up the fully closed loop system in the following procedure.
Positioning operation check using the controller (Refer to section 17.3.3.)
Positioning operation check using MR Configurator2
Gain adjustment
Completion of installation and wiring
Positioning operation check using MR Configurator2
Adjustment and operation check in semi closed loop system
Gain adjustment
Adjustment and operation check in fully closed loop system
Selection of fully closed loop system (Refer to (2) in this section.)
Selection of load-side encoder communication system (Refer to (3) in this section.)
Adjustment of dual feedback switching filter. (for dual feedback control) (Refer to (5) in this section.)
Setting of load-side encoder polarity (Refer to (4) in this section.)
Home position return operation (Refer to section 17.3.2.)
Positioning operation
Completion of fully closed loop system startup
Check that the servo equipment is normal. Do as necessary.
17. FULLY CLOSED LOOP SYSTEM
17 - 11
(2) Selection of fully closed loop system
By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be selected as shown in the following table.
[Pr. PA01] [Pr. PE01] Semi closed loop
control/fully closed loop control switching signal
Command unit Control method Absolute position detection system
"_ _ 0 _" Semi closed loop system (standard control mode)
Servo motor encoder unit
Semi closed loop control
"_ _ 1 _ " Fully closed loop system (fully closed loop control mode)
"_ _ _ 0" Load-side encoder unit
Dual feedback control (fully closed loop control)
(Note)
"_ _ _ 1" Off Semi closed loop control
On Dual feedback control (fully closed loop control)
Note. Applicable when the load-side encoder is set as the absolute position encoder.
(1) Operation mode selection
Select a operation mode.
Operation mode selection
[Pr. PA01]
1 0 0
Semi closed loop system (Standard control mode)
Fully closed loop system (Fully closed loop control mode)
Load-side encoder resolution unit
Set value
0
1
Operation mode
Servo motor-side resolution unit
Control unit
(b) Semi closed loop control/fully closed loop control selection Select the semi closed loop control/fully closed loop control.
Fully closed loop control selection 0: Always enabled 1: Switching using the control command of controller (switching between semi closed/fully closed)
0 0
Selection using the control command of controller
OFF ON
Semi closed loop control Fully closed loop control
Control method
When the operation mode selection in [Pr. PA01] is set to "_ _ 1 _" (fully closed loop system), this setting is enabled.
0 [Pr. PE01]
17. FULLY CLOSED LOOP SYSTEM
17 - 12
(3) Selection of load-side encoder communication method
The communication method changes depending on the load-side encoder type. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the communication method for each load- side encoder. Select the cable to be connected to CN2L connector in [Pr. PC44].
0 0 0 [Pr. PC44]
Load-side encoder cable communication method selection 0: Two-wire type 1: Four-wire type When using a load-side encoder of A/B/Z-phase differential output method, set "0". Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ will trigger [AL. 37].
(4) Setting of load-side encoder polarity
CAUTION Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr. PC45]. An abnormal operation and a machine collision may occur if an incorrect direction is set, which cause a fault and parts damaged.
POINT
"Encoder pulse count polarity selection" in [Pr. PC45] is not related to [Pr. PA14 Rotation direction selection]. Make sure to set the parameter according to the relationships between servo motor and linear encoder/rotary encoder. Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr. PC45]. Doing so may cause [AL. 42 Fully closed loop control error] during the positioning operation.
(a) Parameter setting method
Set the load-side encoder polarity to be connected to CN2L connector in order to match the CCW direction of servo motor and the increasing direction of load-side encoder feedback.
0 0 0 [Pr. PC45]
Encoder pulse count polarity selection 0: Load-side encoder pulse increasing direction in the servo motor CCW 1: Load-side encoder pulse decreasing direction in the servo motor CCW
Servo motor
Linear encoder
Servo motor CCW direction
Address increasing direction of linear encoder
(b) How to confirm the load-side encoder feedback direction For the way of confirming the load-side encoder feedback direction, refer to (6) in this section.
17. FULLY CLOSED LOOP SYSTEM
17 - 13
(5) Setting of feedback pulse electronic gear
POINT If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal operation may occur. Also, it may cause [AL. 42.8 Fully closed loop control error by position deviation] during the positioning operation.
Set the electronic gear ([Pr. PE04], [Pr. PE34], [Pr. PE05], and [Pr. PE35]) for servo motor-side encoder pulses. Set the electronic gear so that the number of servo motor encoder pulses per servo motor revolution is converted into the number of load-side encoder pulses. The relation is as follows.
Number of load-side encoder pulses per servo motor revolution
= Number of servo motor encoder pulses per servo motor revolution [Pr. PE04] [Pr. PE34]
[Pr. PE05] [Pr. PE35]
Select the load-side encoder so that the number of load-side encoder pulses per servo motor revolution is within the following range.
4096 (212) Number of load-side encoder pulses per servo motor revolution 67108864 (226)
(a) When the servo motor is directly coupled with a ball screw and the linear encoder resolution is 0.05
m
Conditions Servo motor resolution: 4194304 pulses/rev Servo motor reduction ratio: 1/11 Ball screw lead: 20 mm Linear encoder resolution: 0.05 m
Geared servo motor Table
Linear encoder
Linear encoder head
Calculate the number of linear encoder pulses per ball screw revolution.
Number of linear encoder pulses per ball screw revolution = Ball screw lead/linear encoder resolution = 20 mm/0.05 m = 400000 pulses
[Pr. PE04] [Pr. PE34] [Pr. PE05] [Pr. PE35]
400000 4194304
3125 32768
1 11
= 1 11
=
17. FULLY CLOSED LOOP SYSTEM
17 - 14
(b) Setting example when using the rotary encoder for the load-side encoder of roll feeder
Conditions Servo motor resolution: 4194304 pulses/rev Pulley diameter on the servo motor side: 30 mm Pulley diameter on the rotary encoder side: 20 mm Rotary encoder resolution: 4194304 pulses/rev
Servo motor
Rotary encoder (HG-KR or HG-MR servo motor) 4194304 pulses/rev
Drive part
Pulley diameter d1 = 30 mm
Pulley diameter d2 = 20 mm
When the pulley diameters or reduction ratios differ, consider that in calculation.
4194304 30 4194304 20
1 1
= = [Pr. PE04] [Pr. PE34] [Pr. PE05] [Pr. PE35]
3 2
17. FULLY CLOSED LOOP SYSTEM
17 - 15
(6) Confirmation of load-side encoder position data
Check the load-side encoder mounting and parameter settings for any problems.
POINT Depending on the check items, MR Configurator2 may be used. Refer to section 17.3.8 for the data displayed on the MR Configurator2.
When checking the following items, the fully closed loop control mode must be set. For the setting of control mode, refer to (2) in this section.
No. Check item Confirmation method and description 1 Read of load-side encoder position
data With the load-side encoder in a normal state (mounting, connection, etc.), the load-side cumulative feedback pulses value is counted normally when the load-side encoder is moved. When it is not counted normally, the following factors can be considered. 1. An alarm occurred. 2. The installation of the load-side encoder was not correct. 3. The encoder cable was not wired correctly.
2 Read of load-side encoder home position (reference mark, Z-phase)
With the home position (reference mark, or Z-phase) of the load-side encoder in a normal condition (mounting, connection, etc.), the value of load-side encoder information 1 is cleared to 0 when the home position (reference mark, or Z-phase) is passed through by moving the load-side encoder. When it is not cleared, the following factors can be considered. 1. The installation of the load-side encoder was not correct. 2. The encoder cable was not wired correctly.
3 Confirmation of load-side encoder feedback direction (Setting of load-side encoder polarity)
Confirm that the directions of the cumulative feedback pulses of servo motor encoder (after gear) and the load-side cumulative feedback pulses are matched by moving the device (load-side encoder) manually in the servo-off status. If mismatched, reverse the polarity.
4 Setting of load-side encoder electronic gear
When the servo motor and load-side encoder operate synchronously, the servo motor-side cumulative feedback pulses (after gear) and load-side cumulative feedback pulses are matched and increased. If mismatched, review the setting of fully closed loop control feedback electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]) with the following method. 1) Check the servo motor-side cumulative feedback pulses (before gear). 2) Check the load-side cumulative feedback pulses. 3) Check that the ratio of above 1) and 2) has been that of the feedback electronic gear.
Servo motor
Linear encoder
+
-
Servo motor-side cumulative feedback pulses (after gear)
3) Electronic gear
2) Load-side cumulative feedback pulses
Command
1) Servo motor-side cumulative feedback pulses (before gear)
17. FULLY CLOSED LOOP SYSTEM
17 - 16
(7) Setting of fully closed loop dual feedback filter
With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While observing the servo operation waveform with the graph function, etc. of MR Configurator2, adjust the dual feedback filter.
The dual feedback filter operates as described below depending on the setting.
[Pr. PE08] setting Control mode Vibration Settling time
1 to
4499 Dual feedback
Seldom occurs to
Frequently occurs
Long to
Short 4500 Fully closed loop
Increasing the dual feedback filter setting shortens the settling time, but increases servo motor vibration since the motor is more likely to be influenced by the load-side encoder vibration. The maximum setting of the dual feedback filter should be less than half of the PG2 setting.
Reduction of settling time: Increase the dual feedback filter setting.
Droop pulses
Command
Droop pulses
Command
TimeTime
Suppression of vibration: Decrease the dual feedback filter setting.
Droop pulses
Command
Droop pulses
Command
TimeTime
17. FULLY CLOSED LOOP SYSTEM
17 - 17
17.3.2 Home position return
(1) General instruction Home position return is all performed according to the load-side encoder feedback data, independently of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. In the case of a home position return using a dog signal, the home position (reference mark) must be passed through when an incremental type linear encoder is used, or the Z-phase be passed through when a rotary encoder is used, during a period from a home position return start until the dog signal turns off. For the linear encoder, a home position (reference mark) of the linear encoder is necessary in the home position return direction.
POINT
When you configure as follows, move the mover to LSN with JOG operation and perform home position to perform it in safe.
LSN LSP
Home position of linear encoder (reference mark)Home position return direction
Non-returnable area: Home position return cannot be performed when started from this area.
Returnable area: Home position return can be performed when started from this area.
Dog
(2) Load-side encoder types and home position return methods
(a) About proximity dog type home position return using absolute type linear encoder When an absolute type linear encoder is used, the home position standard position is the position per servo motor revolution to the linear encoder home position (absolute position data = 0). In the case of a proximity dog type home position return, the nearest position after proximity dog off is the home position. The linear encoder home position may be set in any position.
Linear encoder home position Home position
Home position return speed
Creep speed
Home position return direction
ON OFF
Proximity dog signal
Servo motor speed
Reference home position
Machine position
0 r/min
Equivalent to one servo motor revolution
17. FULLY CLOSED LOOP SYSTEM
17 - 18
(b) Home position return using incremental linear encoder
When you use an incremental linear encoder, LZ (Encoder Z-phase pulse) from the servo amplifier will be the home position (reference mark) of the linear encoder. Two or more home positions (reference marks) should not be set. In addition, the home position return cannot be executed without home position (reference mark).
Servo motor speed
Linear encoder home position Home position
Home position return speed
Creep speed
Home position return direction
ON OFF
Proximity dog signal
Reference home position
Machine position
Equivalent to one servo motor revolution
0 r/min
1) Caution for passing the home position (reference mark) An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoders. For details, refer to "Linear Encoder Instruction Manual".)
Example: When Z-phase is recognized at startup
B A
Home position signal
A is recognized as the on position. B is recognized as
the on position.
The position which turns on a signal differs depending on the directions of home position passing. When you need to set the home position return completion to the same position each time such as dog type home position return, always start home position return with the same direction.
2) Caution for linear encoder which does not have the home position (Z-phase)
The linear encoder which does not have the home position (Z-phase), LZ (Encoder Z-phase pulse) of the servo amplifier does not be outputted. The home position return can be performed depending on specifications of controllers even if LZ (Encoder Z-phase pulse) is not outputted. Check the controller specifications of the home position return.
17. FULLY CLOSED LOOP SYSTEM
17 - 19
(c) About dog type home position return when using the rotary encoder of a serial communication servo
motor The home position for when using the rotary encoder of a serial communication servo motor for the load-side encoder is at the load-side Z-phase position.
Servo amplifier power-on position
Home position
ON OFF
Load-side encoder Z-phase signal
Reference home position
Machine position
Equivalent to one servo motor revolution
17. FULLY CLOSED LOOP SYSTEM
17 - 20
17.3.3 Fully closed loop control error detection functions
If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase abnormally. The fully closed loop control error detection function is a protective function designed to pre- detect it and stop operation. The fully closed loop control error detection function has two types of detection methods: speed deviation and position deviation. Select a detection method with [Pr. PE03 Fully closed loop function selection 2]. The detection level setting can be changed using [Pr. PE06] and [Pr. PE07]. (1) Parameter
The fully closed loop control error detection function is selected.
Fully closed loop control error detection function 0: Disabled 1: Speed deviation error detection 2: Position deviation error detection 3: Speed deviation error, position deviation error detection (Initial value)
00 0 [Pr. PE03]
(2) Fully closed loop control error detection functions Servo motor
Linear encoder
1) Servo motor-side feedback speed [r/min] 2) Servo motor-side feedback position [pulse]
(load side equivalent value)
3) Load-side feedback speed [r/min] 4) Load-side feedback position [pulse]
(a) Speed deviation error detection Set [Pr. PE03] to "_ _ _ 1" to enable the speed deviation error detection.
Speed deviation error detection
1 [Pr. PE03]
The function compares the servo motor-side feedback speed (1)) and load-side feedback speed (3)). If the deviation is not less than the set value (1 r/min to the permissible speed) of [Pr. PE06 Fully closed loop control speed deviation error detection level], the function generates [AL. 42.2 Servo control error by speed deviation] and stops the motor. The initial value of [Pr. PE06] is 400 r/min. Change the set value as necessary.
17. FULLY CLOSED LOOP SYSTEM
17 - 21
(b) Position deviation error detection
Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection.
Position deviation error detection
2 [Pr. PE03]
Comparing the servo motor-side feedback position (2)) and load-side feedback position (4)), if the deviation is not less than the set value (1 kpulses to 20000 kpulses) of [Pr. PE07 Fully closed loop control position deviation error detection level], the function generates [AL. 42.1 Servo control error by position deviation] and stops the motor. The initial value of [Pr. PE07] is 100 kpulses. Change the set value as necessary.
(c) Detecting multiple deviation errors
When setting [Pr. PE03] as shown below, multiple deviation errors can be detected. For the error detection method, refer to (2) (a), (b) in this section.
[Pr. PE03]
Setting value
Speed deviation error detection
Position deviation error detection
1 2 3
17.3.4 Auto tuning function
Refer to section 6.3 for the auto tuning function. 17.3.5 Machine analyzer function
Refer to Help of MR Configurator2 for the machine analyzer function of MR Configurator2. 17.3.6 Test operation mode
Test operation mode is enabled by MR Configurator2. For details on the test operation, refer to section 4.5.9.
Function Item Usability Remark
Test operation mode
JOG operation It drives in the load-side encoder resolution unit Positioning operation The fully closed loop system is operated in the load-side encoder resolution
unit. For details, refer to section 4.5.9 (5). Program operation
Output signal (DO) forced output Refer to section 4.5.9 (6).
Motor-less operation
17. FULLY CLOSED LOOP SYSTEM
17 - 22
17.3.7 Absolute position detection system under fully closed loop system
An absolute type linear encoder is necessary to configure an absolute position detection system under fully closed loop control using a linear encoder. In this case, the encoder battery (MR-BAT6V1SET) need not be installed to the servo amplifier. When an rotary encoder is used, an absolute position detection system can be configured by installing the encoder battery (MR-BAT6V1SET) to the servo amplifier. In this case, the battery life will be shorter because the power consumption is increased as the power is supplied to the two encoders of motor side and load side. If using an absolute position detection system with a linear encoder, enable the system with [Pr. PA03 Absolute position detection system], and use this servo with the following restrictions. (1) Using conditions
(a) Use an absolute type linear encoder with the load-side encoder.
(b) Set [Pr. PA01] to "_ _ 1 _", and [Pr. PE01] to "_ _ _ 0". (2) Absolute position detection range using encoder
Encoder type Absolute position detection enabled range Linear encoder (serial interface)
Movable distance range of linear encoder (within 32-bit absolute position data)
(3) Alarm detection
The absolute position-related alarm ([AL. 25]) and warnings (AL. 92] and [AL. 9F]) are not detected. (4) Absolute position data transfer to controller
It is the same process as rotary servo motors. (Refer to section 12.8.)
17. FULLY CLOSED LOOP SYSTEM
17 - 23
17.3.8 About MR Configurator2
Using MR Configurator2 can confirm if the parameter setting is normal or if the servo motor and the load-side encoder operate properly. This section explains the fully closed diagnosis screen. Click "Monitor start" to constantly read the monitor display items from the servo amplifier. Then, click "Monitor stop" to stop reading. Click "Parameter read" to read the parameter items from the servo amplifier, and then click "Parameter write" to write them.
f)
a)
c)
k)
b)
i)
h)
g)
d) e)
j)
l)
m)n)
Symbol Name Explanation Unit a) Motor-side cumu. feedback
pulses (after gear)
Feedback pulses from the servo motor encoder are counted and displayed. (load-side encoder unit) When the set value exceeds 999999999, it starts with 0. Click "Clear" to reset the value to 0. The "-" symbol is indicated for reverse.
pulse
b) Motor-side droop pulses Droop pulses of the deviation counter between a servo motor-side position and a command are displayed. The "-" symbol is indicated for reverse.
pulse
c) Cumulative command pulses
Position command input pulses are counted and displayed. Click "Clear" to reset the value to 0. The "-" symbol is indicated for reverse command.
pulse
d) Load-side cumulative feedback pulses
Feedback pulses from the load-side encoder are counted and displayed. When the set value exceeds 999999999, it starts with 0. Click "Clear" to reset the value to 0. The "-" symbol is indicated for reverse.
pulse
e) Load-side droop pulses Droop pulses of the deviation counter between a load-side position and a command are displayed. The "-" symbol is indicated for reverse.
pulse
f) Motor-side cumu. feedback pulses (Before Gear)
Feedback pulses from the servo motor encoder are counted and displayed. (Servo motor encoder unit) When the set value exceeds 999999999, it starts with 0. Click "Clear" to reset the value to 0. The "-" symbol is indicated for reverse.
pulse
17. FULLY CLOSED LOOP SYSTEM
17 - 24
Symbol Name Explanation Unit
g) Encoder information The load-side encoder information is displayed. The display contents differ depending on the load-side encoder type.
ID: The ID No. of the load-side encoder is displayed. Data 1: For the incremental type linear encoder, the counter from powering on is
displayed. For the absolute position type linear encoder, the absolute position data is displayed.
Data 2: For the incremental type linear encoder, the distance (number of pulses) from the reference mark (Z-phase) is displayed. For the absolute position type linear encoder, "00000000" is displayed.
h) Polarity For address increasing direction in the servo motor CCW, it is indicated as "+" and for address decreasing direction in the servo motor CCW, as "-".
i) Z-phase pass status If the fully closed loop system is "disabled", the Z-phase pass status of the servo motor encoder is displayed. If the fully closed loop system is "Enabled" or "Semi closed loop control/fully closed loop control switching", the Z-phase pass status of the load-side encoder is displayed.
j) Fully closed loop changing device
Only if the fully closed loop system is "Semi closed loop control/fully closed loop control switching", the device is displayed. The state of the semi closed loop control/fully closed loop control switching signal and the inside state during selection are displayed.
k) Parameter (Feedback pulse electronic gear)
The feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]) are displayed/set for servo motor encoder pulses in this parameter. (Refer to section 17.3.1 (5).)
l) Parameter (Dual feedback filter)
The band of [Pr. PE08 Fully closed loop dual feedback filter] is displayed/set in this parameter.
m) Parameter (fully closed loop function)
The parameter for the fully closed loop control is displayed or set. Click "Parameter setting" button to display the "Fully closed loop control-Basic" window.
1) 2)
3) 4) 5)
1) Fully closed loop function selection ([Pr. PE01]) "Always valid" or "Changing by input signal (CLD)" is selected here.
2) Setting of feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], [Pr.
PE35]) Setting of feedback pulse electronic gear
3) Load-side encoder cable communication method selection ([Pr. PC44])
This is used to select a load-side encoder cable to be connected to the CN2L connector.
4) Encoder pulse count polarity selection ([Pr. PC45])
Polarity of the load-side encoder cable information is selected. 5) Selection of A/B/Z-phase input interface encoder Z-phase connection judgment
function ([Pr. PC45]) Select the non-signal detection status for the pulse train signal from the A/B/Z-phase input interface encoder used as a linear encoder or load-side encoder. This function is enabled only when you use an A/B/Z-phase input interface encoder.
n) Parameter (electronic gear) Electronic gear ([Pr. PA05], [Pr. PA06], [Pr. PA07], [Pr. PA13], [Pr. PA21]) This is used to set parameters for the electronic gear.
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
18 - 1
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
The following item is the same as 100 W or more MR-J4-_A_(-RJ) servo amplifiers. Refer to the section of the detailed explanation field for details.
Item Detailed explanation Parameter Chapter 5 Normal gain adjustment Chapter 6 Special adjustment function Chapter 7 Troubleshooting Chapter 8 Absolute position detection system Chapter 12
Note. Refer to section 18.5.4 when operating one-touch tuning by using push button switch.
18.1 Functions and configuration
18.1.1 Summary
MR-J4-03A6(-RJ) servo amplifier is MELSERVO-J4 series 48 V DC and 24 V DC power compatible ultra- small capacity servo amplifier. The servo amplifier has position, speed, and torque control modes. In the position control mode, the maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control. With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to the machine. The following shows the differences with 100 W or more MR-J4-_A_(-RJ) servo amplifier.
Category Item Differences
Related parameter MR-J4-_A_(-RJ) 100 W or more MR-J4-03A6(-RJ)
Power supply Main circuit power supply 200 V AC/400 V AC/ 100 V AC 48 V DC/24 V DC [Pr. PC27]
Control circuit power supply 200 V AC/400 V AC/ 100 V AC 24 V DC
Functional safety STO function Compatible Encoder Encoder resolution 4194304 pulses/rev 262144 pulses/rev Status display 7-segment LED display digits 5-digits 3-digits [Pr. PC36] Analog monitor output Output voltage range 10 V 5 V 4 V [Pr. PC14]/[Pr. PC15] Dynamic brake Stop system Stop with dynamic
brake Stop with electronic
dynamic brake [Pr. PF09]/[Pr. PF15]
Regenerative option Regenerative option selection Compatible [Pr. PA02] Operation mode Fully closed loop control mode Compatible [Pr. PA01]
Linear servo motor control mode Compatible
DD motor control mode Compatible Function SEMI-F47 function Compatible [Pr. PA20]/[Pr. PF25]
J3A electronic gear setting value compatibility mode Compatible [Pr. PA21]
Instantaneous power failure tough drive Compatible [Pr. PA20]/[Pr. PF25]
Parameter unit Compatible [Pr. PF34]
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
18 - 2
18.1.2 Function block diagram
The function block diagram of this servo is shown below.
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
Position command
input
Model speed
Model torque
Model position control
Model speed control
CN3
Analog monitor (two channel)
I/F
USBA/D D/A
USB
Personal computer
Analog (two channel)
DI/O control Servo-on Input command pulse. Start Malfunction, etc
CN1
Current detectionOvervoltageOvercurrent
RS-422 Controller
RS-422
Current detector
Regene -rative TR
Control circuit power supply
Servo amplifier
+
+
CHARGE lamp
RA PM
0
Built-in regenerative resistor
Inverter
C N
P1
Circuit protector48 V DC
24 V DC
Circuit protector
24 V DC
24 V DC main circuit power supply
24
U
V
W
U
V
W
Electro- magnetic brake
B RA
24 V DC
B1
B2
Encoder
Servo motor
M
C N
P1 C
N 2
C N
4
Base amplifier
Regenerative brake
Step- down circuit
MR-BAT6V1SET-A
Battery (for absolute position detection system)
E
48 V DC main circuit power supply
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
18 - 3
18.1 3 Servo amplifier standard specifications
Model MR-J4-03A6(-RJ) Rated output 30 W
Output Rated voltage 3-phase 13 V AC Rated current [A] 2.4
Voltage 48 V DC/24 V DC (Note 5)
Main circuit power supply input
Rated current For 48 V DC: 1.2 A For 24 V DC: 2.4 A
Permissible voltage fluctuation
For 48 V DC: 40.8 V DC to 55.2 V DC For 24 V DC: 21.6 V DC to 26.4 V DC
Power supply capacity Refer to section 18.7.2. Inrush current Refer to section 18.7.4. Voltage 24 V DC
Control circuit power supply input
Rated current [A] 0.2 Permissible voltage fluctuation 21.6 V DC to 26.4 V DC
Power consumption [W] 5.0 Inrush current [A] Refer to section 18.7.4. Interface power supply
Voltage 24 V DC 10% Current capacity [A] 0.3 (Note 1)
Control method Sine-wave PWM control, current control method Permissible regenerative power of servo amplifier built-in regenerative resistor [W] 0.7
Dynamic brake (Note 4) Built-in (electronic dynamic brake)
Communication function USB: connection to a personal computer or others (MR Configurator2-compatible) RS-422: 1: n communication (up to 32 axes)
Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels
Max. input pulse frequency 4 Mpulses/s (for differential receiver) (Note 3), 200 kpulses/s (for open collector)
Position control mode
Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 18 bits
Command pulse multiplying factor Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
In-position range setting 0 pulse to 65535 pulses (command pulse unit) Error excessive 3 rotation (this can be changed from parameter setting) Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque) Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Speed control mode
Analog speed command input 0 to 10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed fluctuation ratio 0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation 10%), 0.2% or less (ambient temperature 25 C 10 C) when using analog speed command
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Torque control mode
Analog torque command input 0 V DC to 8 V DC/maximum torque (input impedance 10 k to 12 k)
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
Protective functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed
protection, and error excessive protection
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Model MR-J4-03A6(-RJ) Compliance with global standards
CE marking LVD: EN 61800-5-1/EN 60950-1 EMC: EN 61800-3
UL standard UL 508C (NMMS2) Structure (IP rating) Natural cooling, open (IP20) Close mounting Possible (Note 2) DIN rail mounting (width: 35 mm) Possible Ambient
temperature Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing)
Environment Ambient humidity
Operation 5 %RH to 90 %RH (non-condensing)
Storage Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 1000 m or less above sea level Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes) Mass [kg] 0.2
Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. When closely mounting the servo amplifiers, operate them at the ambient temperatures 45 C or lower. 3. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s to 4 Mpulses/s
or lower, change the setting in [Pr. PA13]. 4. This is an electronic dynamic brake. This will not operate during control circuit power supply off. In addition, It may not operate
depending on alarms and warnings. Refer to chapter 8 for details. 5. Initial value is the 48 V DC setting. To use with 24 V DC, set [Pr. PC27] to "_ 1 _ _". The characteristics of the servo motor
vary depending on whether 48 V DC or 24 V DC is used. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".
18.1.4 Combinations of servo amplifiers and servo motors
Servo amplifier Servo motor MR-J4-03A6(-RJ) HG-AK0136
HG-AK0236 HG-AK0336
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18.1.5 Function list
The following table lists the functions of MR-J4-03A6(-RJ) servo amplifier. For details of the functions, refer to each section indicated in the detailed explanation field.
Function Description Detailed explanation
Model adaptive control
This realizes a high response and stable control following the ideal model. The two- degree-of-freedom-model model adaptive control enables you to set a response to the command and response to the disturbance separately. Additionally, this function can be disabled. Refer to section 7.5 for disabling this function.
Position control mode This servo amplifier is used as a position control servo.
Section 18.3.5 (1) Section 3.6.1 Section 4.2
Speed control mode This servo amplifier is used as a speed control servo.
Section 18.3.5 (2) Section 3.6.2 Section 4.3
Torque control mode This servo amplifier is used as a torque control servo.
Section 18.3.5 (3) Section 3.6.3 Section 4.4
Position/speed control switch mode
Using an input device, control can be switched between position control and speed control. Section 3.6.4
Speed/torque control switch mode
Using an input device, control can be switched between speed control and torque control. Section 3.6.5
Torque/position control switch mode
Using an input device, control can be switched between torque control and position control. Section 3.6.6
Positioning mode Positioning mode is compatible with MR-J4-03A6-RJ servo amplifier. For details, refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)".
High-resolution encoder High-resolution encoder of 262144 pluses/rev is used for the encoder of the rotary servo motor compatible with the MR-J4-03A6(-RJ) servo amplifier.
Absolute position detection system
Setting a home position once makes home position return unnecessary at every power-on. Chapter 12
Gain switching function You can switch gains during rotation/stop, and can use input devices to switch gains during operation. Section 7.2
Advanced vibration suppression control II This function suppresses vibration at the arm end or residual vibration. Section 7.1.5
Machine resonance suppression filter
This is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. Section 7.1.1
Shaft resonance suppression filter
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses the vibration.
Section 7.1.3
Adaptive filter II Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Section 7.1.2
Low-pass filter Suppresses high-frequency resonance which occurs as servo system response is increased. Section 7.1.4
Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and servo amplifier. MR Configurator2 is necessary for this function.
Robust filter This function provides better disturbance response in case low response level that load to motor inertia ratio is high for such as roll send axes. [Pr. PE41]
Slight vibration suppression control Suppresses vibration of 1 pulse generated at a servo motor stop. [Pr. PB24]
Electronic gear Input pulses can be multiplied by 1/10 to 4000. [Pr. PA06] [Pr. PA07]
S-pattern acceleration/ deceleration time constant Speed can be increased and decreased smoothly. [Pr. PC03]
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Function Description Detailed
explanation
Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Section 6.3
Brake unit This is not available with MR-J4-03A6(-RJ) servo amplifier. Power regeneration converter This is not available with MR-J4-03A6(-RJ) servo amplifier. Regenerative option This is not available with MR-J4-03A6(-RJ) servo amplifier. Alarm history clear Alarm history is cleared. [Pr. PC18] Input signal selection (device settings)
ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and other input device can be assigned to specified pins.
[Pr. PD03] to [Pr. PD22]
Output signal selection (device settings)
The output devices including MBR (Electromagnetic brake interlock) can be assigned to certain pins of the CN1 connector.
[Pr. PD23] to [Pr. PD26] [Pr. PD28]
Output signal (DO) forced output
Output signal can be forced on/off independently of the servo status. Use this function for checking output signal wiring, etc.
Section 18.5.9
Restart after instantaneous power failure This is not available with MR-J4-03A6(-RJ) servo amplifier.
Command pulse selection Command pulse train form can be selected from among three different types. [Pr. PA13]
Torque limit Servo motor torque can be limited to any value.
Section 3.6.1 (5) [Pr. PA11] [Pr. PA12]
Speed limit Servo motor speed can be limited to any value.
Section 3.6.3 (3) [Pr. PC05] to [Pr. PC11]
Status display Servo status is shown on the 3-digit, 7-segment LED display Section 18.5.3
External I/O signal display On/off statuses of external I/O signals are shown on the display. Section 18.5.8
Automatic VC offset Voltage is automatically offset to stop the servo motor if it does not come to a stop when VC (Analog speed command) or VLA (Analog speed limit is 0 V.
Section 18.5.5
Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code. Chapter 8
Test operation mode Jog operation, positioning operation, motor-less operation, DO forced output, and program operation MR Configurator2 is required for the positioning operation and program operation.
Section 18.5.10
Analog monitor output Servo status is outputted in terms of voltage in real time. Section 18.6 (3)
MR Configurator2 Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others. Section 11.7
Linear servo system This is not available with MR-J4-03A6(-RJ) servo amplifier. Direct drive servo system This is not available with MR-J4-03A6(-RJ) servo amplifier. Fully closed loop system This is not available with MR-J4-03A6(-RJ) servo amplifier.
One-touch tuning Gain adjustment is performed just by one click on a certain button on MR Configurator2 or operation section.
Section 6.2 Section 18.5.4
SEMI-F47 function This is not available with MR-J4-03A6(-RJ) servo amplifier.
Tough drive function
This function makes the equipment to continue operating even under the condition that an alarm occurs. MR-J4-03A6(-RJ) servo amplifier is compatible with vibration tough drive. This is not compatible with instantaneous power failure tough drive.
Section 7.3.1
Drive recorder function
This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph" button. However, the drive recorder will not operate on the following conditions. 1. You are using the graph function of MR Configurator2. 2. You are using the machine analyzer function. 3. [Pr. PF21] is set to "-1".
[Pr. PA23]
STO function This is not available with MR-J4-03A6(-RJ) servo amplifier.
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Function Description Detailed
explanation
Servo amplifier life diagnosis function
Cumulative operation time can be checked. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor before they malfunction. MR Configurator2 is necessary for this function.
Power monitoring function This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2.
Machine diagnosis function
From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in the machine parts, including a ball screw and bearing. MR Configurator2 is necessary for this function.
Lost motion compensation function
This function improves the response delay occurred when the machine moving direction is reversed. Section 7.6
Super trace control This function sets constant and uniform acceleration/deceleration droop pulses to almost 0. Section 7.7
High-resolution analog input This is not available with MR-J4-03A6(-RJ) servo amplifier.
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18.1.6 Model definition
(1) Rating plate The following shows an example of rating plate for explanation of each item.
TOKYO 100-8310, JAPAN MADE IN JAPAN
Model Capacity Applicable power supply Rated output current Standard, Manual number Ambient temperature IP rating KC certification number The year and month of manufacture
Serial number
Country of origin
MAN.: IB(NA)0300175
AC SERVO
MR-J4-03A6 POWER : 30W INPUT : 0.2A DC24V, 2.4A DC24V/1.2A DC48V OUTPUT: 3PH13V 0-360Hz 2.4A STD.: IEC/EN 61800-5-1
MSIP-REI-MEK-TC300A996G51
SER.A4X001001
Max. Surrounding Air Temp.: 55C IP20
MODEL
DATE:2014-10
(2) Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
MR-J4-03A6 with a special coating specification (3C2) (Note) MR-J4-03A6-RJ with a special coating specification (3C2) (Note)
-EB -KS
Series
Rated output
General-purpose interface
Special specification
Symbol Rated output [W] 03 30
Symbol Special specification None Standard -RJ Positioning mode compatible
Main circuit power supply Symbol Main circuit power supply
6 48 V DC /24 V DC
R JA 630 --M R J 4-
Note. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to app. 10.3 for details.
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18.1.7 Parts identification
(2)
(7)
(10)
(5)
Side
(8)
(9)
(1)
(6)
(4)
(3)
No. Name/Application Detailed explanation
(1) Display The 3-digit, 7-segment LED shows the servo status and the alarm number.
Section 18.5
(2)
Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.
Used to set data. Push this button together with the "MODE" button for 3 s or more to switch to the one-touch tuning mode.
MODE
UP
DOWN
SET
Used to change the display or data in each mode.
Used to change the mode. Push this button together with the "SET" button for 3 s or more to switch to the one-touch tuning mode.
Section 18.5
(3) USB communication connector (CN3) Connect the personal computer.
Section 11.7
(4) Battery connector (CN4) Connect the battery for absolute position data backup.
Section 18.9
(5)
Control circuit power voltage error lamp (24 V ERROR) When a voltage value of the control circuit power voltage (24 V DC) is out of permissible range, this will light in yellow.
Section 18.4.3
(6) Charge lamp (CHARGE) When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.
(7)
I/O signal connector (CN1) Connect digital I/O signal, analog input signal, analog monitor output signal, and RS-422 communication controller.
Section 18.3.5
Section 18.3.6
(8) Encoder connector (CN2) Connect the servo motor encoder.
Section 18.3.6
(9)
Power and servo motor power output connector (CNP1) Connect input power and servo motor.
Section 18.3.1
Section 18.3.2
(10) Rating plate Section 18.1.6 (1)
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18.1.8 Configuration including peripheral equipment
CAUTION Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
POINT
Equipment other than the servo amplifier and servo motor are optional or recommended products.
Personal computer
CN3
CN2
CNP1
MR Configurator2
24 0
PM
Relay
Circuit protector
- +
24 V DC power supply
+ -
48 V DC power supply
Circuit protector
- +
24 V DC power supply
PM 0 24
48 V DC main circuit power supply
24 V DC main circuit power supply
Servo motor
CN4
MR-BAT6V1SET-A
CNP1 (Note)
CN1
Junction terminal block
Note. Refer to section 18.3.2 for details.
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18.2 Installation
WARNING To prevent electric shock, ground equipment securely.
CAUTION
Stacking in excess of the specified number of product packages is not allowed. Do not hold the cables or connectors when carrying the servo amplifier. Otherwise, it may drop. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. Use the equipment within the specified environment. For the environment, refer to section 18.1.3. Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier. Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction. Do not drop or strike the servo amplifier. Isolate it from all impact loads. Do not install or operate the servo amplifier which has been damaged or has any parts missing. When the equipment has been stored for an extended period of time, contact your local sales office. When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier. The servo amplifier must be installed in a metal cabinet. The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction. Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction. Fumigants that are used to disinfect and protect wooden packaging from insects contain halogens (such as fluorine, chlorine, bromine, and iodine) cause damage if they enter our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products.
The following item is the same as 100 W or more MR-J4-_A_(-RJ) servo amplifiers. Refer to the section of the detailed explanation field for details.
Item Detailed explanation Keep out foreign materials Section 2.2 Encoder cable stress Section 2.3 Inspection items Section 2.4 Parts having service life Section 2.5
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18.2.1 Installation direction and clearances
When using heat generating equipment, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction. (1) Installation of one servo amplifier
40 mm or more
10 mm or more
10 mm or more
40 mm or more
Servo amplifier
Cabinet Cabinet
80 mm or more Wiring allowance
Top
Bottom
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(2) Installation of two or more servo amplifiers
POINT You can install MR-J4-03A6(-RJ) servo amplifiers without clearances between them. When closely mounting the servo amplifiers, operate them at the ambient temperatures of 0 C to 45 C.
Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment. When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, operate at the ambient temperatures 0 C to 45 C.
100 mm or more
10 mm or more
30 mm or more
30 mm or more
40 mm or more
Cabinet
Top
Bottom
100 mm or more
1 mm
30 mm or more
40 mm or more
Cabinet
1 mm
Leaving clearance Mounting closely
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18.2.2 Installation by DIN rail
CAUTION
To mount the servo amplifier to DIN rail, pull down the tab of hook. The hook may come off when the tab is pushed down from the back side of the servo amplifier.
The following explains mounting and removing procedure of servo amplifier using DIN rail.
Mounting servo amplifier to DIN rail
Hook
Upper tab
Wall
DIN rail
1) Pull down the hook. 2) Hang the upper tab on the back of the servo amplifier to the upper tab of DIN rail, and push toward to the wall.
Hook
Upper tab
Wall
DIN rail
3) Push up the hook, and fix the servo amplifier.
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Removing servo amplifier from DIN rail
Upper tab
Wall
DIN rail
Hook
Upper tab
Wall
DIN rail
1) Pull down the hook. 2) Pull the servo amplifier forward.
Upper tab
Wall
DIN rail
3) Lift up and remove the servo amplifier.
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18.3 Signals and wiring
WARNING
A person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and check to see if the charge lamp turned off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control output signal
24 V DC Servo amplifier
RA
For sink output interface
DOCOM
Control output signal
24 V DC Servo amplifier
RA
For source output interface
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF) with the power line of the servo motor. Do not modify the equipment. Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U Servo motor
MV
W
U
V
W
U Servo motor
MV
W
U
V
W
Servo amplifier Servo amplifier
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
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The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.
Item Detailed explanation Detailed explanation of signals Section 3.6 Forced stop deceleration function Section 3.7 Servo motor with an electromagnetic brake Section 3.10
18.3.1 Input power supply circuit
CAUTION
Connect a circuit protector between the power supply and power supply voltage input terminals (24/PM) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier's power supply. If a circuit protector is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the built-in regenerative resistor. Check the servo amplifier model, and then input proper voltage to the servo amplifier power supply. If input voltage exceeds the upper limit of the specification, the servo amplifier will break down. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
POINT
EM2 has the same function as EM1 in the torque control mode.
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Configure the wirings so that the main circuit power supply is shut off and SON (Servo-on) is turned off after deceleration to a stop due to an alarm occurring, enabled servo forced stop, etc.
ALM
DOCOM
CN1
(Note 3)
24 V DC (Note 7)
24 V DC (Note 7)
24
0
PM
Servo amplifier
U
V
W
CNP1 CNP1
Servo motor
U
V
W M
Motor
EncoderCN2 (Note 2) Encoder cable
(Note 4)
Malfunction RA1 OFF
RA2
ON
Emergency stop switch
CN1 Forced stop 2
Servo-on (Note 3)
EM2
SON DICOM
(Note 5) Main circuit power supply
(Note 6)
Circuit protector
24 V DC (Note 1)
48 V DC (Note 1)
48 V DC main circuit power supply
Circuit protector
24 V DC (Note 1)
24 V DC main circuit power supply
E
Malfunction RA1
RA2
(Note 8) RA2
24 V DC (Note 7)
(Note 9)
(Note 9)
Note 1. Use reinforced insulating type for 24 V DC and 48 V DC power supply. 2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor
Instruction Manual (Vol. 3)". 3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 4. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 5. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the
servo amplifier. 6. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 7. The illustration of the 24 V DC power supply is divided between input signal, output signal, and external emergency
stop circuit for convenience. However, they can be configured by one. For 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.
8. The noiseless grounding ( ) terminals and E terminals are connected in the servo amplifier. Be sure to ground from the noiseless grounding ( ) terminal of CNP1 to the grounding terminal of the cabinet.
9. Circuit protectors are required for protection of power supplies, wires, servo amplifiers and others. When not using a circuit protector, configure an external protective circuit such as a power supply with protection function.
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18.3.2 Explanation of power supply system
(1) Pin assignment Servo amplifier
PM
U
24 CNP1
5
6
7 W
0
VE8
1
2
3
4
(2) Detailed explanation
Symbol Connection target (application) Description
24
Control circuit power supply/main
circuit power supply
Used to connect + of the control circuit power supply (24 V DC).
PM
Used to connect + of the main circuit power supply (48 V DC/24 V DC). Set [Pr. PC27] according to the specification of main circuit power supply.
Parameter
Main circuit power supply [Pr. PC27 function selection C-6]
setting value
48 V DC _ _ 0 _ (Initial value) 24 V DC _ _ 1 _
0 Switch off - of the control circuit power supply and main circuit power supply.
Noiseless grounding Connect to the grounding terminal of the cabinet to ground.
U/V/W/E Servo motor power output
Connect the servo amplifier power output (U/V/W/E) to the servo motor power input (U/V/W ) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
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(3) Wiring CNP1
POINT For the wire sizes used for wiring, refer to section 18.8.3.
Use the servo amplifier power connector for wiring CNP1.
(a) Connector
CNP1
Servo amplifier
Table 18.1 Connector and applicable wire
Connector Receptacle assembly Applicable wire size Stripped length [mm] Manufacturer
CNP1 DFMC 1,5/ 4-ST-3,5-LR or equivalent AWG 24 to 16 10 Phoenix Contact
(b) Cable connection procedure
1) Fabrication on cable insulator Refer to table 18.1 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status.
Insulator Core
Stripped length 10 mm
Twist strands lightly and straighten them as follows.
Loose and bent strands Twist and straighten the strands.
You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following ferrules and crimp terminal.
Servo amplifier Wire size Ferrule model
(Phoenix Contact) Crimp terminal
(Phoenix Contact) AWG 24 AI0.25-10YE AWG 22 AI0.34-10TQ
MR-J4-03A6(-RJ) AWG 20 AI0.5-10WH CRIMPFOX6 AWG 18 AI0.75-10GY AWG 16 AI1.5-10BK
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2) Inserting wire
When using solid wire, insert the wire to the end. When using stranded wire, insert the wire to the end with pushing down the release button with a small flat head screwdriver, etc. The following show a connection example when using stranded wire to the CNP 1 connector.
Release button
Stranded wire
(c) Mounting connector 1) Mounting
Fit the CNP1 connector when the servo amplifier is fixed. While pushing the connector, make sure that the connector is locked to the top and bottom of the socket. After that, check that the connector cannot be pulled out.
LockedLock hook
Refer to the following example for a status of lock.
Unlocked
Locked
Good example (Both are locked.)
Bad example (Bottom is not locked.)
Locked
2) Disconnection Pull out the CNP1 connector after unlocking the top and bottom of the connector.
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18.3.3 Selection of main circuit power supply/control circuit power supply
The inrush current at power on will be large because a resistance for protecting inrush current is not built-in in the main circuit power supply of the servo amplifier. The main circuit capacitor capacity of the servo amplifier is approximately 270 F. When the load characteristic (overcurrent protection criteria) of the power unit is current fold back method, the power cannot be started. Be careful when selecting a power. Especially when the power is turned ON/OFF on the power unit output side, approximately 100 s to 300 s instantaneous current will flowed at power on due to capacitor charge. Therefore, a power unit such as one which operates overcurrent at 1 ms or less cannot be used. A circuit to protect inrush current at power on is built-in in the control circuit power supply of servo amplifier. In addition, when using main circuit power supply and control circuit power supply, use a reinforced insulating type. 18.3.4 Power-on sequence
POINT The voltage of analog monitor output, output signal, etc. may be unstable at power-on.
(1) Power-on procedure
1) When wiring the power supply, use a circuit protector for the power supply (24/PM). Configure up an external sequence so that the relay connected to PM turns off when an alarm occurs.
2) Switch on the control circuit power supply (24/0) simultaneously with the main circuit power
supply (PM/0) or before switching on the main circuit power supply. If the 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 receives the SON (Servo-on) within 2.5 s to 3.5 s after the main circuit power
supply is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the main circuit power supply, the base circuit will switch on in about 2.5 s to 3.5 s, and the RD (Ready) will switch on in further about 5 ms, making the servo amplifier ready to operate. (Refer to (2) in this section.)
4) When RES (Reset) is switched on, the base circuit is shut off and the servo motor shaft coasts.
(2) Timing chart
95 ms
95 ms
RD (Ready)
RES (Reset)
SON (Servo-on) OFF ON
OFF ON
ON OFF
Base circuit OFF ON
power supply OFF ON
10 ms5 ms
10 ms
10 ms5 ms
10 ms
5 ms 10 ms
(2.5 s to 3.5 s)
SON (Servo-on) accepted
Main circuit Control circuit
Alarm (OFF) No alarm (ON)ALM
(Malfunction) 2.5 s to 3.5 s
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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18.3.5 I/O signal connection example
(1) Position control mode (a) For sink I/O interface
Plate
Plate
Servo amplifier
2 m or less
26 MO1 28 LG 29 MO2
(Note 7) CN1
5 V 4 V DC 5 V 4 V DC
Analog monitor 1
Analog monitor 2
(Note 2)
Malfunction (Note 6)
Zero speed detection
Limiting torque
Encoder A-phase pulse (differential line driver)
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 INP
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver) Control common
Encoder Z-phase pulse (open collector)
(Note 7) CN1
LG
DICOM
10 m or less (Note 8)
41
20 46
49 10 11 35
9 3
36
CLEARCOM
12
15 16
14 13
11
CLEAR RDYCOM READY
PULSE F+ PULSE F-
PG0 PG0 COM
PULSE R+ PULSE R- 18
10
17
9
DOCOM
CR
RD PP PG NP NG LZ
LZR 8
(Note 11)
(Note 7) CN1
Positioning module RD75D/LD75D/QD75D
(Note 4) 24 V DC (Note 4)
24 V DC
24 V DC (Note 4)
In-position
Control common SD
RA1
RA2
RA3
RA4
Plate 2 m or less
10 m or less
Upper limit setting
42 15 19 17 18 43 44 21 1
27
SD
EM2 SON RES PC TL
LSP LSN
DICOM
P15R TLA LG 28
(Note 7) CN1
Forced stop 2 Servo-on Reset Proportion control External torque limit selection Forward rotation stroke end Reverse rotation stroke end
(Note 3, 5)
(Note 5)
+
(Note 10) USB cable (option)
(Note 9) MR Configurator2
CN3
Analog torque limit +10 V/maximum torque
Personal computer
(Note 13) Main circuit power supply
(Note 12)
(Note 1)CNP1 6
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) of the servo amplifier to the
grounding terminal (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24 V DC 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one. For 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition. When this signal (normally closed contact) is switched off (at occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.
7. The pins with the same signal name are connected in the servo amplifier. 8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector
type. 9. Use SW1DNC-MRC2-_. (Refer to section 11.7.) 10. The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together. 11. This connection is not necessary for RD75D, LD75D and QD75D. However, to enhance noise tolerance, it is recommended to
connect LG of servo amplifier and control common depending on the positioning module. 12. When a command cable for connection with the controller side malfunctions due to disconnection or noise, a position
mismatch can occur. To avoid the position mismatch, check Encoder A-phase pulse and Encoder B-phase pulse on the controller side.
13. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
14. Plus and minus of the power of source interface are the opposite of those of sink interface. 15. CLER and CLEARCOM of source interface are interchanged to sink interface.
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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(b) For source I/O interface
POINT
For notes, refer to (1) (a) in this section.
Plate
Plate
Servo amplifier
2 m or less
26 MO1 28 LG 29 MO2
(Note 7) CN1
5 V 4 V DC 5 V 4 V DC
Analog monitor 1
Analog monitor 2
(Note 2)
Malfunction (Note 6)
Zero speed detection
Limiting torque
Encoder A-phase pulse (differential line driver)
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 INP
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver)
Control common
Encoder Z-phase pulse (open collector)
(Note 7) CN1
LG
DICOM
10 m or less (Note 8)
41
20 46
49 10 11 35
9 3
36
CLEARCOM
12
15 16
14 13
11
CLEAR
RDYCOM READY
PULSE F+ PULSE F-
PG0 PG0 COM
PULSE R+ PULSE R- 18
10
17
9
DOCOM
CR
RD PP PG NP NG LZ
LZR 8
(Note 11)
(Note 15)
(Note 7) CN1
Positioning module RD75D/LD75D/QD75D
(Note 4,14) 24 V DC (Note 4,14)
24 V DC
In-position
(Note 12)
Control common SD
RA1
RA2
RA3
RA4
24 V DC (Note 4,14)
Plate 2 m or less
10 m or less
Upper limit setting
42 15 19 17 18 43 44 21 1
27
SD
EM2 SON RES PC TL
LSP LSN
DICOM
P15R TLA LG 28
(Note 7) CN1
Forced stop 2 Servo-on Reset Proportion control External torque limit selection Forward rotation stroke end Reverse rotation stroke end
(Note 3, 5)
(Note 5)
+
(Note 10) USB cable (option)
(Note 9) MR Configurator2
CN3
Analog torque limit +10 V/maximum torque
Personal computer
(Note 13) Main circuit power supply
(Note 1)CNP1 6
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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(2) Speed control mode
(a) For sink I/O interface
(Note 2)
(Note 7) CN1
(Note 7) CN1
Plate
Servo amplifier
(Note 7) CN1
2 m or less
26 MO1 28 LG 29 MO2
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 SA
49 RD
( 4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
2 m or less
( 8 LZ 9 LZR
20DICOM 21DICOM
2 1
2 m or less
Upper limit setting 28
27
Plate
Upper limit setting
VC
SD
TLA
LG
P15R
+
(Note 10) USB cable (option)
CN3
(Note 11) Analog speed command 10 V/rated speed
(Note 8) Analog torque limit +10 V/maximum torque
(Note 9) MR Configurator2
Personal computer
(Note 4) 24 V DC
RA1
RA2
RA3
RA4
RA5
42 15 19
17 18 43 44
41 16
EM2 SON RES
ST1 ST2 LSP LSN
SP1 SP2
Reverse rotation stroke end
Forced stop 2 Servo-on Reset Speed selection 1
Forward rotation start Speed selection 2
Reverse rotation start Forward rotation stroke end
(Note 3, 5)
(Note 5)
5 V 4 V DC 5 V 4 V DC
Analog monitor 1
Analog monitor 2
Encoder A-phase pulse differential line driver)
Encoder B-phase pulse (differential line driver) Control common
Encoder Z-phase pulse (open collector)
Encoder Z-phase pulse differential line driver)
Malfunction (Note 6)
Zero speed detection
Limiting torque
Speed reached
Ready
10 m or less
(Note 12) Main circuit power supply
46 DOCOM
10 m or less
24 V DC (Note 4)
(Note 1)CNP1 6
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) of the servo amplifier to the
grounding terminal (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24 V DC 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact) 7. The pins with the same signal name are connected in the servo amplifier. 8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22]. (Refer to section 3.6.1
(5).) 9. Use SW1DNC-MRC2-_. (Refer to section 11.7.) 10. The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together. 11. Use an external power supply when inputting a negative voltage. 12. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier. 13. Plus and minus of the power of source interface are the opposite of those of sink interface.
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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(b) For source I/O interface
POINT
For notes, refer to (2) (a) in this section.
(Note 2)
(Note 7) CN1
(Note 7) CN1
Plate
Servo amplifier
(Note 7) CN1
2 m or less
26 MO1 28 LG 29 MO2
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 SA
49 RD
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
2 m or less
8 LZ 9 LZR
20DICOM
2 1
2 m or less
Upper limit setting 28
27
Plate
Upper limit setting
VC
SD
TLA
LG
P15R
+
(Note 10) USB cable (option)
CN3
(Note 11) Analog speed command 10 V/rated speed
(Note 8) Analog torque limit +10 V/maximum torque
(Note 9) MR Configurator2
Personal computer
RA1
RA2
RA3
RA4
RA5
42 15 19
17 18 43 44
41 16
EM2 SON RES
ST1 ST2 LSP LSN
SP1 SP2
Reverse rotation stroke end
Forced stop 2 Servo-on Reset Speed selection 1
Forward rotation start Speed selection 2
Reverse rotation start Forward rotation stroke end
(Note 3, 5)
(Note 5)
5 V 4 V DC 5 V 4 V DC
Analog monitor 1
Analog monitor 2
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver) Control common
Encoder Z-phase pulse (open collector)
Encoder Z-phase pulse (differential line driver)
Malfunction (Note 6)
Zero speed detection
Limiting torque
Speed reached
Ready
10 m or less
(Note 12) Main circuit power supply
46 DOCOM
21DICOM
10 m or less
24 V DC (Note 4,13)
(Note 4,13) 24 V DC
(Note 1)CNP1 6
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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(3) Torque control mode
POINT EM2 has the same function as EM1 in the torque control mode.
(a) For sink I/O interface
Servo amplifier
(Note 6) CN1
2 m or less
26 MO1 28 LG 29 MO2
5 V 4 V DC 5 V 4 V DC
Analog monitor 1
Analog monitor 2
9
(Note 2)
Malfunction (Note 5)
Zero speed detection
Limiting speed
Encoder A-phase pulse (differential line driver)
47 DOCOM
48 ALM
23 ZSP
25 VLC
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver) Control common
Encoder Z-phase pulse (open collector)
(Note 6) CN1
49 RD Ready
Encoder Z-phase pulse (differential line driver)
8 LZ LZR
(Note 6) CN1
21DICOM
Personal computer
+
(Note 8) USB cable (option)
CN3
27 1
2 m or less
Upper limit setting 28
2
Plate
Upper limit setting
TC
SD
VLA
LG
P15R (Note 9) Analog torque command
8 V/maximum torque
(Note 9) Analog speed limit 0 to 10 V/rated speed
(Note 9) MR Configurator2
Plate
42 15 19
17 18
20
Forced stop 2 Servo-on Reset
Forward rotation selection Reverse rotation selection
(Note 3)
41 16Speed selection 2
EM2 SON RES
RS1 RS2
DICOM
SP1 SP2
Speed selection 1
RA1
RA2
RA3
RA4
(Note 10) Main circuit power supply
46 DOCOM
10 m or less
24 V DC (Note 4)
(Note 4) 24 V DC
(Note 1)CNP1 6
Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) of the servo amplifier to the grounding terminal (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24 V DC 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal.
5. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact) 6. The pins with the same signal name are connected in the servo amplifier. 7. Use SW1DNC-MRC2-_. (Refer to section 11.7.) 8. The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together. 9. Use an external power supply when inputting a negative voltage. 10. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier. 11. Plus and minus of the power of source interface are the opposite of those of sink interface.
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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(b) For source I/O interface
POINT
For notes, refer to (3) (a) in this section.
Servo amplifier
(Note 6) CN1
2 m or less
26 MO1 28 LG 29 MO2
5 V 4 V DC 5 V 4 V DC
Analog monitor 1
Analog monitor 2
9
(Note 2)
Malfunction (Note 5)
Zero speed detection
Limiting speed
Encoder A-phase pulse (differential line driver)
47 DOCOM
48 ALM
23 ZSP
25 VLC
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver) Control common
Encoder Z-phase pulse (open collector)
(Note 6) CN1
49 RD Ready
Encoder Z-phase pulse (differential line driver)
8 LZ LZR
(Note 6) CN1
20DICOM
Personal computer
+
(Note 8) USB cable (option)
CN3
27 1
2 m or less
Upper limit setting 28
2
Plate
Upper limit setting
TC
SD
VLA
LG
P15R (Note 9) Analog torque command
8 V/maximum torque
(Note 9) Analog speed limit 0 to 10 V/rated speed
(Note 9) MR Configurator2
Plate
42 15 19
18 17
Forced stop 2 Servo-on Reset
Forward rotation selection Reverse rotation selection
(Note 3)
41 16Speed selection 2
EM2 SON RES
RS1 RS2
SP1 SP2
Speed selection 1
RA1
RA2
RA3
RA4
(Note 10) Main circuit power supply
46 DOCOM
21DICOM
10 m or less
24 V DC (Note 4,11)
(Note 4,11) 24 V DC
(Note 1)CNP1 6
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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18.3.6 Connectors and pin assignment
POINT The pin assignment of the connectors is as viewed from the cable connector wiring section. For the CN1 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.
Screw
Screw
Ground plate
Cable
CN1
1B CN2
MRR
2B
3B
4B LG 5B BAT
4A P5 5A SHD
1A MR 2A
3A
50
48
46
44
42
40
38
36
34
32
30
28
49
47
45
43
41
39
37
35
33
31
29
25
23
21
19
17
15
13
11
9
7
5
3
24
22
20
18
16
14
12
10
8
6
4
27 2 26 1
The frames of the CN1 connectors are connected to the protective earth terminal in the servo amplifier.
CN4 (Battery connector) refer to section 11.8.
CN3 (USB connector) refer to section 11.7.
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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The device assignment of CN1 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices will be changed using those parameters.
Pin No. (Note 1) I/O
(Note 2) I/O signals in control modes Related parameter
P P/S S S/T T T/P 1 P15R P15R P15R P15R P15R P15R 2 I -/VC VC VC/VLA VLA VLA/- 3 LG LG LG LG LG LG 4 O LA LA LA LA LA LA 5 O LAR LAR LAR LAR LAR LAR 6 O LB LB LB LB LB LB 7 O LBR LBR LBR LBR LBR LBR 8 O LZ LZ LZ LZ LZ LZ 9 O LZR LZR LZR LZR LZR LZR
10 I PP PP/- (Note 4) (Note 4) (Note 4) -/PP PD43/PD44 11 I PG PG/- -/PG 12 OPC OPC/- -/OPC 13 O SDP SDP SDP SDP SDP SDP 14 O SDN SDN SDN SDN SDN SDN 15 I SON SON SON SON SON SON PD03/PD04 16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- PD05/PD06 17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC PD07/PD08 18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL PD09/PD10 19 I RES RES RES RES RES RES PD11/PD12 20 DICOM DICOM DICOM DICOM DICOM DICOM 21 DICOM DICOM DICOM DICOM DICOM DICOM 22 O INP INP/SA SA SA/- -/INP PD23 23 O ZSP ZSP ZSP ZSP ZSP ZSP PD24 24 O INP INP/SA SA SA/- -/INP PD25 25 O TLC TLC TLC TLC/VLC VLC VLC/TLC PD26 26 O MO1 MO1 MO1 MO1 MO1 MO1 PC14
27 I TLA (Note 3) TLA
(Note 3) TLA
(Note 3) TLA/TC TC TC/TLA
28 LG LG LG LG LG LG 29 O MO2 MO2 MO2 MO2 MO2 MO2 PC15 30 LG LG LG LG LG LG 31 I TRE TRE TRE TRE TRE TRE 32 33 O OP OP OP OP OP OP 34 LG LG LG LG LG LG 35 I NP NP/- (Note 4) (Note 4) (Note 4) -/NP PD45/PD46 36 I NG NG/- -/NG 37 I PP2 PP2/- (Note 5) (Note 5) (Note 5) -/PP2 PD43/PD44 38 I NP2 NP2/- (Note 5) (Note 5) (Note 5) -/NP2 PD45/PD46 39 I RDP RDP RDP RDP RDP RDP 40 I RDN RDN RDN RDN RDN RDN 41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD13/PD14 42 I EM2 EM2 EM2 EM2 EM2 EM2 43 I LSP LSP LSP LSP/- -/LSP PD17/PD18 44 I LSN LSN LSN LSN/- -/LSN PD19/PD20 45 I LOP LOP LOP LOP LOP LOP PD21/PD22 46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM 47 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM 48 O ALM ALM ALM ALM ALM ALM 49 O RD RD RD RD RD RD PD28 50
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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Note 1. I: input signal, O: output signal 2. P: position control mode, S: speed control mode, T: torque control mode, P/S: position/speed control switching
mode, S/T: speed/torque control switching mode, T/P: torque/position control switching mode 3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22]. 4. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input
devices with [Pr. PD43] to [Pr. PD46] as necessary. When using this pin by DI, supply + of 24 V DC to CN1-12 pin.
5. This is available as an input device of source interface. Input devices are not assigned by default. Assign the input devices with [Pr. PD43] to [Pr. PD46] as necessary.
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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18.3.7 Signal (device) explanations
The pin numbers in the connector pin No. column are those in the initial status. For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. The symbols in the control mode field of the table shows the followings. P: Position control mode S: Speed control mode T: Torque control mode " " and " " of the table shows the followings.
: Usable device by default. : Usable device by setting the following parameters.
[Pr. PA04], [Pr. PD03] to [Pr. PD26], [Pr. PD28] (1) I/O device
(a) Input device
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T Forced stop 2 EM2 CN1-42 For details of device, refer to section 3.5.1 (1) (a). DI-1 Forced stop 1 EM1 (CN1-42) DI-1 Servo-on SON CN1-15 DI-1 Reset RES CN1-19 DI-1 Forward rotation stroke end
LSP CN1-43 DI-1
Reverse rotation stroke end
LSN CN1-44
External torque limit selection
TL CN1-18 DI-1
Internal torque limit selection
TL1 DI-1
Forward rotation start
ST1 CN1-17 DI-1
Reverse rotation start
ST2 CN1-18
Forward rotation selection
RS1 CN1-18 DI-1
Reverse rotation selection
RS2 CN1-17
Speed selection 1
SP1 CN1-41 DI-1
Speed selection 2
SP2 CN1-16 DI-1
Speed selection 3
SP3 DI-1
Proportional control
PC CN1-17 DI-1
Clear CR CN1-41 DI-1 Electronic gear selection 1
CM1 DI-1
Electronic gear selection 2
CM2 DI-1
Gain switching CDP DI-1 Control switching LOP CN1-45 DI-1 Refer to
function and application column
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T Second acceleration/ deceleration selection
STAB2 For details of device, refer to section 3.5.1 (1) (a). DI-1
ABS transfer mode
ABSM CN1-17 DI-1
ABS request ABSR CN1-18 DI-1
(b) Output device
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T Malfunction ALM CN1-48 For details of device, refer to section 3.5.1 (1) (b). DO-1 Ready RD CN1-49 DO-1 In-position INP CN1-22 DO-1 Speed reached SA CN1-24 DO-1 Limiting speed VLC CN1-25 DO-1 Limiting torque TLC DO-1 Zero speed detection
ZSP CN1-23 DO-1
Electromagnetic brake interlock
MBR DO-1
Warning WNG DO-1 Battery warning BWNG DO-1 Alarm code ACD0 (CN1-24) DI-1 ACD1 (CN1-23) ACD2 (CN1-22) Variable gain selection
CDPS DO-1
Absolute position undetermined
ABSV DO-1
ABS transmission data bit 0
ABSB0 (CN1-22) DO-1
ABS transmission data bit 1
ABSB1 (CN1-23) DO-1
ABS transmission data ready
ABST (CN1-25) DO-1
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(2) Input signal
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T Analog torque limit
TLA CN1-27 Refer to section 3.5 (2) for details of signal. Analog input
Analog torque command
TC Analog input
Analog speed command
VC CN1-2 Analog input
Analog speed limit
VLA Analog input
Forward rotation pulse train Reverse rotation pulse train
PP NP PP2 NP2 PG NG
CN1-10 CN1-35 CN1-37 CN1-38 CN1-11 CN1-36
DI-2
(3) Output signal
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T Encoder A- phase pulse (differential line driver)
LA LAR
CN1-4 CN1-5
Refer to section 3.5 (3) for details of signal. DO-2
Encoder B- phase pulse (differential line driver)
LB LBR
CN1-6 CN1-7
Encoder Z- phase pulse (differential line driver)
LZ LZR
CN1-8 CN1-9
DO-2
Encoder Z- phase pulse (open-collector)
OP CN1-33 DO-2
Analog monitor 1 MO1 CN1-26 This is used to output the data set in [Pr. PC14] to between MO1 and LG in terms of voltage. Output voltage: 5 V 4 V Resolution: 10 bits or equivalent
Analog output
Analog monitor 2 MO2 CN1-29 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in terms of voltage. Output voltage: 5 V 4 V Resolution: 10 bits or equivalent
Analog output
(4) Communication
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T RS-422 I/F SDP CN1-13 These are terminals for RS-422 communication.
SDN CN1-14 RDP CN1-39 RDN CN1-40 TRE CN1-31
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(5) Power supply
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T Digital I/F power supply input
DICOM CN1-20 CN1-21
Input 24 V DC (24 V DC 10% 300 mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used. For sink interface, connect + of 24 V DC external power supply. For source interface, connect - of the 24 V DC external power supply.
Open-collector sink interface power supply input
OPC CN1-12 When inputting a pulse train in the open-collector type with sink interface, supply this terminal with the positive (+) power of 24 V DC.
Supply + of 24 V DC to this terminal when using CN1-10-pin and CN1- 35-pin by DI.
Digital I/F common
DOCOM CN1-46 CN1-47
Common terminal of input signal such as EM2 of the servo amplifier. This is separated from LG. For sink interface, connect - of 24 V DC external power supply. For source interface, connect + of the 24 V DC external power supply.
15 V DC power supply
P15R CN1-1 This outputs 15 V DC to between P15R and LG. This is available as power for TC, TLA, VC, or VLA. Permissible current: 30 mA
Control common LG CN1-3 CN1-28 CN1-30 CN1-34
Common terminal of TLA/TC/VC/VLA/OP/MO1/MO2/P15R. Pins are connected internally.
Shield SD Plate Connect the external conductor of the shielded wire.
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18.3.8 Alarm occurrence timing chart
CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation.
POINT
In the torque control mode, the forced stop deceleration function is not available.
To deactivate an alarm, cycle the control circuit power, push the "SET" button in the current alarm window, or cycle the RES (Reset). However, the alarm cannot be deactivated unless its cause is removed. (1) When you use the forced stop deceleration function
POINT To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(a) When the forced stop deceleration function is enabled
Command is not received.
Alarm occurrence
Alarm No.No alarm
(Note 1) Model speed command 0 and equal to or less than zero speed
MBR (Electromagnetic brake interlock)
ON
OFF
ON (no alarm)
OFF (alarm)
Base circuit (Energy supply to the servo motor)
ON
OFF
Servo amplifier display
0 r/min
Servo motor speed
ALM (Malfunction)
Dynamic brake operating time (Note 2)
Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.
2. If the servo motor speed is 5 r/min or higher, the electric dynamic brake will operate continuously for the time period set by [Pr. PF15].
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(b) When the forced stop deceleration function is not enabled
ON (no alarm)
OFF (alarm)
MBR (Electromagnetic brake interlock)
ON
OFF
Base circuit (Energy supply to the servo motor)
ON
OFF
Servo amplifier display
0 r/min
Servo motor speed
No alarm Alarm No.
Braking by the dynamic brake Dynamic brake + Braking by the electromagnetic brake
Operation delay time of the electromagnetic brake
Alarm occurrence
ALM (Malfunction)
Braking by the electromagnetic brake
Dynamic brake operating time
(2) When you do not use the forced stop deceleration function
POINT To disable the function, set "0 _ _ _" in [Pr. PA04].
The operation status during an alarm is the same as (1) (b) in this section.
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18.3.9 Interfaces (Internal connection diagram)
The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.
Item Detailed explanation Detailed explanation of interfaces Section 3.9.2 Source I/O interface Section 3.9.3
SON SON SON CN1 15
SP2 SP2 16 PC ST1 RS2 17 TL ST2 RS1 18
RES RES 19 CR SP1 41
EM2 42 LSP 43 LSN 44 LOP 45 OPC 12
20 21
LSP LSN LOP
DICOM DICOM
LOP
RES SP1
P S T
CN1
46
22
23
24
25
48
49
DOCOM
47 DOCOM
INP SA
ZSP
INP
TLC
RD
ZSP
TLC
ALM
RD
ZSP
TLC
RD
SA
P S T
CN1 P S T 4 5 6 7 8 9 33 34
13 14 39 40 30 31
CN1 P S T
LA LAR LB
LBR LZ
LZR OP LG
SDP SDN RDP RDN LG
TRE
CN1 P S T
MO1
MO2
LG
26
29
28
Differential line driver output (35 mA or less)
Open-collector output
CN1P S T
2VC VLA
27TLA TLA TC
1P15R
3LG CaseSD
Insulated
15 V DC
Approximately 6.2 k
Approximately 6.2 k
RS-422
Analog monitor
Servo amplifier
(Note 4) 24 V DC
(Note 4) 24 V DC
P S T MR
MRR LG
E
Servo motor
(Note 3) (Note 3)
USB
P S T
D+ GND
D- 2 3 5
CN3
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
5 V 4 V DC5 V
4 V DC
RA
RA
PP 10
PG 11 NP 35
PP2 37
NP2 38 NG 36
Approximately 100
Approximately 1.2 k
Approximately 100
Approximately 1.2 k
(Note 2) Approximately
1.2 k
Approximately 1.2 k
(Note 5)
Encoder
M
1A
4B 1B
CN2
CNP1
6 8
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Note 1. P: position control mode, S: speed control mode, T: torque control mode 2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.
DOCOM 46 OPC 12
20 47
PP 10
PG 11 NP 35
NG 36
DICOM DOCOM
PP2 37
NP2 38
24 V DC
DOCOM 46 OPC 12
20 47
PP 10
PG 11 NP 35
NG 36
DICOM DOCOM
PP2 37
NP2 38
24 V DC
For sink input interface For source input interface 3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 4. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. For 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.
5. To use the RS-422 communication function, connect between TRE and RDN of the final axis servo amplifier. (Refer to section 18.11.)
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18.3.10 Grounding
WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the noiseless grounding terminal (marked ) of the servo amplifier to the grounding terminal of the cabinet.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to "EMC Installation Guidelines".
W
V
U
Cabinet
Servo motor
M U V W
CN2
Servo amplifier
CNP1
Protective earth (PE) Outer box
24
0
PM
CNP1
(Note 2)
Encoder
Circuit protector
24 V DC (Note 1)
48 V DC (Note 1)
48 V DC main circuit power supply
Circuit protector
24 V DC (Note 1)
24 V DC main circuit power supply
RA
CNP1
Programmable controller CN1
E
Note 1. For power supply specifications, refer to section 18.1.3. 2. Connect of servo motor to E of the CNP1 connector. Do not connect the wire directly to the grounding
terminal of the cabinet.
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18.4 Startup
WARNING
Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.
CAUTION
Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly. The servo amplifier and servo motor may be hot while the power is on, and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables. During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.
The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.
Item Detailed explanation Startup in position control mode Section 4.2 Startup in speed control mode Section 4.3 Startup in torque control mode Section 4.4
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18.4.1 Startup procedure
When switching power on for the first time, follow this section to make a startup.
06. Parameter setting
07. Test operation of the servo motor alone in test operation mode
08. Test operation of the servo motor alone by command
09. Test operation with the servo motor and machine connected
10. Gain adjustment
11. Actual operation
12. Stop
01. Wiring check
04. Surrounding environment check
02. Setting of main circuit power supply selection
1. Turning on of control circuit power supply
2. Setting of 24 V DC main circuit power supply with [Pr. PC27]
3. Turning off of control circuit power supply
4. Turning on of control circuit power supply Check of [Pr. PC27]
03. Recheck of main circuit power supply voltage and wiring
05. Turning on of main circuit power supply
Check that the servo amplifiers and servo motors are wired correctly. (Refer to section 18.4.3.) Set the main circuit power supply selection (48 V DC or 24 V DC) to servo amplifier. Set [Pr. PC27] according to the flow of 02-1 to 02-4. Set this setting only when using 24 V DC. (The initial value of the main circuit power supply selection is 48 V DC. When using 48 V DC, turn the control circuit power supply on and move on to procedure 03.) To set the parameter to servo amplifier, turn on the control circuit power supply. At this time, do not turn on the main circuit power supply. Set [Pr. PC027] setting to "_ 1 _ _". To reflect the parameter setting, turn off the control circuit power supply. Turn on the control circuit power supply on again, and check that [Pr. PC27] is changed to "24 V DC (_ 1 _ _)". At this time, do not turn on the main circuit power supply. Make sure that the main circuit power supply voltage of the servo amplifier to be turned on matches with the voltage set by [Pr. PC27] and that the servo amplifiers and servo motors are wired correctly by visual inspection, DO forced output function (section 18.5.9), etc. Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 18.4.4.) Turn on the main circuit power. Set the parameters as necessary, such as the used operation mode. (Refer to sections 18.6, 4.2.4, 4.3.4, and 4.4.4.) For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.) For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly. After connecting the servo motor with the machine, check machine motions with sending operation commands from the servo system controller. Make gain adjustment to optimize the machine motions. (Refer to chapter 6.) Stop giving commands and stop operation. Other conditions that stop the servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2.
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18.4.2 Troubleshooting when "24 V ERROR" lamp turns on
(1) When overvoltage is applied to the control circuit in the servo amplifier, power supply to the circuit will be shut off and the "24 V ERROR" lamp will turn on. Then, the 3-digit, 7-segment LED on display will turn off. Immediately turn off the power and check the wiring, etc. to the main circuit power supply (48 V DC).
(2) If the "24 V ERROR" lamp turns on with the 3-digit, 7-segment LED on, the control circuit power supply
voltage (24 V DC) may be failure. Check that the voltage of the control circuit power supply is 21.6 V DC or more.
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18.4.3 Wiring check
(1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring
The power supplied to the power input terminals (24/0/PM) of the servo amplifier should satisfy the defined specifications. (Refer to section 18.1.3.)
(b) Connection of servo amplifier and servo motor
1) The servo amplifier power output (U/V/W) should match in phase with the servo motor power input terminals (U/V/W).
Servo amplifier Servo motor
M
U
V
W
U
V
W
2) The power supplied to the servo amplifier should not be connected to the power outputs (U/V/W). Otherwise, the servo amplifier and servo motor will fail.
Servo amplifier Servo motor
24 0 PM
U V W
M
24 V DC
48 V DC
3) The noiseless grounding terminal ( ) of the servo motor should be connected to the E terminal of the servo amplifier.
Servo amplifier Servo motor
ME
4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable.
(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 CN1 connector. You can use this function to check the wiring. In this case, switch on the control circuit power supply only. For details of I/O signal connection, refer to section 18.3.5.
(b) A voltage exceeding 24 V DC is not applied to the pins of the CN1 connector.
(c) Between plate and DOCOM of the CN1 connector should not be shorted.
Servo amplifier
DOCOM
Plate
CN1
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18.4.4 Surrounding environment
(1) Cable routing (a) The wiring cables should not be stressed.
(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4)
(c) The connector of the servo motor should not be stressed.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like. 18.5 Display and operation sections
18.5.1 Summary
MR-J4-03A6(-RJ) servo amplifier has the display section (3-digit, 7-segment LED) and operation section (4 push buttons) for servo amplifier status display, alarm display, parameter setting, etc. Also, press the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode. The operation section and display data are described below.
MODE
UP DOWN SET
Display mode change Low/High switching Push this button together with the "SET" button for 3 s or more to switch to the one-touch tuning mode. Display/data scrolling Display/data scrolling Display/data determination Data clear Push this button together with the "MODE" button for 3 s or more to switch to the one-touch tuning mode.
Decimal LED Displays the decimal points, alarm presence/absence, etc.
Lit to indicate the decimal point.
Decimal
Lit to indicate a negative when "-" (negative) cannot be displayed.
Blinks to indicate alarm occurrence.
Blinks to indicate the test operation mode.
3-digit, 7-segment LED Displays data.
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18.5.2 Display flowchart
Press the "MODE" button once to shift to the next display mode. Refer to section 18.5.3 and later for the description of the corresponding display mode. To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters, enable them with [Pr. PA19 Parameter writing inhibit].
Display mode transition Initial screen Function Reference
Status display
Diagnosis
Alarms
Basic setting parameters
Gain/filter parameters
Extension setting parameters
Extension setting 2 parameters
Extension setting 3 parameters
I/O setting parameters
Button MODE
One-touch tuning
Servo status display. "CL" appears at power-on. (Note)
Section 18.5.3
One-touch tuning Select this when performing the one-touch tuning.
Section 6.2 Section 18.5.4
Sequence display, external signal display, output signal (DO) forced output, test operation, software version display, VC automatic offset, servo motor series ID display, servo motor type ID display, servo motor encoder ID display, drive recorder enabled/disabled display.
Section 18.5.5
Current alarm display, alarm history display, parameter error number display.
Section 18.5.6
Display and setting of basic setting parameters.
Section 18.5.7
Display and setting of gain/filter parameters.
Display and setting of extension setting parameters.
Display and setting of I/O setting parameters.
Display and setting of extension setting 2 parameters.
Display and setting of extension setting 3 parameters.
Note. When the axis name is set to the servo amplifier with MR Configurator2, the axis name is displayed and the servo status is then
displayed.
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18.5.3 Status display mode
The servo status during operation is shown on the 3-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears after the symbol of the status display selected in [Pr. PC36] has been shown for 2 s. (1) Display transition
After selecting the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.
Cumulative command pulses (1000 pulses unit)
Cumulative feedback pulses (pulse unit)
Command pulse frequency (kpulses/s unit)
Command pulse frequency (1000 kpulses/s unit)
Analog speed command voltage Analog speed limit voltage
Analog torque limit voltage Analog torque command voltage
Cumulative feedback pulses (1000 pulses unit)
Servo motor speed (10 r/min unit)
Servo motor speed (r/min unit)
Droop pulses (pulse unit)
Unit total power consumption 3 (100 kWh unit)
Droop pulses (1000 pulses unit)
Cumulative command pulses (pulse unit)
DOWN
UP
ABS counter (1000 rev unit)
Effective load ratio
Load to motor inertia ratio (0.1 times)
Load to motor inertia ratio (100 times)
Bus voltage
Internal temperature of encoder
Peak load ratio
Instantaneous torque
Within one-revolution position (pulse unit)
Within one-revolution position (1000 pulses unit)
Within one-revolution position (1000000 pulses unit)
ABS counter (rev unit)
DOWN
UP
Unit total power consumption 2 (1 kWh unit)
Oscillation detection frequency (1 Hz unit)
Unit total power consumption 3 (1000 kWh unit)
Oscillation detection frequency (1 kHz unit)
Number of tough drives (times)
Number of tough drives (1000 times)
Unit power consumption 1 (1 W unit)
Unit power consumption 2 (1 kW unit)
Unit total power consumption 1 (1 Wh unit)
Cumulative feedback pulses (pulse unit)
Regenerative load ratio Settling time
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(2) Display examples
The following table shows the display examples.
Item Status Displayed data
Servo amplifier display
Cumulative feedback pulses
720000 pulses
pulse unit
1000 pulses unit
-680000 pulses
pulse unit Lit
The negative value is indicated by the lit decimal points in the upper two digits.
1000 pulses unit Lit
The negative value is indicated by the lit decimal points in the upper two digits.
Load to motor inertia ratio
7.0 times
0.1 times Lit
At this time, the decimal point in the second digit blinks.
100 times
"0" in 100 times display.
15.0 times
0.1 times Lit
At this time, the decimal point in the second digit blinks.
100 times
"0" in 100 times display.
Position within one-revolution 4194303 pulses
pulse unit
1000 pulses unit
1000000 pulses unit
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(3) Status display list
The following table lists the servo statuses that may be shown. Refer to app. 8.3 (2) for the measurement point.
Status display Symbol Unit Description
Cumulative feedback pulses (1 pulse unit) CL pulse
Feedback pulses from the servo motor encoder are counted and displayed. When the count exceeds 999, it starts from 0. Negative value is indicated by the lit decimal points in the upper two digits. Press the "SET" button to reset the display value to zero. The internal counter subtracts 500000000 when the number exceeds 2000000000. In addition, The internal counter adds 500000000 when the number exceeds -2000000000.
Cumulative feedback pulses (1000 pulses unit) Ch 1000
pulses
Servo motor speed (10 r/min unit) r1 10 r/min
The servo motor speed is displayed. Negative value is indicated by the lit decimal points in the upper two digits. Displays by 10 r/min unit.
Servo motor speed (1 r/min unit) r r/min
The servo motor speed is displayed. Negative value is indicated by the lit decimal points in the upper two digits.
Droop pulses (1 pulse unit) EL pulse The numbers of droop pulses in the deviation counter are displayed. When the count exceeds 999, it starts from 0. The number of pulses is displayed in the units of encoder pulses. Negative value is indicated by the lit decimal points in the upper two digits.
Droop pulses (1000 pulses unit) Eh 1000
pulses
Cumulative command pulses (1 pulse unit) PL pulse
Position command input pulses are counted and displayed. As the value displayed is not yet multiplied by the electronic gear (CMX/CDV), it may not match the indication of the cumulative feedback pulses. When the count exceeds 999, it starts from 0. Negative value is indicated by the lit decimal points in the upper two digits. Press the "SET" button to reset the display value to zero.
Cumulative command pulses (1000 pulses unit) Ph 1000
pulses
Command pulse frequency (1 kpulse/s unit) nL kpulse/s The frequency of position command input pulses is counted and displayed.
The value displayed is not multiplied by the electronic gear (CMX/CDV). Command pulse frequency (1000 kpulses/s unit) nh 1000
kpulses/s
Analog speed command voltage Analog speed limit voltage
F V
1) Torque control mode Input voltage of VLA (Analog speed limit) voltage is displayed.
Negative value is indicated by the lit decimal points in the upper two digits.
2) Speed control mode Input voltage of VC (Analog speed command) voltage is displayed.
Negative value is indicated by the lit decimal points in the upper two digits.
Analog torque command voltage Analog torque limit voltage
U V
1) Position control mode and speed control mode Voltage of TLA (Analog torque limit) voltage is displayed.
Negative value is indicated by the lit decimal points in the upper two digits. 2) Torque control mode
Voltage of TC (Analog torque command) voltage is displayed. Negative value is indicated by the lit decimal points in the upper two digits.
Regenerative load ratio L % The ratio of regenerative power to permissible regenerative power is displayed in %.
Effective load ratio J % The continuous effective load current is displayed. The effective value in the past 15 s is displayed relative to the rated current of 100 %.
Peak load ratio b % The maximum occurrence torque is displayed. The highest value in the past 15 s is displayed relative to the rated torque of 100 %.
Instantaneous torque T % The instantaneous torque is displayed. The value of torque being occurred is displayed in real time considering a rated torque as 100%.
Within one-revolution position (1 pulse unit) Cy1 pulse
Position within one revolution is displayed in encoder pulses. When the count exceeds 999, it starts from 0. When the servo motor rotates in the CCW direction, the value is added.
Within one-revolution position (1000 pulses unit) Cy2 1000
pulses
The within one-revolution position is displayed in 1000 pulse increments of the encoder. When the count exceeds 999, it starts from 0. When the servo motor rotates in the CCW direction, the value is added.
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Status display Symbol Unit Description
Within one-revolution position (1000000 pulses unit) Cy3 1000000
pulses
The within one-revolution position is displayed in 1000000 pulse increments of the encoder. When the count exceeds 999, it starts from 0. When the servo motor rotates in the CCW direction, the value is added.
ABS counter (1 rev unit) LSL rev The travel distance from the home position is displayed as multi-revolution counter value of the absolution position encoder in the absolution position detection system. Negative value is indicated by the lit decimal points in the upper two digits. ABS counter (1000 rev unit) LSh 1000 rev
Load to motor inertia ratio (0.1 times) dCL 0.1
times The estimated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed. Load to motor inertia ratio
(100 times) dCh 100 times
Bus voltage Pn V The voltage of main circuit converter is displayed. It is displayed rounding off 0.1 V unit.
Internal temperature of encoder ETh C Inside temperature of encoder detected by the encoder is displayed.
Settling time ST ms Displays settling time. When it exceeds 999 ms, "999" will be displayed. Oscillation detection frequency (1 Hz unit) oFL Hz
Frequency at the time of oscillation detection is displayed. Oscillation detection frequency (1 kHz unit) oFh kHz
Number of tough drive operations (times) Td1 times
The number of tough drive functions activated is displayed. Number of tough drive operations (1000 times) Td2 1000
times
Unit power consumption 1 (1 W unit)
PC1 W
Unit power consumption is displayed by increment of 1 W. Positive value indicate power running, and negative value indicate regeneration. The values in excess of 999 can be counted. However, the counter shows only the lower 3-digits of the actual value since the servo amplifier display is 3-digits. Negative value is indicated by the lit decimal points in the upper two digits.
Unit power consumption 2 (1 kW unit)
PC2 kW
Unit power consumption is displayed by increment of 1 kW. Positive value indicate power running, and negative value indicate regeneration. The values in excess of 99 can be counted. However, the counter shows only the lower 3- digits of the actual value since the servo amplifier display is 3-digits. Negative value is indicated by the lit decimal points in the upper two digits.
Unit total power consumption 1 (1 Wh unit) TP1 Wh
Unit total power consumption is displayed by increment of 1 Wh. Positive value is cumulated during power running and negative value during regeneration. The values in excess of 999 can be counted. However, the counter shows only the lower 3-digits of the actual value since the servo amplifier display is 3-digits. Negative value is indicated by the lit decimal points in the upper two digits.
Unit total power consumption 2 (1 kWh unit) TP2 kWh
Unit total power consumption is displayed by increment of 1 kWh. Positive value is cumulated during power running and negative value during regeneration. The values in excess of 999 can be counted. However, the counter shows only the lower 3-digits of the actual value since the servo amplifier display is 3-digits. Negative value is indicated by the lit decimal points in the upper two digits.
Unit total power consumption 3 (1000 kWh unit) TP3 1000
kWh
Unit total power consumption is displayed by increment of 1000 kWh. Positive value is cumulated during power running and negative value during regeneration. The values in excess of 99 can be counted. However, the counter shows only the lower 3-digits of the actual value since the servo amplifier display is 3-digits. Negative value is indicated by the lit decimal points in the upper two digits.
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(4) Changing the status display screen
The status display item of the servo amplifier display shown at power-on can be changed by changing [Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows.
Control mode Status display
Position Cumulative feedback pulses Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed Speed/torque Servo motor speed/analog torque command voltage
Torque Analog torque command voltage
Torque/position Analog torque command voltage/ cumulative feedback pulses
18.5.4 One-touch tuning
The contents mentioned in this section is an operation method only for executing one-touch tuning in the user command method on MR-J4-03A6(-RJ) servo amplifier by using push button. Refer to section 6.2 for details of one-touch tuning.
POINT Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the response mode selection ("AT.") without going through the initial screen of the one-touch tuning ("AT").
Push the "MODE" button during motor driving to switch to the initial screen ("AT") of the one-touch tuning. Push the "SET" button for 2 s or more during displaying "AT" to switch to the response mode selection ("AT."). (1) Response mode selection
Select a response mode of the one-touch tuning from 3 modes with "UP" or "DOWN". Refer to section 6.2.2 (1) (a) for a guideline of response mode.
Response mode selection display
Low mode: This mode is for low-rigid system.
Basic mode: This mode is for standard system.
High mode: This mode is for high-rigid system.
DOWNUP
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(2) One-touch tuning execution
POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PA25 One-touch tuning overshoot permissible level] will shorten the settling time and improve the response.
After the response mode is selected in (1), pushing the "SET" button will start one-touch tuning.
Completing the one-touch tuning will start writing the auto-tuned parameters to the servo amplifier.
The one-touch tuning progress is displayed with 0% to 100%. The decimal point moves left to right in rotation during the tuning. To switch the display to the status display during the tuning, push the "MODE" button.
One-touch tuning in progress
Complete
(3) Stop of one-touch tuning
The stop symbol and error code "C 00" (cancel during tuning) will be displayed by turns with 2 s interval.
2 s interval
Error code
The one-touch tuning mode can be stopped by pushing the "SET" button regardless of displayed item.
Stop symbol
Initial screen Pushing the "SET" button will switch to the initial screen.
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(4) If an error occurs
Check the error cause referring to the table 6.2 of (1) (d) of section 6.2.2.
2 s interval
Error code
If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the stop symbol and error code from "C 01" to "C 0F" will be displayed by turns with 2 s interval.
Stop symbol
Initial screen Pushing the "SET" button will switch to the initial screen.
(5) If an alarm occurs
If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated and the alarm No. will be displayed.
One-touch tuning in progress
Alarm display
2 s interval
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(6) If a warning occurs
If a warning occurs during the one-touch tuning, the alarm No. of the warning will be displayed. When the warning is one which continue the motor driving, the one-touch tuning will be continued.
One-touch tuning in progress
Alarm display (warning)
2 s interval
(7) Clearing one-touch tuning Refer to table 6.1 of section 6.2 for the parameters which you can clear. You can initialize the parameters changed by the one-touch tuning with the clear mode. You can reset the parameters to before tuning with the back mode.
(a) Push the "MODE" button to switch to the initial screen ("AT") of the one-touch tuning.
(b) Select the clear mode or back mode with the "UP" or "DOWN" button.
One-touch tuning clear mode selection
DOWNUP
To clear the one-touch tuning, push the "SET" button for 2 s.
The one-touch tuning clear mode is in progress. The clear mode symbol blinks for 3 s.
Clearing one-touch tuning is completed, the initial screen will be displayed.
One-touch tuning clear mode display (initializing)
Initial screen
Auto mode
Clear mode
Back mode
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18.5.5 Diagnostic mode
Name Display Description
Sequence
Not ready Indicates that the servo amplifier is being initialized or an alarm has occurred.
Ready Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.
Drive recorder enabled/disabled display
Drive recorder enabled When an alarm occurs in the status, the drive recorder will operate and write the status of occurrence.
Drive recorder disabled The drive recorder will not operate on the following conditions. 1. You are using the graph function of MR
Configurator2. 2. You are using the machine analyzer
function. 3. [Pr. PF21] is set to "-1".
External I/O signal display Refer to section 18.5.8.
This indicates the on/off status of external I/O signal. The upper segments correspond to the input signals and the lower segments to the output signals.
Output signal (DO) forced output This allows digital output signal to be switched on/off forcibly. For details, refer to section 18.5.9.
Test operation mode
JOG operation JOG operation can be performed when there is no command from an external controller. For details, refer to section 18.5.10 (2).
Positioning operation
Positioning operation can be performed when there is no command from an external controller. MR Configurator2 is required to perform positioning operation. For details, refer to section 4.5.9 (3).
Motor-less operation
Without connecting the servo motor, output signals or status display monitoring can be provided in response to the input device as if the servo motor is actually running. For details, refer to section 4.5.9 (4).
Machine analyzer operation
Merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured. MR Configurator2 is required to perform machine analyzer operation. Refer to section 11.7 for details.
For manufacturer adjustment This is for manufacturer adjustment.
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Name Display Description
Software version: lower "SET"
Indicates the version of the software. The software version is displayed while the "SET" button is pressed and held. Press the "MODE" button to shift to the next display mode. Press the "UP" or "DOWN" button to shift to the next diagnosis menu.
Software version: upper "SET"
Indicates the system number of the software. The software system number is displayed while the "SET" button is pressed and held. Press the "MODE" button to shift to the next display mode. Press the "UP" or "DOWN" button to shift to the next diagnosis menu.
Automatic VC offset
If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at VC (Analog speed command) or VLA (Analog speed limit) of 0 V, this function automatically makes zero- adjustment of offset voltages. When using this function, enable the function in the following procedure. When it is enabled, [Pr. PC37] value changes to the automatically adjusted offset voltage. 1) Press the "SET" button once. 2) Set the number in the first digit to "1" with
"UP" button. 3) Press the "SET" button. This function cannot be used if the input voltage of VC or VLA is -0.4 V or less, or +0.4 V or more. (Note)
Note. Even if VC automatic offset is performed and 0 V is input, the servo motor may not completely stop due to an internal error. To
stop completely, turn off the ST1 or ST2.
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Name Display Description
Servo motor series ID "SET"
Displays the series ID of the servo motor currently connected. Press the "SET" button to show the lower 3 digits of servo motor series ID. For indication details, refer to app. 1 of "Servo Motor Instruction Manual (Vol. 3)". Press the "UP" or "DOWN" button to shift to the next diagnosis menu.
Servo motor type ID "SET"
Displays the type ID of the servo motor currently connected. Press the "SET" button to show the lower 3 digits of servo motor type ID. For indication details, refer to app. 1 of "Servo Motor Instruction Manual (Vol. 3)". Press the "UP" or "DOWN" button to shift to the next diagnosis menu.
Servo motor encoder ID "SET"
Displays the encoder ID of the servo motor currently connected. Press the "SET" button to show the lower 3 digits of servo motor encoder ID. For indication details, refer to app. 1 of "Servo Motor Instruction Manual (Vol. 3)". Press the "UP" or "DOWN" button to shift to the next diagnosis menu.
For manufacturer adjustment This is for manufacturer adjustment.
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18.5.6 Alarm mode
The current alarm, past alarm history and parameter error are displayed. The alarm number that has occurred or the parameter numbers in error are displayed on the display.
Name Display Description
Current alarm
Indicates no occurrence of an alarm.
2 s interval
Indicates the occurrence of [AL. 33.1 Main circuit voltage error]. Blinks at alarm occurrence. The alarm number and detail number are displayed alternately by intervals of 2 s.
Alarm history
"SET"
Indicates that the last alarm is [AL. 50.1 Thermal overload error 1 during operation]. When an alarm is recorded to alarm history, the second digit decimal point blinks. Press and hold the "SET" button to show the detail number of [AL. 50].
"SET"
Indicates the second last alarm is [AL. 33.1 Main circuit voltage error]. When an alarm is recorded to alarm history, the second digit decimal point blinks. Press and hold the "SET" button to show the detail number of [AL. 33].
"SET"
"SET"
Indicates that there is no third alarm in the past. If there is no alarm history, the display will be as shown as in the left, when the "SET" button is pressed.
Indicates that there is no sixteenth alarm in the past.
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Name Display Description
Parameter error No.
This indicates no occurrence of [AL. 37 Parameter error].
"SET"
The parameter error number is displayed. The parameter group in which the parameter error has occurred is displayed. Press and hold the "SET" button to show the parameter number with the error. The display example on the left is when the data of [Pr. PA12 reverse rotation torque limit] becomes error. The parameter number is displayed by ascending order when several parameter errors occurred at the same time.
Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation
area. At this time, the decimal point in the third digit remains blinking. (3) For any alarm, remove its cause and clear it in any of the following methods. (Refer to chapter 8 for the
alarms that can be cleared.)
(a) Switch power off, then on.
(b) Press the "SET" button on the current alarm screen.
(c) Turn on RES (Reset). (4) Use [Pr. PC18] to clear the alarm history. (5) Push "UP" or "DOWN" to move to the next history.
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18.5.7 Parameter mode
(1) Parameter mode transition After selecting the corresponding parameter mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as follows.
[Pr. PB01]
[Pr. PA02]
[Pr. PA01]
I/O setting parameters
[Pr. PD01]
[Pr. PD02]
[Pr. PD47]
[Pr. PD48]
[Pr. PC01]
[Pr. PC02]
[Pr. PC79]
Extension setting parameters
[Pr. PC80]
[Pr. PB02]
[Pr. PB63]
[Pr. PB64]
To status display mode
[Pr. PA31]
Basic setting parameters
[Pr. PA32]
Extension setting 2 parameters
[Pr. PE01]
[Pr. PE02]
[Pr. PE63]
[Pr. PE64]
Extension setting 3 parameters
[Pr. PF01]
[Pr. PF02]
[Pr. PF47]
[Pr. PF48]
Gain/filter parameters
MODE
UP
DOWN
From an alarm mode
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(2) Operation example
(a) Parameters of 3 or less decimal digits. The following example gives the operation procedure to change [Pr. PA Reverse rotation torque limit]. Press "MODE" to switch to the basic setting parameter screen.
Parameter number selection
Press "UP" or "DOWN" to select parameter number. Press "SET" to display the item to set to the selected parameter number.
Parameter contents display
Press "UP" or "DOWN" to shift to the setting display of the next parameter number. Press the "MODE" button to shift to the next display. Press the "SET" button once to display the setting. Press the "SET" button once when the setting is displayed. The setting blinks and is possible to be changed.
Changing the parameter contents
Press "UP" or "DOWN" to change the value and press "SET" to fix the setting. The setting will be displayed as it is after the setting is fixed. To cancel the setting data, press "MODE" for 2 s while the display is blinking. The setting before the change will be displayed. Press and hold "UP" or "DOWN" to change the data continuously. In that case, only the highest digit changes.
Example of pressing and holding the "UP" button
The first digit increases from 0 to 9.
The first digit does not change from 0. The second digit increases from 0 to 9.
The first and second digits do not change from 0. The third digit increases from 0 to 9.
Example of pressing and holding the "DOWN" button
The first digit decreases from 9 to 0.
The first digit does not change from 0. The second digit decreases from 9 to 0.
The first and second digits do not change from 0. The third digit decreases from 9 to 0.
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(b) Parameters of 4 to 6 decimal digits
The following example gives the operation procedure to change [Pr. PB03 Positioning command acceleration/deceleration time constants (position smoothing)] to "65535".
Press "MODE" to switch to the gain/filter setting parameter screen. Press "UP" or "DOWN" to select [Pr. PB03].
The display blinks (Note 1)
Press the "SET" button once.
Press the "SET" button once.
Upper 3 digit
Change the setting with the "UP" or "DOWN" button.
Press the "SET" button once.
Enter the setting. (Note 2)
Press the "MODE" button once.
Press the "MODE" button once. Lower 3 digits
Note 1. Pressing the "SET" button in either upper or lower 3-digit display makes the display blink.
2. Pressing the "SET" button in either upper or lower 3-digit display fix the setting.
The display can be switched between upper and lower 3-digit by pressing the "MODE" button. Switching the display between upper and lower 3-digit is also possible by pressing the "MODE" button while the display is blinking. The changed value will be canceled when "MODE" is pressed for 2 s or more while blinking. To shift to the next parameter number, press the "UP" or "DOWN" button. To change the screen to the other, press "UP" or "DOWN" to change the screen to other parameter number display screen and press "MODE".
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(c) Parameters of 7 or more decimal digits
The following example gives the operation procedure to change the [Pr. PA06 Electronic gear numerator (command pulse multiplication numerator)] to "12345678". Press "MODE" to switch to the basic setting parameter screen.
The display blinks (Note 1)
Press "SET" once.
Press "SET" once.
Upper 3 digit
Press "SET" once.
Enter the setting. (Note 2)
Press "MODE" once.
Press "MODE" once. Middle 3 digits
The display blinks (Note 1)
Press "SET" once.
Change the setting with the "UP" or "DOWN" button.
Change the setting with the "UP" or "DOWN" button.
Press "SET" once.
Enter the setting. (Note 2)
Press "MODE" once. Lower 3 digits
Note 1. Pressing the "SET" button in upper, middle, or lower 3-digit display makes the display blink. 2. Pressing the "SET" button in upper, middle, or lower 3-digit display fix the setting.
The display can be switched among upper, middle, and lower 3-digits by pressing the "MODE" button. Switching the display between upper, middle, and lower 3-digit is also possible by pressing the "MODE" button while the display is blinking. The changed value will be canceled when "MODE" is pressed for 2 s or more while blinking. To shift to the next parameter number, press the "UP" or "DOWN" button. To change the screen to the other, press "UP" or "DOWN" to change the screen to other parameter number display screen and press "MODE".
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(d) Parameter of hexadecimal
The following example gives the operation procedure to change the [Pr. PA01 Operation mode] to "1234".
Press "MODE" to switch to the basic setting parameter screen. Press "UP" or "DOWN" to select [Pr. PA01].
The display blinks (Note 1)
Press "SET" once.
Press "SET" once.
Upper 2 digit
Change the setting with the "UP" or "DOWN" button.
Press "SET" once.
Enter the setting. (Note 2)
Press "MODE" once.
Press "MODE" once. Lower 2 digits
Note 1. Pressing the "SET" button in upper, middle, or lower 2-digit display makes the display blink.
2. Pressing the "SET" button in upper, middle, or lower 2-digits display fix the setting.
The display can be switched among upper, middle, and lower 2-digits by pressing the "MODE" button. Switch the display between upper, middle, and lower 2-digit is also possible by pressing the "MODE" button while the display is blinking. The changed value will be canceled when "MODE" is pressed for 2 s or more while blinking. To shift to the next parameter number, press the "UP" or "DOWN" button. To change the screen to the other, press "UP" or "DOWN" to change the screen to other parameter number display screen and press "MODE".
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18.5.8 External I/O signal display
POINT The I/O signal settings can be changed using the I/O setting parameters [Pr. PD03] to [Pr. PD26], and [Pr. PD28].
The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation
The display screen at power-on. Use the "MODE" button to display the diagnostic screen.
Press "UP" twice.
External I/O signal display screen
(2) Display definition The 7-segment LED segments and CN1 connector pins correspond as shown below.
CN1-15 CN1-43
CN1-49CN1-23
CN1-16 CN1-19
CN1-22
CN1-17CN1-45
CN1-48CN1-33 CN1-25
CN1-18 CN1-41 CN1-44
CN1-24
CN1-35/ CN1-38
CN1-10/ CN1-37
CN1-42
Input signals
Output signals
Light on: on Light off: off
The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off. The decimal point in the second digit blinks continuously. The signals corresponding to the pins in the respective control modes are indicated as follows:
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(a) Control modes and I/O signals
Connector Pin No. Signal
input/output (Note 1) I/O
(Note 2) Symbols of I/O signals in control modes Related parameter
P P/S S S/T T T/P
10 I PP PP/- (Note 3) (Note 3) (Note 3) -/PP PD43/PD44 15 I SON SON SON SON SON SON PD03/PD04 16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- PD05/PD06 17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC PD07/PD08 18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL PD09/PD10 19 I RES RES RES RES RES RES PD11/PD12 22 O INP INP/SA SA SA/- -/INP PD23 23 O ZSP ZSP ZSP ZSP ZSP ZSP PD24 24 O INP INP/SA SA SA/- -/INP PD25
CN1 25 O TLC TLC TLC TLC/VLC VLC VLC/TLC PD26 33 O OP OP OP OP OP OP 35 I NP NP/- (Note 3) (Note 3) (Note 3) -/NP PD45/PD46 37 I PP2 PP2/- (Note 4) (Note 4) (Note 4) -/PP2 PD43/PD44 38 I NP2 NP2/- (Note 4) (Note 4) (Note 4) -/NP2 PD45/PD46 41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD13/PD14 42 I EM2 EM2 EM2 EM2 EM2 EM2 43 I LSP LSP LSP LSP/- -/LSP PD17/PD18 44 I LSN LSN LSN LSN/- -/LSN PD19/PD20 45 I LOP LOP LOP LOP LOP LOP PD21/PD22 48 O ALM ALM ALM ALM ALM ALM 49 O RD RD RD RD RD RD PD28
Note 1. I: input signal, O: output signal 2. P: position control mode, S: speed control mode, T: torque control mode
P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position switching mode 3. This is available as an input device of sink interface. Input devices are not assigned by default. Assign the input devices with
[Pr. PD43] to [Pr. PD46] as necessary. Supply + of 24 V DC to CN1-12 pin. 4. This is available as an input device of source interface. Input devices are not assigned by default. Assign the input devices
with [Pr. PD43] to [Pr. PD46] as necessary.
(b) Symbol and signal names
Symbol Signal name Symbol Signal name
SON Servo-on RES Reset LSP Forward rotation stroke end EM2 Forced stop 2 LSN Reverse rotation stroke end LOP Control switching CR Clear TLC Limiting torque SP1 Speed selection 1 VLC Limiting speed SP2 Speed selection 2 RD Ready PC Proportional control ZSP Zero speed detection ST1 Forward rotation start INP In-position ST2 Reverse rotation start SA Speed reached RS1 Forward rotation selection ALM Malfunction RS2 Reverse rotation selection OP Encoder Z-phase pulse (open collector) TL External torque limit selection
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(3) Display data at initial values
(a) Position control mode
Light on: on Light off: off
NP (CN1-35)/NP2 (CN1-38) PC (CN1-17) TL (CN1-18)
LOP (CN1-45)
OP (CN1-33) ALM (CN1-48)
PP (CN1-10)/PP2 (CN1-37) CR (CN1-41) RES (CN1-19) SON (CN1-15) LSN (CN1-44) LSP (CN1-43)
RD (CN1-49) INP (CN1-24) ZSP (CN1-23) TLC (CN1-25) INP (CN1-22)
EM2 (CN1-42)
(b) Speed control mode SP1 (CN1-41) RES (CN1-19) SON (CN1-15) LSN (CN1-44) LSP (CN1-43)
RD (CN1-49) SA (CN1-24) ZSP (CN1-23) TLC (CN1-25) SA (CN1-22)
Light on: on Light off: off
SP2 (CN1-16) ST1 (CN1-17) ST2 (CN1-18) LOP (CN1-45)
OP (CN1-33) ALM (CN1-48)
EM2 (CN1-42)
(c) Torque control mode
SP1 (CN1-41) RES (CN1-19) SON (CN1-15)
RD (CN1-49)
ZSP (CN1-23) VLC (CN1-25)
Light on: on Light off: off
SP2 (CN1-16) RS2 (CN1-17) RS1 (CN1-18) LOP (CN1-45)
OP (CN1-33) ALM (CN1-48)
EM2 (CN1-42)
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18.5.9 Output signal (DO) forced output
POINT When the servo system is used in a vertical lift application, turning on MBR (Electromagnetic brake interlock) by the DO forced output after assigning it to connector CN1 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.
Output signals can be switched on/off forcibly independently of the servo status. Use this function for checking output signal wiring, etc. This operation must be performed in the servo off state by turning off SON (Servo-on). The following shows the display at power-on. Use the "MODE" button to display the diagnostic screen.
CN1-33 CN1-48
CN1-22 CN1-25 CN1-23
CN1-49CN1-24
Switch on/off the signal below the lit segment.
Indicates on/off of output signal. Definitions of on/off are the same as those for the external I/O signals. (Light on: on, light off: off)
Press the "UP" button three times.
Press the "SET" button for 2 s or more.
Press the "MODE" button once.
Press the "UP" button once.
CN1-24 switches on. (Between CN1-24 and DOCOM are connected.)
The lit LED moves to the upper LED of CN1-24.
Press the "DOWN" button once.
CN1-24 switches off.
Press the "SET" button for 2 s or more.
Always lit
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18.5.10 Test operation mode
CAUTION The test operation mode is designed for checking servo operation. Do not use it for actual operation. If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.
POINT
Test operation cannot be performed in the absolute position detection system. To perform the test operation, select the incremental system in [Pr. PA03]. MR Configurator2 is required to perform positioning operation. Test operation cannot be performed if SON (Servo-on) is not turned off.
The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.
Item Detailed explanation Positioning operation Section 4.5.9 (3) Motor-less operation Section 4.5.9 (4) Program operation Section 4.5.9 (5) Output signal (DO) forced output Section 4.5.9 (6)
(1) Mode switching
The following shows the display at power-on. Select JOG operation or motor-less operation in the following procedure. Use the "MODE" button to display the diagnostic screen.
Press "UP" four times.
Press "SET" for longer than 2 s.
When this screen appears, JOG operation can be performed.
Blinks in the test operation mode.
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(2) JOG operation
POINT When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr. PD01] to " _ C _ _ ".
JOG operation can be performed when there is no command from the controller.
(a) Operation/drive
The servo motor rotates while holding down the "UP" or the "DOWN" button. The servo motor stops rotating by releasing the button. The operation condition can be changed using MR Configurator2. The initial operation condition and setting range for operation are listed below.
Item Initial setting Setting range
Speed [r/min] 200 0 to instantaneous permissible speed
Acceleration/deceleration time constant [ms] 1000 0 to 50000
The following table shows how to use the buttons.
Button Description
"UP" Press to start CCW rotation. Release to stop.
"DOWN" Press to start CW rotation. Release to stop.
If the USB cable is disconnected during JOG operation using the MR Configurator2, the servo motor decelerates to a stop.
(b) Status display
Press the "MODE" button in the JOG operation-ready status to call the status display screen. When the JOG operation is performed using the "UP" or "DOWN" button, the servo status is displayed during the JOG operation. Every time the "MODE" button is pushed, the next status display screen appears. When one cycle of the screen display is complete, it returns to the JOG operation-ready status screen. Refer to section 18.5.3 for details of status display. Note that the status display screen cannot be changed by the, "UP" or "DOWN" button during the JOG operation.
(c) Termination of JOG operation
To end the JOG operation, shut the power off once, or press the "MODE" button to switch to the next screen, and then hold down the "SET" button for 2 s or longer.
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18.6 Dimensions
[Unit: mm]
30 10
0 90
CNP1
5
5 5
90
4
Approx. 80
Approx. 51
Ap pr
ox . 3
7. 5
Approx. 27.4With MR-BAT6V1SET
2-5 mounting hole
Mass: 0.2 [kg]
1
6
7
8
5
2
3
4
PM
E W
0
Terminal
CNP1
V U
24
Mounting screw Screw size: M4 Tightening torque: 1.24 [Nm]
90 Ap
pr ox
. 1 00
Ap pr
ox .
5
Approx. 5
Approx. 30
Ap pr
ox .
5
2-M4 screw
Mounting hole process drawing
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18.7 Characteristics
The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.
Item Detailed explanation Cable bending life Section 10.4
18.7.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig. 18.1. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken line in the graph. For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or less of the rated torque. This servo amplifier has servo motor overload protective function. (The servo motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
O pe
ra tio
n tim
e [s
]
0.1
1
10
100
1000
0 50 100 150 200 250 300 350 400
Servo-lock
Operation
(Note) Load ratio [%]
HG-AK0136/HG-AK0236/HG-AK0336
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.
Fig. 18.1 Electronic thermal protection characteristics
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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18.7.2 Power supply capacity and generated loss
Table 18.4 indicates the required power supply capacities for main circuit and losses generated under rated load of the servo amplifier. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the servo motor is operated under the rated speed, required power supply capacities for main circuit will be less than the value of the table.
Table 18.4 Power supply capacity and generated heat per servo amplifier at rated output
Servo motor Main circuit (48 V DC/24 V DC)
Required power supply capacity [W]
Servo amplifier-generated heat [W] (Note)
At rated output With servo-off HG-AK0136 230 6 1 HG-AK0236 360 9 1 HG-AK0336 480 13 1
Note. Heat generated during regeneration is not included in the servo amplifier-generated
heat.
18.7.3 Dynamic brake characteristics
POINT The dynamic brake of MR-J4-03A6(-RJ) is an electronic type. Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 (Forced stop 1) frequently in other than emergency. The time constant "" for the electronic dynamic brake will be shorter than that of normal dynamic brake. Therefore, coasting distance will be longer than that of normal dynamic brake. For how to set the electronic dynamic brake, refer to [Pr. PF09] and [Pr. PF15].
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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(1) Dynamic brake operation
(a) Calculation of coasting distance Fig. 18.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 18.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to (1) (b) in this section.) A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a maximum coasting distance calculated with the following equation.
V0
OFF
ON
Machine speed
te Time
EM1 (Forced stop 1)
Dynamic brake time constant
Fig. 18.2 Dynamic brake operation diagram
Lmax = 60 V0 JM
te + 1 + JL (18.1)
Lmax: Maximum coasting distance [mm] V0: Machine's fast feed speed [mm/min] JM: Moment of inertia of the servo motor [ 10-4 kgm2] JL: Load moment of inertia converted into equivalent value on servo motor shaft [ 10-4 kgm2] : Dynamic brake time constant[s] te: Delay time of control section [s]
The processing delay time about 3.5 ms.
(b) Dynamic brake time constant The following shows necessary dynamic brake time constant for equation 18.1.
0
Speed [r/min] 0 1000 2000
0.0005
0.0010
0.0015
0.0020
0.0025
3000 4000 5000 6000
0236
0336
0136
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[s
]
HG-AK series
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
18 - 77
(2) Permissible load to motor inertia when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the servo amplifier may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office. The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor.
Servo motor Permissible load to motor
inertia ratio [multiplier] HG-AK0136 HG-AK0236 30 HG-AK0336
18.7.4 Inrush currents at power-on of main circuit and control circuit
POINT The inrush current values can change depending on frequency of turning on/off the power and ambient temperature.
Since large inrush currents flow in the power supplies, use circuit protector. For circuit protectors, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used. Refer to section 18.8.4 for details of the circuit protector. This following table indicates the inrush current (reference data) when the power of output side of power unit is turned on in the conditions: main circuit of 55.2 V DC, control circuit of 26.4 V DC, and wiring length of 1 m.
Servo amplifier Inrush current Main circuit power supply (PM/0) Control circuit power supply (24/0)
MR-J4-03A6(-RJ) 70 A (attenuated to approx. 0 A in 1 ms) 0.5 A (attenuated to approx. 0 A in 60 ms)
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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18.8 Options and peripheral equipment
WARNING Before connecting options and peripheral equipment, turn off the power and wait until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
CAUTION Use the specified peripheral equipment and options to prevent a malfunction or a fire.
POINT
We recommend using HIV wires to wire the servo amplifiers, options, and peripheral equipment. Therefore, the recommended wire sizes may differ from those used for the previous servo amplifiers.
The items in the following table are the same as those for MR-J4-_A_(-RJ) servo amplifiers of 100 W or more. Refer to the section of the detailed explanation field for details.
Item Detailed explanation Junction terminal block MR-TB50 Section 11.6 MR Configurator2 Section 11.7 Battery Section 11.8 Relay (recommended) Section 11.13 Noise reduction techniques Section 11.14
18.8.1 Cable/connector sets
POINT The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.
Purchase the cable and connector options indicated in this section.
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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18.8.2 Combinations of cable/connector sets
CNP1
(Note)
(Note)
Personal computer
5)
1) Packed with the servo amplifier
Servo amplifier
Operation panel
Controller
2)
3)
4)
Battery
CN1
CN3
CN4 CN2
HG-AK servo motor
Note. Refer to "Servo Motor Instruction Manual (Vol. 3)" for servo motor power cables and encoder cables.
No. Name Model Description Remark 1) CNP1 connector
Supplied with servo amplifier
Model: DFMC 1,5/ 4-ST-3,5-LR or equivalent (Phoenix Contact) Applicable wire size: AWG 24 to 16 Insulator OD: to 2.9 mm
2) Junction terminal block cable
MR-J2M- CN1TBL_M Cable length: 0.5 m, 1 m (Refer to section 11.6.)
Junction terminal block connector Connector: D7950-B500FL (3M)
CN1 connector Connector: 10150-6000EL Shell kit: 10350-3210-000 (3M or equivalent)
For junction terminal block connection
3) CN1 connector set
MR-J3CN1 Connector: 10150-3000PE Shell kit: 10350-52F0-008 (3M or equivalent)
4) Junction terminal block
MR-TB50 Refer to section 11.6.
5) USB cable MR-J3USBCBL3M Cable length: 3 m
CN5 connector mini-B connector (5-pins)
Personal computer connector A connector
For connection with PC-AT compatible personal computer
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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18.8.3 Selection example of wires
POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for wiring. To comply with other standards, use a wire that is complied with each standard. Selection conditions of wire size are as follows.
Construction condition: Single wire set in midair Wire length: 30 m or less
The voltage drops because of the cable conductor resistance. Especially for main circuit/control circuit power supply wiring, wire to secure the required input voltage at servo amplifier input section. It is recommended that the cable length be as short as possible.
The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section.
24
0
PM
1) Main/control circuit power supply lead
24 V DC power supply Servo amplifier
U V W
E
2) Servo motor power lead
+
-
+
-
48 V DC power supply
CNP1
M
The following shows the wire size selection example.
Table 18.5 Wire size selection example 1 (HIV wire)
Servo amplifier Wire [mm2]
1) 24/0/PM/ 2) U/V/W/E
(Note) MR-J4-03A6(-RJ) AWG 16 AWG 19
Note. The wire size shows applicable size of the servo amplifier connector and terminal
block. For wires connecting to the servo motor, refer to "Servo Motor Instruction Manual (Vol. 3)".
18.8.4 Circuit protector
Power supply specification Circuit protector (Note) Control circuit power supply (24 V DC) CP30-BA 1P 1-M 1A Main circuit power supply (48 V DC) CP30-BA 1P 1-M 3A Main circuit power supply (24 V DC) CP30-BA 1P 1-M 5A
Note. For operation characteristics, use an intermediate speed type.
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
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18.9 Communication function (Mitsubishi Electric general-purpose AC servo protocol)
POINT The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together.
With MR-J4-03A6(-RJ) servo amplifier, driving servo, changing parameters, operating motor function, etc. is possible using RS-422 communication (Mitsubishi Electric general-purpose AC servo protocol). In this section, only the configuration of operating RS-422 communication function with MR-J4-03A6(-RJ) servo amplifier is described. Refer to chapter 14 for details of the communication specification and protocol, etc. (1) Configuration diagram
(a) Diagrammatic sketch Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
Axis No. n (n - 1 station) (n = 1 to 32)Axis No. 2 (station 1)Axis No. 1 (station 0)
Servo amplifier
CN1
Servo amplifier Servo amplifier
RS-422 compatible controller
CN1 CN1
(b) Cable connection diagram Wire the cables as follows.
13 Plate
39 14
31 40
3,28, 30,34
SDP SD
RDP SDN
TRE (Note 2) RDN
LG
(Note 1) Axis No. 1 servo amplifier
CN1 connector
RS-422 compatible controller
(Note 3) 30 m or less (Note 1)
Axis No. 2 servo amplifier CN1 connector
(Note 1)
(Note 4)
13 Plate
39 14
31 40
3,28, 30,34
SDP SD
RDP SDN
TRE RDN
LG
13 Plate
39 14
31 40
3,28, 30,34
SDP SD
RDP SDN
TRE RDN
LG
Axis No. n (final axis) servo amplifier
CN1 connector
18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
18 - 82
Note 1. Connector set MR-J3CN1 (3M or equivalent)
Connector: 10150-3000PE Shell kit: 10350-52F0-008
2. Connect between TRE and RDN of the final axis servo amplifier. 3. The overall length is 30 m or less in low-noise environment. 4. If the RS-422 compatible controller does not have a termination resistor, terminate it with a 150 resistor.
19. MR-D01 EXTENSION I/O UNIT
19 - 1
19. MR-D01 EXTENSION I/O UNIT
MR-D01 is an extension I/O unit that can extend the input/output signals of MR-J4-_A_-RJ servo amplifiers.
POINT MR-D01 is used with servo amplifiers with software version B7 or later. MR-D01 is available with MR-J4-_A_-RJ servo amplifiers with software version B7 or later. MR-D01 cannot be used with the MR-J4-_A_ servo amplifier. MR-D01 cannot be used with the MR-J4-DU_A_(-RJ) drive unit. MR-D01 cannot be used with MR-J4-03A6(-RJ) servo amplifiers.
19. MR-D01 EXTENSION I/O UNIT
19 - 2
19.1 Function block diagram
The function block diagram of this servo is shown below. The following illustration is an example of MR-J4-20A-RJ.
U U
U
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
L11
L21
Cooling fan (Note 3)
Encoder
Electro- magnetic brake
(Note 4)
(Note 5)
N-C D
L3
L2
L1
Dynamic brake circuit
Power factor improving DC reactor
Current detection
Overcurrent protection
Voltage detection
(Note 2) Power supply
MCMCCB
Base amplifier
STO circuit
Position command
input
Servo amplifier
U
V
W
U
V
W
P3 P4
Diode stack Relay
P+
+
+ B RA
24 V DC
B1
B2
Battery (for absolute position detection system)
C N
4
STO switch
Model speed Model torque
M
C N
2C N
8
Control circuit power supply
Model position control
Model speed control
Servo motor
Charge lamp
Regene- rative TR
Current detector
Regenerative option
CN5 CN3 CN6
Analog monitor (2 channels)
I/F USB RS-422
RS-485 D/AA/D
USB
RS-422 RS-485
Controller
Personal computer
Analog (2 channels)
D I/O control
CN1
Step- down circuit
C N
2L External encoder
MR-D01 CN10 CN20
DI/O control
Analog input Analog output
CN7
Servo-on Command pulse train input Start Malfunction, etc.
(Note 1)
19. MR-D01 EXTENSION I/O UNIT
19 - 3
Note 1. The built-in regenerative resistor is not provided for MR-J4-10A-RJ. 2. For power supply specifications, refer to section 1.3. 3. Servo amplifiers MR-J4-70A-RJ or more have a cooling fan. 4. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers. 5. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
19. MR-D01 EXTENSION I/O UNIT
19 - 4
19.2 Structure
19.2.1 Parts identification
(1) Interface The following figure shows the interface of when MR-D01 is connected to MR-J4-20A-RJ. For servo amplifiers, refer to section 1.7.1.
(1)
(2)
(3)
No. Name/Application Detailed explanation
(1) Analog input signal connector (CN20) Connect analog input signals of analog torque limit and override.
Section 19.5.1
(2) Manufacturer setting connector (CN30) This connector is attached on the MR-D01, but not for use.
(3) I/O signal connector (CN10) Connect digital I/O signal and analog output signal.
Section 19.5.1
(2) Rating plate The following shows an example of the rating plate for explanation of each item.
Model
The year and month of manufacture Country of origin
KC certification number
Serial numberMODEL MR-D01 SER.A4X001001 IP20 MAN.: IB(NA)0300120
INPUT : 24VDC 0.8A
Max. Surrounding Air Temp. 55C KCC-REI-MEK-TC350A110G51
DATE:2014-10 TOKYO 100-8310, JAPAN MADE IN JAPAN
19. MR-D01 EXTENSION I/O UNIT
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19.2.2 Installation and removal of the MR-D01 extension I/O unit
WARNING
Before installing or removing MR-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, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
CAUTION
Avoid installing and removing MR-D01 repeatedly. Any contact failure of the connector may be caused. Avoid unsealing MR-D01 to be free of dust and dirt against the connector except installing. Make sure to use the pre-packing when storing. Avoid using MR-D01 of which the hook and knobs for fixing are damaged. Any contact failure of the connector may be caused. When mounting/dismounting MR-D01 to/from MR-J4-500A-RJ to MR-J4-22KA-RJ and MR-J4-350A4-RJ to MR-J4-22KA4-RJ servo amplifiers, avoid dropping out the installing screw inside it. Otherwise, it may cause a malfunction. When mounting MR-D01 to MR-J4-500A-RJ to MR-J4-22KA-RJ and MR-J4- 350A4-RJ to MR-J4-22KA4-RJ servo amplifiers, avoid damaging the control board by the fixing plate. Otherwise, it may cause a malfunction. Make sure to tighten MR-D01 with the enclosed installing screws when installing.
POINT
The internal circuits of the servo amplifier and MR-D01 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.
19. MR-D01 EXTENSION I/O UNIT
19 - 6
(1) For MR-J4-200A(4)-RJ or less and MR-J4-350A-RJ
(a) Installation of MR-D01
2)
2)
Guide pin
Guide hole MR-D01
1)
1) Remove the covers of CN7 and CN9 connectors. Make sure to store the removed cover.
2) Find the guide hole on the side of the servo amplifier. To the guide hole, insert the MR-D01's guide pins.
Knob
4)
3)
3) Push the four corners of the side of MR-D01 simultaneously to the servo amplifier until the four knobs click so that the CN7 connector is connected straight.
4) Tighten the unit with the enclosed installing screw (M4).
(b) Removal of MR-D01
1)
d)
c)
a)
2)
b)
1) Remove the installing screw. 2) Keep pushing the knobs ( a), b), c), d)) and pull out MR-D01
to the arrow direction. Avoid pulling out MR-D01 while it is tightened with the installation screw.
3)
3) After removing MR-D01, make sure to cap the CN7 and CN9 connectors to avoid dust and dirt.
19. MR-D01 EXTENSION I/O UNIT
19 - 7
(2) MR-J4-500A-RJ to MR-J4-700A-RJ and MR-J4-350A4-RJ to MR-J4-700A4-RJ
(a) Removal of the side cover
b)
a)
1)
1) Keep pushing the knobs ( a), b)) and pull out the side cover to the arrow direction.
(b) Installation of MR-D01
1)
1)
Guide pin
Guide hole
1)
1) Find the guide hole on the side of the servo amplifier. To the guide hole, insert the MR-D01's guide pins.
3) 2)
Knob
2) Push the four corners of the side of MR-D01 simultaneously to the servo amplifier until the four knobs click so that the CN7 connector is connected straight.
3) Tighten the unit with the enclosed installing screw (M4).
(c) Removal of MR-D01
b)
1)2)
a)
d)
c)
1) Remove the installing screw. 2) Keep pushing the knobs ( a), b), c), d)) and pull out MR-D01
to the arrow direction. Avoid pulling out MR-D01 while it is tightened with the installation screw.
19. MR-D01 EXTENSION I/O UNIT
19 - 8
(d) Installation of the side cover
Side cover setting tab
1)
1)
a)
a)
1) Insert the side cover setting tabs into the sockets a) of the servo amplifier.
2)
Knob
2) Push the side cover at the supporting point a) until the knobs click.
(3) MR-J4-11KA(4)-RJ to MR-J4-22KA(4)-RJ
CAUTION Avoid touching any remained burr after cutting off the part a) of the case. Otherwise, it may cause injury.
The installing screw holes for the MR-J4-11KA(4)-RJ to MR-J4-22KA(4)-RJ are covered and the screw holes for mounting are not shown at shipping. When installing the unit for the first time, cut off the part a) of the case after removing the side cover. When cutting off the part a), avoid damaging the case of the servo amplifier. After cutting off it, inside of the servo amplifier has been exposed even though the side cover and the unit are installed. Avoid unwanted parts from entering through the opened area into the servo amplifier. For installing or removing the unit, refer to (2) in this section. The side cover structure is the same for MR-J4-11KA(4)-RJ to MR-J4-22KA(4)-RJ and for this unit. Install or remove the side cover with the same way as for the unit.
a)
19. MR-D01 EXTENSION I/O UNIT
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19.3 Configuration including peripheral equipment
CAUTION Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
POINT
Equipment other than the servo amplifier and servo motor are optional or recommended products.
The following figure shows the interface of when MR-D01 is connected to MR-J4-20A-RJ.
CN4
Line noise filter (FR-BSF01)
CN5
Regenerative option
P+
C
L11
L21
P3
P4
Personal computer
MR Configurator2
CN3
CN6
CN8
CN1
CN2
Magnetic contactor (MC)
L1 L2 L3
(Note 3)
Power factor improving DC reactor (FR-HEL)
Molded-case circuit breaker (MCCB)
To safety relay or MR-J3-D05 safety logic unit
Analog monitor
Junction terminal block
Power supply
(Note 2)
Battery
To RS-422/RS-485 communication controller, parameter unit, etc.
CN2L (Note 4) Servo motor
R S T
W
V
U
D (Note 5)
I/O signal CN10
Analog output signal CN20
(Note 1)
19. MR-D01 EXTENSION I/O UNIT
19 - 10
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4. 2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications,
refer to section 1.3. 3. Depending on the main circuit voltage and operation pattern, a bus voltage may drop, causing dynamic brake deceleration
during forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
4. When using an MR-J4-_A-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
19. MR-D01 EXTENSION I/O UNIT
19 - 11
19.4 Installation direction and clearances
CAUTION The equipment must be installed in the specified direction. Otherwise, it may cause malfunction. Leave specified clearances between the servo amplifier and cabinet walls or other equipment. Otherwise, it may cause malfunction.
(1) Installation clearances of the servo amplifier
(a) Installation of one servo amplifier
40 mm or more
10 mm or more
10 mm or more (Note 2)
40 mm or more (Note 1)
Servo amplifier
Cabinet Cabinet
80 mm or more Wiring allowance
Top
Bottom
Note 1. For the 11 kW to 22 kW servo amplifiers, the clearance between the bottom and the ground will be 120 mm or more. 2. To install the MR-J4-500A-RJ, leave a clearance of 25 mm or more between the left side and the wall.
19. MR-D01 EXTENSION I/O UNIT
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(b) Installation of two or more servo amplifiers
POINT
Close mounting is possible depending on the capacity of the servo amplifier. For the possibility of close mounting, refer to section 1.3. When mounting the servo amplifiers closely, do not install the servo amplifier whose depth is larger than that of the left side servo amplifier since CNP1, CNP2, and CNP3 connectors cannot be disconnected.
Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environmental conditions. When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, operate the servo amplifiers at the ambient temperature of 0 C to 45 C or at 75% or less of the effective load ratio.
100 mm or more 10 mm or more (Note 2)
30 mm or more
30 mm or more
40 mm or more (Note 1)
Cabinet
Top
Bottom
100 mm or more
1 mm 30 mm or more
40 mm or more
Cabinet
1 mm
Leaving clearance Mounting closely
Note 1. For the 11 kW to 22 kW servo amplifiers, the clearance between the bottom and the ground will be 120 mm or more. 2. To install the MR-J4-500A-RJ, leave a clearance of 25 mm or more between the MR-J4-500A-RJ and the left side servo
amplifier.
(2) Others
When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.
19. MR-D01 EXTENSION I/O UNIT
19 - 13
19.5 Signals and wiring
POINT
Input signals of the servo amplifier are valid even when the MR-D01 has been connected. When the same input devices have been assigned to the servo amplifier and MR-D01 and both input signals are turned on, the input signal that has turned on first is enabled. Even though turning off one of the input signals that have been turned on is attempted, the input signal cannot be turned off. Refer to the following table for details. The following table shows ST1 (Forward rotation start) as an example.
Device (Note) Servo amplifier
(Note) MR-D01 Servo motor
ST1
0 0 Stop 0 1 Forward
rotation
1 0 Forward rotation
1 1 Forward rotation
Note.
0: Off 1: On
19. MR-D01 EXTENSION I/O UNIT
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19.5.1 I/O Signal Connection Example
(1) Position control mode (a) For sink I/O interface
Plate
Plate
Servo amplifier
2 m or less
3 MO1 1 LG 2 MO2
(Note 7) CN6
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2
(Note 2)
Malfunction (Note 6)
Zero speed detection
Limiting torque
Encoder A-phase pulse (differential line driver)
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 INP
4 LA 14 (Note 24)
13 (Note 24)
5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver)
Control common
Encoder Z-phase pulse (open-collector)
(Note 7) CN1
LG
DICOM
10 m or less (Note 8)
41
20 46
49 10 11 35
9 3
36
CLEARCOM
12
15 16
14 13
11
CLEAR RDYCOM READY
PULSE F+ PULSE F-
PG0 PG0 COM
PULSE R+ PULSE R- 18
10
17
9
DOCOM
CR
RD PP PG NP NG LZ
LZR 8
(Note 11)
(Note 7) CN1
Positioning module RD75D/LD75D/QD75D
24 V DC (Note 4)
24 V DC (Note 4)
24 V DC (Note 4)
In-position
Control common SD
RA1
RA2
RA3
RA4
Plate
(Note 1)
2 m or less
10 m or less
Upper limit setting
42 15 19 17 18 43 44 21 1
27
SD
EM2 SON RES PC TL
LSP LSN
DICOM
P15R TLA LG 28
(Note 7) CN1
Forced stop 2 Servo-on Reset Proportional control External torque limit selection Forward rotation stroke end Reverse rotation stroke end
(Note 3, 5)
(Note 5)
(Note 17)
+
(Note 10) USB cable (option)
(Note 9) MR Configurator2
CN5
CN8
Analog torque limit +10 V/maximum torque
Personal computer
(Note 12) Short-circuit connector (Packed with the servo amplifier)
(Note 13) Main circuit power supply
(Note 16)
19. MR-D01 EXTENSION I/O UNIT
19 - 15
RA5
RA6
RA7
RA8
RA9
MR-D01
10 m or less
CN10 13 14
DICOMD
DICOMD
(Note 22)
Servo-on Reset External torque limit selection Internal torque limit selection
29Electronic gear selection 1 Electronic gear selection 2 30
CM1 CM2
34Proportional control PC 18(Note 25)
19(Note 25)
20(Note 25)
37 24 V DC (Note 18, 19)
DOCOMD
22 ACD0
CN10
Alarm code
10 m or less
24
23 ACD1
ACD2
25 ACD3
49 INP
Analog torque limit +10 V/maximum torque
2 m or less
Upper limit setting
12
SD
OTLA
Plate
13P15R CN20 4 OMO1
1 LG 14 OMO2
CN20
Plate SD LG 9
24 V DC (Note 18, 19)
2 m or less
21 26 27 28
SON RES TL
TL1
In-position (Note 23)
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2 (Note 20, 21)
31(Note 25)
32(Note 25)
33(Note 25)
(Note 24)46 (Note 24)47 (Note 24)48
19. MR-D01 EXTENSION I/O UNIT
19 - 16
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24 V DC 10% to interfaces from outside. The total current capacity of these power supplies must be 500 mA or lower.
500 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact) When this signal is switched off (at occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.
7. The pins with the same signal name are connected in the servo amplifier. 8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector
type. 9. Use SW1DNC-MRC2-_. (Refer to section 11.7.) 10. Controllers or parameter units can also be connected via the CN3 connector with the RS-422/RS-485 communication. Note
that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.
PRU03
MR-PRU03 parameter unit
CN3
Servo amplifier
or
10BASE-T cable, etc. (EIA568-compliant)
RS-422/RS-485 compatible controller
11. This connection is not necessary for RD75D, LD75D, and QD75D. However, to enhance noise tolerance, it is recommended to connect LG of servo amplifier and control common depending on the positioning module.
12. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 13. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier. 14. Plus and minus of the power of source interface are the opposite of those of sink interface. 15. CLEAR and CLEARCOM of source interface are interchanged to sink interface. 16. Disconnection of the command cable connected to the controller, or noise may cause a position mismatch. To avoid the
position mismatch, check encoder A-phase pulse and encoder B-phase pulse on the controller side. 17. The devices can be changed by [Pr. PD03] to [Pr. PD14], [Pr. PD17] to [Pr. PD22], and [Pr. PD43] to [Pr. PD46]. 18. Supply 24 V DC 10% to interfaces of the MR-D01 from outside. The total current capacity of these power supplies must be
800 mA or lower. 800 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. For the amperage required for interfaces, refer to section 3.9.2 (1).
19. As the 24 V DC for the input/output signals, one 24 V DC power supply can be used to supply to the servo amplifier and MR- D01. In this case, select an appropriate power supply capacity depending on the number of points of the input/output signals to be used.
20. The CN1-27 pin and CN20-12 pin are exclusive. The CN1-27 pin is set by default. Select this item with [Pr. Po11]. 21. OTLA will be available when TL (External torque limit selection) is enabled with [Pr. Po02] to [Pr. Po07], [Pr. Po27], and [Pr.
Po28]. (Refer to section 19.5.3 (5).) 22. The devices can be changed by [Pr. Po02] to [Pr. Po07]. 23. The device can be changed by [Pr. Po08] and [Pr. Po09]. 24. Output devices are not assigned by default. Assign the output devices with [Pr. PD47], [Pr. Po08], and [Pr. Po09] as
necessary. 25. Input devices are not assigned by default. Assign the input devices with [Pr. Po05], [Pr. Po06], [Pr. Po27], and [Pr. Po28] as
necessary.
19. MR-D01 EXTENSION I/O UNIT
19 - 17
(b) For source I/O interface
POINT
For notes, refer to (1) (a) in this section.
Plate
Plate
Servo amplifier
2 m or less
3 MO1 1 LG 2 MO2
(Note 7) CN6
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2
(Note 2)
Malfunction (Note 6)
Zero speed detection
Limiting torque
Encoder A-phase pulse (differential line driver)
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 INP
4 LA 14 (Note 24)
13 (Note 24)
5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver)
Control common
Encoder Z-phase pulse (open-collector)
(Note 7) CN1
LG
DICOM
10 m or less (Note 8)
41
20 46
49 10 11 35
9 3
36
CLEARCOM
12
15 16
14 13
11
CLEAR
RDYCOM READY
PULSE F+ PULSE F-
PG0 PG0 COM
PULSE R+ PULSE R- 18
10
17
9
DOCOM
CR
RD PP PG NP NG LZ
LZR 8
(Note 11)
(Note 15)
(Note 7) CN1
Positioning module RD75D/LD75D/QD75D
24 V DC (Note 4, 14)
24 V DC (Note 4, 14)
In-position
(Note 16)
Control common SD
RA1
RA2
RA3
RA4
24 V DC (Note 4, 14)
Plate
(Note 1)
2 m or less
10 m or less
Upper limit setting
42 15 19 17 18 43 44 21 1 27
SD
EM2 SON RES PC TL
LSP LSN
DICOM
P15R TLA LG 28
(Note 7) CN1
Forced stop 2 Servo-on Reset Proportional control External torque limit selection Forward rotation stroke end Reverse rotation stroke end
(Note 3, 5)
(Note 5)
+
(Note 10) USB cable (option)
(Note 9) MR Configurator2
CN5
CN8
Analog torque limit +10 V/maximum torque
Personal computer
(Note 12) Short-circuit connector (Packed with the servo amplifier)
(Note 13) Main circuit power supply
(Note 17)
19. MR-D01 EXTENSION I/O UNIT
19 - 18
RA5
RA6
RA7
RA8
RA9
MR-D01
10 m or less
CN10 13 14
DICOMD
DICOMD
(Note 22)
Servo-on Reset External torque limit selection Internal torque limit selection
29Electronic gear selection 1 Electronic gear selection 2 30
CM1 CM2
34Proportional control PC 18(Note 25)
19(Note 25)
20(Note 25)
37 24 V DC (Note 18, 19)
DOCOMD
22 ACD0
CN10
Alarm code
10 m or less
24
23 ACD1
ACD2
25 ACD3
49 INP
Analog torque limit +10 V/maximum torque
2 m or less
Upper limit setting
12
SD
OTLA
Plate
13P15R CN20 4 OMO1
1 LG 14 OMO2
CN20
Plate SD LG 9
24 V DC (Note 18, 19)
2 m or less
21 26 27 28
SON RES TL TL1
In-position (Note 23)
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2 (Note 20, 21)
31(Note 25)
32(Note 25)
33(Note 25)
(Note 24)46 (Note 24)47 (Note 24)48
19. MR-D01 EXTENSION I/O UNIT
19 - 19
(2) Speed control mode
(a) For sink I/O interface
CN8(Note 11) Short-circuit connector (Packed with the servo amplifier)
(Note 1)
(Note 2)
(Note 7) CN1
(Note 7) CN1
Plate
Servo amplifier
(Note 7) CN6
2 m or less
3 MO1 1 LG 2 MO2
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 SA
49 RD
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
2 m or less
8 LZ 9 LZR
20DICOM 21DICOM
2 1
2 m or less
Upper limit setting 28
27
Plate
Upper limit setting
VC
SD
TLA
LG
P15R
+
(Note 10) USB cable (option)
CN5
Analog speed command 10 V/Rated speed
(Note 8) Analog torque limit +10 V/maximum torque
(Note 9) MR Configurator2
Personal computer
24 V DC (Note 4)
RA1
RA2
RA3
RA4
RA5
42 15 19
17 18 43 44
41 16
EM2 SON RES
ST1 ST2 LSP LSN
SP1 SP2
Reverse rotation stroke end
Forced stop 2 Servo-on Reset Speed selection 1
Forward rotation start Speed selection 2
Reverse rotation start Forward rotation stroke end
(Note 3, 5)
(Note 5)
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver) Control common
Control common Encoder Z-phase pulse (open-collector)
Encoder Z-phase pulse (differential line driver)
Malfunction (Note 6)
Zero speed detection
Limiting torque
Speed reached
Ready
10 m or less
(Note 12) Main circuit power supply
46 DOCOM
10 m or less
24 V DC (Note 4)
14 (Note 22)
13 (Note 22)
(Note 14)
19. MR-D01 EXTENSION I/O UNIT
19 - 20
RA5
RA6
RA7
RA8
RA9
MR-D01
10 m or less
CN10 13 14
DICOMD
DICOMD
(Note 20)
Servo-on Reset External torque limit selection Internal torque limit selection
31Second acceleration/deceleration selection Speed selection 1 32
STAB2 SP1
34 35
Proportional control Forward rotation start Reverse rotation start 36
PC ST1 ST2
18(Note 23)
19(Note 23)
20(Note 23)
37 24 V DC (Note 15, 16)
DOCOMD
22 ACD0
CN10
Alarm code
10 m or less
24
23 ACD1
ACD2
25 ACD3
49 SA
Analog torque limit +10 V/maximum torque
Upper limit setting Analog speed command +10 V/Rated speed
2 m or less
Upper limit setting
12
SD
OTLA
Plate
13 2
P15R OVC N12R 15
CN20
4 OMO1 1 LG
14 OMO2
CN20
Plate SD LG 9
Lower limit setting
24 V DC (Note 15, 16)
2 m or less
21 26 27 28
SON RES TL
TL1
Speed reached (Note 21)
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2
(Note 17)
(Note 18, 19)
31(Note 23)
32(Note 23)
33(Note 23)
(Note 22)46 (Note 22)47 (Note 22)48
19. MR-D01 EXTENSION I/O UNIT
19 - 21
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24 V DC 10% to interfaces from outside. The total current capacity of these power supplies must be 500 mA or lower.
500 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact) 7. The pins with the same signal name are connected in the servo amplifier. 8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22]. (Refer to section 3.6.1
(5).) 9. Use SW1DNC-MRC2-_. (Refer to section 11.7.) 10. Controllers or parameter units can also be connected via the CN3 connector with the RS-422/RS-485 communication. Note
that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.
PRU03
MR-PRU03 parameter unit
CN3
Servo amplifier
or
10BASE-T cable, etc. (EIA568-compliant)
RS-422/RS-485 compatible controller
11. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 12. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier. 13. Plus and minus of the power of source interface are the opposite of those of sink interface. 14. The devices can be changed by [Pr. PD03] to [Pr. PD14], [Pr. PD17] to [Pr. PD22], and [Pr. PD43] to [Pr. PD46]. 15. Supply 24 V DC 10% to interfaces of the MR-D01 from outside. The total current capacity of these power supplies must be
800 mA or lower. 800 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. For the amperage required for interfaces, refer to section 3.9.2 (1).
16. As the 24 V DC for the input/output signals, one 24 V DC power supply can be used to supply to the servo amplifier and MR- D01. In this case, select an appropriate power supply capacity depending on the number of points of the input/output signals to be used.
17. The CN1-2 pin and CN20-2 pin are exclusive. The CN1-2 pin is set by default. Select this item with [Pr. Po11]. 18. The CN1-27 pin and CN20-12 pin are exclusive. The CN1-27 pin is set by default. Select this item with [Pr. Po11]. 19. OTLA will be available when TL (External torque limit selection) is enabled with [Pr. Po02] to [Pr. Po07], [Pr. Po27], and [Pr.
Po28]. (Refer to section 11.5.3 (6).) 20. The devices can be changed by [Pr. Po02] to [Pr. Po07]. 21. The device can be changed by [Pr. Po08] and [Pr. Po09]. 22. Output devices are not assigned by default. Assign the output devices with [Pr. PD47], [Pr. Po08], and [Pr. Po09] as
necessary. 23. Input devices are not assigned by default. Assign the input devices with [Pr. Po05], [Pr. Po06], [Pr. Po27], and [Pr. Po28] as
necessary.
19. MR-D01 EXTENSION I/O UNIT
19 - 22
(b) For source I/O interface
POINT
For notes, refer to (1) in this section.
CN8(Note 11) Short-circuit connector (Packed with the servo amplifier)
(Note 1)
(Note 2)
(Note 7) CN1
(Note 7) CN1
Plate
Servo amplifier
(Note 7) CN6
2 m or less
3 MO1 1 LG 2 MO2
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 SA
49 RD
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
2 m or less
8 LZ 9 LZR
20DICOM
2 1
2 m or less
Upper limit setting 28
27
Plate
Upper limit setting
VC
SD
TLA
LG
P15R
+
(Note 10) USB cable (option)
CN5
Analog speed command 10 V/Rated speed
(Note 8) Analog torque limit +10 V/maximum torque
(Note 9) MR Configurator2
Personal computer
RA1
RA2
RA3
RA4
RA5
42 15 19
17 18 43 44
41 16
EM2 SON RES
ST1 ST2 LSP LSN
SP1 SP2
Reverse rotation stroke end
Forced stop 2 Servo-on Reset Speed selection 1
Forward rotation start Speed selection 2
Reverse rotation start Forward rotation stroke end
(Note 3, 5)
(Note 5)
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver) Control common
Control common Encoder Z-phase pulse (open-collector)
Encoder Z-phase pulse (differential line driver)
Malfunction (Note 6)
Zero speed detection
Limiting torque
Speed reached
Ready
10 m or less
(Note 12) Main circuit power supply
46 DOCOM
21DICOM
10 m or less
24 V DC (Note 4, 13)
24 V DC (Note 4, 13)
14 (Note 22)
13 (Note 22)
(Note 12)
19. MR-D01 EXTENSION I/O UNIT
19 - 23
24 V DC (Note 13, 14)
RA5
RA6
RA7
RA8
RA9
MR-D01
10 m or less
CN10 13 14
DICOMD
DICOMD
(Note 20)
Servo-on Reset External torque limit selection Internal torque limit selection
31Second acceleration/deceleration selection Speed selection 1 32
STAB2 SP1
34 35
Proportional control Forward rotation start Reverse rotation start 36
PC ST1 ST2
18(Note 23)
19(Note 23)
20(Note 23)
37 24 V DC (Note 13, 14)
DOCOMD
22 ACD0
CN10
Alarm code
10 m or less
24
23 ACD1
ACD2
25 ACD3
49 SA
Analog torque limit +10 V/maximum torque
Upper limit setting Analog speed command +10 V/Rated speed
2 m or less
Upper limit setting
12
SD
OTLA
Plate
13 2
P15R OVC N12R 15
CN20
4 OMO1 1 LG
14 OMO2
CN20
Plate SD LG 9
Lower limit setting
2 m or less
21 26 27 28
SON RES TL
TL1
Speed reached (Note 21)
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2
(Note 15)
(Note 16, 17)
31(Note 23)
32(Note 23)
33(Note 23)
(Note 22)46 (Note 22)47 (Note 22)48
19. MR-D01 EXTENSION I/O UNIT
19 - 24
(3) Torque control mode
POINT EM2 has the same function as EM1 in the torque control mode.
(a) For sink I/O interface
Servo amplifier
(Note 6) CN6
2 m or less
3 MO1 1 LG 2 MO2
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2
(Note 1)
9
(Note 2)
Malfunction (Note 5)
Zero speed detection
Limiting speed
Encoder A-phase pulse (differential line driver)
47 DOCOM
48 ALM
23 ZSP
25 VLC
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver) Control common
Control common Encoder Z-phase pulse (open-collector)
(Note 6) CN1
49 RD Ready
Encoder Z-phase pulse (differential line driver)
8 LZ LZR
(Note 6) CN1
21DICOM
Personal computer
+
(Note 8) USB cable (option)
CN5
27 1
2 m or less
Upper limit setting 28
2
Plate
Upper limit setting
TC
SD
VLA
LG
P15R Analog torque command 8 V/maximum torque
Analog speed limit 0 to 10 V/Rated speed
(Note 7) MR Configurator2
Plate
42 15 19
17 18
20
Forced stop 2 Servo-on Reset
Forward rotation selection Reverse rotation selection
(Note 3)
41 16Speed selection 2
EM2 SON RES
RS1 RS2
DICOM
SP1 SP2
Speed selection 1
RA1
RA2
RA3
RA4
(Note 9) Short-circuit connector (Packed with the servo amplifier)
CN8
(Note 10) Main circuit power supply
46 DOCOM
10 m or less
24 V DC (Note 4)
24 V DC (Note 4)
14 (Note 20)
13 (Note 20)
19. MR-D01 EXTENSION I/O UNIT
19 - 25
RA5
RA6
RA7
RA8
MR-D01
10 m or less
CN10 13 14
DICOMD
DICOMD
(Note 18)
Servo-on Reset
31Second acceleration/deceleration selection Speed selection 1 32
STAB2 SP1
34 35
Proportional control Reverse rotation selection Forward rotation selection 36
PC RS2 RS1
18(Note 21)
19(Note 21)
20(Note 21)
37 24 V DC (Note 15, 16)
DOCOMD
22 ACD0
CN10
Alarm code
10 m or less
24
23 ACD1
ACD2
25 ACD3
Analog torque limit +10 V/maximum torque
Upper limit setting Analog speed command +10 V/Rated speed
2 m or less
Upper limit setting
12
SD
OTLA
Plate
13 2
P15R OVC N12R 15
CN20
4 OMO1 1 LG
14 OMO2
CN20
Plate SD LG 9
Lower limit setting
24 V DC (Note 15, 16)
2 m or less
21 26
SON RES
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2
(Note 17)
(Note 18, 19)
31(Note 21)
32(Note 21)
33(Note 21)
(Note 20)46 (Note 20)47 (Note 20)48 (Note 20)49
19. MR-D01 EXTENSION I/O UNIT
19 - 26
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24 V DC 10% to interfaces from outside. The total current capacity of these power supplies must be 500 mA or lower.
500 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal and output signal.
5. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact) 6. The pins with the same signal name are connected in the servo amplifier. 7. Use SW1DNC-MRC2-_. (Refer to section 11.7.) 8. Controllers or parameter units can also be connected via the CN3 connector with the RS-422/RS-485 communication. Note
that using the USB communication function (CN5 connector) prevents the RS-422/RS-485 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.
PRU03
MR-PRU03 parameter unit
CN3
Servo amplifier
or
10BASE-T cable, etc. (EIA568-compliant)
RS-422/RS-485 compatible controller
9. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 10. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier. 11. Plus and minus of the power of source interface are the opposite of those of sink interface. 12. The devices can be changed by [Pr. PD03] to [Pr. PD14], [Pr. PD17] to [Pr. PD22], and [Pr. PD43] to [Pr. PD46]. 13. Supply 24 V DC 10% to interfaces of the MR-D01 from outside. The total current capacity of these power supplies must be
800 mA or lower. 800 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. For the amperage required for interfaces, refer to section 3.9.2 (1).
14. As the 24 V DC for the input/output signals, one 24 V DC power supply can be used to supply to the servo amplifier and MR- D01. In this case, select an appropriate power supply capacity depending on the number of points of the input/output signals to be used.
15. The CN1-2 pin and CN20-2 pin are exclusive. The CN1-2 pin is set by default. Select this item with [Pr. Po11]. 16. The CN1-27 pin and CN20-12 pin are exclusive. The CN1-27 pin is set by default. Select this item with [Pr. Po11]. 17. OTLA will be available when TL (External torque limit selection) is enabled with [Pr. Po02] to [Pr. Po07], [Pr. Po27], and [Pr.
Po28]. (Refer to section 11.5.3 (6).) 18. The devices can be changed by [Pr. Po02] to [Pr. Po07]. 19. The device can be changed by [Pr. Po08] and [Pr. Po09]. 20. Output devices are not assigned by default. Assign the output devices with [Pr. PD47], [Pr. Po08], and [Pr. Po09] as
necessary. 21. Input devices are not assigned by default. Assign the input devices with [Pr. Po05], [Pr. Po06], [Pr. Po27], and [Pr. Po28] as
necessary.
19. MR-D01 EXTENSION I/O UNIT
19 - 27
(b) For source I/O interface
POINT
For notes, refer to (1) in this section.
Servo amplifier
(Note 6) CN6
2 m or less
3 MO1 1 LG 2 MO2
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2
(Note 1)
9
(Note 2)
Malfunction (Note 5)
Zero speed detection
Limiting speed
Encoder A-phase pulse (differential line driver)
47 DOCOM
48 ALM
23 ZSP
25 VLC
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse (differential line driver) Control common
Control common Encoder Z-phase pulse (open-collector)
(Note 6) CN1
49 RD Ready
Encoder Z-phase pulse (differential line driver)
8 LZ LZR
(Note 6) CN1
20DICOM
Personal computer
+
(Note 8) USB cable (option)
CN5
27 1
2 m or less
Upper limit setting 28
2
Plate
Upper limit setting
TC
SD
VLA
LG
P15R Analog torque command 8 V/maximum torque
Analog speed limit 0 to 10 V/Rated speed
(Note 7) MR Configurator2
Plate
42 15 19
18 17
Forced stop 2 Servo-on Reset
Forward rotation selection Reverse rotation selection
(Note 3)
41 16Speed selection 2
EM2 SON RES
RS1 RS2
SP1 SP2
Speed selection 1
RA1
RA2
RA3
RA4
(Note 9) Short-circuit connector (Packed with the servo amplifier)
CN8
(Note 10) Main circuit power supply
46 DOCOM
21DICOM
10 m or less
24 V DC (Note 4, 11)
24 V DC (Note 4, 11)
14 (Note 20)
13 (Note 20)
19. MR-D01 EXTENSION I/O UNIT
19 - 28
RA5
RA6
RA7
RA8
MR-D01
10 m or less
CN10 13 14
DICOMD
DICOMD
(Note 18)
Servo-on Reset
31Second acceleration/deceleration selection Speed selection 1 32
STAB2 SP1
34 35
Proportional control Reverse rotation selection Forward rotation selection 36
PC RS2 RS1
18(Note 21)
19(Note 21)
20(Note 21)
37 24 V DC (Note 15, 16)
DOCOMD
22 ACD0
CN10
Alarm code
10 m or less
24
23 ACD1
ACD2
25 ACD3
Analog torque limit +10 V/maximum torque
Upper limit setting Analog speed command
+10 V/Rated speed
2 m or less
Upper limit setting
12
SD
OTLA
Plate
13 2
P15R OVC N12R 15
CN20
4 OMO1 1 LG 14 OMO2
CN20
Plate SD LG 9
Lower limit setting
24 V DC (Note 15, 16)
2 m or less
21 26
SON RES
10 V DC 10 V DC
Analog monitor 1
Analog monitor 2
(Note 17)
(Note 18, 19)
31(Note 21)
32(Note 21)
33(Note 21)
(Note 20)46 (Note 20)47 (Note 20)48 (Note 20)49
19. MR-D01 EXTENSION I/O UNIT
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19.5.2 Connectors and pin assignment
POINT The pin assignment of the connectors is as viewed from the cable connector wiring section. The CN30 connector is for manufacturer setting. This connector is attached on the MR-D01 servo amplifier, but not for use. For the pin assignment of the CN10 connector, refer to (2) in this section.
For details of each signal (device), refer to section 19.5.3. (1) Pin assignment
The following shows the front view of the servo amplifier for when MR-J4-10A-RJ and MR-D01 are used.
CN10
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
2550
CN20
111 212
LG
OVC
313 414
5 6
8
10
7
9
16
18
20
15
17
19
OTLA LG
P15R
N12R
For the pin assignment, refer to (2) in this section.
OMO1OMO2
LG
CN30 For manufacturer setting
19. MR-D01 EXTENSION I/O UNIT
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(2) Pin assignment of the CN10 connector
Pin No. (Note 1)
I/O (Note 2) I/O signals in control modes
Related parameter P S T
1 2 3 4 5 6 7 8 9
10 11 12 13 DICOMD DICOMD DICOMD 14 DICOMD DICOMD DICOMD 15 16 17 18 Po27 19 Po27 20 Po28 21 I SON SON SON Po02 22 O ACD0 ACD0 ACD0 23 O ACD1 ACD1 ACD1 24 O ACD2 ACD2 ACD2 25 O ACD3 ACD3 ACD3 26 I RES RES RES Po02 27 I TL TL Po03 28 I TL1 TL1 Po03 29 I CM1 Po04 30 I CM2 Po04 31 I STAB2 STAB2 Po05 32 I SP1 SP1 Po05 33 Po06 34 I PC PC Po06 35 I ST1 RS2 Po07 36 I ST2 RS1 Po07 37 DOCOMD DOCOMD DOCOMD 38 39 40 41 42 43 44 45 46 Po08 47 Po08 48 Po09 49 O INP SA Po09 50 SD SD SD
Note 1. I: Input signal, O: Output signal 2. P: Position control mode
S: Speed control mode T: Torque control mode
19. MR-D01 EXTENSION I/O UNIT
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19.5.3 Signal (device) explanations
This section describes the signals (devices) of the MR-D01 extension I/O unit. The connector pin No. column in the table lists the pin Nos. which devices are assigned to by default. For the I/O interfaces (symbols in the I/O division column in the table), refer to section 19.5.4 (2). The symbols in the control mode field of the table shows the followings. P: Position control mode S: Speed control mode T: Torque control mode " " and " " of the table shows the followings.
: Usable device by default. : Usable device by setting the following parameters.
[Pr. Po02] to [Pr. Po09], [Pr. Po27], and [Pr. Po28]
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(1) I/O device
(a) Input device
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T Servo-on SON CN10-21 Same as when a servo amplifier is used alone. Refer to section 3.5 (1)
(a). DI-1
Reset RES CN10-26 DI-1 Forward rotation stroke end
LSP DI-1
Reverse rotation stroke end
LSN
External torque limit selection
TL CN10-27 DI-1
Internal torque limit selection
TL1 CN10-28 DI-1
Forward rotation start
ST1 CN10-35 DI-1
Reverse rotation start
ST2 CN10-36
Forward rotation selection
RS1 CN10-36 DI-1
Reverse rotation selection
RS2 CN10-35
Speed selection 1
SP1 CN10-32 DI-1
Speed selection 2
SP2 DI-1
Speed selection 3
SP3 DI-1
Proportional control
PC CN10-34 DI-1
Clear CR DI-1 Electronic gear selection 1
CM1 CN10-29 DI-1
Electronic gear selection 2
CM2 CN10-30 DI-1
Gain switching CDP DI-1 Control switching LOP DI-1 Refer to
function and
application column
Second acceleration/dec eleration selection
STAB2 CN10-31 DI-1
Fully closed loop selection
CLD DI-1
Motor-side/load- side deviation counter clear
MECR DI-1
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(b) Output device
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T Malfunction ALM Same as when a servo amplifier is used alone. Refer to section 3.5 (1)
(b). DO-1
Dynamic brake interlock
DB DO-1
Ready RD DO-1 In-position INP CN10-49 DO-1 Speed reached SA CN10-49 DO-1 Limiting speed VLC DO-1 Limiting torque TLC DO-1 Zero speed detection
ZSP DO-1
Electromagnetic brake interlock
MBR DO-1
Warning WNG DO-1 Battery warning BWNG DO-1 Alarm code 0 ACD0 (CN10-22) To use these signals, set [Pr. Po12] to "_ _ _ 1".
For details of the alarm codes, refer to chapter 8. DO-1
Alarm code 1 ACD1 (CN10-23) DO-1 Alarm code 2 ACD2 (CN10-24) DO-1 Alarm code 3 ACD3 (CN10-25) DO-1 Absolute position undetermined
ABSV Same as when a servo amplifier is used alone. Refer to section 3.5 (1) (b).
DO-1
During tough drive
MTTR DO-1
During fully closed loop control
CLDS DO-1
(2) Input signal
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T Analog torque limit
OTLA CN20-12 To use this signal, set [Pr. Po11] to "_ 1 _ _". When OTLA is enabled, torque is limited in the full servo motor output torque range. Apply 0 V to +10 V DC between OTLA and LG. Connect + of the power supply to OTLA. The maximum torque is generated at +10 V. Resolution: 12 bits
Analog input
Analog torque command
OTC To use this signal, set [Pr. Po11] to "_ 1 _ _". This is used to control torque in the full servo motor output torque range. Apply 0 V to 8 V DC between OTC and LG. The maximum torque is generated at 8 V. (Refer to section 3.6.3 (1).) The torque at 8 V can be changed with [Pr. PC13]. If a value equal to or larger than the maximum torque is input to OTC, the value is clamped at the maximum torque.
Analog input
Analog speed command
OVC CN20-2 To use this signal, set [Pr. Po11] to "_ _ 1 _". The signal controls the servo motor setting speed by applying -10 V to +10 V DC to between OVC and LG. The percentage will be 0% with -10 V, 100% with 0 V, and 200% with +10 V to the servo motor setting speed. Resolution: 12 bits
Analog input
Analog speed limit
OVLA To use this signal, set [Pr. Po11] to "_ _ 1 _". Apply 0 V to 10 V DC between OVLA and LG. Speed set in [Pr. PC12] is provided at 10 V. (Refer to section 3.6.3 (3).) If a limited value equal to or larger than the permissible speed is input to OVLA, the value is clamped at the permissible speed.
Analog input
19. MR-D01 EXTENSION I/O UNIT
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(3) Output signal
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T Analog monitor 1 OMO1 CN20-4 This signal outputs the data set in [Pr. Po13] to between OMO1 and LG in
terms of voltage. Resolution: 12 bits or equivalent
Analog output
Analog monitor 2 OMO2 CN20-14 This signal outputs the data set in [Pr. Po14] to between OMO2 and LG in terms of voltage. Resolution: 12 bits or equivalent
Analog output
(4) Power supply
Device Symbol Connector pin No. Function and application I/O
division
Control mode
P S T MR-D01 digital I/F power supply input
DICOMD CN10-13 CN10-14
Input 24 V DC (24 V DC 10% 500 mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used. For sink interface, connect + of 24 V DC external power supply. For source interface, connect - of the 24 V DC external power supply.
MR-D01 digital I/F power supply input
DOCOMD CN10-37 Common terminal of input signals such as SON, RES, and others of the servo amplifier. This is separated from LG. For sink interface, connect - of 24 V DC external power supply. For source interface, connect + of the 24 V DC external power supply.
15 V DC power supply
P15R CN20-13 This outputs 15 V DC to between P15R and LG. This is available as the power for TC/TLA/VC/VLA. Permissible current: 30 mA
-12 V DC power supply
N12R CN20-15 This outputs -12 V DC to between N12R and LG. This is available as the power for VC. However, the voltage varies within the range of -12 V to -15 V. Permissible current: 30 mA
Control common LG CN20-1 CN20-9
Common terminal of OTLA, OVC, OMO1, OMO2, P15R, and N12R. Pins are connected internally.
Shield SD CN10-50 Plate
Connect the external conductor of the shielded wire.
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(5) 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. When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio] is set properly. Improper settings may cause an unexpected operation such as an overshoot.
POINT
To use OTLA (Analog torque limit), set [Pr. Po11] to "_ 1 _ _".
(a) Torque limit and torque
By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is always limited to the maximum value during operation. A relation between the limit value and servo motor torque is as follows.
Torque limit value in [Pr. PA11]
Maximum torque
To rq
ue
0 100 [%] Torque limit value in [Pr. PA12]
100
CCW directionCW direction
A relation between the applied voltage of OTLA (Analog torque limit) and the torque limit value of the servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently. Therefore, use this function at the voltage of 0.05 V or more.
5%
00 0.05
TL DICOMD
P15R OTLA
LG SD
2 k
(Note)
Connection exampleOTLA applied voltage vs. torque limit value
OTLA applied voltage [V]
Maximum torque
To rq
ue
MR-D01
24 V DC
Upper limit setting
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 19.5.4 (5).
(b) Torque limit value selection
The following shows how to select a torque limit using TL (External torque limit selection) from [Pr. PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and OTLA (Analog torque limit). When TL1 (Internal torque limit selection) is enabled with [Pr. Po02] to [Pr. Po07], [Pr. Po27], and [Pr. Po28], you can select [Pr. PC35 internal torque limit 2/Internal thrust limit 2]. However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr. PA11] and [Pr. PA12] value will be enabled.
19. MR-D01 EXTENSION I/O UNIT
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Input device (Note 1)
Limit value status Enabled torque limit value
TL1 TL CCW power running/ CW regeneration
CW power running/ CCW regeneration
0 0 Pr. PA11 Pr. PA12
0 1 OTLA >
Pr. PA11 Pr. PA12
Pr. PA11 Pr. PA12
OTLA < Pr. PA11 Pr. PA12
OTLA (Note 2) OTLA (Note 3)
1 0 Pr. PC35 >
Pr. PA11 Pr. PA12
Pr. PA11 Pr. PA12
Pr. PC35 < Pr. PA11 Pr. PA12
Pr. PC35 (Note 2) Pr. PC35 (Note 3)
1 1 OTLA > Pr. PC35 Pr. PC35 (Note 2) Pr. PC35 (Note 3) OTLA < Pr. PC35 OTLA (Note 2) OTLA (Note 3)
Note 1. 0: Off
1: On 2. When [Pr. PD33] is set to "_ 2 _ _", the value in [Pr. PA11] is applied. 3. When [Pr. PD33] is set to "_ 1 _ _", the value in [Pr. PA12] is applied.
(c) TLC (Limiting torque)
TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit, reverse rotation torque limit or analog torque limit.
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19.5.4 Interface
(1) Internal connection diagram The following shows an example of internal connection diagram of the position control mode. For the internal connection diagram of the servo amplifier, refer to section 3.9.1.
- 12 V DC
CN20
2OVC
12OTLA
13P15R
9LG PlateSD
15N12R + 15 V DC
CN20
OMO1
OMO2
LG
4
14
11
Analog monitor
10 V DC 10 V DC
LG1
CN10 14 22 23
49
DICOMD ACD0 ACD1
INP
CN10
Approx. 5.6 k
13 37
DICOMD 24 V DC
21 RES 26
TL 27 TL1
TL TL1 28
CM1 29 CM2 30
STAB2 31 SP1
STAB2
SP1 32 (Note 3) 33
PC PC 34 ST1 35 ST2
RS2 RS1 36
(Note 3) 18 (Note 3) 19 (Note 3) 20
DOCOMD SON
24 ACD2 25 ACD3 46 (Note 4) 47 (Note 4) 48 (Note 4)
(Note 1)
(Note 2) (Note 1)
(Note 2)
RA
RA
MR-D01
P S T
P S T
P S T
P S T
Note 1. The devices can be changed by [Pr. Po02] to [Pr. Po09], [Pr. Po27], and [Pr. Po28]. 2. This diagram shows sink I/O interface. For source I/O interface, refer to (5) in this section. 3. Input devices are not assigned by default. Assign the input devices with [Pr. Po06], [Pr. Po27], and [Pr. Po28] as necessary. 4. Output devices are not assigned by default. Assign the output devices with [Pr. Po08] and [Pr. Po09] as necessary.
19. MR-D01 EXTENSION I/O UNIT
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(2) Detailed explanation of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 19.5.3. Refer to the following and make connection with the external device.
(a) Digital input interface DI-1
This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink (open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink input.
Approx. 5.6 k
Approximately 5 mA
TR
24 V DC 10% 800 mA
Switch
For transistor SON etc.
MR-D01
DICOMD
VCES 1.0 V ICEO 100 A
(b) Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in the servo amplifier. The following shows a connection diagram for sink output.
(Note) 24 V DC 10% 800 mA
If polarity of diode is reversed, servo amplifier will malfunction.
MR-D01
INP etc.
Load
DOCOMD
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply a high voltage (maximum of 26.4 V) from an external source.
19. MR-D01 EXTENSION I/O UNIT
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(3) Analog input
Input impedance 10 k to 12 k
2 k OTLA
LG
P15R
SD
Approx. 10 k
+15 V DC
Upper limit setting: 2 k
MR-D01
2 k OVC
N12R
P15R
SD
Approx. 10 k
+15 V DC
Upper limit setting: 2 k
MR-D01
Lower limit setting: 2 k
- 12 V DC
(4) Analog output
Output voltage: 10 V (Note) Maximum output current: 1 mA Resolution: 12 bits or equivalentLG
OMO1 (OMO2)
MR-D01
Note. Output voltage range varies depending on the monitored signal. When connecting analog output to an external device, use the withstand voltage of 15 V DC or higher.
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(5) Source I/O interface
In this servo amplifier, source type I/O interfaces can be used.
(a) Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open-collector) type transistor output, relay switch, etc.
Approx. 5.6 k
24 V DC 10% 800 mA
Switch
For transistor SON etc.
MR-D01
DOCOMD
Approximately 5 mA VCES 1.0 V ICEO 100 A
TR
(b) Digital output interface DO-1 This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, the current will flow from the output terminal to a load. A maximum of 2.6 V voltage drop occurs in the servo amplifier.
(Note) 24 V DC 10% 800 mA
MR-D01
INP etc.
DOCOMD
Load
If polarity of diode is reversed, servo amplifier will malfunction.
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply a high voltage (maximum of 26.4 V) from an external source.
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19.6 Monitor display with MR Configurator2
The following shows how to display the input/output monitor with MR Configurator2 when MR-D01 has been connected. (1) Initial setting
When MR-D01 has been connected, click "MR-D01" from the "Option unit" menu in the creating new project window of MR Configurator2.
(2) How to open the optional unit monitor window Click "Monitor" in the menu bar and "I/O Monitor" from the menu.
19. MR-D01 EXTENSION I/O UNIT
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The following window is displayed. Click "Option unit monitor" in the menu bar.
The following window is displayed. The input/output monitor on the MR-D01 side can be checked.
19. MR-D01 EXTENSION I/O UNIT
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19.7 Dimensions
19.7.1 MR-D01 extension I/O unit
[Unit: mm]
Approx. 80
CN20
20
103 98 94
79.5
16 1
11 4.
55 97
24 .5
CN30
CN10
19.7.2 When an MR-D01 extension IO unit is connected to a servo amplifier
Servo amplifierServo amplifier
L
L
MR-D01 MR-D01
100 V/200 V 0.1 kW to 3.5 kW 400 V 0.6 kW to 2 kW
200 V 5 kW/7 kW 400 V 3.5 kW to 7 kW
Servo amplifier L [mm] MR-J4-10A1-RJ to MR-J4-40A1-RJ MR-J4-10A-RJ to MR-J4-100A-RJ MR-J4-60A4-RJ to MR-J4-100A4-RJ
20
MR-J4-200A-RJ/MR-J4-350A-RJ MR-J4-200A4-RJ
15
MR-J4-500A-RJ/MR-J4-700A-RJ MR-J4-350A4-RJ to MR-J4-700A4-RJ
10
MR-J4-11KA-RJ to MR-J4-22KA-RJ MR-J4-11KA4-RJ to MR-J4-22KA4-RJ
0
19. MR-D01 EXTENSION I/O UNIT
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19.8 Options peripheral equipment
19.8.1 Combinations of cable/connector sets
Servo amplifier
CN30
CN20
CN10
MR-D01 2)
1)
3) 4)
CN5
CN6
CN3
CN8
CN1
CN2
CN4
No. Product name Model Description Application 1) Connector set MR-CCN1
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
2) Junction terminal block (recommended)
MR-J2HBUS_M
PS7DW-20V14B-F (Toho Technology)
Junction terminal block PS7DW-20V14B-F is not option. For using the junction terminal block, option MR-J2HBUS_M is necessary. Refer to section 19.8.2 for details.
3) Junction terminal block cable
MR-J2M- CN1TBL_M Cable length: 0.5, 1 m (Refer to section 19.9.3.)
Junction terminal block connector Connector: D7950-B500FL (3M)
CN10 connector Connector: 10150-6000EL Shell kit: 10350-3210-000 (3M or equivalent)
For junction terminal block connection
4) Junction terminal block
MR-TB50 Refer to section 19.8.3.
19. MR-D01 EXTENSION I/O UNIT
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19.8.2 PS7DW-20V14B-F (Junction terminal block) (recommended)
(1) Usage Always use the PS7DW-20V14B-F (Junction terminal block) (Toho Technology)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below.
AERSBAN-ESET (Cable clamp fitting)
PS7DW-20V14B-F (Junction terminal block)
CN20 MR-J2HBUS_M
MR-D01
Ground the option cable on the junction terminal block side with AERSBAN-ESET (cable clamp fitting). For how to use the cable clamp fitting, refer to section 11.14 (2) (c).
(2) Connection of MR-J2HBUS_M cable and junction terminal block
OVC 1 2 3 4
8 7
9
SD Shell
(Note 1) MR-J2HBUS_M
5 6
10 LG OTLA
11 12
P15R 13 14
18 17
19
15 16
20
N12R
Shell Shell Shell
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
OVC
SD
LG OTLA P15R
N12R
E
MR-D01
CN20
PS7DW-20V14B-F (Junction terminal block)
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
OMO1
LG
OMO2
OMO1
LG
OMO2
Note 1. Symbol indicating cable length is put in _. 05: 0.5 m 1: 1 m 5: 5 m
2. Do not connect anything to the terminal where no signal has been assigned.
19. MR-D01 EXTENSION I/O UNIT
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(3) Dimensions of junction terminal block
[Unit: mm]
M3 6L
M3 5L
36 .5
27 .8
18 .8
7.62 44.11
54 63
4.5
4. 5
5
4 60509. 3
27
TB.E (6)
1.426.2
19. MR-D01 EXTENSION I/O UNIT
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19.8.3 MR-TB50 (Junction terminal block)
(1) Usage Always use MR-TB50 (Junction terminal block) with MR-J2M-CN1TBL_M (Junction terminal block cable) as a set.
MR-D01
CN10
Junction terminal block MR-TB50
MR-J2M-CN1TBL_M
Cable clamp
Ground the junction terminal block cable on the junction terminal block side with the supplied AERSBAN- ESET (cable clamp fitting). For how to use the cable clamp fitting, refer to section 11.14 (2) (c).
(2) Dimensions of MR-TB50
235
50 25
Ap pr
ox .
25 9
2 1
50 49
[Unit: mm]
MITSUBISHI MR-TB50
2-4.5
Screw size: M3.5 Applicable wire: 2 mm2
Crimp terminal width: 7.2 mm or less
244 2. 5
46.5
1 3 5 7 9 1113151719 2123252729 3133 2 4 6 8 1012141618 20 2224262830 32
353739 4143454749 34363840 42444648 50
19. MR-D01 EXTENSION I/O UNIT
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(3) Connection diagram of MR-J2M-CN1TBL_M cable and MR-TB50
The following connection diagram shows for position control mode as an example.
SD SD Plate
Symbol (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-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
DOCOMD
(Note 3) (Note 3) (Note 3)
INP
DICOMD
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
D7950-B500FL10150-6000EL
(Note 3) (Note 3)
PC (Note 3) (Note 3) (Note 3)
CM2 CM1 TL1 TL
RES ACD3 ACD2 ACD1 ACD0 SON
(Note 3) (Note 3) (Note 3)
DICOMD
Note 1. Symbol indicating cable length is put in _. 05: 0.5 m 1: 1 m
2. Do not connect anything to the terminal where no signal has been assigned. 3. Output devices are not assigned by default. Assign the output devices with
[Pr. Po05] to [Pr. Po09], [Pr. Po27], and [Pr. Po28] as necessary.
APPENDIX
App. - 1
APPENDIX
App. 1 Peripheral equipment manufacturer (for reference)
Manufacturer names given in the table are as of September 2021. For information, such as the delivery time, price, and specifications of the recommended products, contact each manufacturer.
Manufacturer Reference NEC TOKIN TOKIN Corporation Kitagawa Industries Kitagawa Industries Co., Ltd. JST J.S.T. Mfg. Co., Ltd. Junkosha Purchase from Toa Electric Industrial Co. Ltd.,
Nagoya Branch 3M 3M SEIWA ELECTRIC Seiwa Electric Mfg. Co. Ltd. Soshin Electric Soshin Electric Co., Ltd. TE Connectivity TE Connectivity Ltd. Company TDK TDK Corporation Molex Molex Japan LLC Toho Technology Toho Technology Corp., Kyoto Factory COSEL COSEL CO., LTD.
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations
on the Transport of Dangerous Goods
United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the International Maritime Organization (IMO). To comply the instruction and code, we have modified the indication on the package for general-purpose AC servo batteries. The above change will not affect the function and performance of the product. (1) Target model
(a) Battery (cell)
Model Option model Type Lithium content
Mass of battery Remark
ER6 MR-J3BAT Cell 0.65 g 16 g Cells with more than 0.3 grams of lithium content must be handled as dangerous goods (Class 9) depending on packaging requirements.
ER17330 MR-BAT Cell 0.48 g 13 g
A6BAT Cell 0.48 g 13 g
APPENDIX
App. - 2
(b) Battery unit (assembled battery)
Model Option model Type Lithium
content Mass of battery Remark
ER6 MR-J2M-BT Assembled battery (Seven)
4.55 g 112 g
Assembled batteries with more than two grams of lithium content must be handled as dangerous goods (Class 9) regardless of packaging requirements.
CR17335A
MR-BAT6V1 Assembled battery (Two) 1.20 g 34 g Assembled batteries with more than
0.3 grams of lithium content must be handled as dangerous goods (Class 9) depending on packaging requirements.
MR-BAT6V1SET(-A) Assembled battery (Two) 1.20 g 34 g
MR-BAT6V1BJ Assembled battery (Two) 1.20 g 34 g
(2) Purpose
Safer transportation of lithium metal batteries. (3) Change in regulations
The following points are changed for lithium metal batteries in transportation by sea or air based on the revision of Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition, and IATA Dangerous Goods Regulations 54th Edition (effective January 1, 2013). For lithium metal batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are classified as UN3091.
(a) Transportation of lithium metal batteries alone
Packaging requirement Classification Main requirement
Less than eight cells per package with less than one gram of lithium content
UN3090 PI968 Section II The package must pass a 1.2 m drop test, and the handling label with battery illustration (size: 120 110 mm) must be attached on the package.
Less than two assembled batteries per package with less than two grams of lithium content More than eight cells per package with less than one gram of lithium content
UN3090 PI968 Section IB
The package must pass a 1.2 m drop test, and the handling label with battery illustration (size: 120 110 mm) must be attached on the package. The Class 9 hazard label must be attached or others to comply with dangerous goods (Class 9).
More than two assembled batteries per package with less than two grams of lithium content Cells with more than one gram of lithium content
UN3090 PI968 Section IA
The package must be compliant with Class 9 Packages, and the Class 9 hazard label must be attached or others to comply with dangerous goods (Class 9).
Assembled batteries with more than two grams of lithium content
APPENDIX
App. - 3
(b) Transportation of lithium metal batteries packed with or contained in equipment
1) For batteries packed with equipment, follow the necessary requirements of UN3091 PI969. Batteries are classified into either Section II/Section I depending on the lithium content/packaging requirements.
2) For batteries contained in equipment, follow the necessary requirements of UN3091 PI970.
Batteries are classified into either Section II/Section I depending on the lithium content/packaging requirements. The special handling may be unnecessary depending on the number of batteries and gross mass per package.
* Place for UN number (s) ** Place for telephone number for additional
information Fig. app. 1 Example of Mitsubishi label with
battery illustration
(Available until December 31, 2018)
Fig. app. 2 Example of Mitsubishi label with battery illustration
(Available from January 1, 2017)
The handling label shown in Fig. app. 1 has been changed to the one shown in Fig. app. 2 in accordance with the IATA Dangerous Goods Regulations 58th Edition (effective January 1, 2017). However, the label shown in Fig. app. 1 may be used until December 31, 2018 (for two years as an interim measure).
(4) Details of the package change
The following caution is added to the packages of the target batteries. "Containing lithium metal battery. Regulations apply for transportation."
(5) Transportation precaution for customers
For sea or air transportation, attaching the handling label (Fig. app. 1) must be attached to the package of a Mitsubishi Electric cell or battery. In addition, attaching it to the outer package containing several packages of Mitsubishi Electric cells or batteries is also required. When the content of a package must be handled as dangerous goods (Class 9), the Shipper's Declaration for Dangerous Goods is required, and the package must be compliant with Class 9 Packages. Documentations like the handling label in the specified design and the Shipper's Declaration for Dangerous Goods are required for transportation. Please attach the documentations to the packages and the outer package.
The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually. When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the customers. Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.
APPENDIX
App. - 4
App. 3 Symbol for the new EU Battery Directive
Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery is explained here.
Note. This symbol is valid only in EU.
This symbol is in accordance with directive 2006/66/EC Article 20 "Information for end-users" and Annex II. Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused. This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from your household waste. If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration. This will be indicated as follows. Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%) In the European Union there are separate collection systems for used batteries and accumulators. Please, dispose of batteries and accumulators correctly at your local community waste collection/recycling center. Please, help us to conserve the environment we live in!
APPENDIX
App. - 5
App. 4 Compliance with global standards
App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)
STO function (Refer to IEC 61800-5-2:2007 4.2.2.2 STO.) The MR-J4 servo amplifiers have the STO function. The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in the servo amplifier. The servo amplifiers without the CN8 connector (such as MR-J4-03A6) do not support this function. App. 4.2 About safety
This chapter explains safety of users and machine operators. Please read the section carefully before mounting the equipment. App. 4.2.1 Professional engineer
Only professional engineers should mount MR-J4 servo amplifiers. Here, professional engineers should meet all the conditions below. (1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk
based on past experience. (2) Persons who have read and familiarized himself/herself with this installation guide and operating
manuals for the protective devices (e.g. light curtain) connected to the safety control system. App. 4.2.2 Applications of the devices
MR-J4 servo amplifiers comply with the following standards. IEC/EN 61800-5-1/GB 12668.501, IEC/EN/KN 61800-3/GB 12668.3, IEC/EN 60204-1 ISO/EN ISO 13849-1:2015 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO) (The MR- J4-03A6 and the MR-J4W2-0303B6 are not included. Refer to app. 4.8.1 for compatible models.)
MR-J4 servo amplifiers can be used with the MR-D30 functional safety unit, MR-J3-D05 safety logic unit, or safety PLCs. For combinations of servo amplifiers and the MR-D30, refer to "MR-D30 Instruction Manual". For combinations of servo amplifiers and the MR-J3-D05, refer to app. 5. App. 4.2.3 Correct use
Use the MR-J4 servo amplifiers within specifications. Refer to section 1.3 for specifications such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation.
WARNING
If you need to get close to the moving parts of the machine for inspection or others, ensure safety by confirming the power off, etc. Otherwise, it may cause an accident. It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and terminals immediately after power off.
APPENDIX
App. - 6
(1) Peripheral device and power wiring
The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 274.
(a) Power Wiring (local wiring and crimping tool) Use only copper wires or copper bus bars for wiring. The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at 75 C/60 C.
Table app. 1 Recommended wires
Servo amplifier (Note 7) 75 C/60 C stranded wire [AWG] (Note 2)
L1/L2/L3 L11/L21 P+/C U/V/W/
(Note 3) MR-J4-03A6/MR-J4W2-0303B6 19/- (Note 5) 19/- (Note 6) MR-J4-10_(1)/MR-J4-20_(1)/MR-J4-40_(1)/ MR-J4-60_(4)/MR-J4-70_/MR-J4-100_(4)/ MR-J4-200_(4) (T)/MR-J4-350_4
14/14 14/14 14/14 14/14
MR-J4-200_ (S) 12/12 MR-J4-350_ 12/12 MR-J4-500_ (Note 1) 10: a/10: a 14: c/14: c 10: b/10: b MR-J4-700_ (Note 1) 8: b/8: b 12: a/12: a 8: b/8: b MR-J4-11K_ (Note 1) 6: d/4: f 12: e/12: e 4: f/4: f MR-J4-15K_ (Note 1) 4: f/3: f 10: e/10: e 3: g/2: g MR-J4-22K_ (Note 1) 1: h/-: - 14: c/14: c 10: i/10: i 1: j/-: - MR-J4-500_4 (Note 1) 14: c/14: c 14: c/14: c 12: a/10: a MR-J4-700_4 (Note 1) 12: a/12: a 10: a/10: a MR-J4-11K_4 (Note 1) 10: e/10: e 14: k/14: k 8: l/8: l MR-J4-15K_4 (Note 1) 8: l/8: l 12: e/12: e 6: d/4: d MR-J4-22K_4 (Note 1) 6: m/4: m 12: i/12: i 6: n/4: n MR-J4W_-_B 14/14 (Note 4) 14/14 14/14 14/14
Note 1. To connect these models to a terminal block, be sure to use the screws that come with the terminal block. 2. Alphabets in the table indicate crimping tools. Refer to table app. 2 for the crimp terminals and crimping tools. 3. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of
the servo amplifiers. 4. Use the crimp terminal c for the PE terminal of the servo amplifier. 5. This value is of 24/0/PM/ for MR-J4-03A6 and MR-J4W2-0303B6. 6. This value is of U/V/W/E for MR-J4-03A6 and MR-J4W2-0303B6. 7. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.
Table app. 2 Recommended crimp terminals
Symbol Servo amplifier-side crimp terminals
Manufacturer Crimp terminal (Note 2) Applicable tool
a FVD5.5-4 YNT-1210S b (Note 1) 8-4NS YHT-8S
c FVD2-4 YNT-1614 d FVD14-6 YF-1 e FVD5.5-6 YNT-1210S f FVD22-6 YF-1
JST (J.S.T. Mfg. Co.,
Ltd.)
g FVD38-6 YF-1 h R60-8 YF-1 i FVD5.5-8 YNT-1210S j CB70-S8 YF-1 k FVD2-6 YNT-1614 l FVD8-6 YF-1
m FVD14-8 YF-1 n FVD22-8 YF-1
Note 1. Coat the crimping part with an insulation tube. 2. Some crimp terminals may not be mounted depending on the size. Make sure to
use the recommended ones or equivalent ones.
APPENDIX
App. - 7
(b) Selection example of MCCB and fuse
Use T class fuses or molded-case circuit breaker (UL 489 Listed MCCB) as the following table. The T class fuses and molded-case circuit breakers in the table are selected examples based on rated I/O of the servo amplifiers. When you select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller capacity T class fuses or molded-case circuit breaker than ones in the table. For selecting ones other than Class T fuses and molded-case circuit breakers below and selecting a type E combination motor controller (motor circuit breaker), refer to section 11.10.
Servo amplifier (100 V class) Molded-case circuit breaker (120 V AC) Fuse (300 V)
MR-J4-10_1/MR-J4-20_1/MR-J4-40_1 NV50-SVFU-15A (50 A frame 15 A) 20 A
Servo amplifier (200 V class) (Note) Molded-case circuit breaker (240 V AC) Fuse (300 V)
MR-J4-10_/MR-J4-20_/MR-J4-40_/MR-J4-60_ (T)/MR-J4-70_ (T)/ MR-J4W2-22B (T)
NF50-SVFU-5A (50 A frame 5 A) 10 A
MR-J4-60_ (S)/MR-J4-70_ (S) /MR-J4-100_ (T)/MR-J4W2-22B (S)/ MR-J4W2-44B (T)/MR-J4W2-77B (T)/MR-J4W3-222B/ MR-J4W3-444B (T)
NF50-SVFU-10A (50 A frame 10 A) 15 A
MR-J4-100_ (S)/MR-J4-200_ (T)/MR-J4W2-44B (S)/ MR-J4W2-1010B
NF50-SVFU-15A (50 A frame 15 A) 30 A
MR-J4-200_ (S)/MR-J4-350_/MR-J4W2-77B (S)/ MR-J4W3-444B (S)
NF50-SVFU-20A (50 A frame 20 A) 40 A
MR-J4-500_ NF50-SVFU-30A (50 A frame 30 A) 60 A MR-J4-700_ NF50-SVFU-40A (50 A frame 40 A) 80 A MR-J4-11K_ NF100-CVFU-60A (100 A frame 60 A) 125 A MR-J4-15K_ NF100-CVFU-80A (100 A frame 80 A) 150 A MR-J4-22K_ NF225-CWU-125A (225 A frame 125 A) 300 A
Note. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.
Servo amplifier (400 V class) Molded-case circuit breaker (480 V AC) Fuse (600 V)
MR-J4-60_4/MR-J4-100_4 NF100-HRU-5A (100 A frame 5 A) 10 A MR-J4-200_4 NF100-HRU-10A (100 A frame 10 A) 15 A MR-J4-350_4 NF100-HRU-10A (100 A frame 10 A) 20 A MR-J4-500_4 NF100-HRU-15A (100 A frame 15 A) 30 A MR-J4-700_4 NF100-HRU-20A (100 A frame 20 A) 40 A MR-J4-11K_4 NF100-HRU-30A (100 A frame 30 A) 60 A MR-J4-15K_4 NF100-HRU-40A (100 A frame 40 A) 80 A MR-J4-22K_4 NF100-HRU-60A (100 A frame 60 A) 125 A
(c) Power supply
This servo amplifier can be supplied from star-connected supply with grounded neutral point of overvoltage category III (overvoltage category II for 1-phase servo amplifiers, MR-J4-03A6, and MR- J4W2-0303B6) set forth in IEC/EN 60664-1. For the interface power supply, use an external 24 V DC power supply with reinforced insulation on I/O terminals. In case of MR-J4-03A6 and MR-J4W2-0303B6, use DC power supplies of reinforced insulation type. For the main circuit power, use UL listed (recognized) 48 V DC/24 V DC power supplies which can generate more than 1.2 A/2.4 A per axis.
APPENDIX
App. - 8
(d) Grounding
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. Do not connect two grounding cables to the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one. This product can cause a DC current in the protective earthing conductor. To protect direct/indirect contact using an earth-leakage current breaker (RCD), only an RCD of type B can be used for the power supply side of the product. The MR-J4-700_4 is high protective earthing conductor current equipment, the minimum size of the protective earthing conductor must comply with the local safety regulations.
PE terminals
PE terminals
(e) Servo motor overload and overheat protection The servo motor does not have an overheat protection function, but is protected with the servo motor overload protection function of the servo amplifier (protective characteristics on the basis of 120% rated current). When providing overheat protection for the servo motor, protect it with a thermal relay-equipped magnetic contactor (magnetic starter) or install a device such as a thermal sensor near the rating plate of the servo motor, and check that the measured temperature is not over 105 C with a detecting device. (Refer to app. 4.4.)
(2) EU compliance
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. The CE marking proves the compliance of the manufacturer with the EC directives, and this marking also applies to machines and equipment incorporating servos.
(a) EMC requirement
The MR-J4 servo amplifiers comply with EN 61800-3. As for I/O wires (max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 50 m), use shielded wires and ground the shields. Install an EMC filter and surge protector on the primary side for input and output of 200 V class and for output of 400 V class servo amplifiers. In addition, use a line noise filter for outputs of the 11 kW and 15 kW of 400 V class servo amplifiers. The following shows recommended products.
EMC filter: Soshin Electric HF3000A-UN series, TF3000C-TX series, COSEL FTB series Surge protector: Okaya Electric Industries RSPD series Line noise filter: Mitsubishi Electric FR-BLF
The MR-J4 series is not intended to be used with low-voltage distribution lines for household. If it is used in such an environment, radio frequency interference may be generated. The installer shall provide a guide for Installation and use, including recommended mitigation devices. To avoid the risk of crosstalk to signal cables, the installation instructions shall either recommend that the power interface cable be segregated from signal cables. Use the DC power supply installed with the amplifiers in the same cabinet. Do not connect the other electric devices to the DC power supply.
APPENDIX
App. - 9
(b) For Declaration of Conformity (DoC)
MITSUBISHI ELECTRIC EUROPE B.V. hereby declares that the servo amplifiers are in compliance with EC directives (Machinery directive (2006/42/EC), EMC directive (2014/30/EU), Low voltage directive (2014/35/EU), and RoHS directive (2011/65/EU, (EU)2015/863)). For the copy of Declaration of Conformity, contact your local sales office.
(3) USA/Canada compliance
This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 274.
(a) Installation The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 C or less. The servo amplifier must be installed in the metal cabinet. Additionally, mount the servo amplifier on a cabinet that the protective earth based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should be used in open type (UL 50) and overvoltage category shown in table in app. 4.8.1. The servo amplifier needs to be installed at or below pollution degree 2. For connection, use copper wires.
(b) Short-circuit current rating (SCCR)
Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes, 500 Volts Maximum (Not More Than 5 kA rms Symmetrical Amperes, 48 Volts Maximum for MR-J4-03A6 and MR-J4W2-0303B6). For SCCR (25 kA and 50 kA) when using a type E combination motor controller (motor circuit breaker), refer to section 11.10.
(c) Branch circuit protection
For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code and any applicable provincial codes.
(4) South Korea compliance
This product complies with the Radio Wave Law (KC mark). Please note the following to use the product. (A) , . (The product is for business use (Class A) and meets the electromagnetic compatibility requirements. The seller and the user must note the above point, and use the product in a place except for home.) In addition, use an EMC filter, surge protector, ferrite core, and line noise filter on the primary side for inputs. Use a ferrite core and line noise filter for outputs. Use a distance greater than 30 m between the product and third party sensitive radio communications for an MR-J4-22K_(4).
App. 4.2.4 General cautions for safety protection and protective measures
Observe the following items to ensure proper use of the MR-J4 servo amplifiers. (1) For safety components and installing systems, only qualified personnel and professional engineers
should perform. (2) When mounting, installing, and using the MELSERVO MR-J4 servo amplifier, always observe standards
and directives applicable in the country.
APPENDIX
App. - 10
App. 4.2.5 Residual risk
(1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards. (2) Perform all risk assessments and safety level certification to the machine or the system as a whole. (3) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the
servo motor may make a half revolution at a maximum. (4) Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed. Only trained engineers should install and operate the equipment. (ISO 13849- 1:2015 Table F.1 No. 5)
(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1:2015 Table
F.1 No. 1) (6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.). (7) Keep the required clearance/creepage distance depending on voltage you use. App. 4.2.6 Disposal
Disposal of unusable or irreparable devices should always occur in accordance with the applicable country- specific waste disposal regulations. (Example: European Waste 16 02 14) App. 4.2.7 Lithium battery transportation
To transport lithium batteries, take actions to comply with the instructions and regulations such as the United Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime Organization (IMO). The batteries (MR-BAT6V1SET, MR-BAT6V1SET-A, MR-BAT6V1, and MR-BAT6V1BJ) are assembled batteries from two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods (Class 9) of the UN Recommendations.
APPENDIX
App. - 11
App. 4.3 Installation direction and clearances
CAUTION
The devices must be installed in the specified direction. Not doing so may cause a malfunction. Mount the servo amplifier in a cabinet that meets IP54 in the correct vertical direction to maintain pollution degree 2. The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protective cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock. Even if the power was shut-off, be careful until the bus voltage discharged and the temperature decreased because of the following reasons.
It may cause a burn injury due to very high temperature without cooling. It may cause an electric shock due to charged capacitor of the servo amplifier.
To adapt your machine using MR-J4-03A6 or MR-J4W2-0303B6 to IEC/EN 60950-1, either supply the amplifier with a power supply complying with the requirement of 2.5 stated in IEC/EN 60950-1 (Limited Power Source), or cover the amplifier and motors connected to the outputs with a fire enclosure.
10 mm or more
80 mm or longer for wiring
10 mm or more (Note 2)
Top
Bottom
40 mm or more (Note 1)
40 mm or more
Cabinet
Servo amplifier
Se rv
o am
pl ifi
er
Cabinet
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.
2. When mounting MR-J4-500_, maintain a minimum clearance of 25 mm on the left side.
APPENDIX
App. - 12
App. 4.4 Electrical Installation and configuration diagram
WARNING Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or damages to the product before starting the installation or wiring.
CAUTION
The installation complies with IEC/EN 60204-1. The voltage supply to machines must be 20 ms or more of tolerance against instantaneous power failure as specified in IEC/EN 60204-1. Connecting a servo motor for different axis to U, V, W, or CN2_ of the servo amplifier may cause a malfunction. Securely connect the cables in the specified method and tighten them with the specified torque. Otherwise, the servo motor may operate unexpectedly.
The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards. (1) 3-phase input for MR-J4 1-axis servo amplifier
STO
PE
L11 L21
MC L1 C P+
D N-
U/V/W/PE
CN2
CN1
CN8
L2L3MCCB or fuse
Controller Encoder cable
(3-phase 230 V AC)
Power supply (3-phase 400 V AC)
Transformer (Note 2, 3) (star-connected)
(Note 1) MCCB or fuse
Servo amplifier
Cabinet side Machine side
Encoder Servo motorDetection device
Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required. 2. For 400 V class, a step-down transformer is not required. 3. Supply neutral needs to be earthed.
(2) 1-phase input for MR-J4 1-axis servo amplifier
STO
PE
L11 L21
MC L1 C P+
D N-
U/V/W/PE
CN2
CN1
CN8
L2L3MCCB or fuse
Controller Encoder cable
(1-phase 230 V AC)
Power supply (3-phase 400 V AC)
Transformer (Note 3) (star-connected)
(Note 1) MCCB or fuse
Servo amplifier
Cabinet side Machine side
Encoder Servo motor
(Note 2)
(Note 2)
Detection device
Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required. 2. When using a 100 V class servo amplifier, step down the power supply voltage to
100 V and connect the main circuit power supply lines to L1 and L2. For 1-phase 200 V AC servo amplifiers, connect the lines to L1 and L3.
3. Supply neutral needs to be earthed.
APPENDIX
App. - 13
(3) Main circuit 48 V DC input for MR-J4 1-axis servo amplifier
0 PM
CNP1
CN2
CN1
24
U/V/W/E Controller Encoder cable
48 V DC
24 V DC
Servo amplifier
Encoder Servo motor
Cabinet side Machine side
Detection device
The connectors described by rectangles are safely separated from the main circuits described by circles. The connected motors will be limited as follows. (1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric) (2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA) App. 4.5 Signal
App. 4.5.1 Signal
The following shows MR-J4-10B signals as a typical example. For other servo amplifiers, refer to each servo amplifier instruction manual.
CN3
1 2
3
5
4
6
7
9
8
10
11 12
13 14
15 16
17 18
19 20
DI1
MO1
DICOM
LG
DOCOM
DICOM
LZ
DI2
MO2
EM2
LG
MBR
LBR
LA
LB LZR
LAR ALM
DI3INP
TOFB2
STO2TOFB1
STO1 STOCOM
2
CN8
1
4 3
6 5
8 7 TOFCOM
STO I/O signal connector
APPENDIX
App. - 14
App. 4.5.2 I/O device
Input device Symbol Device Connector Pin No.
EM2 Forced stop 2 CN3 20 STOCOM Common terminal for input signals STO1/STO2 3
STO1 STO1 state input CN8 4 STO2 STO2 state input 5
Output device
Symbol Device Connector Pin No. TOFCOM Common terminal for monitor output signal in STO state 8
TOFB1 Monitor output signal in STO1 state CN8 6 TOFB2 Monitor output signal in STO2 state 7
Power supply
Symbol Device Connector Pin No. DICOM Digital I/F power supply input 5, 10 DOCOM Digital I/F common CN3 3
SD Shield Plate
App. 4.5.3 STO state
The following table lists the states of STO1 and STO2 for when input signals STO1 and STO2 are ON (closed) or OFF (open) while the power is turned on in an operation with no alarms or warnings.
STO1 STO2 STO1 state STO2 state OFF OFF ON (STO enabled) ON (STO enabled) OFF ON ON (STO enabled) OFF (STO disabled) ON OFF OFF (STO disabled) ON (STO enabled) ON ON OFF (STO disabled) OFF (STO disabled)
APPENDIX
App. - 15
App. 4.6 Maintenance and service
WARNING To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office.
App. 4.6.1 Inspection items
It is recommended that the following points periodically be checked. (1) Check for loose terminal block screws. Retighten any loose screws.(Except for MR-J4-03A6 and MR-
J4W2-0303B6)
Servo amplifier Tightening torque [Nm]
L1 L2 L3 N- P3 P4 P+ C D L11 L21 U V W PE MR-J4-10_(1)/MR-J4-20_(1)/ MR-J4-40_(1)/MR-J4-60_(4)/ MR-J4-70_/MR-J4-100_(4)/ MR-J4-200_(4)/MR-J4-350_(4)
1.2
MR-J4-500_ 1.2 0.8 1.2 MR-J4-700_(4)/MR-J4-500_4 1.2 0.8 1.2 MR-J4-11K_(4)/MR-J4-15K_(4) 3.0 1.2 3.0 MR-J4-22K_(4) 6.0 1.2 6.0 MR-J4W_-_B 1.2
(2) Servo motor bearings, brake section, etc. for unusual noise. (3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to operating
conditions. (4) Check that the connectors are securely connected to the servo motor. (5) Check that the wires are not coming out from the connector. (6) Check for dust accumulation on the servo amplifier. (7) Check for unusual noise generated from the servo amplifier. (8) Check the servo motor shaft and coupling for connection. (9) Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
APPENDIX
App. - 16
App. 4.6.2 Parts having service life
Service life of the following parts is listed below. However, the service life varies depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your local sales office.
Part name Life guideline Smoothing capacitor 10 years (Note 3)
Relay Number of power-on,
forced stop and controller forced stop times: 100 000 times Number of on and off for STO: 1,000,000 times
Cooling fan 10,000 hours to 30,000 hours (2 to 3 years) (Note 4)
Battery backup time (Note 1) Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 C)
Battery life (Note 2) 5 years from date of manufacture Note 1. The time is for using MR-J4 1-axis servo amplifier with an rotary servo motor using MR-BAT6V1SET, MR-BAT6V1SET-A, or
MR-BAT6V1BJ. For details and other battery backup time, refer to chapter 12. 2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the
connection status. 3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 40 C or less for use at the maximum 1000 m above sea level, 30 C or less for over 1000 m to 2000 m).
4. 50,000 hours to 70,000 hours (7 to 8 years) for the MR-J4W_-_B. Note that the MR-J4-03A6 and the MR-J4W_-_B6 do not have a cooling fan.
APPENDIX
App. - 17
App. 4.7 Transportation and storage
CAUTION
Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. For detailed information on transportation and handling of the battery, refer to app. 2 and app. 3. Install the product in a load-bearing place of servo amplifier and servo motor in accordance with the instruction manual. Do not get on or put heavy load on the equipment. Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop.
When you keep or use it, please fulfill the following environment.
Item Environment
Ambient temperature
Operation [C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3) Transportation (Note) [C] -20 to 65 Class 2K12 (IEC/EN 60721-3-2) Storage (Note) [C] -20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Ambient humidity
Operation, transportation, storage 5 %RH to 90 %RH
Vibration resistance
Test condition 10 Hz to 57 Hz with constant amplitude of 0.075 mm
57 Hz to 150 Hz with constant acceleration of 9.8 m/s2 to IEC/EN 61800-5-1 (Test Fc of IEC 60068-2-6)
Operation 5.9 m/s2 Transportation (Note) Class 2M3 (IEC/EN 60721-3-2) Storage Class 1M2 (IEC/EN 60721-3-2)
Pollution degree 2
IP rating IP20 (IEC/EN 60529), Terminal block IP00 Open type (UL 50)
Altitude Operation, storage Max. 2000 m above sea level Transportation Max. 10000 m above sea level
Note. In regular transport packaging
APPENDIX
App. - 18
App. 4.8 Technical data
App. 4.8.1 MR-J4 servo amplifier
Item
MR-J4-10_/ MR-J4-20_/ MR-J4-40_/ MR-J4-60_/ MR-J4-70_/
MR-J4-100_/ MR-J4-200_/
MR-J4W2-22B/ MR-J4W2-44B/ MR-J4W2-77B/
MR-J4W3-222B/ MR-J4W3-444B
MR-J4-350_/ MR-J4-500_/ MR-J4-700_/
MR-J4W2-1010B/ MR-J4-11K_/ MR-J4-15K_/ MR-J4-22K_
MR-J4-10_1/ MR-J4-20_1/ MR-J4-40_1
MR-J4-60_4/ MR-J4-100_4/ MR-J4-200_4/ MR-J4-350_4/ MR-J4-500_4/ MR-J4-700_4/ MR-J4-11K_4/ MR-J4-15K_4/ MR-J4-22K_4
MR-J4-03A6/ MR-J4W2-0303B6
Power supply
Main circuit (line voltage)
3-phase or 1-phase
200 V AC to 240 V AC,
50 Hz/60 Hz (Note 1)
3-phase 200 V AC to 240 V AC,
50 Hz/60 Hz (Note 1)
1-phase 100 V AC to 120 V AC,
50 Hz/60 Hz
3-phase 380 V AC to 480 V AC,
50 Hz/60 Hz
48 V DC or 24 V DC
Control circuit (line voltage)
1-phase 200 V AC to 240 V AC, 50/60 Hz (Note 1)
1-phase 100 V AC to 120 V AC,
50 Hz/60 Hz
1-phase 380 V AC to 480 V AC,
50 Hz/60 Hz
24 V DC
Interface (SELV) 24 V DC (required current capacity: MR-J4-_A_, 500 mA; MR-J4-_B_, 300 mA;
MR-J4W2-_B_, 350 mA; MR-J4W3-_B, 450 mA; MR-J4-_ GF_, 300 mA) Control method Sine-wave PWM control, current control method Safety observation function (STO) IEC/EN 61800-5-2 (Note 2)
EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2
Mean time to dangerous failure (MTTFd) MTTFd 100 [years] (314a)
Diagnostic coverage (DC) DC = Medium, 97.6 [%] Average probability of dangerous failures per hour (PFH) PFH = 6.4 10-9 [1/h]
Mission time (TM) TM = 20 [years] Response performance 8 ms or less (STO input off energy shut off) Pollution degree 2 (IEC/EN 60664-1)
Overvoltage category 1-phase 100 V AC/200 V AC: II (IEC/EN 60664-1), 3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1)
II (IEC/EN 60664-1)
Protective class I (IEC/EN 61800-5-1) III
(IEC/EN 61800-5-1) Short-circuit current rating (SCCR) 100 kA 5 kA
Note 1. For MR-J4-_-RJ, 283 V DC to 340 V DC are also supported. 2. Servo amplifiers manufactured in June 2015 or later comply with SIL 3 requirements. However, MR-J4-_A_/MR-J4-_B_ servo
amplifiers manufactured in China comply with SIL 3 requirements from the December 2015 production.
APPENDIX
App. - 19
App. 4.8.2 Dimensions/mounting hole process drawing
W D
H Front Side
Servo amplifier Variable dimension [mm]
Mass [kg] W H D
MR-J4-03A6 30 100 90 0.2 MR-J4-10_(1)/MR-J4-20_(1) (Note) 40 (50) 168 135 (155) 0.8 (1.0) MR-J4-40_(1)/MR-J4-60_ (Note) 40 (50) 168 170 (155) 1.0 MR-J4-70_/MR-J4-100_ 60 168 185 1.4 MR-J4-200_(4) 90 168 195 2.1 MR-J4-350_ 90 168 195 2.3 MR-J4-500_ 105 250 200 4.0
MR-J4-700_ 172 300 200 6.2 MR-J4-11K_(4)/MR-J4-15K_(4) 220 400 260 13.4 MR-J4-22K_(4) 260 400 260 18.2 MR-J4-60_4/MR-J4-100_4 60 168 195 1.7 MR-J4-350_4 105 250 200 3.6 MR-J4-500_4 130 250 200 4.3 MR-J4-700_4 172 300 200 6.5 MR-J4W2-0303B6 30 168 100 0.3 MR-J4W2-22B/MR-J4W2-44B 60 168 195 1.4 MR-J4W2-77B/MR-J4W2-1010B 85 168 195 2.3 MR-J4W3-222B/MR-J4W3-444B 85 168 195 2.3
Note. The value in the parenthesis shows the value of MR-J4-_GF_.
da e c
b
c d1
a1 e1
f
Servo amplifier Variable dimensions [mm] Screw
size a a1 b c d d1 e e1 f
MR-J4-03A6 90 0.5 5 4 4 M4 MR-J4-10_(1)/MR-J4-20_(1)/ MR-J4-40_(1)/MR-J4-60_
6 6 156 0.5 6 M5
MR-J4-70_/MR-J4-100_ 12 12 156 0.5 6 42 0.3 M5 MR-J4-200_(4)/MR-J4-350_ 6 45 156 0.5 6 78 0.3 M5 MR-J4-500_ 6 6 235 0.5 7.5 93 0.5 93 0.5 M5 MR-J4-700_ 6 6 285 0.5 7.5 160 0.5 160 0.5 M5 MR-J4-11K_(4)/MR-J4-15K_(4) 12 12 380 0.5 10 196 0.5 196 0.5 M5
MR-J4-22K_(4) 12 12 376 0.5 12 236 0.5 236 0.5 M10 MR-J4-60_4/MR-J4-100_4 12 12 156 0.5 6 42 0.3 M5 MR-J4-350_4 6 6 235 0.5 7.5 93 0.5 93 0.5 M5 MR-J4-500_4 6 6 235 0.5 7.5 118 0.5 118 0.5 M5 MR-J4-700_4 6 6 285 0.5 7.5 160 0.5 160 0.5 M5 MR-J4W2-0303B6 6 6 156 0.5 6 M5 MR-J4W2-22B/MR-J4W2-44B 6 6 156 0.5 6 M5 MR-J4W2-77B/MR-J4W2-1010B 6 6 156 0.5 6 73 0.3 M5 MR-J4W3-222B/MR-J4W3-444B 6 6 156 0.5 6 73 0.3 M5
APPENDIX
App. - 20
App. 4.9 Check list for user documentation
MR-J4 installation checklist for manufacturer/installer The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be responsible for checking the standards in the items. Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ] 2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ] 3. Does the protection instrument conform to the category required? Yes [ ], No [ ] 4. Are electric shock protective measures (protective class) effective? Yes [ ], No [ ] 5. Is the STO function checked (test of all the shut-off wiring)? Yes [ ], No [ ]
Checking the items will not be instead of the first test operation or periodic inspection by professional engineers.
APPENDIX
App. - 21
App. 5 MR-J3-D05 Safety logic unit
App. 5.1 Contents of the package
Open packing, and confirm the content of packing.
Contents Quantity MR-J3-D05 Safety logic unit 1 Connector for CN9 1-1871940-4 (TE Connectivity) 1 Connector for CN10 1-1871940-8 (TE Connectivity) 1 MR-J3-D05 Safety Logic Unit Installation Guide 1
App. 5.2 Terms related to safety
App. 5.2.1 Stop function for IEC/EN 61800-5-2
(1) STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.) This function is integrated into the MR-J4 series servo amplifiers. The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts off power supply in servo amplifiers for MR-J4 series servo amplifiers. The purpose of this function is as follows.
1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1
2) Preventing unexpected start-up
(2) SS1 function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.3C Safe stop 1 temporal delay.)
SS1 is a function which initiates the STO function when the previously set delay time has passed after the servo motor starts decelerating. The delay time can be set with MR-J3-D05. The purpose of this function is as follows. This function is available by using an MR-J4 series servo amplifier with MR-J3-D05.
Controlled stop according to stop category 1 of IEC/EN 60204-1
App. 5.2.2 Emergency operation for IEC/EN 60204-1
(1) Emergency stop (Refer to IEC/EN 60204-1: 2005 9.2.5.4.2 Emergency Stop.) Emergency stop must override all other functions and actuation in all operation modes. Power to the machine driving part which may cause a hazardous state must be either removed immediately (stop category 0) or must be controlled to stop such hazardous state as soon as possible (stop category 1). Restart must not be allowed even after the cause of the emergency state has been removed.
(2) Emergency switching off (Refer to IEC/EN 60204-1: 2005 9.2.5.4.3 Emergency Switching OFF.)
Removal of input power to driving device to remove electrical risk and to meet above mentioned safety standards.
APPENDIX
App. - 22
App. 5.3 Cautions
The following basic safety notes must be read carefully and fully in order to prevent injury to persons or damage to property. Only qualified personnel are authorized to install, start-up, repair or service the machines in which these components are installed. They must be familiar with all applicable local regulations and laws in which machines with these components are installed, particularly the standards and guidelines mentioned in this Instruction Manual and the requirements mentioned in ISO/EN ISO 13849-1:2015, IEC 61508, IEC/EN 61800-5-2, and IEC/EN 60204-1. The staff responsible for this work must be given express permission from the company to perform start-up, programming, configuration, and maintenance of the machine in accordance with the safety standards.
WARNING Improper installation of the safety related components or systems may cause improper operation in which safety is not assured, and may result in severe injuries or even death.
Protective Measures
As described in IEC/EN 61800-5-2, the Safe Torque Off (STO) function only prevents the servo amplifier from supplying energy to the servo motor. Therefore, if an external force acts upon the drive axis, additional safety measures, such as brakes or counter-weights must be used.
App. 5.4 Residual risk
Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO/EMG function. Mitsubishi Electric is not liable for any damages or injuries caused by the residual risks. (1) The SS1 function only guarantees the delay time before STO/EMG is engaged. Proper setting of this
delay time is the full responsibility of the company and/or individuals responsible for installation and commissioning of the safety related system. The system, as a whole, must pass safety standards certification.
(2) When the SS1 delay time is shorter than the required servo motor deceleration time, if the forced stop
function is malfunctioning, or if STO/EMG is engaged while the servo motor is still rotating; the servo motor will stop with the dynamic brake or freewheeling.
(3) For proper installation, wiring, and adjustment, thoroughly read the installation guide of each individual
safety related component. (4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
A Certification Body has confirmed that the Mitsubishi Electric safety-related components mentioned in this manual meet ISO/EN ISO 13849-1:2015 Category 3, PL d and IEC 61508 SIL 2.
(5) Safety is not assured until safety-related components of the system are completely installed or adjusted. (6) When replacing a servo amplifier etc. or MR-J3-D05, confirm that the new equipment is exactly the same
as those being replaced. Once installed, be sure to verify the performance of the functions before commissioning the system.
APPENDIX
App. - 23
(7) Perform all risk assessments and safety level certification to the machine or the system as a whole.
It is recommended that a Certification Body final safety certification of the system be used. (8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as
deemed necessary by the applicable safety standard. Regardless of the system safety level, malfunction checks should be performed at least once per year.
(9) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the
servo motor may make a half revolution at a maximum. App. 5.5 Block diagram and timing chart
(1) Function block diagram
SDI1A- SDI2A- SDI1B- SDI2B- STO1A- STO2A- SDO1A- SDO2A-
SRESA+ SRESA- TOF1A TOF2A STO1A+ STO2A+ SDO1A+ SDO2A+TOFA
0V
+24V
DCDC power
Safety logic TIMER1
TIMER2
A-axis circuit
SW1 SW2
B-axis circuit
(2) Operation sequence
A-axis shutdown 1 and 2
B-axis shutdown 1 and 2
Energizing (close)
Shut-off (open)
Release (close)
Normal (open)
Normal (close)
Shut-off (open)
A-axis EMG start/reset
B-axis EMG start/reset
A-axis STO state 1 and 2
B-axis STO state 1 and 2
10 ms or shorter Shut off delay (SW1 and SW2) (Note)
STO statusControl enabledSTO status
50 ms or longer SDI
SRES
STO
15 ms or longer Power supply
Control enabled
Note. Refer to App. 5.10.
App. 5.6 Maintenance and disposal
MR-J3-D05 is equipped with LED displays to check errors for maintenance. Please dispose this unit according to your local laws and regulations. App. 5.7 Functions and configuration
App. 5.7.1 Summary
MR-J3-D05 has two systems in which the each system has SS1 function (delay time) and output of STO function.
APPENDIX
App. - 24
App. 5.7.2 Specifications
Safety logic unit model MR-J3-D05 Voltage 24 V DC Control circuit power supply
Permissible voltage fluctuation 24 V DC 10%
Power supply capacity [A] 0.5 (Note 1, 2)
Compatible system 2 systems (A-axis, B-axis independent) Shut-off input 4 points (2 point 2 systems) SDI_: (source/sink compatible) (Note 3) Shut-off release input 2 points (1 point 2 systems) SRES_: (source/sink compatible) (Note 3) Feedback input 2 points (1 point 2 systems) TOF_: (source compatible) (Note 3) Input type Photocoupler insulation, 24 V DC (external supply), internal limited resistance 5.4 k
Shut-off output
8 points (4 point 2 systems) STO_: (source compatible) (Note 3)
SDO_: (source/sink compatible) (Note 3)
Output type Photocoupler insulation, open-collector type
Permissible current: 40 mA/1 output, Inrush current: 100 mA/1 output
Delay time setting
A-axis: Select from 0 s, 1.4 s, 2.8 s, 5.6 s, 9.8 s, or 30.8 s. B-axis: Select from 0 s, 1.4 s, 2.8 s, 9.8 s, or 30.8 s. Accuracy: 2%
Functional safety STO, SS1 (IEC/EN 61800-5-2)
EMG STOP, EMG OFF IEC/EN 60204-1)
Safety performance
Standards certified by CB
EN ISO 13849-1:2015 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2
Response performance (when delay time is set to 0 s) (Note 4)
10 ms or less (STO input off shut-off output off)
Mean time to dangerous failure (MTTFd)
516 years
Diagnosis converge (DC avg) 93.1%
Average probability of dangerous failures per hour (PFH)
4.75 10-9 [1/h]
Compliance with standards CE marking
LVD: EN 61800-5-1 EMC: EN 61800-3
MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061 Structure Natural-cooling, open (IP rating: IP 00)
Environment
Ambient temperature 0 C to 55 C (non-freezing), storage: -20 C to 65 C (non-freezing)
Ambient humidity 5 %RH to 90 %RH (non-condensing), storage: 5 %RH to 90 %RH (non-condensing) Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude Max. 1000 m above sea level Vibration resistance 5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
Mass [kg] 0.2 (including CN9 and CN10 connectors) Note 1. Inrush current of approximately 1.5 A flows instantaneously when turning the control circuit power supply on. Select an
appropriate capacity of power supply considering the inrush current. 2. Power-on duration of the safety logic unit is 100,000 times. 3. _: in signal name indicates a number or axis name. 4. For the test pulse input, contact your local sales office.
APPENDIX
App. - 25
App. 5.7.3 When using MR-J3-D05 with an MR-J4 series servo amplifier
(1) System configuration diagram The following shows the connection targets of the STO switch and STO release switch.
POINT
MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
MR-J3-D05
FG
STO switch
STO release switch
Magnetic contactor
MCCB
Power supply
Servo motor
MR-J4_A_(-RJ)
STO cable MR-D05UDL3M-B
CN9
CN10
CN8
CN1
L1 L2 L3
U V W
EM2 (Forced stop 2)
APPENDIX
App. - 26
(2) Connection example
STO1
4
5
3
6
7
8
CN1
EM2 (B-axis)
CN8
SDO1A+4A
4B SDO1A-
SDI1A+1A
1B SDI1A-
SDI2A+
SRESA+
SDO2A+
TOFA
3A
3B
1A
1B
6A
6B
8A
SDI2A-
SDO2A-
SRESA-
CN9
CN10
STO1
TOFB2
TOFCOM
STO2
STOCOM
TOFB1
MR-J4_A_(-RJ)
SW1
FG
4
5
3
6
7
8
CN1
EM2 (A-axis)
CN8
TOFB2
TOFCOM
STO2
STOCOM
TOFB1
MR-J4_A_(-RJ)
SDO1B+3A
3B SDO1B-
SDI1B+2A
2B SDI1B-
SDI2B+
SRESB+
SDO2B+
TOFB
4A
4B
2A
2B
5A
5B
8B
+24V7A
0V7B
SDI2B-
SDO2B-
SRESB-
CN9
CN10
SW2
MR-J3-D05 (Note 1) (Note 1)
S1
24 V DC
0 V
STOA
S3
STOB
MC
M
Servo motor
MC
M
Servo motor
Control circuit
Control circuit
CN8A
CN8B
EM2 (A-axis)
EM2 (B-axis)
(Note 2) S2
RESA
(Note 2) S4
RESB
Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located in a recessed area to prevent accidental setting changes.
2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.
APPENDIX
App. - 27
App. 5.8 Signal
App. 5.8.1 Connector/pin assignment
(1) CN8A
Device Symbol Pin No. Function/application I/O
division A-axis STO1 STO1A-
STO1A+ 1 4
Outputs STO1 to A-axis driving device. Outputs the same signal as A-axis STO2. STO state (base shutdown): Between STO1A+ and STO1A- is opened. STO release state (in driving): Between STO1A+ and STO1A- is closed.
O
A-axis STO2 STO2A- STO2A+
5 6
Outputs STO2 to A-axis driving device. Outputs the same signal as A-axis STO1. STO state (base shutdown): Between STO2A+ and STO2A- is opened. STO release state (in driving): Between STO2A+ and STO2A- is closed.
O
A-axis STO state
TOF2A TOF1A
7 8
Inputs STO state of A-axis driving device. STO state (base shutdown): Open between TOF2A and TOF1A. STO release state (in driving): Close between TOF2A and TOF1A.
I
(2) CN8B
Device Symbol Pin No. Function/application I/O
division B-axis STO1 STO1B-
STO1B+ 1 4
Outputs STO1 to B-axis driving device. Outputs the same signal as B-axis STO2. STO state (base shutdown): Between STO1B+ and STO1B- is opened. STO release state (in driving): Between STO1B+ and STO1B- is closed.
O
B-axis STO2 STO2B- STO2B+
5 6
Outputs STO2 to B-axis driving device. Outputs the same signal as B-axis STO1. STO state (base shutdown): Between STO2B+ and STO2B- is opened. STO release state (in driving): Between STO2B+ and STO2B- is closed.
O
B-axis STO state
TOF2B TOF1B
7 8
Inputs STO state of B-axis driving device. STO state (base shutdown): Open between TOF2B and TOF1B. STO release state (in driving): Close between TOF2B and TOF1B.
I
(3) CN9
Device Symbol Pin No. Function/application I/O
division A-axis
shutdown 1 SDI1A+ SDI1A-
1A 1B
Connect this device to a safety switch for A-axis driving device. Input the same signal as A-axis shutdown 2. STO state (base shutdown): Open between SDI1A+ and SDI1A-. STO release state (in driving): Close between SDI1A+ and SDI1A-.
DI-1
B-axis shutdown 1
SDI1B+ SDI1B-
2A 2B
Connect this device to a safety switch for B-axis driving device. Input the same signal as B-axis shutdown 2. STO state (base shutdown): Open between SDI1B+ and SDI1B-. STO release state (in driving): Close between SDI1B+ and SDI1B-.
DI-1
A-axis SDO1 SDO1A+ SDO1A-
4A 4B
Outputs STO1 to A-axis driving device. Outputs the same signal as A-axis SDO2. STO state (base shutdown): Between SDO1A+ and SDO1A- is opened. STO release state (in driving): Between SDO1A+ and SDO1A- is closed.
DO-1
B-axis SDO1 SDO1B+ SDO1B-
3A 3B
Outputs STO1 to B-axis driving device. Outputs the same signal as B-axis SDO2. STO state (base shutdown): Between SDO1B+ and SDO1B- is opened. STO release state (in driving): Between SDO1B+ and SDO1B- is closed.
DO-1
APPENDIX
App. - 28
(4) CN10
Device Symbol Pin No. Function/application I/O
division A-axis
shutdown 2 SDI2A+ SDI2A-
3A 3B
Connect this device to a safety switch for A-axis driving device. Input the same signal as A-axis shutdown 1. STO state (base shutdown): Open between SDI2A+ and SDI2A-. STO release state (in driving): Close between SDI2A+ and SDI2A-.
DI-1
B-axis shutdown 2
SDI2B+ SDI2B-
4A 4B
Connect this device to a safety switch for B-axis driving device. Input the same signal as B-axis shutdown 1. STO state (base shutdown): Open between SDI2B+ and SDI2B-. STO release state (in driving): Close between SDI2B+ and SDI2B-.
DI-1
A-axis EMG start/reset
SRESA+ SRESA-
1A 1B
Signal for releasing STO state (base shutdown) on A-axis driving device. Releases STO state (base shutdown) on A-axis driving device by switching between SRESA+ and SRESA- from on (connected) to off (opened).
DI-1
B-axis EMG start/reset
SRESB+ SRESB-
2A 2B
Signal for releasing STO state (base shutdown) on B-axis driving device. Releases STO state (base shutdown) on B-axis driving device by switching between SRESB+ and SRESB- from on (connected) to off (opened).
DI-1
A-axis SDO2 SDO2A+ SDO2A-
6A 6B
Outputs STO2 to A-axis driving device. Outputs the same signal as A-axis STO1. STO state (base shutdown): Between SDO2A+ and SDO2A- is opened. STO release state (in driving): Between SDO2A+ and SDO2A- is closed.
DO-1
B-axis SDO2 SDO2B+ SDO2B-
5A 5B
Outputs STO2 to B-axis driving device. Outputs the same signal as B-axis SDO1. STO state (base shutdown): Between SDO2B+ and SDO2B- is opened. STO release state (in driving): Between SDO2B+ and SDO2B- is closed.
DO-1
Control circuit power supply
+24V 7A Connect + side of 24 V DC.
Control circuit power GND
0V 7B Connect - side of 24 V DC.
A-axis STO state
TOFA 8A TOFA is internally connected with TOF2A.
B-axis STO state
TOFB 8B TOFB is internally connected with TOF2B.
App. 5.8.2 Interfaces
In this servo amplifier, source type I/O interfaces can be used. (1) Sink I/O interface (CN9, CN10 connector)
(a) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink (open-collector) type transistor output, relay switch, etc.
VCES 1.0 V ICEO 100 A
24 V DC 10% 200 mA
Approx. 5.4 k
Approximately 5 mA
TR Switch
For transistor SRESA-, etc.
MR-J3-D05
SRESA+, etc.
APPENDIX
App. - 29
(b) Digital output interface DO-1
This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal. A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in the MR-J3-D05.
If polarity of diode is reversed, MR-J3-D05 will malfunction.
(Note) 24 V DC 10% 200 mA
MR-J3-D05
SDO2B+, etc.
SDO2B-, etc.
Load
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
(2) Source I/O interfaces (CN9, CN10 connector)
(a) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
VCES 1.0 V ICEO 100 A
Approximately 5 mA 24 V DC 10% 200 mA
Switch
SRESA-, etc.
MR-J3-D05
SRESA+, etc.
Approx. 5.4 k
(b) Digital output interface DO-1
This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, current will be applied from the output to a load. A maximum of 2.6 V voltage drop occurs in the MR-J3-D05.
MR-J3-D05
If polarity of diode is reversed, MR-J3-D05 will malfunction.
(Note) 24 V DC 10% 200 mA
LoadSDO2B+, etc.
SDO2B-, etc.
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
APPENDIX
App. - 30
App. 5.8.3 Wiring CN9 and CN10 connectors
Handle with the tool with care when connecting wires. (1) Wire strip
(a) Use wires with size of AWG 24 to 20 (0.22 mm2 to 0.5 mm2) (recommended electric wire: UL1007) and strip the wires to make the stripped length 7.0 mm 0.3 mm. Confirm the stripped length with gauge, etc. before using the wires.
(b) If the stripped wires are bent, loose or too thick due to twisting too much, fix the wires by twisting
lightly, etc. Then, confirm the stripped length before using the wires. Do not use excessively deformed wires.
(c) Smooth out the wire surface and stripped insulator surface.
(2) Connecting wires
Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires are connected with inserted connector, the connector and the printed board may malfunction.
(a) Using extraction tool (1891348-1 or 2040798-1)
1) Dimensions and mass [Unit: mm]
100
15
7
Mass: Approx. 20 g
APPENDIX
App. - 31
2) Connecting wires
a) Confirm the model number of the housing, contact and tool to be used.
b) Insert the tool diagonally into the receptacle assembly.
c) Insert the tool until it hits the surface of the receptacle assembly. At this stage, the tool is vertical to the receptacle assembly.
d) Insert wires in the wiring hole till the end. The wires should be slightly twisted in advance to prevent it from being loose.
It is easy to insert the wire if the wire is inserted diagonally while twisting the tool.
e) Remove the tool.
APPENDIX
App. - 32
(b) Using a screwdriver
To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force. Be cautious when connecting.
1) Adjusting screw driver
Diameter: 2.3 mm 0.05 mm Length: 120 mm or less Width: 2.3 mm Thickness: 0.25 mm Angle in tip of the blade: 18 1 degrees
2.3 mm 0.05 mm
0.25 mm
2.3 mm
18 1
Diameter: 2.5 mm 0.05 mm Length: 120 mm or less Width: 2.5 mm Thickness: 0.3 mm Angle in tip of the blade: 12 1 degrees
0.3 mm
2.5 mm
12 12.5 mm 0.05 mm
Screwdriver diameter: 2.3 mm Screwdriver diameter: 2.5 mm
2) Connecting wires
a) Insert a screwdriver in the front slot a little diagonally, and depress the spring. While depressing the spring, insert the wires until they hit the end. Note that the housing and spring may be damaged if the screwdriver is inserted strongly. Never insert the screwdriver in the wire hole. Otherwise, the connector will be damaged.
b) Pull the screwdriver out while pressing the wires. Connecting wires is completed.
c) Pull the wire lightly to confirm that the wire is surely connected.
d) To remove the wires, depress the spring by the screwdriver in the same way as connecting
wires, and then pull the wires out.
Tool insertion slot
Screw driver
APPENDIX
App. - 33
(3) Connector insertion
Insert the connector all the way straight until you hear or feel clicking. When removing the connector, depress the lock part completely before pulling out. If the connector is pulled out without depressing the lock part completely, the housing, contact and/or wires may be damaged.
(4) Compatible wire
Compatible wire size is listed below.
Wire size mm2 AWG 0.22 24 0.34 22 0.50 20
(5) Others
(a) Fix a cable tie keeping a distance of "A" 1.5 or longer from the end of the connector. A 1.5 or more
A
(b) Be sure that wires are not pulled excessively when the connector is inserted. App. 5.8.4 Wiring FG
Bottom face
Lead wire
Wire range Single wire: 0.4 mm to 1.2 mm (AWG 26 to AWG 16) Stranded wire: 0.2 mm2 to 1.25 mm2 (AWG 24 to AWG 16),
wire 0.18 mm or more
APPENDIX
App. - 34
App. 5.9 LED display
I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis.
MR-J3-D05
SRES A B
SDI1 SDI2 TOF
SDO1 SDO2 SW
FAULT
POWER
LED Description LED
Column A Column B
SRES Monitor LED for start/reset Off: The start/reset is off. (The switch contact is opened.) On: The start/reset is on. (The switch contact is closed.)
A-axis B-axis
SDI1 Monitor LED for shut-off 1 Off: The shut-off 1 is off. (The switch contact is closed.) On: The shut-off 1 is on. (The switch contact is opened.)
SDI2 Monitor LED for shut-off 2 Off: The shut-off 2 is off. (The switch contact is closed.) On: The shut-off 2 is on. (The switch contact is opened.)
TOF Monitor LED for STO state Off: Not in STO state On: In STO state
SDO1 Monitor LED for SDO1 Off: Not in STO state On: In STO state
SDO2 Monitor LED for SDO2 Off: Not in STO state On: In STO state
SW Monitor LED for confirming shutdown delay setting Off: The settings of SW1 and SW2 do not match. On: The settings of SW1 and SW2 match.
FAULT FAULT LED Off: Normal operation (STO monitoring state) On: Fault has occurred.
POWER Power supply Off: Power is not supplied to MR-J3-D05. On: Power is being supplied to MR-J3-D05.
App. 5.10 Rotary switch setting
Rotary switch is used to shut off the power after control stop by SS1 function. Set the delay time for STO output after the STO shut-off switch is pressed. Set the same setting for SW1 and SW2. The delay time is set according to the rotary switch setting as shown in the following table. Setting cannot be changed while power is on. Notify users that setting cannot be changed by putting a seal or by another method so that end users will not change the setting after the shipment. 0 to F in the following table is the set value of the rotary switches (SW1 and SW2).
Rotary switch setting and delay time at A-axis/B-axis [s] B-axis
0 s 1.4 s 2.8 s 5.6 s 9.8 s 30.8 s 0 s 0 1 2 - 3 4 1.4 s - - 5 - 6 7
A-axis 2.8 s - - 8 - 9 A 5.6 s - - - - B C
9.8 s - - - - D E 30.8 s - - - - - F
APPENDIX
App. - 35
App. 5.11 Troubleshooting
When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate action.
Event Description Cause Action Power is not supplied. Power LED does not turn on
although power is supplied. 1. 24 V DC power supply is
malfunctioning. Replace the 24 V DC power supply.
2. Wires between MR-J3-D05 and 24 V DC power supply are disconnected or are in contact with other wires.
Check the wiring.
3. MR-J3-D05 is malfunctioning. Replace the MR-J3-D05. FAULT LED is on. FAULT LED of A-axis or B-
axis is on, and will not turn off.
1. The delay time settings are not matched.
Check the settings of the rotary switch.
2. Switch input error Check the wiring or sequence of the input signals.
3. TOF signal error Check the connection with the servo amplifier.
4. MR-J3-D05 is malfunctioning. Replace the MR-J3-D05.
APPENDIX
App. - 36
App. 5.12 Dimensions
[Unit: mm]
Rating plate
5 18
2 5
19 2
5
FG
9.755 mounting hole
12 16
8
6 86
80
2-M4 screw
Approx. 22.5
9.75
Ap pr
ox . 1
92 Ap
pr ox
. 5 Ap
pr ox
. 5 18
2
Approx. 80
Mounting hole process drawing
19.5 22.5
CN8A
CN8B
CN9
CN10
7 8 7 8 TOF2A TOF1A TOF2B TOF1B
5 6 5 6 STO2A- STO2A+ STO2B- STO2B+
3 4 3 4 STO1A+ STO1B+
1 2 1 2 STO1A- STO1B-
1A 1B 1A 1B SDI1A+ SDI1A- SRESA+ SRESA-
2A 2B 2A 2B SDI1B+ SDI1B- SRESB+ SRESB-
3A 3B 3A 3B SDO1B+ SDO1B- SDI2A+ SDI2A-
4A 4B 4A 4B SDO1A+ SDO1A- SDI2B+ SDI2B-
5A 5B SDO2B+ SDO2B-
6A 6B SDO2A+ SDO2A-
7A 7B +24V 0V
8A 8B TOFA TOFB
CN8A CN8B Pin assignment
CN9 CN10
Mounting screw
Screw size: M4
Tightening torque: 1.2 Nm
Mass: 0.2 [kg]
APPENDIX
App. - 37
App. 5.13 Installation
Follow the instructions in this section and install MR-J3-D05 in the specified direction. Leave clearances between MR-J3-D05 and other equipment including the cabinet.
Cabinet
10 mm or longer
80 mm or longer for wiring
30 mm or longer
10 mm or longer
Top
Bottom 40 mm or longer
40 mm or longer
40 mm or longer
30 mm or longer
100 mm or longer 10 mm or longer
CabinetCabinet
M R
-J 3-
D 05
M R
-J 3-
D 05
MR-J3-D05
O th
er d
ev ic
e
App. 5.14 Combinations of cable/connector
POINT MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
MR-J3-D05 attachment connector
CN9
CN10
MR-J3-D05
2)
2)
CN8
MR-J4_A_(-RJ)
MR-J4_A_(-RJ)
1)
CN8
APPENDIX
App. - 38
No. Name Model Description 1) Connector MR-J3-D05
attachment connector
Connector for CN9: 1-1871940-4 (TE Connectivity)
Connector for CN10: 1-1871940-8 (TE Connectivity)
2) STO cable MR-D05UDL3M-B Cable length: 3 m
Connector set: 2069250-1 (TE Connectivity)
APPENDIX
App. - 39
App. 6 EC declaration of conformity
The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit comply with the safety component laid down in the Machinery directive.
APPENDIX
App. - 40
This certificate is valid until 2017-02-28. After March 2017, use the certificate shown on the previous page.
APPENDIX
App. - 41
APPENDIX
App. - 42
App. 7 Analog monitor
POINT A voltage of analog monitor output may be irregular at power-on.
The servo status can be output to two channels in terms of voltage. App. 7.1 Setting
Change the following digits of [Pr. PC14] and [Pr. PC15].
Analog monitor 1 output selection (the signal provided to the output across MO1 and LG)
0 0 [Pr. PC14]
Analog monitor 2 output selection (the signal provided to the output across MO2 and LG)
0 0 [Pr. PC15]
[Pr. PC39] and [Pr. PC40] can be used to set the offset voltages to the analog output voltages. The setting range is between -9999 mV and 9999 mV.
Parameter Description Setting range [mV] PC39 This is used to set the offset voltage of MO1 (Analog monitor 1).
-9999 to 9999 PC40 This is used to set the offset voltage of MO2 (Analog monitor 2).
APPENDIX
App. - 43
App. 7.2 Set content
POINT When you use a linear servo motor, replace the following words in the left to the words in the right. (servo motor) speed (linear servo motor) speed CCW direction Positive direction CW direction Negative direction Torque Thrust
The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque to MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. PC14] and [Pr. PC15] value. Refer to App. 7.3 for the detection point. (1) MR-J4-_A_(-RJ) 100 W or more Setting value Output item Description Setting
value Output item Description
00 Servo motor speed/ Linear servo motor speed
Maximum speed
CW direction
CCW direction
Maximum speed
0
8 [V]
-8 [V]
01 Torque/Thrust (Note 8)
Maximum torque
Power running in CW direction
Power running in CCW direction
Maximum torque
0
8 [V]
-8 [V]
02 Servo motor speed/ Linear servo motor speed
Maximum speed
CW direction CCW direction
Maximum speed 0
8 [V]
03 Torque/Thrust (Note 8)
Maximum torque
Power running in CW direction
Power running in CCW direction
Maximum torque 0
8 [V]
04 Current command (Note 8)
Maximum current command (Maximum torque command)
CW direction
CCW direction
Maximum current command (Maximum torque command)
0
8 [V]
-8 [V]
05 Command pulse frequency (10 V/4 Mpulses/s)
4 [Mpulse/s]
CW direction
CCW direction
4 [Mpulse/s]
0
10 [V]
-10 [V]
06 Servo motor-side droop pulses (Note 1, 3, 5, 6) (10 V/100 pulses)
100 [pulse]
CW direction
CCW direction
100 [pulse]
0
10 [V]
-10 [V]
07 Servo motor-side droop pulses (Note 1, 3, 5, 6) (10 V/1000 pulses)
1000 [pulse]
CW direction
CCW direction
1000 [pulse]
0
10 [V]
-10 [V]
APPENDIX
App. - 44
Setting value Output item Description Setting
value Output item Description
08 Servo motor-side droop pulses (Note 1, 3, 5, 6) (10 V/10000 pulses)
10000 [pulse]
CW direction
CCW direction
10000 [pulse]
0
10 [V]
-10 [V]
09 Servo motor-side droop pulses (Note 1, 3, 5, 6) (10 V/100000 pulses)
100000 [pulse]
CW direction
CCW direction
100000 [pulse]
0
10 [V]
-10 [V]
0A Feedback position (Note 1, 2, 3) (10 V/1 Mpulse)
1 M [pulse]
CW direction
CCW direction
1 M [pulse]
0
10 [V]
-10 [V]
0B Feedback position (Note 1, 2, 3) (10 V/10 Mpulse)
10 M [pulse]
CW direction
CCW direction
10 M [pulse]
0
10 [V]
-10 [V]
0C Feedback position (Note 1, 2, 3) (10 V/100 Mpulse)
100 M [pulse]
CW direction
CCW direction
100 M [pulse]
0
10 [V]
-10 [V]
0D Bus voltage (Note 7)
400 [V]0
8 [V]
0E Speed command 2 (Note 3)
Maximum speed
CW direction
CCW direction
Maximum speed
0
8 [V]
-8 [V]
10 Load-side droop pulses (Note 3, 4, 5, 6) (10 V/100 pulses)
100 [pulse]
CW direction
CCW direction
100 [pulse]
0
10 [V]
-10 [V]
11 Load-side droop pulses (Note 3, 4, 5, 6) (10 V/1000 pulses)
1000 [pulse]
CW direction
CCW direction
1000 [pulse]
0
10 [V]
-10 [V]
12 Load-side droop pulses (Note 3, 4, 5, 6) (10 V/10000 pulses)
10000 [pulse]
CW direction
CCW direction
10000 [pulse]
0
10 [V]
-10 [V]
13 Load-side droop pulses (Note 3, 4, 5, 6) (10 V/100000 pulses)
100000 [pulse]
CW direction
CCW direction
100000 [pulse]
0
10 [V]
-10 [V]
14 Load-side droop pulses (Note 3, 4, 5, 6) (10 V/1 Mpulse)
1 [Mpulse]
CW direction
CCW direction
1 [Mpulse]
0
10 [V]
-10 [V]
15 Motor-side/load-side position deviation (Note 3, 4, 5, 6) (10 V/100000 pulses)
100000 [pulse]
CW direction
CCW direction
100000 [pulse]
0
10 [V]
-10 [V]
16 Servo motor-side/load- side speed deviation (Note 4)
Maximum speed
CW direction
CCW direction
Maximum speed
0
8 [V]
-8 [V]
APPENDIX
App. - 45
Setting value Output item Description
17 Internal temperature of encoder (10 V/128 C)
128 [C]
-128 [C]
0
10 [V]
-10 [V]
Note 1. Encoder pulse unit. 2. Available in position control mode 3. This cannot be used in the torque control mode. 4. This can be used with MR Configurator2 with software version 1.19V or later. 5. This cannot be used in the speed control mode. 6. Output in the load-side encoder unit for the fully closed loop control. Output in the servo motor encoder unit for the semi closed
loop control. 7. For 400 V class servo amplifier, the bus voltage becomes +8 V/800 V. 8. For details on the maximum current command (maximum torque) for 8 V, refer to app. 7.4 for details.
(2) MR-J4-03A6(-RJ) Setting value Output item Description Setting
value Output item Description
00 Servo motor speed (5 V 3 V/max. speed)
CW direction
CCW direction
5 [V]
8 [V]
2 [V]
0Maximum speed Maximum speed
01 Torque (Note 5) (5 V 3 V/max. torque)
Maximum torqueMaximum torque
5 [V]
8 [V]
2 [V]
0
Power running in CW direction
Power running in CCW direction
02 Servo motor speed (5 V + 3 V/max. speed)
5 [V]
8 [V]
0 Maximum speed
CW direction CCW direction
Maximum speed
03 Torque (Note 5) (5 V + 3 V/max. torque)
5 [V]
8 [V]
0 Maximum torque
CW direction CCW direction
Maximum torque
04 Current command (Note 5) (5 V 3 V/max. current command) 5 [V]
8 [V]
2 [V]
0 Maximum current command (Maximum torque command)
CW direction
CCW direction
Maximum current command (Maximum torque command)
05 Command pulse frequency (5 V 4 V/4 Mpulses/s)
4 [Mpulse/s]4 [Mpulse/s]
5 [V]
9 [V]
1 [V]
0
CW direction
CCW direction
06 Servo motor-side droop pulses (Note 1, 2, 3) (5 V 4 V/100 pulses)
100 [pulse]100 [pulse]
5 [V]
9 [V]
1 [V]
0
CW direction
CCW direction
07 Servo motor-side droop pulses (Note 1, 2, 3) (5 V 4 V/1000 pulses)
1000 [pulse]1000 [pulse]
5 [V]
9 [V]
1 [V]
0
CW direction
CCW direction
APPENDIX
App. - 46
Setting value Output item Description Setting
value Output item Description
08 Servo motor-side droop pulses (Note 1, 2, 3) (5 V 4 V/10000 pulses)
10000 [pulse]10000 [pulse]
5 [V]
9 [V]
1 [V]
0
CW direction
CCW direction
09 Servo motor-side droop pulses (Note 1, 2, 3) (5 V 4 V/100000 pulses)
100000 [pulse]100000 [pulse]
5 [V]
9 [V]
1 [V]
0
CW direction
CCW direction
0A Feedback position (Note 1, 2, 4) (5 V 4 V/1 Mpulse)
1 [Mpulse]1 [Mpulse]
5 [V]
9 [V]
1 [V]
0
CW direction
CCW direction
0B Feedback position (Note 1, 2, 4) (5 V 4 V/10 Mpulses)
10 [Mpulse]10 [Mpulse]
5 [V]
9 [V]
1 [V]
0
CW direction
CCW direction
0C Feedback position (Note 1, 2, 4) (5 V 4 V/100 Mpulses)
100 [Mpulse]100 [Mpulse]
5 [V]
9 [V]
1 [V]
0
CW direction
CCW direction
0D Bus voltage (5 V + 4 V/100 V)
100 [V]
5 [V]
9 [V]
0
0E Speed command 2 (Note 2) (5 V 3 V/max. speed)
5 [V]
8 [V]
2 [V]
0 Maximum speed
CW direction
CCW direction
Maximum speed
17 Internal temperature of encoder (5 V 4 V/128 C)
128 [C]-128 [C]
5 [V]
9 [V]
1 [V]
0
Note 1. Encoder pulse unit. 2. This cannot be used in the torque control mode. 3. This cannot be used in the speed control mode. 4. Available in position control mode 5. For details on the maximum current command (maximum torque) for 5 V, refer to app. 7.4 for details.
APPENDIX
App. - 47
App. 7.3 Analog monitor block diagram
App. 7.3.1 MR-J4-_A_(-RJ) 100 W or more
(1) Semi closed loop control
+Command pulse
Feedback position
+ --
-
+ -
Home position (CR input position)
Droop pulsesSpeed command
Position control
Speed control PWMCurrent
control
Current command Bus voltage
Speed command
Current encoder
Servo motor
Encoder Current feedback
Position feedback
M
Differen- tiation
+ Servo motor speed Torque
+Speed command 2
Internal temperature of encoder
(2) Fully closed loop control
FBN FBD
PWM +
Current feedback
Position feedback
M
Dual filter
Servo motor-side droop pulses
Load-side droop pulses
Servo motor-side/ load-side position deviation
+ -
Load-side encoder
Fully closed loop
+ -
+ -
Servo motor-side/ load-side speed deviation
+ -
+ +
Semi closed loop
+ -
Servo motor-side feedback pulses (load-side resolution unit)
Load-side feedback pulses
+
+ --
+ -
Droop pulsesCommand pulse frequency
Current command Bus voltage
Servo motor
Speed command 2
Command pulse
Position control
Speed control
Current control
Speed command
Encoder
Differen- tiation
Differen- tiation
Differen- tiation
Servo motor speed Torque
Current encoder
Internal temperature of encoder
APPENDIX
App. - 48
App. 7.3.2 MR-J4-03A6(-RJ)
Droop pulses
Position control
Speed control PWMCurrent
control
Current command Bus voltage
Speed command
Current detector+ Servo motor
Encoder Current feedback
Position feedback
MCommand pulse
Differen- tiation
Feedback position
Servo motor speed Torque
+
+ --
+ -
+ -
Speed command 2
Home position (CR input position)
Command pulse frequency
Internal temperature of encoder
App. 7.4 Values of the maximum current command (maximum torque) when the analog monitor is at the maximum/minimum voltage
Values of the maximum current command (maximum torque) when the analog monitor is at the maximum/minimum voltage are listed. The current command (torque) outputs the maximum current command (maximum torque) at 8 V (5 V 3 V for MR-J4-03A6). The maximum current command (maximum torque) may not match the rated current/maximum current ratio since it is created from the torque current in the servo amplifier. App. 7.4.1 Rotary servo motor
(1) 200 V/100 V class
Servo motor Servo amplifier/drive unit Maximum current command
(maximum torque) [%]
HG-KR series
HG-KR053 MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 370 HG-KR13 MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 373 HG-KR23 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 387 HG-KR43 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 383 HG-KR73 MR-J4-70_(-RJ) 367
HG-MR series
HG-MR053 MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 342 HG-MR13 MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 336 HG-MR23 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 396 HG-MR43 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 361 HG-MR73 MR-J4-70_(-RJ) 345
HG-SR 1000 r/min series
HG-SR51 MR-J4-60_(-RJ) 311 HG-SR81 MR-J4-100_(-RJ) 329 HG-SR121 MR-J4-200_(-RJ) 353 HG-SR201 MR-J4-200_(-RJ) 334 HG-SR301 MR-J4-350_(-RJ) 366 HG-SR421 MR-J4-500_(-RJ) 347
APPENDIX
App. - 49
Servo motor Servo amplifier/drive unit Maximum current command
(maximum torque) [%]
HG-SR 2000 r/min series
HG-SR52 MR-J4-60_(-RJ) 302 HG-SR102 MR-J4-100_(-RJ) 310 HG-SR152 MR-J4-200_(-RJ) 320 HG-SR202 MR-J4-200_(-RJ) 327 HG-SR352 MR-J4-350_(-RJ) 332 HG-SR502 MR-J4-500_(-RJ) 341
HG-SR702 MR-J4-700_(-RJ) 336 MR-J4-DU900_(-RJ) 446
HG-UR series
HG-UR72 MR-J4-70_(-RJ) 355 HG-UR152 MR-J4-200_(-RJ) 340 HG-UR202 MR-J4-350_(-RJ) 350 HG-UR352 MR-J4-500_(-RJ) 320 HG-UR502 MR-J4-500_(-RJ) 330
HG-RR series
HG-RR103 MR-J4-200_(-RJ) 300 HG-RR153 MR-J4-200_(-RJ) 250 HG-RR203 MR-J4-350_(-RJ) 290 HG-RR353 MR-J4-500_(-RJ) 270 HG-RR503 MR-J4-500_(-RJ) 270
HG-JR 1000 r/min series
HG-JR601 MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 337 HG-JR801 MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ) 366 HG-JR12K1 MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 346 HG-JR15K1 MR-J4-15K_(-RJ)/MR-J4-DU15K_(-RJ) 339 HG-JR20K1 MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) 337 HG-JR25K1 MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) 330 HG-JR30K1 MR-J4-DU30K_(-RJ) 330 HG-JR37K1 MR-J4-DU37K_(-RJ) 330
HG-JR 1500 r/min series
HG-JR701M MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 326 HG-JR11K1M MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 335 HG-JR15K1M MR-J4-15K_(-RJ)/MR-J4-DU15K_(-RJ) 334 HG-JR22K1M MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) 317 HG-JR30K1M MR-J4-DU30K_(-RJ) 342 HG-JR37K1M MR-J4-DU37K_(-RJ) 365
HG-JR 3000 r/min series
HG-JR53 MR-J4-60_(-RJ) 341 MR-J4-100_(-RJ) 460
HG-JR73 MR-J4-70_(-RJ) 331 MR-J4-200_(-RJ) 460
HG-JR103 MR-J4-100_(-RJ) 341 MR-J4-200_(-RJ) 460
HG-JR153 MR-J4-200_(-RJ) 320 MR-J4-350_(-RJ) 460
HG-JR203 MR-J4-200_(-RJ) 320 MR-J4-350_(-RJ) 460
HG-JR353 MR-J4-350_(-RJ) 307 MR-J4-500_(-RJ) 464
HG-JR503 MR-J4-500_(-RJ) 342 MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 430
HG-JR703 MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 341 HG-JR903 MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ) 352
APPENDIX
App. - 50
(2) 400 V class
Servo motor Servo amplifier/drive unit Maximum current command
(maximum torque) [%]
HG-SR 2000 r/min series
HG-SR524 MR-J4-60_4(-RJ) 313 HG-SR1024 MR-J4-100_4(-RJ) 322 HG-SR1524 MR-J4-200_4(-RJ) 330 HG-SR2024 MR-J4-200_4(-RJ) 327 HG-SR3524 MR-J4-350_4(-RJ) 336 HG-SR5024 MR-J4-500_4(-RJ) 336
HG-SR7024 MR-J4-700_4(-RJ) 346 MR-J4-DU900_4(-RJ) 443
HG-JR 1000 r/min series
HG-JR6014 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 337 HG-JR8014 MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) 336 HG-JR12K14 MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) 346 HG-JR15K14 MR-J4-15K_4(-RJ)/MR-J4-DU15K_4(-RJ) 335 HG-JR20K14 MR-J4-22K_4(-RJ)/MR-J4-DU22K_4(-RJ) 341 HG-JR25K14 MR-J4-22K_4(-RJ)/MR-J4-DU22K_4(-RJ) 337 HG-JR30K14 MR-J4-DU30K_4(-RJ) 330 HG-JR37K14 MR-J4-DU37K_4(-RJ) 330
HG-JR 1500 r/min series
HG-JR701M4 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 329 HG-JR11K1M4 MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) 338 HG-JR15K1M4 MR-J4-15K_4(-RJ)/MR-J4-DU15K_4(-RJ) 338 HG-JR22K1M4 MR-J4-22K_4(-RJ)/MR-J4-DU22K_4(-RJ) 342 HG-JR30K1M4 MR-J4-DU30K_4(-RJ) 335 HG-JR37K1M4 MR-J4-DU37K_4(-RJ) 323 HG-JR45K1M4 MR-J4-DU45K_4(-RJ) 344 HG-JR55K1M4 MR-J4-DU55K_4(-RJ) 321
HG-JR 3000 r/min series
HG-JR534 MR-J4-60_4(-RJ) 320 MR-J4-100_4(-RJ) 460
HG-JR734 MR-J4-100_4(-RJ) 320 MR-J4-200_4(-RJ) 459
HG-JR1034 MR-J4-100_4(-RJ) 320 MR-J4-200_4(-RJ) 459
HG-JR1534 MR-J4-200_4(-RJ) 320 MR-J4-350_4(-RJ) 459
HG-JR2034 MR-J4-200_4(-RJ) 320 MR-J4-350_4(-RJ) 459
HG-JR3534 MR-J4-350_4(-RJ) 320 MR-J4-500_4(-RJ) 470
HG-JR5034 MR-J4-500_4(-RJ) 320 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 413
HG-JR7034 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 337 HG-JR9034 MR-J4-11K_4(-RJ)/MR-J4-DU900_4(-RJ) 336
(3) 24 V/48 V class
Servo motor Servo amplifier/drive unit Maximum current command
(maximum torque) [%]
HG-AK series HG-AK0136 MR-J4-03A6/MR-J4W2-0303B6 380 HG-AK0236 MR-J4-03A6/MR-J4W2-0303B6 380 HG-AK0336 MR-J4-03A6/MR-J4W2-0303B6 363
APPENDIX
App. - 51
App. 7.4.2 Servo motor with functional safety
(1) 200 V/100 V class
Servo motor Servo amplifier/drive unit Maximum current command
(maximum torque) [%]
HG-KR series
HG-KR053W0C MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 370 HG-KR13W0C MR-J4-10_(-RJ)/MR-J4-10_1(-RJ) 373 HG-KR23W0C MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 387 HG-KR43W0C MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 383 HG-KR73W0C MR-J4-70_(-RJ) 367
HG-SR 1000 r/min series
HG-SR51W0C MR-J4-60_(-RJ) 311 HG-SR81W0C MR-J4-100_(-RJ) 329 HG-SR121W0C MR-J4-200_(-RJ) 353 HG-SR201W0C MR-J4-200_(-RJ) 334 HG-SR301W0C MR-J4-350_(-RJ) 366 HG-SR421W0C MR-J4-500_(-RJ) 347
HG-SR 2000 r/min series
HG-SR52W0C MR-J4-60_(-RJ) 302 HG-SR102W0C MR-J4-100_(-RJ) 310 HG-SR152W0C MR-J4-200_(-RJ) 320 HG-SR202W0C MR-J4-200_(-RJ) 327 HG-SR352W0C MR-J4-350_(-RJ) 332 HG-SR502W0C MR-J4-500_(-RJ) 341
HG-SR702W0C MR-J4-700_(-RJ) 336 MR-J4-DU900_(-RJ) 446
HG-JR 1500 r/min series
HG-JR701MW0C MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 326 HG-JR11K1MW0C MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 335 HG-JR15K1MW0C MR-J4-15K_(-RJ)/MR-J4-DU15K_(-RJ) 334 HG-JR22K1MW0C MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) 317
HG-JR 3000 r/min series
HG-JR53W0C MR-J4-60_(-RJ) 341 MR-J4-100_(-RJ) 460
HG-JR73W0C MR-J4-70_(-RJ) 331 MR-J4-200_(-RJ) 460
HG-JR103W0C MR-J4-100_(-RJ) 341 MR-J4-200_(-RJ) 460
HG-JR153W0C MR-J4-200_(-RJ) 320 MR-J4-350_(-RJ) 460
HG-JR203W0C MR-J4-200_(-RJ) 320 MR-J4-350_(-RJ) 460
HG-JR353W0C MR-J4-350_(-RJ) 307 MR-J4-500_(-RJ) 464
HG-JR503W0C MR-J4-500_(-RJ) 342 MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 430
HG-JR703W0C MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 341 HG-JR903W0C MR-J4-11K_(-RJ)/MR-J4-DU900_(-RJ) 352
APPENDIX
App. - 52
(2) 400 V class
Servo motor Servo amplifier/drive unit Maximum current command
(maximum torque) [%]
HG-SR 2000 r/min series
HG-SR524W0C MR-J4-60_4(-RJ) 313 HG-SR1024W0C MR-J4-100_4(-RJ) 322 HG-SR1524W0C MR-J4-200_4(-RJ) 330 HG-SR2024W0C MR-J4-200_4(-RJ) 327 HG-SR3524W0C MR-J4-350_4(-RJ) 336 HG-SR5024W0C MR-J4-500_4(-RJ) 336
HG-SR7024W0C MR-J4-700_4(-RJ) 346 MR-J4-DU900_4(-RJ) 443
HG-JR 1500 r/min series
HG-JR701M4W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 329 HG-JR11K1M4W0C MR-J4-11K_4(-RJ)/MR-J4-DU11K_4(-RJ) 338 HG-JR15K1M4W0C MR-J4-15K_4(-RJ)/MR-J4-DU15K_4(-RJ) 338 HG-JR22K1M4W0C MR-J4-22K_4(-RJ)/MR-J4-DU22K_4(-RJ) 342
HG-JR 3000 r/min series
HG-JR534W0C MR-J4-60_4(-RJ) 320 MR-J4-100_4(-RJ) 460
HG-JR734W0C MR-J4-100_4(-RJ) 320 MR-J4-200_4(-RJ) 459
HG-JR1034W0C MR-J4-100_4(-RJ) 320 MR-J4-200_4(-RJ) 459
HG-JR1534W0C MR-J4-200_4(-RJ) 320 MR-J4-350_4(-RJ) 459
HG-JR2034W0C MR-J4-200_4(-RJ) 320 MR-J4-350_4(-RJ) 459
HG-JR3534W0C MR-J4-350_4(-RJ) 320 MR-J4-500_4(-RJ) 470
HG-JR5034W0C MR-J4-500_4(-RJ) 320 MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 413
HG-JR7034W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 337 HG-JR9034W0C MR-J4-700_4(-RJ)/MR-J4-DU900_4(-RJ) 336
APPENDIX
App. - 53
App. 7.4.3 Linear servo motor (primary side)
(1) 200 V/100 V class
Linear servo motor (primary side) Servo amplifier/drive unit Maximum current command
(maximum torque) [%]
LM-H3 series
LM-H3P2A-07P-BSS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 390 LM-H3P3A-12P-CSS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 340 LM-H3P3B-24P-CSS0 MR-J4-70_(-RJ) 320 LM-H3P3C-36P-CSS0 MR-J4-70_(-RJ) 350 LM-H3P3D-48P-CSS0 MR-J4-200_(-RJ) 335 LM-H3P7A-24P-ASS0 MR-J4-70_(-RJ) 315 LM-H3P7B-48P-ASS0 MR-J4-200_(-RJ) 297 LM-H3P7C-72P-ASS0 MR-J4-200_(-RJ) 320 LM-H3P7D-96P-ASS0 MR-J4-350_(-RJ) 320
LM-F series
LM-FP2B-06M-1SS0 (Natural cooling) MR-J4-200_(-RJ) 756 (Liquid cooling) MR-J4-200_(-RJ) 355
LM-FP2D-12M-1SS0 (Natural cooling) MR-J4-500_(-RJ) 815 (Liquid cooling) MR-J4-500_(-RJ) 409
LM-FP2F-18M-1SS0 (Natural cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 800 (Liquid cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 409
LM-FP4B-12M-1SS0 (Natural cooling) MR-J4-500_(-RJ) 742 (Liquid cooling) MR-J4-500_(-RJ) 383
LM-FP4D-24M-1SS0 (Natural cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 778 (Liquid cooling) MR-J4-700_(-RJ)/MR-J4-DU900_(-RJ) 384
LM-FP4F-36M-1SS0 (Natural cooling) MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 709 (Liquid cooling) MR-J4-11K_(-RJ)/MR-J4-DU11K_(-RJ) 356
LM-FP4H-48M-1SS0 (Natural cooling) MR-J4-15K_(-RJ)/MR-J4-DU15K_(-RJ) 763 (Liquid cooling) MR-J4-15K_(-RJ)/MR-J4-DU15K_(-RJ) 389
LM-K2 series
LM-K2P1A-01M-2SS1 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 400 LM-K2P1C-03M-2SS1 MR-J4-200_(-RJ) 375 LM-K2P2A-02M-1SS1 MR-J4-70_(-RJ) 366 LM-K2P2C-07M-1SS1 MR-J4-350_(-RJ) 380 LM-K2P2E-12M-1SS1 MR-J4-500_(-RJ) 405 LM-K2P3C-14M-1SS1 MR-J4-350_(-RJ) 354 LM-K2P3E-24M-1SS1 MR-J4-500_(-RJ) 359
LM-U2 series
LM-U2PAB-05M-0SS0 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 315 LM-U2PAD-10M-0SS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 318 LM-U2PAF-15M-0SS0 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 334 LM-U2PBB-07M-1SS0 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 325 LM-U2PBD-15M-1SS0 MR-J4-60_(-RJ) 320 LM-U2PBF-22M-1SS0 MR-J4-70_(-RJ) 322 LM-U2P2B-40M-2SS0 MR-J4-200_(-RJ) 424 LM-U2P2C-60M-2SS0 MR-J4-350_(-RJ) 434 LM-U2P2D-80M-2SS0 MR-J4-500_(-RJ) 432
(2) 400 V class
Linear servo motor (primary side) Servo amplifier/drive unit Maximum current command
(maximum torque) [%]
LM-F series LM-FP5H-60M-1SS0 (Natural cooling) MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) 738 (Liquid cooling) MR-J4-22K_(-RJ)/MR-J4-DU22K_(-RJ) 364
APPENDIX
App. - 54
App. 7.4.4 Direct drive motor
(1) 200 V/100 V class
Direct drive motor Servo amplifier/drive unit Maximum current command
(maximum torque) [%]
TM-RFM series
TM-RFM002C20 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 320 TM-RFM004C20 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 321 TM-RFM006C20 MR-J4-60_(-RJ) 320 TM-RFM006E20 MR-J4-60_(-RJ) 333 TM-RFM012E20 MR-J4-70_(-RJ) 321 TM-RFM018E20 MR-J4-100_(-RJ) 321 TM-RFM012G20 MR-J4-70_(-RJ) 300 TM-RFM048G20 MR-J4-350_(-RJ) 321 TM-RFM072G20 MR-J4-350_(-RJ) 321 TM-RFM040J10 MR-J4-70_(-RJ) 323 TM-RFM120J10 MR-J4-350_(-RJ) 321 TM-RFM240J10 MR-J4-500_(-RJ) 321
TM-RG2M series
TM-RG2M002C30 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 433
TM-RG2M004E30 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)/
MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 324
TM-RG2M009G30 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 324
TM-RU2M series
TM-RU2M002C30 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ) 433
TM-RU2M004E30 MR-J4-20_(-RJ)/MR-J4-20_1(-RJ)/
MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 324
TM-RU2M009G30 MR-J4-40_(-RJ)/MR-J4-40_1(-RJ) 324
APPENDIX
App. - 55
App. 8 Two-wire type encoder cable for HG-MR/HG-KR
Use a two-wire type encoder cable for the fully closed loop control by the MR-J4-_A_ servo amplifiers. For MR-EKCBL_M-_ encoder cables for HG-MR and HG-KR, up to 20 m cables are two-wire type. If a two- wire type encoder cable with a length of 20 m or more is required, fabricate it using the MR-ECNM connector set as shown in the internal wiring diagram of this section. In this case, the cable should not be longer than 50 m. App. 8.1 Configuration diagram
Servo amplifier
CN2
Fabricate a two-wire type encoder cable.
CN2 MOTOR
SCALE
Servo motor HG-KR HG-MR
Servo motor HG-KR HG-MR
For driving
For load-side encoder
App. 8.2 Connector set
Connector set 1) Servo amplifier-side connector 2) Servo motor-side connector MR-ECNM Receptacle: 36210-0100PL
Shell kit: 36310-3200-008 (3M)
Connector set: 54599-1019 (Molex)
Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial)
MR 1 2 3
MRR BAT 4 5 6
P5 7 8 9
LG SHD
View seen from wiring side.
CONT
MRR LG
P5 MR
BAT
4 2
8 6
1 5
10
3 7 9
View seen from wiring side. (Note)
or P5 MR BAT
MRRLG
1 3 7 9
42 86 10
5
View seen from wiring side. (Note)
Note. Do not connect anything to the pins shown as. Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally.
APPENDIX
App. - 56
App. 8.3 Internal wiring diagram
(Note)
P5 LG
1 2
MR MRR
3 4
3
7
9 SD Plate
1 2
8
9
LG
MR MRR
SHD
P5
BATBAT
Servo amplifier-side connector
Servo motor-side connector
Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system.
App. 9 How to replace servo amplifier without magnetic pole detection
CAUTION Be sure to write the magnetic pole information of the servo amplifier before the replacement to the servo amplifier after the replacement. If the information before and after replacement are different, the servo motor may operate unexpectedly.
When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole detection cannot be performed unavoidably, write the magnetic pole information from the servo amplifier before the replacement to the one after the replacement using MR Configurator2. (1) Procedures
(a) Read the magnetic pole information of the servo amplifier before the replacement.
(b) Write the read magnetic pole information to the servo amplifier after the replacement.
(c) Perform the test operation with the torque limit for ensuring the safety, and confirm that there is no trouble.
(2) Migration method of the magnetic pole information
(a) How to read the magnetic pole information from the servo amplifier before the replacement 1) Open the project in MR Configurator2, select "MR-J4-A" for model, and select "Linear" for
operation mode.
2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis" and then "Linear diagnosis".
APPENDIX
App. - 57
3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window.
4) Click "Read All" of the magnetic pole information window. ( 2) in figure)
5) Confirm the data 1 and data 2 ( 3) in figure) of the magnetic pole information window and take
notes.
(b) How to write the magnetic pole information to the servo amplifier after the replacement 1) Open the project in MR Configurator2, select "MR-J4-A" for model, and select "Linear" for
operation mode.
2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis" and then "Linear diagnosis".
3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window.
4) Input the value of the magnetic pole information taken notes to the data 1 and data 2 ( 3) in
figure) of the magnetic pole information window.
5) Click "Write All" ( 4) in figure) of the magnetic pole information window.
6) Cycle the power of the servo amplifier.
2) 3) 4) 1)
APPENDIX
App. - 58
App. 10 Special specification
App. 10.1 Amplifiers without dynamic brake
App. 10.1.1 Summary
This section explains servo amplifiers without a dynamic brake. The things not explained in this section will be the same as MR-J4-_A_(-RJ). App. 10.1.2 Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Series
Rated output Symbol Rated output [kW]
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
Power supply Symbol Power supply None 3-phase 200 V AC to 240 V AC
4 3-phase 380 V AC to 480 V AC
Special specifications Symbol Special specifications
RU MR-J4-_A_-RJ without a dynamic brake ED MR-J4_-A_ without a dynamic brake
1 1-phase 100 V AC to 120 V AC
M R J DA E4 46- - -0
App. 10.1.3 Specifications
Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. Take safety measures such as making another circuit for an emergency stop, alarm occurrence, and power shut-off. The following servo motors may function an electronic dynamic brake at an alarm occurrence.
Series Servo motor HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43 HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43 HG-SR HG-SR51/HG-SR52
Setting the following parameter disables the electronic dynamic brake.
Servo amplifier Parameter Setting value MR-J4-_A_-ED MR-J4-_A_-RU [Pr. PF09] _ _ _ 2
When [Pr. PA04] is "2 _ _ _" (default), the motor can be a state of forced stop deceleration at an alarm occurrence. Setting "0 _ _ _" in [Pr. PA04] disables the forced stop deceleration function.
APPENDIX
App. - 59
App. 10.2 Without regenerative resistor
App. 10.2.1 Summary
This section explains servo amplifiers without a regenerative resistor. The things not explained in this section will be the same as MR-J4-_A_(-RJ). App. 10.2.2 Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Series
Rated output Symbol Rated output [kW]
11K 11 15K 15 22K 22
Power supply Symbol Power supply None 3-phase 200 V AC to 240 V AC
4 3-phase 380 V AC to 480 V AC
Special specifications Symbol Special specifications
MR-J4-_A_-RJ without regenerative resistor RZ PX MR-J4-_A_-RJ without regenerative resistor
M R - - 1 1 K A 4 X- PJ 4
App. 10.2.3 Specifications
Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory. When using any of these servo amplifiers, always use the MR-RB5R, MR-RB9F, MR-RB9T, MR- RB5K-4, or MR-RB6K-4 regenerative option.
APPENDIX
App. - 60
App. 10.3 Special coating-specification product (IEC 60721-3-3 Class 3C2)
App. 10.3.1 Summary
This section explains servo amplifiers with a special coating specification. Items not given in this section will be the same as MR-J4-_A_(-RJ). App. 10.3.2 Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
M R - - 6 0 A 4 B- EJ 4
Series
Rated output Symbol Rated output [kW]
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
Power supply Symbol Power supply None 3-phase 200 V AC to 240 V AC
4 3-phase 380 V AC to 480 V AC
Special specifications Symbol Special specifications
KS MR-J4-_A_-RJ with a special coating specification (3C2) EB MR-J4-_A_ with a special coating specification (3C2)
1 1-phase 100 V AC to 120 V AC
6 48 V DC/24 V DC
11K 11 15K 15 22K 22
03 0.03
APPENDIX
App. - 61
App. 10.3.3 Specifications
(a) Special coating Using the MR-J4 series in an atmosphere containing a corrosive gas may cause its corrosion with time, resulting in a malfunction. For the printed circuit board of the servo amplifiers with a special coating specification, a urethane coating agent is applied to some parts capable of being coated technically (except LEDs, connectors, terminal blocks, etc.) to improve the resistance to corrosive gases. Use a servo amplifier with a special coating specification specifically for applications susceptible to corrosive gases, including tire manufacturing and water treatment. Although the special coating-specification products have the improved resistance to corrosive gases, proper operations in environments mentioned above are not guaranteed. Therefore, perform periodic inspections for any abnormality.
(b) Standard for corrosive gases
In IEC 60721-3-3, corrosive gases refer to sea salt, sulfur dioxide, hydrogen sulfide, chlorine, hydrogen chloride, hydrogen fluoride, ammonia, ozone, and nitrogen oxides shown in the environmental parameter column of the table below. The table also shows the corrosive gas concentrations defined in IEC 60721-3-3, Class 3C2.
Environmental parameter Unit
3C2 Mean value Maximum value
a) Sea salt None Salt mist b) Sulfur dioxide cm3/m3 0.11 0.37 c) Hydrogen sulfide cm3/m3 0.071 0.36 d) Chlorine cm3/m3 0.034 0.1 e) Hydrogen chloride cm3/m3 0.066 0.33 f) Hydrogen fluoride cm3/m3 0.012 0.036 g) Ammonia cm3/m3 1.4 4.2 h) Ozone cm3/m3 0.025 0.05 i) Nitrogen oxides cm3/m3 0.26 0.52
The special coating-specification products have the improved corrosion resistance in environments with corrosive gas concentrations conforming to IEC 60721-3-3, Class 3C2. We tested typical models and confirmed that their corrosive gas resistance was improved, compared with the standard models.
APPENDIX
App. - 62
App. 11 Driving on/off of main circuit power supply with DC power supply
App. 11.1 Connection example
The power circuit is common to all capacity type of servo amplifiers. For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3.
MC (Note 3)
ALM
DOCOM
CN1
(Note 2)
24 V DC (Note 6)
24 V DC (Note 6)
24 V DC (Note 7, 8)
MalfunctionRA1
L1
L2
L3
Power supply (Note 1)
Servo amplifier
Malfunction RA1 OFF
MC
ON MC
Emergency stop switch
CN1 Forced stop 2
Servo-on (Note 2)
EM2
SON DICOM
CN8 (Note 5) Short-circuit connector (Packed with the servo amplifier)
(Note 4) Main circuit power supply
MCCB
SK
Note 1. For the power supply specifications, refer to section 1.3. 2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 3. Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less (160 ms or less for 5 kW or more). Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
4. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
5. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 6. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 7. Driving the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements. 8. Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply. Always use the power supply
designed exclusively for the magnetic contactor.
APPENDIX
App. - 63
App. 11.2 Magnetic contactor
Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less (160 ms or less for 5 kW or more).
Servo amplifier Magnetic contactor Servo amplifier Magnetic
contactor MR-J4-10A(-RJ) MR-J4-60A4(-RJ) MR-J4-20A(-RJ) MR-J4-100A4(-RJ) SD-N11 MR-J4-40A(-RJ)
SD-N11 MR-J4-200A4(-RJ)
MR-J4-60A(-RJ) MR-J4-350A4(-RJ) MR-J4-70A(-RJ) MR-J4-500A4(-RJ) SD-N21
MR-J4-100A(-RJ) MR-J4-700A4(-RJ) MR-J4-200A(-RJ)
SD-N21 MR-J4-11KA4(-RJ) SD-N25
MR-J4-350A(-RJ) MR-J4-15KA4(-RJ) SD-N35 MR-J4-500A(-RJ) SD-N35 MR-J4-22KA4(-RJ) SD-N50 MR-J4-700A(-RJ)
SD-N50 MR-J4-10A1(-RJ)
MR-J4-11KA(-RJ) MR-J4-20A1(-RJ) SD-N11 MR-J4-15KA(-RJ) SD-N65 MR-J4-40A1(-RJ) MR-J4-22KA(-RJ) SD-N95
App. 12 STO function with SIL 3 certification
The MR-J4 series general-purpose AC servo amplifiers now comply with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety standard. App. 12.1 Target models
MR-J4 series AC servo amplifiers (excluding MR-J4-03A6(-RJ) and MR-J4W2-0303B6) App. 12.2 Change of the compliance
The target MR-J4 servo amplifiers now comply with SIL 3 (Table app. 3).
Table app. 3 Compliance with SIL 3 Before change After change
Safety performance (Standards certified by CB)
EN ISO 13849-1:2015 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 STO function
EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2 STO function
App. 12.3 Schedule
For the products manufactured in Japan, this change has been made sequentially from the June 2015 production. For the products manufactured and sold in China, this change has been made sequentially from the December 2015 production. There may be cases where both the former and new products exist in the distribution stage. App. 12.4 Use with SIL 3
Set the safety level with [Pr. PF18 STO diagnosis error detection time]. To use the servo amplifier with SIL 3, set [Pr. PF18 STO diagnosis error detection time] within the range of 1 to 60, connect the TOFB output (CN8) of the servo amplifier to the input of a SIL 3-certified controller and execute the diagnosis. SIL 3 functional safety of the servo amplifiers is certified by TV SD.
APPENDIX
App. - 64
App. 12.5 Use with SIL 2 (as conventional)
The servo amplifiers are still capable of SIL 2 as before regardless of whether the STO diagnosis function is enabled or not. Either of the conventionally-used TV Rheinland certification or the new TV SD certification may be used. App. 12.6 How to check the country of origin, and the year and month of manufacture
The country of origin, and the year and month of manufacture are indicated on the packaging box (Fig. app. 2) and the rating plate (Fig. app. 3).
Manufacture month and year
Country of origin
Fig. app. 2 Indication example on the packaging box
TOKYO 100-8310, JAPAN MADE IN JAPAN
Model Capacity Applicable power supply Rated output current Conforming standard, manual number Ambient temperature IP rating
Serial number
IP20 KCC-REI-MEK-TC300A624G51
Max. Surrounding Air Temp.: 55C
POWER :100W MR-J4-10B
AC SERVO SER.A45001001
OUTPUT: 3PH170V 0-360Hz 1.1A MAN.: IB(NA)0300175
INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz
STD.: IEC/EN 61800-5-1
DATE:2014-05
MODEL
Manufacture month and year
Country of origin
Fig. app. 3 Indication example on the rating plate
APPENDIX
App. - 65
App. 13 When using the servo amplifier with the DC power supply input
POINT The DC power supply input is available with MR-J4-_A-RJ servo amplifiers with software version C2 or later. When using the MR-J4-_A-RJ servo amplifier with the DC power supply input, set [Pr. PC27] to "_ _ _ 1".
App. 13.1 Connection example
CAUTION
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3. (1) MR-J4-10A-RJ to MR-J4-100A-RJ
ALM
DOCOM
CN1
(Note 2)
24 V DC (Note 6)
MalfunctionRA1
L1
L2
L3
L11
L21
MC
ON MC
CN1 Forced stop 2
(Note 2) EM2
CN8
(Note 4) Main circuit power supply
MCCB
SK
(Note 9)
+
-
24 V DC (Note 6)
Servo-on SON DICOM
Malfunction RA1 OFF
MC (Note 3) 24 V DC (Note 7, 8)
3-phase or 1-phase 200 V AC to 240 V AC
Servo amplifier
Emergency stop switch
(Note 1)
AC/DC Converter (283 V DC to 340 V DC)
(Note 5) Short-circuit connector (packed with the servo amplifier)
Note 1. For the power supply specifications, refer to section 1.3. 2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 3. Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less (160 ms or less for 5 kW or more). Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
4. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
5. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 6. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 7. Driving the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements. 8. Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply. Always use the power supply
designed exclusively for the magnetic contactor. 9. When wires used for L11 and L21 are thinner than wires used for L1 and L3, use a fuse. (Refer to app. 13.4.)
APPENDIX
App. - 66
(2) MR-J4-200A-RJ to MR-J4-22KA-RJ
ALM
DOCOM
CN1
RA1
L11
L21
MC
MC
CN1 EM2
CN8
MCCB
SK
(Note 9)
+
-
SON DICOM
L1
L2
L3
N-
(Note 2)
24 V DC (Note 6)
Malfunction
Forced stop 2 (Note 2)
(Note 4) Main circuit power supply
24 V DC (Note 6)
Servo-on
Malfunction RA1
MC (Note 3) 24 V DC (Note 7, 8)
3-phase or 1-phase 200 V AC to 240 V AC
Servo amplifier
Emergency stop switch
(Note 1)
AC/DC Converter (283 V DC to 340 V DC)
(Note 5) Short-circuit connector (packed with the servo amplifier)
ONOFF
Note 1. For the power supply specifications, refer to section 1.3. 2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 3. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less (160 ms or less for 5 kW or more). Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
4. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
5. When not using the STO function, attach the short-circuit connector came with a servo amplifier. 6. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 7. Driving the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements. 8. Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply. Always use the power supply
designed exclusively for the magnetic contactor. 9. When wires used for L11 and L21 are thinner than wires used for L1/L2/L3, and N-, use a fuse. (Refer to app. 13.4.) App. 13.2 Power supply capacity
The power supply capacity is the same as that for the AC power supply input. Refer to section 10.2 for details.
APPENDIX
App. - 67
App. 13.3 Selection example of wires
POINT Selection conditions of wire size are as follows. Construction condition: Single wire set in midair Wiring length: 30 m or shorter
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. (1) Example of selecting the wire sizes
Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following shows the wire size selection example.
Servo amplifier
Wire [mm2] (Note 1) L1/L2/L3/N-/ L11/L21
MR-J4-10A-RJ
2 (AWG 14) 1.25 to 2 (AWG 16 to 14)
MR-J4-20A-RJ MR-J4-40A-RJ MR-J4-60A-RJ MR-J4-70A-RJ MR-J4-100A-RJ MR-J4-200A-RJ MR-J4-350A-RJ
3.5 (AWG 12)
MR-J4-500A-RJ (Note 2) 5.5 (AWG 10): a 1.25 (AWG 16): a 2 (AWG 14): d MR-J4-700A-RJ (Note 2) 8 (AWG 8): b
MR-J4-11KA-RJ (Note 2) 14 (AWG 6): e 1.25 (AWG 16): c 2 (AWG 14): c
MR-J4-15KA-RJ (Note 2) 22 (AWG 4): f MR-J4-22KA-RJ (Note 2) 38 (AWG 2): g
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable
tools, refer to (2) in this section. 2. To connect these models to a terminal block, be sure to use the screws that
come with the terminal block.
(2) Selection example of crimp terminals
Symbol Servo amplifier-side crimp terminal
(Note 2) Crimp terminal
Applicable tool Manufacturer
Body Head Dice a FVD5.5-4 YNT-1210S
JST
b (Note 1) 8-4NS YHT-8S c FVD2-4
YNT-1614
d FVD2-M3
e FVD14-6 YF-1 YNE-38 DH-122 DH-112
f FVD22-6 YF-1 YNE-38 DH-123 DH-113
g FVD38-8 YF-1 YNE-38 DH-124 DH-114
Note 1. Coat the crimping part with an insulation tube. 2. Some crimp terminals may not be mounted depending on their sizes. Make sure to use the
recommended ones or equivalent ones.
APPENDIX
App. - 68
App. 13.4 Molded-case circuit breakers, fuses, magnetic contactors
(1) For main circuit power supply
CAUTION To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed. Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.
Servo amplifier
Molded-case circuit breaker Fuse Magnetic contactor
(Note)
Frame, rated current Voltage AC
[V] Class Current [A] Voltage DC [V]
Power factor improving reactor is
not used
Power factor improving reactor is
used MR-J4-10A-RJ 30 A frame 5 A 30 A frame 5 A
240 T
10
400
DUD-N30
MR-J4-20A-RJ 30 A frame 5 A 30 A frame 5 A MR-J4-40A-RJ 30 A frame 10 A 30 A frame 5 A 15 MR-J4-60A-RJ 30 A frame 15 A 30 A frame 10 A
20
MR-J4-70A-RJ 30 A frame 15 A 30 A frame 10 A MR-J4-100A-RJ (3-phase power supply input)
30 A frame 15 A 30 A frame 10 A
MR-J4-100A-RJ (1-phase power supply input)
30 A frame 15 A 30 A frame 15 A
MR-J4-200A-RJ 30 A frame 20 A 30 A frame 20 A 30 MR-J4-350A-RJ 30 A frame 30 A 30 A frame 30 A 40 MR-J4-500A-RJ 50 A frame 50 A 50 A frame 50 A 60
DUD-N60 MR-J4-700A-RJ 100 A frame 75 A 60 A frame 60 A 80 MR-J4-11KA-RJ 100 A frame 100 A 100 A frame 100 A 125
DUD-N120 MR-J4-15KA-RJ 125 A frame 125 A 125 A frame 125 A 175 MR-J4-22KA-RJ 225 A frame 175 A 225 A frame 175 A 300 DUD-N180
Note. Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less (160 ms or less for 5 kW or more).
APPENDIX
App. - 69
(2) For control circuit power supply
When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3/N-), install an overcurrent protection device (fuse, etc.) to protect the branch circuit.
Servo amplifier
Fuse (Class T) Fuse (Class K5) Current [A] Voltage DC [V] Current [A] Voltage DC [V]
MR-J4-10A-RJ MR-J4-20A-RJ MR-J4-40A-RJ MR-J4-60A-RJ MR-J4-70A-RJ MR-J4-100A-RJ MR-J4-200A-RJ 1 400 1 400 MR-J4-350A-RJ MR-J4-500A-RJ MR-J4-700A-RJ MR-J4-11KA-RJ MR-J4-15KA-RJ MR-J4-22KA-RJ
APPENDIX
App. - 70
App. 14 Status of general-purpose AC servo products for compliance with the China RoHS
directive
(1) Summary The China RoHS directive: (Management Methods for Controlling Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: (Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products). The succeeding China RoHS directive has been in effect since July 1, 2016. The China RoHS directive restricts the use of six hazardous substances (lead, mercury, cadmium, hexavalent chromium, polybrominated biphenyls (PBB), and polybrominated diphenyl ethers (PBDE)) and other hazardous substances specified by the State (currently no applicable substances). The EU RoHS directive (2011/65/EU) also restricts the use of the above six hazardous substances.
(2) Status of our products for compliance with the China RoHS directive
The following tables show the content of six hazardous substances in our products and Environment- Friendly Use Period marks. Table app. 4 is created based on the standard SJ/T11364.
Table app. 4 Names and the content of hazardous substances in the products
Substance name Threshold standard
Part name
Hazardous substance (Note 1)
Environment- Friendly Use Period mark
(Note 2) Remark
Lead (Pb)
Mercury (Hg)
Cadmium (Cd)
Hexavalent chromium (Cr(VI))
PBB PBDE
Threshold of cadmium: 0.01 wt% (100 ppm), Threshold of substances other than cadmium: 0.1 wt% (1000 ppm)
Servo amplifier Servo system controller
Mounting board
Heat sink
Resin cabinet
Plate and screw
Servo motor Bracket
Mounting board
Resin cabinet
Core and cable
Cable product Cable Including connector set Connector
Optional unit Mounting board
Resin cabinet
Plate and screw Note 1. : Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit
requirement of GB/T26572. : Indicates that said hazardous substance contained in at least one of the homogeneous materials for this part is above the limit requirement of GB/T26572.
2. Indications based on "Marking for the restriction of the use of hazardous substances in electrical and electronic product" [SJ/T11364-2014]
Indicates that a certain hazardous substance is contained in the product manufactured or sold in China. Observe safety and usage precautions for the product, and use it within a limited number of years from the production date. Thereby, any of the hazardous substances in the product does not cause environmental pollution, or seriously affect human health or property.
Indicates that no certain hazardous substance is contained in the product.
APPENDIX
App. - 71
(3) Difference between the China RoHS directive and the EU RoHS directive
The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked " ") in the China RoHS directive. The following shows some restriction exemptions and their examples according to the EU RoHS directive.
Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to 0.35% lead by weight, lead as an alloying element in aluminum containing up to 0.4% lead by weight, and copper alloy containing up to 4% lead by weight, e.g. brass-made insert nuts Lead in high melting temperature type solders (i.e. lead-based alloys containing 85% by weight or more lead) Electrical and electronic components containing lead in a glass or ceramic other than dielectric ceramic in capacitors, e.g. piezoelectronic devices Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip resistors
(4) Status of our products for compliance with the China RoHS directive (Chinese)
The following shows Table app. 5 in Chinese according to "Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products".
.5
(1)
(2)
(Pb)
(Hg)
(Cd)
(Cr(VI)) PBB PBDE
0.01wt%(100ppm)
0.1wt%(1000ppm)
1. : GB/T26572
: GB/T26572
2. [SJ/T11364-2014]
/
APPENDIX
App. - 72
App. 15 Encoder output pulse setting method
For details of "Encoder output pulse setting selection" in [Pr. PC19], refer to the following table.
Setting value Servo motor/direct drive motor Linear servo motor _ _ 0 _
(Output pulse setting)
Set the output pulses per revolution with [Pr. PA15 Encoder output pulses]. Output pulse = a value set in [Pr. PA15] [pulse/rev] Selecting "Load side encoder (_ 1 _ _)" of "Encoder selection for encoder output pulse" in [Pr. PC19] triggers [AL. 37 Parameter error].
The output pulse setting cannot be used. If "0" is selected, the dividing ratio setting is used.
_ _1 _ (Dividing ratio
setting)
Set the dividing ratio to the resolution per servo motor revolution with [Pr. PA15 Encoder output pulses].
Output pulse = Resolution per revolution
[Pr. PA15] setting [pulse/rev]
Set the dividing ratio to the travel distance of the linear servo motor with [Pr. PA15 Encoder output pulses].
Output pulse = Travel distance of linear servo motor
[Pr. PA15] setting
[pulse] _ _ 2 _
(The same output pulse setting as the
command pulse)
Feedback pulses from the encoder are processed as follows to be outputted. Feedback pulses are outputted in the same pulse unit as the command pulse.
Encoder
CDV CMX
Feedback pulse
Output pulse
[Pr. PA06]/[Pr. PA07]
_ _ 3 _ (A-phase/B- phase pulse
electronic gear setting)
Set the A-phase/B-phase pulse electronic gear with [Pr. PA15 Encoder output pulses] and [Pr. PA16 Encoder output pulses 2]. Output pulse = the servo motor resolution per revolution
[Pr. PA15] setting [Pr. PA16] setting [pulse/rev]
Set the A-phase/B-phase pulse electronic gear with [Pr. PA15 Encoder output pulses] and [Pr. PA16 Encoder output pulses 2]. Output pulse = Travel direction of linear servo motor
[Pr. PA15] setting [Pr. PA16] setting [pulse]
_ _ 4 _
(A/B-phase pulse through
output setting)
[AL. 37 Parameter error] occurs. A/B-phase pulse of A/B/Z-phase differential output encoder is outputted. This is enabled only when A/B/Z- phase differential output encoder is used. Output pulse = A/B-phase pulse of A/B/Z-phase
differential output encoder [pulse] The value set for "Encoder output pulse phase selection" in [Pr. PC19] is not applied. When another encoder is connected, [AL. 37 Parameter error] occurs. Selecting "Standard control mode (_ _ 0 _)" of "Operation mode" in [Pr. PA01] triggers [AL. 37 Parameter error]. The values set for [Pr. PA15 Encoder output pulses] and [Pr. PA16 Encoder output pulses 2] are not applied.
APPENDIX
App. - 73
App. 16 How to adjust the error excessive alarm level
The error excessive alarm level can be adjusted as required. (1) Parameters
The error excessive alarm level can be increased with the following parameters.
Parameter Symbol Name Setting range Unit PC43 ERZ Error excessive alarm level 0 to 1000 [rev or mm]
PC24 "x _ _ _"
*COP3
Error excessive alarm/error excessive warning level unit selection 0: 1 rev or 1 mm 1: 0.1 rev or 0.1 mm 2: 0.01 rev or 0.01 mm 3: 0.001 rev or 0.001 mm
0 to 3 -
(2) Checking the error excessive alarm margin
Monitor the error excessive alarm margin using the graph function of MR Configurator2. When the command position and feedback position match, the error excessive alarm margin is the maximum pulse. Additionally, if the error excessive alarm margin is 0 pulses, [AL. 52 Error excessive alarm] will occur. Calculate the pulse difference from the maximum and minimum pulses of "error excessive alarm margin".
Error excessive alarm margin
0 r/min
Servo motor speed
Differential pulse
Minimum pulse
Maximum pulse
0 pulse
(3) Adjusting the error excessive alarm level Adjust the error excessive alarm level with [Pr. PC43] and " x _ _ _ " of [Pr. PC24] so that the following formula is satisfied. [Pr. PC43] Unit set with "x _ _ _" of [Pr. PC24] > Error excessive alarm margin difference/Resolution per revolution For linear servo motors, the following value indicates the resolution per revolution. [Pr. PL02 Linear encoder resolution setting - Numerator]/[Pr. PL03 Linear encoder resolution setting - Denominator] 1000
APPENDIX
App. - 74
MEMO
REVISIONS
*The manual number is given on the bottom left of the back cover. Revision Date *Manual Number Revision
Mar. 2012 SH(NA)030107ENG-A First edition Jun. 2012 SH(NA)030107ENG-B 4. Additional instructions (2)
Wiring 4. Additional instructions (3) Test run and adjustment COMPLIANCE WITH CE MARKING COMPLIANCE WITH UL/CSA STANDARD COMPLIANCE WITH KC MARK Section 1.2 (1) Section 1.2 (2) Section 1.3 Section 1.5 Section 1.8 Chapter 2 Section 2.4 Section 2.5 Chapter 3 Section 3.1 Section 3.1 (1) Section 3.1 (2) Section 3.1 (3) Section 3.1 (4) Section 3.2.1 (1) Section 3.2.1 (2) Section 3.2.2 (1) Section 3.2.2 (2) Section 3.2.3 (1) Section 3.2.3 (2) Section 3.3.1 Section 3.3.3 (2) (a) Section 3.5 (2) Section 3.5 (4) Section 3.9.1 Section 3.9.2 (1) Section 3.9.2 (2) Section 3.9.3 (1) Section 3.9.3 (2) Section 4.1.2 (1) (b) 4) Section 4.2.2 Section 4.3.2 Section 4.4.2 Section 4.5.6 Section 4.5.9 (4) Section 5.1.1 Section 5.1.3 Section 5.1.6 Section 5.2.1
The sentences are added. The sentences are added. The reference is changed. The reference is changed. Added. The diagram is changed. The diagram is changed. The table and Note are changed. The item of detailed explanation is changed. Note is changed. CAUTION is changed. POINT is changed to CAUTION. The explanation of relay lifetime is changed. The sentences are added to CAUTION. The sentences are added to CAUTION. The sentences are changed. Note 10 is added. Note 10 is added. Note 10 is added. Note 10 is added. Note 9, 12, 13, 14, and 15 are changed and added. The diagram is added. Note 9, 12, 13, and 14 are changed and added. Added. Note 7, 10, 11, and 12 are changed and added. Added. The sentences of N- are changed. The ferrule is added. The sentences are added to TLA, TC, VC, VLA, PP, NP, PG, and NG. "Available in the future" is deleted. The part of diagram is changed. The sentences are changed. The sentences are added. The sentences are added. The sentences are added. Added. Note is added. Note is added. "EM2 (Forced stop 2) off" in the table is changed. Note is added. POINT is deleted. (a) is deleted PA25 is changed from "For manufacturer setting". PC21 is changed from "For manufacturer setting". PF09 and PF15 are changed from "For manufacturer setting". The setting value is added to PA03, the diagram of PA06 is changed, and PA25 is added.
Revision Date *Manual Number Revision
Jun. 2012 SH(NA)030107ENG-B Section 5.2.3 Section 5.2.6 Section 7.3.1 Chapter 8 Section 10.3 Section 10.3.2 Section 11.3 Section 11.4 Section 11.5 Section 11.5 (3) Section 11.5 (4) Section 11.7 (1) Section 11.7 (2) Section 12.3 Section 12.8.4 Section 13.1.5 Section 13.3.2 (1) Section 13.3.2 (2) Section 13.3.3 Section 13.4.1 (1) Section 13.4.1 (2) Section 13.4.1 (2) (a) Section 13.4.2 (1) Section 13.4.2 (2) Chapter 14 Appendix. 4 Appendix. 5 Appendix. 6 Appendix. 7.7.3 (1) Appendix. 7.7.3 (2) Appendix. 7.7.3 (3) Appendix. 7.7.3 (4) Appendix. 7.8.1 (1) Appendix. 7.8.1 (2) Appendix. 7.8.2 Appendix. 7.12 Appendix. 7.14 Appendix. 8
The sentences are added to PC12 and PC13, PC21 is added, and the sentences are added to the initial value in PC37. PF09 and PF15 are added. The sentences are added to POINT. The sentences of the electronic dynamic brake are added. The serial communication is added to [AL. 8A] and [AL. 8E]. The name of [AL. E1] is changed. POINT is added. The table is changed. The sentences are changed. The sentences are changed. The sentences are changed. The diagram is changed. The connection destination of the servo amplifier is changed. CAUTION is changed. Note is added. The sentences are added to POINT. The sentences are changed. The value in table is changed. The diagram is changed. Added. The part of diagram is changed. The sentences are changed. The sentences are added. Note is changed. The sentences are added. The sentences are added. Added. The sentences are changed. The sentences are changed. The sentences are changed. POINT and diagram are changed. The diagram is changed. Deleted. Deleted. The pin number is changed and Note is deleted. CAUTION is deleted. The sentences are changed. The diagram is added. POINT is changed. TUV certificate of MR-J4 series is added.
Jul. 2012 SH(NA)030107ENG-C Section 3.2.1 (2) Section 3.2.2 (2) Section 3.2.3 (2)
The part of diagram is changed. The part of diagram is changed. The part of diagram is changed.
Sep. 2012 SH(NA)030107ENG-D Section 3.2.1 Section 3.2.2 Section 3.10.2 (1) (b) Section 13.3.1 Section 13.4.1 (1) Section 13.4.2 (1)
The diagram is changed. The diagram is changed. The diagram is changed. The sentences are changed. The diagram is changed. The diagram is changed.
Feb. 2013 SH(NA)030107ENG-E HG-JR, HG-UR, HG-RR servo motor, 11 kW to 22 kW servo amplifier, and MR-J4-_A-RJ servo amplifier are added. Safety 4 (1) Safety Instructions 4 (2) COMPLIANCE WITH CE MARKING
Two items are added to CAUTION. The diagram in CAUTION is changed. The reference is changed.
Revision Date *Manual Number Revision
Feb. 2013 SH(NA)030107ENG-E COMPLIANCE WITH UL/CSA STANDARD COMPLIANCE WITH KC MARK Section 1.1 Section 1.2 Section 1.2 (1) Section 1.2 (2) Section 1.2 (3) Section 1.3 Section 1.4 Section 1.5 Section 1.6 (2) Section 1.7.1 (1) Section 1.7.1 (1) to (4) Section 1.7.1 (5), (6) Section 1.7.2 Section 1.8 (1) to (4) Section 1.8 (5), (4) Chapter 2 Section 2.1 (1) (a), (b) Section 2.4 (1) to (6) Chapter 3 Section 3.1 Section 3.1 (1) to (4) Section 3.1 (5) Section 3.2.1 (1) Section 3.2.1 (2) Section 3.2.2 (1) Section 3.2.2 (2) Section 3.2.3 (1) Section 3.2.3 (2) Section 3.3.1 Section 3.3.2 Section 3.3.2 (2) Section 3.4 Section 3.5 (1) (a) Section 3.5 (1) (b) Section 3.6.1 (5) Section 3.6.2 (1) Section 3.6.3 (1), (3) Section 3.6.4 (3) (a) Section 3.6.5 (4) (a) Section 3.6.6 (1) Section 3.7.3 Section 3.9.1 Section 3.10.1 (1) Section 3.10.2 (1) (b) Section 4.1.2 (1) (b) 5) Section 4.1.2 (1) (c) Section 4.5.1 Section 4.5.2 Section 4.5.3 (1) Section 4.5.3 (3) Section 4.5.4 Section 4.5.6 Section 4.5.9 (2) (b) Section 4.5.9 (3) Section 4.5.9 (3) (a) d) Section 4.5.9 (4) Chapter 5
The reference is changed. The reference is changed. The sentences and table of combination are added. POINT is added. CN2L connector, Note 5 and 6 are added. CN2L connector, Note 3 and 4 are added. 11 kW to 22 kW and Note 5 are added. Note 3 is changed. Note 10 and 11 kW to 22 kW are added. A part of specifications is added and changed. POINT is added. The table of combination is changed. Function item is added. Table is changed and added. Table item (17), (18), and Note are added. The diagram is changed. The diagram is changed. 11 kW to 22 kW are added. The sentences are added. CN2L connector and Note 4 are added. 11 kW to 22 kW are added. Two items are added to CAUTION. Note 1 and 2 are added. Note 5 is added. The diagram of CAUTION is changed. POINT is added. CAUTION is added. The connection diagram is changed. Note 11 is added. Newly added. The connection diagram is changed. Note 3 and 4 are changed. The connection diagram is changed. The connection diagram is changed. Note 3 and 4 are changed. The connection diagram is changed. The connection diagram is changed. Note 3 and 4 are changed. The connection diagram is changed. The table is changed. POINT is added. Note is added. Note 1, 2, and CN2L are added. The content is added. The sentences are added. The item is added. The connection diagram is changed. The connection diagram is changed. The connection diagram is changed. The connection diagram is changed. The connection diagram is changed. Note is added. The content is added. Note 4 and 5 are added. The connection diagram is changed. The connection diagram is changed. The content is changed. Newly added. 4) is added. The explanation is added. The display content is added. The display content is added. The display content is added. Note is added. The display content is added. The sentences are changed. The sentences are changed. The sentences are changed. The sentences are changed. CAUTION is added. POINT is added.
Revision Date *Manual Number Revision
Feb. 2013 SH(NA)030107ENG-E Section 5.1.1 Section 5.1.3 Section 5.1.1 to 5.1.6 Section 5.1.6 Section 5.2.1 Section 5.2.2 Section 5.2.3 Section 5.2.4 Section 5.2.5 Section 5.2.6 Section 5.2.7 Section 6.2.2 Section 6.2.2 (1) (b) Section 6.2.2 (1) (d) Section 6.2.2 (1) (e) Section 6.2.2 (2) Section 6.2.2 (2) (b) Section 6.3.1 (1) Section 6.3.4 Section 7.1.5 (4) Section 7.3.2 Section 7.4 Chapter 8 Section 8.1 Section 9.1 Section 9.1 (1) to (7) Section 9.1 (8), (9) Chapter 10 Section 10.1 Section 10.2 (1) Section 10.3.1 (1) Section 10.3.1 (2) Section 10.3.2 Section 10.5 Chapter 11 Section 11.1.1 Section 11.2.1 Section 11.2.2 (1) (b) Section 11.2.3 Section 11.2.4 (3), (4) Section 11.2.5 (5), (6)
[Pr. PA17], [Pr. PA18], and [Pr. PA26] are added. [Pr. PA27] is changed. The operation mode is added. [Pr. PC44] and [Pr. PC45] are added. The operation mode is added. The operation mode is added. The name of [Pr. PF25] is changed. The content of [Pr. PA01] is added. The sentences of [Pr. PA05] are added. [Pr. PA02], [Pr. PA13] and [Pr. PA19] are changed. The name of [Pr. PA20] is changed. The sentences of [Pr. PB17] is changed. The setting of [Pr. PC19] is changed. The sentences of [Pr. PC20] is changed. The explanation of [Pr. PC22] is changed. The sentences of [Pr. PC35], [Pr. PC43], and [Pr. PC60] are added. [Pr. PC36] and [Pr. PC27] are changed. [Pr. PC44] and [Pr. PC45] are added. The contents of Note 3 and 4 are added. The content of [Pr. PD01] is added. [Pr. PD03], Note 3, and content are added. The content of [Pr. PD23] is added. The content of [Pr. PD30] is changed. [Pr. PE01], [PR. PE03] to [Pr.PE08], [Pr. PE10], [Pr. PE34], [Pr. PE35], and [Pr. PE39] are added. The name of [Pr. PF25] is changed. Newly added. The display of MR Configurator2 is changed. POINT is added. The table is changed. The sentences are added. POINT is added. POINT is added. The content of POINT is changed. The table is changed. The content of POINT is changed. CAUTION is deleted. Newly added. The operation mode is added. [AL. 93] and [AL. 96.4] are added. The name of [AL. F0.1] is changed. POINT is added. The connection diagram is changed. Newly added. POINT is added. The table is added. The graph is changed and added. Note 3 is added. Note 3 and content are added to the table. Partially changed. The appended sentence is added. The content is added. Note 2 and content are added to the table. The sentences are added. The content of the table is added. POINT is added. The diagram is changed and added. The content of the table is added. Note 2 is added. The content of the table is added. [Pr. PA02] is changed. Newly added. Newly added.
Aug. 2013 SH(NA)030107ENG-F Safety Instructions 4 (1) Section 1.1 Section 1.6 (1) Section 1.7.1 Chapter 2 Section 3.1 (1) to (5) Section 3.4 Section 3.5 (2)
A sentence is changed. An item is deleted. Table 1.1 is changed. The content is changed. The content of the table is changed. Note 2 is added. A sentence is changed. An item is deleted. Note 1 is changed. Note 2 is changed. The sentences are added to Function and application of forward rotation pulse train/reverse rotation pulse train.
Revision Date *Manual Number Revision
Aug. 2013 SH(NA)030107ENG-F Section 3.9.1 Section 5.1.3 Section 5.2.1 Section 5.2.3 Section 5.2.6 Section 7.1.4 (4) Section 7.3.2 Section 7.4 (3) Section 9.1 (6) to (9) Section 11.2.4 (3) Section 11.3.3 (1) (a) Section 11.3.3 (1) (b) Section 11.3.3 (2) (a) Section 11.4 Section 11.4 (2) Section 11.5 (5) (a) Section 11.7 (2) (a) Section 11.7.3 Section 11.10 (1) Section 11.17 (2) Section 14.1.1 (2) (b) Section 15.1.2 (1) Section 15.1.2 (2) Section 15.1.2 (3) Section 16.3.2 Section 17.1.3 (2) (a) Section 17.1.3 (2) (b) App. 4.2.1 (1) App. 4.2.3 (4) App. 4.3
Note 6 is added. Analog torque/thrust limit maximum output of [Pr. PC13] is deleted. The sentences are added to [Pr. PA13]. Analog torque/thrust limit maximum output of [Pr. PC13] is deleted. [Pr. PF23] is partly added. POINT is deleted. Table is added. POINT is added. Newly added. A dimension is changed. CAUTION is added. Note 3 is changed. Note 3 is changed. Note 3 is changed. Note 4 is partly changed. POINT is added. Model of Power factor improving reactor is deleted. Note 4 is changed. Note 10 is added. The sentences are changed. The content is added. Newly added. Table and Note 3 are changed. Note 6 is added. Note 1 is partly added. Note 6 is added. The content is changed. Newly added. POINT is added. Note is added. The diagram is changed. The title is changed. The sentences are added. CAUTION is added.
Oct. 2013 SH(NA)030107ENG-G 400 V class is added. Safety Instructions 4 (1) About the manuals Section 1.2 (1) Section 1.2 (2) Section 1.3 (2) Section 1.4 (2) Section 1.5 Section 1.6 (2) Section 1.7.1 (1) (a) Section 1.7.1 (2) Section 1.8 (2) Section 3.1.2 Section 3.3.1 Section 3.3.3 (1) (c) Section 3.3.3 (2) (a) Section 3.10.2 (1) (a) Section 4.1 Section 4.1.2 (1) (c) 1) c) Section 4.1.2 (1) (c) 2) Section 4.1.2 (2) (c) 1) c) Section 5.2.1
One item is added. The content of the table is added. The diagram is changed. Newly added. Newly added. Newly added. The content of the table is added. A combination is added. The content of the table is changed. Newly added. Newly added. Newly added. The content of the 400 V class is added. Newly added. The content of the table is added. The content of the diagram is changed. POINT is added. The content is added. Newly added. The content is added. A sentence is added to [Pr. PA01]. [Pr. PA02] The content is changed. [Pr. PA17] The content is added. [Pr. PA20] The content is changed.
Revision Date *Manual Number Revision
Oct. 2013 SH(NA)030107ENG-G Section 5.2.3 Chapter 6 Section 6.2 Chapter 7 Section 7.1.1 (1) Section 7.1.3 Section 7.1.4 (1) Section 7.3.1 (2) Section 7.3.2 (1) Section 7.3.2 (2) (a), (d) Chapter 8 Section 9.1 (2) Section 10.1 Section 10.2 (1) Section 10.3.1 (2) (b) Section 10.3.2 (2) Section 10.5 Section 11.1.1 Section 11.2.1 (2) Section 11.2.2 (1) (b) Section 11.2.3 Section 11.2.4 Section 11.2.4 (1) to (4) Section 11.2.5 (2), (3), (5) Section 11.2.5 (6) Section 11.2.5 (7) Section 11.3 Section 11.3.1 Section 11.3.3 (1) (a) 2) Section 11.3.3 (1) (b) Section 11.3.3 (2) (b) Section 11.3.3 (4) Section 11.3.3 (5) Section 11.3.4 (1) to (3) Section 11.4 (1) Section 11.4 (2) (b) Section 11.4 (3), (4) Section 11.5.1 Section 11.5.2 (2) Section 11.5.2 (3) (b) Section 11.5.2 (4) (a) 1), 2) Section 11.5.2 (4) (b) 2) Section 11.5.2 (6) Section 11.8 Section 11.9 Section 11.9 (1) (a) Section 11.9 (1) (b) Section 11.9 (2) (b) Section 11.10 (1), (2) Section 11.11 (2) Section 11.12 (2) Section 11.14 (2) (e) Section 11.14 (2) (f)
[Pr. PC14] The content is changed. POINT is added. POINT is added. POINT is added. The content of the table is changed. POINT is added. The sentences are added. The content of the table is changed. Note is added. The sentences are changed and note is added. The POINT is added. The content of the table is changed. Note 2 of alarm table is changed. Note 2 of warning table is changed. Newly added. The table is newly added. The content of the table is added. Newly added. Newly added. The content of the table is added. POINT is added. The content of the table is added. Newly added. The content of the table is added. The content is added. The content of POINT is changed. The content is added. The content is added. Newly added. The content is added. POINT is added. The content of the table is added. Note is added. Newly added. POINT is added. Newly added. The content of the table is added. The content of the table is added. The content is added. The content of the table is added. Newly added. The content of the table is added. The content is changed. Newly added. Newly added. The content is added. Newly added. The content is added. POINT is added. The content of POINT is changed. Note 4 is changed. The content is added. The content of Note 4 is changed. Newly added. The content of the table is added. The content of Note 1 is changed. Newly added. Newly added. The content is added. The content is added.
Revision Date *Manual Number Revision
Oct. 2013 SH(NA)030107ENG-G Section 11.15 (1) Section 11.16 Section 11.16 (1) Section 11.16 (2) (b) Section 11.16 (3) (a) Section 11.17 Section 11.17 (1) Section 11.17 (2) (b) Section 11.17 (4) (b) Section 11.18 Chapter 12 Section 15.1.2 (1) to (3) Section 15.4.1 Section 15.4.2 Section 15.4.3 Section 17.1.1 App. 4.2.3 (1) App. 4.2.3 (1) (a) App. 4.2.3 (1) (a) 2) App. 4.2.3 (1) (b) 2) App. 4.2.3 (4) App. 4.3 App. 4.4 (1) (a) App. 4.4 (1) (b) App. 4.4 (2) App. 4.4 (3) App. 4.6.1 (1) (b) App. 4.6.2 App. 4.8.1 (2) App. 4.8.2 App. 4.8.2 (2) App. 4.8.3 App. 4.8.3 (2) App. 11 (2)
The graph is added. The sentences are added. The content of the table is added. Newly added. The content is added. POINT is added. The content of the table is added. Newly added. Newly added. The content of the table is added. Note is added. POINT is added. The content is changed. The configuration is changed. The sentences are added. The sentences are added. The content of the table is added. The content of the table is added. The diagram is changed. The sentences are added. The content of the table is changed. Newly added. Newly added. The sentences are changed. Note 2 is added. Note is added. Newly added. Note is added. Note is added. Newly added. The content of the table is added. The contents of Note 1 and Note 2 are changed. Note 5 is added. Newly added. The content of the table is added. Newly added. The content of the table is added. Newly added. Note 7 is added.
Mar. 2014 SH(NA)030107ENG-H 100 V class MR-J4 series servo amplifiers are added. Section 1.2 (3)
Section 1.3 (1) Section 1.3 (3) Section 1.4 (3) Section 1.5 Section 1.6 (2) Section 1.7.1 (3) Section 1.8 (3) Chapter 2 Section 3.1.3 Section 3.3.1 Section 3.3.3 (1) (d) Section 3.3.3 (2) (a) Section 3.7.1 Section 3.11 Section 4.1.2 (1) (a) 2) Section 4.1.2 (1) (b) 5) Section 4.1.2 (1) (c) 3) Section 5.2.1 Section 5.2.3 Section 5.2.5 Section 7.1.1 (1) Section 7.2.3 (1)
Newly added. Note 11 is added. Newly added. Newly added. The content is added. Note is added. The content is added. Newly added. Newly added. POINT is changed. Newly added. The content is added. Newly added. The content is added. The title is changed. The content of the note is changed. Newly added. Deleted. Newly added. The content of [Pr. PA13] is added. The content of [Pr. PC14] is added. [Pr. PE39] is deleted. Caution for the table is changed. The title is changed.
Revision Date *Manual Number Revision
Mar. 2014 SH(NA)030107ENG-H Section 7.3 Section 7.3.1 (2) Section 7.4 Chapter 8 Section 9.1 (3) Section 10.2 (1) Section 10.3.2 Section 10.5 Section 11.1.1 Section 11.2.1 (3) Section 11.2.2 (1) (b) Section 11.4 (2) (a) Section 11.4 (2) (b) Section 11.7.2 (1) Section 11.9 (1) (c) Section 11.10 (1) Section 11.12 (1) Section 11.14 (2) (e) Section 11.14 (2) (f) Section 11.15 (1) Section 11.16 (1) Section 11.16 (2) (a) App. 1 App. 4.2.3 (1) (a) App. 4.2.3 (1) (a) 1) App. 4.2.3 (1) (a) 2) App. 4.2.3 (1) (b) App. 4.2.3 (1) (b) 1) App. 4.2.3 (1) (b) 3) App. 4.4 (2) App. 4.6.1 (1) (a) App. 4.8.1 (1) App. 4.8.2 App. 4.8.3 App. 10
The sentences are added. Caution for the table is changed. POINT is changed. Sentences are added. POINT is added. Newly added. The content of the table is added. Sentences are added. (1) and (2) are combined. Note 1 and 2 are deleted. POINT is added. (2) and (3) are added. Use of 1) in the table is changed. Newly added. The content of the table is added. The sentences are added to Note 4. The sentences are added to Note 4. Note 1 is deleted. Newly added. The content of the table is added. Figure is added. The content of the table is added. The content is added. The content is added. Note is added. The content is added to table 11.6. The content of the table is added. The title and content of the Note 1 are changed. The content of the table is added. The sentences are changed. The title is changed. The content of the table is changed. The content of the table is changed. The sentences are changed. The title is changed. The content of the table is changed. Newly added. Note 1 and 2 are added. The title is changed. The content of the table is changed. The title is changed. The content of the table is changed. The content of the table is changed. The content of the table is changed. Newly added.
Jan. 2015 SH(NA)030107ENG-J The model adaptive control disabled, lost motion compensation function, super trace control, MR-BT6VCASE, and HG-JR servo motor are added.
Safety Instructions 2 Safety Instructions 4 (6) About the manuals Section 1.2 Section 1.3 Section 1.4 Section 1.5 Section 1.6 (1) Section 1.6 (2) Section 1.8 Section 3.1 Section 3.1.1 (5) Section 3.1.2 Section 3.2 Section 3.4 Section 3.5 Section 3.9.1 Section 3.10.1 Section 4.5.4
The sentences are changed. The sentences are added. The content of the table is changed. Note is added. The content of the table is changed. Note is added. The content of the table is changed. The content of the table is changed. The diagram is changed. The content of the table is changed. Note is added. The sentences are added. Note is added. The diagram is changed. Note is added. Note is changed. The content of the table is changed. The content of the table is changed. The diagram is changed. Note is added. CAUTION is added. The content of the table is changed.
Revision Date *Manual Number Revision
Jan. 2015 SH(NA)030107ENG-J Section 4.5.7 Section 4.5.7 (2) Section 4.5.7 (2) (a) Section 4.5.8 Section 5.1 Section 5.2 Section 7.2.3 (1) (a) Section 7.2.4 (3) Section 7.3.2 Section 7.4 Section 7.5 to 7.7 Chapter 8 Section 10.1 Section 10.2 (1) Section 10.3.1 (2) Section 10.3.2 Section 11.1.1 Section 11.1.3 Section 11.2.4 (3) Section 11.3.3 Section 11.4 (2) Section 11.5.2 (3) Section 11.7.2 (1) Section 11.8 Section 11.8.1 (3) Section 11.8.3 Section 11.10 Section 11.10 (1) Section 11.17 Section 11.17 (2) Chapter 12 Section 12.2.2 (2) (c) Section 12.2.3 Section 13.3.3 Section 14.5.4 (4) (b) Section 14.5.9 (2) Section 15.1.2 Section 15.3.2 Section 15.4.2 Section 16.1.2 Section 16.3.2 Section 16.5.1 Section 16.5.2 App. 4
POINT is changed. The diagram is changed. Note is added. The content of the table is changed. Note is added. The diagram is changed. Note is added. POINT is added. The content of the table is changed. The content of the table is changed. The sentences are added. Newly added. POINT is added. POINT is added. Newly added. The content of the chapter is changed. The sentences are changed. The content of the table is changed. The content of the table is changed. The diagram is changed. The content of the table is changed. The diagram is changed. The content of the table is changed. Newly added. CAUTION is changed. The diagram is changed. The diagram is changed. The diagram is changed. The content of the table is changed. POINT is added. Newly added. Newly added. CAUTION is added. Note 4 is added. CAUTION is added. Note is added. POINT is changed. Newly added. Newly added. The diagram is changed. Note is added. Note is added. The sentences are changed. POINT is added. The content of the table is changed. The sentences are changed. POINT is added. The sentences are changed. The content of the table is changed. The content of the section is changed.
Apr. 2015 SH(NA)030107ENG-K MR-J4-03A6(-RJ) servo amplifier is added. Safety Instructions
About the manuals Section 1.2 Section 1.3 Section 1.5 Section 1.6 (2) Section 1.7 Section 1.8 Section 3.2.1 Section 3.2.2
Partially changed. Partially added. Partially changed. Partially added and partially changed. Partially added. Partially changed. Partially added and partially changed. Partially changed. Partially changed. Partially changed.
Revision Date *Manual Number Revision
Apr. 2015 SH(NA)030107ENG-K Section 3.2.3 Section 3.3.3 Section 3.4 Section 3.5 Section 3.6.1 Section 3.6.1 (1) Section 3.6.3 (3) Section 3.7 Section 3.8.1 Section 3.9.1 Section 3.9.2 Section 3.9.3 Section 4.2.6 Section 4.3.6 Section 4.4.6 Section 4.5.3 (3) Section 4.5.4 Section 4.5.7 Chapter 5 Section 5.1 Section 5.1.3 Section 5.1.4 Section 5.2.1 Section 5.2.3 Section 5.2.4 Section 5.2.5 Section 5.2.6 Section 5.2.7 Section 7.3.2 Section 7.4 Section 8.2 Section 8.3 Section 9.1 Section 9.1 (1) (a) to (e) Section 9.1 (2) (a) to (b) Section 9.1 (3) (a) to (b) Section 10.1 Section 10.3.1 (2) Section 11.1.1 Section 11.3.2 Section 11.6 (4)
Partially changed. Partially changed. Partially added and partially changed. Partially added and partially changed. POINT is partially changed. Partially added and partially changed. Partially added and partially changed. POINT is partially added. Partially added and partially changed. Partially changed. Partially added and partially changed. Partially added and partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially added and partially changed. POINT is added. POINT is partially added. Pr. PC28 is added. Pr. PD43 to Pr. PD46 are added. Pr. PA01 to Pr. PA02 are partially added and partially changed. Pr. PA06 to Pr. PA07 are partially added. Pr. PA12 to Pr. PA13 are partially changed. Pr. PA17 to Pr. PA21 are partially added. Pr. PA26 is partially added. Pr. PC14 is partially added and partially changed. Pr. PC15 is partially changed. Pr. PC19 to Pr. PC20 are partially changed. Pr. PC22 is partially added. Pr. PC27 is partially added and partially changed. Pr. PC28 is added. Pr. PC36 is partially added and partially changed. Pr. PC44 to Pr. PC45 are partially added. Pr. PC60 is partially added and partially changed. Pr. PD01 is partially added. Pr. PD03 to Pr. PD28 are partially added and partially changed. Pr. PD43 to Pr. PD46 are added. Pr. PD47 is partially added and partially changed. Pr. PE01 is partially added. Pr. PE03 to Pr. PE10 are partially added. Pr. PE34 to Pr. PE35 are partially added. Pr. PF09 is partially added. Pr. PF25 is partially added. Pr. PF34 is partially added. POINT is added. Pr. PL17 is partially changed. POINT is partially added. POINT is partially added and partially changed. Partially added. Partially added. POINT is partially changed. The dimensions are changed. The dimensions are changed. The dimensions are changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially added and partially changed.
Revision Date *Manual Number Revision
Apr. 2015 SH(NA)030107ENG-K Section 11.7 Section 11.8 Section 11.9 (1) Section 11.12 Section 11.14 (2) (b) Section 12.1 Section 12.2 Chapter 13 Section 13.3.3 Chapter 14 Section 14.3.3 Section 14.4.1 Section 14.4.2 Section 14.5.2 Section 14.5.3 Section 14.5.4 Section 14.5.5 Section 14.5.7 Section 14.5.9 Section 14.5.10 Section 14.5.11 Section 14.5.12 Chapter 15 Section 15.1.1 Section 15.1.2 Chapter 16 Section 16.1.1 Section 16.1.2 Section 16.5.1 Chapter 17 Section 17.3.1 Section 17.3.2 Section 17.3.6 Section 17.3.7 Chapter 18 App. 4 App. 7 App. 11
Partially changed. The contents are entirely changed. Partially changed. Partially changed. Partially changed. The contents are entirely changed. The contents are entirely changed. POINT is partially added. Partially changed. The title is changed. Partially changed. Partially changed. Partially added. Partially added. Partially changed. Partially changed. Partially added and partially changed. Partially added. Partially added. Partially changed. Partially changed. Partially changed. Partially changed. POINT is partially added. Partially changed. Partially changed. POINT is partially added. Partially changed. Partially changed. Partially changed. Partially added. Partially changed. Partially changed. Partially changed. Partially changed. Newly added as MR-J4-03A6 servo amplifier. The contents are entirely changed. Partially added and partially changed. Newly added.
Sep. 2015 SH(NA)030107ENG-L MR-J4-100A(-RJ)/MR-J4-200A(-RJ) are compatible with a 1-phase 200 V AC input, the contents of the one-touch tuning are changed, and operable environment is changed to maximum altitude of 2000 m above sea level.
Safety Instructions About the manual Chapter 1 Section 1.3 Section 1.4 Section 1.5 Section 1.6 (2) Section 1.7 Section 1.8 (1) Section 2.5 Section 2.6 Chapter 3 Section 3.1 Section 3.1.1 (2) Section 3.2.1 Section 3.2.2 Section 3.2.3 Section 3.3.1
Partially changed. Partially added and partially changed. POINT is partially changed. Partially added and partially changed. POINT is added. Partially added and partially changed. Partially added. Partially changed. Partially changed. Partially changed. Newly added. CAUTION is partially changed. POINT is partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed.
Revision Date *Manual Number Revision
Sep. 2015 SH(NA)030107ENG-L Section 3.4 Section 3.5 Section 3.6.1 Section 3.9.1 Section 3.9.2 Section 3.9.3 Section 4.5.3 Section 4.5.7 Chapter 5 Section 5.1 Section 5.1.2 Section 5.1.6 Section 5.1.8 Section 5.2.1 Section 5.2.2 Section 5.2.3 Section 5.2.4 Section 5.2.5 Section 5.2.6 Section 5.2.7 Section 5.2.8 Section 6.2 Section 6.3.1 Section 6.4 Section 6.5 Section 7.1.1 Section 7.1.5 Section 7.2.3 Section 7.3.2 Section 7.4 Chapter 8 Section 8.1 Section 8.2 Section 8.3 Section 9.1 Section 10.2 Section 10.5 Section 11.1.1 Section 11.2.2 Section 11.2.3 Section 11.3.3 Section 11.4 Section 11.5.2 Section 11.6 Section 11.7 Section 11.7.2 Section 11.8.3 Section 11.8.4 Section 11.8.5 Section 11.9 Section 11.10 Section 11.11 Section 11.12 Section 11.14 Section 11.15 Section 11.16 Section 12.2.3
POINT is partially added. Partially added and partially changed. Partially added and partially changed. Partially added and partially changed. Partially changed. Partially changed. Partially added and partially changed. Partially changed. Partially added and partially changed. POINT is partially changed. POINT is partially changed. Partially changed. [Pr. PF18] is added. Newly added. Partially added and partially changed. Partially added and partially changed. Partially changed. Partially added and partially changed. Partially changed. [Pr. PF18] is added. Partially added and partially changed. POINT is partially changed. Partially changed. Newly added. The contents are entirely changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially added. POINT is partially added and partially changed. POINT is partially changed. Partially changed. Partially added. Partially added and partially changed. Partially changed. POINT is partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially added and partially changed. Partially changed. Partially changed. Partially changed. POINT is partially changed. POINT is partially changed. POINT is partially changed. Partially changed. Partially added and partially changed. Partially changed. Partially added and partially changed. Partially changed. Partially changed. Partially changed. Partially changed.
Revision Date *Manual Number Revision
Sep. 2015 SH(NA)030107ENG-L Section 12.3 Chapter 13 Section 13.1.1 Section 13.1.5 Section 13.3.1 Section 13.3.2 Section 13.3.3 Chapter 14 Section 14.1.1 Section 14.3 Section 14.4 Section 14.5 Chapter 15 Section 15.1.1 Section 15.1.2 Section 15.3.3 Chapter 16 Section 16.1.2 Chapter 17 Section 17.1.2 Chapter 18 Section 18.1.1 Section 18.1.3 Section 18.1.4 Section 18.1.5 Section 18.1.6 Section 18.2.1 Section 18.3.1 Section 18.3.2 Section 18.3.5 Section 18.3.6 Section 18.3.7 Section 18.3.9 Section 18.4.1 Section 18.5.1 Section 18.5.4 Section 18.5.8 Section 18.7.3 Section 18.7.4 Section 18.8.3 Section 18.9 Chapter 19 App. 1 App. 2 App. 4 App. 5 App. 8 App. 11
Partially changed. POINT is partially changed. Partially changed. Partially added and partially changed. Partially added. Partially changed. Partially changed. The title is changed. Partially changed. Partially changed. Partially changed. Partially changed. POINT is partially changed. Partially changed. Partially changed. Partially added. POINT is partially changed. Partially changed. POINT is partially changed. Partially changed. The title is changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially added. Partially changed. Partially added and partially changed. Partially changed. Partially changed. Partially added and partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially added and partially changed. Partially changed. Partially changed. Partially changed. The title is changed. Newly added. Partially added and partially changed. The contents are entirely changed. The contents are entirely changed. Partially changed. Partially changed. Partially added.
Feb. 2016 SH(NA)030107ENG-M The schedule for the compliance with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety standard is added.
STO function of the servo amplifier Chapter 14 Section 18.3.6 App. 6 App. 12
Partially added. CAUTION is added. Partially changed. Partially added. Newly added.
May 2016 SH(NA)030107ENG-N The adaptive filter II is improved, and the DC power supply input is added. 3. To prevent injury, note
the following 4. Additional instructions
Partially changed.
Revision Date *Manual Number Revision
May 2016 SH(NA)030107ENG-N (2)Wiring (5)Corrective actions (6)Maintenance, inspection and parts replacement About the manuals Section 1.3 (1) Section 1.5 Section 1.7 Section 1.8 Section 2.4 Section 3.1 Section 3.3.1 Section 3.3.3 Section 3.5 (1) (b) Chapter 4 Section 5.1.2 Section 5.1.3 Section 5.2.1 Section 5.2.2 Section 5.2.3 Section 5.2.5 Section 6.2.2 (1) (c) Section 7.1.2 Section 7.2.3 (1) (b) Section 7.3.2 Section 7.6 Chapter 8 Section 10.5 Section 11.1.1 Section 11.2.2 Section 11.3.3 Section 11.4 Section 11.5.2 Section 11.8.3 Section 11.8.6 Section 11.9 Section 11.10 Section 11.14 Section 11.16 Section 13.1.5 Section 13.3.2 Section 14.5.3 Section 18.4 Chapter 19 Section 19.3 Section 19.5 Section 19.8.1 App. 4 App. 5.7.3 (2) App. 13
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Mar. 2017 SH(NA)030107ENG-P TM-RG2M series / TM-RU2M series direct drive motor is added. 4. Additional instructions (1) Transportation and
installation Partially changed.
Relevant manuals Partially changed. Section 1.3 Partially changed. Section 1.4 Partially changed. Section 1.5 Partially changed. Section 3.5 Partially changed.
Revision Date *Manual Number Revision
Mar. 2017 SH(NA)030107ENG-P Section 3.6.1 Partially changed. Chapter 5 POINT is partially changed. Section 5.2.3 [Pr. PC27] is partially changed. Section 5.2.4 [Pr. PD33] and [Pr. PD34] are partially changed. Section 6.2 POINT is partially added. Section 6.2.3 Partially added. Section 10.1 Partially changed. Section 11.1.1 Partially changed. Section 11.1.3 Partially changed. Section 11.2.3 Partially changed. Section 11.5.2 Partially changed. Section 11.7 Partially changed. Section 11.8.3 Partially changed. Section 11.8.6 Partially changed. Section 11.10 Partially added. Section 11.17 The diagram is partially changed. Section 13.3.3 The diagram is partially changed. Section 15.3.3 The diagram is partially changed. Chapter 16 POINT is partially changed. Section 16.5.1 Partially added. Section 16.5.2 Partially added. Section 16.5.3 Partially added. Section 17.3.2 Partially changed. Section 18.1.3 Partially changed. Chapter 19 POINT is partially changed. App. 4.2.3 Partially changed. App. 4.4 Partially added. App. 5.7.2 Partially changed. App. 6 Partially added and a diagram is changed. App. 7.2 Partially added. App. 7.3 Partially added. App. 7.4 Newly Added. App. 13 POINT is partially changed. App. 14 Added.
Oct. 2017 SH(NA)030107ENG-Q TM-RG2M002C30 and TM-RU2M002C30 are added. 3. To prevent injury, note
the following Partially changed.
4. Additional instructions Partially changed. Section 1.3 Partially changed. Section 1.4 Partially changed. Section 1.5 Partially changed. Section 1.6 Partially changed. Chapter 2 CAUTION is partially changed. Section 2.6 Partially changed. Chapter 3 CAUTION is partially changed. Section 3.3.3 Partially changed. Section 3.6.1 Partially added. Section 3.7 Partially added. Section 3.8.1 Partially changed. Chapter 4 CAUTION is partially changed. Section 4.2.2 Partially changed. Section 4.3.2 Partially changed. Section 4.4.2 Partially changed. Section 4.5.9 Partially changed. Section 5.2.1 Partially changed. Section 5.2.2 Partially changed. Section 5.2.6 Partially changed.
Revision Date *Manual Number Revision
Oct. 2017 SH(NA)030107ENG-Q Chapter 6 POINT is partially added. Section 6.2.2 Partially changed. Section 7.1.5 Partially changed. Section 8.2 Partially added. Section 10.1 Partially changed. Section 10.3 CAUTION is added. Section 11.2.2 Partially changed. Section 11.7.2 Partially changed. Section 11.8.4 Partially changed. Section 11.17 Partially changed. Chapter 12 POINT is partially added. Section 12.1.2 Partially changed. Section 15.2 POINT is partially added. Section 15.3.4 Partially changed. Section 16.2 CAUTION is partially changed. Section 16.3.2 Partially changed. Section 16.5.1 Partially changed. Section 16.5.2 Partially changed. Section 16.5.3 CAUTION is added. Section 18.7.1 Partially changed. Section 19.5.3 Partially changed. App. 1 Partially changed. App. 2 Partially changed. App. 4.1 Partially changed. App. 4.2.2 Partially changed. App. 4.2.3 Partially changed. App. 4.3 Partially changed. App. 4.7 CAUTION is partially changed. App. 7.2 Partially changed. App. 7.4 Partially changed. App. 7.4.4 Partially changed.
Feb. 2018 SH(NA)030107ENG-R FR-CV-H7.5K, FR-CV-H11K, and FR-CV-H15K are added. Section 3.7 POINT is added. Section 3.7.1 (2) The diagram is changed. Section 3.7.2 (1) The diagram is changed. Section 3.7.3 (1) The diagram is changed. Section 3.8.1 POINT is partially changed. Section 3.8.1 (1) Note 2 is deleted. The diagram is changed. Section 3.10.2 (1) (a) The diagram is changed. Section 3.10.2 (1) (b) POINT is added. The diagram is changed. Section 3.10.2 (1) (c) The contents are entirely changed. Section 5.1 POINT is partially changed. Section 5.2.3 The sentences are added to PC16.
PC19 is partially changed. Section 11.2.2 The contents are entirely changed. Section 11.5 FR-CV-H7.5K, FR-CV-H11K, and FR-CV-H15K are added. Section 11.8.2 (4) The sentences are changed. Section 18.2 CAUTION is added. App. 4.7 POINT is partially changed. App. 5.10 The table is changed. App. 15 Added.
Nov. 2020 SH(NA)030107ENG-S The dimensions of MR-J4-500A(4)(-RJ), MR-J4-700A(4)(-RJ), and MR-J4-22KA(4)(-RJ) are changed.
Section 9.1 The diagrams are changed. Sep. 2021 SH(NA)030107ENG-T 4. Additional instructions (4) Usage Partially changed.
Section 1.3 Partially changed.
Revision Date *Manual Number Revision
Sep. 2021 SH(NA)030107ENG-T Section 1.5 Partially changed. Section 1.7.1 Partially changed. Section 2.5 Partially changed. Section 3.1 POINT is added, partially added. Section 3.4 Partially changed. Section 3.6 Partially changed. Section 3.7 Partially changed. Section 3.10 Partially changed. Section 3.11 Partially changed. Section 4.5.9 POINT is partially changed. Section 5.1.3 Partially added. Section 5.2 Partially added and partially changed. Section 6.4 Partially changed. Section 7.1.5 (3) Partially changed. Section 7.2.4 (3) Partially changed. Section 7.3.2 POINT is partially changed. Section 7.5 POINT is partially changed. Chapter 8 Partially changed. Section 9.1 The diagrams are changed. Section 10.2 Partially changed. Section 10.3 POINT is changed. Section 10.5 Partially changed. Section 11.1.2 Partially changed. Section 11.2.3 Partially changed. Section 11.2.5 Added. Section 11.5.2 (3) Partially changed. Section 11.7 Partially changed. Section 11.11 Partially changed. Section 11.16 (2) Partially added and partially changed. Section 11.17 POINT is partially changed. Section 11.17 (3) Partially changed. Section 11.19 Added. Section 13.2.2 (2) Partially changed. Section 14.3.2 (4) Partially changed. Section 14.4.1 Partially added and partially changed. Section 14.5.2 (1) Partially changed. Section 14.5.3 (6) Added. Section 14.5.10 Partially added and partially changed. Section 14.5.12 Added. Section 14.5.13 Added. Section 15.3.2 (1) Partially changed. Section 15.3.2 (3) POINT is added. Section 15.3.3 POINT is partially changed. Section 15.4.3 POINT is changed. Section 16.3.1 (1) Partially changed. Section 16.5.3 POINT is changed. Chapter 17 POINT is added. Section 17.2 Partially added and partially changed. Section 17.3.1 (5) Partially changed. Section 18.1.7 Partially changed. Section 18.3.2 (1) (b) Partially changed. Section 18.5.3 (3) Partially changed. Section 18.5.10 POINT is partially changed. Section 18.6 The diagram is changed. Section 19.5.3 (5) (a) Partially changed. Appendix. 1 Partially added and partially changed.
Revision Date *Manual Number Revision
Sep. 2021 SH(NA)030107ENG-T Appendix. 3 Partially changed. Appendix. 4 Partially added and partially changed. Appendix. 7.4 Partially added and partially changed. Appendix. 8 Partially changed. Appendix. 10.1.3 Partially changed. Appendix. 13.4 Partially changed. Appendix. 15 Partially added and partially changed. Appendix. 16 Added.
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
2012 MITSUBISHI ELECTRIC CORPORATION
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan 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] For terms of warranty, please contact your original place of purchase.
[Limitations] (1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product (1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or
malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any failure or malfunction occurs.
(2) Our 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)030107ENG-T
SH(NA)-030107ENG-T(2109)MEE MODEL: MR-J4-A INSTRUCTIONMANUAL MODEL CODE: 1CW804
Specifications are subject to change without notice.
When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permissi
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