Contents

Mitsubishi Electric MRJ4W2B, MRJ4W3B, MRJ4W20303B6 Instruction Manual PDF

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Summary of Content for Mitsubishi Electric MRJ4W2B, MRJ4W3B, MRJ4W20303B6 Instruction Manual PDF

SH(NA)030105ENG-M(1710)MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.

MODEL

MODEL CODE

General-Purpose AC Servo

M R-J4W

2-_B/M R-J4W

3-_B/M R-J4W

2-0303B6 SERVO AM

PLIFIER INSTRUCTIO N M

ANUAL

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MODEL

MR-J4W2-_B MR-J4W3-_B MR-J4W2-0303B6 SERVO AMPLIFIER INSTRUCTION MANUAL

SSCNET /H Interface Multi-axis AC Servo

1CW806

MR-J4W-B INSTRUCTIONMANUAL

M

M

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. 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.

Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power

supply and the main circuit power supply (L1/L2/L3) of the servo amplifier (including converter unit), in

order to configure a circuit that shuts down the power supply on the side of the servo 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. Otherwise, a regenerative

transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible

matter from entering the servo amplifier and servo motor.

3. To prevent injury, note the following

CAUTION Only the 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.

A - 3

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 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 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)

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.

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.

When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used

for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering

our products. Please take necessary precautions to ensure that remaining materials from fumigant do not

enter our products, or treat packaging with methods other than fumigation, such as heat treatment.

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

To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and

wire the servo motor in accordance with the Instruction Manual.

A - 4

(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) 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

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

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 an encoder of wrong axis to the CN2A, CN2B, or CN2C connector may cause a malfunction.

Connecting a servo motor of the wrong axis to the CNP3A, CNP3B, or CN3C connector may cause a

malfunction.

Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an

unexpected restart of the servo amplifier.

To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running

them in parallel to each other. Separate the power lines from the signal cables.

A - 5

(3) Test run and adjustment

CAUTION When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may

cause a malfunction, damage to the machine, or injury.

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

to operate unexpectedly.

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

unstable.

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

(4) Usage

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

For equipment in which the moving part of the machine may collide against the load side, install a limit

switch or stopper to the end of the moving part. The machine may be damaged due to a collision.

Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury,

etc. Disassembled, repaired, and/or modified products are not covered under warranty.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a

sudden restart. Otherwise, it may cause an accident.

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

interference may affect the electronic equipment used near the servo amplifier.

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

Use the servo amplifier with the specified servo motor.

Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may

cause an electric shock, fire, injury, etc.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be

used for ordinary braking.

For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and

the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft.

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

If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an

external force. Otherwise, it may cause a fire.

A - 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 CALM (AND 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

STO function of the servo amplifier

The servo amplifier complies with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety

standard. Refer to app. 15 for schedule.

When using the STO function of the servo amplifier, refer to chapter 13.

For the MR-J3-D05 safety logic unit, refer to app. 5.

Compliance with global standards

For the compliance with global standards, refer to app. 4.

About the manuals

You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare

them to use the servo safely.

When using an MR-J4W2-0303B6, refer to chapter 18.

Relevant manuals

Manual name Manual No.

MELSERVO-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

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.

A - 8

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 1-14

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

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

1.3 Servo amplifier standard specifications ............................................................................................ 1- 4

1.3.1 Integrated 2-axis servo amplifier ................................................................................................ 1- 4

1.3.2 Integrated 3-axis servo amplifier ................................................................................................ 1- 6

1.3.3 Combinations of servo amplifiers and servo motors .................................................................. 1- 8

1.4 Function list ...................................................................................................................................... 1-10

1.5 Model designation ............................................................................................................................ 1-12

1.6 Parts identification ............................................................................................................................ 1-13

1.7 Configuration including auxiliary equipment .................................................................................... 1-14

2. INSTALLATION 2- 1 to 2- 8

2.1 Installation direction and clearances ................................................................................................ 2- 1

2.2 Keep out foreign materials ................................................................................................................ 2- 3

2.3 Encoder cable stress ........................................................................................................................ 2- 3

2.4 SSCNET III cable laying ................................................................................................................... 2- 3

2.5 Inspection items ................................................................................................................................ 2- 5

2.6 Parts having service life .................................................................................................................... 2- 6

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

above sea level ................................................................................................................................. 2- 7

3. SIGNALS AND WIRING 3- 1 to 3-38

3.1 Input power supply circuit ................................................................................................................. 3- 2

3.2 I/O signal connection example .......................................................................................................... 3- 5

3.2.1 For sink I/O interface .................................................................................................................. 3- 5

3.2.2 For source I/O interface ............................................................................................................. 3- 7

3.3 Explanation of power supply system ................................................................................................ 3- 8

3.3.1 Signal explanations .................................................................................................................... 3- 8

3.3.2 Power-on sequence .................................................................................................................. 3-10

3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-11

3.4 Connectors and pin assignment ...................................................................................................... 3-13

3.5 Signal (device) explanations ............................................................................................................ 3-14

3.5.1 Input device ............................................................................................................................... 3-14

3.5.2 Output device ............................................................................................................................ 3-15

3.5.3 Output signal ............................................................................................................................. 3-18

3.5.4 Power supply ............................................................................................................................. 3-18

3.6 Forced stop deceleration function ................................................................................................... 3-19

3.6.1 Forced stop deceleration function ............................................................................................. 3-19

3.6.2 Base circuit shut-off delay time function ................................................................................... 3-21

3.6.3 Vertical axis freefall prevention function ................................................................................... 3-22

3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-22

3.7 Alarm occurrence timing chart ......................................................................................................... 3-23

3.7.1 When you use the forced stop deceleration function ................................................................ 3-23

3.7.2 When you do not use the forced stop deceleration function ..................................................... 3-25

3.8 Interfaces ......................................................................................................................................... 3-26

2

3.8.1 Internal connection diagram ...................................................................................................... 3-26

3.8.2 Detailed description of interfaces .............................................................................................. 3-27

3.8.3 Source I/O interfaces ................................................................................................................ 3-28

3.9 SSCNET III cable connection .......................................................................................................... 3-29

3.10 Servo motor with an electromagnetic brake .................................................................................. 3-31

3.10.1 Safety precautions .................................................................................................................. 3-31

3.10.2 Timing chart ............................................................................................................................ 3-33

3.11 Grounding ...................................................................................................................................... 3-38

4. STARTUP 4- 1 to 4-20

4.1 Switching power on for the first time ................................................................................................. 4- 2

4.1.1 Startup procedure ...................................................................................................................... 4- 2

4.1.2 Wiring check ............................................................................................................................... 4- 3

4.1.3 Surrounding environment ........................................................................................................... 4- 4

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

4.3 Switch setting and display of the servo amplifier .............................................................................. 4- 6

4.3.1 Switches ..................................................................................................................................... 4- 6

4.3.2 Scrolling display ........................................................................................................................ 4-11

4.3.3 Status display of an axis ........................................................................................................... 4-12

4.4 Test operation .................................................................................................................................. 4-14

4.5 Test operation mode ........................................................................................................................ 4-14

4.5.1 Test operation mode in MR Configurator2 ................................................................................ 4-15

4.5.2 Motor-less operation in controller .............................................................................................. 4-17

5. PARAMETERS 5- 1 to 5-56

5.1 Parameter list .................................................................................................................................... 5- 2

5.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 5- 3

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 4

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

5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 7

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 5- 8

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-10

5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-11

5.2 Detailed list of parameters ............................................................................................................... 5-13

5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 5-13

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-23

5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-37

5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-44

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

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-50

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

6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-28

6.1 Different adjustment methods ........................................................................................................... 6- 1

6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1

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

3

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

6.2.3 Caution for one-touch tuning ..................................................................................................... 6-17

6.3 Auto tuning ....................................................................................................................................... 6-18

6.3.1 Auto tuning mode ...................................................................................................................... 6-18

6.3.2 Auto tuning mode basis ............................................................................................................. 6-19

6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-20

6.3.4 Response level setting in auto tuning mode ............................................................................. 6-21

6.4 Manual mode ................................................................................................................................... 6-22

6.5 2 gain adjustment mode .................................................................................................................. 6-25

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-32

7.1 Filter setting ...................................................................................................................................... 7- 1

7.1.1 Machine resonance suppression filter ....................................................................................... 7- 2

7.1.2 Adaptive filter II ........................................................................................................................... 7- 5

7.1.3 Shaft resonance suppression filter ............................................................................................. 7- 7

7.1.4 Low-pass filter ............................................................................................................................ 7- 8

7.1.5 Advanced vibration suppression control II ................................................................................. 7- 8

7.1.6 Command notch filter ................................................................................................................ 7-13

7.2 Gain switching function .................................................................................................................... 7-15

7.2.1 Applications ............................................................................................................................... 7-15

7.2.2 Function block diagram ............................................................................................................. 7-16

7.2.3 Parameter .................................................................................................................................. 7-17

7.2.4 Gain switching procedure ......................................................................................................... 7-20

7.3 Tough drive function ........................................................................................................................ 7-24

7.3.1 Vibration tough drive function.................................................................................................... 7-24

7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-26

7.4 Compliance with SEMI-F47 standard .............................................................................................. 7-30

7.5 Model adaptive control disabled ...................................................................................................... 7-32

8. TROUBLESHOOTING 8- 1 to 8-16

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

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

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

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

9. DIMENSIONS 9- 1 to 9- 6

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

9.2 Connector ......................................................................................................................................... 9- 4

10. CHARACTERISTICS 10- 1 to 10-10

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

10.2 Power supply capacity and generated loss .................................................................................. 10- 2

10.3 Dynamic brake characteristics ...................................................................................................... 10- 5

10.3.1 Dynamic brake operation ....................................................................................................... 10- 6

10.3.2 Permissible load to motor inertia when the dynamic brake is used ....................................... 10- 8

10.4 Cable bending life ......................................................................................................................... 10- 9

10.5 Inrush currents at power-on of main circuit and control circuit ..................................................... 10- 9

4

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-46

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

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

11.1.2 SSCNET III cable ................................................................................................................... 11- 4

11.1.3 Battery cable/junction battery cable ....................................................................................... 11- 6

11.1.4 MR-D05UDL3M-B STO cable ................................................................................................ 11- 7

11.2 Regenerative options .................................................................................................................... 11- 7

11.2.1 Combination and regenerative power .................................................................................... 11- 7

11.2.2 Selection of regenerative option ............................................................................................ 11- 8

11.2.3 Parameter setting .................................................................................................................. 11-10

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

11.2.5 Dimensions ........................................................................................................................... 11-12

11.3 Battery .......................................................................................................................................... 11-13

11.3.1 Selection of battery ............................................................................................................... 11-13

11.3.2 MR-BAT6V1SET-A battery ................................................................................................... 11-14

11.3.3 MR-BT6VCASE battery case ................................................................................................ 11-17

11.3.4 MR-BAT6V1 battery .............................................................................................................. 11-23

11.4 MR Configurator2 ........................................................................................................................ 11-24

11.4.1 Specifications ........................................................................................................................ 11-24

11.4.2 System configuration ............................................................................................................. 11-25

11.4.3 Precautions for using USB communication function ............................................................. 11-26

11.5 Selection example of wires .......................................................................................................... 11-27

11.6 Molded-case circuit breakers, fuses, magnetic contactors ......................................................... 11-29

11.7 Power factor improving AC reactors ............................................................................................ 11-31

11.8 Relays (recommended) ............................................................................................................... 11-32

11.9 Noise reduction techniques ......................................................................................................... 11-32

11.10 Earth-leakage current breaker ................................................................................................... 11-39

11.11 EMC filter (recommended) ........................................................................................................ 11-42

11.12 Junction terminal block MR-TB26A ........................................................................................... 11-45

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 4

12.1 Summary ....................................................................................................................................... 12- 1

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

12.1.2 Structure ................................................................................................................................. 12- 1

12.1.3 Parameter setting ................................................................................................................... 12- 1

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

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

12.2.1 Using MR-BAT6V1SET battery (only for MR-J4W2-0303B6) ............................................... 12- 3

12.2.2 Using MR-BT6VCASE battery case ....................................................................................... 12- 4

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

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

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

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

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

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

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

13.1.6 Maintenance ........................................................................................................................... 13- 4

5

13.2 STO I/O signal connector (CN8) and signal layouts ..................................................................... 13- 4

13.2.1 Signal layouts ......................................................................................................................... 13- 4

13.2.2 Signal (device) explanations .................................................................................................. 13- 5

13.2.3 How to pull out the STO cable ............................................................................................... 13- 5

13.3 Connection example ..................................................................................................................... 13- 6

13.3.1 Connection example for CN8 connector ................................................................................ 13- 6

13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit .................... 13- 7

13.3.3 External I/O signal connection example using an external safety relay unit ......................... 13- 9

13.3.4 External I/O signal connection example using a motion controller ....................................... 13-10

13.4 Detailed description of interfaces ................................................................................................ 13-11

13.4.1 Sink I/O interface ................................................................................................................... 13-11

13.4.2 Source I/O interface .............................................................................................................. 13-12

14. USING A LINEAR SERVO MOTOR 14- 1 to 14-32

14.1 Functions and configuration ......................................................................................................... 14- 1

14.1.1 Summary ................................................................................................................................ 14- 1

14.1.2 Servo system with auxiliary equipment .................................................................................. 14- 2

14.2 Signals and wiring ......................................................................................................................... 14- 3

14.3 Operation and functions ................................................................................................................ 14- 5

14.3.1 Startup .................................................................................................................................... 14- 5

14.3.2 Magnetic pole detection ......................................................................................................... 14- 8

14.3.3 Home position return ............................................................................................................. 14-16

14.3.4 Test operation mode in MR Configurator2 ............................................................................ 14-20

14.3.5 Operation from controller ...................................................................................................... 14-23

14.3.6 Function................................................................................................................................. 14-25

14.3.7 Absolute position detection system ....................................................................................... 14-27

14.4 Characteristics ............................................................................................................................. 14-28

14.4.1 Overload protection characteristics ...................................................................................... 14-28

14.4.2 Power supply capacity and generated loss .......................................................................... 14-29

14.4.3 Dynamic brake characteristics .............................................................................................. 14-31

14.4.4 Permissible load to motor mass ratio when the dynamic brake is used ............................... 14-32

15. USING A DIRECT DRIVE MOTOR 15- 1 to 15-24

15.1 Functions and configuration ......................................................................................................... 15- 1

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

15.1.2 Servo system with auxiliary equipment .................................................................................. 15- 3

15.2 Signals and wiring ......................................................................................................................... 15- 4

15.3 Operation and functions ................................................................................................................ 15- 5

15.3.1 Startup procedure .................................................................................................................. 15- 6

15.3.2 Magnetic pole detection ......................................................................................................... 15- 7

15.3.3 Operation from controller ...................................................................................................... 15-15

15.3.4 Function................................................................................................................................. 15-16

15.4 Characteristics ............................................................................................................................. 15-18

15.4.1 Overload protection characteristics ...................................................................................... 15-18

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

15.4.3 Dynamic brake characteristics .............................................................................................. 15-21

6

16. FULLY CLOSED LOOP SYSTEM 16- 1 to 16-24

16.1 Functions and configuration ......................................................................................................... 16- 1

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

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

16.1.3 System configuration .............................................................................................................. 16- 4

16.2 Load-side encoder ........................................................................................................................ 16- 5

16.2.1 Linear encoder ....................................................................................................................... 16- 5

16.2.2 Rotary encoder ....................................................................................................................... 16- 5

16.2.3 Configuration diagram of encoder cable ................................................................................ 16- 5

16.2.4 MR-J4FCCBL03M branch cable ............................................................................................ 16- 6

16.3 Operation and functions ................................................................................................................ 16- 7

16.3.1 Startup .................................................................................................................................... 16- 7

16.3.2 Home position return ............................................................................................................. 16-14

16.3.3 Operation from controller ...................................................................................................... 16-17

16.3.4 Fully closed loop control error detection functions................................................................ 16-19

16.3.5 Auto tuning function .............................................................................................................. 16-20

16.3.6 Machine analyzer function .................................................................................................... 16-20

16.3.7 Test operation mode ............................................................................................................. 16-20

16.3.8 Absolute position detection system under fully closed loop system ..................................... 16-21

16.3.9 About MR Configurator2 ....................................................................................................... 16-22

17. APPLICATION OF FUNCTIONS 17- 1 to 17-72

17.1 J3 compatibility mode ................................................................................................................... 17- 1

17.1.1 Outline of J3 compatibility mode ............................................................................................ 17- 1

17.1.2 Operation modes supported by J3 compatibility mode .......................................................... 17- 1

17.1.3 J3 compatibility mode supported function list ........................................................................ 17- 2

17.1.4 How to switch J4 mode/J3 compatibility mode ...................................................................... 17- 5

17.1.5 How to use the J3 compatibility mode ................................................................................... 17- 6

17.1.6 Cautions for switching J4 mode/J3 compatibility mode ......................................................... 17- 7

17.1.7 Cautions for the J3 compatibility mode .................................................................................. 17- 7

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

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

17.2 Scale measurement function ....................................................................................................... 17-65

17.2.1 Functions and configuration .................................................................................................. 17-65

17.2.2 Scale measurement encoder ................................................................................................ 17-67

17.2.3 How to use scale measurement function .............................................................................. 17-70

18. MR-J4W2-0303B6 SERVO AMPLIFIER 18- 1 to 18-54

18.1 Functions and configuration ......................................................................................................... 18- 1

18.1.1 Summary ................................................................................................................................ 18- 1

18.1.2 Function block diagram .......................................................................................................... 18- 2

18.1 3 Servo amplifier standard specifications ................................................................................. 18- 3

18.1.4 Combinations of servo amplifiers and servo motors .............................................................. 18- 4

18.1.5 Function list ............................................................................................................................ 18- 5

18.1.6 Model definition ...................................................................................................................... 18- 7

18.1.7 Parts identification .................................................................................................................. 18- 8

18.1.8 Configuration including peripheral equipment ....................................................................... 18- 9

18.2 Installation .................................................................................................................................... 18-10

7

18.2.1 Installation direction and clearances ..................................................................................... 18-11

18.2.2 Installation by DIN rail ........................................................................................................... 18-13

18.3 Signals and wiring ........................................................................................................................ 18-15

18.3.1 Input power supply circuit ..................................................................................................... 18-16

18.3.2 Explanation of power supply system ..................................................................................... 18-18

18.3.3 Selection of main circuit power supply/control circuit power supply ..................................... 18-22

18.3.4 Power-on sequence .............................................................................................................. 18-22

18.3.5 I/O Signal Connection Example ............................................................................................ 18-23

18.3.6 Connectors and pin assignment ........................................................................................... 18-26

18.3.7 Signal (device) explanations ................................................................................................. 18-27

18.3.8 Alarm occurrence timing chart .............................................................................................. 18-34

18.3.9 Interfaces .............................................................................................................................. 18-36

18.3.10 Grounding ........................................................................................................................... 18-39

18.4 Startup ......................................................................................................................................... 18-40

18.4.1 Startup procedure ................................................................................................................. 18-41

18.4.2 Troubleshooting when "24V ERROR" lamp turns on ............................................................ 18-42

18.4.3 Wiring check .......................................................................................................................... 18-42

18.4.4 Surrounding environment ...................................................................................................... 18-43

18.5 Switch setting and display of the servo amplifier ......................................................................... 18-44

18.6 Dimensions .................................................................................................................................. 18-45

18.7 Characteristics ............................................................................................................................. 18-46

18.7.1 Overload protection characteristics ...................................................................................... 18-46

18.7.2 Power supply capacity and generated loss .......................................................................... 18-47

18.7.3 Dynamic brake characteristics .............................................................................................. 18-47

18.7.4 Inrush currents at power-on of main circuit and control circuit ............................................. 18-49

18.8 Options and peripheral equipment .............................................................................................. 18-50

18.8.1 Cable/connector sets ............................................................................................................ 18-51

18.8.2 Combinations of cable/connector sets .................................................................................. 18-51

18.8.3 Selection example of wires ................................................................................................... 18-53

18.8.4 Circuit protector ..................................................................................................................... 18-54

APPENDIX App.- 1 to App.-59

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

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

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

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

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

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

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

App. 7 How to replace servo amplifier without magnetic pole detection ......................................... App.-42

App. 8 Two-wire type encoder cable for HG-MR/HG-KR ................................................................ App.-43

App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System &

Service ................................................................................................................................. App.-45

App. 10 CNP_crimping connector ..................................................................................................... App.-45

App. 11 Recommended cable for servo amplifier power supply ....................................................... App.-46

App. 12 Special specification ............................................................................................................. App.-48

App. 13 Driving on/off of main circuit power supply with DC power supply ...................................... App.-51

App. 14 Optional data monitor function ............................................................................................. App.-53

App. 15 STO function with SIL 3 certification .................................................................................... App.-56

8

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

directive ................................................................................................................................ App.-58

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-J4W2-0303B6. Refer

to chapter 18 for details of MR-J4W2-0303B6 servo amplifiers.

1.1 Summary

The MELSERVO-J4 series of multi-axis servo amplifiers inherits the high performance, sophisticated

functions, and usability of the MR-J4-B servo amplifiers, and ensures space saving, reduced wiring, and

energy saving.

The MR-J4W_-B servo amplifier is connected to controllers, including a servo system controller, on the high-

speed synchronous network, SSCNET III/H. The servo amplifier directly receives a command from a

controller to drive a servo motor.

One MR-J4W_-B servo amplifier can drive two or three servo motors. The footprint of one MR-J4W_-B servo

amplifier is considerably smaller than that of two or three MR-J4-B servo amplifiers. You can install MR-

J4W_-B servo amplifiers without clearance between them. This makes your system more compact.

The multi-axis structure enables multiple axes to share the SSCNET III cable, control circuit power supply

cable, and main circuit power supply cable. This ensures reduced wiring.

For the MR-J4W_-B servo amplifier, the parameter settings allows you to use a rotary servo motor, linear

servo motor, and direct drive motor for each axis. The axes can be connected to a rotary servo motor, linear

servo motor, and direct drive motor, which have different capacity. Using a linear servo motor or direct drive

motor simplifies the system, and using the MR-J4W_-B servo amplifier downsizes the equipment, enhances

the equipment performance, and ensures space saving.

Using regenerative energy generated when a servo motor decelerates ensures energy saving.

Depending on the operating conditions, the regenerative option is not required.

As the MR-J4-B servo amplifier, the MR-J4W_-B servo amplifier supports the one-touch tuning and the real-

time auto tuning. This enables you to easily adjust the servo gain according to the machine.

The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN

series, have been improved. The MR-J4W_-B servo amplifier supports the improved functions. Additionally,

the preventive maintenance support function detects an error in the machine parts. This function provides

strong support for the machine maintenance and inspection.

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

This allows you to create a large system.

The MR-J4W_-B servo amplifier supports the STO (Safe Torque Off) function. When the servo amplifier is

connected to a SSCNET III/H-compatible servo system controller, in addition to the STO function, the servo

amplifier also supports the SS1 (Safe Stop 1), SS2 (Safe Stop 2), SOS (Safe Operating Stop), SLS (Safely-

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

The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to

the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain

adjustment, and others.

1. FUNCTIONS AND CONFIGURATION

1 - 2

Table 1.1 Connectors to connect external encoders

Operation mode External encoder communication method Connector

MR-J4W2-_B MR-J4W3-_B

Linear servo motor system

Two-wire type CN2A (Note 1) CN2B (Note 1)

CN2A (Note 1) CN2B (Note 1) CN2C (Note 1) Four-wire type

A/B/Z-phase differential output method

Fully closed loop system

Two-wire type CN2A (Note 2, 3, 4) CN2B (Note 2, 3, 4)

Four-wire type (Note 6)

A/B/Z-phase differential output method

Scale measurement function

Two-wire type CN2A (Note 2, 3, 5) CN2B (Note 2, 3, 5)

Four-wire type (Note 6)

A/B/Z-phase differential output method

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

2. The MR-J4FCCBL03M branch cable is necessary.

3. When the communication method of the servo motor encoder is four-wire type and A/B/Z-phase differential output

method, MR-J4W2-_B cannot be used. Use an MR-J4-_B-RJ.

4. This is used with servo amplifiers with software version A3 or later.

5. This is used with servo amplifiers with software version A8 or later.

6. The synchronous encoder Q171ENC-W8 cannot be used due to the four-wire type.

1. FUNCTIONS AND CONFIGURATION

1 - 3

1.2 Function block diagram

The function block diagram of this servo is shown below.

Virtual encoder

Virtual motor

B-axis Servo motor

A-axis Servo motor

C-axis Servo motor

Control (A-axis)

U

V

W

U

V

W

U

V

W

Cooling fan (Note 1)

Built-in regenerative resistor

STO circuit

Servo amplifier or cap

Servo system controller or

servo amplifier

STO switch

M

E

M

E

M

E

Regenerative option

CHARGE lamp

Diode stack

Relay

Regene- rative TR

Current detector

C N

P 1

TRM (A)

CNP2 P+ C D

MCCB MC

(Note 2) Power supply

Model position control (A)

Model speed control (A)

Actual position control (A)

Actual speed control (A)

Current control (A)

C N

P 2 Control

circuit power supply

Base amplifier

Overcurrent (A)

Current detection

(A) Overvoltage

I/F Control

Dynamic brake circuit (A)

C N

P 3

A C

N 2

A C

N P

3 B

C N

2 B

C N

P 3

C C

N 2

C

A-axis output

B-axis output

C-axis output

A-axis F/B

B-axis F/B

C-axis F/B

Control (B-axis)

Control (C-axis)

L1

L2

L3

L11

L21

C N

8 C

N 1

A C

N 1

B

+

+ U

U U

CN5

USB

Personal computer

Digital I/O control

MR-BT6VCASE

Battery case + Battery (for absolute position detection system)

Step-down circuit

CN3

C N

4

Note 1. The MR-J4W2-22B has no cooling fan.

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

specifications, refer to section 1.3.

1. FUNCTIONS AND CONFIGURATION

1 - 4

1.3 Servo amplifier standard specifications

1.3.1 Integrated 2-axis servo amplifier

Model MR-J4W2- 22B 44B 77B 1010B

Output

Rated voltage 3-phase 170 V AC

Rated current (each axis) [A]

1.5 2.8 5.8 6.0

Main circuit power supply input

Voltage/Frequency 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase 200 V AC to

240 V AC, 50 Hz/60 Hz

Rated current (Note 11) [A]

2.9 5.2 7.5 9.8

Permissible voltage fluctuation

3-phase or 1-phase 170 V AC to 264 V AC 3-phase 170 V AC to

264 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 200 V AC to 240 V AC, 50 Hz/60 Hz

Control circuit power supply input

Rated current [A] 0.4

Permissible voltage fluctuation

1-phase 170 V AC to 264 V AC

Permissible frequency fluctuation

Within 5%

Power consumption [W]

55

Inrush current [A] Refer to section 10.5.

Interface power supply

Voltage 24 V DC 10%

Power supply capacity

0.35 A (Note 1)

Control method Sine-wave PWM control, current control method

Capacitor regeneration

Reusable regenerative energy (Note 2) [J]

17 21 44

Moment of inertia J equivalent to the permissible charging amount (Note 3)

[ 10-4 kg m2]

3.45 4.26 8.92

Mass equivalent to the permissible charging amount (Note 4) [kg]

LM-H3 3.8 4.7 9.8

LM-K2 LM-U2

8.5 10.5 22.0

Built-in regenerative resistance [W] 20 100

Dynamic brake Built-in

SSCNET III/H command communication cycle (Note 9)

0.222 ms, 0.444 ms, 0.888 ms

Communication function USB: Connect a personal computer (MR Configurator2 compatible)

Encoder output pulse Compatible (A/B-phase pulse)

Analog monitor None

Fully closed loop control Compatible (Note 8)

Scale measurement function Compatible (Note 10)

Load-side encoder interface Mitsubishi Electric high-speed serial communication (Note 6)

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

1. FUNCTIONS AND CONFIGURATION

1 - 5

Model MR-J4W2- 22B 44B 77B 1010B

Functional safety STO (IEC/EN 61800-5-2) (Note 7)

Safety performance

Standards certified by CB (Note 12)

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2

Response performance

8 ms or less (STO input off energy shut off)

Test pulse input (STO) (Note 5)

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)

Diagnosis converge (DC)

DC = Medium, 97.6 [%]

Average probability of dangerous failures per hour (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, EN 61800-5-2, EN 62061

UL standard UL 508C

Structure (IP rating) Natural cooling, open

(IP20) Force cooling, open (IP20)

Close mounting 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), free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 2000 m or less above sea level (Note 13)

Vibration 5.9 m/s2 or less at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Mass [kg] 1.5 2.0 Note 1. 0.35 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points. 2. Reusable regenerative energy corresponds to energy generated under the following conditions.

Rotary servo motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the permissible charging amount, decelerates from the rated speed to stop. Linear servo motor: Regenerative energy is generated when the machine, whose mass is equivalent to the permissible

charging amount, decelerates from the maximum speed to stop. Direct drive motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the

permissible charging amount, decelerates from the rated speed to stop. 3. Moment of inertia when the motor decelerates from the rated speed to stop

Moment of inertia for two axes when two motors decelerate simultaneously Moment of inertia for each axis when multiple motors do not decelerate simultaneously The values also apply to the direct drive motor.

4. Mass when the machine decelerates from the maximum speed to stop The primary-side (coil) mass is included. Mass for two axes when two motors decelerate simultaneously Mass for each axis when multiple motors do not decelerate simultaneously

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

6. The load-side encoder is compatible only with two-wire type communication method. Not compatible with pulse train interface (A/B/Z-phase differential output type).

7. STO is common for all axes. 8. Fully closed loop control is compatible with the servo amplifiers with software version A3 or later.

Check the software version of the servo amplifier using MR Configurator2. 9. The command communication cycle depends on the controller specifications and the number of axes connected. 10. The scale measurement function is available for the MR-J4W2-_B servo amplifiers of software version A8 or later. Check the

software version of the servo amplifier with MR Configurator2. 11. This value is applicable when a 3-phase power supply is used. 12. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input

diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6. 13. Follow the restrictions in section 2.7 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.

1. FUNCTIONS AND CONFIGURATION

1 - 6

1.3.2 Integrated 3-axis servo amplifier

Model MR-J4W3- 222B 444B

Output

Rated voltage 3-phase 170 V AC

Rated current (each axis) [A]

1.5 2.8

Main circuit power supply input

Power supply /Frequency

3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

Rated current (Note 9) [A]

4.3 7.8

Permissible voltage fluctuation

3-phase or 1-phase 170 V AC to 264 V AC, 50 Hz/60 Hz

Permissible frequency fluctuation

Within 5%

Power supply capacity [kVA]

Refer to section 10.2.

Inrush current [A] Refer to section 10.5.

Power supply /Frequency

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

Rated current [A] 0.4

Control circuit power supply input

Permissible voltage fluctuation

1-phase 170 V AC to 264 V AC

Permissible frequency fluctuation

Within 5%

Power consumption

[W] 55

Inrush current [A] Refer to section 10.5.

Interface power supply

Voltage/Frequency 24 V DC 10%

Power supply capacity

0.45 A (Note 1)

Control method Sine-wave PWM control, current control method

Capacitor regeneration

Reusable regenerative energy (Note 2) [J]

21 30

Moment of inertia J equivalent to the permissible charging amount (Note 3)

[ 10-4 kg m2]

4.26 6.08

Mass equivalent to the permissible charging amount (Note 4) [kg]

LM-H3 4.7 6.7

LM-K2 LM-U2

10.5 15.0

Built-in regenerative resistance [W] 30 100

Dynamic brake Built-in

SSCNET III/H command communication cycle (Note 7)

0.222 ms (Note 8), 0.444 ms, 0.888 ms

Communication function USB: Connect a personal computer (MR Configurator2 compatible)

Encoder output pulse Not compatible

Analog monitor None

Fully closed loop control Not compatible

Scale measurement function Not compatible

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

1. FUNCTIONS AND CONFIGURATION

1 - 7

Model MR-J4W3- 222B 444B

Functional safety STO (IEC/EN 61800-5-2) (Note 6)

Safety performance

Standards certified by CB (Note 10)

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2

Response performance

8 ms or less (STO input off energy shut off)

Test pulse input (STO) (Note 5)

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)

Diagnosis converge (DC)

DC = Medium, 97.6 [%]

Average probability of dangerous failures per hour (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, EN 61800-5-2, EN 62061

UL standard UL 508C

Structure (IP rating) Force cooling, open (IP20)

Close mounting 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), free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 2000 m or less above sea level (Note 11)

Vibration 5.9 m/s2 or less at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Mass [kg] 1.9 Note 1. 0.45 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. Reusable regenerative energy corresponds to energy generated under the following conditions.

Rotary servo motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the

permissible charging amount, decelerates from the rated speed to stop.

Linear servo motor: Regenerative energy is generated when the machine, whose mass is equivalent to the permissible

charging amount, decelerates from the maximum speed to stop.

Direct drive motor: Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the

permissible charging amount, decelerates from the rated speed to stop.

3. Moment of inertia when the machine decelerates from the rated speed to stop

Moment of inertia for three axes when three motors decelerate simultaneously

Moment of inertia for each axis when multiple motors do not decelerate simultaneously

The values also apply to the direct drive motor.

4. Mass when the machine decelerates from the maximum speed to stop

The primary-side (coil) mass is included.

Mass for three axes when three motors decelerate simultaneously

Mass for each axis when multiple motors do not decelerate simultaneously

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

self-diagnose.

6. STO is common for all axes.

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

8. Servo amplifier with software version A3 or later is compatible with the command communication cycle of 0.222 ms. However,

note that the following functions are not available when 0.222 ms is used: auto tuning (real time, one-touch, and vibration

suppression control), adaptive filter II, vibration tough drive, and power monitoring.

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

10. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input

diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.

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

1. FUNCTIONS AND CONFIGURATION

1 - 8

1.3.3 Combinations of servo amplifiers and servo motors

(1) MR-J4W2-_B servo amplifier

Servo amplifier Rotary servo motor Linear servo motor

(primary side) Direct drive motor

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

MR-J4W2-22B

053 13 23

053 13 23

LM-U2PAB-05M-0SS0 LM-U2PBB-07M-1SS0

TM-RFM002C20 TM-RG2M002C30 (Note 1) TM-RU2M002C30 (Note 1) TM-RG2M004E30 (Note 1) TM-RU2M004E30 (Note 1)

MR-J4W2-44B

053 13 23 43

053 13 23 43

LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAB-05M-0SS0 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0 LM-U2PBB-07M-1SS0

TM-RFM002C20 TM-RFM004C20 TM-RG2M002C30 (Note 1) TM-RU2M002C30 (Note 1) TM-RG2M004E30 (Note 1, 2) TM-RU2M004E30 (Note 1, 2) TM-RG2M009G30 (Note 1) TM-RU2M009G30 (Note 1)

MR-J4W2-77B

43 73

43 73

51 52

72 53 73

LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-H3P3B-24P-CSS0 LM-H3P3C-36P-CSS0 LM-H3P7A-24P-ASS0 LM-K2P1A-01M-2SS1 LM-K2P2A-02M-1SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0 LM-U2PBD-15M-1SS0 LM-U2PBF-22M-1SS0

TM-RFM004C20 TM-RFM006C20 TM-RFM006E20 TM-RFM012E20 TM-RFM012G20 TM-RFM040J10

MR-J4W2-1010B

43 73

43 73

51 81 52

102

72 53 (Note 3)

73 103

LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-H3P3B-24P-CSS0 LM-H3P3C-36P-CSS0 LM-H3P7A-24P-ASS0 LM-K2P1A-01M-2SS1 LM-K2P2A-02M-1SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0 LM-U2PBD-15M-1SS0 LM-U2PBF-22M-1SS0

TM-RFM004C20 TM-RFM006C20 TM-RFM006E20 TM-RFM012E20 TM-RFM018E20 TM-RFM012G20 TM-RFM040J10

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

2. This combination increases the maximum torque of the servo motor to 400%.

3. The combination increases the rated torque and the maximum torque.

1. FUNCTIONS AND CONFIGURATION

1 - 9

(2) MR-J4W3-_B servo amplifier

Servo amplifier Rotary servo motor Linear servo motor

(primary side) Direct drive motor

HG-KR HG-MR

MR-J4W3-222B

053 13 23

053 13 23

LM-U2PAB-05M-0SS0 LM-U2PBB-07M-1SS0

TM-RFM002C20 TM-RG2M002C30 (Note 1) TM-RU2M002C30 (Note 1) TM-RG2M004E30 (Note 1) TM-RU2M004E30 (Note 1)

MR-J4W3-444B

053 13 23 43

053 13 23 43

LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAB-05M-0SS0 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0 LM-U2PBB-07M-1SS0

TM-RFM002C20 TM-RFM004C20 TM-RG2M002C30 (Note 1) TM-RU2M002C30 (Note 1) TM-RG2M004E30 (Note 1, 2) TM-RU2M004E30 (Note 1, 2) TM-RG2M009G30 (Note 1) TM-RU2M009G30 (Note 1)

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

2. This combination increases the maximum torque of the servo motor to 400%.

1. FUNCTIONS AND CONFIGURATION

1 - 10

1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference 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 by servo amplifiers with software version B4 or later. Check the software version with MR Configurator2.

Position control mode This servo amplifier is used as a position control servo.

Speed control mode This servo amplifier is used as a speed control servo.

Torque control mode This servo amplifier is used as a torque control servo.

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 Using an input device or gain switching conditions (including the servo motor speed) switches gains.

Section 7.2

Advanced vibration suppression control II

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

Section 7.1.5

Machine resonance suppression filter

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.

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 produced at a servo motor stop. [Pr. PB24]

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

Chapter 6

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

Section 11.2

Alarm history clear Alarm history is cleared. [Pr. PC21]

Output signal selection (Device settings)

The pins that output the output devices, including ALM (Malfunction) and INP (In- position), can be assigned to certain pins of the CN3 connectors.

[Pr. PD07] to [Pr. PD09]

Output signal (DO) forced output

Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check and others.

Section 4.5.1 (1) (d)

Test operation mode Jog operation, positioning operation, motor-less operation, DO forced output, and program operation MR Configurator2 is necessary for this function.

Section 4.5

MR Configurator2 Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others.

Section 11.4

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

Chapter 14

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

One-touch tuning One click on a certain button on MR Configurator2 adjusts the gains of the servo amplifier. MR Configurator2 is necessary for this function.

Section 6.2

1. FUNCTIONS AND CONFIGURATION

1 - 11

Function Description Detailed

explanation

SEMI-F47 function (Note)

Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 200 V AC for the input power supply will not comply with the 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

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". 4. The controller is not connected (except the test operation mode). 5. An alarm related to the controller is occurring.

[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. Before the parts of the servo amplifier, including a capacitor and relay, malfunction, this function is useful for finding out the time for their replacement. MR Configurator2 is necessary for this function.

Power monitoring function

This function calculates the power running and the regenerative power from the data, including the speed and current, in the servo amplifier. MR Configurator2 can display the data, including the power consumption. Since the servo amplifier sends data to a servo system controller, you can analyze the data and display the data on a display with the SSCNET III/H system.

Machine diagnostic 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.

Fully closed loop system

Fully closed system can be configured using the load-side encoder. (not available with the MR-J4 3-axis servo amplifiers) This is used with servo amplifiers with software version A3 or later. Check the software version with MR Configurator2.

Chapter 16

Scale measurement function

The function transmits position information of a scale measurement encoder to the controller by connecting the scale measurement encoder in semi closed loop control. Used by servo amplifiers with software version A8 or later. (not available with the MR-J4 3-axis servo amplifiers)

Section 17.2

J3 compatibility mode This amplifier has "J3 compatibility mode" which compatible with the previous MR- J3-B series. Refer to section 17.1 for software versions.

Section 17.1

Continuous operation to torque control mode

This enables to smoothly switch the mode from position control mode/speed control mode to torque control mode without stopping. This also enables to decrease load to the machine and high quality molding without rapid changes in speed or torque. For details of the continuous operation to torque control mode, refer to the manuals for servo system controllers.

[Pr. PB03] Servo system controller manuals

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

1. FUNCTIONS AND CONFIGURATION

1 - 12

1.5 Model designation

(1) Rating plate

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

Model Capacity Applicable power supply Rated output current Standard, Manual number Ambient temperature IP rating

KC certification number, the year and month of manufacture

Country of origin

Serial number

KCC-REI-MEK-TC300A612G51

POWER: 200W3 (A, B, C) INPUT: 3AC/AC200-240V 4.3A/7.5A 50/60Hz OUTPUT: 3PH170V 0-360Hz 1.5A3 (A, B, C) STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175 Max. Surrounding Air Temp.: 55C IP20 (Except for fan finger guard)

MR-J4W3-222B

AC SERVO SER.A45001001

DATE: 2014-05

TOKYO 100-8310, JAPAN MADE IN JAPAN

Note. Production year and month of the servo amplifier are indicated in a serial number on

the rating plate.

The year and month of manufacture are indicated by the last one digit of the year and

1 to 9, X (10), Y (11), Z (12).

For September 2011, the Serial No. is like, "SERIAL: _ 19 _ _ _ _ _ _".

(2) Model

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

are available.

Symbol

SSCNETIII/H interface

Rated output Number of axes

Symbol Rated output [kW]

44

22

77

A-axis B-axis C-axis

0.2

0.4

0.75

1

0.2

0.4

0.2

0.4

0.75

1

0.2

0.4

0.2

0.4

222

444

1010

Series

W2

W3

Number of axes

2

3

Special specifications

Symbol Special specifications

-ED

None Standard

Without a dynamic brake (Note 1)

-EB MR-J4W_-_B_ with a special coating specification (3C2) (Note 2)

M R J DBW E2 224- - -

Note 1. Refer to App. 12.1 for details.

2. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to app. 12.2 for details.

1. FUNCTIONS AND CONFIGURATION

1 - 13

1.6 Parts identification

(5)

(6)

(7)

(8)

(9)

Side view

(10)

(11)

(12)

(13)

(14)

(15)

(16)

(17)

(18)

(19)

(20)

1 2 3 4 5 6

ON

(1)

(3)

(2)

(4)

No. Name/Application Detailed

explanation

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

Section 4.3 (2)

Axis selection rotary switch (SW1) Used to set the axis No. of servo amplifier.

(3)

Control axis setting switch (SW2) The test operation switch, the disabling control axis switch, and the auxiliary axis number setting switch are available.

(4) USB communication connector (CN5) Connect with the personal computer.

Section 11.4

(5)

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

(6) Main circuit power connector (CNP1) Connect the input power supply.

Section 3.1 Section 3.3

(7) Control circuit power connector (CNP2) Connect the control circuit power supply or regenerative option.

(8) Rating plate Section 1.5

(9) A-axis servo motor power connector (CNP3A) Connect the A-axis servo motor.

Section 3.1 Section 3.3

(10) B-axis servo motor power connector (CNP3B) Connect the B-axis servo motor.

(11) C-axis servo motor power connector (CNP3C) (Note 1) Connect the C-axis servo motor.

(12) Protective earth (PE) terminal Section 3.11

(13) I/O signal connector (CN3) Used to connect digital I/O signals.

Section 3.2 Section 3.4

(14) STO input signal connector (CN8) Used to connect MR-J3-D05 safety logic unit and external safety relay.

Chapter 13

(15) SSCNET III cable connector (CN1A) Used to connect the servo system controller or the previous axis servo amplifier. Section 3.2

Section 3.4 (16)

SSCNET III cable connector (CN1B) Used to connect the next axis servo amplifier. For the final axis, put a cap.

(17) (Note

2)

A-axis encoder connector (CN2A) Used to connect the A-axis servo motor encoder or external encoder.

Section 3.4 "Servo Motor Instruction Manual (Vol. 3)" "Linear Encoder Instruction Manual"

(18) (Note

2)

B-axis encoder connector (CN2B) Used to connect the B-axis servo motor encoder or external encoder.

(19) (Note

2)

C-axis encoder connector (CN2C) (Note 1) Used to connect the C-axis servo motor encoder or linear encoder.

(20) Battery connector (CN4) Used to connect the battery unit for absolute position data backup.

Section 11.3 Chapter 12

Note 1. This figure shows the MR-J4 3-axis servo amplifier.

2. "External encoder" is a term for linear encoder used in the linear

servo system, load-side encoder used in the fully closed loop

system, and scale measurement encoder used with the scale

measurement function in this manual.

1. FUNCTIONS AND CONFIGURATION

1 - 14

1.7 Configuration including auxiliary equipment

CAUTION Connecting a servo motor for different axis to the CNP3A, CNP3B, or CNP3C

connector may cause a malfunction.

POINT

Equipment other than the servo amplifier and servo motor are optional or

recommended products.

CNP3B

CNP3A

D (Note 3)

CNP3C (Note 1)

CNP2

CNP1

W U

V

W U

V

W U

V

Power factor improving reactor (FR-HAL)

Line noise filter (FR-BSF01)

Power supply

Magnetic contactor (MC)

Molded-case circuit breaker (MCCB) or fuse

Personal computer

Servo system controller or Front axis servo amplifier CN1B

Safety relay or MR-J3-D05 safety logic unit

Rear servo amplifier CN1A or Cap

CN3

CN5 (under the cover)

CN1B

CN2A

(Note 2)

CN2B

CN2C (Note 1)

Battery unit

CN1A

CN8

I/O signal

P+

L1

L2

L3

L21

L11

C

Regenerative option

MR Configurator2

A-axis encoder

B-axis encoder

C-axis encoderCN4

R S T

A-axis servo motor

B-axis servo motor

C-axis servo motor

Note 1. For the MR-J4 3-axis servo amplifier

2. The battery unit consists of an MR-BT6VCASE battery case and five MR-BAT6V1 batteries. The battery unit is used in the

absolute position detection system. (Refer to chapter 12.)

3. Always connect P+ and D. When using the regenerative option, refer to section 11.2.

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 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 environmental range. For the environment,

refer to section 1.3.

Provide an adequate protection to prevent screws and other conductive matter, oil

and other combustible matter from entering the servo amplifier.

Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it

may cause a malfunction.

Do not drop or apply heavy impact on the servo amplifiers and the servo motors.

Otherwise, injury, malfunction, etc. may occur.

Do not install or operate the servo amplifier which have been damaged or have

any parts missing.

When the product has been stored for an extended period of time, contact your

local sales office.

When handling the servo amplifier, be careful about the edged parts such as

corners of the servo amplifier.

The servo amplifier must be installed in the metal cabinet.

When fumigants that contain halogen materials such as fluorine, chlorine,

bromine, and iodine are used for disinfecting and protecting wooden packaging

from insects, they cause malfunction when entering our products. Please take

necessary precautions to ensure that remaining materials from fumigant do not

enter our products, or treat packaging with methods other than fumigation (heat

method). Additionally, disinfect and protect wood from insects before packing

products.

2.1 Installation direction and clearances

CAUTION

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

cause a malfunction.

Leave specified clearances between the servo amplifier and the cabinet walls or

other equipment. Otherwise, it may cause a malfunction.

When using heat generating equipment such as the regenerative option, install them with full consideration

of heat generation so that the servo amplifier is not affected.

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

2. INSTALLATION

2 - 2

(1) Installation of one servo amplifier

40 mm or more

10 mm or more

10 mm or more

40 mm or more

Servo amplifier

Control box Control box

Wiring allowance 80 mm Top

Bottom

(2) Installation of two or more servo amplifiers

POINT

You can install MR-J4W_-B servo amplifiers without clearances between them.

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling

fan to prevent the internal temperature of the cabinet from exceeding the environment.

When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo

amplifiers in consideration of mounting tolerances.

100 mm or more 10 mm

or more

30 mm or more

30 mm or more

40 mm or more

Control box

Top

Bottom

100 mm or more

1 mm

30 mm or more

40 mm or more

Control box

1 mm

Leaving clearance Mounting closely

2. INSTALLATION

2 - 3

2.2 Keep out foreign materials

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

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or

a cooling fan installed on the ceiling.

(3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force

clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to

prevent such materials from entering the cabinet.

2.3 Encoder cable stress

(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight

stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (for the encoder, power supply,

and brake) with having some slack from the connector connection part of the servo motor to avoid

putting stress on the connector connection part. Use the optional encoder cable within the bending life

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

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

stamped by workers or vehicles.

(4) For the cable installation on a machine where the servo motor moves, the bending radius should be

made as large as possible. Refer to section 10.4 for the bending life.

2.4 SSCNET III cable laying

SSCNET III cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral

pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be

available. Especially, as optical fiber for MR-J3BUS_M/MR-J3BUS_M-A is made of synthetic resin, it melts

down if being left near the fire or high temperature. Therefore, do not make it touched the part, which can

become hot, such as heat sink or regenerative option of servo amplifier.

Read described item in this section carefully and handle it with caution.

(1) Minimum bend radius

Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to

edges of equipment or others. For the SSCNET III cable, the appropriate length should be selected with

due consideration for the dimensions and arrangement of the servo amplifier. When closing the door of

cabinet, pay careful attention for avoiding the case that SSCNET III cable is held down by the door and

the cable bend becomes smaller than the minimum bend radius. For the minimum bend radius, refer to

section 11.1.2.

2. INSTALLATION

2 - 4

(2) Prohibition of vinyl tape use

Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS_M, and MR-J3BUS_M-A cables away

from vinyl tape because the optical characteristic may be affected.

Optical cord Cable

SSCNET III cable Cord Cable

MR-J3BUS_M

MR-J3BUS_M-A MR-J3BUS_M-B

: Phthalate ester plasticizer such as DBP and DOP

may affect optical characteristic of cable.

: Cord and cable are not affected by plasticizer.

(3) Precautions for migrating plasticizer added materials

Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating

plasticizer and they do not affect the optical characteristic of SSCNET III cable. However, some wire

sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS_M

and MR-J3BUS_M-A cables.

In addition, MR-J3BUS_M-B cable is not affected by plasticizer.

A chemical substance may affect its optical characteristic. Therefore, previously check that the cable is

not affected by the environment.

(4) Bundle fixing

Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET III

cable from putting its own weight on CN1A/CN1B connector of servo amplifier. Optical cord should be

given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be

twisted.

When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which

does not contain migratable plasticizers.

If adhesive tape for bundling the cable is used, fire resistant acetate cloth adhesive tape 570F (Teraoka

Seisakusho Co., Ltd) is recommended.

Optical cord Loose slack

Cable

Connector

Bundle material Recommended product: NK clamp SP type ( NIX, INC.)

2. INSTALLATION

2 - 5

(5) Tension

If tension is added on optical cable, the increase of transmission loss occurs because of external force

which concentrates on the fixing part of optical fiber or the connecting part of optical connector. Doing so

may cause the breakage of the optical fiber or damage of the optical connector. For cable laying, handle

without putting forced tension. For the tension strength, refer to section 11.1.2.

(6) Lateral pressure

If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets

stressed, and then transmission loss will increase. Doing so may cause the breakage of the optical

cable. As the same condition also occurs at cable laying, do not tighten up optical cable with a thing

such as nylon band (TY-RAP).

Do not trample it down or tuck it down with the door of cabinet or others.

(7) Twisting

If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or

bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur.

(8) Disposal

When incinerating optical cable (cord) used for SSCNET III, hydrogen fluoride gas or hydrogen chloride

gas which is corrosive and harmful may be generated. For disposal of optical fiber, request for

specialized industrial waste disposal services who has incineration facility for disposing hydrogen

fluoride gas or hydrogen chloride gas.

2.5 Inspection items

WARNING

Before starting maintenance and/or inspection, turn off the power and wait for 15

minutes or more until the charge lamp turns off. Then, confirm that the voltage

between P+ and N- is safe with a voltage tester or others. Otherwise, an electric

shock may occur. In addition, when confirming whether the charge lamp is off or

not, always confirm it from the front of the servo amplifier.

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

For repair and parts replacement, contact your sales representative.

CAUTION Do not perform insulation resistance test on the servo amplifier. Otherwise, it may

cause a malfunction.

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

It is recommended to make the following checks periodically.

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

(2) Check the cables and wires for scratches and cracks. Inspect them periodically according to operating

conditions especially when the servo motor is movable.

2. INSTALLATION

2 - 6

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

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

(5) Check for dust accumulation on the servo amplifier.

(6) Check for unusual noise generated from the servo amplifier.

(7) Make sure that the emergency stop circuit operates properly such that an operation can be stopped

immediately and a power is shut off by the emergency stop switch.

2.6 Parts having service life

Service life of the following parts is listed below. However, the service life varies vary depending on

operating methods and environmental conditions. If any fault is found in the parts, they must be replaced

immediately regardless of their service life.

For parts replacement, please contact your sales representative.

Part name Life guideline

Smoothing capacitor 10 years

Relay

Number of power-on, forced stop by EM1 (Forced stop 1), and controller forced stop times: 100,000

times Number of on and off for STO: 1,000,000 times

Cooling fan 50,000 hours to 70,000 hours (7 to 8 years)

Absolute position battery Refer to section 12.2.

(1) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly

depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in

10 years of continuous operation in air-conditioned environment (ambient temperature of 40 C or less).

(2) Relays

Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of

their life when the power has been turned on, forced stop by EM1 (Forced stop 1) has occurred, and

controller forced stop has occurred 100,000 times in total, or when the STO has been turned on and off

1,000,000 times while the servo motor is stopped under servo-off state. However, the life of relays may

depend on the power supply capacity.

(3) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 50,000 hours to 70,000 hours. Normally, therefore,

the fan must be changed in seven or eight years of continuous operation as a guideline.

If unusual noise or vibration is found during inspection, the cooling fan must also be replaced.

The life is under the environment where a yearly average ambient temperature of 40 C, free from

corrosive gas, flammable gas, oil mist, dust and dirt.

2. INSTALLATION

2 - 7

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

(1) Effective load ratio and regenerative load ratio

As heat dissipation effects decrease in proportion to the decrease in air density, use the product within

the effective load ratio and regenerative load ratio shown in the following figure.

0 20001000

Altitude

95 100

0

R eg

en er

at iv

e lo

ad r

at io

E ff

ec tiv

e lo

ad r

at io

[%]

[m]

When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 C to 45 C

or at 75% or smaller effective load ratio. (Refer to section 2.1.)

(2) Input voltage

Generally, a withstand voltage decreases as increasing altitude; however, there is no restriction on the

withstand voltage. Use in the same manner as in 1000 m or less. (Refer to section 1.3.)

(3) Parts having service life

(a) Smoothing capacitor

The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned

environment (ambient temperature of 30 C or less).

(b) Relay

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

(c) Servo amplifier cooling fan

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

2. 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.

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 (FR-BIF option)

with the power line of the servo motor.

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

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

causing a fire.

Do not modify the equipment.

Connect the servo amplifier power output (U/V/W) to the servo motor power input

(U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may

cause a malfunction.

U

Servo motor

MV

W

U

V

W

U

MV

W

U

V

W

Servo amplifier Servo motorServo amplifier

3. SIGNALS AND WIRING

3 - 2

CAUTION

Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C

connector 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.

When alarms are occurring in all axes of A, B, and C, shut off the main circuit

power supply. Not doing so may cause a fire when a regenerative transistor

malfunctions or the like may overheat the regenerative resistor.

Check the servo amplifier model, and then input proper voltage to the servo

amplifier power supply. If input voltage exceeds the upper limit, the servo amplifier

will break down.

The servo amplifier has a built-in surge absorber (varistor) to reduce exogenous

noise and to suppress lightning surge. Exogenous noise or lightning surge

deteriorates the varistor characteristics, and the varistor may be damaged. To

prevent a fire, use a molded-case circuit breaker or fuse for input power supply.

Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C

connector may cause a malfunction.

The N- terminal is not a neutral point of the power supply. Incorrect wiring will

cause a burst, damage, etc.

POINT

Even if alarm has occurred, do not switch off the control circuit power supply.

When the control circuit power supply has been switched off, optical module

does not operate, and optical transmission of SSCNET III/H communication is

interrupted. Therefore, the next axis servo amplifier displays "AA" at the

indicator and turns into base circuit shut-off. The servo motor stops with starting

dynamic brake.

EM2 has the same device as EM1 in the torque control mode.

Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of

the connecting destinations is different from MR-J3W Series Servo Amplifier.

When using MR-J4W as a replacement for MR-J3W, be careful not to connect

the power to L2.

3. SIGNALS AND WIRING

3 - 3

Configure the wiring so that the main circuit power supply is shut off and the servo-on command turned off

after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or an enabled controller

forced stop. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit

power supply.

L1

L2

L3

(Note 7) Power supply

Servo amplifier

P+

L11

L21

N-

D

C

U

V

W

(Note 1)

CNP1

CNP3A

CNP2

A-axis servo motor

U

V

W M

Motor

EncoderCN2A (Note 2) Encoder cable

(Note 2) Encoder cable

(Note 2) Encoder cable

Forced stop 2 (Note 4)

AND malfunction (Note 3)

(Note 4)

MCCB

OFF

MC

ON MC

(Note 3) AND malfunction

RA1

Emergency stop switch SK

(Note 6) MC

(Note 5)

(Note 12)

(Note 12)

(Note 12)

CN8 (Note 9) Short-circuit connector (Packed with the servo amplifier)

(Note 8) Main circuit power supply

PE ( )

CNP3B

B-axis servo motor

U

V

W

Motor

EncoderCN2B

(Note 5)

(Note 5)

M

U

V

W

CNP3C

C-axis servo motor (Note 11)

U

V

W

Motor

EncoderCN2C

M

U

V

W

(Note 10)

24 V DC (Note 13)EM2

DICOM

CN3

CALM

DOCOM

24 V DC (Note 13)

CN3

RA1

3. SIGNALS AND WIRING

3 - 4

Note 1. Between P+ and D is connected by default. When using the regenerative option, refer to section 11.2.

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

Instruction Manual (Vol. 3).

3. This circuit is an example of stopping all axes when an alarm occurs. If disabling CALM (AND malfunction) output

with the parameter, configure up the power supply circuit which switches off the magnetic contactor after detection of

alarm occurrence on the controller side.

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

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

6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure

of contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases,

and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake

deceleration is not required, slow the time to turn off the magnetic contactor.

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

specifications, refer to section 1.3.

8. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of

the servo amplifier.

9. When not using the STO function, attach a short-circuit connector supplied with a servo amplifier.

10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.

(Refer to section 11.10.)

11. For the MR-J4 3-axis servo amplifier

12. Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C connector may cause a malfunction.

13. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience.

However, they can be configured by one.

3. SIGNALS AND WIRING

3 - 5

3.2 I/O signal connection example

POINT

EM2 has the same device as EM1 in the torque control mode.

3.2.1 For sink I/O interface

1DI1-C

DI3-B

Plate SD

23

10

CN3

19

AND malfunction (Note 11)

(Note 2)

LBR-B

14 LG

11 CALM

12

25 MBR-B

13 MBR-C

3 LA-A 16 LAR-A

4 LB-A

17 LBR-A

5 LA-B

18 LAR-B

Servo amplifier

Electromagnetic brake interlock A-axis

CN3

6 LB-B

Encoder A-phase pulse A-axis

Encoder B-phase pulse A-axis

Encoder A-phase pulse B-axis

Encoder B-phase pulse B-axis

(differential line driver) (Note 19)

(differential line driver) (Note 19)

(differential line driver) (Note 19)

Control common

(differential line driver) (Note 19)

(Note 13) (Note 20)

(Note 3, 4) Forced stop 2

A-axis FLS

A-axis RLS

A-axis DOG

B-axis FLS B-axis RLS

B-axis DOG

(Note 14)

DICOM

EM2

7DI1-A

8DI2-A

9DI3-A

(Note 6) SSCNET III cable

(option)

Servo system controller

CN1A

CN1B

(Note 7)

(Note 1)

(Note 9) Cap

(Note 5) MR Configurator2

+

Personal computer

CN5

USB cable MR-J3USBCBL3M

(option)

20DI1-B

21DI2-B

22

Electromagnetic brake interlock C-axis (Note 17)

MBR-A

RA1

RA2

RA3

RA4

(Note 10) 24 V DC

10 m or less 10 m or less

Electromagnetic brake interlock B-axis

C-axis FLS

C-axis RLS

C-axis DOG

2DI2-C

15DI3-C

CN8 (Note 16) Short-circuit connector (Packed with the servo amplifier)

(Note 15) Main circuit

power supply

CN1A

CN1B

Servo amplifier

The last servo amplifier (Note 8)

CN1BCN1A

(Note 18)

24 (Note 12)

(Note 6) SSCNET III cable (option)

(Note 7)

26 DOCOM

(Note 10) 24 V DC

3. SIGNALS AND WIRING

3 - 6

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output

signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. If the controller does not have forced stop function, always install the forced stop 2 switch (Normally closed contact).

4. When starting operation, always turn on EM2 (Forced stop 2). (Normally closed contact)

5. Use SW1DNC-MRC2-_. (Refer to section 11.4.)

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

Cable Cable model Cable length

Standard cord inside panel

MR-J3BUS_M 0.15 m to 3 m

Standard cable outside panel

MR-J3BUS_M-A 5 m to 20 m

Long-distance cable MR-J3BUS_M-B 30 m to 50 m

7. The wiring after the second servo amplifier is omitted.

8. Up to 64 axes of servo amplifiers can be connected. The number of connectable axes depends on the controller you use.

Refer to section 4.3 for setting of axis selection.

9. Make sure to cap the unused CN1B connector.

10. Supply 24 V DC 10% for interfaces from outside. Set the total current capacity to 350 mA for MR-J4W2-_B and to 450 mA for

MR-J4W3-_B. The 24 V DC power supply can be used both for input signals and output signals. 350 mA and 450 mA are the

values applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.

Refer to section 3.8.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply

is divided between input signal and output signal for convenience. However, they can be configured by one.

11. CALM (AND malfunction) turns on in normal alarm-free condition. (Normally closed contact)

12. In the initial setting, CINP (AND in-position) is assigned to the pin. You can change devices of the pin with [Pr. PD08].

13. You can change devices of these pins with [Pr. PD07] and [Pr. PD09].

14. Devices can be assigned for these devices with controller setting. For devices that can be assigned, refer to the controller

instruction manual. These assigned devices are for R_MTCPU, Q17_DSCPU, RD77MS_, QD77MS_, and LD77MS_.

15. Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

amplifier.

16. When not using the STO function, attach a short-circuit connector supplied with a servo amplifier.

17. The pin is not used for MR-J4 2-axis servo amplifiers.

18. For the MR-J4 3-axis servo amplifier

19. This signal cannot be used for MR-J4W3-_B.

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

mechanism.

3. SIGNALS AND WIRING

3 - 7

3.2.2 For source I/O interface

POINT

For notes, refer to section 3.2.1.

1DI1-C

DI3-B

Plate SD

23

10

CN3

19

AND malfunction (Note 11)

(Note 2)

LBR-B

14 LG

11 CALM

12

25 MBR-B

13 MBR-C

3 LA-A 16 LAR-A

4 LB-A

17 LBR-A

5 LA-B

18 LAR-B

Servo amplifier

Electromagnetic brake interlock A-axis

CN3

6 LB-B

Encoder A-phase pulse A-axis

Encoder B-phase pulse A-axis

Encoder A-phase pulse B-axis

Encoder B-phase pulse B-axis

(differential line driver) (Note 19)

(differential line driver) (Note 19)

(differential line driver) (Note 19)

Control common

(differential line driver) (Note 19)

(Note 13) (Note 20)

(Note 3, 4) Forced stop 2

A-axis FLS

A-axis RLS

A-axis DOG

B-axis FLS B-axis RLS

B-axis DOG

(Note 14)

DICOM

EM2

7DI1-A

8DI2-A

9DI3-A

(Note 6) SSCNET III cable

(option)

Servo system controller

CN1A

CN1B

(Note 7)

(Note 1)

(Note 9) Cap

(Note 5) MR Configurator2

+

Personal computer

CN5

USB cable MR-J3USBCBL3M

(option)

20DI1-B

21DI2-B

22

Electromagnetic brake interlock C-axis (Note 17)

MBR-A

RA1

RA2

RA3

RA4

(Note 10) 24 V DC

10 m or less 10 m or less

Electromagnetic brake interlock B-axis

C-axis FLS

C-axis RLS

C-axis DOG

2DI2-C

15DI3-C

CN8

CN1A

CN1B

Servo amplifier

The last servo amplifier (Note 8)

CN1BCN1A

(Note 18)

24 (Note 12)

(Note 6) SSCNET III cable (option)

(Note 7)

(Note 15) Main circuit

power supply

(Note 16) Short-circuit connector (Packed with the servo amplifier)

(Note 10) 24 V DC

26 DOCOM

3. SIGNALS AND WIRING

3 - 8

3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT

N- terminal is for manufacturer. Be sure to leave this terminal open.

(1) Pin assignment and connector applications

C

CNP2

L1

L2

CNP1

L3

L11

L21

P+

D

CNP3B

CNP3A

U

V

W

U

V

W

1

2

3

1

2

3

A B

A B

1

2

1

2

B

N-

A

CNP3C (Note 1)

U

V

W

A B

1

2

(Note 2)

Connector Name Function and application

CNP1 Main circuit power connector Input main circuit power supply.

CNP2 Control circuit power connector

Input control circuit power supply. Connect regenerative option.

CNP3A A-axis servo motor power connector

Connect with the A-axis servo motor.

CNP3B B-axis servo motor power connector

Connect with the B-axis servo motor.

CNP3C (Note 1)

C-axis servo motor power connector

Connect with the C-axis servo motor.

Note 1. For the MR-J4 3-axis servo amplifier

2. Connect to the protective earth (PE) of the cabinet to ground.

3. SIGNALS AND WIRING

3 - 9

(2) Detailed explanation

Symbol Connector Connection destination

(application) Description

L1/L2/L3 CNP1 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 supply

MR-J4W2-22B MR-J4W2-44B MR-J4W2-77B

MR-J4W3-222B MR-J4W3-444B

MR-J4W2-1010B

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

P+/C/D

CNP2

Regenerative option

When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory-wired) When using a regenerative option, connect the regenerative option to P+ and C. Refer to section 11.2 for details.

N- For manufacturer N- terminal is for manufacturer. Be sure to leave this terminal open.

L11/L21 Control circuit power supply

Supply the following power to L11 and L21.

Servo amplifier

Power supply MR-J4W2-22B to MR-J4W2-1010B MR-J4W3-222B to MR-J4W3-444B

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

L11/L21

U/V/W CNP3A CNP3B CNP3C (Note 1)

Servo motor power output

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

(Note 2) Protective earth

(PE) Connect the grounding terminal of the servo motor.

(Note 2) Protective earth

(PE) Connect to the protective earth (PE) of the cabinet to ground.

Note 1. For the MR-J4 3-axis servo amplifier

2. Connect the grounding terminal of the servo motor to of CNP3A, CNP3B, and CNP3C. For grounding, connect the

protective earth (PE) terminal ( ) of front lower part on the servo amplifier to the protective earth (PE) terminal on a cabinet.

3. SIGNALS AND WIRING

3 - 10

3.3.2 Power-on sequence

POINT

An output signal, etc. may be irregular at power-on.

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with

the main circuit power supply ((L1/L2/L3)). Configure up an external sequence to switch off the

magnetic contactor as soon as an alarm occurs in all axes of A, B, and C.

2) Switch on the control circuit power supply (L11/L21) simultaneously with the main circuit power

supply or before switching on the main circuit power supply. If the control circuit power supply is

turned on with the main circuit power supply off, and then the servo-on command is transmitted,

[AL. E9 Main circuit off warning] will occur. Turning on the main circuit power supply stops the

warning and starts the normal operation.

3) The servo amplifier receives the servo-on command within 4 s after the main circuit power supply

is switched on.

(Refer to (2) in this section.)

(2) Timing chart

(Note 1) (4 s)

95 ms 10 ms 95 ms

Servo-on command accepted

Main circuit Control circuit

Base circuit

Servo-on command (from controller)

power supply ON

OFF

ON

OFF

ON

OFF

(Note 2)

Note 1. This range will be approximately 6 s for the linear servo system and fully closed loop system.

2. The time will be longer during the magnetic pole detection of a linear servo motor and direct drive motor.

3. SIGNALS AND WIRING

3 - 11

3.3.3 Wiring CNP1, CNP2, and CNP3

POINT

For the wire sizes used for wiring, refer to section 11.5.

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

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

(1) Connector

Servo amplifier

CNP1

CNP2

CNP3A

CNP3B

CNP3C (Note)

Note. For the MR-J4 3-axis servo amplifier

Table 3.1 Connector and applicable wire

Connector Receptacle assembly Applicable wire

size Stripped length

[mm] Open tool Manufacturer

CNP1 03JFAT-SAXGFK-43 AWG 16 to 14 11.5 J-FAT-OT-EXL (big size side)

JST CNP2

06JFAT-SAXYGG-F- KK

AWG 16 to 14 9 J-FAT-OT-EXL (small size side)

CNP3A CNP3B CNP3C

04JFAT-SAGG-G-KK AWG 18 to 14 9 J-FAT-OT-EXL (small size side)

3. SIGNALS AND WIRING

3 - 12

(2) Cable connection procedure

(a) Cable making

Refer to table 3.1 for stripped length of cable insulator. The appropriate stripped length of cables

depends on their type, etc. Set the length considering their status.

Insulator Core

Stripped length

Twist strands slightly and straighten them as follows.

Loose and bent strands Twist and straighten the strands.

You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following

ferrules and crimp terminal.

Wire size Ferrule model (Phoenix contact) Crimping tool

(Phoenix contact) For 1 wire For 2 wires

AWG 16 AI1.5-10BK AI-TWIN21.5-10BK CRIMPFOX-ZA3

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 CNP1 connector.

3. SIGNALS AND WIRING

3 - 13

3.4 Connectors and pin assignment

POINT

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

wiring section.

For the CN3 connector, securely connect the external conductor of the shielded

cable to the ground plate and fix it to the connector shell.

Screw

Screw

Ground plate

Cable

The frames of the CN2A, CN2B, CN2C and CN3 connectors are connected to the protective earth terminal

in the servo amplifier.

14

LG

LA-A

1

152

163

174

185

196

207

218

229

2310

2411

2512

2613

LBR-A

LAR-A

LB-A

LA-B

LBR-B

LAR-B

LB-B

DI1-A

DI2-B

DI1-B

DI2-A

DI3-A

DICOM

DI3-B

EM2

CINP

MBR-B

CALM

MBR-A

DOCOM

2 LG 4

MRR

3 MR

1 P5

6 THM2 8

MXR

7 MX

5 THM1

THM2

THM1

10

9 BAT

2 LG 4

MRR

3 MR

1 P5

6 8

MXR

7 MX

5

10

9 BAT

THM2

THM1

2 LG 4

MRR

3 MR

1 P5

6 8

MXR

7 MX

5

10

9 BAT

CN5 (USB connector) Refer to section 11.4

CN1A Connector for SSCNET III cable for previous servo amplifier axis

CN1B Connector for SSCNET III cable for next servo amplifier axis

CN4 (Battery connector) Refer to section 11.3

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

CN2A

CN3

CN2B

CN2C (Note)

The 3M make connector is shown.

DI2-C

DI1-C

DI3-C

MBR-C

Note. For the MR-J4 3-axis servo amplifier

3. SIGNALS AND WIRING

3 - 14

3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.

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

3.5.1 Input device

Device Symbol Connector

pin No. Function and application

I/O division

Forced stop 2 EM2 (CN3-10)

Turn off EM2 (open between commons) to decelerate the servo motor to a stop with commands. Turn EM2 on (short between commons) in the forced stop state to reset that state. Set [Pr. PA04] to "2 1 _ _" to disable EM2. The following shows the setting of [Pr. PA04].

DI-1

[Pr. PA04] setting

EM2/EM1 Deceleration method

EM2 or EM1 is off Alarm occurred

0 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 0 _ _ EM2

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

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

0 1 _ _ Not using EM2 and EM1

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

2 1 _ _ Not using EM2 and EM1

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

EM2 and EM1 are mutually exclusive. EM2 has the same device as EM1 in the torque control mode.

Forced stop 1 EM1 (CN3-10)

When using EM1, set [Pr. PA04] to "0 0 _ _" to enable EM1. When EM1 is turned off (open between commons), the base circuit shuts off, and the dynamic brake operates to decelerate the servo motor to a stop. The forced stop will be reset when EM1 is turned on (short between commons). Set [Pr. PA04] to "0 1 _ _" to disable EM1.

DI-1

DI1-A CN3-7 Devices can be assigned for these devices with controller setting. For devices that can be assigned, refer to the controller instruction manual. You can assign the following devices with MR-J4 series compatible controllers (R_MTCPU, Q17_DSCPU, RD77MS_, and QD77MS_) DI1-A: FLS for A-axis (Upper stroke limit) DI2-A: RLS for A-axis (Lower stroke limit) DI3-A: DOG for A-axis (Proximity dog) DI1-B: FLS for B-axis (Upper stroke limit) DI2-B: RLS for B-axis (Lower stroke limit) DI3-B: DOG for B-axis (Proximity dog) DI1-C: FLS for C-axis (Upper stroke limit) DI2-C: RLS for C-axis (Lower stroke limit) DI3-C: DOG for C-axis (Proximity dog)

DI-1

DI2-A CN3-8 DI-1

DI3-A CN3-9 DI-1

DI1-B CN3-20 DI-1

DI2-B CN3-21 DI-1

DI3-B CN3-22 DI-1

DI1-C CN3-1 DI-1

DI2-C CN3-2 DI-1

DI3-C CN3-15 DI-1

3. SIGNALS AND WIRING

3 - 15

3.5.2 Output device

(1) Output device pin

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

Connector pin No. Parameter

Initial device I/O division Remark A-axis B-axis C-axis

CN3-12 [Pr. PD07] MBR-A For A-axis

CN3-25 [Pr. PD07] MBR-B For B-axis

CN3-13 [Pr. PD07] MBR-C DO-1 For C-axis (Note)

CN3-11 [Pr. PD09] [Pr. PD09] [Pr. PD09] CALM Common pin

CN3-24 [Pr. PD08] [Pr. PD08] [Pr. PD08] CINP Common pin

Note. The pin is not used for MR-J4 2-axis servo amplifiers.

(2) Output device explanations

POINT

Initial letter and last letter with hyphen in device symbols mean target axis. Refer

to the following table.

Symbol (Note)

Target axis Description

C _ _ _ A/B/C When all axes of A, B, and C meet a condition, the device will be enabled (on or off).

X _ _ _ A/B/C When each axis of A, B, or C meet a condition, the device will be enabled (on or off).

_ _ _ -A A-axis Device for A-axis

_ _ _ -B B-axis Device for B-axis

_ _ _ -C C-axis Device for C-axis

Note. _ _ _ differs depending on devices.

Device Symbol Function and application

AND electromagnetic brake interlock

CMBR When using the device, set operation delay time of the electromagnetic brake in [Pr. PC02]. When a servo-off status or alarm occurs, MBR will turn off.

OR electromagnetic brake interlock

XMBR

Electromagnetic brake interlock for A- axis

MBR-A

Electromagnetic brake interlock for B- axis

MBR-B

Electromagnetic brake interlock for C- axis

MBR-C

AND malfunction CALM When the protective circuit is activated to shut off the base circuit, ALM will turn off. When an alarm does not occur, ALM will turn on about 3 s after power-on. OR malfunction XALM

Malfunction for A-axis ALM-A

Malfunction for B-axis ALM-B

Malfunction for C-axis ALM-C

AND in-position CINP 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. The device cannot be used in the speed control mode, torque control mode, or continuous operation to torque control mode.

OR in-position XINP

In-position for A-axis INP-A

In-position for B-axis INP-B

In-position for C-axis INP-C

3. SIGNALS AND WIRING

3 - 16

Device Symbol Function and application

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

OR ready XRD

Common ready for A- axis

RD-A

Common ready for B- axis

RD-B

Common ready for C- axis

RD-C

AND speed reached CSA SA will turn off during servo-off. When the servo motor speed reaches the following range, SA will turn on. Set speed ((Set speed 0.05) + 20) r/min When the preset speed is 20 r/min or less, SA always turns on. The device cannot be used in the position control mode and torque control mode.

OR speed reached XSA

Speed reached for A- axis

SA-A

Speed reached for B- axis

SA-B

Speed reached for C- axis

SA-C

AND limiting speed CVLC When the speed reaches the speed limit value in the torque control mode, VLC will turn on. When the servo is off, TLC will be turned off. The device cannot be used in the position control mode and speed control mode.

OR limiting speed XVLC

Limiting speed for A- axis

VLC-A

Limiting speed for B- axis

VLC-B

Limiting speed for C- axis

VLC-C

AND zero speed detection

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

OFF

ON

Servo motor speed

20 r/min (Hysteresis width)

[Pr. PC07]

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. PC07]

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. When you use a linear servo motor, [r/min] explained above will be [mm/s].

OR zero speed detection

XZSP

Zero speed detection for A-axis

ZSP-A

Zero speed detection for B-axis

ZSP-B

Zero speed detection for C-axis

ZSP-C

AND limiting torque CTLC When the torque reaches the torque limit value during torque generation, TLC will turn on. When the servo is off, TLC will be turned off. This device cannot be used in the torque control mode.

OR limiting torque XTLC

Limiting torque for A- axis

TLC-A

Limiting torque for B- axis

TLC-B

Limiting torque for C- axis

TLC-C

3. SIGNALS AND WIRING

3 - 17

Device Symbol Function and application

AND warning CWNG When warning has occurred, WNG turns on. When a warning is not occurring, WNG will turn off about 3 s after power-on. OR warning XWNG

Warning for A-axis WNG-A

Warning for B-axis WNG-B

Warning for C-axis WNG-C

AND battery warning CBWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has occurred. When the battery warning is not occurring, BWNG will turn off about 3 s after power-on. OR battery warning XBWNG

Battery warning for A- axis

BWNG-A

Battery warning for B- axis

BWNG-B

Battery warning for C- axis

BWNG- C

AND variable gain selection

CCDPS CDPS will turn on during variable gain.

OR variable gain selection

XCDPS

Variable gain selection for A-axis

CDPS-A

Variable gain selection for B-axis

CDPS-B

Variable gain selection for C-axis

CDPS-C

AND absolute position undetermined

CABSV ABSV turns on when the absolute position is undetermined. The device cannot be used in the speed control mode and torque control mode.

OR absolute position undetermined

XABSV

Absolute position undetermined for A- axis

ABSV-A

Absolute position undetermined for B- axis

ABSV-B

Absolute position undetermined for C- axis

ABSV-C

AND during tough drive

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

OR during tough drive XMTTR

Tough drive for A-axis MTTR-A

Tough drive for B-axis MTTR-B

Tough drive for C- axis

MTTR-C

AND during fully closed loop control

CCLDS CLDS turns on during fully closed loop control.

OR during fully closed loop control

XCLDS

During fully closed loop control A-axis

CLDS-A

During fully closed loop control B-axis

CLDS-B

During fully closed loop control C-axis

CLDS-C

3. SIGNALS AND WIRING

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3.5.3 Output signal

Signal name Symbol Connector

Pin No. Function and application

Encoder A-phase pulse A (differential line driver)

LA-A LAR-A

CN3-3 CN3-16

The encoder output pulses set in [Pr. PA15] and [Pr. PA16] are output in differential line driver type. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder 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. PC03]. Output pulse specification, dividing ratio setting, and electronic gear setting can be selected. These signals cannot be used for MR-J4W3-_B.

Encoder B-phase pulse A (differential line driver)

LB-A LBR-A

CN3-4 CN3-17

Encoder A-phase pulse B (differential line driver)

LA-B LAR-B

CN3-5 CN3-18

Encoder B-phase pulse B (differential line driver)

LB-B LBR-B

CN3-6 CN3-19

3.5.4 Power supply

Signal name Symbol Connector

Pin No. Function and application

Digital I/F power input DICOM CN3-23 Input 24 V DC (24 V DC 10% MR-J4W2-_B: 350 mA, MR-J4W3-_B: 450 mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used. For sink interface, connect + of 24 V DC external power supply. For source interface, connect - of 24 V DC external power supply.

Digital I/F common DOCOM CN3-26 Common terminal for input device such as EM2 of the servo amplifier. This is separated from LG. For sink interface, connect - of 24 V DC external power supply. For source interface, connect + of 24 V DC external power supply.

Control common LG CN3-14 This is for encoder output pulses (differential line driver).

Shield SD Plate Connect the external conductor of the shielded wire.

3. SIGNALS AND WIRING

3 - 19

3.6 Forced stop deceleration function

POINT

When alarms not related to the forced stop function occur, control of motor

deceleration cannot be guaranteed. (Refer to section 8.1.)

When SSCNET III/H communication shut-off occurs, forced stop deceleration

will operate. (Refer to section 3.7 (3).)

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

Disable the forced stop deceleration function for a machine in which multiple

axes are connected together, such as a tandem structure. If an alarm occurs

with the forced stop deceleration function disabled, the servo motor will stop with

the dynamic brake.

3.6.1 Forced stop deceleration function

When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.

During this sequence, the display shows [AL. E6 Servo forced stop warning].

During normal operation, do not use EM2 (Forced stop 2) to alternate stop and run. The servo amplifier life

may be shortened.

(1) Connection diagram

Servo amplifier

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 3.8.3.

3. SIGNALS AND WIRING

3 - 20

(2) Timing chart

When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC24 Forced stop

deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed], base power is cut

and the dynamic brake activates. For MR-J4W_-B servo amplifiers, forced stop deceleration operates for

all axes.

Base circuit (Energy supply to the servo motor)

MBR-B or MBR-C

Servo motor speed

Deceleration time

Command

Rated speed

[Pr. PC24] (B-axis) (Note)

Base circuit (Energy supply to the servo motor)

0 r/min

Servo motor speed

MBR-A (Electromagnetic brake interlock A)

ON

OFF (Enabled)

ON

OFF

Deceleration time

Command

Rated speed

Ordinary operation

Forced stop deceleration

Dynamic brake +

Electromagnetic brake

ON

OFF (Enabled) EM2 (Forced stop 2)

Zero speed ([Pr. PC07])

Zero speed ([Pr. PC07])

0 r/min

ON

OFF (Enabled)

ON

OFF

Ordinary operation

Forced stop deceleration

Dynamic brake +

Electromagnetic brake

A-axis

B-axis or C-axis

[Pr. PC24] (A-axis) (Note)

Note. To decelerate all axes of A, B, and C, set the same value to [Pr. PC24] for all axes.

3. SIGNALS AND WIRING

3 - 21

3.6.2 Base circuit shut-off delay time function

The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop

(EM2 goes off), alarm occurrence, or SSCNET III/H communication shut-off due to delay time of the

electromagnetic brake. Set the time from MBR (Electromagnetic brake interlock) off to base circuit shut-off

with [Pr. PC02].

(1) Timing chart

B-axis or C-axis

MBR-A (Electromagnetic brake interlock A)

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

ON

OFF (Enabled)

Base circuit (Energy supply to the servo motor)

0 r/min

Servo motor speed

ON

OFF

[Pr. PC02]

[Pr. PC02]

A-axis

MBR-B or MBR-C

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. PC02], the servo amplifier

will be base circuit shut-off status.

(2) Adjustment

While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay

time in [Pr. PC02], and set the value to approximately 1.5 times of the smallest delay time in which the

servo motor shaft does not freefall.

3. SIGNALS AND WIRING

3 - 22

3.6.3 Vertical axis freefall prevention function

The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the

following case.

When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the

base circuit shut-off delay time function avoid dropping axis at forced stop. However, the functions may not

avoid dropping axis a few m due to the backlash of the servo motor electromagnetic brake.

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

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

EM2 (Forced stop 2) turned off, an alarm occurred, or SSCNETIII/H communication shut-off occurred

while the servo motor speed is zero speed or less.

The base circuit shut-off delay time function is enabled.

(1) Timing chart

MBR (Electromagnetic brake interlock)

ON

OFF (Enabled)

Base circuit (Energy supply to the servo motor)

ON

OFF

Actual operation of electromagnetic brake

Disabled

Enabled

Position Travel distance

ON

OFF (Enabled) EM2 (Forced stop 2)

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

(2) Adjustment

Set the freefall prevention compensation amount in [Pr. PC31].

While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off

delay time in [Pr. PC02] in accordance with the travel distance ([Pr. PC31). Adjust it considering the

freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.

3.6.4 Residual risks of the forced stop function (EM2)

(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms

occur.

(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking

distance until the servo motor stops will be longer than that of normal forced stop deceleration without

the dynamic brake.

(3) If STO is turned off during forced stop deceleration, [AL. 63 STO timing error] will occur.

3. SIGNALS AND WIRING

3 - 23

3.7 Alarm occurrence timing chart

CAUTION

When an alarm has occurred, remove its cause, make sure that the operation

signal is not being input, ensure safety, and reset the alarm before restarting

operation.

When alarms are occurring in all axes of A, B, and C, shut off the main circuit

power supply. Not doing so may cause a fire when a regenerative transistor

malfunctions or the like may overheat the regenerative resistor.

POINT

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

To deactivate the alarm, cycle the control circuit power or give the error reset or CPU reset command from

the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.

3.7.1 When you use the forced stop deceleration function

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

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

When an all-axis stop alarm occur, all axes will be the operation status below. When a corresponding

axis stop alarm occurs, only the axis will be the operation status below. You can normally operate the

axis that any alarm is not occurring.

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

CALM (AND malfunction)

(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. This is for when the electronic dynamic brake is enabled with [Pr. PF06] while a certain servo motor is used. If the servo motor speed is 5 r/min or higher, the electronic dynamic brake will operate continuously for the time period set in [Pr. PF12].

3. SIGNALS AND WIRING

3 - 24

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

When an all-axis stop alarm occur, all axes will be the operation status below. When a corresponding

axis stop alarm occurs, only the axis will be the operation status below. You can normally operate the

axis that any alarm is not occurring.

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

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

When SSCNET III/H communication is broken, all axes will be the operation status below. The dynamic

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

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

CALM (AND malfunction)

AANo alarm (d1 or E7)

SSCNET III/H communication has broken.

(Note 1) Model speed command 0 and equal to or less than zero speed

(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. This is for when the electronic dynamic brake is enabled with [Pr. PF06] while a certain servo motor is

used. If the servo motor speed is 5 r/min or higher, the electronic dynamic brake will operate continuously

for the time period set in [Pr. PF12].

3. SIGNALS AND WIRING

3 - 25

3.7.2 When you do not use the forced stop deceleration function

POINT

To disable the function, set "0 _ _ _" in [Pr. PA04].

The timing chart that shows the servo motor condition when an alarm or SSCNETIII/H communication shut-

off occurs is the same as section 3.7.1 (2).

3. SIGNALS AND WIRING

3 - 26

3.8 Interfaces

3.8.1 Internal connection diagram

POINT

Refer to section 13.3.1 for the CN8 connector.

EM2

CN3

DICOM 23

CN3

USB D+

GND

D- 2

3

5

CN5

DI1-A

DI2-A

DI3-A

DI1-B

DI2-B

DI3-B

10

7

8

9

20

21

22

DI1-C 1

DI2-C 2

DI3-C 15

25

13

11

24

MBR-B

12 MBR-A

26 DOCOM

MBR-C

CALM

(Note 4)

RA

RA

CN3

3

16

4

17

5

18

LA-A

3

2

4

7

8

MR

MRR

MX

MXR

LG

PE M

CN2A

6

19

LAR-A

LB-A LBR-A

LA-B LAR-B

LB-B LBR-B

14 LG

CNP3A

2A

3

2

4

7

8

MR

MRR

MX

MXR

LG

PE M

CN2B

CNP3B

2A

3

2

4

7

8

MR

MRR

MX

MXR

LG

PE M

CN2C

CNP3C

2A

Servo amplifier

(Note 1)

(Note 6) 24 V DC

(Note 6) 24 V DC

(Note 2)

(Note 2)

EncoderIsolated

A-axis servo motor

Encoder

B-axis servo motor

Encoder

C-axis servo motor (Note 3)

Approximately 5.6 k

(Note 5) Differential line driver output (35 mA or less)

Approximately 5.6 k

3. SIGNALS AND WIRING

3 - 27

Note 1. Signal can be assigned for these pins with the controller setting.

For contents of signals, refer to the instruction manual of the controller.

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

3. For the MR-J4 3-axis servo amplifier

4. In the initial setting, CINP (AND in-position) is assigned to the pin. You can change devices of the pin with [Pr. PD08].

5. This signal cannot be used for MR-J4W3-_B.

6. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they

can be configured by one.

3.8.2 Detailed description of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in

section 3.5. Refer to this section and make connection with the external device.

(1) Digital input interface DI-1

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

(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink

input. Refer to section 3.8.3 for source input.

Approximately 5 mA

24 V DC 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

TR

EM2 etc.

Servo amplifier

Switch

For transistor

DICOM

Approximately 5.6 k

VCES 1.0 V ICEO 100 A

(2) Digital output interface DO-1

This is a circuit in which the collector of the output transistor is the output terminal. When the output

transistor is turned on, the current will flow to the collector terminal.

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush

current suppressing resistor (R) for a lamp load.

(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A

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

The following shows a connection diagram for sink output. Refer to section 3.8.3 for source output.

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

Servo amplifier

CALM etc.

Load

DOCOM

(Note) 24 V DC 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high

voltage (maximum of 26.4 V) from external source.

3. SIGNALS AND WIRING

3 - 28

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

(a) Interface

Maximum output current: 35 mA

High-speed photocoupler

Servo amplifier Servo amplifier

LA-A/LA-B (LB-A/LB-B)

LAR-A/LAR-B (LBR-A/LBR-B)

SD LG

150

SD

Am26LS32 or equivalent LA-A/LA-B (LB-A/LB-B)

LAR-A/LAR-B (LBR-A/LBR-B)

100

(b) Output pulse

T

Servo motor CCW rotation

Time cycle (T) is determined by the settings of [Pr. PA15], [Pr. PA16] and [Pr. PC03].

LBR-A/LBR-B

LB-A/LB-B

LAR-A/LAR-B

LA-A/LA-B

/2

3.8.3 Source I/O interfaces

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

(1) Digital input interface DI-1

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

source (open-collector) type transistor output, relay switch, etc.

24 V DC 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

EM2 etc.

DICOM

Servo amplifier

Switch

For transistor

TR

VCES 1.0 V ICEO 100 A

Approximately 5.6 k

Approximately 5 mA

3. SIGNALS AND WIRING

3 - 29

(2) Digital output interface DO-1

This is a circuit in which the emitter of the output transistor is the output terminal. When the output

transistor is turned on, the current will flow from the output terminal to a load.

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

(Note) 24 V DC 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

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

Servo amplifier

CALM 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.

3.9 SSCNET III cable connection

POINT

Do not look directly at the light generated from CN1A/CN1B connector of the

servo amplifier or the end of SSCNET III cable. The light can be a discomfort

when it enters the eye.

(1) SSCNET III cable connection

For the CN1A connector, connect the SSCNET III cable connected to a controller in host side or a servo

amplifier of the previous axis. For CN1B connector, connect SSCNET III cable connected to servo

amplifier of the next axis. For CN1B connector of the final axis, put a cap came with servo amplifier.

CN1B

CN1A

Cap

Servo amplifier

CN1B

CN1A

SSCNET III cableSSCNET III cable

Controller

Servo amplifier The last servo amplifier

CN1B

CN1A

SSCNET III cable

3. SIGNALS AND WIRING

3 - 30

(2) How to connect/disconnect cable

POINT

CN1A and CN1B connector are capped to protect light device inside connector

from dust. For this reason, do not remove the cap until just before connecting

the SSCNET III cable. Then, when removing SSCNET III cable, make sure to

put a cap.

Keep the cap for CN1A/CN1B connector and the tube for protecting optical cord

end of SSCNET III cable in a plastic bag with a slide fastener of SSCNET III

cable to prevent them from becoming dirty.

When asking repair of servo amplifier for some malfunctions, make sure to cap

CN1A and CN1B connector. When the connector is not put a cap, the light

device may be damaged at the transit. In this case, replacing and repairing the

light device is required.

(a) Connection

1) For SSCNET III cable in the shipping status, the tube for protect optical cord end is put on the

end of connector. Remove this tube.

2) Remove the CN1A and CN1B connector caps of the servo amplifier.

3) With holding a tab of SSCNET III cable connector, make sure to insert it into the CN1A and CN1B

connector of the servo amplifier until you hear the click. If the end face of optical cord tip is dirty,

optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a

bonded textile, etc. Do not use solvent such as alcohol.

Click

Tab

Servo amplifier Servo amplifier

CN1A

CN1B

CN1A

CN1B

(b) Disconnection

With holding a tab of SSCNET III cable connector, pull out the connector.

When pulling out the SSCNET III cable from servo amplifier, be sure to put the cap on the connector

parts of servo amplifier to prevent it from becoming dirty. For SSCNET III cable, attach the tube for

protection optical cord's end face on the end of connector.

3. SIGNALS AND WIRING

3 - 31

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 CALM (AND 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 torques of the electromagnetic brake and can result

in delay of the deceleration to a stop from a set value.

POINT

Refer to "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the

power supply capacity and operation delay time of the electromagnetic brake.

Refer to "Servo Motor Instruction Manual (Vol. 3)" or section 11.19 for the

selection of a surge absorber for the electromagnetic brake.

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

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

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

3. SIGNALS AND WIRING

3 - 32

(1) Connection diagram

A-axis servo motor

B

(Note 2) RA5

B2

U

B1

B-axis servo motor

B

B2

U

B1

CALM RA1

MBR-A RA2

MBR-B RA3

(Note 1) 24 V DC for electromagnetic brake

C-axis servo motor

B

B2

U

B1 MBR-C

RA4

(Note 3)

Servo amplifier

CALM

DOCOM

24 V DC (Note 4)

24 V DC (Note 4) MBR-A

EM2

DICOM RA1

RA2

EM2

RA3

RA4

MBR-B

MBR-C

Note 1. Do not use the 24 V DC interface power supply for the electromagnetic brake.

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

3. This connection is for the MR-J4 3-axis servo amplifier.

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.

(2) Setting

In [Pr. PC02 Electromagnetic brake sequence output], set the time delay (Tb) from MBR

(Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in section

3.10.2.

3. SIGNALS AND WIRING

3 - 33

3.10.2 Timing chart

(1) When you use the forced stop deceleration function

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(a) Servo-on command (from controller) on/off

When servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo

motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be

shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not

drop down for a vertical axis system, etc.

Approx. 95 ms

Approx. 95 ms

MBR (Electromagnetic brake interlock)

(Note 1) ON

OFF

ON

OFF

0 r/min

Base circuit

Servo motor speed

Coasting

Operation delay time of the electromagnetic brake

Ready-on command (from controller)

ON

OFF

Release

Activate

Operation command (from controller)

Electromagnetic brake

Release delay time and external relay, etc. (Note 2)

(Note 3)

0 r/min

Servo-on command (from controller)

ON

OFF

Tb [Pr. PC02 Electromagnetic brake sequence output]

Note 1. ON : Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of

external circuit relay. For the release delay time of electromagnetic brake, refer to "Servo Motor Instruction Manual (Vol. 3)".

3. Give the operation command from the controller after the electromagnetic brake is released.

3. SIGNALS AND WIRING

3 - 34

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

When EM2 is turned off, all axes will be the operation status below.

POINT

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

ON

ON

OFF

(Note 2) Model speed command 0 and equal to or less than zero speed

Disabled (ON)

Enabled (OFF)

OFF

Forced stop command (from controller) or 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

CALM (AND malfunction)

(Note 1)

Note 1. ON : Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. The model speed command is a speed command generated in the servo amplifier for forced stop

deceleration of the servo motor.

(c) Alarm occurrence

The operation status during an alarm is the same as section 3.7.

(d) Both main and control circuit power supplies off

When both main and control circuit power supplies are turned off, all axes will be the operation

status below.

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 is activated.

3. SIGNALS AND WIRING

3 - 35

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

When the main circuit power supply is turned off, all axes will be the operation status below.

POINT

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

CALM (AND 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 is activated.

2. Variable according to the operation status.

(f) Ready-off command from controller

When ready-off is received, all axes will be the operation status below.

Electromagnetic brake

MBR (Electromagnetic brake interlock)

Base circuit

Servo motor speed

Ready-on command (from controller)

(Note) ON

OFF

ON

OFF

ON

OFF

Approx. 10 ms

0 r/min

Dynamic brake Dynamic brake + Electromagnetic brake

Operation delay time of the electromagnetic brake

Note. ON : Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

3. SIGNALS AND WIRING

3 - 36

(2) When you do not use the forced stop deceleration function

POINT

To disable the function, set "0 _ _ _" in [Pr. PA04].

(a) Servo-on command (from controller) on/off

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

(b) Off/on of the forced stop command (from controller) or EM1 (Forced stop)

When the controller forced stop warning is received from a controller or EM1 is turned off, all axes

will be the operation status below.

Dynamic brake Dynamic brake + Electromagnetic brake

Electromagnetic brake

MBR (Electromagnetic brake interlock)

Approx. 10 ms

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

Forced stop command (from controller) or EM1 (Forced stop)

(ON) Disabled

(OFF) Enabled

0 r/min

Note. ON : Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

(c) Alarm occurrence

The operation status during an alarm is the same as section 3.7.

(d) Both main and control circuit power supplies off

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

3. SIGNALS AND WIRING

3 - 37

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

When the main circuit power supply is turned off, all axes will be the operation status below.

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 is activated.

(f) Ready-off command from controller

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

3. SIGNALS AND WIRING

3 - 38

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".

(Note 1) Power supply

Cabinet

Servo amplifier

Protective earth (PE) Outer box

L1

L2

L3

CNP1

L11

L21

CNP2

MCMCCB

W

V

U

A-axis servo motor

M

U

W

CN2A

CNP3A

Encoder

(Note 3)

V

W

V

U

B-axis servo motor

M

U

W

CN2B

CNP3B

Encoder

(Note 3)

V

W

V

U

C-axis servo motor (Note 2)

M

U

W

CN2C

CNP3C

Encoder

(Note 3)

V

Li ne

fi lte

r

S er

vo s

ys te

m co

nt ro

lle r

Note 1. For power supply specifications, refer to section 1.3.

2. For the MR-J4 3-axis servo amplifier

3. Be sure to connect it to of CNP3A, CNP3B, and CNP3C. Do not connect the wire directly to

the protective earth of the cabinet.

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

Surrounding environment check

Axis No. settings

Parameter setting

Test operation of the servo motor alone in test operation mode

Test operation of the servo motor alone by commands

Test operation with the servo motor and machine connected

Gain adjustment

Actual operation

Stop

Check whether the servo amplifier and servo motor are wired correctly using

visual inspection, DO forced output function (section 4.5.1), etc. (Refer to

section 4.1.2.)

Check the surrounding environment of the servo amplifier and servo motor.

(Refer to section 4.1.3.)

Confirm that the control axis No. set with the auxiliary axis number setting

switches (SW2-5 and SW2-6) and with the axis selection rotary switch

(SW1) match the control axis No. set with the servo system controller. (Refer

to section 4.3.1 (3).)

Set the parameters as necessary, such as the used operation mode and

regenerative option selection. (Refer to chapter 5.)

For the test operation, with the servo motor disconnected from the machine

and operated at the speed as low as possible, check whether the servo

motor rotates correctly. (Refer to section 4.5.)

For the test operation with the servo motor disconnected from the machine

and operated at the speed as low as possible, give commands to the servo

amplifier and check whether the servo motor rotates correctly.

After connecting the servo motor with the machine, check machine motions

with sending operation commands from the servo system controller.

Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Stop giving commands and stop operation.

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

The power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier should

satisfy the defined specifications. (Refer to section 1.3.)

(b) Connection of servo amplifier and servo motor

1) The CNP3A, CNP3B, or CNP3C connector should be connected to each A-axis, B-axis, or C-axis

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

motor power input terminals (U/V/W).

Servo amplifier A-axis servo motor

U

V

W M

U

V

W CNP3A

B-axis servo motor

U

V

W M

U

V

W CNP3B

C-axis servo motor

U

V

W M

U

V

W CNP3C

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

M

U

V

W

U

V

W

L1

L2

L3

3) The grounding terminal of the servo motor should be connected to the PE terminal of the CNP3_

connector of the servo amplifier.

Servo amplifier Servo motor

M

4) The CN2A, CN2B, or CN2C connector should be connected using encoder cables securely to

each A-axis, B-axis, or C-axis encoder of the servo motors.

4. STARTUP

4 - 4

(c) When you use an option and auxiliary equipment

When you use a regenerative option

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

Twisted wires should be used. (Refer to section 11.2.4.)

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.

Use DO forced output to forcibly turn on/off the pins of the CN3 connector. You can use this function

to check the wiring. In this case, switch on the control circuit power supply only.

Refer to section 3.2 for details of I/O signal connection.

(b) 24 V DC or higher voltage is not applied to the pins of the CN3 connector.

(c) Plate and DOCOM of the CN3 connector is not shorted.

Servo amplifier

DOCOM

Plate

CN3

4.1.3 Surrounding environment

(1) Cable routing

(a) The wiring cables should not be stressed.

(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)

(c) The connector of the servo motor should not be stressed.

(2) Environment

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

4.2 Startup

POINT

The controller recognizes MR-J4 2-axis servo amplifiers as two servo amplifiers

and 3-axis servo amplifiers as three servo amplifiers. For this reason, select

"MR-J4-B" for each of the A-axis, the B-axis, and the C-axis. The following table

shows the servo amplifier settings in the controller when the MR-J4 multi-axis

servo amplifier is used. Compatible controller Servo amplifier selection

Motion controller (R_MTCPU/Q17_DSCPU)

Select "MR-J4-B" in the system setting screen.

Simple motion module (RD77MS_/QD77MS_)

Select "MR-J4-B" in "Servo series" [Pr. 100] of the servo parameter.

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

4. STARTUP

4 - 5

(1) Power on

When the main and control circuit power supplies are turned on, "b01" (for the first axis) appears on the

servo amplifier display.

When the absolute position detection system is used in a rotary servo motor, first power-on results in

[AL. 25 Absolute position erased] and the servo-on cannot be ready. The alarm can be deactivated by

then switching power off once and on again.

Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may

occur due to external force or the like. Power must therefore be switched on when the servo motor is at

a stop.

(2) Parameter setting

POINT

The following encoder cables are of four-wire type. When using any of these

encoder cables, set [Pr. PC04] to "1 _ _ _" to select the four-wire type. Incorrect

setting will result in [AL. 16 Encoder initial communication error 1].

MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for

details.

After setting the above parameters, switch power off as necessary. Then switch power on again to

enable the parameter values.

(3) Servo-on

Enable the servo-on with the following procedure.

(a) Switch on main circuit power supply and control circuit power supply.

(b) Transmit the servo-on command with the servo system controller.

When the servo-on status is enabled, the servo amplifier is ready to operate and the servo motor is

locked.

(4) Home position return

Always perform home position return before starting positioning operation.

4. STARTUP

4 - 6

(5) Stop

Turn off the servo-on command after the servo motor has stopped, and then switch the power off.

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and

brings it to a stop.

Refer to section 3.10 for the servo motor with an electromagnetic brake.

Operation/command Stopping condition

Servo system controller

Servo-off command The base circuit is shut off and the servo motor coasts.

Ready-off command The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.

Forced stop command The servo motor decelerates to a stop with the command. [AL. E7 Controller forced stop warning] occurs.

Servo amplifier

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 section 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 device 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.

Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier

Instruction Manual (Troubleshooting)" for details of alarms and warnings.

4.3 Switch setting and display of the servo amplifier

Switching to the test operation mode, deactivating control axes, and setting control axis No. are enabled with

switches on the servo amplifier.

On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the

servo system controller at power-on, and the axis number, and diagnose a malfunction at occurrence of an

alarm.

4.3.1 Switches

WARNING

When switching the axis selection rotary switch (SW1) and auxiliary axis number

setting switch (SW2), use an insulated screw driver. Do not use a metal screw

driver. Touching patterns on electronic boards, lead of electronic parts, etc. may

cause an electric shock.

POINT

Turning "ON (up)" all the control axis setting switches (SW2) enables an

operation mode for manufacturer setting and displays "off". The mode is not

available. Set the control axis setting switches (SW2) correctly according to this

section.

Cycling the main circuit power supply and control circuit power supply enables

the setting of each switch.

4. STARTUP

4 - 7

The following explains the test operation select switch, the disabling control axis switches, auxiliary axis

number setting switches, and the axis selection rotary switch.

1

ON

2 3 4 5 6

1 2 3 4 5 6

ON

3-digit, 7-segment LED

Control axis setting switch (SW2)

Axis selection rotary switch (SW1)

Auxiliary axis number setting switch For manufacturer setting Disabling control axis switch Test operation select switch

MR-J4 2-axis servo amplifier

Auxiliary axis number setting switch Disabling control axis switch Test operation select switch

MR-J4 3-axis servo amplifier

1

ON

2 3 4 5 6

(1) Test operation select switch (SW2-1)

To use the test operation mode, turn "ON (up)" the switch. Turning "ON (up)" the switch enables the test

operation mode for all axes. In the test operation mode, the functions such as JOG operation,

positioning operation, and machine analyzer are available with MR Configurator2. Before turning "ON

(up)" the test operation select switch, turn "OFF (down)" the disabling control axis switches.

Disabling control axis switch Set to the "OFF (down)" position. Test operation select switch Set to the "ON (up)" position.

Disabling control axis switch Set to the "OFF (down)" position. Test operation select switch Set to the "ON (up)" position.

1

ON

2 3 4 5 6

MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier

1

ON

2 3 4 5 6

(2) Disabling control axis switches (SW2-2, SW2-3, and SW2-4)

Turning "ON (up)" a disabling control axis switch disables the corresponding servo motor. The servo

motor will be disabled-axis status and will not be recognized by the controller. The following shows the

disabling control axis switches for each axis.

MR-J4 3-axis servo amplifier

1

ON

2 3 4 5 6

For manufacturer setting Disabling control axis switch for B-axis Disabling control axis switch for A-axis

Disabling control axis switch for C-axis Disabling control axis switch for B-axis Disabling control axis switch for A-axis

1

ON

2 3 4 5 6

MR-J4 2-axis servo amplifier

Disable the axis that you do not use. Set them from the last axis to the first axis in order. When only the

first axis is disabled, [AL. 11 Switch setting error] occurs. The following lists show the enabled axes that

the controller recognizes and the disabled axes that the controller do not recognize.

4. STARTUP

4 - 8

MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier

Disabling control axis switch

A-axis B-axis Disabling control

axis switch A-axis B-axis C-axis

Disabling control axis switch

A-axis B-axis C-axis

1

ON

2 3 4 5 6

Enabled Enabled

1

ON

2 3 4 5 6

Enabled Enabled Enabled

1

ON

2 3 4 5 6

[AL. 11] occurs. 1

ON

2 3 4 5 6

Enabled Disabled

1

ON

2 3 4 5 6

Enabled Enabled Disabled

1

ON

2 3 4 5 6

1

ON

2 3 4 5 6

Disabled Disabled

1

ON

2 3 4 5 6

Enabled Disabled Disabled

1

ON

2 3 4 5 6

1

ON

2 3 4 5 6

[AL. 11] occurs.

1

ON

2 3 4 5 6

Disabled Disabled Disabled

1

ON

2 3 4 5 6

(3) Switches for setting control axis No.

POINT

The control axis No. set to the auxiliary axis number setting switches (SW2-5

and SW2-6) and the axis selection rotary switch (SW1) should be the same as

the one set to the servo system controller. The number of the axes you can set

depends on the servo system controller.

For setting the axis selection rotary switch, use a flat-blade screwdriver with the

blade edge width of 2.1 mm to 2.3 mm and the blade edge thickness of 0.6 mm

to 0.7 mm.

When the test operation mode is selected with the test operation select switch

(SW2-1), the SSCNET III/H communication for the servo amplifier in the test

operation mode and the following servo amplifiers is blocked.

You can set the control axis No. between 1 and 64 by using auxiliary axis number setting switches with

the axis selection rotary switch. (Refer to (3) (c) in this section.)

If the same numbers are set to different control axes in a single communication system, the system will

not operate properly. The control axes may be set independently of the SSCNET III cable connection

sequence. The following shows the description of each switch.

(a) Auxiliary axis number setting switches (SW2-5 and SW2-6)

Turning these switches "ON (up)" enables you to set the axis No. 17 or more.

(b) Axis selection rotary switch (SW1)

You can set the control axis No. between 1 and 64 by using auxiliary axis number setting switches

with the axis selection rotary switch. (Refer to (3) (c) in this section.)

87 6

5 4

3

2

1 0 F

E

D C

B

A 9

Axis selection rotary switch (SW1)

4. STARTUP

4 - 9

(c) Switch combination list for the control axis No. setting

POINT

Set control axis Nos. for one system. For details of the control axis No., refer to

the servo system controller user's manual.

The following lists show the setting combinations of the auxiliary axis number setting switches and

the axis selection rotary switch.

1) MR-J4 2-axis servo amplifier

The control axis No. of A-axis is set as 1 to 63 and B-axis is set as 2 to 64.

Auxiliary axis number setting switch

Axis selection rotary switch

Control axis No.

Auxiliary axis number setting switch

Axis selection rotary switch

Control axis No.

A- axis

B- axis

A- axis

B- axis

1

ON

2 3 4 5 6

0 1 2

1

ON

2 3 4 5 6

0 17 18

1 2 3 1 18 19

2 3 4 2 19 20

3 4 5 3 20 21

4 5 6 4 21 22

5 6 7 5 22 23

6 7 8 6 23 24

7 8 9 7 24 25

8 9 10 8 25 26

9 10 11 9 26 27

A 11 12 A 27 28

B 12 13 B 28 29

C 13 14 C 29 30

D 14 15 D 30 31

E 15 16 E 31 32

F 16 17 F 32 33

Auxiliary axis number setting switch

Axis selection rotary switch

Control axis No.

Auxiliary axis number setting switch

Axis selection rotary switch

Control axis No.

A- axis

B- axis

A- axis

B- axis

1

ON

2 3 4 5 6

0 33 34

1

ON

2 3 4 5 6

0 49 50

1 34 35 1 50 51

2 35 36 2 51 52

3 36 37 3 52 53

4 37 38 4 53 54

5 38 39 5 54 55

6 39 40 6 55 56

7 40 41 7 56 57

8 41 42 8 57 58

9 42 43 9 58 59

A 43 44 A 59 60

B 44 45 B 60 61

C 45 46 C 61 62

D 46 47 D 62 63

E 47 48 E 63 64

F 48 49 F (Note)

Note. When B-axis is set as disabled-axis, A-axis is used as 64 axes. When B-axis is not set as non-

axis, [AL. 11 Switch setting error] occurs.

4. STARTUP

4 - 10

2) MR-J4 3-axis servo amplifier

The control axis No. of A-axis is set as 1 to 62, B-axis is set as 2 to 63, and C-axis is set as 3 to

64.

Auxiliary axis number setting switch

Axis selection rotary switch

Control axis No. Auxiliary axis number setting switch

Axis selection rotary switch

Control axis No.

A- axis

B- axis

C- axis

A- axis

B- axis

C- axis

1

ON

2 3 4 5 6

0 1 2 3

1

ON

2 3 4 5 6

0 17 18 19

1 2 3 4 1 18 19 20

2 3 4 5 2 19 20 21

3 4 5 6 3 20 21 22

4 5 6 7 4 21 22 23

5 6 7 8 5 22 23 24

6 7 8 9 6 23 24 25

7 8 9 10 7 24 25 26

8 9 10 11 8 25 26 27

9 10 11 12 9 26 27 28

A 11 12 13 A 27 28 29

B 12 13 14 B 28 29 30

C 13 14 15 C 29 30 31

D 14 15 16 D 30 31 32

E 15 16 17 E 31 32 33

F 16 17 18 F 32 33 34

Auxiliary axis number setting switch

Axis selection rotary switch

Control axis No. Auxiliary axis number setting switch

Axis selection rotary switch

Control axis No.

A- axis

B- axis

C- axis

A- axis

B- axis

C- axis

1

ON

2 3 4 5 6

0 33 34 35

1

ON

2 3 4 5 6

0 49 50 51

1 34 35 36 1 50 51 52

2 35 36 37 2 51 52 53

3 36 37 38 3 52 53 54

4 37 38 39 4 53 54 55

5 38 39 40 5 54 55 56

6 39 40 41 6 55 56 57

7 40 41 42 7 56 57 58

8 41 42 43 8 57 58 59

9 42 43 44 9 58 59 60

A 43 44 45 A 59 60 61

B 44 45 46 B 60 61 62

C 45 46 47 C 61 62 63

D 46 47 48 D 62 63 64

E 47 48 49 E (Note 1)

F 48 49 50 F (Note 2)

Note 1. When C-axis is set as disabled-axis, A-axis is used as 63 axes and B-axis is used as 64-axes. When C-axis is

not set as disabled-axis, [AL. 11 Switch setting error] occurs.

2. When B-axis and C-axis are set as disabled-axes, A-axis is used as 64 axes. When B-axis and C-axis are not

set as disabled-axes, [AL. 11 Switch setting error] occurs.

4. STARTUP

4 - 11

4.3.2 Scrolling display

Displaying the status of each axis in rotation enables you to check the status of all axes.

(1) Normal display

When there is no alarm, the status of all axes are displayed in rotation.

A-axis status

After 1.6 s

Blank

After 0.2 s

B-axis status

After 1.6 s

Blank

After 0.2 s

A-axis status

After 1.6 s

Blank

After 0.2 s

B-axis status

After 1.6 s

Blank

MR-J4 2-axis servo amplifier

Status (1 digit)

Axis No. (2 digits)

"b" "C" "d"

: Indicates ready-off and servo-off status. : Indicates ready-on and servo-off status. : Indicates ready-on and servo-on status.

After 0.2 s

A-axis status

After 1.6 s

Blank

After 0.2 s

B-axis status

After 1.6 s

Blank

After 0.2 s

C-axis status

After 1.6 s

Blank

After 0.2 s After 1.6 s

Blank

MR-J4 3-axis servo amplifier

After 0.2 s

(2) Alarm display

When an alarm occurs, the alarm number (two digits) and the alarm detail (one digit) are displayed

following the status display. For example, the following shows when [AL. 16 Encoder initial

communication error 1] is occurring at the A-axis, and [AL. 32 Overcurrent] is occurring at the B-axis

simultaneously.

A-axis status

After 0.8 s After 0.8 s

Blank

After 0.2 s

B-axis status

After 0.8 s

B-axis alarm No.

After 0.8 s

Blank

After 0.2 s

Status (1 digit)

Axis No. (2 digits)

"n": Indicates that an alarm is occurring.

Alarm detail (1 digit)

Alarm No. (2 digits)

A-axis alarm No.

MR-J4 2-axis servo amplifier

4. STARTUP

4 - 12

4.3.3 Status display of an axis

(1) Display sequence

The segment of the last 2 digits shows the axis number.

Servo system controller power on (SSCNET III/H communication begins)

Ready-on

Servo-on

Ordinary operation

Servo system controller power off

Servo system controller power on

When alarm occurs, its alarm code appears.

Waiting for servo system controller power to switch on (SSCNET III/H communication)

Ready-on and servo-off

Ready-on and servo-on

(Note)

(Note)

(Note)

When an alarm No. or warning No. is displayed

Axis No. 1

Axis No. 2

Axis No. 64

Initial data communication with the servo system controller (initialization communication)

Ready-off and ready-off

Note.

Example:

Blinking

Blinking

After 0.8 s

Blank

After 0.8 s

When [AL. 50 Overload 1] occurs at axis No. 1

Example:

Blinking

Blinking

After 0.8 s

Blank

Alarm reset or warning cleared

After 0.8 s

When [AL. E1 Overload warning 1] occurs at axis No. 1

During a warning that does not cause servo-off, the decimal point on the third digit LED shows the servo-on status.

Servo amplifier power on

System check in progress

4. STARTUP

4 - 13

(2) Indication list

Indication Status Description

Initializing System check in progress

A b Initializing

Power of the servo amplifier was switched on at the condition that the power of the servo system controller is off. The control axis No. set to the auxiliary axis number setting switches (SW2-5 and SW2-6) and the axis selection rotary switch (SW1) do not match the one set to the servo system controller. A servo amplifier malfunctioned, or communication error occurred with the servo system controller or the previous axis servo amplifier. In this case, the indication changes as follows. "Ab" "AC" "Ad" "Ab" The servo system controller is malfunctioning.

A b . Initializing During initial setting for communication specifications

A C Initializing Initial setting for communication specifications completed, and then it synchronized with servo system controller.

A d Initializing During initial parameter setting communication with servo system controller

A E Initializing During the servo motor/encoder information and telecommunication with servo system controller

A F Initializing During initial signal data communication with servo system controller

A H Initializing completion The process for initial data communication with the servo system controller is completed.

A A Initializing standby The power supply of servo system controller is turned off during the power supply of servo amplifier is on.

(Note 1) b # # Ready-off The ready off signal from the servo system controller was received.

(Note 1) d # # Servo-on The ready off signal from the servo system controller was received.

(Note 1) C # # Servo-off The ready off signal from the servo system controller was received.

(Note 2) * ** Alarm/warning The alarm No. and the warning No. that occurred is displayed. (Refer to chapter 8. (Note 4))

8 88 CPU error CPU watchdog error has occurred.

(Note 1) # #b . (Note 3) Test operation mode

JOG operation, positioning operation, program operation, output signal (DO) forced output, or motor-less operation was set.

# #d .

# #C . Note 1. The meanings of ## are listed below.

## Description

01 to 64

Axis No. 1 to

Axis No. 64

2. *** indicates the alarm No. and the warning No. "A" in the third digit indicates the A-axis, "B" indicates the B-axis, and "C"

indicates the C-axis.

3. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual

(Troubleshooting)" for details of alarms and warnings.

4. STARTUP

4 - 14

4.4 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.

Refer to section 4.2 for the power on and off methods of the servo amplifier.

POINT

If necessary, verify controller program by using motor-less operation. Refer to

section 4.5.2 for the motor-less operation.

Test operation of the servo motor

alone in JOG operation of test operation mode

Test operation of the servo motor alone by commands

Test operation with the servo motor and machine connected

In this step, confirm that the servo amplifier and servo motor operate

normally. With the servo motor disconnected from the machine, use the test

operation mode and check whether the servo motor rotates correctly. Refer

to section 4.5 for the test operation mode.

In this step, confirm that the servo motor rotates correctly under the

commands from the controller.

Give a low speed command at first and check the rotation direction, etc. of

the servo motor. If the machine does not operate in the intended direction,

check the input signal.

In this step, connect the servo motor with the machine and confirm that the

machine operates normally under the commands from the controller.

Give a low speed command at first and check the operation direction, etc. of

the machine. If the machine does not operate in the intended direction,

check the input signal.

Check any problems with the servo motor speed, load ratio, and other status

display items with MR Configurator2.

Then, check automatic operation with the program of the controller.

4.5 Test operation mode

CAUTION

The test operation mode is designed for checking servo operation. It is not for

checking machine operation. Do not use this mode with the machine. Always use

the servo motor alone.

If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.

POINT

The content described in this section indicates that the servo amplifier and a

personal computer are directly connected.

By using a personal computer and MR Configurator2, you can execute jog operation, positioning operation,

DO forced output program operation without connecting the servo system controller.

4. STARTUP

4 - 15

4.5.1 Test operation mode in MR Configurator2

POINT

All axes will be in the test operation mode for the multi-axis servo amplifier.

Although only one axis is active in the mode.

When the test operation mode is selected with the test operation select switch

(SW2-1), the SSCNET III/H communication for the servo amplifier in the test

operation mode and the following servo amplifiers is blocked.

(1) Test operation mode

(a) Jog operation

Jog operation can be performed without using the servo system controller. Use this operation with

the forced stop reset. This operation may be used independently of whether the servo is on or off

and whether the servo system controller is connected or not.

Exercise control on the jog operation screen of MR Configurator2.

1) Operation pattern

Item Default value Setting range

Speed [r/min] 200 0 to max. speed

Acceleration/deceleration time constant [ms]

1000 0 to 50000

2) Operation method

When the check box of "Rotation only while the CCW or CW button is being pushed." is

checked.

Operation Screen control

Forward rotation start Keep pressing "Forward".

Reverse rotation start Keep pressing "Reverse".

Stop Release "Forward" or "Reverse".

Forced stop Click "Forced stop".

When the check box of "Rotation only while the CCW or CW button is being pushed." is not

checked.

Operation Screen control

Forward rotation start Click "Forward".

Reverse rotation start Click "Reverse".

Stop Click "Stop".

Forced stop Click "Forced stop".

4. STARTUP

4 - 16

(b) Positioning operation

Positioning operation can be performed without using the servo system controller. Use this operation

with the forced stop reset. This operation may be used independently of whether the servo is on or

off and whether the servo system controller is connected or not.

Exercise control on the positioning operation screen of MR Configurator2.

1) Operation pattern

Item Default value Setting range

Travel distance [pulse] 4000 0 to 99999999

Speed [r/min] 200 0 to max. speed

Acceleration/deceleration time constant [ms]

1000 0 to 50000

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 repeats [time] 1 1 to 9999

2) Operation method

Operation Screen control

Forward rotation start Click "Forward".

Reverse rotation start Click "Reverse".

Pause Click "Pause".

Stop Click "Stop".

Forced stop Click "Forced stop".

(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using

the servo system controller. Use this operation with the forced stop reset. This operation may be

used independently of whether the servo is on or off and whether the servo system controller is

connected or not.

Exercise control on the program operation screen of MR Configurator2. For details, refer to Help of

MR Configurator2.

Operation Screen control

Start Click "Start".

Pause Click "Pause".

Stop Click "Stop".

Forced stop Click "Forced stop".

(d) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for

output signal wiring check, etc. Exercise control on the DO forced output screen of MR

Configurator2.

4. STARTUP

4 - 17

(2) Operation procedure

1) Turn off the power.

2) Turn "ON (up)" SW2-1.

1

ON

2 3 4 5 6 1 2 3 4 5 6

ON

Set SW2-1 to "ON (up)".

Turning "ON (up)" SW2-1 during power-on will not start the test operation mode.

3) Turn on the servo amplifier.

When initialization is completed, the decimal point on the first digit will blink.

Example: MR-J4 2-axis servo amplifier

After 1.6 s After 0.2 s After 1.6 s

After 0.2 s

Blinking Blinking

When an alarm or warning also occurs during the test operation, the decimal point will blink.

After 0.8 s After 0.8 s

After 0.2 s

Blinking Blinking

4) Start operation with the personal computer.

4.5.2 Motor-less operation in controller

POINT

Use motor-less operation which is available by making the servo system

controller parameter setting.

Connect the servo amplifier with the servo system controller before the motor-

less operation.

The motor-less operation is not used in the fully closed loop control mode, linear

servo motor control mode, and DD motor control mode.

4. STARTUP

4 - 18

(1) Motor-less operation

Without connecting a servo motor to servo amplifier, output signals or status displays can be provided in

response to the servo system controller commands as if the servo motor is actually running. This

operation may be used to check the servo system controller sequence. Use this operation with the

forced stop reset. Use this operation with the servo amplifier connected to the servo system controller.

To stop the motor-less operation, set the motor-less operation selection to "Disable" in the servo

parameter setting of the servo system controller. When the power supply is turned on next time, motor-

less operation will be disabled.

(a) Load conditions

Load item Condition

Load torque 0

Load to motor inertia ratio [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]

(b) Alarms

The following alarms and warning do not occur. However, the other alarms and warnings occur as

when the servo motor is connected.

[AL. 16 Encoder initial communication error 1]

[AL. 1E Encoder initial communication error 2]

[AL. 1F Encoder initial communication error 3]

[AL. 20 Encoder normal communication error 1]

[AL. 21 Encoder normal communication error 2]

[AL. 25 Absolute position erased]

[AL. 92 Battery cable disconnection warning]

[AL. 9F Battery warning]

4. STARTUP

4 - 19

(2) Operation procedure

1) Set the servo amplifier to the servo-off status.

2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF (down: normal condition side)" the test operation mode

switch (SW2-1), and then turn on the power supply.

1

ON

2 3 4 5 6 1 2 3 4 5 6

ON

Set SW2-1 to "OFF (down)".

3) Start the motor-less operation with the servo system controller.

The display shows the following screen.

The decimal point blinks.

4. STARTUP

4 - 20

MEMO

5. PARAMETERS

5 - 1

5. PARAMETERS

CAUTION

Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier.

Changing the values of the parameters for manufacturer setting Setting a value out of the range Changing the fixed values in the digits of a parameter

When you write parameters with the controller, make sure that the control axis No. of the servo amplifier is set correctly. Otherwise, the parameter settings of another axis may be written, possibly causing the servo amplifier to be an unexpected condition.

POINT

The following parameters are not available with 200 W or more MR-J4W_-_B servo amplifiers.

[Pr. PC09 Analog monitor 1 output] [Pr. PC10 Analog monitor 2 output] [Pr. PC11 Analog monitor 1 offset] [Pr. PC12 Analog monitor 2 offset] [Pr. PC13 Analog monitor - Feedback position output standard data - Low] [Pr. PC14 Analog monitor - Feedback position output standard data - High]

The following parameters are not available with MR-J4W2-0303B6 servo amplifiers.

[Pr. PA02 Regenerative option] [Pr. PA17 Servo motor series setting] [Pr. PA18 Servo motor type setting] [Pr. PA22 Position control composition selection] [Pr. PC20 Function selection C-7] [Pr. PC27 Function selection C-9] [Pr. PE01 Fully closed loop function selection 1] [Pr. PE03 Fully closed loop function selection 2] [Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 - Numerator] [Pr. PE05 Fully closed loop control - Feedback pulse electronic gear 1 - Denominator] [Pr. PE06 Fully closed loop control - Speed deviation error detection level] [Pr. PE07 Fully closed loop control - Position deviation error detection level] [Pr. PE08 Fully closed loop dual feedback filter] [Pr. PE10 Fully closed loop function selection 3] [Pr. PE34 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator] [Pr. PE35 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator]

Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with MR-J4W2-0303B6 servo amplifiers. When you connect the amplifier to a servo system controller, servo parameter values of the servo system controller will be written to each parameter. Setting may not be made to some parameters and their ranges depending on the servo system controller model, servo amplifier software version, and MR Configurator2 software version. For details, refer to the servo system controller user's manual.

5. PARAMETERS

5 - 2

5.1 Parameter list

POINT

The parameter whose symbol is preceded by * is enabled with the following

conditions:

*: After setting the parameter, cycle the power or reset the controller.

**: After setting the parameter, cycle the power.

How to set parameters

Each: Set parameters for each axis of A, B, and C.

Common: Set parameters for common axis of A, B, and C. Be sure to set the

same value to all axes.

The same values are set as default for all axes.

Abbreviations of operation modes indicate the followings.

Standard: Standard (semi closed loop system) use of the rotary servo motor

Full.: Fully closed loop system use of the rotary servo motor

Lin.: Linear servo motor use.

D.D.: Direct drive (D.D.) motor use.

For MR-J4W2-0306B6 servo amplifiers, the operation mode is available only in

standard (semi closed loop system).

Setting an out of range value to each parameter will trigger [AL. 37 Parameter

error].

5. PARAMETERS

5 - 3

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

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PA01 **STY Operation mode 1000h Each PA02 **REG Regenerative option 0000h Common PA03 *ABS Absolute position detection system 0000h Each PA04 *AOP1 Function selection A-1 2000h Common PA05 For manufacturer setting 10000

PA06 1

PA07 1

PA08 ATU Auto tuning mode 0001h Each PA09 RSP Auto tuning response 16 Each PA10 INP In-position range 1600 [pulse] Each PA11 For manufacturer setting 1000.0

PA12 1000.0

PA13 0000h

PA14 *POL Rotation direction selection/travel direction selection 0 Each PA15 *ENR Encoder output pulses 4000 [pulse/rev] Each PA16 *ENR2 Encoder output pulses 2 1 Each PA17 **MSR Servo motor series setting 0000h Each

PA18 **MTY Servo motor type setting 0000h Each

PA19 *BLK Parameter writing inhibit 00ABh Each PA20 *TDS Tough drive setting 0000h Each PA21 *AOP3 Function selection A-3 0001h Each PA22 **PCS Position control composition selection 0000h Each

PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h Each PA24 AOP4 Function selection A-4 0000h Each PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%] Each PA26 For manufacturer setting 0000h

PA27 0000h

PA28 0000h

PA29 0000h

PA30 0000h

PA31 0000h

PA32 0000h

5. PARAMETERS

5 - 4

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

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h Each PB02 VRFT Vibration suppression control tuning mode (advanced vibration

suppression control II) 0000h Each

PB03 TFBGN Torque feedback loop gain 18000 [rad/s] Each PB04 FFC Feed forward gain 0 [%] Each PB05 For manufacturer setting 500

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 [Multiplier] Each PB07 PG1 Model loop gain 15.0 [rad/s] Each PB08 PG2 Position loop gain 37.0 [rad/s] Each PB09 VG2 Speed loop gain 823 [rad/s] Each PB10 VIC Speed integral compensation 33.7 [ms] Each PB11 VDC Speed differential compensation 980 Each PB12 OVA Overshoot amount compensation 0 [%] Each PB13 NH1 Machine resonance suppression filter 1 4500 [Hz] Each PB14 NHQ1 Notch shape selection 1 0000h Each PB15 NH2 Machine resonance suppression filter 2 4500 [Hz] Each PB16 NHQ2 Notch shape selection 2 0000h Each PB17 NHF Shaft resonance suppression filter 0000h Each PB18 LPF Low-pass filter setting 3141 [rad/s] Each PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz] Each PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz] Each PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00 Each PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00 Each PB23 VFBF Low-pass filter selection 0000h Each PB24 *MVS Slight vibration suppression control 0000h Each PB25 *BOP1 Function selection B-1 0000h Each PB26 *CDP Gain switching function 0000h Each PB27 CDL Gain switching condition 10 [kpulse/s]/

[pulse]/ [r/min]

Each

PB28 CDT Gain switching time constant 1 [ms] Each PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain

switching 7.00 [Multiplier] Each

PB30 PG2B Position loop gain after gain switching 0.0 [rad/s] Each PB31 VG2B Speed loop gain after gain switching 0 [rad/s] Each PB32 VICB Speed integral compensation after gain switching 0.0 [ms] Each PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain

switching 0.0 [Hz] Each

PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching

0.0 [Hz] Each

PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching

0.00 Each

PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching

0.00 Each

PB37 For manufacturer setting 1600

PB38 0.00

PB39 0.00

PB40 0.00

PB41 0

PB42 0

5. PARAMETERS

5 - 5

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PB43 For manufacturer setting 0000h

PB44 0.00

PB45 CNHF Command notch filter 0000h Each PB46 NH3 Machine resonance suppression filter 3 4500 [Hz] Each PB47 NHQ3 Notch shape selection 3 0000h Each PB48 NH4 Machine resonance suppression filter 4 4500 [Hz] Each PB49 NHQ4 Notch shape selection 4 0000h Each PB50 NH5 Machine resonance suppression filter 5 4500 [Hz] Each PB51 NHQ5 Notch shape selection 5 0000h Each PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz] Each PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz] Each PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00 Each PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00 Each PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain

switching 0.0 [Hz] Each

PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching

0.0 [Hz] Each

PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching

0.00 Each

PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching

0.00 Each

PB60 PG1B Model loop gain after gain switching 0.0 [rad/s] Each PB61 For manufacturer setting 0.0

PB62 0000h

PB63 0000h

PB64 0000h

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

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PC01 ERZ Error excessive alarm level 0 [rev]/ [mm]

Each

PC02 MBR Electromagnetic brake sequence output 0 [ms] Each PC03 *ENRS Encoder output pulse selection 0000h Each PC04 **COP1 Function selection C-1 0000h Each PC05 **COP2 Function selection C-2 0000h Each

PC06 *COP3 Function selection C-3 0000h Each PC07 ZSP Zero speed 50 [r/min]/

[mm/s] Each

PC08 OSL Overspeed alarm detection level 0 [r/min]/ [mm/s]

Each

5. PARAMETERS

5 - 6

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PC09 MOD1 Analog monitor 1 output 0000h Common

PC10 MOD2 Analog monitor 2 output 0001h Common

PC11 MO1 Analog monitor 1 offset 0 [mV] Common

PC12 MO2 Analog monitor 2 offset 0 [mV] Common

PC13 MOSDL Analog monitor - Feedback position output standard data - Low 0 [pulse] Each

PC14 MOSDH Analog monitor - Feedback position output standard data - High 0 [10000 pulses]

Each

PC15 For manufacturer setting 0

PC16 0000h

PC17 **COP4 Function selection C-4 0000h Each PC18 *COP5 Function selection C-5 0000h Common PC19 For manufacturer setting 0000h

PC20 *COP7 Function selection C-7 0000h Common PC21 *BPS Alarm history clear 0000h Each PC22 For manufacturer setting 0

PC23 0000h

PC24 RSBR Forced stop deceleration time constant 100 [ms] Each PC25 For manufacturer setting 0

PC26 0000h

PC27 **COP9 Function selection C-9 0000h Each (Note)

PC28 For manufacturer setting 0000h

PC29 *COPB Function selection C-B 0000h Each PC30 For manufacturer setting 0

PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001 rev]/

[0.01 mm]

Each

PC32 For manufacturer setting 0000h

PC33 0

PC34 100

PC35 0000h

PC36 0000h

PC37 0000h

PC38 ERW Error excessive warning level 0 [rev]/[mm] Each PC39 For manufacturer setting 0000h

PC40 0000h

PC41 0000h

PC42 0000h

PC43 0000h

PC44 0000h

PC45 0000h

PC46 0000h

PC47 0000h

PC48 0000h

PC49 0000h

PC50 0000h

PC51 0000h

PC52 0000h

PC53 0000h

PC54 0000h

PC55 0000h Note. It is available when the scale measurement function is enabled ([Pr. PA22] is "1 _ _ _" or "2 _ _ _").

5. PARAMETERS

5 - 7

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PC56 For manufacturer setting 0000h

PC57 0000h

PC58 0000h

PC59 0000h

PC60 0000h

PC61 0000h

PC62 0000h

PC63 0000h

PC64 0000h

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

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PD01 For manufacturer setting 0000h

PD02 *DIA2 Input signal automatic on selection 2 0000h Each PD03 For manufacturer setting 0020h

PD04 0021h

PD05 0022h

PD06 0000h

PD07 *DO1 Output device selection 1 0005h Each PD08 *DO2 Output device selection 2 0004h Common PD09 *DO3 Output device selection 3 0003h Common PD10 For manufacturer setting 0000h

PD11 *DIF Input filter setting (Note) 0004h Common PD12 *DOP1 Function selection D-1 0000h Each PD13 For manufacturer setting 0000h

PD14 *DOP3 Function selection D-3 0000h Each PD15 For manufacturer setting 0000h

PD16 0000h

PD17 0000h

PD18 0000h

PD19 0000h

PD20 0

PD21 0

PD22 0

PD23 0

PD24 0000h

PD25 0000h

PD26 0000h

PD27 0000h

PD28 0000h

PD29 0000h

PD30 0

5. PARAMETERS

5 - 8

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PD31 For manufacturer setting 0

PD32 0

PD33 0000h

PD34 0000h

PD35 0000h

PD36 0000h

PD37 0000h

PD38 0000h

PD39 0000h

PD40 0000h

PD41 0000h

PD42 0000h

PD43 0000h

PD44 0000h

PD45 0000h

PD46 0000h

PD47 0000h

PD48 0000h Note. Refer to the servo system controller instruction manual for the setting.

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

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PE01 **FCT1 Fully closed loop function selection 1 0000h Each

PE02 For manufacturer setting 0000h

PE03 *FCT2 Fully closed loop function selection 2 0003h Each

PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator

1 Each

PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator

1 Each

PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 [r/min] Each

PE07 BC2 Fully closed loop control - Position deviation error detection level 100 [kpulse] Each

PE08 DUF Fully closed loop dual feedback filter 10 [rad/s] Each

PE09 For manufacturer setting 0000h

PE10 FCT3 Fully closed loop function selection 3 0000h Each

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

5. PARAMETERS

5 - 9

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PE22 For manufacturer setting 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 Each

PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator

1 Each

PE36 For manufacturer setting 0.0

PE37 0.00

PE38 0.00

PE39 20

PE40 0000h

PE41 EOP3 Function selection E-3 0000h Each PE42 For manufacturer setting 0

PE43 0.0

PE44 0

PE45 0

PE46 0

PE47 TOF Torque offset 0 [0.01%] Each

PE48 For manufacturer setting 0000h

PE49 0

PE50 0

PE51 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 Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PF01 For manufacturer setting 0000h

PF02 *FOP2 Function selection F-2 0000h Common PF03 For manufacturer setting 0000h

PF04 0

PF05 0000h

PF06 *FOP5 Function selection F-5 0000h Each

PF07 For manufacturer setting 0000h

PF08 0000h

PF09 0

PF10 0

PF11 0

PF12 DBT Electronic dynamic brake operating time 2000 [ms] Each

PF13 For manufacturer setting 0000h

PF14 10

PF15 0000h

PF16 0000h

PF17 0000h

PF18 **STOD STO diagnosis error detection time 0 [s] Common PF19 0000h

PF20 0000h

PF21 DRT Drive recorder switching time setting 0 [s] Common PF22 For manufacturer setting 200

PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%] Each PF24 *OSCL2 Vibration tough drive function selection 0000h Each PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 [ms] Common 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]

Each

PF32 For manufacturer setting 50

PF33 0000h

PF34 0000h

PF35 0000h

PF36 0000h

PF37 0000h

PF38 0000h

PF39 0000h

PF40 0000h

PF41 0000h

PF42 0000h

PF43 0000h

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 Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301h Each PL02 **LIM Linear encoder resolution - Numerator 1000 [m] Each

PL03 **LID Linear encoder resolution - Denominator 1000 [m] Each

PL04 *LIT2 Linear servo motor/DD motor function selection 2 0003h Each PL05 LB1 Position deviation error detection level 0 [mm]/

[0.01 rev] Each

PL06 LB2 Speed deviation error detection level 0 [r/min]/ [mm/s]

Each

PL07 LB3 Torque/thrust deviation error detection level 100 [%] Each PL08 *LIT3 Linear servo motor/DD motor function selection 3 0010h Each PL09 LPWM Magnetic pole detection voltage level 30 [%] Each PL10 For manufacturer setting 5

PL11 100

PL12 500

PL13 0000h

PL14 0

PL15 20

PL16 0

PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection

0000h Each

PL18 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude

0 [%] Each

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

5. PARAMETERS

5 - 12

No. Symbol Name Initial value

Unit Each/

Common

Operation mode

S ta

nd ar

d

F ul

l.

Li n.

D .D

.

PL36 For manufacturer setting 0000h

PL37 0000h

PL38 0000h

PL39 0000h

PL40 0000h

PL41 0000h

PL42 0000h

PL43 0000h

PL44 0000h

PL45 0000h

PL46 0000h

PL47 0000h

PL48 0000h

5. PARAMETERS

5 - 13

5.2 Detailed list of parameters

POINT

"x" in the "Setting digit" columns means which digit to set a value.

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

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PA01 **STY Operation mode Select an operation mode.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 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 result in [AL. 37 Parameter error]. The fully closed loop system is available for the MR- J4W2-_B servo amplifiers of which software version is A3 or later. It will not be available with MR-J4W3-_B servo amplifiers. For MR-J4W2-0303B6 servo amplifiers, this digit cannot be used other than the initial value.

0h

_ x _ _ For manufacturer setting 0h

x _ _ _ Compatibility mode selection To change this digit, use an application software "MR- J4(W)-B mode selection". When you change it without the application, [AL. 3E Operation mode error] will occur. Set the digit as common setting. 0: J3 compatibility mode 1: J4 mode

1h

PA02 **REG Regenerative option Select a regenerative option. Incorrect setting may cause the regenerative option to burn. If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter error] occurs.

Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ x x Regenerative option selection 00: Regenerative option is not used. (Built-in regenerative

resistor is used.) 0B: MR-RB3N 0D: MR-RB14 0E: MR-RB34 For MR-J4W2-0303B6 servo amplifiers, this digit cannot be used other than the initial value.

00h

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

5. PARAMETERS

5 - 14

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PA03 *ABS Absolute position detection system Set this parameter when using the absolute position detection system. The parameter is not available in the speed control mode and torque control mode.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Absolute position detection system selection 0: Disabled (used in incremental system) 1: Enabled (used in absolute position detection system)

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PA04 *AOP1 Function selection A-1 Select a forced stop input and forced stop deceleration function.

Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ Servo forced stop selection 0: Enabled (The forced stop input EM2 or EM1 is used.) 1: Disabled (The forced stop input EM2 and EM1 are not

used.) Refer to table 5.1 for details.

0h

x _ _ _ Forced stop deceleration function selection 0: Forced stop deceleration function disabled (EM1) 2: Forced stop deceleration function enabled (EM2) Refer to table 5.1 for details.

2h

Table 5.1 Deceleration method

Setting value

EM2/EM1 Deceleration method

EM2 or EM1 is off Alarm occurred

0 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 0 _ _ EM2 MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.

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

0 1 _ _ Not using EM2 and EM1

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

2 1 _ _ Not using EM2 and EM1

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

5. PARAMETERS

5 - 15

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PA08 ATU Auto tuning mode Select a gain adjustment mode.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Gain adjustment mode selection 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode 4: 2 gain adjustment mode 2 Refer to table 5.2 for details.

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/load to motor mass ratio] [Pr. PB08 Position loop gain] [Pr. PB09 Speed loop gain] [Pr. PB10 Speed integral compensation]

_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] [Pr. PB07 Model loop gain] [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 - 16

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PA09 RSP Auto tuning response Set a response of the auto tuning.

16 1 to 40 Each

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

PA10 INP In-position range Set an in-position range per command pulse.

1600 [pulse]

0 to 65535

Each

5. PARAMETERS

5 - 17

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

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 0 to 1 Each

Setting value

Servo motor rotation direction/linear servo motor travel direction

Positioning address increase Positioning address decrease

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 series

Negative direction

Positive direction

Secondary side

Primary side

LM-U2 series

Negative direction

Positive direction

Table

Primary side

Secondary side

LM-K2 series

PA15 *ENR Encoder output pulses Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) Set a numerator of the electronic gear, for when selecting "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC03]. The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this range.

4000 [pulse/

rev]

1 to 65535

Each

PA16 *ENR2 Encoder output pulses 2 Set a denominator of the electronic gear for the A/B-phase pulse output. Set a denominator of the electronic gear, for when selecting "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC03].

1 1 to 65535

Each

5. PARAMETERS

5 - 18

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PA17 **MSR Servo motor series setting When using a linear servo motor, select any linear servo motor with [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA18] at a time. Refer to the following table for settings. This digit is not available with the MR-J4W2-0303B6 servo amplifier.

0000h Refer to Name and function column.

Each

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-K2P1A-01M-2SS1 1101h

LM-K2P1C-03M-2SS1 1301h

LM-K2P2A-02M-1SS1 2101h

LM-K2 LM-K2P2C-07M-1SS1 00B8h 2301h

LM-K2P2E-12M-1SS1 2501h

LM-K2P3C-14M-1SS1 3301h

LM-K2P3E-24M-1SS1 3501h

PA18 **MTY Servo motor type setting When using a linear servo motor, select any linear servo motor with [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA17] at a time. Refer to the table of [Pr. PA17] for settings. This digit is not available with the MR-J4W2-0303B6 servo amplifier.

0000h Refer to Name and function column of [Pr. PA17].

Each

5. PARAMETERS

5 - 19

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PA19 *BLK Parameter writing inhibit Select a reference range and writing range of the parameter. Refer to table 5.3 for settings. Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with MR-J4W2-0303B6 servo amplifiers.

00ABh Refer to Name and function column.

Each

Table 5.3 [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

000Fh

Reading

Writing

00AAh

Reading

Writing

00ABh (initial value)

Reading

Writing

100Bh

Reading

Writing Only 19

100Ch

Reading

Writing Only 19

100Fh

Reading

Writing Only 19

10AAh

Reading

Writing Only 19

10ABh

Reading

Writing Only 19

5. PARAMETERS

5 - 20

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PA20 *TDS Tough drive setting Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation. You can assign MTTR (During tough drive) to pins CN3-11 to CN3-13, CN3-24, and CN3-25 with [Pr. PD07] to [Pr. PD09]. For MR-J4W2-0303B6 servo amplifiers, MTTR (during tough drive) cannot be assigned.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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]. Refer to section 7.3 for details.

0h

_ x _ _ SEMI-F47 function selection 0: Disabled 1: Enabled Selecting "1" enables to avoid generating [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. Set the time of until [AL. 10.1 Voltage drop in the control circuit power] occurs in [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. A specified axis cannot be enabled for the instantaneous power failure tough drive function. For MR-J4W2-0303B6 servo amplifiers, this digit cannot be used other than the initial value.

0h

x _ _ _ For manufacturer setting 0h

PA21 *AOP3 Function selection A-3 Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x One-touch tuning function selection 0: Disabled 1: Enabled When the digit is "0", the one-touch tuning with MR Configurator2 will be disabled.

1h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

5. PARAMETERS

5 - 21

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PA22 **PCS Position control composition selection Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ 0h

x _ _ _ Scale measurement function selection 0: Disabled 1: Used in absolute position detection system 2: Used in incremental system The setting of this digit is enabled with software version A8 or later. The absolute position detection system cannot be used while an incremental type encoder is used. Enabling absolute position detection system will trigger [AL. 37 Parameter error]. Additionally, the setting is enabled only in the standard control mode. Setting other than "0" in other operation modes triggers [AL. 37 Parameter error]. For MR-J4W2-0303B6 servo amplifiers, this digit cannot be used other than the initial value.

0h

PA23 DRAT Drive recorder arbitrary alarm trigger setting

Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ 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", the drive recorder will operate with any alarm No. regardless of detail numbers.

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".

5. PARAMETERS

5 - 22

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PA24 AOP4 Function selection A-4 Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Vibration suppression mode selection 0: Standard mode 1: 3 inertia mode 2: Low response mode When two low resonance frequencies are generated, select "3 inertia mode (_ _ _ 1)". When the load to motor inertia ratio exceeds the recommended load to motor inertia ratio select "Low response mode (_ _ _ 2)". When you select the standard mode or low response mode, "Vibration suppression control 2" is not available. When you select the 3 inertia mode, the feed forward gain is not available. Before changing the control mode with the controller during the 3 inertia mode or low response mode, stop the motor.

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. However, setting "0" will be 50%.

0 [%]

0 to

100

Each

5. PARAMETERS

5 - 23

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

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB01 FILT Adaptive tuning mode (adaptive filter II) Set the adaptive tuning. All axes cannot be simultaneously enabled for this function. Set for each axis to use.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Filter tuning mode selection Select the adjustment mode of the machine resonance suppression filter 1. Refer to section 7.1.2 for details. 0: Disabled 1: Automatic setting 2: Manual setting

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) This is used to set the vibration suppression control tuning. Refer to section 7.1.5 for details. All axes cannot be simultaneously enabled for this function. Set for each axis to use.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Vibration suppression control 1 tuning mode selection Select the tuning mode of the vibration suppression control 1. 0: Disabled 1: Automatic setting 2: Manual setting

0h

_ _ x _ Vibration suppression control 2 tuning mode selection Select the tuning mode of the vibration suppression control 2. To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24 Function selection A-4]. 0: Disabled 1: Automatic setting 2: Manual setting

0h

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

PB03 TFBGN Torque feedback loop gain Set a torque feedback loop gain in the continuous operation to torque control mode. Decreasing the setting value will also decrease a collision load during continuous operation to torque control mode. Setting a value less than 6 rad/s will be 6 rad/s.

18000 [rad/s]

0 to 18000

Each

PB04 FFC Feed forward gain Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the acceleration time constant up to the rated speed.

0 [%]

0 to 100

Each

5. PARAMETERS

5 - 24

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio Set a load to motor inertia ratio or load to motor mass ratio. Setting a value considerably different from the actual load moment of inertia or load mass may cause an unexpected operation such as an overshoot. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details. When the parameter is automatic setting, the value will vary between 0.00 and 100.00.

7.00 [Multiplier]

0.00 to 300.00

Each

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.

15.0 [rad/s]

1.0 to 2000.0

Each

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)

PB08 PG2 Position loop gain Set a gain of the position loop. Set this parameter to increase the position response to level load disturbance. Increasing the setting value will also increase the response level to the load disturbance but will be liable to generate vibration and noise. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details.

37.0 [rad/s]

1.0 to 2000.0

Each

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 a gain of the speed loop. Set this parameter when vibration occurs on machines of low rigidity or large backlash. Increasing the setting value will also increase the response level but will be liable to generate vibration and noise. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.

823 [rad/s]

20 to 65535

Each

5. PARAMETERS

5 - 25

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB10 VIC Speed integral compensation Set an integral time constant of the speed loop. Decreasing the setting value will increase the response level but will be liable to generate vibration and noise. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.

33.7 [ms]

0.1 to 1000.0

Each

PB11 VDC Speed differential compensation Set a differential compensation. To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching control selection" in [Pr. PB24].

980 0 to 1000

Each

PB12 OVA Overshoot amount compensation Set a viscous friction torque in percentage to the rated torque at servo motor rated speed. Or, set a percentage of viscous friction force against the continuous thrust at linear servo motor rated speed. When the response level is low or when the torque/thrust is limited, the efficiency of the parameter may be lower.

0 [%]

0 to 100

Each

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.

4500 [Hz]

10 to 4500

Each

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. To enable the setting value, select the manual setting.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in [Pr. PB16].

4500 [Hz]

10 to 4500

Each

5. PARAMETERS

5 - 26

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB16 NHQ2 Notch shape selection 2 Set the shape of the machine resonance suppression filter 2.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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 - 27

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB17 NHF Shaft resonance suppression filter Set a shaft resonance suppression filter. Use this to suppress a low-frequency machine vibration. When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection" in [Pr. PB23], the value will be calculated automatically from the servo motor you use and load to motor inertia ratio. It will not automatically calculated for the linear servo motor. When "Manual setting (_ _ _ 1)" is selected, the setting written to the parameter is used. When "Shaft resonance suppression filter selection" is "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this parameter will be disabled. When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49], the shaft resonance suppression filter is not available.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ x x Shaft resonance suppression filter setting frequency selection This is used for setting the shaft resonance suppression filter. Refer to table 5.4 for settings. Set the value closest to the frequency you need.

00h

_ x _ _ Notch depth selection 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB

0h

x _ _ _ For manufacturer setting 0h

Table 5.4 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

5. PARAMETERS

5 - 28

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB18 LPF Low-pass filter setting Set the low-pass filter. The following shows a relation of a required parameter to this parameter.

3141 [rad/s]

100 to 18000

Each

[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial value) Automatic setting

_ _ 1 _ Setting value enabled

_ _ 2 _ Setting value disabled

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.

100.0 [Hz]

0.1 to 300.0

Each

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.

100.0 [Hz]

0.1 to 300.0

Each

PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping Set a damping of the vibration frequency for vibration suppression control 1 to suppress low-frequency machine vibration. When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.

0.00 0.00 to 0.30

Each

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.

0.00 0.00 to 0.30

Each

PB23 VFBF Low-pass filter selection Select the shaft resonance suppression filter and low-pass filter.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Shaft resonance suppression filter selection 0: Automatic setting 1: Manual setting 2: Disabled When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49], the shaft resonance suppression filter is not available.

0h

_ _ x _ Low-pass filter selection 0: Automatic setting 1: Manual setting 2: Disabled

0h

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

5. PARAMETERS

5 - 29

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB24 *MVS Slight vibration suppression control Select the slight vibration suppression control and PI-PID switching control.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Slight vibration suppression control selection 0: Disabled 1: Enabled To enable the slight vibration suppression control, select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08]. Slight vibration suppression control cannot be used in the speed control mode.

0h

_ _ x _ PI-PID switching control selection 0: PI control enabled

(Switching to PID control is possible with commands of servo system controller.)

3: Continuous PID control enabled If the servo motor at a stop is rotated even for a pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), enabling PID control and completing positioning simultaneously will suppress the unnecessary torque generated to compensate for a position shift.

0h

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

PB25 *BOP1 Function selection B-1 Select enabled/disabled of model adaptive control. This parameter is supported with software version B4 or later.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Model adaptive control selection 0: Enabled (model adaptive control) 2: Disabled (PID control)

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

5. PARAMETERS

5 - 30

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB26 *CDP Gain switching function Select the gain switching condition. Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Gain switching selection 0: Disabled 1: Control command from controller is enabled 2: Command frequency 3: Droop pulses 4: Servo motor speed/linear servo motor speed

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 Set a value of gain switching (command frequency, droop pulses, and servo motor speed/linear servo motor speed) selected in [Pr. PB26]. The set value unit differs depending on the switching condition item. (Refer to section 7.2.3) The unit "r/min" will be "mm/s" for linear servo motors.

10 [kpulse/s]

/[pulse]

/[r/min]

0 to 65535

Each

PB28 CDT Gain switching time constant Set the time constant until the gains switch in response to the conditions set in [Pr. PB26] and [Pr. PB27].

1 [ms]

0 to 100

Each

PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching Set a load to motor inertia ratio/load to motor mass ratio for when gain switching is enabled. This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08].

7.00 [Multiplier]

0.00 to 300.00

Each

5. PARAMETERS

5 - 31

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

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 you select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08].

0.0 [rad/s]

0.0 to 2000.0

Each

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 you select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08].

0 [rad/s]

0 to

65535

Each

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 you select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08].

0.0 [ms]

0.0 to 5000.0

Each

PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching Set the vibration frequency of the vibration suppression control 1 for when the gain switching is enabled. When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19]. This parameter is enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)". "Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _ _ 1)".

Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.0 [Hz]

0.0 to 300.0

Each

PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching Set the resonance frequency for vibration suppression control 1 when the gain switching is enabled. When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB20]. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)". "Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _ _ 1)".

Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.0 [Hz]

0.0 to 300.0

Each

PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching Set a damping of the vibration frequency for vibration suppression control 1 when the gain switching is enabled. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)". "Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _ _ 1)".

Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.00 0.00 to 0.30

Each

PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching Set a damping of the resonance frequency for vibration suppression control 1 when the gain switching is enabled. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)". "Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _ _ 1)".

Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.00 0.00 to 0.30

Each

5. PARAMETERS

5 - 32

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB45 CNHF Command notch filter Set the command notch filter.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ x x Command notch filter setting frequency selection Refer to table 5.5 for the relation of setting values to frequency.

00h

_ x _ _ Notch depth selection Refer to table 5.6 for details.

0h

x _ _ _ For manufacturer setting 0h

Table 5.5 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

5. PARAMETERS

5 - 33

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB45 CNHF Table 5.6 Notch depth selection Refer to Name and function column.

Each

Setting value Depth [dB] Setting value Depth [dB]

_ 0 _ _ -40.0 _ 8 _ _ -6.0

_ 1 _ _ -24.1 _ 9 _ _ -5.0

_ 2 _ _ -18.1 _ A _ _ -4.1

_ 3 _ _ -14.5 _ B _ _ -3.3

_ 4 _ _ -12.0 _ C _ _ -2.5

_ 5 _ _ -10.1 _ D _ _ -1.8

_ 6 _ _ -8.5 _ E _ _ -1.2

_ 7 _ _ -7.2 _ F _ _ -0.6

PB46 NH3 Machine resonance suppression filter 3 Set the notch frequency of the machine resonance suppression filter 3. To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection" in [Pr. PB47].

4500 [Hz]

10 to 4500

Each

PB47 NHQ3 Notch shape selection 3 Set the shape of the machine resonance suppression filter 3.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49].

4500 [Hz]

10 to 4500

Each

5. PARAMETERS

5 - 34

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB49 NHQ4 Notch shape selection 4 Set the shape of the machine resonance suppression filter 4.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Machine resonance suppression filter 4 selection 0: Disabled 1: Enabled When you select "Enabled" of this digit, [Pr. PB17 Shaft resonance suppression filter] is not available.

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, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5 selection" in [Pr. PB51].

4500 [Hz]

10 to 4500

Each

PB51 NHQ5 Notch shape selection 5 Set the shape of the machine resonance suppression filter 5. When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine resonance suppression filter 5 is not available.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.

100.0 [Hz]

0.1 to 300.0

Each

5. PARAMETERS

5 - 35

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PB53 VRF22 Vibration suppression control 2 - Resonance frequency Set the resonance frequency for vibration suppression control 2 to suppress low- frequency machine vibration. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.

100.0 [Hz]

0.1 to 300.0

Each

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. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.

0.00 0.00 to 0.30

Each

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. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24]. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.

0.00 0.00 to 0.30

Each

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]. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24]. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".

"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual

setting (_ _ 2 _)".

"Gain switching selection" in [Pr. PB26] is "Control command from controller is

enabled (_ _ _ 1)". Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.0 [Hz]

0.0 to 300.0

Each

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]. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24]. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".

"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual

setting (_ _ 2 _)".

"Gain switching selection" in [Pr. PB26] is "Control command from controller is

enabled (_ _ _ 1)". Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.0 [Hz]

0.0 to 300.0

Each

5. PARAMETERS

5 - 36

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

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. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24]. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".

"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual

setting (_ _ 2 _)".

"Gain switching selection" in [Pr. PB26] is "Control command from controller is

enabled (_ _ _ 1)". Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.00 0.00 to 0.30

Each

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. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24]. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".

"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual

setting (_ _ 2 _)".

"Gain switching selection" in [Pr. PB26] is "Control command from controller is

enabled (_ _ _ 1)". Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.00 0.00 to 0.30

Each

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 "Control command from controller is

enabled (_ _ _ 1)". Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.0 [rad/s]

0.0 to 2000.0

Each

5. PARAMETERS

5 - 37

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

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PC01 ERZ Error excessive alarm level Set an error excessive alarm level. Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be 3 rev. Setting over 200 rev will be clamped with 200 rev. Set this per mm for linear servo motors. Setting "0" will be 100 mm.

0 [rev]/ [mm]

(Note)

0 to 1000

Each

Note. Setting can be changed in [Pr. PC06].

PC02 MBR Electromagnetic brake sequence output Set a delay time between MBR (Electromagnetic brake interlock) and the base drive circuit is shut-off.

0 [ms]

0 to 1000

Each

PC03 *ENRS Encoder output pulse selection Select an encoder pulse direction and encoder output pulse setting. This parameter is not available with C-axis.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Encoder output pulse phase selection 0: Increasing A-phase 90 in CCW or positive direction 1: Increasing A-phase 90 in CW or negative direction

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 0: Output pulse setting

When "_ 1 0 _" is set to this parameter, [AL. 37 Parameter error] will occur.

1: Division ratio setting 3: A/B-phase pulse electronic gear setting For linear servo motors, selecting "0" will output as division ratio setting because the output pulse setting is not available.

0h

_ x _ _ Selection of the encoders for encoder output pulse Select an encoder used the encoder output pulses which the servo amplifier outputs. 0: Servo motor encoder 1: Load-side encoder

When "_ 1 0 _" is set to this parameter, [AL. 37 Parameter error] will occur.

Use [Pr. PA16] only in the fully closed loop system. Selecting "1" in other than fully closed loop system or standard control system (scale measurement function: enabled) triggers [AL. 37 Parameter error].

0h

x _ _ _ For manufacturer setting 0h

5. PARAMETERS

5 - 38

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PC04 **COP1 Function selection C-1 Select the encoder cable communication method selection.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ 0h

x _ _ _ Encoder cable communication method selection 0: Two-wire type 1: Four-wire type Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. Or [AL. 20 Encoder initial communication error 1] will occur. Setting "1" will trigger [AL. 37] while "Fully closed loop control mode (_ _ 1 _)" is selected in [Pr. PA01]. For MR-J4W2-0303B6 servo amplifiers, this digit cannot be used other than the initial value.

0h

PC05 **COP2 Function selection C-2 Set the motor-less operation, servo motor main circuit power supply, and [AL. 9B Error excessive warning]. The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode, or DD motor control mode.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Motor-less operation selection 0: Disabled 1: Enabled

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ Main circuit power supply selection Select a voltage to be connected to the main circuit power supply with an MR-J4W2-0303B6 servo amplifier. 0: 48 V DC 1: 24 V DC When using 24 V DC for the main circuit power supply, set "1" to this digit. The setting of this digit in the J3 compatibility mode is the same as the MR-J3W-0303BN6 servo amplifier. Set it with [Pr. Po04]. For details, refer to "MR-J3W-0303BN6 MR- J3W-_B Servo Amplifier Instruction Manual". This digit is not available with MR-J4W_-_B 200 W or more servo amplifiers. The characteristics of the servo motor vary depending on whether 48 V DC or 24 V DC is used. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".

0h

x _ _ _ [AL. 9B Error excessive warning] selection 0: [AL. 9B Error excessive warning] is disabled. 1: [AL. 9B Error excessive warning] is enabled. The setting of this digit is used by servo amplifier with software version B4 or later.

0h

5. PARAMETERS

5 - 39

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PC06 *COP3 Function selection C-3 Select units for error excessive alarm level setting with [Pr. PC01] and for error excessive warning level setting with [Pr. PC38]. The parameter is not available in the speed control mode and torque control mode.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ 0h

x _ _ _ Error excessive alarm/error excessive warning level unit selection 0: Per rev or mm 1: Per 0.1 rev or 0.1 mm 2: Per 0.01 rev or 0.01 mm 3: Per 0.001 rev or 0.001 mm

0h

PC07 ZSP Zero speed Set an output range of ZSP (Zero speed detection). ZSP (Zero speed detection) has hysteresis of 20 r/min or 20 mm/s.

50 [r/min]/ [mm/s]

0 to 10000

Each

PC08 OSL Overspeed alarm detection level Set an overspeed alarm detection level. When you set a value more than "(linear) servo motor maximum speed 120%", the set value will be clamped. When you set "0", the value of "(linear) servo motor maximum speed 120%" will be set.

0 [r/min]/ [mm/s]

0 to 20000

Each

5. PARAMETERS

5 - 40

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PC09 MOD1 Analog monitor 1 output Select a signal to output to MO1 (Analog monitor 1). Refer to section 18.3.7 (6) (c) for detection point of output selection. The parameter is available with MR-J4W2-0303B6 servo amplifiers.

Refer to the Name and function column.

Common

Setting digit

Explanation Initial value

_ _ x x Analog monitor 1 output selection Refer to table 5.7 for settings.

00h

_ x _ _ For manufacturer setting 0h

x _ _ _ Analog monitor 1 output axis selection Select an output axis of Analog monitor 1. 0: A-axis 1: B-axis

0h

Table 5.7 Analog monitor setting value

Setting value

Item

_ _ 0 0 Servo motor speed (10 V 4 V/max. speed)

_ _ 0 1 Torque (10 V 4 V/max. torque)

_ _ 0 2 Servo motor speed (10 V + 4 V/max. speed)

_ _ 0 3 Torque (10 V + 4 V/max. torque)

_ _ 0 4 Current command (10 V 4 V/max. current command)

_ _ 0 5 Speed command (10 V 4 V/max. speed)

_ _ 0 6 Servo motor-side droop pulses (10 V 5 V/100 pulses) (Note)

_ _ 0 7 Servo motor-side droop pulses (10 V 5 V/1000 pulses) (Note)

_ _ 0 8 Servo motor-side droop pulses (10 V 5 V/10000 pulses) (Note)

_ _ 0 9 Servo motor-side droop pulses (10 V 5 V/100000 pulses) (Note)

_ _ 0 A Feedback position (10 V 5 V/1 Mpulse) (Note)

_ _ 0 B Feedback position (10 V 5 V/10 Mpulses) (Note)

_ _ 0 C Feedback position (10 V 5 V/100 Mpulses) (Note)

_ _ 0 D Bus voltage (10 V + 5 V/100 V)

_ _ 0 E Speed command 2 (10 V 4 V/max. speed)

_ _ 1 7 Internal temperature of encoder (10 V 5 V/128 C)

Note. Encoder pulse unit

PC10 MOD2 Analog monitor 2 output Select a signal to output to MO2 (Analog monitor 2). Refer to section 18.3.7 (6) (c) for detection point of output selection. The parameter is available with MR-J4W2-0303B6 servo amplifiers.

Refer to the Name and function column.

Common

Setting digit

Explanation Initial value

_ _ x x Analog monitor 2 output selection Refer to [Pr. PC09] for settings.

01h

_ x _ _ For manufacturer setting 0h

x _ _ _ Analog monitor 2 output axis selection Select an output axis of Analog monitor 2. 0: A-axis 1: B-axis

0h

PC11 MO1 Analog monitor 1 offset Set the offset voltage of MO1 (Analog monitor 1). The parameter is available with MR-J4W2-0303B6 servo amplifiers.

0 [mV]

-9999 to

9999

Common

5. PARAMETERS

5 - 41

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PC12 MO2 Analog monitor 2 offset Set the offset voltage of MO2 (Analog monitor 2). The parameter is available with MR-J4W2-0303B6 servo amplifiers.

0 [mV]

-9999 to

9999

Common

PC13 MOSDL Analog monitor - Feedback position output standard data - Low Set a monitor output standard position (lower 4 digits) for the feedback position for when selecting "Feedback position" for MO1 (Analog monitor 1) and MO2 (Analog monitor 2). Monitor output standard position = [Pr. PC14] setting 10000 + [Pr. PC13] setting The parameter is available with MR-J4W2-0303B6 servo amplifiers.

0 [pulse]

-9999 to

9999

Each

PC14 MOSDH Analog monitor - Feedback position output standard data - High Set a monitor output standard position (higher 4 digits) for the feedback position for when selecting "Feedback position" for MO1 (Analog monitor 1) and MO2 (Analog monitor 2). Monitor output standard position = [Pr. PC14] setting 10000 + [Pr. PC13] setting The parameter is available with MR-J4W2-0303B6 servo amplifiers.

0 [10000 pulses]

-9999 to

9999

Each

PC17 **COP4 Function selection C-4 Select a home position setting condition.

Refer to the Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Selection of home position setting condition 0: Need to pass servo motor Z-phase after power on 1: Not need to pass servo motor Z-phase after power on

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 used by servo amplifiers with software version A5 or later. For MR-J4W2-0303B6 servo amplifiers, this digit cannot be used other than the initial value.

0h

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

PC18 *COP5 Function selection C-5 Select an occurring condition of [AL. E9 Main circuit off warning].

Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ 0h

x _ _ _ [AL. E9 Main circuit off warning] selection 0: Detection with ready-on and servo-on command 1: Detection with servo-on command

0h

5. PARAMETERS

5 - 42

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PC20 *COP7 Function selection C-7 Select the detection method of [AL. 10 Undervoltage].

Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ Undervoltage alarm selection Select the alarm/alarm and warning for when the bus voltage drops to the undervoltage alarm level. 0: [AL. 10] regardless of servo motor speed 1: [AL. E9] at servo motor speed 50 r/min (50 mm/s) or less,

[AL. 10] at over 50 r/min (50 mm/s)

0h

x _ _ _ For manufacturer setting 0h

PC21 *BPS Alarm history clear Used to clear the alarm history.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Alarm history clear selection 0: Disabled 1: Enabled When "Enabled" is set, the alarm history will be cleared at the next power-on. Once the alarm history is cleared, the setting becomes disabled automatically.

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PC24 RSBR Forced stop deceleration time constant Set a deceleration time constant when you use the forced stop deceleration function. Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Setting "0" will be 100 ms.

Forced stop deceleration

[Pr. PC24] 0 r/min

(0 mm/s)

Servo motor speed (Linear servo motor speed)

Rated speed Dynamic brake deceleration

[Precautions] If the servo motor torque is saturated at the maximum torque during forced stop deceleration because the set time is too short, the time to stop will be longer than the set time constant. [AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced stop deceleration, depending on the set value. After an alarm that leads to a forced stop deceleration, if an alarm that does not lead to a forced stop deceleration occurs or if the control circuit power supply is cut, dynamic braking will start regardless of the deceleration time constant setting. Set a longer time than deceleration time of the controller. If a shorter time is set, [AL. 52 Error excessive] may occur.

100 [ms]

0 to 20000

Each

5. PARAMETERS

5 - 43

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PC27 **COP9 Function selection C-9 Select a polarity of the linear encoder or load-side encoder. This parameter is not available with MR-J4W2-0303B6 servo amplifiers.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Selection of encoder pulse count polarity 0: Encoder pulse increasing direction in the servo motor

CCW or positive direction 1: Encoder pulse decreasing direction in the servo motor

CCW or positive direction

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PC29 *COPB Function selection C-B Select the POL reflection at torque control.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ 0h

x _ _ _ POL reflection selection at torque control 0: Enabled 1: Disabled

0h

PC31 RSUP1 Vertical axis freefall prevention compensation amount Set the compensation amount of the vertical axis freefall prevention function. Set it per servo motor rotation amount. When a positive value is set, compensation is performed to the address increasing direction. When a negative value is set, compensation is performed to the address decreasing direction. The vertical axis freefall prevention function is performed when all of the following conditions are met. 1) Position control mode 2) The value of the parameter is other than "0". 3) The forced stop deceleration function is enabled. 4) Alarm occurs or EM2 turns off when the (linear) servo motor speed is zero speed or

less. 5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD07] to [Pr. PD09],

and the base circuit shut-off delay time was set in [Pr. PC02].

0 [0.0001

rev]/ [0.01 mm]

-25000 to

25000

Each

PC38 ERW Error excessive warning level Set an error excessive warning level. To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive warning] selection" in [Pr. PC05]. You can change the setting unit with "Error excessive alarm/error excessive warning level unit selection" in [Pr. PC06]. Set this per rev. for rotary servo motors and direct drive motors. Set this per mm for linear servo motors. Setting "0" will be "1 rev" for rotary servo motors and direct drive motors. Setting over 200 rev will be clamped with 200 rev. It will be "50 mm" for linear servo motors. When an error reaches the set value, [AL. 9B Error excessive warning] will occur. When the error decreases lower than the set value, the warning will be canceled automatically. The minimum pulse width of the warning signal is 100 [ms]. Set as follows.: [Pr. PC38 Error excessive warning level] < [Pr. PC01 Error excessive alarm level] When you set as follows, [AL. 52 Error excessive] will occur earlier than the warning.: [Pr. PC38 Error excessive warning level] [Pr. PC01 Error excessive alarm level] This parameter is used by servo amplifier with software version B4 or later.

0 [rev]/ [mm]

0 to

1000

Each

5. PARAMETERS

5 - 44

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

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PD02 *DIA2 Input signal automatic on selection 2 Refer to Name and function column.

Each

Setting digit Explanation

Initial value

HEX. BIN.

_ _ _ x _ _ _ x FLS (Upper stroke limit) selection 0: Disabled 1: Enabled

0h

_ _ x _ RLS (Lower stroke limit) selection 0: Disabled 1: Enabled

_ x _ _ For manufacturer setting

x _ _ _

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

Convert the setting value into hexadecimal as follows.

0

BIN 0: Disabled (Use for an external input signal.) BIN 1: Automatic on

Initial value

BIN HEX Signal name

0

0

0 0 0

0

0

FLS (Upper stroke limit) selection

RLS (Lower stroke limit) selection

When performing a magnetic pole detection without using FLS (Upper stroke limit) and RLS (Lower stroke limit), you can disable FLS and RLS by setting [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ 1 _ _".

5. PARAMETERS

5 - 45

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PD07 *DO1 Output device selection 1 You can assign any output device to pins CN3-12, CN3-13, and CN3-25. In the initial setting, the following devices are assigned to the pins. CN3-12 pin: MBR-A (Electromagnetic brake interlock for A-axis) CN3-13 pin: MBR-C (Electromagnetic brake interlock for C-axis) CN3-25 pin: MBR-B (Electromagnetic brake interlock for B-axis)

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ x x Device selection Refer to table 5.8 for settings.

05h

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

Table 5.8 Selectable output devices

Setting value

Output device

_ _ 0 0 Always off

_ _ 0 2 RD (Ready)

_ _ 0 3 ALM (Malfunction)

_ _ 0 4 INP (In-position)

_ _ 0 5 MBR (Electromagnetic brake interlock)

_ _ 0 7 TLC (Limiting torque)

_ _ 0 8 WNG (Warning)

_ _ 0 9 BWNG (Battery warning)

_ _ 0 A SA (Speed reached)

_ _ 0 C ZSP (Zero speed detection)

_ _ 0 F CDPS (Variable gain selection)

_ _ 1 0 CLDS (During fully closed loop control)

_ _ 1 1 ABSV (Absolute position undetermined)

_ _ 1 7 MTTR (During tough drive)

PD08 *DO2 Output device selection 2 You can assign any output device to the CN3-24 pin for each axis. CINP (AND in- position) is assigned to all the axes in the initial setting. The devices that can be assigned and the setting method are the same as in [Pr. PD07].

Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ x x Device selection Refer to table 5.8 in [Pr. PD07] for settings.

04h

_ x _ _ All-axis output condition selection 0: AND output

When all axes of A, B, and C meet a condition, the device will be enabled (on or off).

1: OR output When each axis of A, B, or C meet a condition, the device will be enabled (on or off).

The digit will be enabled when "All axes (0 _ _ _)" is selected.

0h

x _ _ _ Output axis selection 0: All axes 1: A-axis 2: B-axis 3: C-axis

0h

5. PARAMETERS

5 - 46

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PD09 *DO3 Output device selection 3 You can assign any output device to the CN3-11 pin for each axis. CALM (AND malfunction) is assigned to all the axes in the initial setting. The devices that can be assigned and the setting method are the same as in [Pr. PD07].

Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ x x Device selection Refer to table 5.8 in [Pr. PD07] for settings.

03h

_ x _ _ All-axis output condition selection 0: AND output

When all axes of A, B, and C meet a condition, the device will be enabled (on or off).

1: OR output When each axis of A, B, or C meet a condition, the device will be enabled (on or off).

The digit will be enabled when "All axes (0 _ _ _)" is selected.

0h

x _ _ _ Output axis selection 0: All axes 1: A-axis 2: B-axis 3: C-axis

0h

PD11 *DIF Input filter setting Select the input filter.

Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ _ x Input signal filter selection Refer to the servo system controller instruction manual for the setting. If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 0.888 [ms] 2: 1.777 [ms] 3: 2.666 [ms] 4: 3.555 [ms]

4h

_ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h

PD12 *DOP1 Function selection D-1 Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ 0h

_ x _ _ 0h

x _ _ _ Servo motor or linear servo motor thermistor enabled/ disabled selection (Supported by servo amplifiers with software version A5 or later.) 0: Enabled 1: Disabled For servo motors or linear servo motor without thermistor, the setting will be disabled.

0h

5. PARAMETERS

5 - 47

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PD14 *DOP3 Function selection D-3 Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ Selection of output device at warning occurrence Select WNG (Warning) and ALM (Malfunction) output status at warning occurrence. Servo amplifier output

0h

Setting value

(Note 1) Device status

0

0 1

0 1

WNG

ALM

Warning occurrence

1

0 1

0 1

WNG

ALM

Warning occurrence (Note 2)

Note 1. 0: Off

1: On

2. Although ALM is turned off upon occurrence of

the warning, the forced stop deceleration is

performed.

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

5. PARAMETERS

5 - 48

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

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PE01 **FCT1 Fully closed loop function selection 1 This parameter is not available with MR-J4W2-0303B6 servo amplifiers.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Fully closed loop function selection 0: Always enabled 1: Switching with the control command of controller

(switching semi./full.)

0h

Switching with the control

command of controller Control system

Off Semi closed loop control

On Fully closed loop control

To enable the digit, select "Fully closed loop control mode (_ _ 1 _)" of "operation mode selection" in [Pr. PA01]. When "Absolute position detection system" is "Enabled (_ _ _ 1)" in [Pr. PA03], setting "1" will trigger [AL. 37 Parameter error].

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PE03 *FCT2 Fully closed loop function selection 2 This parameter is not available with MR-J4W2-0303B6 servo amplifiers.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Fully closed loop control error detection function selection 0: Disabled 1: Speed deviation error detection 2: Position deviation error detection 3: Speed deviation error/position deviation error detection

3h

_ _ x _ Position deviation error detection system selection 0: Continuous detection system 1: Detection system at stop (detected with command set to

"0")

0h

_ 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

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-J4W2-0303B6 servo amplifiers.

1 1 to 65535

Each

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-J4W2-0303B6 servo amplifiers.

1 1 to 65535

Each

PE06 BC1 Fully closed loop control - Speed deviation error detection level Set [AL. 42.9 Fully closed loop control error by speed deviation] of. When the speed deviation between the servo motor encoder and load-side encoder becomes larger than the setting value, the alarm will occur. This parameter is not available with MR-J4W2-0303B6 servo amplifiers.

400 [r/min]

1 to 50000

Each

5. PARAMETERS

5 - 49

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

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-J4W2-0303B6 servo amplifiers.

100 [kpulse]

1 to 20000

Each

PE08 DUF Fully closed loop dual feedback filter Set a dual feedback filter band. Refer to section 16.3.1 (6) for details. This parameter is not available with MR-J4W2-0303B6 servo amplifiers.

[rad/s] 0 to 4500

Each

PE10 FCT3 Fully closed loop function selection 3 This parameter is not available with MR-J4W2-0303B6 servo amplifiers.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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

0h

_ x _ _ Droop pulse monitor selection for controller display 0: Servo motor encoder 1: Load-side encoder 2: Deviation between the servo motor and load side

0h

x _ _ _ Cumulative feedback pulses monitor selection for controller display 0: Servo motor encoder 1: Load-side encoder The setting of this digit is used for the fully closed loop system and scale measurement function.

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 16.3.1 (4) for details. This parameter is not available with MR-J4W2-0303B6 servo amplifiers.

1 1 to 65535

Each

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 16.3.1 (4) for details. This parameter is not available with MR-J4W2-0303B6 servo amplifiers.

1 1 to 65535

Each

PE41 EOP3 Function selection E-3 Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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

5. PARAMETERS

5 - 50

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PE47 TOF Torque offset Set this when canceling unbalanced torque of vertical axis. Set this assuming the rated torque of the servo motor as 100%. The torque offset does not need to be set for a machine not generating unbalanced torque. The torque offset cannot be used for linear servo motors and direct drive motors. Set 0.00%. The torque offset set with this parameter will be enabled in the position control mode, speed control mode, and torque control mode. Input commands assuming torque offset for the torque control mode. This parameter is supported with software version B4 or later.

0 [0.01%]

-10000 to

10000

Each

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

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PF02 *FOP2 Function selection F-2 Set targets of [AL. EB The other axis error warning].

Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ _ x Target alarm selection of the other axis error warning Select target alarms of the other axis error warning. 0: [AL. 24 Main circuit error] and [AL. 32 Overcurrent] 1: All alarms For alarms occurring at all axes, [AL. EB The other axis error warning] will not occur regardless of alarm No.

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PF06 *FOP5 Function selection F-5 Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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

PF12 DBT Electronic dynamic brake operating time Set an operating time for the electronic dynamic brake.

2000 [ms]

0 to

10000

Each

5. PARAMETERS

5 - 51

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

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]

0 to 60

Common

Setting value

STO input diagnosis by TOFB output

Safety level

0

Execute EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, and EN 62061 SIL CL2

Not execute

1 to 60 Execute

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, and EN 62061 SIL CL3

Not execute

EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, and EN 62061 SIL CL2

When the short-circuit connector is connected to the CN8 connector, set "0" in the parameter. This parameter is available with servo amplifiers with software version C1 or later.

PF21 DRT Drive recorder switching time setting Set a drive recorder switching time. When a USB communication is cut during using a graph function, the function will be changed to the drive recorder function after the setting time of this parameter. When a value from "1" to "32767" is set, it will switch after the setting value. However, when "0" is set, it will switch after 600 seconds. When "-1" is set, the drive recorder function is disabled.

0 [s]

-1 to 32767

Common

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.

50 [%]

0 to 100

Each

PF24 *OSCL2 Vibration tough drive function selection Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Oscillation detection alarm selection 0: [AL. 54 Oscillation detection] will occur at oscillation

detection. 1: [AL. F3.1 Oscillation detection warning] will occur at

oscillation detection. 2: Oscillation detection function disabled Select alarm or warning when a oscillation continues at a filter readjustment sensitivity level of [Pr. PF23]. The digit is continuously enabled regardless of the vibration tough drive in [Pr. PA20].

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

5. PARAMETERS

5 - 52

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time Set the time of the [AL. 10.1 Voltage drop in the control circuit power] occurrence. This parameter setting range differs depending on the software version of the servo amplifier as follows.

Software version C0 or later: Setting range 30 ms to 200 ms Software version C1 or earlier: Setting range 30 ms to 500 ms

To comply with SEMI-F47 standard, it is unnecessary to change the initial value (200 ms). However, when the instantaneous power failure time exceeds 200 ms, and the instantaneous power failure voltage is less than 70% of the rated input voltage, the power may be normally turned off even if a value larger than 200 ms is set in the parameter. To disable the parameter, select "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr. PA20]. This parameter is not available with MR-J4W2-0303B6 servo amplifiers.

200 [ms]

30 to 500

Common

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. However, setting "0" will be the value half of the rated speed. When your operation pattern is under rated speed, we recommend that you set half value to the maximum speed with this.

Forward rotation direction

0 r/min (0 mm/s)

Operation pattern

[Pr. PF31] setting

Maximum speed in operation

Servo motor speed

Reverse rotation direction

0 [r/min]/ [mm/s]

0 to permis-

sible speed

Each axis

5. PARAMETERS

5 - 53

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

POINT

Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used

with MR-J4W2-0303B6 servo amplifiers.

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PL01 **LIT1 Linear servo motor/DD motor function selection 1 Select a magnetic pole detection timing of the linear servo motor/DD motor and stop interval of the home position returning.

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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 in [Pr. PL02] and [Pr. PL03]. Set the numerator in [Pr. PL02]. This is enabled only for linear servo motors.

1000 [m]

1 to 65535

Each

PL03 **LID Linear encoder resolution - Denominator Set a linear encoder resolution in [Pr. PL02] and [Pr. PL03]. Set the denominator in [Pr. PL03]. This is enabled only for linear servo motors.

1000 [m]

1 to 65535

Each

5. PARAMETERS

5 - 54

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PL04 *LIT2 Linear servo motor/DD motor function selection 2 Select a detection function and detection controller reset condition of [AL. 42 Servo control error].

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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 14 and 15 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

PL05 LB1 Position deviation error detection level Set a position deviation error detection level of the servo control error detection. When the deviation between a model feedback position and actual feedback position is larger than the setting value, [AL. 42 Servo control error] will occur. However, when "0" is set, the level vary depending on the operation mode in [Pr. PA01]. Linear servo motor: 50 mm Direct drive motor: 0.09 rev

0 [mm]/

[0.01 rev]

0 to 1000

Each

PL06 LB2 Speed deviation error detection level Set a speed deviation error detection level of the servo control error detection. When the deviation between a model feedback speed and actual feedback speed is larger than the setting value, [AL. 42 Servo control error] will occur. However, when "0" is set, the level vary depending on the operation mode in [Pr. PA01]. Linear servo motor: 1000 mm/s Direct drive motor: 100 r/min

0 [mm/s]/ [r/min]

0 to 5000

Each

PL07 LB3 Torque/thrust deviation error detection level Set a torque/thrust deviation error detection level of the servo control error detection. When the deviation between a current command and current feedback is larger than the setting value, [AL. 42.3 Servo control error by torque/thrust deviation] will occur.

100 [%]

0 to 1000

Each

5. PARAMETERS

5 - 55

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PL08 *LIT3 Linear servo motor/DD motor function selection 3 Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ 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 _ _ _ For manufacturer setting 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.

30 [%]

0 to 100

Each

5. PARAMETERS

5 - 56

No. Symbol Name and function Initial value [unit]

Setting range

Each/

Common

PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection To enable the parameter, select "Minute position detection method (_ _ _ 4)" in [Pr. PL08].

Refer to Name and function column.

Each

Setting digit

Explanation Initial value

_ _ _ x Response selection Set a response of the minute position detection method. When reducing a travel distance at the magnetic pole detection, increase the setting value. Refer to table 5.9 for settings.

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 5.10 for settings.

0h

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

Table 5.9 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 5.10 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. However, setting "0" will be 100% amplitude.

0 [%]

0 to 100

Each

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])

6. NORMAL GAIN ADJUSTMENT

6 - 2

(2) Adjustment sequence and mode usage

2 gain adjustment mode 1 (interpolation mode)

Interpolation made for 2 or more

axes?

The 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.

6. NORMAL GAIN ADJUSTMENT

6 - 3

6.2 One-touch tuning

POINT

After the one-touch tuning is completed, "Gain adjustment mode selection" in

[Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr.

PB06 Load to motor inertia ratio/load to motor mass ratio], set "Gain adjustment

mode selection" in [Pr. PA08] to "Auto tuning mode 1 (_ _ _ 1)".

When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning

function selection] is "_ _ _1" (initial value).

At start of the one-touch tuning, only when "Auto tuning mode 1 (_ _ _ 1)" or "2

gain adjustment mode 1 (interpolation mode) (_ _ _ 0)" of "Gain adjustment

mode selection" is selected in [Pr. PA08], [Pr. PB06 Load to motor inertia

ratio/load to motor mass ratio] will be estimated.

Execute the one-touch tuning while the servo system controller and the servo

amplifier are connected.

When executing the one-touch tuning in the test operation mode (SW2-1 is on),

write the tuning result to servo parameters of the servo system controller, and

then connect the servo system controller and the servo amplifier.

The amplifier command method can be used with the servo amplifier with

software version C1 or later and MR Configurator2 with software version 1.45X

or later.

When the one-touch tuning is executed, MR Configurator2 is required.

For MR-J4W2-0303B6 servo amplifier, one-touch tuning by the amplifier

command method will be available in the future.

The one-touch tuning includes two methods: the user command method and the amplifier command method.

(1) User command method

The user command method performs one-touch tuning by inputting commands from outside the servo

amplifier.

(2) Amplifier command method

In the amplifier command method, when you simply input a travel distance (permissible travel distance)

that collision against the equipment does not occur during servo motor driving, a command for the

optimum tuning will be generated inside the servo amplifier to perform one-touch tuning.

Servo motor

Moving part

Movable range

Tuning start position Movable range at tuning

Permissible travel distance

Limit switch

Permissible travel distance

Limit switch

6. NORMAL GAIN ADJUSTMENT

6 - 4

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 PB18 LPF Low-pass filter setting

PA09 RSP Auto tuning response PB19 VRF11

Vibration suppression control 1 - Vibration frequency PB01 FILT Adaptive tuning mode (adaptive filter II)

PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)

PB20 VRF12

Vibration suppression control 1 - Resonance frequency

PB21 VRF13

Vibration suppression control 1 - Vibration frequency damping PB06 GD2 Load to motor inertia ratio

PB07 PG1 Model loop gain PB22 VRF14

Vibration suppression control 1 - Resonance frequency damping PB08 PG2 Position loop gain

PB09 VG2 Speed loop gain PB23 VFBF Low-pass filter selection

PB10 VIC Speed integral compensation PB46 NH3 Machine resonance suppression filter 3

PB12 OVA Overshoot amount compensation PB47 NHQ3 Notch shape selection 3

PB13 NH1 Machine resonance suppression filter 1 PB48 NH4 Machine resonance suppression filter 4

PB14 NHQ1 Notch shape selection 1 PB49 NHQ4 Notch shape selection 4

PB15 NH2 Machine resonance suppression filter 2 PB51 NHQ5 Notch shape selection 5

PB16 NHQ2 Notch shape selection 2 PE41 EOP3 Function selection E-3

PB17 NHF Shaft resonance suppression filter

6. NORMAL GAIN ADJUSTMENT

6 - 5

6.2.1 One-touch tuning flowchart

(1) User command method

Make one-touch tuning as follows.

Start

Startup of the system

Operation

One-touch tuning start, mode selection

Response mode selection

One-touch tuning execution

One-touch tuning completion

Tuning result check

One-touch tuning in progress

End

Start a system referring to chapter 4.

Rotate the servo motor by a servo system 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 (5).) Check the tuning result. When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to section 6.2.2 (8).)

6. NORMAL GAIN ADJUSTMENT

6 - 6

(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

Controller reset 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 (5).)

Check the tuning result. When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to section 6.2.2 (8).) After executing the one-touch tuning, resetting the controller or cycling the power of the servo amplifier returns to the state in which control is performed from the controller.

6. NORMAL GAIN ADJUSTMENT

6 - 7

6.2.2 Display transition and operation procedure of one-touch tuning

(1) Command method selection

Select a command method from two methods in the one-touch tuning window of MR Configurator2.

(a)

(b)

6. NORMAL GAIN ADJUSTMENT

6 - 8

(a) User command method

It is recommended to input commands meeting the following conditions to the servo amplifier. If one-

touch tuning is executed while commands which do not meet the conditions are inputted to the servo

amplifier, the one-touch tuning error may occur.

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 (mm/s) may cause the one-touch tuning error "C005".

Acceleration time constant Deceleration time constant

Set the time to reach 2000 r/min (mm/s) to 5 s or less. Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10% or more of the rated torque. The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration torque is larger, and the one-touch tuning result will be closer to the optimum value.

Dwell time Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".

One cycle time Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".

6. NORMAL GAIN ADJUSTMENT

6 - 9

(b) Amplifier command method

Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed loop

control mode, and in the servo motor-side resolution unit for other control modes. In the amplifier

command method, the servo motor will be operated in a range between "current value permissible

travel distance". Input the permissible travel distance as large as possible within a range that the

movable part does not collide against the machine. Inputting a small permissible travel distance

decreases the possibility that the moving part will collide against the machine. However, the

estimation accuracy of the load to motor inertia ratio may be lower, resulting in improper tuning.

Also, executing the one-touch tuning in the amplifier command method will generate a command for

the following optimum tuning inside the servo amplifier to start the tuning.

Servo motor speed

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 and overspeed alarm detection level ([Pr. PC08]) 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.

6. NORMAL GAIN ADJUSTMENT

6 - 10

(2) Response mode selection

Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.

Table 6.2 Response mode explanations

Response mode 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.

6. NORMAL GAIN ADJUSTMENT

6 - 11

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

(3) One-touch tuning execution

POINT

For equipment in which overshoot during one-touch tuning is in the permissible

level of the in-position range, changing the value of [Pr. PA25 One-touch tuning

overshoot permissible level] will shorten the settling time and improve the

response.

When executing one-touch tuning in the amplifier command method, turn on

EM2. When you turn off EM2 during one-touch tuning, "C008" will be displayed

at status in error code, and the one-touch tuning will be canceled.

When executing the one-touch tuning in the amplifier command method, FLS

(Upper stroke limit) and RLS (Lower stroke limit) will be disabled. Thus, set a

permissible travel distance within a range where moving part collision never

occurs, or execute the one-touch tuning in a state in which the servo motor can

immediately stop in emergency.

When one-touch tuning is executed in the amplifier command method while

magnetic pole detection is not being performed, magnetic pole detection will be

performed, and then one-touch tuning will start after the magnetic pole detection

is completed.

After the response mode is selected in (2) in this section, clicking "Start" will start one-touch tuning. If

"Start" is clicked while the servo motor stops, "C002" or "C004" will be displayed at status in error code.

(Refer to (5) in this section for error codes.)

6. NORMAL GAIN ADJUSTMENT

6 - 12

Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be

automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier

command method, an optimum tuning command will be generated in the servo amplifier after servo-on.

Then, the servo motor will reciprocate, and the one-touch tuning will be executed. After the tuning is

completed or canceled, the servo amplifier will be the servo-off status. When the servo-on command is

inputted from outside, the amplifier will be the servo-on status.

After one-touch tuning is executed using the amplifier command method, control will not be performed

by commands from the controller. To return to the state in which control is performed by commands from

the controller, reset the controller or cycle the power.

During processing of one-touch tuning, the progress will be displayed as follows. Tuning will be

completed at 100%.

6. NORMAL GAIN ADJUSTMENT

6 - 13

Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and the

following window will be displayed. Select whether or not to reflect the tuning result in the project.

After the one-touch tuning is completed, "0000" will be displayed at status in error code. In addition,

settling time and overshoot amount will be displayed in "Adjustment result".

(4) Stop of one-touch tuning

When "Stop" is clicked during one-touch tuning, the tuning will be stopped. At this time, "C000" will be

displayed at status in error code. When the one-touch tuning is stopped, the parameter setting will be

returned to the values at the start of the one-touch tuning. Stop the servo motor before executing the

one-touch tuning again. In addition, execute it after the moving part is returned to the tuning start

position.

6. NORMAL GAIN ADJUSTMENT

6 - 14

(5) If an error occurs

If a tuning error occurs during tuning, one-touch tuning will be stopped. With that, the following error

code will be displayed in status. Check the cause of tuning error. When executing one-touch tuning

again, stop the servo motor once. In addition, after returning the moving part to the tuning start position,

execute it.

Display Name Error detail Corrective action example

C000 Tuning canceled "Stop" 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 from the controller, 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]. Manually set [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] properly.

6. NORMAL GAIN ADJUSTMENT

6 - 15

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 of one axis.: 20 r/min 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. An overspeed alarm detection level is set so that the servo motor speed becomes 150 r/min (mm/s) (50 r/min for direct drive motor) or less at the time of load to motor inertia ratio estimation.

When estimating the load to motor inertia ratio, set the overspeed alarm detection level so that the speed becomes 150 r/min or more.

3. The torque limit has been set to 0. Set the torque limit value to greater than 0.

C008 Stop signal EM2 was 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.

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)".

(6) If an alarm occurs

If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated. Remove the cause

of the alarm and execute one-touch tuning again. When executing one-touch tuning in the amplifier

command method again, return the moving part to the tuning start position. (7) If a warning occurs

If a warning which continues the motor driving occurs during one-touch tuning by the user command

method, the tuning will be continued. If a warning which does not continue the motor driving occurs

during the tuning, one-touch tuning will be stopped.

One-touch tuning will be stopped when warning occurs during one-touch tuning by the amplifier

command method regardless of the warning type. Remove the cause of the warning, and return the

moving part to the tuning start position. Then, execute the tuning again.

6. NORMAL GAIN ADJUSTMENT

6 - 16

(8) Initializing one-touch tuning

Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to return

the parameter to the initial value. Refer to table 6.1 for the parameters which you can initialize.

Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2

enables to return the parameter to the value before clicking "Start".

When the initialization of one-touch tuning is completed, the following window will be displayed.

(returning to initial value)

6. NORMAL GAIN ADJUSTMENT

6 - 17

6.2.3 Caution for one-touch tuning

(1) Caution common for user command method and amplifier command method

(a) The tuning is not available in the torque control mode.

(b) The one-touch tuning cannot be executed while an alarm or warning which does not continue the

motor driving is occurring.

(c) The one-touch tuning cannot be executed during the following test operation mode.

1) Output signal (DO) forced output

2) Motor-less operation

(d) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or

unusual noise may occur during the tuning.

(2) Caution for amplifier command method

(a) Starting one-touch tuning while the servo motor is rotating displays "C006" at status in error code,

and the one-touch tuning cannot be executed.

(b) Start one-touch tuning when all connected servo motors are at a stop.

(c) One-touch tuning is not available during the test operation mode. The following test operation modes

cannot be executed during one-touch tuning.

1) Positioning operation

2) JOG operation

3) Program operation

4) Machine analyzer operation

(d) After one-touch tuning is executed, control will not be performed by commands from the servo

system controller. To return to the state in which control is performed from the servo system

controller, reset the controller or cycle the power of the servo amplifier.

(e) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot, set a

value sufficient to prevent machine collision.

(f) When Auto tuning mode 2, Manual mode, or 2 gain adjustment mode 2 is selected in [Pr. PA08 Auto

tuning mode], the load to motor inertia ratio will not be estimated. An optimum

acceleration/deceleration command will be generated by [Pr. PB06 Load to motor inertia ratio/load to

motor mass ratio] at the start of one-touch tuning. When the load to motor inertia ratio is incorrect,

the optimum acceleration/deceleration command may not be generated, causing the tuning to fail.

(g) When one-touch tuning is started by using USB communication, if the USB communication is

interrupted during the tuning, the servo motor will stop, and the tuning will also stop. The parameter

will return to the one at the start of the one-touch tuning.

(h) When one-touch tuning is started via the controller, if communication between the controller and the

servo amplifier or personal computer is shut-off during the tuning, the servo motor will stop, and the

tuning will also stop. The parameter will return to the one at the start of the one-touch tuning.

(i) When one-touch tuning is started during the speed control mode, the mode will be switched to the

position control mode automatically. The tuning result may differ from the one obtained by executing

tuning by using the speed command.

6. NORMAL GAIN ADJUSTMENT

6 - 18

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/load to motor mass ratio

PB07 PG1 Model loop gain

PB08 PG2 Position loop gain

PB09 VG2 Speed loop gain

PB10 VIC Speed integral compensation

POINT

The auto tuning mode 1 may not be performed properly if all of the following

conditions are not satisfied.

The time until the acceleration/deceleration time constant reach 2000 r/min

(mm/s) is 5 s or less.

Speed is 150 r/min (mm/s) or higher.

The load to servo motor (mass of linear servo motor's primary side or direct

drive motor) inertia ratio is 100 times or less.

The acceleration/deceleration torque is 10% or more of the rated torque.

Under operating conditions which will impose sudden disturbance torque during

acceleration/deceleration or on a machine which is extremely loose, auto tuning

may not function properly, either. In such cases, use the auto tuning mode 2 or

manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since

the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor

inertia ratio in [Pr. PB06].

The following parameters are automatically adjusted in the auto tuning mode 2.

Parameter Symbol 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 - 19

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/

load to motor mass 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/load to motor mass ratio]. These results can be

confirmed on the status display screen of the MR Configurator2.

If you have already known the value of the load to motor inertia ratio or failed to estimate, set "Gain

adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] to stop the estimation (turning off

the switch in above diagram), and set the load to motor inertia ratio or load to motor mass ratio ([Pr. PB06])

manually.

From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop

gains are automatically set on the basis of the internal gain table.

The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on.

At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used

as an initial value.

POINT

If sudden disturbance torque is imposed during operation, the load to motor

inertia ratio may be misestimated temporarily. In such a case, set "Gain

adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and

then set the correct load to motor inertia ratio in [Pr. PB06].

When any of the auto tuning mode 1 and auto tuning mode settings is changed

to the manual mode 2 setting, the current loop gains and load to motor inertia

ratio estimation value are saved in the EEP-ROM.

6. NORMAL GAIN ADJUSTMENT

6 - 20

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/load to motor mass 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 - 21

6.3.4 Response level setting in auto tuning mode

Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the

trackability to a command improves and settling time decreases, but setting the response level too high will

generate vibration. Set a value to obtain the desired response level within the vibration-free range.

If the response level setting cannot be increased up to the desired response because of machine resonance

beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.

PB13] to [Pr. PB16], [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. Suppressing

machine resonance may allow the response level setting to increase. Refer to section 7.2 and 7.3 for

settings of the adaptive tuning mode and machine resonance suppression filter.

[Pr. PA09]

Setting value

Machine characteristic Reference (setting value of

MR-J3 and MR-J3W)

Setting value

Machine characteristic Reference (setting value of

MR-J3 and MR-J3W)

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 - 22

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/load to motor mass 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/load to motor mass 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 - 23

(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]

This parameter determines the response level of the speed control loop. Increasing this value

enhances response but a too high value will make the mechanical system liable to vibrate. The

actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response frequency [Hz] = 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/load to motor mass ratio

PB07 PG1 Model loop gain

PB08 PG2 Position loop gain

PB09 VG2 Speed loop gain

PB10 VIC Speed integral compensation

6. NORMAL GAIN ADJUSTMENT

6 - 24

(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/load to motor mass 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

enhances response but a too high value will make the mechanical system liable to vibrate. The

actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response frequency [Hz] = Speed loop gain

2) [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 - 25

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/load to motor mass 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 - 26

(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/load to motor mass 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 - 27

(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.

Rotary servo motor and direct drive motor:

Position command frequency

= Speed [r/min]

60 Encoder resolution (number of pulses per servo motor revolution)

Linear servo motor:

Position command frequency = Speed [mm/s] Encoder resolution (travel distance per pulse)

6. NORMAL GAIN ADJUSTMENT

6 - 28

MEMO

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 e

sp o

n se

o f

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 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] and [Pr. PB14])

Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1

([Pr. PB13] and [Pr. PB14])

When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting

of the machine resonance suppression filter 1 is enabled.

(b) Machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in

[Pr. PB16].

How to set the machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16]) is the same as for

the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

(c) Machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection" in

[Pr. PB47].

How to set the machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47]) is the same as for

the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

(d) Machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in

[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft

resonance suppression filter.

How to set the machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49]) is the same as for

the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

(e) Machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5 selection" in

[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance

suppression filter 5.

How to set the machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51]) is the same as for

the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

7. 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 e

sp o

n se

o f

m ec

ha ni

ca l s

ys te

m N

o tc

h de

pt h

Machine resonance point

Notch frequency Frequency

Frequency

R e

sp o

n se

o f

m ec

ha ni

ca l s

ys te

m N

o tc

h 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.

(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 - 7

7.1.3 Shaft resonance suppression filter

POINT

This filter is set properly by default according to servo motor you use and load

moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0"

(automatic setting) because changing "Shaft resonance suppression filter

selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may

lower the performance.

(1) Function

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may

generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses

the vibration.

When you select "Automatic setting", the filter will be set automatically on the basis of the servo motor

you use and the load to motor inertia ratio. The disabled setting increases the response of the servo

amplifier for high resonance frequency.

(2) Parameter

Set "Shaft resonance suppression filter selection" in [Pr. PB23].

[Pr. PB23]

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 - 8

7.1.4 Low-pass filter

(1) Function

When a ball screw or the like is used, resonance of high frequency may occur as the response level of

the servo system is increased. To prevent this, 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 - 9

(1) Function

Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration

and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not

vibrate.

Vibration suppression: off (normal)

Servo motor side

Load side

t

P os

iti on

Vibration suppression control: on

Servo motor side

Load side

P os

iti on

t

When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning

mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine

side vibration two times at most.

In the vibration suppression control tuning mode, this mode shifts to the manual setting after the

positioning operation is performed the predetermined number of times. For manual setting, adjust the

vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.

PB52] to [Pr. PB55].

(2) Parameter

Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].

When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode

selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning

mode selection" in addition.

[Pr. PB02]

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 - 10

(3) Vibration suppression control tuning procedure

The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2,

set "_ _ 1 _" in [Pr. PB02] to 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

7 - 11

(4) Vibration suppression control manual mode

POINT

When load-side vibration does not show up in servo motor-side vibration, the

setting of the servo motor-side 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 - 12

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

7 - 13

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.

P os

iti on

Load side

t

Command notch filter: disabled

Load side

t

P os

iti on

Command notch filter: enabled

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 14

(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

7 - 15

7.2 Gain switching function

You can switch gains with the function. You can switch gains during rotation and during stop, and can use a

control command from a controller to switch gains during operation.

7.2.1 Applications

The following shows when you use the function.

(1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains using a control command from a controller to ensure stability of the servo

system since the load to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a

carrier).

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 16

7.2.2 Function block diagram

The control gains, load to motor inertia ratio, and vibration suppression control settings are changed

according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching

condition].

Command pulse frequency

+ -

Droop pulses

Model speed

Control command from controller

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]

VRF11B [Pr. PB33]

Enabled VRF11 value

VRF12 [Pr. PB20]

VRF12B [Pr. PB34]

Enabled VRF12 value

CDL [Pr. PB27]

VRF13 [Pr. PB21]

VRF13B [Pr. PB35]

Enabled VRF13 value

VRF14 [Pr. PB22]

VRF14B [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

7 - 17

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 switch at switching.

(a) [Pr. PB26 Gain switching function]

Set gain switching conditions. Select the switching condition in the first to third digits.

Gain switching selection 0: Disabled 1: Control command from controller is enabled 2: Command frequency 3: Droop pulses 4: Servo motor speed/linear servo motor speed

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 digit is available with servo amplifier with software version B4 or later.

(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or

"Servo motor speed/linear servo motor speed" with the gain switching selection in [Pr. PB26 Gain

switching function].

The setting unit is as follows.

Gain switching condition Unit

Command frequency [kpulse/s]

Droop pulses [pulse]

Servo motor speed/linear servo motor speed [r/min]/[mm/s]

(c) [Pr. PB28 Gain switching time constant]

You can set the primary delay filter to each gain at gain switching. Use this parameter to suppress

shock given to the machine if the gain difference is large at gain switching, for example.

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 18

(2) Switchable gain parameter

Loop gain Before switching After switching

Parameter Symbol Name Parameter Symbol Name

Load to motor inertia ratio/load to motor mass ratio

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching

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 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching

Vibration suppression control 1 - Resonance frequency

PB20 VRF12 Vibration suppression control 1 - Resonance frequency

PB34 VRF12B 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 VRF13B 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 VRF14B 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/load to motor mass ratio, position loop gain, model loop gain, speed loop

gain, and speed integral compensation to be switched.

(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]

These parameters are the same as in ordinary manual adjustment. Executing gain switching while

the servo motor stops, You can change vibration frequency, resonance frequency, vibration

frequency damping, and resonance frequency damping.

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 19

(c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching]

Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to motor

inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia ratio/load to

motor mass ratio].

(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],

and [Pr. PB32 Speed integral compensation after gain switching]

Set the values of after switching position loop gain, speed loop gain and speed integral

compensation.

(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]),

and [Pr. PB60 Model loop gain after gain switching]

The gain switching vibration suppression control and gain switching model loop gain are used only

with control command from the controller.

You can switch the vibration frequency, resonance frequency, vibration frequency damping,

resonance frequency damping, and model loop gain of the vibration suppression control 1 and

vibration suppression control 2.

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 20

7.2.4 Gain switching procedure

This operation will be described by way of setting examples.

(1) When you choose switching by control command from the controller

(a) Setting example Parameter Symbol Name Setting value Unit

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 4.00 [Multiplier]

PB07 PG1 Model 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 control command from the controller.)

PB28 CDT Gain switching time constant 100 [ms]

PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching

60 [Hz]

PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching

60 [Hz]

PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching

0.15

PB36 VRF14B 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 - 21

(b) Switching timing chart

After-switching gain

63.4%

CDT = 100 ms

Before-switching gain Gain switching

Control command from controller

OFF ON OFF

Model loop gain 100 50 100

Load to motor inertia ratio/load to motor mass ratio

4.00 10.00 4.00

Position loop gain 120 84 120

Speed loop 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 - 22

(b) Switching timing chart

After-switching gain

63.4%

CDT = 100 ms

Before-switching gain Gain switching

Droop pulses [pulse]

+CDL

-CDL 0

Command pulses Droop pulses

Command pulses

Load to motor inertia ratio/load to motor mass ratio

4.00 10.00 4.00 10.00

Position loop gain 120 84 120 84

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 time constant disabled Switching at 0 ms

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 - 23

(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

7 - 24

7.3 Tough drive function

POINT

Set enable/disable of the tough drive function with [Pr. PA20 Tough drive

setting]. (Refer to section 5.2.1.)

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

tough drive functions are the vibration tough drive and the instantaneous power failure tough drive.

7.3.1 Vibration tough drive function

This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to

varied machine resonance frequency caused by machine aging.

To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance

suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.

Set [Pr. PB13] and [Pr. PB15] as follows.

(1) One-touch tuning execution (section 6.1)

(2) Manual setting (section 4.2.2)

The vibration tough drive function operates when a detected machine resonance frequency is within 30%

for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance

suppression filter 2].

To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation

detection level].

POINT

Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is

performed constantly. However, the number of write times to the EEPROM is

limited to once per hour.

The vibration tough drive function does not reset [Pr. PB46 Machine resonance

suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr.

PB50 Machine resonance suppression filter 5].

The vibration tough drive function does not detect a vibration of 100 Hz or less.

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 25

The following shows the function block diagram of the vibration tough drive function.

The function detects machine resonance frequency and 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

CALM (AND 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 - 26

7.3.2 Instantaneous power failure tough drive function

The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an

instantaneous power failure occurs during operation. When the instantaneous power failure tough drive

activates, the function will increase the tolerance against instantaneous power failures using the electrical

energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL. 10

Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the control circuit power] detection time for the

control circuit power supply can be changed by [Pr. PF25 SEMI-F47 function - Instantaneous power failure

detection time]. In addition, [AL. 10.2 Voltage drop in the main circuit power] detection level for the bus

voltage is changed automatically.

POINT

MBR (Electromagnetic brake interlock) will not turn off during the instantaneous

power failure tough drive.

When the load of instantaneous power failure is large, [AL. 10.2] caused by the

bus voltage drop may occur regardless of the set value of [Pr. PF25 SEMI-F47

function - Instantaneous power failure detection time].

MR-J4W2-0303B6 servo amplifier is not compatible with instantaneous power

failure tough drive.

The setting range of [Pr. PF25 SEMI-F47 function - Instantaneous power failure

detection time] differs depending on the software version of the servo amplifier

as follows.

Software version C0 or later: Setting range 30 ms to 200 ms

Software version C1 or earlier: Setting range 30 ms to 500 ms

To comply with SEMI-F47 standard, it is unnecessary to change the initial value

(200 ms).

However, when the instantaneous power failure time exceeds 200 ms, and the

instantaneous power failure voltage is less than 70% of the rated input voltage,

the power may be normally turned off even if a value larger than 200 ms is set in

the parameter.

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 27

(1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function -

Instantaneous power failure detection time]

The alarm occurs when the instantaneous power failure time of the control 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 (158 V DC)

CALM (AND 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

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 28

(2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function -

Instantaneous power failure detection time]

Operation status differs depending on how bus voltage decrease.

(a) When the bus voltage decrease lower than 158 V DC within the instantaneous power failure time of

the control circuit power supply

[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than 158 V DC regardless of the

enabled instantaneous power failure tough drive.

[Pr. PF25]

Instantaneous power failure time of the control circuit power supply

ON

OFF

ON (energization)

OFF (power failure)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Control circuit power supply

Bus voltage

Undervoltage level (158 V DC)

CALM (AND malfunction)

MTTR (During tough drive)

MBR (Electromagnetic brake interlock)

Base circuit

WNG (Warning)

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 29

(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 (158 V DC)

CALM (AND 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 (energization)

OFF (power failure)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 30

7.4 Compliance with SEMI-F47 standard

POINT

The control circuit power supply of the MR-J4W_-_B 200 W or more servo

amplifier can comply with SEMI-F47 standard. However, a back-up capacitor

may be necessary for instantaneous power failure in the main circuit power

supply depending on the power supply impedance and operating situation. Be

sure to check them by testing the entire equipment using actual machines.

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

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

The MR-J4W2-0303B6 servo amplifier is not compatible with SEMI-F47

standard.

The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag

immunity test" of MR-J4 series.

This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the

capacitor in case that an instantaneous power failure occurs during operation.

(1) Parameter setting

Setting [Pr. PA20] and [Pr. PF25] as follows will enable SEMI-F47 function.

Parameter Setting value

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 with 158 V DC or less in bus voltage.

(c) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit

power] occurs.

(2) Requirement of SEMI-F47 standard

Table 7.1 shows the permissible time of instantaneous power failure for instantaneous power failure of

SEMI-F47 standard.

Table 7.1 Requirement of SEMI-F47 standard

Instantaneous power failure voltage

Permissible time of instantaneous power

failure [s]

Rated voltage 80% 1

Rated voltage 70% 0.5

Rated voltage 50% 0.2

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 31

(3) Calculation of tolerance against instantaneous power failure

Table 7.2 shows tolerance against instantaneous power failure when instantaneous power failure

voltage is "rated voltage 50%" and instantaneous power failure time is 200 ms.

Table 7.2 Tolerance against instantaneous power failure

(instantaneous power failure voltage = rated voltage 50%,

instantaneous power failure time = 200 ms)

Servo amplifier Instantaneous

maximum output [W]

Tolerance against instantaneous power

failure [W] (Voltage drop between lines)

MR-J4W2-22B 1400 (700 2) 790

MR-J4W2-44B 2800 (1400 2) 1190

MR-J4W2-77B 5250 (2625 2) 2300

MR-J4W2-1010B 6000 (3000 2) 2400

MR-J4W3-222B 2100 (700 3) 970

MR-J4W3-444B 4200 (1400 3) 1700

Instantaneous maximum output means power which servo amplifier can output in maximum torque at

rated speed. You can examine margins to compare the values of following conditions and instantaneous

maximum output.

Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the

maximum output. This can be handled as a margin.

The following shows the conditions of tolerance against instantaneous power failure.

(a) Delta connection

For 3-phase (L1/L2/L3) delta connection, an instantaneous power failure will be applied to a voltage

between lines (e.g. between L1 and L2) from three pairs of voltages between lines (between L1 and

L2, L2 and L3, or L3 and L1).

(b) Star connection

For 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure will be

applied to a voltage between lines (e.g. between L1 and N) from six pairs of voltages between lines

(between L1 and L2, L2 and L3, or L3 and L1) and between line and neutral point (between L1 and

N, L2 and N, or L3 and N).

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 32

7.5 Model adaptive control disabled

POINT

Change the parameters while the servo motor stops.

When setting auto tuning response ([Pr. PA09]), change the setting value one by

one to adjust with checking operation status of the servo motor.

This is used by servo amplifiers with software version B4 or later. Check the

software version with MR Configurator2.

(1) Summary

The servo amplifier has a model adaptive control. The servo amplifier has a virtual motor model and

drives the servo motor following the output of the motor model in the model adaptive control. At model

adaptive control disabled, the servo amplifier drives motor with PID control without using the model

adaptive control.

The following parameters are available at model adaptive control disabled.

Parameter Symbol Name

PB08 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.

8. TROUBLESHOOTING

8 - 1

8. TROUBLESHOOTING

POINT

Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)"

for details of alarms and warnings.

If an alarm which indicates each axis in the stop method column occurs, the axis

without the alarm operates the servo motor as per normal.

As soon as an alarm occurs, make the Servo-off status and interrupt the main

circuit power.

[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning])

are not recorded in the alarm history.

When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm or

warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to

remove the failure. When an alarm occurs, ALM (Malfunction) will turn off.

8.1 Explanation for the lists

(1) No./Name/Detail No./Detail name

Indicates each No./Name/Detail No./Detail name of alarms or warnings.

(2) Processing system

Processing system of alarms is as follows.

Each axis: Alarm is detected for each axis.

Common: Alarm is detected as the whole servo amplifier.

(3) Stop system

This means target axis to stop when the alarm occurs.

Each axis: Only alarming axis will stop.

All axes: All axes will stop.

(4) Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops

with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or

"EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced

stop deceleration.

(5) Alarm deactivation

After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods

marked in the alarm deactivation column. Warnings are automatically canceled after the cause of

occurrence is removed. Alarms are deactivated with alarm reset, CPU reset, or cycling the power.

Alarm deactivation Explanation

Alarm reset 1. Error reset command from controller 2. Pushing "Occurring Alarm Reset" in the "Alarm Display" window of MR

Configurator2

CPU reset Resetting the controller itself

Cycling the power Turning the power off and then turning it on again.

8. TROUBLESHOOTING

8 - 2

8.2 Alarm list

No. Name Detail No.

Detail name

Stop method

(Note 2, 3)

Alarm deactivation Process- ing

system (Note 8)

Stop system (Note 8)

Alarm reset

CPU reset

Cycling the

power

A la

rm

10 Undervoltage

10.1 Voltage drop in the control circuit power

EDB Common All axes

10.2 Voltage drop in the main circuit power

SD Common All axes

11 Switch setting error

11.1 Axis number setting error/ Station number setting error

DB Common All axes

11.2 Disabling control axis setting error

DB Common All axes

12.1 RAM error 1 DB Common All axes

12.2 RAM error 2 DB Common All axes

12

Memory error 1 (RAM)

12.3 RAM error 3 DB Common All axes

12.4 RAM error 4 DB Common All axes

12.5 RAM error 5 DB Common All axes

12.6 RAM error 6 DB

13 Clock error

13.1 Clock error 1 DB Common All axes

13.2 Clock error 2 DB Common All axes

14.1 Control process error 1 DB Common All axes

14.2 Control process error 2 DB Common All axes

14.3 Control process error 3 DB Common All axes

14.4 Control process error 4 DB Common All axes

Control process

error

14.5 Control process error 5 DB Common All axes

14 14.6 Control process error 6 DB Common All axes

14.7 Control process error 7 DB Common All axes

14.8 Control process error 8 DB Common All axes

14.9 Control process error 9 DB Common All axes

14.A Control process error 10 DB Common All axes

14.B Control process error 11 DB

15 Memory error 2

(EEP-ROM)

15.1 EEP-ROM error at power on DB Common All axes

15.2

EEP-ROM error during operation

DB Common All axes

15.4

Home position information read error

DB

16 Encoder initial communication

error 1

16.1 Encoder initial communication - Receive data error 1

DB Each axis

Each axis

16.2

Encoder initial communication - Receive data error 2

DB Each axis

Each axis

16.3

Encoder initial communication - Receive data error 3

DB Each axis

Each axis

16.4

Encoder initial communication - Encoder malfunction (Note 6)

DB Each axis

Each axis

16.5

Encoder initial communication - Transmission data error 1

DB Each axis

Each axis

16.6

Encoder initial communication - Transmission data error 2

DB Each axis

Each axis

16.7

Encoder initial communication - Transmission data error 3

DB Each axis

Each axis

16.8

Encoder initial communication - Incompatible encoder (Note 6)

DB Each axis

Each axis

16.A

Encoder initial communication - Process error 1

DB Each axis

Each axis

16.B

Encoder initial communication - Process error 2

DB Each axis

Each axis

16.C

Encoder initial communication - Process error 3

DB Each axis

Each axis

16.D

Encoder initial communication - Process error 4

DB Each axis

Each axis

16.E

Encoder initial communication - Process error 5

DB Each axis

Each axis

16.F

Encoder initial communication - Process error 6

DB Each axis

Each axis

8. TROUBLESHOOTING

8 - 3

No. Name Detail No.

Detail name

Stop method

(Note 2, 3)

Alarm deactivation Process- ing

system (Note 8)

Stop system (Note 8)

Alarm reset

CPU reset

Cycling the

power

A la

rm

17.1 Board error 1 DB Common All axes

17.3 Board error 2 DB Common All axes

17.4 Board error 3 DB Common All axes

17 Board error

17.5 Board error 4 DB Common All axes

17.6 Board error 5 DB Common All axes

17.7 Board error 7 DB

17.8 Board error 6 (Note 6) EDB Common All axes

17.9 Board error 8 DB

Memory error 3 (Flash-ROM)

19.1 Flash-ROM error 1 DB Common All axes

19 19.2 Flash-ROM error 2 DB Common All axes

19.3 Flash-ROM error 3 DB

1A.1

Servo motor combination error 1

DB Each axis

Each axis

1A

Servo motor combination error

1A.2 Servo motor control mode combination error

DB Each axis

Each axis

1A.4

Servo motor combination error 2

DB Each axis

Each axis

1B Converter error 1B.1 Converter unit error DB

1E Encoder initial communication

error 2

1E.1 Encoder malfunction DB Each axis

Each axis

1E.2 Load-side encoder malfunction DB

Each axis

Each axis

1F Encoder initial communication

error 3

1F.1 Incompatible encoder DB Each axis

Each axis

1F.2 Incompatible load-side encoder DB

Each axis

Each axis

20.1

Encoder normal communication - Receive data error 1

EDB Each axis

Each axis

20.2

Encoder normal communication - Receive data error 2

EDB Each axis

Each axis

20.3

Encoder normal communication - Receive data error 3

EDB Each axis

Each axis

20 Encoder normal communication

error 1

20.5 Encoder normal communication - Transmission data error 1

EDB Each axis

Each axis

20.6

Encoder normal communication - Transmission data error 2

EDB Each axis

Each axis

20.7

Encoder normal communication - Transmission data error 3

EDB Each axis

Each axis

20.9

Encoder normal communication - Receive data error 4

EDB Each axis

Each axis

20.A

Encoder normal communication - Receive data error 5

EDB Each axis

Each axis

21.1 Encoder data error 1 EDB

Each axis

Each axis

21.2 Encoder data update error EDB

Each axis

Each axis

Encoder normal communication

error 2

21.3 Encoder data waveform error EDB Each axis

Each axis

21 21.4 Encoder non-signal error EDB

Each axis

Each axis

21.5 Encoder hardware error 1 EDB

Each axis

Each axis

21.6 Encoder hardware error 2 EDB

Each axis

Each axis

21.9 Encoder data error 2 EDB

Each axis

Each axis

8. TROUBLESHOOTING

8 - 4

No. Name Detail No.

Detail name

Stop method

(Note 2, 3)

Alarm deactivation Process- ing

system (Note 8)

Stop system (Note 8)

Alarm reset

CPU reset

Cycling the

power

A la

rm

24 Main circuit error

24.1 Ground fault detected by hardware detection circuit

DB Each axis

All axes

24.2 Ground fault detected by software detection function

DB Each axis

All axes

25 Absolute position

erased

25.1 Servo motor encoder - Absolute position erased

DB Each axis

Each axis

25.2

Scale measurement encoder - Absolute position erased

DB Each axis

Each axis

27.1

Initial magnetic pole detection - Abnormal termination

DB Each axis

Each axis

27.2

Initial magnetic pole detection - Time out error

DB Each axis

Each axis

27.3

Initial magnetic pole detection - Limit switch error

DB Each axis

Each axis

27

Initial magnetic pole detection error

27.4 Initial magnetic pole detection - Estimated error

DB Each axis

Each axis

27.5

Initial magnetic pole detection - Position deviation error

DB Each axis

Each axis

27.6

Initial magnetic pole detection - Speed deviation error

DB Each axis

Each axis

27.7

Initial magnetic pole detection - Current error

DB Each axis

Each axis

28

Linear encoder error 2

28.1 Linear encoder - Environment error

EDB Each axis

Each axis

2A.1 Linear encoder error 1-1 EDB

Each axis

Each axis

2A.2 Linear encoder error 1-2 EDB

Each axis

Each axis

2A.3 Linear encoder error 1-3 EDB

Each axis

Each axis

2A Linear encoder

error 1

2A.4 Linear encoder error 1-4 EDB Each axis

Each axis

2A.5 Linear encoder error 1-5 EDB

Each axis

Each axis

2A.6 Linear encoder error 1-6 EDB

Each axis

Each axis

2A.7 Linear encoder error 1-7 EDB

Each axis

Each axis

2A.8 Linear encoder error 1-8 EDB

Each axis

Each axis

2B Encoder counter

error

2B.1 Encoder counter error 1 EDB Each axis

Each axis

2B.2 Encoder counter error 2 EDB

Each axis

Each axis

30.1 Regeneration heat error DB

(Note 1)

(Note 1)

(Note 1) Common All axes

30 Regenerative error 30.2 Regeneration signal error DB

(Note 1)

(Note 1)

(Note 1) Common All axes

30.3

Regeneration feedback signal error

DB (Note 1)

(Note 1)

(Note 1)

Common All axes

31 Overspeed 31.1 Abnormal motor speed SD

Each axis

Each axis

32.1

Overcurrent detected at hardware detection circuit (during operation)

DB Each axis

All axes

32 Overcurrent

32.2 Overcurrent detected at software detection function (during operation)

DB Each axis

All axes

32.3

Overcurrent detected at hardware detection circuit (during a stop)

DB Each axis

All axes

32.4

Overcurrent detected at software detection function (during a stop)

DB Each axis

All axes

33 Overvoltage 33.1 Main circuit voltage error EDB Common All axes

8. TROUBLESHOOTING

8 - 5

No. Name Detail No.

Detail name

Stop method

(Note 2, 3)

Alarm deactivation Process- ing

system (Note 8)

Stop system (Note 8)

Alarm reset

CPU reset

Cycling the

power

A la

rm

34 SSCNET receive

error 1

34.1 SSCNET receive data error SD

(Note 5) Common All axes

34.2 SSCNET connector connection error

SD Common All axes

34.3

SSCNET communication data error

SD Each axis

Each axis

34.4 Hardware error signal detection SD Common All axes

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 Each axis

Each axis

36 SSCNET receive

error 2

36.1 Continuous communication data error

SD Each axis

Each axis

36.2

Continuous communication data error (safety observation function)

SD

37 Parameter error

37.1 Parameter setting range error DB Each axis

Each axis

37.2 Parameter combination error DB

Each axis

Each axis

37.3 Point table setting error DB

39 Program error

39.1 Program error DB

39.2

Instruction argument external error

DB

39.3 Register No. error DB

39.4

Non-correspondence instruction error

DB

3A

Inrush current suppression circuit

error 3A.1

Inrush current suppression circuit error

EDB Common All axes

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 Each axis

Each axis

3E.6 Operation mode switch error DB

42

Servo control error

(for linear servo motor and direct

drive motor)

42.1 Servo control error by position deviation

EDB (Note 4) (Note 4) Each axis

Each axis

42.2

Servo control error by speed deviation

EDB (Note 4) (Note 4) Each axis

Each axis

42.3

Servo control error by torque/thrust deviation

EDB (Note 4) (Note 4) Each axis

Each axis

Fully closed loop control error

(for fully closed loop control)

42.8 Fully closed loop control error by position deviation

EDB (Note 4) (Note 4) Each axis

Each axis

42.9

Fully closed loop control error by speed deviation

EDB (Note 4) (Note 4) Each axis

Each axis

42.A

Fully closed loop control error by position deviation during command stop

EDB (Note 4) (Note 4) Each axis

Each axis

45 Main circuit device

overheat

45.1 Main circuit device overheat error 1

SD (Note 1)

(Note 1)

(Note 1)

Common All axes

45.2

Main circuit device overheat error 2

SD (Note 1)

(Note 1)

(Note 1)

Common All axes

8. TROUBLESHOOTING

8 - 6

No. Name Detail No.

Detail name

Stop method

(Note 2, 3)

Alarm deactivation Process- ing

system (Note 8)

Stop system (Note 8)

Alarm reset

CPU reset

Cycling the

power

A la

rm

46.1 Abnormal temperature of servo motor 1

SD (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

46.2 Abnormal temperature of servo motor 2

SD (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

46 Servo motor

overheat

46.3 Thermistor disconnected error SD (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

46.4 Thermistor circuit error SD (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

46.5 Abnormal temperature of servo motor 3

DB (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

46.6 Abnormal temperature of servo motor 4

DB (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

47 Cooling fan error

47.1 Cooling fan stop error SD Common All axes

47.2 Cooling fan speed reduction error

SD Common All axes

50.1 Thermal overload error 1 during operation

SD (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

50.2 Thermal overload error 2 during operation

SD (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

50 Overload 1

50.3 Thermal overload error 4 during operation

SD (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

50.4 Thermal overload error 1 during a stop

SD (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

50.5 Thermal overload error 2 during a stop

SD (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

50.6 Thermal overload error 4 during a stop

SD (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

51 Overload 2

51.1 Thermal overload error 3 during operation

DB (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

51.2 Thermal overload error 3 during a stop

DB (Note 1)

(Note 1)

(Note 1)

Each axis

Each axis

52.1 Excess droop pulse 1 SD Each axis

Each axis

52 Error excessive

52.3 Excess droop pulse 2 SD Each axis

Each axis

52.4 Error excessive during 0 torque limit

SD Each axis

Each axis

52.5 Excess droop pulse 3 EDB Each axis

Each axis

54 Oscillation detection

54.1 Oscillation detection error EDB Each axis

Each axis

56 Forced stop error

56.2 Over speed during forced stop EDB Each axis

Each axis

56.3 Estimated distance over during forced stop

EDB Each axis

Each axis

61 Operation error 61.1 Point table setting range error DB

63.1 STO1 off DB Common All axes

63 STO timing error 63.2 STO2 off DB Common All axes

63.5 STO by functional safety unit DB

64.1 STO input error DB

64 Functional safety unit setting error

64.2 Compatibility mode setting error

DB

64.3 Operation mode setting error DB

8. TROUBLESHOOTING

8 - 7

No. Name Detail No.

Detail name

Stop method

(Note 2, 3)

Alarm deactivation Process- ing

system (Note 8)

Stop system (Note 8)

Alarm reset

CPU reset

Cycling the

power

A la

rm

65.1 Functional safety unit communication error 1

SD

65.2 Functional safety unit communication error 2

SD

65.3 Functional safety unit communication error 3

SD

Functional safety unit connection

error

65.4 Functional safety unit communication error 4

SD

65 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

Encoder initial communication

error (safety observation

function)

66.2 Encoder initial communication - Receive data error 2 (safety observation function)

DB

66 66.3 Encoder initial communication - Receive data error 3 (safety observation function)

DB

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

67.1

Encoder normal communication - Receive data error 1 (safety observation function)

DB

Encoder normal communication

error 1 (safety observation

function)

67.2

Encoder normal communication - Receive data error 2 (safety observation function)

DB

67 67.3

Encoder normal communication - Receive data error 3 (safety observation function)

DB

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 Common Common

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

8. TROUBLESHOOTING

8 - 8

No. Name Detail No.

Detail name

Stop method

(Note 2, 3)

Alarm deactivation Process- ing

system (Note 8)

Stop system (Note 8)

Alarm reset

CPU reset

Cycling the

power

A la

rm

70.1 Load-side encoder initial communication - Receive data error 1

DB Each axis

Each axis

70.2 Load-side encoder initial communication - Receive data error 2

DB Each axis

Each axis

70.3 Load-side encoder initial communication - Receive data error 3

DB Each axis

Each axis

70.4 Load-side encoder initial communication - Encoder malfunction (Note 6)

DB Each axis

Each axis

70.5 Load-side encoder initial communication - Transmission data error 1

DB Each axis

Each axis

70.6 Load-side encoder initial communication - Transmission data error 2

DB Each axis

Each axis

70

Load-side encoder initial

communication error 1

70.7 Load-side encoder initial communication - Transmission data error 3

DB Each axis

Each axis

70.8 Load-side encoder initial communication - Incompatible encoder (Note 6)

DB Each axis

Each axis

70.A Load-side encoder initial communication - Process error 1

DB Each axis

Each axis

70.B Load-side encoder initial communication - Process error 2

DB Each axis

Each axis

70.C Load-side encoder initial communication - Process error 3

DB Each axis

Each axis

70.D Load-side encoder initial communication - Process error 4

DB Each axis

Each axis

70.E Load-side encoder initial communication - Process error 5

DB Each axis

Each axis

70.F Load-side encoder initial communication - Process error 6

DB Each axis

Each axis

71.1

Load-side encoder normal communication - Receive data error 1

EDB Each axis

Each axis

71.2

Load-side encoder normal communication - Receive data error 2

EDB Each axis

Each axis

71.3

Load-side encoder normal communication - Receive data error 3

EDB Each axis

Each axis

71

Load-side encoder normal

communication error 1

71.5 Load-side encoder normal communication - Transmission data error 1

EDB Each axis

Each axis

71.6

Load-side encoder normal communication - Transmission data error 2

EDB Each axis

Each axis

71.7

Load-side encoder normal communication - Transmission data error 3

EDB Each axis

Each axis

71.9

Load-side encoder normal communication - Receive data error 4

EDB Each axis

Each axis

71.A

Load-side encoder normal communication - Receive data error 5

EDB Each axis

Each axis

8. TROUBLESHOOTING

8 - 9

No. Name Detail No.

Detail name

Stop method

(Note 2, 3)

Alarm deactivation Process- ing

system (Note 8)

Stop system (Note 8)

Alarm reset

CPU reset

Cycling the

power

A la

rm

72.1 Load-side encoder data error 1 EDB Each axis

Each axis

72.2 Load-side encoder data update error

EDB Each axis

Each axis

Load-side encoder normal

communication error 2

72.3 Load-side encoder data waveform error

EDB Each axis

Each axis

72 72.4

Load-side encoder non-signal error

EDB Each axis

Each axis

72.5

Load-side encoder hardware error 1

EDB Each axis

Each axis

72.6

Load-side encoder hardware error 2

EDB Each axis

Each axis

72.9 Load-side encoder data error 2 EDB

Each axis

Each axis

74.1 Option card error 1 DB

74.2 Option card error 2 DB

74 Option card error 1 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

79.1 Functional safety unit power voltage error

DB

(Note 7)

79.2 Functional safety unit internal error

DB

79

Functional safety unit diagnosis error

79.3 Abnormal temperature of functional safety unit

SD

(Note 7)

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

7A.2 Parameter setting range error (safety observation function)

DB

7A.3 Parameter combination error (safety observation function)

DB

7A.4 Functional safety unit combination error (safety observation function)

DB

7B.1 Encoder diagnosis error 1 (safety observation function)

DB

7B

Encoder diagnosis error

(safety observation function)

7B.2 Encoder diagnosis error 2 (safety observation function)

DB

7B.3 Encoder diagnosis error 3 (safety observation function)

DB

7B.4 Encoder diagnosis error 4 (safety observation function)

DB

7C

Functional safety unit communication

diagnosis error (safety observation

function)

7C.1 Functional safety unit communication setting error (safety observation function)

SD

(Note 7)

7C.2 Functional safety unit communication data error (safety observation function)

SD

(Note 7)

7D Safety observation

error

7D.1 Stop observation error DB

(Note 3)

7D.2 Speed observation error DB

(Note 7)

82 Master-slave

operation error 1 82.1 Master-slave operation error 1 EDB

8. TROUBLESHOOTING

8 - 10

No. Name Detail No.

Detail name

Stop method

(Note 2, 3)

Alarm deactivation Process- ing

system (Note 8)

Stop system (Note 8)

Alarm reset

CPU reset

Cycling the

power

A la

rm

84 Network module

initialization error

84.1 Network module undetected error

DB

84.2 Network module initialization error 1

DB

84.3 Network module initialization error 2

DB

85 Network module

error

85.1 Network module error 1 SD

85.2 Network module error 2 SD

85.3 Network module error 3 SD

86 Network

communication

error

86.1 Network communication error 1 SD

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 Common All axes

8A.2 Modbus RTU communication time-out error

SD

8D.1 CC-Link IE communication error 1

SD

8D.2 CC-Link IE communication error 2

SD

CC-Link IE communication

error

8D.3 Master station setting error 1 DB

8D.5 Master station setting error 2 DB

8D 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

8E.1 USB communication receive error/serial communication receive error

SD Common All axes

8E.2

USB communication checksum error/serial communication checksum error

SD Common All axes

8E

USB communication error/

serial communication error/

Modbus RTU communication error

8E.3 USB communication character error/serial communication character error

SD Common All axes

8E.4

USB communication command error/serial communication command error

SD Common All axes

8E.5

USB communication data number error/serial communication data number error

SD Common All axes

8E.6

Modbus RTU communication receive error

SD

8E.7

Modbus RTU communication message frame error

SD

8E.8

Modbus RTU communication CRC error

SD

88888 Watchdog 8888._ Watchdog DB Common All axes

8. TROUBLESHOOTING

8 - 11

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

2. The following shows three stop methods of DB, EDB, and SD.

DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)

Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6. Note that EDB is applied when an alarm below occurs;

[AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2], [AL. 888]

EDB: Electronic dynamic brake stop (available with specified servo motors)

Refer to the following table for the specified servo motors. The stop method for other than the specified servo motors will

be DB.

Series 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. In some controller communication status, the alarm factor may not be removed.

6. This alarm will occur only in the J3 compatibility mode.

7. Reset this while all the safety observation functions are stopped.

8. The processing and stop systems are applicable only for the multi-axis servo amplifiers (MR-J4W_-_B_). Refer to section 8.1

for details.

8. TROUBLESHOOTING

8 - 12

8.3 Warning list

No. Name Detail No.

Detail name

Stop method (Note 2,

3)

Process- ing

system (Note 5)

Stop system (Note 5)

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

Common

92 Battery cable disconnection

warning

92.1 Encoder battery cable disconnection warning

Each axis

92.3 Battery degradation Each axis

93 ABS data transfer

warning 93.1

ABS data transfer requirement warning during magnetic pole detection

95.1 STO1 off detection DB Common All axes

95.2 STO2 off detection DB Common All axes

95 STO warning

95.3 STO warning 1 (safety observation function)

DB

95.4 STO warning 2 (safety observation function)

DB

95.5 STO warning 3 (safety observation function)

DB

96.1 In-position warning at home positioning

Each axis

96 Home position setting warning

96.2 Command input warning at home positioning

Each axis

96.3 Servo off warning at home positioning

96.4 Home positioning warning during magnetic pole detection

97

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, 7)

99 Stroke limit warning

99.2 Reverse rotation stroke end off (Note 4, 7)

99.4 Upper stroke limit off (Note 7) Each axis

99.5 Lower stroke limit off (Note 7) Each axis

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 Each axis

9B.3 Excess droop pulse 2 warning Each axis

9B.4 Error excessive warning during 0 torque limit

Each axis

9C Converter error 9C.1 Converter unit error

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

8. TROUBLESHOOTING

8 - 13

No. Name Detail No.

Detail name

Stop method (Note 2,

3)

Process- ing

system (Note 5)

Stop system (Note 5)

W ar

ni ng

9E

CC-Link IE warning 2

9E.1 CC-Link IE communication warning

9F Battery warning

9F.1 Low battery Each axis

9F.2 Battery degradation warning Each axis

E0 Excessive

regeneration warning

E0.1 Excessive regeneration warning Common

E1.1 Thermal overload warning 1 during operation

Each axis

E1.2 Thermal overload warning 2 during operation

Each axis

E1.3 Thermal overload warning 3 during operation

Each axis

E1 Overload warning 1

E1.4 Thermal overload warning 4 during operation

Each axis

E1.5 Thermal overload error 1 during a stop

Each axis

E1.6 Thermal overload error 2 during a stop

Each axis

E1.7 Thermal overload error 3 during a stop

Each axis

E1.8 Thermal overload error 4 during a stop

Each axis

E2 Servo motor

overheat warning E2.1 Servo motor temperature warning

Each axis

E3.1 Multi-revolution counter travel distance excess warning

E3 Absolute position counter warning

E3.2 Absolute position counter warning Each axis

E3.4 Absolute positioning counter EEP- ROM writing frequency warning

E3.5 Encoder absolute positioning counter warning

Each axis

E4 Parameter warning E4.1 Parameter setting range error warning Each

axis

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 Common All axes

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 warning SD Common All axes

E8

Cooling fan speed reduction warning

E8.1 Decreased cooling fan speed warning

Common

E8.2 Cooling fan stop Common

E9 Main circuit off

warning

E9.1 Servo-on signal on during main circuit off

DB Common All axes

E9.2 Bus voltage drop during low speed operation

DB Common All axes

E9.3 Ready-on signal on during main circuit off

DB Common All axes

E9.4 Converter unit forced stop DB

EA ABS servo-on

warning EA.1 ABS servo-on warning

EB The other axis error

warning EB.1 The other axis error warning DB

Each axis

(Note 6)

EC Overload warning 2 EC.1 Overload warning 2 Each axis

8. TROUBLESHOOTING

8 - 14

No. Name Detail No.

Detail name

Stop method (Note 2,

3)

Process- ing

system (Note 5)

Stop system (Note 5)

W ar

ni ng

ED

Output watt excess warning

ED.1 Output watt excess warning Each axis

F0 Tough drive warning

F0.1 Instantaneous power failure tough drive warning

Each axis

F0.3 Vibration tough drive warning Each axis

F2 Drive recorder -

Miswriting warning

F2.1 Drive recorder - Area writing time- out warning

Common

F2.2 Drive recorder - Data miswriting warning

Common

F3 Oscillation detection

warning F3.1 Oscillation detection warning

Each axis

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

F6.1 Cam axis one cycle current value restoration failed

F6 Simple cam

function - Cam control warning

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 Each axis

F7.2 Friction failure prediction warning Each axis

F7.3 Total travel distance failure prediction warning

Each axis

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

2. The following shows two stop methods of DB and SD.

DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)

Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6.

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB

using [Pr. PA04].

4. For MR-J4-_A_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD30].

5. The processing and stop systems are applicable only for the multi-axis servo amplifiers (MR-J4W_-_B_).

Refer to section 1.1 for details.

6. As the initial value, it is applicable only for [AL. 24] and [AL. 32]. All-axis stop can be selected using [Pr.

PF02].

7. For MR-J4-_GF_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD12]. (I/O mode

only)

8. TROUBLESHOOTING

8 - 15

8.4 Troubleshooting at power on

When the servo system does not boot and system error occurs at power on of the servo system controller,

improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take

actions according to this section. Display Description Cause Checkpoint Action

AA Communication with the servo system controller has disconnected.

The power of the servo system controller was turned off.

Check the power of the servo system controller.

Switch on the power of the servo system controller.

SSCNET III cable was disconnected.

"AA" is displayed in the corresponding axis and following axes.

Replace the SSCNET III cable of the corresponding axis.

Check if the connectors (CNIA, CNIB) are unplugged.

Connect correctly.

The power of the servo amplifier was turned off.

"AA" is displayed in the corresponding axis and following axes.

Check the power of the servo amplifier.

Replace the servo amplifier of the corresponding axis.

Ab Initialization communication with the servo system controller has not completed.

All axes are in a state of disabling control axis.

Check if the disabling control axis switches (SW2-2, 2-3, and 2-4) are on.

Turn off the disabling control axis switches (SW2-2, 2-3, and 2-4).

Axis No. is set incorrectly. Check that the other servo amplifier is not assigned to the same axis No.

Set it correctly.

Axis No. does not match with the axis No. set to the servo system controller.

Check the setting and axis No. of the servo system controller.

Set it correctly.

Information about the servo series has not set in the simple motion module.

Check the value set in Servo series (Pr. 100) in the simple motion module.

Set it correctly.

Communication cycle does not match.

Check the communication cycle at the servo system controller side. When using 8 axes or less: 0.222 ms When using 16 axes or less: 0.444 ms When using 32 axes or less: 0.888 ms

Set it correctly.

Connection to MR-J4W3- _B with software version A2 or earlier was attempted in 0.222 ms communication cycle.

Check if the communication cycle on servo system controller side is 0.222 ms.

Use them with 0.444 ms or more communication cycle.

SSCNET III cable was disconnected.

"Ab" is displayed in the corresponding axis and following axes.

Replace the SSCNET III cable of the corresponding axis.

Check if the connectors (CNIA, CNIB) are unplugged.

Connect correctly.

The power of the servo amplifier was turned off.

"Ab" is displayed in an axis and the following axes.

Check the power of the servo amplifier.

The servo amplifier is malfunctioning.

"Ab" is displayed in an axis and the following axes.

Replace the servo amplifier of the corresponding axis.

8. TROUBLESHOOTING

8 - 16

Display Description Cause Checkpoint Action

Ab

AC

or

Ab

AC

Ad

Communication between servo system controller and servo amplifier are repeating connection and shut-off.

An MR-J4-_B(4)(-RJ) servo amplifier or MR- J4W_-_B servo amplifier which is set to J3 compatibility mode is connected to the SSCNET III/H network.

Check if "J3 compatibility mode" is set using "MR-J4(W)-B mode selection" which came with MR Configurator2.

Select "J4 mode" with "MR- J4(W)-B mode selection".

b##. (Note)

The system has been in the test operation mode.

Test operation mode has been active.

Test operation setting switch (SW2-1) is turned on.

Turn off the test operation setting switch (SW2-1).

off Operation mode for manufacturer setting is set.

Operation mode for manufacturer setting is enabled.

Check if all of the control axis setting switches (SW2) are on.

Set the control axis setting switches (SW2) correctly.

Note. ## indicates axis No.

9. DIMENSIONS

9 - 1

9. DIMENSIONS

9.1 Servo amplifier

(1) MR-J4W2-22B/MR-J4W2-44B

[Unit: mm]

CNP3B CNP3A

CNP2

CNP1

PE

6 mounting hole

6.2 195Approx. 80

16 8

6

6 15

6 6

6

6 60

Cooling fan exhaust (only with MR-J4W-44B)

Air intake

Lock knob

Lock knob

Mass: 1.4 [kg]

L2

L3

L1

C

D

P+

L21

N-

L11

A

PE

B

W U

V

W U

V

A B

A

CNP3A

CNP3B

B

Terminal

CNP1

CNP2

1

2

3

1

2

1

2

1

2

3

Screw Size: M4 Tightening torque: 1.2 [Nm]

Mounting screw

Screw size: M5

Tightening torque: 3.24 [Nm]

A pp

ro x.

1 68

15 6

Approx. 6

A pp

ro x.

6 A

pp ro

x. 6

Approx. 60

2-M5 screw

Mounting hole process drawing

9. DIMENSIONS

9 - 2

(2) MR-J4W2-77B/MR-J4W2-1010B

[Unit: mm]

CNP3B CNP3A

CNP2

CNP1

PE

6.2

195Approx. 80

16 8

6 73

6 15

6 6

6

6 85

Cooling fan exhaust (only with MR-J4W-44B)

Air intake

Lock knob

Lock knob

6 mounting hole

Mass: 2.3 [kg]

L2

L3

L1

C

D

P+

L21

N-

L11

A

PE

B

W U

V

W U

V

A B

A

CNP3A

CNP3B

B

Terminal

CNP1

CNP2

1

2

3

1

2

1

2

1

2

3

Screw Size: M4 Tightening torque: 1.2 [Nm]

Mounting screw

Screw size: M5

Tightening torque: 3.24 [Nm] 15

6

0. 5

A pp

ro x.

1 68

Approx. 6

A pp

ro x.

6 A

pp ro

x. 6

Approx. 6

Mounting hole process drawing

3-M5 screw

Approx. 85

73 0.3

9. DIMENSIONS

9 - 3

(3) MR-J4W3-222B/MR-J4W3-444B

[Unit: mm]

CNP3B

CNP3A

CNP2

CNP1

PE CNP3C

6.2

195Approx. 80

16 8

6 73

6 15

6 6

6

6 85

Cooling fan exhaust (only with MR-J4W-44B)

6 mounting hole

Air intake

Lock knob

Lock knob

Mass: 2.3 [kg]

L2

L3

L1

C

D

P+

L21

N-

L11

A

PE

B

W U

V

W U

V

A B

A

CNP3A

CNP3B

B

Terminal

CNP1

CNP2

1

2

3

1

2

1

2

1

2

3

Screw Size: M4 Tightening torque: 1.2 [Nm]

W U

V

A B

CNP3C

1

2

Mounting screw

Screw size: M5

Tightening torque: 3.24 [Nm]

15 6

0.

5 A

pp ro

x. 1

68

Approx. 6

A pp

ro x.

6 A

pp ro

x. 6

Approx. 6

Mounting hole process drawing

3-M5 screw

Approx. 85

73 0.3

9. DIMENSIONS

9 - 4

9.2 Connector

(1) CN1A/CN1B connector

[Unit: mm]

F0-PF2D103

2.3

20.9 0.2

1.7

4.8 13

.4 15

6. 7

9. 3

17.6 0.2 8

F0-PF2D103-S

2.3

1.7

4.8

13 .4

15 6.

7

9. 3

17.6 0.2

20.9 0.2

8

(2) Miniature delta ribbon (MDR) system (3M)

(a) One-touch lock type

[Unit: mm]

E

B

A

23 .8

39 .0

12.7

C

Logo etc., are indicated here.

D

Connector Shell kit Each type of dimension

A B C D E

10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0

9. DIMENSIONS

9 - 5

(b) Jack screw M2.6 type

This is not available as option.

[Unit: mm]

E

B

A

23 .839

.0

12.7

C

D

5. 2

F

Logo etc., are indicated here.

Connector Shell kit Each type of dimension

A B C D E F

10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 27.4

(3) SCR connector system (3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

[Unit: mm]

34.8

39.5

22 .4

11 .0

9. DIMENSIONS

9 - 6

MEMO

10. CHARACTERISTICS

10 - 1

10. CHARACTERISTICS

POINT

For the characteristics of the linear servo motor and the direct drive motor, refer

to sections 14.4 and 15.4.

10.1 Overload protection characteristics

An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo

motor power wires from overloads.

[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve

shown in fig. 10.1 [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several

seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or

broken line in the graph.

For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque

of the machine should be kept at 70% or less of the rated torque.

This servo amplifier has solid-state servo motor overload protection for each axis. (The servo motor overload

current (full load current) is set on the basis of 120% rated current of the servo amplifier.)

(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

(Note 1, 2, 3) Load ratio [%]

O pe

ra tio

n tim

e [s

]

Operating

Servo-lock

HG-KR053/HG-KR13

HG-MR053/HG-MR13

HG-KR23/HG-KR43/HG-KR73

HG-MR23/HG-MR43/HG-MR73

HG-SR51/HG-SR81/HG-SR52/HG-SR102

HG-UR72

HG-JR53/HG-JR73/HG-JR103 Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo

motor stop status (servo-lock status) or in a 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 series servo motor.

3. The load ratio ranging from 350% to 400% applies to the HG-JR53 servo motor.

Fig. 10.1 Electronic thermal protection characteristics

10. CHARACTERISTICS

10 - 2

10.2 Power supply capacity and generated loss

Calculate the generated loss and the power supply capacity of the servo amplifier under rated load from (1)

and (2) in this section. The calculated value will vary depending on the number of connected servo motors

and the capacities of the servo motors. For thermal design of an enclosed type cabinet, use the values

calculated in consideration for the worst operating conditions. The actual amount of generated heat will be

intermediate between values at rated torque and servo-off according to the duty used during operation.

When the servo motor is run at less than the rated speed, the power supply capacity will be smaller than the

calculated value, but the servo amplifier's generated heat will not change.

(1) Calculation method of power supply capacity

Calculate the power supply capacity for one servo amplifier from tables 10.1 and 10.2.

Table 10.1 Power supply capacity for

one servo amplifier at rated output

Table 10.2 Servo amplifier power

supply capacity for one servo motor

Servo amplifier (Note)

Power supply capacity [kVA]

Servo motor

Power supply capacity [kVA] (A)

MR-J4W2-22B

Total power supply capacity of connected servo motors ((A) in table 10.2)

HG-KR053 0.3

MR-J4W2-44B HG-KR13 0.3

MR-J4W2-77B HG-KR23 0.5

MR-J4W2-1010B HG-KR43 0.9

MR-J4W3-222B HG-KR73 1.3

MR-J4W3-444B HG-MR053 0.3 Note.

The power supply capacity will vary

according to the power supply impedance.

This value is applicable when the power

factor improving reactor is not used.

HG-MR13 0.3

HG-MR23 0.5

HG-MR43 0.9

HG-MR73 1.3

HG-SR51 1.0

HG-SR81 1.5

HG-SR52 1.0

HG-SR102 1.7

HG-UR72 1.3

HG-JR53 1.0

HG-JR73 1.3

HG-JR103 1.7

Calculate the power supply capacity with equation 10.1 below.

Power supply capacity [kVA] = Sum of power supply capacity (A) of the connected servo motors (10.1)

For example, when a HG-KR43, HG-KR23, and HG-KR053 are connected to an MR-J4W3-444B servo

amplifier, according to table 10.1, the power supply capacity of each servo motor is as follows: HG-KR43

= 0.9 [kVA], HG-KR23 = 0.5 [kVA], HG-KR053 = 0.3 [kVA]. Calculate the values with equation 10.1.

Power supply capacity [kVA] = 0.9 + 0.5 + 0.3 = 1.7

Under the above conditions, the power supply capacity of the servo amplifier is 1.7 [kVA].

10. CHARACTERISTICS

10 - 3

(2) Calculation method of the amount of heat generated by the servo amplifier

Calculate the amount of heat generated by one servo amplifier from tables 10.3 and 10.4.

Table 10.3 Amount of heat generated by one servo amplifier at

rated output

Table 10.4 Amount of heat generated

by one servo amplifier for one servo

motor

Servo amplifier

(Note) Servo amplifier-generated heat [W]

Servo motor Servo amplifier-

generated heat [W] (B)

At rated output With servo-off (C)

MR-J4W2-22B Sum of the total amount of heat generated by the servo amplifier for each servo motor ((B) in table 10.4) and the amount of heat generated by the servo amplifier with servo- off (C)

20

MR-J4W2-44B 20 HG-KR053 10

MR-J4W2-77B 20 HG-KR13 10

MR-J4W2-1010B 20 HG-KR23 10

MR-J4W3-222B 25 HG-KR43 20

MR-J4W3-444B 25 HG-KR73 35 Note.

Heat generated during regeneration is not included in the servo amplifier-

generated heat. To calculate heat generated by the regenerative option,

refer to section 11.2.

HG-MR053 10

HG-MR13 10

HG-MR23 10

HG-MR43 20

HG-MR73 35

HG-SR51 25

HG-SR81 35

HG-SR52 25

HG-SR102 35

HG-UR72 35

HG-JR53 25

HG-JR73 35

HG-JR103 35

Calculate the amount of heat generated by the servo amplifier with equation 10.2 below.

Servo amplifier-generated heat at rated output [W]

= Sum of servo amplifier-generated heat (B) + Servo amplifier-generated heat with servo-off (C) (10.2)

Under the conditions in (1) in this section, according to table 10.3, the amount of heat generated by the

servo amplifier for each servo motor is as follows: HG-KR43 = 20 [W], HG-KR23 = 10 [W], HG-KR053 =

10 [W]. According to table 10.4, the amount of heat generated by the servo amplifier with servo-off is 25

[W]. Calculate the values with equation 10.2.

Servo amplifier-generated heat at rated output [W] = (20 + 10 + 10) + 25 = 65

Under the above conditions, the amount of heat generated by the servo amplifier is 65 [W].

10. CHARACTERISTICS

10 - 4

(3) Heat dissipation area for an enclosed type cabinet

The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be

designed to ensure that its temperature rise is within +10 C at the ambient temperature of 40 C. (With

an approximately 5 C safety margin, the system should operate within a maximum 55 C limit.) The

necessary cabinet heat dissipation area can be calculated by equation 10.3.

A = K

P T

(10.3)

A: Heat dissipation area [m2]

P: Loss generated in the cabinet [W]

T: Difference between internal and ambient temperatures [C]

K: Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with equation 10.3, assume that P is the sum of all losses

generated in the cabinet. Refer to table 10.3 for heat generated by the servo amplifier. "A" indicates the

effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra

amount must be added to the cabinet's surface area. The required heat dissipation area will vary with

the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat

dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a

cooling fan should be considered. Table 10.3 lists the cabinet dissipation area for each servo amplifier

(guideline) when the servo amplifier is operated at the ambient temperature of 40 C under rated load.

(Outside the cabinet) (Inside the cabinet)

Air flow

Fig. 10.2 Temperature distribution in an enclosed type cabinet

When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the

temperature slope inside and outside the cabinet will be steeper.

10. CHARACTERISTICS

10 - 5

10.3 Dynamic brake characteristics

CAUTION

The coasting distance is a theoretically calculated value which ignores the

running load such as friction. The calculated value will be longer than the actual

distance. If an enough braking distance is not provided, a moving part may crash

into the stroke end, which is very dangerous. Install the anti-crash mechanism

such as an air brake or an electric/mechanical stopper such as a shock absorber

to reduce the shock of moving parts.

POINT

Do not use dynamic brake to stop in a normal operation as it is the function to

stop in emergency.

For a machine operating at the recommended load to motor inertia ratio or less,

the estimated number of usage times of the dynamic brake is 1000 times while

the machine decelerates from the rated speed to a stop once in 10 minutes.

Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1

(Forced stop 1) frequently in other than emergency.

Servo motors for MR-J4 may have the different coasting distance from that of

the previous model.

The electronic dynamic brake operates in the initial state for the HG series servo

motors of 600 [W] or smaller capacity. The time constant "" 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 - 6

10.3.1 Dynamic brake operation

(1) Calculation of coasting distance

Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is

operated. Use equation 10.4 to calculate an approximate coasting distance to a stop. The dynamic

brake time constant varies with the servo motor and machine operation speeds. (Refer to (2) in this

section.)

A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a

maximum coasting distance calculated with the following equation.

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 (10.4)

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]

There is internal relay delay time of about 10 ms.

10. CHARACTERISTICS

10 - 7

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant for equation 10.4.

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 n

st a

n t

[m s]

D yn

am ic

b ra

ke ti

m e

co n

st a

n t

[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

D yn

am ic

b ra

ke ti

m e

co n

st a

n t

[m s]

0

20

40

60

80

100

0 250 500 750 1000 1250 1500

51 81

Speed [r/min]

D yn

am ic

b ra

ke ti

m e

co n

st a

n t

[m s]

0 500 1000 1500 2000 2500 3000

52 102

0

100

50

200

150

250

300

350

Speed [r/min]

HG-SR 1000 r/min series HG-SR 2000 r/min series

D yn

am ic

b ra

ke ti

m e

co n

st a

n t

[m s]

Speed [r/min] 500 1000 1500 20000

0 10 20 30 40 50 60 70 80 90

100

72

D yn

am ic

b ra

ke ti

m e

co n

st a

n t

[m s]

Speed [r/min]

53

103

73

260

0

220

180

140

100

60

20

1000 2000 3000 4000 5000 60000

HG-UR series HG-JR3000 r/min series

10. CHARACTERISTICS

10 - 8

10.3.2 Permissible load to motor inertia when the dynamic brake is used

Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia

moment is higher than this value, the dynamic brake may burn. If there is a possibility that the load inertia

moment may exceed the value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation

speed of the servo motor.

Servo motor Permissible load to motor inertia

ratio [multiplier] Servo motor

Permissible load to motor inertia ratio [multiplier]

HG-KR053 HG-SR51

30

HG-KR13 HG-SR81

HG-KR23 30 HG-SR52

HG-KR43 HG-SR102

HG-KR73 HG-UR72

HG-MR053 35 HG-JR53

HG-MR13 HG-JR73

HG-MR23 32

HG-JR103

HG-MR43

HG-MR73

10. CHARACTERISTICS

10 - 9

10.4 Cable bending life

The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed

values, provide a little allowance for these values.

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

POINT

For a servo amplifier of 600 W or less, the inrush current values can change

depending on frequency of turning on/off the power and ambient temperature.

Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and

magnetic contactors. (Refer to section 11.6.)

When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an

inrush current, be used.

The following table indicates the inrush currents (reference data) that will flow when 240 V AC is applied at

the power supply capacity of 2500 kVA and the wiring length of 1 m. Even when you use a 1-phase 200 V

AC power supply with MR-J4W2-22B to MR-J4W2-77B, MR-J4W3-222B, and MR-J4W3-444B, the inrush

currents of the main circuit power supply is the same.

MR-J4 2-axis servo amplifier

MR-J4 3-axis servo amplifier

Inrush currents (A0-P)

Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21)

MR-J4W2-22B MR-J4W3-222B 113 A (attenuated to approx. 6 A in 20 ms) 24 A

(attenuated to approx. 2 A in 20 ms)

MR-J4W2-44B MR-J4W3-444B

MR-J4W2-77B 113 A (attenuated to approx. 11A in 20 ms) MR-J4W2-1010B

10. CHARACTERISTICS

10 - 10

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

Servo system controller Personal

computer

6) 7)

5)

2) 3) 4)

2) 3) 4)

Cap (Packed with the servo amplifier)

CN5

CN3

CN1B

CN2C (Note 1) CN4

CN8 (Note 3)

CN1A

12)

11)

CN4

8)

9)

CNP1

CNP3B

CNP3C (Note 1)

CNP3A

CN2B

CN2A

10) 10) CN9

CN10

Safety logic unit MR-J3-D05

To servo motor (Note 2)

To encoder (Note 2)

CN8 (Note 3)

(Packed with the servo amplifier)

CNP2 CN1A

1)

Battery unit MR-BT6VCASE and MR-BAT6V1 battery

Note 1. CNP3 and CN2C are available only on MR-J4 3-axis servo amplifier.

2. Refer to each servo amplifier instruction manual for options for connecting the servo amplifier and the servo motor.

3. When not using the STO function, attach a short-circuit connector (13)) supplied with a servo amplifier.

No. Product Model Description Remark

1) Servo amplifier power connector set

CNP1 connector Quantity: 1 Model: 03JFAT-SAXGFK-43 (JST) Applicable wire size: AWG 16 to 14 Insulator OD: to 4.2 mm

CNP2 connector Quantity: 1 Model: 06JFAT-SAXYGG-F-KK (JST) Applicable wire size: AWG 16 to 14 Insulator OD: to 3.8 mm

Supplied with servo amplifier

CNP3A/CNP3B/CNP3C connector Quantity: 2 (MR-J4W2) 3 (MR-J4W3) Model: 04JFAT-SAGG-G-KK (JST) Applicable wire size: AWG 18 to 14 Insulator OD: to 3.8 mm

Open tool Quantity: 1 Model: J-FAT-OT-EXL (JST)

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 3

No. Product Model Description Remark

2) SSCNET III cable

MR-J3BUS_M Cable length:

0.15 m to 3 m (Refer to section 11.1.2.)

Connector: PF-2D103 (JAE)

Connector: PF-2D103 (JAE)

Standard cord inside panel

3) SSCNET III cable

MR-J3BUS_M-A Cable length:

5 m to 20 m (Refer to section 11.1.2.)

Standard cable outside panel

4) SSCNET III cable

MR-J3BUS_M-B Cable length:

30 m to 50 m (Refer to section 11.1.2.)

Connector: CF-2D103-S (JAE)

Connector: CF-2D103-S (JAE)

Long- distance cable

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

6) Connector set MR-J2CMP2

Connector: 10126-3000PE Shell kit: 10326-52F0-008 (3M or equivalent)

Quantity: 1

7) Connector set MR-ECN1

Connector: 10126-3000PE Shell kit: 10326-52F0-008 (3M or equivalent)

Quantity: 20

8) Junction terminal block cable

MR-TBNATBL_M Cable length:

0.5/1 m (Refer to section 11.12.)

Junction terminal block connector Connector: 10126-6000EL Shell kit: 10326-3210-000 (3M or equivalent)

Servo amplifier-side connector Connector: 10126-6000EL Shell kit: 10326-3210-000 (3M or equivalent)

For junction terminal block connection

9) Junction terminal block

MR-TB26A Refer to section 11.12.

10) STO cable MR-D05UDL3M-B

Connector set: 2069250-1 (TE Connectivity)

Connection cable for the CN8 connector

11) 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

12) 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)

13) Short-circuit connector

Supplied

with servo amplifier

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 4

11.1.2 SSCNET III cable

POINT

Do not look directly at the light generated from CN1A/CN1B connector of servo

amplifier or the end of SSCNET III cable. The light can be a discomfort when it

enters the eye.

Refer to app. 9 for long distance cable over 50 m and ultra-long bending life

cable.

(1) Model explanations

The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable

model. The cables of the lengths with the symbols are available.

Cable model Cable length Bending

life Application/remark

0.15 m 0.3 m 0.5 m 1 m 3 m 5 m 10 m 20 m 30 m 40 m 50 m

MR-J3BUS_M 015 03 05 1 3 Standard Using inside panel standard cord

MR-J3BUS_M-A 5 10 20 Standard Using outside panel standard cable

MR-J3BUS_M-B (Note)

30 40 50 Long

bending

life

Using long distance cable

Note. For cable of 30 m or less, contact your local sales office.

(2) Specifications

Description

SSCNET III cable model MR-J3BUS_M MR-J3BUS_M-A MR-J3BUS_M-B

SSCNET III cable length 0.15 m 0.3 m to 3 m 5 m to 20 m 30 m to 50 m

Optical cable (cord)

Minimum bend radius

25 mm Enforced covering cable

50 mm Cord: 25 mm

Enforced covering cable 50 mm

Cord: 30 mm

Tension strength 70 N 140 N 420 N

(Enforced covering cable) 980 N

(Enforced covering cable)

Temperature range for use (Note)

-40 C to 85 C -20 C to 70 C

Ambience Indoors (no direct sunlight)

No solvent or oil

External appearance [mm]

2.2 0.07

4.4 0.1

2. 2

0.

07

4.4 0.1

6.0 0.2

2. 2

0.

07

4.4 0.4

7.6 0.5

2. 2

0.

2

Note. This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same as

that for servo amplifier.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 5

(3) Dimensions

(a) MR-J3BUS015M

[Unit: mm]

(2 .3

)

(1 .7

)

150

(37.65)(13.4)(15)(6.7)

(2 0.

9) 8

+ 0

+50 - 0

Protective tube

(b) MR-J3BUS03M to MR-J3BUS3M

Refer to the table shown in (1) in this section for cable length (L).

[Unit: mm]

(100) (100)

L

(Note) Protective tube

Note. Dimension of connector part is the same as that of MR-J3BUS015M.

(c) MR-J3BUS5M-A to MR-J3BUS20M-A/MR-J3BUS30M-B to MR-J3BUS50M-B

Refer to the table shown in (1) in this section for cable length (L).

SSCNET III cable Variable dimensions [mm]

A B

MR-J3BUS5M-A to MR-J3BUS20M-A 100 30

MR-J3BUS30M-B to MR-J3BUS50M-B 150 50

[Unit: mm]

(A) (A)

L

(Note) Protective tube

(B)(B)

Note. Dimension of connector part is the same as that of MR-J3BUS015M.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 6

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 - 7

11.1.4 MR-D05UDL3M-B STO cable

This cable is for connecting an external device to the CN8 connector.

Cable model Cable length Application/remark

MR-D05UDL3M-B 3 m Connection cable for the CN8 connector

(1) Configuration diagram

MR-D05UDL3M-B CN8

Servo amplifier

(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).

11.2 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.

Servo amplifier Regenerative power [W]

Built-in regenerative resistor

MR-RB14 [26 ] MR-RB34 [26 ] MR-RB3N [26 ]

MR-J4W2-22B 20 100

MR-J4W2-44B

MR-J4W2-77B 100

300

MR-J4W2-1010B

MR-J4W3-222B 30 100 300

MR-J4W3-444B

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 8

11.2.2 Selection of regenerative option

Use the following method when regeneration occurs continuously in vertical motion applications or when it is

desired to make an in-depth selection of the regenerative option.

(1) Regenerative energy calculation

U nb

al an

ce d

to rq

ue

Friction torque

M

TF

TU

V

Rotary servo motor

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)

Up/ Positive direction

6)

5) 7)

Down/ Negative direction

8) Time

Servo motor speed Linear servo motor feed speed

tpsa1 t1 tpsd1 t2 tpsa2 t3 t4tpsd2

The following shows equations of the rotary servo motor torque and energy at the driving pattern above.

Section Torque applied to servo motor [Nm]

(Note) Energy E [J]

1) T1 = 9.55 104

(JL/ + JM) V

tpsa1

1 + TU + TF E1 =

2

0.1047 V T1 tpsa1

2) T2 = TU + TF E2 = 0.1047 V T2 t1

3) T3 = - (JL + JM) V

9.55 104 tpsd1

1 + TU + TF E3 =

2

0.1047 V T3 tpsd1

4), 8) T4, T8 = TU E4, E8 0 (No regeneration)

5) T5 = (JL/ + JM) V

9.55 104 tpsa2

1 - TU + TF E5 =

2

0.1047 V T5 tpsa2

6) T6 = - TU + TF E6 = 0.1047 V T6 t3

7) T7 = - (JL + JM) V

9.55 104 tpsd2

1 - TU + TF E7 =

2

0.1047 V T7 tpsd2

Note. : Drive system efficiency

The following shows equations of the linear servo motor thrust and energy.

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 = Ft 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 E2 = V F6 t3

7) F7 = - (M1 + M2) V / tpsd2 + Ft E7 = V / 2 F7 tpsd2

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 9

(2) Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in the

regenerative mode.

Servo amplifier Inverse

efficiency [%] Capacitor charging

energy Ec [J]

MR-J4W2-22B 75 17

MR-J4W2-44B 85 21

MR-J4W2-77B 85 44

MR-J4W2-1010B 85 44

MR-J4W3-222B 75 21

MR-J4W3-444B 85 31

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 energy (Ec): Energy charged into the electrolytic capacitor in the servo amplifier

(3) Calculation of regenerative energy per cycle

For example, calculate the regenerative energy in the following operation pattern with 3-axis servo

amplifier.

2)1)

A-axis

B-axis

C-axis

3) 4) 6)5) 7) 8) 9) 10) 11)

Time

Time

Time

Servo motor speed Linear servo motor feed speed

tf (1 cycle)

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 10

Calculate the energy at different timings in one cycle. Energy is a positive value in power running and a

negative value in regeneration. Write down the energy during power running/regeneration with signs in

the calculation table as shown below.

Timing 1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11)

A-axis E1A E2A E3A E4A E5A E6A E7A E8A E9A E10A E11A

B-axis E1B E2B E3B E4B E5B E6B E7B E8B E9B E10B E11B

C-axis E1C E2C E3C E4C E5C E6C E7C E8C E9C E10C E11C

Sum E1 E2 E3 E4 E5 E6 E7 E8 E9 E10 E11

Calculate the energy consumed by the regenerative resistor with the following equation for the

calculation results from E1 to E11 with a negative value.

When the absolute value of the value in E1 to E11 is assumed to be Es: ER [J] = m Es - Ec

If ER values are negative at all timings, the regenerative option is not needed. If any of ER values is

positive, calculate the energy consumed by the regenerative resistor in one cycle from the time for one

cycle and the sum of the positive ER values.

PR [W] = Sum of the positive ER values/Operating time (tf) for one cycle

Regenerative option is not required when PR is equal to or less than the specification value of the servo

amplifier built-in regenerative energy.

11.2.3 Parameter setting

Set [Pr. PA02] according to the option to be used.

Regenerative option selection 00 0B 0D 0E

: Regenerative option is not used. (Built-in regenerative resistor is used.) : MR-RB3N : MR-RB14 : MR-RB34

0 0

[Pr. PA02]

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 11

11.2.4 Connection of regenerative option

POINT

For the sizes of wires used for wiring, refer to section 11.5.

The regenerative option generates heat of 100 C higher than the ambient temperature. Fully consider heat

dissipation, installation position, wires used, etc. before installing the option. For wiring, use flame-resistant

wires or make the wires flame-resistant and keep them away from the regenerative option. Use twisted wires

of up to 5 m for connecting the servo amplifier.

Connect the regenerative option to P+ and C. G3 and G4 are thermal sensor's terminals. Between G3 and

G4 is opened when the regenerative option overheats abnormally.

D

P+

C

G4

G3

C

P

Regenerative option

5 m or less

Servo amplifier

Always remove wiring across P+ - D.

(Note 2)

Cooling fan

(Note 1)

Note 1. When the ambient temperature is more than 55 C and the regenerative load ratio

is more than 60% in MR-RB34 and MR-RB3N, forcefully cool the air with a

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 [ ]

35 55

A cooling fan is not required.

A cooling fan is required.

Lo ad

r at

io [%

]

A cooling fan is not required for MR-RB14.

2. Make up a sequence which will switch off the magnetic contactor when abnormal

heating occurs.

G3-G4 contact specifications

Maximum voltage: 120 V AC/DC

Maximum current: 0.5 A/4.8 V DC

Maximum capacity: 2.4 VA

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 12

11.2.5 Dimensions

(1) MR-RB14

[Unit: mm]

5

14 4

Approx. 20

169

16 8

15 6

6 12

6

36

40

TE1

15

A pp

ro x.

6

149 2

6 mounting hole

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-RB34/MR-RB3N

[Unit: mm]

8. 5

12 5

15 0

A pp

ro x.

3 0

14 2

79 82

.5 30

8. 5

10 90 101.5 82.5

31817

335

Intake

7

100

Cooling fan mounting screw (2-M4 screw)

Terminal block

P

C

G3

G4

Terminal screw size: M4 Tightening torque: 1.2 [Nm]

Mounting screw Screw size: M6 Tightening torque: 5.4 [Nm]

Mass: 2.9 [kg]

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 13

11.3 Battery

POINT

Refer to app. 2 and 3 for battery transportation and the new EU Battery

Directive.

This battery is used to construct an absolute position detection system. Refer to chapter 12 for construction

of the absolute position detection system.

11.3.1 Selection of battery

The available batteries vary depending on servo amplifiers. Select a required battery.

(1) Applications of the batteries

Model Name Application Built-in battery

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-J4W_-_B MR-J4W2-0303B6

MR-BAT6V1SET-A MR-BT6VCASE

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 14

11.3.2 MR-BAT6V1SET-A battery

POINT

Use MR-BAT6V1SET-A for MR-J4W2-0303B6 servo amplifier. The MR-

BAT6V1SET-A cannot be used for MR-J4W_-B servo amplifiers other than MR-

J4W2-0303B6.

For the specifications and year and month of manufacture of the built-in MR-

BAT6V1 battery, refer to section 11.3.4.

(1) Parts identification and dimensions

[Unit: mm]

5127.4

37 .5

Case Connector for servo amplifier

Mass: 55 [g] (including MR-BAT6V1 battery)

(2) Battery mounting

Connect as follows.

CN4

MR-BAT6V1SET-A

MR-J4W2-0303B6

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 15

(3) Battery replacement procedure

WARNING

Before replacing a battery, turn off the main circuit power and wait for 15 minutes

or longer until the charge lamp turns off. Then, check the voltage between P+ and

N- with a voltage tester or others. Otherwise, an electric shock may occur. In

addition, when confirming whether the charge lamp is off or not, always confirm it

from the front of the servo amplifier.

CAUTION

The internal circuits of the servo amplifier may be damaged by static electricity.

Always take the following precautions.

Ground human body and work bench.

Do not touch the conductive areas, such as connector pins and electrical parts,

directly by hand.

POINT

Replacing battery with the control circuit power off will erase the absolute

position data.

Before replacing batteries, check that the new battery is within battery life.

Replace the battery while only control circuit power is on. Replacing battery with the control circuit power

on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.

(a) Installation procedure

Insert the battery along the rails.

Insert the connector of the battery into CN4.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 16

(b) Removal procedure

CAUTION Pulling out the connector of the battery without the lock release lever pressed

may damage the CN4 connector of the servo amplifier or the connector of the

battery.

While pressing the lock release lever, pull out the connector.

While pressing the lock release lever, slide the battery case toward you.

(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.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 17

11.3.3 MR-BT6VCASE battery case

POINT

Use an MR-BT6VCASE for 200 W or more MR-J4W_-_B servo amplifiers. MR-

BT6VCASE cannot be used for MR-J4W2-0303B6 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 11.3.4.

MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. A battery case does

not have any batteries. Please prepare MR-BAT6V1 batteries separately.

(1) The number of connected servo motors

One MR-BT6VCASE holds absolute position data up to eight axes servo motors. For direct drive motors,

up to four axes can be connected. Servo motors and direct drive motors in the incremental system are

included as the axis Nos. Linear servo motors are not counted as the axis Nos. Refer to the following

table for the number of connectable axes of each servo motor.

Servo motor Number of axes

Rotary servo motor 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

A pp

ro x.

1 30

A pp

ro x.

5 A

pp ro

x. 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]

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 18

(3) Battery mounting

POINT

One battery unit can be connected to up to 8-axis servo motors. However, when

using direct drive motors, the number of axes of the direct drive motors should

be up to 4 axes. Servo motors and direct drive motors in the incremental system

are included as the axis Nos. Linear servo motors are not counted as the axis

Nos.

The MR-J4W_-_B servo amplifiers can be combined with MR-J4-_B_(-RJ) servo

amplifiers.

(a) When using 1-axis servo amplifier

CN1A

CN1B Cap

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

Servo amplifier (Last)

MR-BT6V2CBL_M

Servo amplifier (First)

CN4 CN4

Servo amplifier (Second)

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 19

(4) Battery replacement procedure

WARNING

Before replacing a battery, turn off the main circuit power and wait for 15 minutes

or longer until the charge lamp turns off. Then, check the voltage between P+ and

N- with a voltage tester or others. Otherwise, an electric shock may occur. In

addition, when confirming whether the charge lamp is off or not, always confirm it

from the front of the servo amplifier.

CAUTION

The internal circuits of the servo amplifier may be damaged by static electricity.

Always take the following precautions.

Ground human body and work bench.

Do not touch the conductive areas, such as connector pins and electrical parts,

directly by hand.

POINT

Replacing battery with the control circuit power off will erase the absolute

position data.

Before replacing batteries, check that the new battery is within battery life.

Replace the battery while only control circuit power is on. Replacing battery with the control circuit power

on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 20

(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.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 21

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.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 22

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.

Battery cable

While pressing the lock release lever, pull out the connector.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 23

11.3.4 MR-BAT6V1 battery

The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET-A and MR-BAT6V1SET

and a primary lithium battery built-in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use.

The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put on

an MR-BAT6V1 battery.

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)

Battery life (Note) 5 years from date of manufacture

Mass [g] 34

Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from

the production date regardless of the connection status.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 24

11.4 MR Configurator2

MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform

parameter setting changes, graph display, test operation, etc. on a personal computer.

11.4.1 Specifications

Item Description

Project Create/read/save/delete project, read/write other format, system setting, print

Parameter Parameter setting

Monitor Display all, I/O monitor, graph, ABS data display

Diagnosis Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life diagnosis, machine diagnosis, fully closed loop diagnosis (Note 2), linear diagnosis (Note 3)

Test mode Jog mode (Note 4), positioning mode, motor-less operation (Note 1), DO forced output, program operation, test mode information

Adjustment One-touch tuning, tuning, machine analyzer

Others Servo assistant, parameter setting range update, machine unit conversion setting, help display

Note 1. The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control

mode, or DD motor control mode.

2. This is available only in the fully closed loop control mode.

3. This is available only in the linear servo motor control mode.

4. This is available in the standard control mode, fully closed loop control mode, and DD motor control mode.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 25

11.4.2 System configuration

(1) Component

To use MR Configurator2 (SW1DNC-MRC2-_), the following components are required in addition to the

servo amplifier and servo motor.

Equipment Description

(Note 1, 2, 3, 4, 5) Personal computer

OS

Microsoft Windows 10 Home Microsoft Windows 10 Pro Microsoft Windows 10 Enterprise Microsoft Windows 10 Education Microsoft Windows 8.1 Enterprise Microsoft Windows 8.1 Pro Microsoft Windows 8.1 Microsoft Windows 8 Enterprise Microsoft Windows 8 Pro Microsoft Windows 8 Microsoft Windows 7 Enterprise Microsoft Windows 7 Ultimate Microsoft Windows 7 Professional Microsoft Windows 7 Home Premium Microsoft Windows 7 Starter Microsoft Windows Vista Enterprise Microsoft Windows Vista Ultimate Microsoft Windows Vista Business Microsoft Windows Vista Home Premium Microsoft Windows Vista Home Basic Microsoft Windows XP Professional, Service Pack3 or later Microsoft Windows XP Home Edition, Service Pack3 or later

CPU (recommended)

Desktop personal computer: Intel Celeron processor 2.8 GHz or more Laptop personal computer: Intel Pentium M processor 1.7 GHz or more

Memory (recommended)

512 MB or more (for 32-bit OS), 1 GB or more (for 64-bit OS)

Free space on the hard disk

1 GB or more

Communication interface

USB port

Browser Windows Internet Explorer 4.0 or more

Display One whose resolution is 1024 768 or more and that can provide a high color (16 bit) display. Connectable with the above personal computer.

Keyboard Connectable with the above personal computer.

Mouse Connectable with the above personal computer.

Printer Connectable with the above personal computer.

USB cable MR-J3USBCBL3M Note 1. On some personal computers, MR Configurator2 may not run properly.

2. The following functions cannot be used.

Windows Program Compatibility mode

Fast User Switching

Remote Desktop

Large Fonts Mode (Display property)

DPI settings other than 96 DPI (Display property)

For 64-bit operating system, this software is compatible with Windows 7 and Windows 8.

3. When Windows 7 or later is used, the following functions cannot be used.

Windows XP Mode

Windows touch

4. When using this software with Windows Vista or later, log in as a user having USER authority or higher.

5. When Windows 8 or later is used, the following functions cannot be used.

Hyper-V

Modern UI style

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 26

(2) Connection with servo amplifier

To USB connector

USB cable MR-J3USBCBL3M

(Option)

Personal computer

Servo amplifier CN5 (Note)

Note. CN5 is located under the display cover.

11.4.3 Precautions for using USB communication function

Note the following to prevent an electric shock and malfunction of the servo amplifier.

(1) Power connection of personal computers

Connect your personal computer with the following procedures.

(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire,

use a three-pin socket or ground the grounding wire.

2) When your personal computer has two-core plug and has no grounding wire, connect the

personal computer to the servo amplifier with the following procedures.

a) Disconnect the power plug of the personal computer from an AC power socket.

b) Check that the power plug was disconnected and connect the device to the servo amplifier.

c) Connect the power plug of the personal computer to the AC power socket.

(b) When you use a personal computer with battery

You can use as it is.

(2) Connection with other devices using servo amplifier communication function

When the servo amplifier is charged with electricity due to connection with a personal computer and the

charged servo amplifier is connected with other devices, the servo amplifier or the connected devices

may malfunction. Connect the servo amplifier and other devices with the following procedures.

(a) Shut off the power of the device for connecting with the servo amplifier.

(b) Shut off the power of the servo amplifier which was connected with the personal computer and

check the charge lamp is off.

(c) Connect the device with the servo amplifier.

(d) Turn on the power of the servo amplifier and the device.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 27

11.5 Selection example of wires

POINT

Refer to section 11.1.2 for SSCNET III cable.

To comply with the EC/EN/UL/CSA standard, use the wires shown in app. 4 for

wiring. To comply with other standards, use a wire that is complied with each

standard.

Selection conditions of wire size are as follows.

Construction condition: One wire is constructed in the air

Wire length: 30 m or less

(1) Wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

3) Regenerative option lead

Regenerative option

Servo amplifier

2) Control circuit power supply lead

D

C

P+

L1

L2

L3

L11

L12

1) Main circuit power supply lead

Power supply

U

V

W

M

4) Servo motor power supply lead

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 28

The following table shows the wire size selection example.

Table 11.1 Wire size selection example (HIV wire)

Servo amplifier

Wires [mm2]

1) L1/L2/L3/ (Note 1)

2) L11/L21 3) P+/C/D 4) U/V/W/

(Note 2)

MR-J4W2-22B

2 (AWG 14) AWG 18 to 14

MR-J4W2-44B

MR-J4W2-77B

MR-J4W2-1010B

MR-J4W3-222B

MR-J4W3-444B

Note 1. Use the crimp terminal specified as below for the PE terminal of the servo amplifier.

Crimp terminal: FVD2-4

Tool: YNT-1614

Manufacturer: JST

Tightening torque: 1.2 [Nm]

2. The wire size shows applicable size of the servo amplifier connector. For wires connecting to

the servo motor, refer to "Servo Motor Instruction Manual (Vol. 3)".

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 29

11.6 Molded-case circuit breakers, fuses, magnetic contactors

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When

using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this

section.

When using a combination of the rotary servo motor, linear servo motor, or direct drive motor, select a

molded-case circuit breaker, a fuse or a magnetic contactor tentatively, assuming one type of the servo

motors are used for two or three axes. After the tentative selections are made for all types of the servo

motors, use the largest among all molded-case circuit breakers, fuses, or magnetic contactors.

(1) For main circuit power supply

CAUTION

To prevent the servo amplifier from smoke and a fire, select a molded-case circuit

breaker which shuts off with high speed.

Always use one molded-case circuit breaker and one magnetic contactor with one

servo amplifier.

(a) For MR-J4W2

Total output of rotary servo

motors

Total continuous

thrust of linear servo motors

Total output of direct drive

motors

Molded-case circuit breaker (Note 5, 6)

Fuse (Note 2) Magnetic contactor Frame, rated current

Voltage AC [V]

(Note 1) Class

Current [A]

Voltage AC [V]

300 W or less 50 A frame 5 A

(Note 3)

240 T

15

300

S-N10 S-T10

From over 300 W to 600 W

150 N or less 100 W or less 50 A frame 10 A

(Note 3) 20

From over 600 W to 1 kW

From over 150 N to 300 N

From over 100 W to 252 W

50 A frame 15 A (Note 3)

20

From over 1 kW to 2 kW

From over 300 N to 720 N

From over 252 W to 838 W

50 A frame 20 A (Note 3)

30 S-N20

(Note 4) S-T21

Note 1. When using the servo amplifier as an EC/EN/UL/CSA standard compliant product, refer to app. 4.

2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until

closure of contacts) of 80 ms or less.

3. When not using the servo amplifier as an EC/EN/UL/CSA standard compliant product, molded-case circuit breaker

of 30 A frame can be used.

4. S-N18 can be used when auxiliary contact is not required.

5. A molded-case circuit breaker will not change to select regardless of use of a power factor improving AC reactor.

6. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric

general-purpose products.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 30

(b) For MR-J4W3

Total output of rotary servo

motors

Total continuous

thrust of linear servo motors

Total output of direct drive

motors

Molded-case circuit breaker (Note 4, 5)

Fuse (Note 2) Magnetic contactor Frame, rated current

Voltage AC [V]

(Note 1) Class

Current [A]

Voltage AC [V]

450 W or less 150 N or less 50 A frame 10 A

(Note 3)

240 T

20

300

S-N10 S-T10 From over 450

W to 800 W From over 150 N to 300 N

252 W or less 50 A frame 15 A

(Note 3) 20

From over 800 W to 1.5 kW

From over 300 N to 450 N

From over 252 W to 378 W

50 A frame 20 A (Note 3)

30 S-N20 S-T21

Note 1. When using the servo amplifier as an EC/EN/UL/CSA standard compliant product, refer to app. 4.

2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until

closure of contacts) of 80 ms or less.

3. When not using the servo amplifier as an EC/EN/UL/CSA standard compliant product, molded-case circuit breaker

of 30 A frame can be used.

4. A molded-case circuit breaker will not change to select regardless of use of a power factor improving AC reactor.

5. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric

general-purpose products.

The Type E Combination motor controller can also be used instead of a molded-case circuit breaker.

Servo amplifier 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-J4W2-22B 6.3

MR-J4W2-44B 8

MR-J4W2-77B 200 to 240 3-phase MMP-T32 240

13 50

MR-J4W2-1010B 18

MR-J4W3-222B 8

MR-J4W3-444B 13

(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 Fuse (Class T) Fuse (Class K5)

Frame, rated current Voltage AC

[V] Current [A]

Voltage AC [V]

Current [A] Voltage AC

[V]

MR-J4W2-22B

MR-J4W2-44B

MR-J4W2-77B 50 A frame 5 A (Note) 240 1 300 1 250

MR-J4W2-1010B

MR-J4W3-222B

MR-J4W3-444B

Note. When not using the servo amplifier as an EC/EN/UL/CSA standard compliant product, molded-case circuit breaker of

30 A frame can be used.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 31

11.7 Power factor improving AC reactors

The following shows the advantages of using power factor improving AC reactor.

It improves the power factor by increasing the form factor of the servo amplifier's input current.

It decreases the power supply capacity.

The input power factor is improved to be about 80%.

When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power

factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough

improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.

When using a combination of the rotary servo motor, linear servo motor, or direct drive motor, select a power

factor improving AC reactor tentatively, assuming one type of the servo motors are used for 2 or 3 axes.

After the tentative selections are made for all types of the servo motors, use the largest among all power

factor improving AC reactors.

4-d mounting hole (Varnish is removed from front right mounting hole (face and back side).) (Note 1)

Terminal assignment

R X ZS Y T

Max. W (Note 2)

W1

D1

D2

H

Max. D

Y

Z

S

T

Y

Z

S

T

MCMCCB

MCMCCB

FR-HAL Servo amplifier

XR L1

L2

L3

3-phase 200 V AC to 240 V AC

FR-HAL Servo amplifier

XR L1

L2

(Note) 1-phase 200 V AC to 240 V AC L3

Note 1. Use this for grounding. Note. For 1-phase 200 V AC to 240 V AC, connect the power

supply to L1 and L3. Leave L2 open. 2. W 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 32

(1) For MR-J4W2

Total output of rotary servo motors

Total continuous thrust of linear servo motors

Total output of direct drive motors

Power factor improving AC reactor

450 W or less 150 N or less 100 W or less FR-HAL-0.75K

From over 450 W to 600 W From over 150 N to 240 N From over 100 W to 377 W FR-HAL-1.5K

From over 600 W to 1 kW From over 240 N to 300 N From over 377 W to 545 W FR-HAL-2.2K

From over 1 kW to 20 kW From over 300 N to 720 N From over 545 W to 838 W FR-HAL-3.7K

(2) For MR-J4W3

Total output of rotary servo motors

Total continuous thrust of linear servo motors

Total output of direct drive motors

Power factor improving AC reactor

450 W or less 150 N or less FR-HAL-0.75K

From over 450 W to 600 W From over 150 N to 240 N 378 W or less FR-HAL-1.5K

From over 600 W to 1 kW From over 240 N to 300 N FR-HAL-2.2K

From over 1 kW to 20 kW From over 300 N to 450 N FR-HAL-3.7K

(3) Dimensions

Power factor improving AC

reactor

Dimensions [mm] Terminal

size Mass [kg] W W1 H

D (Note 1)

D1 D2 d

FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8

FR-HAL-1.5K 104 84 99 77 61 50 M5 M4 1.1

FR-HAL-2.2K 115

(Note 1) 40 115 77 71 57 M6 M4 1.5

FR-HAL-3.7K 115

(Note 1) 40 115 83 81 67 M6 M4 2.2

Note 1. Maximum dimension. The dimension varies depending on the input/output lines.

2. Selection conditions of wire size are as follows.

600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)

Construction condition: One wire is constructed in the air

11.8 Relays (recommended)

The following relays should be used with the interfaces

Interface Selection example

Digital input interface DI-1 Relay used for digital input command signals

To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY

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

11.9 Noise reduction techniques

Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those

radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an

electronic device which handles small signals, the following general noise reduction techniques are required.

Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If

peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures

must be taken. The measures will vary slightly with the routes of noise transmission.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 33

(1) Noise reduction techniques

(a) General reduction techniques

Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle

them together. Separate power lines from signal cables.

Use a shielded twisted pair cable for connection with the encoder and for control signal

transmission, and connect the external conductor of the cable to the SD terminal.

Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11.)

(b) Reduction techniques for external noises that cause the servo amplifier to malfunction

If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many

relays which make a large amount of noise) near the servo amplifier and the servo amplifier may

malfunction, the following countermeasures are required.

Provide surge absorbers on the noise sources to suppress noises.

Attach data line filters to the signal cables.

Ground the shields of the encoder connecting cable and the control signal cables with cable clamp

fittings.

Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other

equipment against large exogenous noise and lightning surge, attaching a varistor to the power

input section of the equipment is recommended.

(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction

Noises produced by the servo amplifier are classified into those radiated from the cables connected

to the servo amplifier and its main circuits (input and output circuits), those induced

electromagnetically or statically by the signal cables of the peripheral devices located near the main

circuit cables, and those transmitted through the power supply cables.

Noises produced by servo amplifier

Noises transmitted in the air

Noise radiated directly from servo amplifier

Magnetic induction noise

Static induction noise

Noises transmitted through electric channels

Noise radiated from the power supply cable

Noise radiated from servo motor cable

Noise transmitted through power supply cable

Noise sneaking from grounding cable due to leakage current

Routes 4) and 5)

Route 1)

Route 2)

Route 3)

Route 7)

Route 8)

Route 6)

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 34

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 signal and power lines or put 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 signal and power lines or put lines in separate metal conduits.

7)

When the power supply of peripheral devices is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required.

1. Install the radio noise filter (FR-BIF) on the power lines (Input lines) of the servo amplifier.

2. Install the line noise filter (FR-BSF01) on the power lines of the servo amplifier.

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 - 35

(2) Noise reduction techniques

(a) Data line filter (recommended)

Noise can be prevented by installing a data line filter onto the encoder cable, etc.

For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, GRFC-13 by Kitagawa

Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.

As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated

below. These impedances are reference values and not guaranteed values.

Impedance [] [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 or more 300 or more

Soldered

Band (clear) AWG 18 Twisted wire 15 1

48 1.5

CR-50500

6 1

16 1 (18.5 + 5) or less

3.6

(1 8.

5 +

2 )

1

250 0.5 50

(1/2 W)

Between terminals: 625 V AC, 50 Hz/60 Hz 60 s

Between terminal and case: 2000 V AC, 50 Hz/60 Hz 60 s

Note that a diode should be installed to a DC relay or the like.

Maximum voltage: Not less than four times the drive voltage of the relay or

the like.

Maximum current: Not less than twice the drive current of the relay or the

like.

-+

Diode

RA

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 36

(c) Cable clamp fitting AERSBAN-_SET

Generally, connecting the grounding of the shielded wire to the SD terminal of the connector

provides a sufficient effect. However, the effect can be increased when the shielded wire is

connected directly to the grounding plate as shown below.

Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable

sheath to expose the external conductor, and press that part against the grounding plate with the

cable clamp. If the cable is thin, clamp several cables in a bunch.

The clamp comes as a set with the grounding plate.

[Unit: mm]

Strip the cable sheath of the clamped area. cutter

cable

Cable clamp (A, B)

Cable

Grounding plate

External conductor

Clamp section diagram

40

Dimensions

[Unit: mm]

Grounding 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 mounting 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 - 37

(d) Line noise filter (FR-BSF01)

This filter is effective in suppressing noises radiated from the power supply side and output side of

the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It

especially affects the noises between 0.5 MHz and 500 MHz band.

Connection diagram Dimensions [Unit: mm]

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)

4. 5

A pp

ro x.

6 5

Approx. 110 95 0.5

11 .2

5

0. 5

A pp

ro x.

2 2.

5

Approx. 65

2- 5

33

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 38

(e) Radio noise filter (FR-BIF)

This filter is effective in suppressing noises radiated from the power supply side of the servo

amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the

input only.

Connection diagram Dimensions [Unit: mm]

Make the connection cables as short as possible. Grounding is always required. When using the FR-BIF with a single-phase power supply, always insulate the lead wires that are not used for wiring.

Radio noise filter

Servo amplifier

Power supply

MCMCCB

L3

L2

L1

Terminal block

Leakage current: 4 mA

29

58

42

4

Red BlueWhite Green

44 29 7

hole 5

A pp

ro x.

3 00

(f) Varistor for input power supply (recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the servo

amplifier. When using a varistor, connect it between each phase of the input power supply of the

equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON CHEMI-

CON, are recommended. For detailed specification and usage of the varistors, refer to the

manufacturer catalog.

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

AC [Vrms] DC [V] 8/20 s [A] 2 ms [J] [W] [A] [V] [pF] [V]

TND20V-431K 275 350 10000/1 time 195 1.0 100

710 1300 430 (387 to 473)

TND20V-471K 300 385 7000/2 times 215 775 1200 470 (423 to 517)

[Unit: mm]

W E

H

D

L

T

d

Model D

Max. H

Max. T

Max. E

1.0

L Min.

(Note)

d 0.05

W 1.0

TND20V-431K 21.5 24.5

6.4 3.3 20 0.8 10.0

TND20V-471K 6.6 3.5

Note. For special purpose items for lead length (L), contact the manufacturer.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 39

11.10 Earth-leakage current breaker

(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.

Leakage currents containing harmonic contents are larger than those of the motor which is run with a

commercial power supply.

Select an earth-leakage current breaker according to the following formula, and ground the servo

amplifier, servo motor, etc. securely.

To minimize leakage currents, make the input and output wires as short as possible, and keep a

distance of 30 cm or longer between the wires and ground.

Rated sensitivity current 10 {Ig1 + Ign + Iga + K (Ig2 (A-axis) + Igm (A-axis) + Ig2 (B-axis) + Igm

(B-axis) + Ig2 (C-axis) + Igm (C-axis))} [mA](11.1)

NV

Ign

Noise filter Wire

Ig1 Iga

Servo amplifier

A-axis

C-axis

Wire

Ig2 Igm

M

Wire

Ig2 Igm

M

B-axis Wire

Ig2 Igm

M

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

Ig2

Ign

Iga

Igm

: Leakage current on the electric channel from the earth-leakage current breaker to the input

terminals of the servo amplifier (Found from Fig. 11.1.)

: Leakage current on the electric channel from the output terminals of the servo amplifier to the

servo motor (Found from Fig. 11.1.)

: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF)

: Leakage current of the servo amplifier (Found from table 11.3.)

: Leakage current of the servo motor (Found from table 11.2.)

Le ak

ag e

cu rr

en t [

m A

]

Cable size [mm ]2

120

100

80

60

40

20

0 2 5.5 14

3.5 8 38100

22 30

60150 80

Fig. 11.1 Leakage current example (lg1, lg2) for CV cable run in metal conduit

Table 11.2 Servo motors leakage current example (lgm)

Servo motor power [kW] Leakage current [mA]

0.05 to 1 0.1

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 40

Table 11.3 Servo amplifier's leakage current example (Iga)

Servo amplifier Leakage current [mA]

MR-J4W2-22B MR-J4W2-44B

0.1

MR-J4W2-77B MR-J4W2-1010B MR-J4W3-222B MR-J4W3-444B

0.15

Table 11.4 Earth-leakage current breaker selection example

Servo amplifier Rated sensitivity current of earth-

leakage current breaker [mA]

MR-J4W2-22B MR-J4W2-44B MR-J4W2-77B

MR-J4W2-1010B

15

MR-J4W3-222B MR-J4W3-444B

30

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 41

(2) Selection example

Indicated below is an example of selecting an earth-leakage current breaker under the following

conditions.

NV

Ig1 Iga

Servo amplifier MR-J4W3-222B

Cable

Ig2 Igm

M

Cable

Ig2 Igm

M

A-axis servo motor HG-KR23

C-axis servo motor HG-KR23

Cable

Ig2 Igm

M B-axis servo motor HG-KR23

2 mm2 5 m

2 mm2 5 m

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 = 0.15 [mA]

Igm = 0.1 [mA]

Insert these values in equation (11.1).

Ig 10 {0.1 + 0 + 0.15 + 1 (0.1 + 0.1 + 0.1 + 0.1 + 0.1 + 0.1)}

8.5 [mA]

According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity

current (Ig) of 8.5 mA or more.

An earth-leakage current breaker having Ig of 15 mA is used with the NV-SP/SW/CP/CW/HW series.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 42

11.11 EMC filter (recommended)

POINT

For when multiple servo amplifiers are connected to one EMC filter, refer to

section 6.4 of "EMC Installation Guidelines".

It is recommended that one of the following filters be used to comply with EN standard's EMC directive.

Some EMC filters have large in leakage current.

(1) Combination with the servo amplifier

Servo amplifier Recommended filter (Soshin Electric)

Mass [kg] Model Rated current [A]

Rated voltage [VAC]

Leakage current [mA]

MR-J4W2-22B MR-J4W2-44B

MR-J4W3-222B HF3010A-UN (Note) 10

250 5

3.5

MR-J4W2-77B MR-J4W2-1010B MR-J4W3-444B

HF3010A-UN (Note) 30 5.5

Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.

(2) Connection example

MCCB L1

L2

L3

L11

L21

Servo amplifier

1

2

3

4

5

6

E

(Note 2) Surge protector

(Note 1) Power supply

1 2 3

MC

EMC filter

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

2. The example is when a surge protector is connected.

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 43

(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

HF3030A-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

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 44

(b) Surge protector

RSPD-250-U4

41 1

28 .5

1

2 8

1

4.2 0.5 5. 5

1

11

1 +

30 0

20 0

4. 5

0.

51 32

Lead

Case

Resin

[Unit: mm]

1 2 3

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 45

11.12 Junction terminal block MR-TB26A

(1) Usage

Always use the junction terminal block (MR-TB26A) with the option cable (MR-TBNATBL_M) as a set.

To use a junction terminal block, mount it to the DIN rail.

Cable length 05: 0.5 m 1: 1 m

M R B BAT T LN M5- 0

Terminal numbers on a junction terminal block correspond with the pin numbers on the CN3 connector

of a servo amplifier. The terminal symbol S is for the shield.

Junction terminal block MR-TB26A

Junction terminal block cable (MR-TBNATBL_M)

CN3

Servo amplifier

Ground the junction terminal block cable using the S terminal of the junction terminal block.

(2) Specifications

Junction terminal block Item

MR-TB26A

Rating 32 V AC/DC 0.5 A

Stranded wire 0.08 mm2 to 1.5 mm2 (AWG 28 to 14)

Usable cables Solid wire 0.32 mm to 1.2 mm

Wire insulator OD 3.4 mm or less

Tool 210-619 (WAGO) or equivalent

210-119SB (WAGO) or equivalent

Stripped length 5 mm to 6 mm

11. OPTIONS AND PERIPHERAL EQUIPMENT

11 - 46

(3) Dimensions

[Unit: mm]

23 .6

141

141

26 .6

26

A pp

ro x.

7 .5

(N ot

e)

A p

p ro

x. 3

1 .1

(N ot

e) 27

55

57

A pp

ro x.

3 5

(N ot

e)

Note. Values in parenthesis are the sizes when installed with a 35 mm DIN rail.

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 11.3 for the replacement procedure of the battery.

Disconnecting the encoder cable will erase the absolute position data. After

disconnecting the encoder cable, always execute home position setting and then

positioning operation.

12.1 Summary

12.1.1 Features

For normal operation, the encoder consists of a detector designed to detect a position within one revolution

and a cumulative revolution counter designed to detect the number of revolutions.

The absolute position detection system always detects the absolute position of the machine and keeps it

battery-backed, independently of whether the servo system controller power is on or off. Therefore, once

home position return is made at the time of machine installation, home position return is not needed when

power is switched on thereafter.

Even at a power failure or a malfunction, the system can be easily restored.

12.1.2 Structure

The following shows a configuration of the absolute position detection system. Refer to section 11.3 for each

battery connection.

Servo system controller Servo amplifier

CN1A

Servo motor

CN2

Battery CN4

12.1.3 Parameter setting

Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system.

Absolute position detection system selection 0: Disabled (used in incremental system) 1: Enabled (used in absolute position detection system)

[Pr. PA03]

1

12. ABSOLUTE POSITION DETECTION SYSTEM

12 - 2

12.1.4 Confirmation of absolute position detection data

You can check the absolute position data with MR Configurator2. Choose "Monitor" and "ABS Data Display"

to open the absolute position data display screen.

12. ABSOLUTE POSITION DETECTION SYSTEM

12 - 3

12.2 Battery

12.2.1 Using MR-BAT6V1SET battery (only for MR-J4W2-0303B6)

(1) Configuration diagram

CYC0

Current position

Home position data

LS0

Position data

LS Detecting the

number of revolutions

CYC Detecting the

position at one revolution

Servo motor

Cumulative revolution counter (1 pulse/rev)

One-revolution counter

High speed serial communication

Servo amplifierServo system controller

MR-BAT6V1SET-A

Battery

P os

iti on

c on

tr o

l

S p

e e

d c

o n

tr o

l

Step-down circuit

(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]

500

(Note 2) Battery backup time

Approximately 10,000 hours/2 axes (equipment power supply: off, ambient temperature: 20 C) (Note 3)

Approximately 14,500 hours/2 axes (power-on time ratio: 25%, ambient temperature: 20 C) (Note 3)

Note 1. Maximum speed available when the shaft is rotated by external force at the time of power

failure or the like.

2. The data-holding time by the battery using MR-BAT6V1SET-A. Replace the batteries within

three years since the operation start regardless of the power supply of the servo amplifier

on/off.

If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.

3. Even if absolute position detection system is used only with one axis, the battery backup time

will be the same.

12. ABSOLUTE POSITION DETECTION SYSTEM

12 - 4

12.2.2 Using MR-BT6VCASE battery case

POINT

One MR-BT6VCASE holds absolute position data up to eight axes servo motors.

Always install five MR-BAT6V1 batteries to an MR-BT6VCASE.

(1) Configuration diagram

CYC0

Current position

Home position data

LS0

Position data

LS Detecting the

number of revolutions

CYC Detecting the position within one revolution

Servo motor

Cumulative revolution counter (1 pulse/rev)

Within one revolution counter

High speed serial communication

Servo amplifierServo system controller

MR-BT6VCASE

MR-BAT6V1 5

Step-down circuit

P os

iti on

c on

tr ol

S p

e e

d c

o n

tr o

l

( 6 V 3.4 V )

(2) Specification list

Item Description

System Electronic battery backup type

Maximum revolution range Home position 32767 rev.

Maximum speed at power failure [r/min] (Note 1)

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)

Battery backup time (Note 2)

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 3)

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.

13. USING STO FUNCTION

13 - 1

13. USING STO FUNCTION

POINT

In the case of STO function of this servo amplifier, energies to servo motor are

interrupted in all axes at the same time.

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

The MR-J4W2-0303B6 servo amplifier is not compatible with the STO function.

13.1 Introduction

This section provides the cautions of the STO function.

13.1.1 Summary

This servo amplifier complies with the following safety standards.

ISO/EN ISO 13849-1 Category 3 PL e

IEC 61508 SIL 3

IEC/EN 61800-5-2

IEC/EN 62061 SIL CL3

13.1.2 Terms related to safety

The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts

off power supply in the servo amplifier.

The purpose of this function is as follows.

(1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1 (2) Preventing unexpected start-up

13.1.3 Cautions

The following basic safety notes must be read carefully and fully in order to prevent injury to persons or

damage to property.

Only qualified personnel are authorized to install, start-up, repair, or service the machines in which these

components are installed.

They must be familiar with all applicable local regulations and laws in which machines with these

components are installed, particularly the standards mentioned in this manual.

The staff responsible for this work must be given express permission from the company to perform start-up,

programming, configuration, and maintenance of the machine in accordance with the safety standards.

WARNING Improper installation of the safety related components or systems may cause

improper operation in which safety is not assured, and may result in severe

injuries or even death.

Protective Measures

This servo amplifier satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by

preventing the energy supply from the servo amplifier to the servo motor. If an external force acts upon

the drive axis, additional safety measures, such as brakes or counterbalances must be used.

13. 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

the stop control or the deceleration control of the servo motor.

(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety

related component.

(4) In the safety circuit, use components that are confirmed safe or meet the required safety standards.

(5) The STO function does not guarantee that the drive part of the servo motor will not rotate due to external

or other forces.

(6) Safety is not assured until safety-related components of the system are completely installed or adjusted.

(7) When replacing this servo amplifier, confirm that the model name of servo amplifiers are exactly the

same as those being replaced. Once installed, make sure to verify the performance of the functions

before commissioning the system.

(8) Perform all risk assessments to the machine or the whole system.

(9) To prevent accumulation of malfunctions, perform function checks at regular intervals based on the risk

assessments of the machine or the system. Regardless of the system safety level, malfunction checks

should be performed at least once per year.

(10) If the upper and lower power modules in the servo amplifier are shorted and damaged simultaneously,

the servo motor may make a half revolution at a maximum. For a linear servo motor, the primary side

will move a distance of pole pitch.

(11) The STO input signals (STO1 and STO2) must be supplied from one power source. Otherwise, the

STO function may not function properly due to a sneak current, failing to bring the STO shut-off state.

(12) For the STO I/O signals of the STO function, supply power by using a safety extra low voltage (SELV)

power supply with the reinforced insulation.

13. USING STO FUNCTION

13 - 3

13.1.5 Specifications

(1) Specifications

Item Specifications

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

Safety performance (Certification standards) (Note 2)

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2

Mean time to dangerous failure (MTTFd)

MTTFd 100 [years] (314a)

Diagnostic converge (DC) DC = Medium, 97.6 [%]

Average probability of dangerous failures per hour (PFH) [1/h]

6.4 10-9

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, 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 State

STO1 STO2 Between TOFB1 and TOFCOM

(Monitoring STO1 state) Between TOFB2 and TOFCOM

(Monitoring STO2 state)

Between TOFB1 and TOFB2 (Monitoring STO state of servo

amplifier)

Off Off On: STO state (base circuit shut-off) On: STO state (base circuit shut-off) On: STO state (base circuit shut-off)

Off On On: STO state (base circuit shut-off) Off: STO release state Off: STO state (base circuit shut-off)

On Off Off: STO release state On: STO state (base circuit shut-off) Off: STO state (base circuit shut-off)

On On Off: STO release state Off: STO release state Off: STO release state

(3) Test pulse of STO input signal

Set the test pulse off time inputted from outside to 1 ms or less.

13.2.3 How to pull out the STO cable

The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier.

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-J4W_-_B 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.

Approx. 3.0 k

24 V DC

24 V DC

STO1

STO2

Door Open

(Note 2)

(Note 2)

(Note 3)

CN8 (Note 1) STO1

CN8

Forced stop 2

4

STO2 5

STOCOM 3

Approx. 3.0 k

Servo amplifier

EM2

CN3

10

DICOM 23

Approx. 5.6 k

8

6

TOFCOM

7 TOFB2

TOFB1

Note 1. By using TOFB, whether the servo is in the STO state can be confirmed. For connection

examples, refer to section 13.3.2 to 13.3.4. The safety level depends on the setting value

of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by

TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in

section 5.2.6.

2. When using the STO function, turn off STO1 and STO2 at the same time. Turn off STO1

and STO2 after the servo motor stops by the servo off state or with forced stop

deceleration by turning off EM2 (Forced stop 2).

3. Configure the interlock circuit so that the door is open after the servo motor is stopped.

13. 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 3.2.2.

(1) Connection example

STO1

4

5

3

6

7

8

CN3

EM2 (B-axis)

CN8

SDO1A+4A

4B SDO1A-

SDI1A+1A

1B SDI1A-

SDI2A+

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

CN3

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

+24V7A

0V7B

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

CN8A

CN8B

EM2 (A-axis)

EM2 (B-axis)

(Note 2) (Note 2) S4

RESB S2

RESA

13. USING STO FUNCTION

13 - 8

Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.

2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.

(2) Basic operation example

The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2

of the servo amplifier via SDO1A and SDO2A of MR-J3-D05.

The switch status of STOB is input to SDI2B+ of MR-J3-D05, and then it will be input to STO1 and STO2

of the servo amplifier via SDO1B and SDO2B of MR-J3-D05.

A-axis shutdown 1 and 2

B-axis shutdown 1 and 2

STO1, STO2

Stop

Operation

Energizing (close)

Shut-off (open)

EM2 input

STO shut-off Normal (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 - 9

13.3.3 External I/O signal connection example using an external safety relay unit

POINT

This connection is for source interface. For the other I/O signals, refer to the

connection examples in section 3.2.2.

This connection example complies with the requirement of ISO/EN ISO 13849-1 Category 3 PL d.

For details, refer to the safety relay module users manual.

Safety relay module MELSEC

(QS90SR2S)

Fuse

24 V

0 V

S2

S1 or EMG (Note)

K3

Control circuit

Power supply

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

CN3

10

EM1 or

EM2

Control circuit

Servo amplifier

STO1

TOFB1

TOFCOM

TOFB2

STO2

STOCOM

M

Servo motor

KM1

KM1

EMGS4S3

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 - 10

13.3.4 External I/O signal connection example using a motion controller

POINT

This connection is for source interface. For the other I/O signals, refer to the

connection examples in section 3.2.2.

For MC-Y0B and PC-Y0B, design a sequence program to output MC-Y0B and

PC-Y0B after the servo motor stops.

This connection diagram is an example of STO circuit configured with a servo amplifier and motion

controller. Use the switch that complies with the requirement of ISO/EN ISO 13849-1 Category 3 PL d as an

emergency stop switch. This connection example complies with the requirement of ISO/EN ISO 13849-1

Category 3 PL d. The following shows an example of I/O (X and Y) signal assignment of the motion

controller safety signal module. For details, refer to the motion controller users manual.

Shut-off signal (MC)

Shut-off verification signal (M)

Shut-off verification signal (PLC)

Shut-off signal (PLC)

Door signal (PLC)

24 V

0 V

Control circuit

Servo amplifier

STOCOM

STO2

Servo motor

S1: STO shut-off switch (STO switch) KM1: Magnetic contactor EMG: Emergency stop switch

Door signal (MC)

Q17_DSCPU

0 V

24 V DC

0 V

24 V DC

Programmable controller CPU

(iQ platform compatible)

Motion controller safety signal module

(Q173DSXY) CPU

(iQ platform compatible)

S1

CN8

KM1

CN3

EM2KM1

STO1

TOFB1

TOFCOM

TOFB2

EM2

M

B09

B1

B19

B20

B09

B1

B19

B20

A1

A1 PC-X00

PC-X01

PLC I/O

MC-X01

MC-Y0B

MC-X00

MC I/O

PC-Y0B

EMG

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

24 V DC 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

VCES 1.0 V ICEO 100 A

(2) Digital output interface DO-1

This is a circuit in which the collector of the output transistor is the output terminal. When the output

transistor is turned on, the current will flow to the collector terminal.

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush

current suppressing resistor (R) for a lamp load.

(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A

maximum of 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% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high

voltage (maximum of 26.4 V) from external source.

13. USING STO FUNCTION

13 - 12

(b) When outputting two STO states by using one TOFB

(Note) 24 V DC 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

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

TOFCOM

Servo amplifier

TOFB2

LoadTOFB1

Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high

voltage (maximum of 26.4 V) from external source.

13.4.2 Source I/O interface

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

(1) Digital input interface DI-1

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

source (open-collector) type transistor output, relay switch, etc.

24 V DC 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

Approx. 3.0 k

VCES 1.0 V ICEO 100 A

STO1 STO2

Servo amplifier

Switch

Approx. 5 mA

STOCOM

13. USING STO FUNCTION

13 - 13

(2) Digital output interface DO-1

This is a circuit in which the emitter of the output transistor is the output terminal. When the output

transistor is turned on, the current will flow from the output terminal to a load.

A maximum of 5.2 V voltage drop occurs in the servo amplifier.

(a) When outputting two STO states by using each TOFB

Load

(Note) 24 V DC 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

TOFCOM

TOFB2

TOFB1

Servo amplifier

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.

(b) When outputting two STO states by using one TOFB

Servo amplifier

Load

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

(Note) 24 V DC 10% MR-J4W2-_B: 350 mA MR-J4W3-_B: 450 mA

TOFCOM

TOFB2

TOFB1

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. USING A LINEAR SERVO MOTOR

14 - 1

14. USING A LINEAR SERVO MOTOR

WARNING When using the linear servo motor, read the "Linear Servo Motor Instruction

Manual" and the "Linear Encoder Instruction Manual".

The MR-J4W2-0303B6 servo amplifier is not compatible with linear servo motor.

14.1 Functions and configuration

14.1.1 Summary

The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for

high accuracy, high speed, and efficiency. Therefore, the number of systems using a linear servo motor for a

drive axis has been increasing. Since the linear servo system can obtain the characteristics of the high

speed and the high acceleration/deceleration greater than the ball screw drive system. The linear servo

system also does not have a ball screw wear which is a weak point in the ball screw drive system. This will

extend the life of the equipment. In addition, since a response error due to backlash and friction does not

occur, you can establish a high-accuracy system.

The following shows the differences between the linear servo motor and the rotary servo motor.

Category Item Differences

Remark Linear servo motor Rotary servo motor

External I/O signal FLS (Upper stroke limit), RLS (Lower stroke limit)

Required (for magnetic pole detection)

Not required Automatically turns on in the parameter setting.

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 (3) (a) of section 14.3.2.)

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 14.3.3)

Absolute position detection system

Absolute position encoder battery (1 battery case (MR- BT6VCASE) and 5 batteries (MR-BAT6V1))

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

None Supported

JOG operation None Supported

Program operation

Supported Supported

14. USING A LINEAR SERVO MOTOR

14 - 2

14.1.2 Servo system with auxiliary equipment

CAUTION Connecting a linear servo motor for different axis to the CNP3A, CNP3B, or

CNP3C connector may cause a malfunction.

POINT

Equipment other than the servo amplifier and linear servo motor are optional or

recommended products.

When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".

The configuration diagram is an example of MR-J4W3-222B. When using the other servo amplifiers, the

configuration will be the same as rotary servo motors except for connections of linear servo motors and

linear encoders. Refer to section 1.7 depending on servo amplifiers you use.

Power factor improving reactor (FR-HAL)

Line noise filter (FR-BSF01)

Power supply

Magnetic contactor (MC)

Molded-case circuit breaker (MCCB)

Personal computer

Servo system controller or previous servo amplifier CN1B

Safety relay or MR-J3-D05 safety logic unit

Next servo amplifier CN1A or cap

CN3

CN5 (under the cover)

CN1B

CN2A

CN2B (Note 2)

(Note 2)

(Note 2)

CN2C (Note 1)

CN1A

CN8

I/O signal

P+

L1

L2

L3

L21

L11

C

Regenerative option

MR Configurator2

CN4

CNP3B

CNP3A

D (Note 3)

CNP3C (Note 1)

CNP2

CNP1

W U

V

W U

V

W U

V

R S T

Linear encoder

A-axis linear servo motor

Encoder cable

Linear encoder

B-axis linear servo motor

Encoder cable

Linear encoder

C-axis linear servo motor

Encoder cable

SCALE

THM

SCALE

THM

SCALE

THM

(Note 4)

(Note 4)

(Note 4)

Thermistor

Thermistor

Thermistor

14. USING A LINEAR SERVO MOTOR

14 - 3

Note 1. This figure shows the 3-axis servo amplifier.

2. For the branch cable, use the MR-J4THCBL03M (optional).

3. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.

4. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger

[AL. 16].

14.2 Signals and wiring

WARNING

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

Before wiring, turn off the power and wait for 15 minutes or more until the charge

lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a

voltage tester and others. Otherwise, an electric shock may occur. In addition,

when confirming whether the charge lamp is off or not, always confirm it from the

front of the servo amplifier.

Ground the servo amplifier and the linear servo motor securely.

Do not attempt to wire the servo amplifier and the linear servo motor until they

have been installed. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it

may cause an electric shock.

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

terminals.

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

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)

with the power wire of the linear servo motor.

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

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

causing a fire.

14. USING A LINEAR SERVO MOTOR

14 - 4

CAUTION

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

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.

Connecting a linear servo motor for different axis to the CNP3A, CNP3B, or

CNP3C connector may cause a malfunction.

This chapter does not describe the following items. For details of the items, refer to each section of the

detailed description field.

Item Detailed explanations

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 3.7

Interfaces Section 3.8

SSCNET III cable connection Section 3.9

Grounding Section 3.11

Switch setting and display of the servo amplifier

Section 4.3

14. USING A LINEAR SERVO MOTOR

14 - 5

14.3 Operation and functions

14.3.1 Startup

POINT

When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".

(1) Startup procedure

Start up the linear servo system in the following procedure.

Set the linear servo motor series and linear servo motor type. (Refer to (2) in this section.)

(Note) Set the linear encoder direction and the linear servo motor direction. (Refer to (3) in this section.)

(Note) Set the linear encoder resolution. (Refer to (4) in this section.)

Change the setting to disable the magnetic pole detection. (Refer to (3) in section 14.3.2.)

What is the type of the linear encoder?

Installation and wiring

(Note) Perform the magnetic pole detection. (Refer to (3) in section 14.3.2.)

(Note) Positioning operation check (Refer to section 14.3.4.)

Positioning operation check using the controller (Refer to section 14.3.5.)

Home position return operation (Refer to section 14.3.3.)

Positioning operation

Incremental linear encoder Absolute position linear encoder

Note. Use MR Configurator2.

(2) Set the linear servo motor series and linear servo motor type.

To use the linear servo motor, set the linear servo motor series and linear servo motor type with [Pr.

PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. (Refer to section 5.2.1.)

14. USING A LINEAR SERVO MOTOR

14 - 6

(3) Settings of the linear encoder direction and the linear servo motor direction

Set the first digit of [Pr. PC27] (Encoder pulse count polarity selection) so that the positive direction of

the linear servo motor matches with the increasing direction of the linear encoder feedback.

[Pr. PC27]

Encoder pulse count polarity selection 0: Linear servo motor positive direction and linear encoder increasing direction 1: Linear servo motor positive direction and linear encoder decreasing direction

(a) Parameter setting method

1) Confirm the positive direction of the linear servo motor. [Pr. PA14] determines the relation of the

travel direction of the linear servo motor under commands as shown below.

[Pr. PA14] setting 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 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. PC27] to "_ _ _ 0". If the positive direction of the linear servo motor does

not match with the increasing direction of the linear encoder, set [Pr. PC27] to "_ _ _ 1".

(b) Confirmation method

Confirm the positive direction of the linear servo motor and the increasing direction of the linear

encoder in the following procedure.

1) In servo-off status, move the linear servo motor in the positive direction manually.

2) Confirm the motor speed (in the positive and negative directions) at that time with MR

Configurator2.

14. USING A LINEAR SERVO MOTOR

14 - 7

3) When [Pr. PC27] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches

with the increasing direction of the linear encoder, if the linear servo motor operates in the

positive direction, the motor speed will be a positive value. If the positive direction of the linear

servo motor does not match with the increasing direction of the linear encoder, the motor speed

will be a negative value. When [Pr. PC27] is set to "_ _ _ 1" and the positive direction of the linear

servo motor matches with the increasing direction of the linear encoder, if the linear servo motor

operates in the positive direction, the motor speed will be a negative value.

(4) Linear encoder resolution setting

POINT

To enable the parameter value, cycle the power after setting.

If an incorrect value is set for [Pr. PL02] or [Pr. PL03], the linear servo motor

may not operate properly, or [AL. 27] or [AL. 42] may occur at the positioning

operation or the magnetic pole detection.

Set the ratio of the electronic gear to the linear encoder resolution with [Pr. PL02 Linear encoder

resolution - Numerator] and [Pr. PL03 Linear encoder resolution - Denominator].

(a) Parameter setting

Set the values that apply to the following equation.

[Pr. PL02 Linear encoder resolution - Numerator]

[Pr. PL03 Linear encoder resolution - Denominator] = Linear encoder resolution [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

14. USING A LINEAR SERVO MOTOR

14 - 8

14.3.2 Magnetic pole detection

POINT

Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic

pole detection.

Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection.

When [Pr. PL01] is set to the initial value, perform the magnetic pole detection only at the first servo-on after

the power is turned on.

The magnetic pole detection includes the following two methods. Each method has advantages and

disadvantages. Select a magnetic pole detection method suitable for your usage.

The position detection method is selected in the initial setting.

Magnetic pole detection Advantage Disadvantage

Position detection method 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 large.

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 small.

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.

14. USING A LINEAR SERVO MOTOR

14 - 9

(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 FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.

Turn "On (up)" the test operation select switch (SW2-1) of the servo amplifier, and then cycle the power of the servo amplifier.

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.

6) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".

7) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.

8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)

2)

3)

4)

5)

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.

14. USING A LINEAR SERVO MOTOR

14 - 10

(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 FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.

Turn "On (up)" the test operation select switch (SW2-1) of the servo amplifier, and then cycle the power of the servo amplifier.

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.

6) With [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection], set the load to mass of the linear servo motor primary-side ratio. (Note 2)

7) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.

8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)

2)

3)

4)

5)

The magnetic pole detection is carried out.

Is the response by the minute position detection method of

[Pr. PL17] the final value?

Has an abnormal sound or vibration occurred during the

magnetic pole detection?

Decrease the response by the minute position detection method of [Pr. PL17] by two as the final setting value.

Increase the response by the minute position detection method of [Pr. PL17] by one.

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. When the linear encoder is an incremental type, the [Pr. PL01] setting is not required.

2. If the load to primary-side linear servo motor mass ratio is unknown, perform the magnetic pole

detection by the position detection method, and then perform the auto tuning to set an estimated value.

3. For the magnetic pole detection by the minute position detection method, the maximum travel distance

at the magnetic pole detection must be 0.5 mm or less. To shorten the travel distance, increase the

response by the minute position detection method in [Pr. PL17].

14. USING A LINEAR SERVO MOTOR

14 - 11

(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection

When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier

display (3-digit, 7-segment LED) shows the state as below.

The decimal point blinks.

Servo-off status

During the magnetic pole

detection

Magnetic pole detection

completion (servo-on status)

(2) Preparation for the magnetic pole detection

POINT

When the test operation mode is selected with the test operation select switch

(SW2-1), the SSCNET III/H communication for the servo amplifier in the test

operation mode and the following servo amplifiers is blocked.

For the magnetic pole detection, use the test operation mode (positioning operation) of MR

Configurator2. Turn off the servo amplifier power, and set the test operation select switch (SW2-1) as

shown below. Turning on the power enables the test operation mode.

1 2 3 4 5 6

ON

Disabling control axis switch Turn "OFF (down)". Test operation select switch Turn "ON (up)".

Disabling control axis switch Turn "OFF (down)". Test operation select switch Turn "ON (up)".

1

ON

2 3 4 5 6

MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier

1

ON

2 3 4 5 6

14. USING A LINEAR SERVO MOTOR

14 - 12

(3) Operation at the magnetic pole detection

WARNING Note that the magnetic pole detection automatically starts simultaneously with the

turning-on of the servo-on command.

CAUTION If the magnetic pole detection is not executed properly, the linear servo motor

may operate unexpectedly.

POINT

Establish the machine configuration using FLS (Upper stroke limit) and RLS

(Lower stroke limit). Otherwise, the machine may be damaged due to a collision.

At the magnetic pole detection, whether the linear servo motor moves in the

positive or negative direction is unpredictable.

Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage

level], an overload, overcurrent, magnetic pole detection alarm, or others may

occur.

When performing the positioning operation from a controller, use the sequence

which confirms the normal completion of the magnetic pole detection and the

servo-on status, then outputs the positioning command. If the controller outputs

the positioning command before RD (Ready) turns on, the command may not be

accepted or a servo alarm may occur.

After the magnetic pole detection, check the positioning accuracy with the test

operation (positioning operation function) of MR Configurator2.

When the absolute position linear encoder is used, if a gap is generated to the

positional relation between the linear encoder and the linear servo motor,

perform the magnetic pole detection again.

The accuracy of the magnetic pole detection improves with no load.

An alarm may occur when the linear encoder is not mounted properly, or when

the linear encoder resolution setting ([Pr. PL02] and [Pr. PL03]) or the setting

value of [Pr. PL09 Magnetic pole detection voltage level] is incorrect.

For the machine that its friction becomes 30% or more of the continuous thrust,

the linear servo motor may not operate properly after the magnetic pole

detection.

For the horizontal shaft of the machine that its unbalanced thrust becomes 20%

or more of the continuous thrust, the linear servo motor may not operate

properly after the magnetic pole detection.

For the machine that multiple axes are connected like a tandem configuration, if

you try to perform the magnetic pole detection simultaneously for multiple axes,

the magnetic pole detection may not be executed. Perform the magnetic pole

detection for each axis. At this time, set the axes that the magnetic pole

detection is not performed for to servo-off.

14. USING A LINEAR SERVO MOTOR

14 - 13

(a) For the incremental linear encoder

POINT

For the incremental linear encoder, the magnetic pole detection is required

every time the power is turned on.

By turning on the servo-on command from the controller after the power-on, the magnetic pole

detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of

[Pr. PL01]) for executing the magnetic pole detection.

1) Timing chart

15 s or less

ON OFF

ON OFF

ON OFF

95 ms Servo-on command

Base circuit

RD (Ready)

Magnetic pole detection time (Note)

Note. The magnetic pole detection time indicates the operation time when FLS (Upper

stroke limit) and RLS (Lower stroke limit) are on.

2) Linear servo motor movement (when FLS (Upper stroke limit) and RLS (Lower stroke limit) are

on)

RLS (Note 1)

FLS (Note 1)

(Note 2) Magnetic pole detection completion position

Servo-on position (Magnetic pole detection start position)

Note 1. When you turn off FLS (Upper stroke limit) or RLS (Lower stroke limit) during the magnetic pole detection, the operation of the

magnetic pole detection is carried on to the opposite direction. When both FLS and RLS are off, [AL. 27 Initial magnetic pole

detection error] occurs.

2. The following shows the pitch against the magnetic pole.

Linear servo motor series LM-H3

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

14. USING A LINEAR SERVO MOTOR

14 - 14

3) Linear servo motor movement (when FLS (Upper stroke limit) or RLS (Lower stroke limit) is off)

When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.

RLS FLS

(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 (3) (a) 2) Note 2 in this section.

(b) For the absolute position linear encoder

POINT

The magnetic pole detection is required in the following timings.

When the system is set up (at the first startup of equipment)

After a servo amplifier is replaced

After a linear servo motor (primary-side or secondary-side) is replaced

After a linear encoder (scale or head) is replaced or remounted

If a gap is generated to the positional relation between the linear encoder and

the linear servo motor, perform the magnetic pole detection again.

Perform the magnetic pole detection in the following procedure.

1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole

detection at first servo-on).

[Pr. PL01]

Magnetic pole detection at first servo-on (Initial value)

1

2) Execute the magnetic pole detection. (Refer to (3) (a) 1), 2) in this section.)

14. USING A LINEAR SERVO MOTOR

14 - 15

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.

(4) Magnetic pole detection method setting

POINT

In the following cases, set the magnetic pole detection method to the minute

position detection method.

When a shorten travel distance at the magnetic pole detection is required

When the magnetic pole detection by the position detection method is not

completed

Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection

method selection).

[Pr. PL08]

Magnetic pole detection method selection 0: Position detection method 4: Minute position detection method

(5) Setting of the magnetic pole detection voltage level by the position detection method

For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09

Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection

method, the voltage level setting is not required.

(a) Guideline of parameter settings

Set the parameters by referring to the following table.

[Pr. PL09] setting (guide value)

Servo status

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

(b) Setting procedure

1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole

detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL.

E1 Overload warning 1], and [AL. EC Overload warning 2] occur. Increase the setting value by

five as a guide value. When these alarms and warnings occur during the magnetic pole detection

by using MR Configurator2, the test operation of MR Configurator2 automatically completes and

the servo-off status is established.

14. USING A LINEAR SERVO MOTOR

14 - 16

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).

14.3.3 Home position return

POINT

The incremental linear encoder and the absolute position linear encoder have

different reference home positions at the home position return.

(1) Incremental linear encoder

CAUTION If the resolution or the stop interval (the third digit of [Pr. PL01]) of the linear

encoder is large, it is very dangerous since the linear servo motor may crash into

the stroke end.

14. USING A LINEAR SERVO MOTOR

14 - 17

(a) When the linear encoder home position (reference mark) exists in the home position return direction

When an incremental linear encoder is used, the home position is the position per 1048576 pulses

(changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position

(reference mark) passed through first after a home position return start. Change the setting value of

[Pr. PL01] according to the linear encoder resolution.

[Pr. PL01]

Stop interval setting at the home position return

Setting value Stop interval [pulse]

0 8192

1 131072

2 262144

3 1048576 (initial value)

4 4194304

5 16777216

6 67108864

The following shows the relation between the stop interval at the home position return and the linear

encoder resolution. For example, when the linear encoder resolution is 0.001 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

14. USING A LINEAR SERVO MOTOR

14 - 18

In the case of a proximity dog type home position return, the nearest reference home position after

proximity dog off is the home position.

Set one linear encoder home position in the full stroke, and set it in the position that can always be

passed through after a home position return start. LZ (Encoder Z-phase pulse) cannot be used.

When two or more reference marks exist during the full stroke of the linear encoder, select "Enabled

(_ _ 1 _)" of "Linear scale multipoint Z-phase input function selection" in [Pr. PC17].

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].

14. USING A LINEAR SERVO MOTOR

14 - 19

(b) When the linear encoder home position does not exist in the home position return direction

POINT

To execute a home position return securely, start a home position return after

moving the linear servo motor to the opposite stroke end with JOG operation

from the controller and others.

Change the third digit value of [Pr. PL01] according to the linear encoder

resolution.

If the home position return is performed from the position where the linear encoder does not exist in

the home position return direction, a home position return error occurs on the controller. The error

contents differ according to the controller type. Move the linear servo motor to the stroke end on the

opposite side of the home position return direction with the JOG operation from the controller and

others, and then perform a home position return.

Stroke end Home position

Home position return speed

Creep speed

Home position return direction

ON OFF

JOG operation

Home position returnable area Home position non-returnable area

0 mm/s

Linear encoder home position

Linear servo motor

Proximity dog signal

Linear servo motor position

14. USING A LINEAR SERVO MOTOR

14 - 20

(2) Absolute position linear encoder

POINT

The data set type home position return can also be carried out.

When an absolute linear encoder is used, the reference home position is the position per 1048576

pulses (changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position

(absolute position data = 0).

In the case of a proximity dog type home position return, the nearest reference home position after

proximity dog off is the home position. The linear encoder home position can be set in any position. LZ

(Encoder Z-phase pulse) cannot be used.

1048576 pulses n

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

1048576 pulses

0 mm/s

(Note)

Note. Changeable with [Pr. PL01].

14.3.4 Test operation mode in MR Configurator2

CAUTION

The test operation mode is designed for checking servo operation. It is not for

checking machine operation. Do not use this mode with the machine. Always use

the linear servo motor alone.

If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.

POINT

The content described in this section indicates the environment where the servo

amplifier and a personal computer are directly connected.

For the MR-J4 multi-axis servo amplifier, all axes go into the test operation

mode simultaneously, but only A-axis, B-axis, or C-axis can be operated.

When the test operation mode is selected with the test operation select switch

(SW2-1), the SSCNET III/H communication for the servo amplifier in the test

operation mode and the following servo amplifiers is blocked.

By using a personal computer and MR Configurator2, you can execute the positioning operation, the output

signal (DO) forced output, and the program operation without connecting the servo system controller.

14. USING A LINEAR SERVO MOTOR

14 - 21

(1) Test operation mode type

(a) Positioning operation

Positioning operation can be performed without using the servo system controller. Use this operation

with the forced stop reset. This operation can be used independently of whether the servo is on or

off and whether the servo system controller is connected or not.

Exercise control on the positioning operation screen of MR Configurator2.

1) Operation pattern

Item Initial value Setting range

Travel distance [pulse] 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

2) 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".

(b) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. This function is

used for output signal wiring check, etc. Exercise control on the DO forced output screen of MR

Configurator2.

(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using

the servo system controller. Use this operation with the forced stop reset. This operation may be

used independently of whether the servo is on or off and whether the servo system controller is

connected or not.

Exercise control on the program operation screen of MR Configurator2. For details, refer to Help of

MR Configurator2.

Operation Screen control

Start Click "Operation start".

Pause Click "Pause".

Stop Click "Stop".

Forced stop Click "Forced stop".

14. USING A LINEAR SERVO MOTOR

14 - 22

(2) Operation procedure

1) Turn off the power.

2) Turn "ON (up)" SW2-1.

1 2 3 4 5 6

ON

Disabling control axis switch Turn "OFF (down)".

Test operation select switch Turn "ON (up)".

Disabling control axis switch Turn "OFF (down)".

Test operation select switch Turn "ON (up)".

1

ON

2 3 4 5 6

MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier

1

ON

2 3 4 5 6

Turning "ON (up)" SW2-1 during power-on will not enable the test operation mode.

3) Turn on the servo amplifier.

When initialization is over, the display shows the following screen.

Example: MR-J4 2-axis servo amplifier

After 1.6 s After 0.2 s After 1.6 s

After 0.2 s

Blinking Blinking

4) Start operation with the personal computer.

14. USING A LINEAR SERVO MOTOR

14 - 23

14.3.5 Operation from controller

The linear servo can be used with any of the following controllers.

Servo system controller Model

Motion controller R_MTCPU/Q17_DSCPU

Simple motion module RD77MS_/QD77MS_/LD77MS_

(1) Operation method

POINT

For the machine that multiple axes are connected like a tandem configuration, if

you try to perform the magnetic pole detection simultaneously for multiple axes,

the magnetic pole detection may not be executed. Perform the magnetic pole

detection for each axis. At this time, set the axes that the magnetic pole

detection is not performed for to servo-off.

For the system using the incremental linear encoder, the magnetic pole detection is automatically

performed at the first servo-on after the power-on. For this reason, when performing the positioning

operation, create the sequence which surely confirms the servo-on status as the inter lock condition of

the positioning command.

Also, some parameter settings and the home position return type differ according to the controller type.

14. USING A LINEAR SERVO MOTOR

14 - 24

(2) Servo system controller setting

(a) Setting precautions

The following parameters will be enabled by turning the servo amplifier power off and on again after

the controller writes the parameters to the servo amplifier.

Setting item

Setting

Motion controller R_MTCPU/Q17_DSCPU

Simple motion module RD77MS_/QD77MS_/

LD77MS_

Command resolution Linear encoder resolution unit

Parameter

Servo amplifier setting MR-J4-B Linear

Motor setting Automatic setting

No. (Note)

Symbol Name

Initial value

PA01 **STY Operation mode 1000h 1040h

PC01 ERZ Error excessive alarm level 0

Set the items as required.

PC03 *ENRS Encoder output pulse selection 0000h

PC27 **COP9 Function selection C-9 0000h

PL01 **LIT1 Linear servo motor/DD motor function selection 1

0301h

PL02 **LIM Linear encoder resolution - Numerator 1000

PL03 **LID Linear encoder resolution - Denominator

1000

PL04 *LIT2 Linear servo motor/DD motor function selection 2

0003h

PL05 LB1 Position deviation error detection level 0

PL06 LB2 Speed deviation error detection level 0

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

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

Positioning control parameter

Unit setting mm

Number of pulses (AP) Travel distance (AL)

Refer to (2) (b) in this section.

Note. The parameter whose symbol is preceded by * is enabled with the following conditions:

* : After setting the parameter, power off and on the servo amplifier or reset the controller.

**: After setting the parameter, cycle the power of the servo amplifier.

14. USING A LINEAR SERVO MOTOR

14 - 25

(b) Settings of the number of pulses (AP) and travel distance (AL)

AP AL

Position feedback [mm]

Command [mm]

+

-

Speed feedback [mm/s]

AL AP

User Controller Servo amplifier

Linear servo motor

Linear encoder Differ- entiation

Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder in the following

conditions.

When the linear encoder resolution is 0.05 m

Number of pulses (AP) [pulse]

= 1

0.05 =

20 1

14.3.6 Function

(1) Linear servo control error detection function

POINT

For the linear servo control error detection function, the position and speed

deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)

If the linear servo control gets unstable for some reasons, the linear servo motor may not operate

properly. To detect this state and to stop operation, the linear servo control error detection function is

used as a protective function.

The linear servo control error detection function has three different detection methods: the position

deviation, speed deviation, and thrust deviation. An error is detected when each method is enabled with

[Pr. PL04 Linear servo motor/DD motor function selection 2]. The detection level can be changed with

[Pr. PL05], [Pr. PL06], and [Pr. PL07].

Servo amplifier 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 14.1 Outline of linear servo control error detection function

14. USING A LINEAR SERVO MOTOR

14 - 26

(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 14.1, if

the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 mm to

1000 mm), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo motor

will stop. The initial value of this detection level is 50 mm. Replace the set value as required.

(b) Speed deviation error detection

Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.

[Pr. PL04]

Speed deviation error detection enabled

2

When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 14.1, if

the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 mm/s to

5000 mm/s), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor

will stop. The initial value of this detection level is 1000 mm/s. Replace the set value as required.

(c) Thrust deviation error detection level

Set [Pr. PL04] to "_ _ _ 4" to enable the thrust deviation error detection.

[Pr. PL04]

Thrust deviation error detection enabled

4

When you compare the command thrust ( 5)) and the feedback thrust ( 6)) in figure 14.1, if the

deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to

1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo

motor will stop. The initial value of this detection level is 100%. Replace the set value as required.

(d) Detecting multiple deviation errors

When setting [Pr. PL04] as shown below, multiple deviation errors can be detected. For the error

detection methods, refer to (1) (a), (b), (c) in this section.

[Pr. PL04]

Position deviation error detection

Setting value

Speed deviation error detection

Thrust deviation error detection

1

5

6

7

3

2

4

14. USING A LINEAR SERVO MOTOR

14 - 27

(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.

14.3.7 Absolute position detection system

When the linear servo motor is used in the absolute position detection system, an absolute position linear

encoder is required. The linear encoder backs up the absolute position data. Therefore, the encoder battery

case and the battery need not be installed to the servo amplifier. Additionally, [AL. 25 Absolute position

erased], [AL. 92 Battery cable disconnection warning], [AL. 9F Battery warning], and [AL. E3 Absolute

position counter warning] are not provided for the linear servo motor.

14. USING A LINEAR SERVO MOTOR

14 - 28

14.4 Characteristics

14.4.1 Overload protection characteristics

An electronic thermal relay is built in the servo amplifier to protect the linear servo motor, servo amplifier and

linear servo motor power wires from overloads.

[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve

shown in fig. 14.2. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several

seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken

line in the graph.

Use the linear servo motor with 70% or less of the effective load ratio when it is in the servo lock state or in a

small reciprocating motion.

This servo amplifier has solid-state linear servo motor overload protection. (The servo motor overload

current (full load current) is set on the basis of 120% rated current of the servo amplifier.)

1000

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

Fig. 14.2 Electronic thermal relay protection characteristics

14. USING A LINEAR SERVO MOTOR

14 - 29

14.4.2 Power supply capacity and generated loss

Calculate the generated loss and the power supply capacity of the servo amplifier under rated load from (1)

and (2) in this section. The calculated value will vary depending on the number of connected linear servo

motors and the capacities of the linear servo motors. For thermal design of an enclosed type cabinet, use

the values calculated in consideration for the worst operating conditions. The actual amount of generated

heat will be intermediate between values at rated torque and servo-off according to the duty used during

operation. When the linear servo motor is run at less than the rated speed, the power supply capacity will be

smaller than the calculated value, but the servo amplifier's generated heat will not change.

(1) Calculation method of power supply capacity

Calculate the power supply capacity for one servo amplifier from tables 14.1 and 14.2.

Table 14.1 Power supply capacity for

one servo amplifier at rated output

Table 14.2 Servo amplifier power supply

capacity for one linear servo motor

Servo amplifier (Note)

Power supply capacity [kVA]

Linear servo motor

Power supply capacity [kVA] (A)

MR-J4W2-22B

Total power supply capacity of connected linear servo motors ((A) in table 14.2)

LM-H3P2A-07P-BSS0 0.9

MR-J4W2-44B LM-H3P3A-12P-CSS0 0.9

MR-J4W2-77B LM-H3P3B-24P-CSS0 1.3

MR-J4W2-1010B LM-H3P3C-36P-CSS0 1.9

MR-J4W3-222B LM-H3P7A-24P-ASS0 1.3

MR-J4W3-444B LM-U2PAB-05M-0SS0 0.5 Note.

The power supply capacity will vary

according to the power supply impedance.

This value is applicable when the power

factor improving reactor is not used.

LM-U2PAD-10M-0SS0 0.9

LM-U2PAF-15M-0SS0 0.9

LM-U2PBB-07M-1SS0 0.5

LM-U2PBD-15M-1SS0 1.0

LM-U2PBF-22M-1SS0 1.3

LM-K2P1A-01M-2SS1 0.9

LM-K2P2A-02M-1SS1 1.3

Calculate the power supply capacity with equation 10.1 in (1) in section 10.2.

14. USING A LINEAR SERVO MOTOR

14 - 30

(2) Calculation method of the amount of heat generated by the servo amplifier

Calculate the amount of heat generated by one servo amplifier from tables 14.3 and 14.4.

Table 14.3 Amount of heat generated by one servo

amplifier at rated output

Table 14.4 Amount of heat generated by one

servo amplifier for one linear servo motor

Servo amplifier (Note) Servo amplifier-generated heat [W]

Servo motor Servo amplifier-

generated heat [W] (B) With servo-off (C) At rated output

MR-J4W2-22B 20 Sum of the total amount of heat generated by the servo amplifier for each linear servo motor ((B) in table 14.4) and the amount of heat generated by the servo amplifier with servo-off (C)

LM-H3P2A-07P-BSS0 35

MR-J4W2-44B 20 LM-H3P3A-12P-CSS0 35

MR-J4W2-77B 20 LM-H3P3B-24P-CSS0 50

MR-J4W2-1010B 20 LM-H3P3C-36P-CSS0 75

MR-J4W3-222B 20 LM-H3P7A-24P-ASS0 50

MR-J4W3-444B 25

LM-U2PAB-05M-0SS0 25

LM-U2PAD-10M-0SS0 35

LM-U2PAF-15M-0SS0 35 Note.

Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 11.2.

LM-U2PBB-07M-1SS0 25

LM-U2PBD-15M-1SS0 40

LM-U2PBF-22M-1SS0 50

LM-K2P1A-01M-2SS1 35

LM-K2P2A-02M-1SS1 50

Calculate the amount of heat generated by the servo amplifier with equation 10.2 in (2) in section 10.2.

14. USING A LINEAR SERVO MOTOR

14 - 31

CAUTION

The coasting distance is a theoretically calculated value which ignores the

running load such as friction. The calculated value is considered to be longer than

the actual distance. However, if an enough braking distance is not provided, a

moving part may crash into the stroke end, which is very dangerous. Install the

anti-crash mechanism such as an air brake or an electric/mechanical stopper

such as a shock absorber to reduce the shock of moving parts. No linear servo

motor with an electromagnetic brake is available.

14.4.3 Dynamic brake characteristics

POINT

Do not use dynamic brake to stop in a normal operation as it is the function to

stop in emergency.

For a machine operating at the recommended load to motor mass ratio or less,

the estimated number of usage times of the dynamic brake is 1000 times while

the machine decelerates from the rated speed to a stop once in 10 minutes.

Be sure to enable EM1 (Forced stop 1) after the linear servo motor stops when

using EM1 (Forced stop 1) frequently in other than emergency.

The approximate coasting distance from when the dynamic 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 Coefficient A Coefficient B Linear servo motor 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-H3P3D-48P-CSS0 1.02 10-3 2.54 10-4 LM-U2PBB-07M-1SS0 3.13 10-2 1.04 10-4

LM-H3P7A-24P-ASS0 7.69 10-3 2.14 10-4 LM-U2PBD-15M-1SS0 1.56 10-2 5.18 10-5

LM-U2PBF-22M-1SS0 4.58 10-2 1.33 10-5

Linear servo motor Coefficient A Coefficient B

LM-K2P1A-01M-2SS1 5.36 10-3 6.56 10-3

LM-K2P2A-02M-1SS1 2.49 10-2 1.02 10-3

14. USING A LINEAR SERVO MOTOR

14 - 32

14.4.4 Permissible load to motor mass ratio when the dynamic brake is used

Use the dynamic brake under the load to motor mass ratio indicated in the following table. If the load to

motor mass ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the load

inertia moment may exceed the value, contact your local sales office.

The values of the permissible load to motor mass ratio in the table are the values when the linear servo

motor is used at the maximum speed.

Linear servo motor Permissible load to motor mass ratio

[multiplier]

LM-H3 series 40

LM-U2 series 100

LM-K2 series 50

When actual speed does not reach the maximum speed of the servo motor, calculate the permissible load to

motor mass ratio at the time of using the dynamic brake by the following equation. (The upper limit is 300

times.)

Permissible load to motor mass ratio at the time of using the dynamic brake = Value in the table (Servo

motor maximum speed2/Actual using speed2)

For example, when an actual using speed is 2 m/s or less for the LM-H3P2A-07P motor (maximum speed:

3.0 m/s), the equation will be as follows. Permissible load to motor mass ratio at the time of using the

dynamic brake = 40 32/22 = 90 [times]

15. USING A DIRECT DRIVE MOTOR

15 - 1

15. USING A DIRECT DRIVE MOTOR

CAUTION When using the direct drive motor, read the "Direct Drive Motor Instruction

Manual".

POINT

Refer to section 1.3.3 for the software version of the servo amplifier that is

compatible with the direct drive servo system.

The number of connectable direct drive motors is limited for one MR-BT6VCASE

battery case. Refer to section 11.3 for details.

The MR-J4W2-0303B6 servo amplifier is not compatible with direct drive motor.

15.1 Functions and configuration

15.1.1 Summary

The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for

high accuracy and efficiency. Therefore, the number of systems using a direct drive motor for a drive axis

has been increasing. The direct drive servo system includes the following features.

(1) Performance

(a) The direct drive servo system ensures the high-rigidity and the high-torque. A high-resolution

encoder enables the high-accuracy control.

(b) The high-resolution encoder contributes to the high-indexer accuracy.

(c) Since reducer is no longer required, no backlash occurs. In addition, the settling time is reduced, and

the high-frequency operation is enabled.

(d) Since reducer is no longer required, the motor does not deteriorate with time by reducer.

(2) Mechanism

(a) The motor's low profile design contributes to compact moving part of the machine and a low center

of gravity for enhanced equipment stability.

(b) The motor has an inner rotor with hollow shaft which enables cables and pipes to be passed

through.

(c) Lubrication and the maintenance due to abrasion are not required.

15. USING A DIRECT DRIVE MOTOR

15 - 2

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

External I/O signal FLS (Upper stroke limit), RLS (Lower stroke limit)

Required (for magnetic pole detection)

Not required Automatically turns on in the parameter setting.

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 (3) (b) of 15.3.2.)

Absolute position detection system

Absolute position encoder battery 1 battery case (MR- BT6VCASE) and 5 batteries (MR-BAT6V1)

Required Required The number of connectable direct drive motors is limited. Refer to section 11.3 for details.

Absolute position storage unit (MR-BTAS01)

Required Not required

15. USING A DIRECT DRIVE MOTOR

15 - 3

15.1.2 Servo system with auxiliary equipment

CAUTION Connecting a direct drive motor for different axis to the CNP3A, CNP3B, or

CNP3C connector may cause a malfunction.

POINT

Equipment other than the servo amplifier and direct drive motor are optional or

recommended products.

When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".

The configuration diagram is an example of MR-J4W3-222B. When using the other servo amplifiers, the

configuration will be the same as rotary servo motors except for connections of direct drive motors. Refer to

section 1.7 depending on servo amplifiers you use.

Power factor improving reactor (FR-HAL)

Line noise filter (FR-BSF01)

Power supply

Magnetic contactor (MC)

Molded-case circuit breaker (MCCB)

Personal computer

Servo system controller or previous servo amplifier CN1B

Safety relay or MR-J3-D05 safety logic unit

Next servo amplifier CN1A or cap

CN3

CN5 (under the cover)

CN1B

CN2A

(Note 2)

CN2B

CN2C (Note 1)

Battery unit

CN1A

CN8

I/O signal

P+

L1

L2

L3

L21

L11

C

Regenerative option

MR Configurator2

CN4

CNP3B

CNP3A

D (Note 3)

CNP3C (Note 1)

CNP2

CNP1

W U

V

W U

V

W U

V

R S T

C-axis direct drive motor

(Note 4) Absolute position storage unit MR-BTAS01

(Note 4) Absolute position storage unit MR-BTAS01

(Note 4) Absolute position storage unit MR-BTAS01

B-axis direct drive motor

A-axis direct drive motor

15. USING A DIRECT DRIVE MOTOR

15 - 4

Note 1. This figure shows the 3-axis servo amplifier.

2. The battery unit consists of an MR-BT6VCASE battery case and five MR-BAT6V1 batteries. The battery unit is used in the

absolute position detection system. (Refer to chapter 12.)

3. Always connect P+ and D. When using the regenerative option, refer to section 11.2.

4. The absolute position storage unit is used for the absolute position detection system.

15.2 Signals and wiring

WARNING

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

Before wiring, turn off the power and wait for 15 minutes or more until the charge

lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a

voltage tester and others. Otherwise, an electric shock may occur. In addition,

when confirming whether the charge lamp is off or not, always confirm it from the

front of the servo amplifier.

Ground the servo amplifier and the direct drive motor securely.

Do not attempt to wire the servo amplifier and the direct drive motor until they

have been installed. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it

may cause an electric shock.

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

terminals.

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)

with the power wire of the direct drive motor.

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

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

causing a fire.

Do not modify the equipment.

15. USING A DIRECT DRIVE MOTOR

15 - 5

CAUTION

Connect the servo amplifier power output (U/V/W) to the power input of the direct

drive motor (U/V/W) directly. Do not let a magnetic contactor, etc. intervene.

Otherwise, it may cause a malfunction.

Servo amplifier Servo amplifier Direct drive

motor Direct drive

motor

U

MV

W

U

V

W

U

MV

W

U

V

W

Connecting a servo motor for different axis to the CNP3A, CNP3B, or CNP3C

connector may cause a malfunction.

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

cause a malfunction.

This chapter does not describe the following items. For details of the items, refer to each section of the

detailed description field.

Item 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 3.7

Interfaces Section 3.8

SSCNET III cable connection Section 3.9

Grounding Section 3.11

Switch setting and display of the servo amplifier

Section 4.3

Parameters Chapter 5

Troubleshooting Chapter 8

15.3 Operation and functions

POINT

When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".

For the test operation, refer to section 4.4.

The Z-phase pulse of the direct drive motor must be turned on after power-on.

When the machine configuration does not allow one or more revolution of the

direct drive motor, install the direct drive motor so that the Z-phase pulse can be

turned on.

15. USING A DIRECT DRIVE MOTOR

15 - 6

15.3.1 Startup procedure

Start up the direct drive servo system in the following procedure.

Absolute position detection system

Installation and wiring

Turn on the Z-phase pulse of the direct drive motor by using the JOG

operation. (Notes 1 and 2)

Execute the magnetic pole detection. (Refer to section 15.3.2.) (Note 1)

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 15.3.2.)

Turn on the Z-phase pulse of the direct drive motor manually. (Note 3)

Turn the servo amplifier power supply off and on again. (Note 2)

Positioning operation check using the test operation mode (Note 1)

Positioning operation check using the controller (Refer to section 15.3.3.)

Home position return operation (Refer to the controller manual used.)

Positioning operation

No

Yes

Perform this procedure once at startup. Set [Pr. PA01]. (Refer to section 3.14.)

Note 1. Use MR Configurator2.

2. For the absolute position detection system, always turn on the Z-phase pulse of the direct drive motor while the servo amplifier

power is on, and then turn the servo amplifier power supply off and on again. By turning off and on the power supply, the

absolute position becomes confirmed. Without this operation, the absolute position will not be regained properly, and a

warning will occur at the controller.

3. If the Z-phase pulse of the direct drive motor can be turned on manually, the Z-phase pulse does not have to be turned on by

the magnetic pole detection or the JOG operation.

For this operation, always connect the direct drive motor encoder and the servo amplifier, and turn on only the control circuit

power supply of the servo amplifier (L11/L21) (turn off the main circuit power supply L1, L2, and L3). Perform this operation by

considering the safety.

15. USING A DIRECT DRIVE MOTOR

15 - 7

15.3.2 Magnetic pole detection

POINT

The magnetic pole detection is not required for the configured absolute position

detection system where the Z-phase pulse of the direct drive motor can be

turned on manually.

For this operation, always connect the direct drive motor encoder and the servo

amplifier and turn on the control circuit power supply of the servo amplifier.

Perform this operation by considering the safety.

When performing a magnetic pole detection without using FLS (Upper stroke

limit) and RLS (Lower stroke limit), set [Pr. PL08 Linear servo motor/DD motor

function selection 3] to "_ 1 _ _" to disable FLS and RLS.

Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic

pole detection.

For the magnetic pole detection of vertical axis with direct drive motors, refer to

section 2.1 of "Direct Drive Motor Instruction Manual".

Before the positioning operation of the direct drive motor, make sure to perform the magnetic pole detection.

Before starting up the equipment, perform the test operation (positioning operation) of MR Configurator2.

15. USING A DIRECT DRIVE MOTOR

15 - 8

(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 FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and then cycle the servo amplifier power.

Turn "On (up)" the test operation select switch (SW2-1) of the servo amplifier, and then cycle the power of the servo amplifier.

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.

6) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".

7) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.

8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)

2)

3)

4)

5)

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.

15. USING A DIRECT DRIVE MOTOR

15 - 9

(b) Magnetic pole detection by the minute position detection method

Is the moving distance during the magnetic pole

detection acceptable? (Note 3)

Turn the servo amplifier power off and on again.

Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test operation mode on MR Configurator2. Set the moving distance to "0" at this time.

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".

The magnetic pole detection is carried out.

Is the response of the minute position detection method

of [Pr. PL17] the final value?

Has an abnormal sound or vibration occurred during the

magnetic pole detection?

Decrease the response of the minute position detection method of [Pr. PL17] by two as the final setting value.

Increase the response of the minute position detection method of [Pr. PL17] by one.

Not acceptable

YES

Acceptable

NO

YES

NO

Magnetic pole detection

End

Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)

Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and turn the servo amplifier power off and on again.

Turn "On (up)" the test operation select switch (SW2-1) of the servo amplifier, and then cycle the power of the servo amplifier.

Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole detection always enabled". (Note 1)

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)

1)

2)

3)

4)

5)

6)

7)

8)

Note 1. For the incremental system, the [Pr. PL01] setting is not required.

2. If the load to direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the

position detection method, and then perform the auto tuning to set an estimated value.

3. For the magnetic pole detection by the minute position detection method, the maximum rotation angle

at the magnetic pole detection must be five degrees or less. To shorten the travel distance, increase

the response by the minute position detection method in [Pr. PL17].

15. USING A DIRECT DRIVE MOTOR

15 - 10

(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection

When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier

display (3-digit, 7-segment LED) shows the state as below.

The decimal point blinks.

Servo-off status

During the magnetic

pole detection

Magnetic pole detection

completed (Servo-on status)

(2) Preparation for the magnetic pole detection

POINT

When the test operation mode is selected with the test operation select switch

(SW2-1), the SSCNET III/H communication for the servo amplifier in the test

operation mode and the following servo amplifiers is blocked.

For the magnetic pole detection, use the test operation mode (positioning operation) of MR

Configurator2. Turn off the servo amplifier power, and set the test operation select switch (SW2-1) and

the disabling control axis switch (SW2-2, SW2-3, and SW2-4) as shown below. Turning on the power

enables the test operation mode.

1 2 3 4 5 6

ON SW2

Disabling control axis switch Turn "OFF (down)". Test operation select switch Turn "ON (up)".

Disabling control axis switch Turn "OFF (down)". Test operation select switch Turn "ON (up)".

1

ON

2 3 4 5 6

MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier

1

ON

2 3 4 5 6

15. USING A DIRECT DRIVE MOTOR

15 - 11

(3) Operation at the magnetic pole detection

WARNING Note that the magnetic pole detection automatically starts simultaneously with the

turning-on of the servo-on command.

CAUTION If the magnetic pole detection is not executed properly, the direct drive motor may

operate unexpectedly.

POINT

Establish the machine configuration using FLS (Upper stroke limit) and RLS

(Lower stroke limit). Otherwise, the machine may be damaged due to a collision.

At the magnetic pole detection, whether the motor rotates in the forward or

reverse direction is unpredictable.

Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage

level], an overload, overcurrent, magnetic pole detection alarm, or others may

occur.

When performing the positioning operation from a controller, use the sequence

which confirms the normal completion of the magnetic pole detection and the

servo-on status, then outputs the positioning command. If the controller outputs

the positioning command before RD (Ready) turns on, the command may not be

accepted or a servo alarm may occur.

After the magnetic pole detection, check the positioning accuracy with the test

operation (positioning operation function) of MR Configurator2.

The accuracy of the magnetic pole detection improves with no load.

(a) Incremental system

POINT

For the incremental system, the magnetic pole detection is required every time

the power is turned on.

By turning on the servo-on command from the controller after the power-on, the magnetic pole

detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of

[Pr. PL01]) for executing the magnetic pole detection.

1) Timing chart

15 s or less

ON

OFF

ON OFF

ON

OFF

95 ms Servo-on command

Base circuit

RD (Ready)

Magnetic pole detection time (Note)

Note. The magnetic pole detection time indicates the operation time when FLS (Upper

stroke limit) and RLS (Lower stroke limit) are on.

15. USING A DIRECT DRIVE MOTOR

15 - 12

2) Direct drive motor movement (when FLS and RLS are on)

Magnetic pole detection completion position

Servo-on position (Magnetic pole detection start position)

Center of the direct drive motor rotation part

FLS (Note)(Note) RLS

10 degrees or less

Note. When you turn off FLS (Upper stroke limit) or RLS (Lower stroke limit) during the

magnetic pole detection, the magnetic pole detection is carried on to the opposite

direction. When FLS and RLS are off, [AL. 27 Initial magnetic pole detection error]

occurs.

3) Direct drive motor movement (when FLS or RLS is off)

When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.

Magnetic pole detection completion position

Magnetic pole detection start position

After the motor moves to the position where the stroke limit (FLS or RLS) is set, the magnetic pole detection starts.

Servo-on position

Center of the direct drive motor rotation part

FLS RLS

10 degrees or less

(b) Absolute position detection system

POINT

The magnetic pole detection is required in the following timings.

When the system is set up (at the first startup of equipment)

When the Z-phase pulse of the direct drive motor is not turned on at the

system setup (When the Z-phase pulse of the direct drive motor can be turned

on manually, the magnetic pole detection is not required.)

After a direct drive motor is replaced

When [AL. 25 Absolute position erased] has occurred

Turn on the Z-phase pulse of the direct drive motor in JOG operation from the

controller after the magnetic pole detection.

Perform the magnetic pole detection in the following procedure.

1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole

detection at first servo-on).

[Pr. PL01]

Magnetic pole detection at first servo-on (initial value)

1

15. USING A DIRECT DRIVE MOTOR

15 - 13

2) Execute the magnetic pole detection. (Refer to (2) (a) 1), 2) in this section.)

3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole

detection disabled).

[Pr. PL01]

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.

(4) Magnetic pole detection method setting

Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection

method selection).

[Pr. PL08]

Magnetic pole detection method selection 0: Position detection method 4: Minute position detection method

(5) Setting of the magnetic pole detection voltage level by the position detection method

For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09

Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection

method, the voltage level setting is not required.

(a) Guideline of parameter settings

Set the parameters by referring to the following table.

[Pr. PL09] setting (Guide value)

Servo status

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.

15. USING A DIRECT DRIVE MOTOR

15 - 14

2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],

[AL. 51 Overload 2], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as

the final setting value. However, if [AL. 27 Initial magnetic pole detection error] occurs with this

value, specify a value intermediate between the value set at [AL. 50 Overload 1], [AL. 51

Overload 2], [AL. E1 Overload warning 1], or [AL. EC Overload warning 2] and the value set at

the magnetic pole detection alarm as the final setting value.

3) Perform the magnetic pole detection again with the final setting value.

(c) Setting example

Existent

Non-existent Alarm

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).

15. USING A DIRECT DRIVE MOTOR

15 - 15

15.3.3 Operation from controller

To configure the absolute position detection system by using the direct drive motor, the battery unit (one

battery case (MR-BT6VCASE) and five batteries (MR-BAT6V1) ) and the absolute position storage unit (MR-

BTAS01) are required.

(1) Operation method

For the incremental system, the magnetic pole detection is automatically performed at the first servo-on

after the power-on. For this reason, when performing the positioning operation, create the sequence

which surely confirms the servo-on status as the inter lock condition of the positioning command.

Also, some parameter settings and the home position return differ according to the controller type.

(2) Servo system controller setting

The following parameters will be enabled by cycling the servo amplifier power after the controller writes

the parameters to the servo amplifier.

Setting item

Set content

Motion controller R_MTCPU/Q17_DSCPU

Simple motion module RD77MS_/QD77MS_/

LD77MS_

Parameter

Servo amplifier setting MR-J4-B DD

Motor setting Automatic setting

No. (Note)

Symbol Name

Initial value

PA01 **STY Operation mode 1000h 1060h

PC01 *ERZ Error excessive alarm level 0

Set the items as required.

PC03 *ENRS Encoder output pulse selection 0000h

PL01 **LIT1 Linear servo motor/DD motor function selection 1

0301h

PL04 *LIT2 Linear servo motor/DD motor function selection 2

0003h

PL05 LB1 Position deviation error detection level 0

PL06 LB2 Speed deviation error detection level 0

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

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

Note. The parameter whose symbol is preceded by * is enabled with the following conditions:

* : After setting the parameter, power off and on the servo amplifier or reset the controller.

**: After setting the parameter, cycle the power of the servo amplifier.

15. USING A DIRECT DRIVE MOTOR

15 - 16

15.3.4 Function

(1) Servo control error detection function

POINT

For the servo control error detection function, the position and speed deviation

error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)

If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To

detect this state and to stop operation, the servo control error detection function is used as a protective

function.

The servo control error detection function has three different detection methods: the position deviation,

speed deviation, and torque deviation. An error is detected when each method is enabled with [Pr. PL04

Linear servo motor/DD motor function selection 2]. The detection level can be changed with [Pr. PL05],

[Pr. PL06], and [Pr. PL07].

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 15.1 Outline of servo control error detection function

(a) Position deviation error detection

Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.

[Pr. PL04]

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 (0.01 rev)

to 1000 (10 rev)), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo

motor will stop. The initial value of this detection level is 0.09 rev. Replace the set value as required.

15. USING A DIRECT DRIVE MOTOR

15 - 17

(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 r/min to

2000 r/min), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor

will stop. The initial value of this detection level is 100 r/min. Replace the set value as required.

(c) Torque deviation error detection level

Set [Pr. PL04] to "_ _ _ 4" to enable the torque deviation error detection.

[Pr. PL04]

Torque deviation error detection enabled

4

When you compare the command torque ( 5)) and the feedback torque ( 6)) in figure 15.1, if the

deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to

1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo

motor will stop. The initial value of this detection level is 100%. Replace the set value as required.

(d) Detecting multiple deviation errors

When setting [Pr. PL04] as shown below, multiple deviation errors can be detected. For the error

detection methods, refer to (1) (a), (b), (c) in this section.

[Pr. PL04]

Position deviation error detection

Setting value

Speed deviation error detection

Torque deviation error detection

1

5

6

7

3

2

4

15. USING A DIRECT DRIVE MOTOR

15 - 18

15.4 Characteristics

15.4.1 Overload protection characteristics

An electronic thermal relay is built in the servo amplifier to protect the servo amplifier, the direct drive motor,

and direct drive motor power wires from overloads.

[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve

shown in fig. 15.2. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several

seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken

line in the graph.

For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that

the unbalanced torque of the machine be kept at 70% or less of the motor's rated torque.

This servo amplifier has solid-state direct drive motor overload protection for each axis. (The direct drive

motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)

1000

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

0 50 100 150 200 250 300 350

1000

100

10

1

Servo-lock

Operating

0.1

O pe

ra tio

n tim

e [s

]

(Note) Load ratio [%]

TM-RFM002C20/TM-RFM004C20/TM-RFM006C20

TM-RFM006E20/TM-RFM012E20/TM-RFM018E20

TM-RFM012G20

TM-RFM040J10

TM-RG2M002C30

TM-RU2M002C30

TM-RG2M004E30

TM-RU2M004E30

TM-RG2M009G30

TM-RU2M009G30

Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a direct drive

motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction

regardless of the electronic thermal relay protection.

Fig. 15.2 Electronic thermal protection characteristics

15. USING A DIRECT DRIVE MOTOR

15 - 19

15.4.2 Power supply capacity and generated loss

Calculate the generated loss and the power supply capacity of the servo amplifier under rated load from (1)

and (2) in this section. The calculated value will vary depending on the number of connected direct drive

motors and the capacities of the direct drive motors. For thermal design of an enclosed type cabinet, use the

values calculated in consideration for the worst operating conditions. The actual amount of generated heat

will be intermediate between values at rated torque and servo-off according to the duty used during

operation. When the direct drive motor is run at less than the rated speed, the power supply capacity will be

smaller than the calculated value, but the servo amplifier's generated heat will not change.

(1) Calculation method of power supply capacity

Calculate the power supply capacity for one servo amplifier from tables 15.1 and 15.2.

Table 15.1 Power supply capacity for

one servo amplifier at rated output

Table 15.2 Servo amplifier power

supply capacity for one direct drive

motor

Servo amplifier Power supply capacity

[kVA] (Note)

Servo motor Power supply capacity

[kVA] (A) (Note)

MR-J4W2-22B

Total power supply capacity of connected direct drive motors ((A) in table 15.2)

TM-RFM002C20 0.25

MR-J4W2-44B TM-RFM004C20 0.38

MR-J4W2-77B TM-RFM006C20 0.53

MR-J4W2-1010B TM-RFM006E20 0.46

MR-J4W3-222B TM-RFM012E20 0.81

MR-J4W3-444B TM-RFM018E20 1.3 Note.

The power supply capacity will vary

according to the power supply impedance.

This value is applicable when the power

factor improving reactor is not used.

TM-RFM012G20 0.71

TM-RFM040J10 1.2

TM-RG2M002C30 0.25

TM-RU2M002C30 0.25

TM-RG2M004E30 0.5 (0.7)

TM-RU2M004E30 0.5 (0.7)

TM-RG2M009G30 0.9

TM-RU2M009G30 0.9

Note. The value inside ( ) applies when the torque

is increased.

Calculate the power supply capacity with equation 10.1 in (1) in section 10.2.

15. USING A DIRECT DRIVE MOTOR

15 - 20

(2) Calculation method of the amount of heat generated by the servo amplifier

Calculate the amount of heat generated by one servo amplifier from tables 15.3 and 15.4.

Table 15.3 Amount of heat generated by one servo amplifier at

rated output

Table 15.4 Amount of heat generated

by one servo amplifier for one direct

drive motor Servo amplifier

Servo amplifier-generated heat [W] (Note)

With servo-off (C) At rated output Servo amplifier- generated heat [W]

(B) (Note) MR-J4W2-22B 20 Sum of the total amount of

heat generated by the servo amplifier for each direct drive motor ((B) in table 15.4) and the amount of heat generated by the servo amplifier with servo-off (C)

Servo motor

MR-J4W2-44B 20

MR-J4W2-77B 20 TM-RFM002C20 25

MR-J4W2-1010B 20 TM-RFM004C20 35

MR-J4W3-222B 20 TM-RFM006C20 40

MR-J4W3-444B 25 TM-RFM006E20 40 Note.

Heat generated during regeneration is not included in the servo amplifier-

generated heat. To calculate heat generated by the regenerative option,

refer to section 11.2.

TM-RFM012E20 50

TM-RFM018E20 50

TM-RFM012G20 50

TM-RFM040J10 50

TM-RG2M002C30 25

TM-RU2M002C30 25

TM-RG2M004E30 25 (35)

TM-RU2M004E30 25 (35)

TM-RG2M009G30 35

TM-RU2M009G30 35

Note. The value inside ( ) applies when the torque

is increased.

Calculate the amount of heat generated by the servo amplifier with equation 10.2 in (2) in section 10.2.

15. USING A DIRECT DRIVE MOTOR

15 - 21

15.4.3 Dynamic brake characteristics

CAUTION

The coasting distance is a theoretically calculated value which ignores the

running load such as friction. The calculated value will be longer than the actual

distance. If an enough braking distance is not provided, a moving part may crash

into the stroke end, which is very dangerous. Install the anti-crash mechanism

such as an air brake or an electric/mechanical stopper such as a shock absorber

to reduce the shock of moving parts.

POINT

Do not use dynamic brake to stop in a normal operation as it is the function to

stop in emergency.

For a machine operating at the recommended load to motor inertia ratio or less,

the estimated number of usage times of the dynamic brake is 1000 times while

the machine decelerates from the rated speed to a stop once in 10 minutes.

Be sure to enable EM1 (Forced stop 1) after the direct drive motor stops when

using EM1 (Forced stop 1) frequently in other than emergency.

(1) Dynamic brake operation

(a) Calculation of coasting distance

Fig. 15.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is

operated. Use equation 15.1 to calculate an approximate coasting distance to a stop. The dynamic

brake time constant 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. 15.3 Dynamic brake operation diagram

Lmax = 60 V0

JM

te 1 + JL (15.1)

Lmax: Maximum coasting distance ................................................................................................... [mm]

V0: Machine's fast feed speed ................................................................................................. [mm/min]

JM: Moment of inertia of direct drive motor ....................................................................... [ 10-4 kgm2]

JL: Load moment of inertia converted into equivalent value on direct drive motor rotor .. [ 10-4 kgm2]

: Dynamic brake time constant .......................................................................................................... [s]

te: Delay time of control section .......................................................................................................... [s]

There is internal relay delay time of about 10 ms

15. USING A DIRECT DRIVE MOTOR

15 - 22

(b) Dynamic brake time constant

The following shows necessary dynamic brake time constant for the equation (15.1).

T im

e c

o n

st a

n t

[m s]

Speed [r/min]

0 0 100 200

5

15

20

25

30

300 400 500

006

004

10

002

0 0 100 200

70

300 400 500

012

006

018

10

20

30

40

50

60

Speed [r/min]

T im

e c

o n

st a

n t

[m s]

TM-RFM_C20 TM-RFM_E20

Speed [r/min]

T im

e c

o n

st a

n t

[m s]

0 0

10

30

40

50

60

20

012

100 200 300 400 500

Speed [r/min]

0 0

60

040

50 100 150 200

70 80

50

40 30 20 10T

im e

c o

n st

a n

t [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]

T im

e c

o n

st a

n t

[m s]

0 0

5

15

20

25

30

10

100 200 300 400 500 600

Speed [r/min]

T im

e c

o n

st a

n t

[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]

T im

e c

o n

st a

n t

[m s]

TM-RG2M009G30

TM-RU2M009G30

15. USING A DIRECT DRIVE MOTOR

15 - 23

(2) Permissible load to motor inertia ratio when the dynamic brake is used

Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load

inertia moment is higher than this value, the dynamic brake may burn. If there is a possibility that the

load inertia moment may exceed the value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum

rotation speed of the direct drive motor.

The value in the parenthesis shows the value at the rated speed of the direct drive motor.

Direct drive motor 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

15. USING A DIRECT DRIVE MOTOR

15 - 24

MEMO

16. FULLY CLOSED LOOP SYSTEM

16 - 1

16. FULLY CLOSED LOOP SYSTEM

POINT

The fully closed loop system is available for the MR-J4-W2-_B servo amplifiers

of which software version is A3 or later. It will not be available with MR-J4W3-_B.

When fully closed loop control system is used with this servo amplifier, "Linear

Encoder Instruction Manual" is needed.

Fully closed loop control system is available with position control mode.

When fully closed loop control system is configured with MR-J4W2-_B servo

amplifier, the following restrictions apply.

A/B/Z-phase differential output type encoder cannot be used.

The load-side encoder and servo motor encoder is compatible with only the

two-wire type. The four-wire type load-side encoder and servo motor encoder

cannot be used.

When you use the KG-KR and HG-MR series for driving and load-side

encoder, the optional four-wire type encoder cables (MR-EKCBL30M-L, 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-J4W2-0303B6 servo amplifier is not compatible with the fully closed

loop system.

16.1 Functions and configuration

16.1.1 Function block diagram

A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the

load-side encoder unit.

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

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

Note 1. Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of [Pr.

PE01].

When semi closed loop control is selected, a control is always performed on the bases of the position data of the servo

motor encoder independently of whether the servo motor is at a stop or running.

2. When the fully closed loop system is enabled in [Pr. PE01], dual feedback control in which the servo motor feedback signal

and load-side encoder feedback signal are combined by the dual feedback filter in [Pr. PE08] is performed.

In this case, fully closed loop control is performed when the servo motor is at a stop, and semi closed loop control is

performed when the servo motor is operating to improve control performance. When "4500" is set as the filter value of [Pr.

PE08 Dual feedback filter], fully closed loop control is always performed.

16. FULLY CLOSED LOOP SYSTEM

16 - 2

The following table shows the functions of each control mode.

Control Description

Semi closed loop control

Feature Position is controlled 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.

16. FULLY CLOSED LOOP SYSTEM

16 - 3

16.1.2 Selecting procedure of control mode

(1) Control mode configuration

In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.

In addition, on the fully closed loop system, the semi closed loop control, fully closed loop control and

dual feedback control can be selected by the [Pr. PE08] settings.

"4500"

"0"

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 16.3.1 (2) (a))

Semi closed/fully closed switching command (Refer to the controller user's manual.)

OFF

ON

(Refer to section 16.3.1 (2) (b)) Dual feedback

control

Semi closed loop control

"1 to 4499"

Fully closed loop system

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 Fully closed loop control

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

Frequency [rad/s]

Operation status Control status

Note. Set "" (a dual feedback filter band) with [Pr. PE08].

16. FULLY CLOSED LOOP SYSTEM

16 - 4

16.1.3 System configuration

(1) For a linear encoder

CN2B

CN2A

Servo amplifier

SSCNET III/H controller

SSCNET III/H

Position command Control signal

Table

To the next servo amplifier

(Note) Two-wire type serial interface compatible linear encoder

Load-side encoder signal

Servo motor encoder signal

Linear encoder head

Servo motor

Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.

In that case, a battery is not required.

(2) For a rotary encoder

CN2B

CN2A

Servo motor

Two-wire type rotary encoder HG-KR or HG-MR servo motor (4194304 pulses/rev)

Drive part

Servo amplifier

SSCNET III/H controller

SSCNET III/H

Position command Control signal To the next servo

amplifier

16. FULLY CLOSED LOOP SYSTEM

16 - 5

16.2 Load-side encoder

POINT

Always use the load-side encoder cable introduced in this section. Using other

products may cause a malfunction.

For details of the load-side encoder specifications, performance and assurance,

contact each encoder manufacturer.

16.2.1 Linear encoder

Refer to "Linear Encoder Instruction Manual" for usable linear encoders.

16.2.2 Rotary encoder

When a rotary encoder is used for the load-side encoder, use HG-KR or HG-MR servo motor as an encoder.

Use a two-wire type encoder cable. Do not use MR-EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40M-H, or

MR-EKCBL50M-H as they are four-wire type.

16.2.3 Configuration diagram of encoder cable

Configuration diagram for servo amplifier and load-side encoder is shown below. Cables used vary,

depending on the load-side encoder.

(1) Linear encoder

Refer to Linear Encoder Instruction Manual for encoder cables for linear encoder.

Servo amplifier

Linear encoder

MR-J4FCCBL03M branch cable (Refer to section 16.2.4)

Encoder of rotary servo motor

Encoder cable (Refer to "Linear Encoder Instruction Manual".)

CN2 MOTOR

SCALE

Load-side encoder

CN2A CN2B

(2) Rotary encoder

Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders.

Servo amplifier

MR-J4FCCBL03M branch cable (Refer to section 16.2.4)

Encoder of rotary servo motor

Encoder cable (Refer to "Servo Motor Instruction Manual (Vol. 3)".)

CN2 MOTOR

SCALE

(Note)

(Note)

Load-side encoder

Servo motor HG-KR HG-MR

CN2A CN2B

Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.

16. FULLY CLOSED LOOP SYSTEM

16 - 6

16.2.4 MR-J4FCCBL03M branch cable

Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2A or

CN2B connector.

When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction

Manual".

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

CN2A/CN2B 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)

16. FULLY CLOSED LOOP SYSTEM

16 - 7

16.3 Operation and functions

16.3.1 Startup

(1) Startup procedure

Start up the fully closed loop system in the following procedure.

Positioning operation check using the controller (Refer to section 16.3.3.)

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.)

Adjustment of dual feedback switching filter. (for dual feedback control) (Refer to (6) in this section.)

Confirmation of load-side encoder position data (Refer to (5) in this section.)

Home position return operation (Refer to section 16.3.2.)

Positioning operation

Completion of fully closed loop system startup

Setting of load-side encoder electronic gear (Refer to (4) in this section.)

Setting of load-side encoder polarity (Refer to (3) in this section.)

Check that the servo equipment is normal. Do as necessary.

16. FULLY CLOSED LOOP SYSTEM

16 - 8

(2) Selection of fully closed loop system

By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be

selected as shown in the following table.

[Pr. PA01] [Pr. PE01] Semi closed loop control/ fully closed loop control

switching signal Command unit Control System

Absolute 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.

(a) 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]

16. FULLY CLOSED LOOP SYSTEM

16 - 9

(3) Setting of load-side encoder polarity

CAUTION Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr.

PC27]. An abnormal operation and a machine collision may occur if an incorrect

direction is set, which cause a fault and parts damaged.

POINT

"Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14

Rotation direction selection]. Make sure to set the parameter according to the

relationships between servo motor and linear encoder/rotary encoder.

Do not set an incorrect direction to "Encoder pulse count polarity selection" in

[Pr. PC27]. Doing so may cause [AL. 42 Fully closed loop control error] during

the positioning operation.

(a) Parameter setting method

Set the load-side encoder polarity to be connected to CN2A or CN2B connector in order to match

the CCW direction of servo motor and the increasing direction of load-side encoder feedback.

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

0 00 [Pr. PC27]

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 (5) in this section.

16. FULLY CLOSED LOOP SYSTEM

16 - 10

(4) Setting of feedback pulse electronic gear

POINT

If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr.

PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal

operation may occur. Also, it may cause [AL. 42.1 Fully closed loop control error

by position deviation] during the positioning operation.

Set the numerator ([Pr. PE04] and [Pr. PE34]) and denominator ([Pr. PE05] and [Pr. PE35]) of the

electronic gear to the servo motor-side encoder pulse. Set the electronic gear so that the number of

servo motor encoder pulses per servo motor revolution is converted to the number of load-side encoder

pulses. The relational expression is shown below.

[Pr. PE04] [Pr. PE34]

[Pr. PE05] [Pr. PE35]

Number of motor encoder pulses per servo motor revolution

Number of load side encoder pulses per servo motor revolution =

Select the load-side encoder so that the number of load-side encoder pulses per servo motor revolution

is within the following range.

4096 (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 =

16. FULLY CLOSED LOOP SYSTEM

16 - 11

(b) Setting example when using the rotary encoder for the load-side encoder of roll feeder

Conditions

Servo motor resolution: 4194304 pulses/rev

Pulley diameter on the servo motor side: 30 mm

Pulley diameter on the rotary encoder side: 20 mm

Rotary encoder resolution: 4194304 pulse/rev

Servo motor

Rotary encoder (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

16. FULLY CLOSED LOOP SYSTEM

16 - 12

(5) Confirmation of load-side encoder position data

Check the load-side encoder mounting and parameter settings for any problems.

POINT

Depending on the check items, MR Configurator2 may be used.

Refer to section 16.3.6 for the data displayed on the MR Configurator2.

When checking the following items, the fully closed loop control mode must be set. For the setting of

control mode, refer to (2) in this section.

No. 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)

16. FULLY CLOSED LOOP SYSTEM

16 - 13

(6) Setting of fully closed loop dual feedback filter

With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual

feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While

observing the servo operation waveform with the graph function, etc. of MR Configurator2, adjust the

dual feedback filter.

The dual feedback filter operates as described below depending on the setting.

[Pr. PE08] setting Control mode Vibration Settling time

0 Semi closed loop

1 to

4499 Dual feedback

Not frequently occurs to

Frequently occurs

Long time to

Short time

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

16. FULLY CLOSED LOOP SYSTEM

16 - 14

16.3.2 Home position return

(1) General instruction

Home position return is all performed according to the load-side encoder feedback data, independently

of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. In the

case of a home position return using a dog signal, the home position (reference mark) must be passed

through when an incremental type linear encoder is used, or the Z-phase be passed through when a

rotary encoder is used, during a period from a home position return start until the dog signal turns off.

(2) Load-side encoder types and home position return methods

(a) About proximity dog type home position return using absolute type linear encoder

When an absolute type linear encoder is used, the home position reference position is the position

per servo motor revolution to the linear encoder home position (absolute position data = 0).

In the case of a proximity dog type home position return, the nearest position after proximity dog off

is the home position.

The linear encoder home position may be set in any position.

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

16. FULLY CLOSED LOOP SYSTEM

16 - 15

(b) About proximity dog type home position return using incremental linear encoder

1) When the linear encoder home position (reference mark) exists in the home position return

direction

When an incremental linear encoder is used, the home position is the position per servo motor

revolution to the linear encoder home position (reference mark) passed through first after a home

position return start.

In the case of a proximity dog type home position return, the nearest position after proximity dog

off is the home position.

Set one linear encoder home position in the full stroke, and set it in the position that can always

be passed through after a home position return start.

Servo motor speed

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

2) When the linear encoder home position does not exist in the home position return direction

POINT

To execute a home position return securely, start a home position return after

moving the axis to the opposite stroke end by jog operation, etc. of the

controller.

A home position return cannot be made if the incremental linear encoder does

not have a linear encoder home position (reference mark). Always provide a

linear encoder home position (reference mark). (one place in the fully stroke)

16. FULLY CLOSED LOOP SYSTEM

16 - 16

If the home position return is performed from the position where the linear encoder home position

(reference mark) does not exist, a home position return error occurs on the controller side. The

error contents differ according to the controller type. When starting a home position return at the

position where the linear encoder home position (reference mark) does not exist in the home

position return direction, move the axis up to the stroke end on the side opposite to the home

position return direction by JOG operation, etc. of the controller once, then make a home position

return.

Stroke end Home position

Home position return speed

Creep speed

Home position return direction

ON OFF

Proximity dog signal

Machine position

Linear encoder home position

JOG operation

Home position returnable area Home position non-returnable area

Servo motor speed

0 r/min

(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

(b) About data setting type (Common to all load-side encoders)

In the data setting type home position return method, pass through a home position (reference mark)

and the Z-phase signal of the rotary encoder, and then make a home position return.

When the machine has no distance of one servo motor encoder revolution until the Z-phase of the

rotary encoder is passed through, a home position return can be made by changing the home

position setting condition selection in [Pr. PC17] if the home position is not yet passed through.

16. FULLY CLOSED LOOP SYSTEM

16 - 17

16.3.3 Operation from controller

The fully closed loop control compatible servo amplifier can be used with any of the following controllers.

Category Model Remark

Motion controller R_MTCPU/Q17_DSCPU Speed control (II) instructions (VVF and VVR) cannot be used. Simple motion module

RD77MS_/QD77MS_/ LD77MS_

An absolute type linear encoder is necessary to configure an absolute position detection system under fully

closed loop control using a linear encoder. In this case, the encoder battery need not be installed to the

servo amplifier. When an rotary encoder is used, an absolute position detection system can be configured by

installing the encoder battery to the servo amplifier. In this case, the battery life will be shorter because the

power consumption is increased as the power is supplied to the two encoders of motor side and load side.

(1) Operation from controller

Positioning operation from the controller is basically performed like the semi closed loop control.

(2) Servo system controller setting

When using fully closed loop system, make the following setting.

[Pr. PA01], [Pr. PC17], [Pr. PE01], [Pr. PE03] to [Pr. PE05], [Pr. PE34] and [Pr. PE35] are written to the

servo amplifier and then are enabled using any of the methods indicated by in Parameter enabled

conditions. [Pr. PE06] to [Pr. PE08] are enabled at setting regardless of the valid conditions.

Setting item

Parameter enabled conditions

Settings

Controller reset

Power supply

Offon

Motion controller

R_MTCPU/ Q17_DSCPU

Simple motion module

RD77MS_/ QD77MS_/ LD77MS_

Command resolution

Load-side encoder resolution unit

Servo parameter

MR-J4-B fully closed loop servo amplifier setting MR-J4-B fully closed loop control

Motor setting Automatic setting

Home position setting condition selection ([Pr. PC17]) Set the items as required.

Fully closed loop selection ([Pr. PA01] and [Pr. PE01])

Fully closed loop selection 2 ([Pr. PE03])

Fully closed loop control error detection speed deviation error detection level ([Pr. PE06])

Enabled at setting regardless of the

enabled conditions

Fully closed loop control error detection position deviation error detection level ([Pr. PE07])

Fully closed loop electronic gear numerator ([Pr. PE04] and [Pr. PE34])

Fully closed loop electronic gear denominator ([Pr. PE05] and [Pr. PE35])

Fully closed loop dual feedback filter ([Pr. PE08]) Enabled at setting regardless of the

enabled conditions

Positioning control parameter

Unit setting mm/inch/degree/pulse

Number of pulses per revolution (AP) Travel distance per revolution (AL)

For the setting methods, refer to (2) (a), (b) in this section.

16. FULLY CLOSED LOOP SYSTEM

16 - 18

(a) When using a linear encoder (unit setting: mm)

Differentiation

AP AL Servo motor Linear encoder

Position feedback [mm]

Command [mm]

+

-

Speed feedback [r/min]

AL AP

Electronic gear

User Control Servo amplifier

Load-side encoder resolution unit

Load-side encoder resolution unit

Servo motor speed

Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder per ball screw

revolution in the following conditions.

Ball screw lead: 20 mm

Linear encoder resolution: 0.05 m

Number of linear encoder pulses (AP) per ball screw revolution

= Ball screw lead/linear encoder resolution = 20 mm/0.05 m = 400000 pulses

Number of pulses per revolution [pulse] (AP)

Travel distance per revolution [m] (AL) =

400000 pulses

20 mm =

400000

20000

(b) When using a rotary encoder (unit setting: degree)

Servo motor

Rotary encoder (HG-KR or HG-MR servo motor) 4194304 pulses/rev

AP AL

Position feedback [degree]

Command [degree]

+

-

Speed feedback [r/min]

AL AP

Electronic gear

User Control Servo amplifier

Load-side encoder resolution unit

Load-side encoder resolution unit

Servo motor speed

Differentiation

Calculate the number of pulses (AP) and travel distance (AL) of the rotary encoder per servo motor

revolution in the following conditions.

Resolution of rotary encoder = Load-side resolution: 4194304 pulses/rev

Number of pulses per revolution [pulse] (AP)

Travel distance per revolution [degree] (AL) =

4194304 pulses

360 degrees =

524288

45

16. FULLY CLOSED LOOP SYSTEM

16 - 19

16.3.4 Fully closed loop control error detection functions

If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase

abnormally. The fully closed loop control error detection function is a protective function designed to pre-

detect it and stop operation.

The fully closed loop control error detection function has two different detection methods, speed deviation

and position deviation, and errors are detected only when the corresponding functions are enabled by setting

[Pr. PE03 Fully closed loop function selection 2].

The detection level setting can be changed using [Pr. PE06] and [Pr. PE07].

(1) Parameter

Select the fully closed loop control error detection function.

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)

[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 initial value of [Pr. PE06] is 400 r/min. Change the

set value as required.

16. FULLY CLOSED LOOP SYSTEM

16 - 20

(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 initial value of [Pr. PE07] is 100 kpulses. Change the set value

as required.

(c) Detecting multiple deviation errors

When setting [Pr. PE03] as shown below, multiple deviation errors can be detected. For the error

detection method, refer to (2) (a), (b) in this section.

[Pr. PE03]

Setting value

Speed deviation error detection

Position deviation error detection

1

2

3

16.3.5 Auto tuning function

Refer to section 6.3 for the auto tuning function.

16.3.6 Machine analyzer function

Refer to Help of MR Configurator2 for the machine analyzer function of MR Configurator2.

16.3.7 Test operation mode

Test operation mode is enabled by MR Configurator2.

For details on the test operation mode, refer to section 4.5.

Function Item 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 4.5.1 (1) (c). Program operation

Output signal (DO) forced output Refer to section 4.5.1 (1) (b).

Motor-less operation

16. FULLY CLOSED LOOP SYSTEM

16 - 21

16.3.8 Absolute position detection system under fully closed loop system

An absolute type linear encoder is necessary to configure an absolute position detection system under fully

closed loop control using a linear encoder. In this case, the encoder battery need not be installed to the

servo amplifier. When an rotary encoder is used, an absolute position detection system can be configured by

installing the encoder battery to the servo amplifier. In this case, the battery life will be shorter because the

power consumption is increased as the power is supplied to the two encoders of motor side and load side.

For the absolute position detection system with linear encoder, the restrictions mentioned in this section

apply. Enable the absolute position detection system with [Pr. PA03 Absolute position detection system] and

use this servo within the following restrictions.

(1) Using conditions

(a) Use an absolute type linear encoder with the load-side encoder.

(b) Select Always fully closed loop ([Pr. PA01] = _ _ 1 _ and [Pr. PE01] = _ _ _ 0).

(2) Absolute position detection range using encoder

Encoder type Absolute position detection enabled range

Linear encoder (Serial Interface)

Movable distance range of linear encoder (within 32-bit absolute position data)

(3) Alarm detection

The absolute position-related alarm ([AL. 25]) and warnings (AL. 92] and [AL. 9F]) are not detected.

16. FULLY CLOSED LOOP SYSTEM

16 - 22

16.3.9 About MR Configurator2

Using MR Configurator2 can confirm if the parameter setting is normal or if the servo motor and the load-

side encoder operate properly.

This section explains the fully closed diagnosis screen.

Click "Monitor start" to constantly read the monitor display items from the 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)

m)

l)

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) Cumu. Com. 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 cumu. 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

16. FULLY CLOSED LOOP SYSTEM

16 - 23

Symbol Name Explanation Unit

f) Motor side cumu. feedback pulses (before gear)

Feedback pulses from the servo motor encoder are counted and displayed. (Servo motor encoder unit) When the set value exceeds 999999999, it starts with 0. Click "Clear" to reset the value to 0. The "-" symbol is indicated for reverse.

pulse

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 bit and the inside state during selection are displayed.

k) Parameter (Feedback pulse electronic gear)

Display/set the feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]) for servo motor encoder pulses in this parameter. (Refer to section 16.3.1 (4).)

l) Parameter (Dual feedback filter)

Display/set the band of [Pr. PE08 Fully closed loop dual feedback filter] in this parameter.

m) Parameter (fully closed loop selection)

Display/set the parameter for the fully closed loop control. Click "Parameter setting" button to display the "Fully closed loop control - Basic" window.

1) 2)

3)

1) Fully closed loop selection ([Pr. PE01]) Select "Always valid" or "Switching with the control command of controller" here.

2) Feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], [Pr. PE35])

Set the feedback pulse electronic gear. 3) Selection of encoder pulse count polarity ([Pr. PC27])

Select a polarity of the load-side encoder information.

16. FULLY CLOSED LOOP SYSTEM

16 - 24

MEMO

17. APPLICATION OF FUNCTIONS

17 - 1

17. APPLICATION OF FUNCTIONS

17.1 J3 compatibility mode

POINT

The J3 compatibility mode is compatible only with HG series servo motors.

The fully closed loop control in the J3 compatibility mode is available for the

servo amplifiers with software version A3 or later.

Specifications of the J3 compatibility mode of the servo amplifier with software

version A4 or earlier differ from those with software version A5 or later. Refer to

section 17.1.8.

The J3 compatibility mode is not compatible with the master-slave operation

function.

17.1.1 Outline of J3 compatibility mode

MR-J4W_-_B servo amplifiers and MR-J4-_B servo amplifiers have two operation mode: "J4 mode" is for

using all functions with full performance and "J3 compatibility mode" for using the conventional MR-J3-B

servo amplifiers.

When you connect an amplifier with SSCNET III/H communication for the first controller communication by

factory setting, the operation mode will be fixed to "J4 mode". For SSCNET communication, it will be fixed to

"J3 compatibility mode". When you set the mode back to the factory setting or change the mode, use the

application "MR-J4(W)-B mode selection".

The application "MR-J4(W)-B mode selection" is packed with MR Configurator2 of software version 1.12N or

later.

For the operating conditions of the application "MR-J4(W)-B mode selection", use MR Configurator2. (Refer

to section 11.4.)

17.1.2 Operation modes supported by J3 compatibility mode

The J3 compatibility mode supports the following operation modes.

Operation mode in J3 compatibility mode Model of MR-J3-_B Model of MR-J3-_BS Model of MR-J3W-_B

MR-J3-B standard control mode (rotary servo motor) MR-J3-_B MR-J3-_BS MR-J3W-_B

MR-J3-B fully closed loop control mode MR-J3-_B-RJ006 MR-J3-_BS

MR-J3-B linear servo motor control mode MR-J3-_B-RJ004 MR-J3W-_B

MR-J3-B DD motor control mode MR-J3-_B-RJ080W MR-J3W-_B

Each operation mode has the same ordering as conventional MR-J3-B series servo amplifiers and is

compatible with their settings.

In addition, the control response characteristic in the J3 compatibility mode will be the same as that of MR-J3

series.

17. APPLICATION OF FUNCTIONS

17 - 2

17.1.3 J3 compatibility mode supported function list

The following shows functions which are compatible with J4 mode and J3 compatibility mode. The letters

such as "A0" described after and mean servo amplifier software versions which compatible with each

function. Each function is used with servo amplifiers with these software versions or later.

Compatibility

( : J4 new, : Equivalent to J3, : Not available)

Function Name MR-J4 series MR-J3/MR-J3W series

(Note 8) J4 mode J3 compatibility

mode

Basic specification Speed frequency response 2.5 kHz 2.1 kHz 2.1 kHz

Encoder resolution 22 bits (Note 1) 18 bits (Note 1) 18 bits

SSCNET III/H communication or

SSCNET III communication

Communication baud rate 150 Mbps 50 Mbps 50 Mbps

Maximum distance between stations 100 m 50 m 50 m

Basic function

Absolute position detection system A0 A0

Fully closed loop control (Note 9) A3

(Two-wire type only) (Note 13)

A3 (Two-wire type only)

(Note 13)

MR-J3-_B-RJ006 MR-J3-_S

Linear servo motor driving

A0 (Two-wire type/

four-wire type only) (Note 13)

A0 (Two-wire type/

four-wire type only) (Note 13)

MR-J3-_B-RJ004 MR-J3W-_B

Direct drive motor driving A0 A0 MR-J3-_B-RJ080W

MR-J3W-_B

Motor-less operation A0 (Note 2) A0 (Note 2) Rotation direction selection/travel

direction selection A0 A0

Encoder output pulses A/B-phase pulse output A0 (Note 3) A0 (Note 3) Z-phase pulse output A0 (Note 4) A0 (Note 4) (Note 4)

Input/output

Analog monitor output A0 (Note 5) A0 (Note 5)

Motor thermistor A0 A0 MR-J3-_B-RJ004

MR-J3-_B-RJ080W MR-J3W-_B

Position control mode A0 A0 Speed control mode A0 A0

Control mode Torque control mode A0 A0

Continuous operation to torque

control mode A0 A0

Auto tuning

Auto tuning mode 1 A0 A0 Auto tuning mode 2 A0 A0

2 gain adjustment mode 1 (interpolation mode)

A0 A0

2 gain adjustment mode 2 A0 Manual mode A0 A0

Machine resonance suppression filter

1 A0 A0

Machine resonance suppression filter

2 A0 A0

Filter function

Machine resonance suppression filter 3 A0 B0 (Note 15)

Machine resonance suppression filter 4 A0 B0 (Note 15)

Machine resonance suppression filter 5 A0 B0 (Note 15)

Shaft resonance suppression filter A0 B0 (Note 15) Low-pass filter A0 A0

Robust disturbance compensation

(Note 10) A0

Robust filter A0 B0 (Note 15)

17. APPLICATION OF FUNCTIONS

17 - 3

Compatibility

( : J4 new, : Equivalent to J3, : Not available)

Function Name MR-J4 series MR-J3/MR-J3W series

(Note 8) J4 mode J3 compatibility

mode

Vibration suppression control

Standard mode/3 inertia mode A0 B0 (Note 15) Vibration suppression control 1 A0 A0 Vibration suppression control 2 A0 B0 (Note 15)

Command notch filter A0 A0 Gain switching A0 A0 Slight vibration suppression control A0 A0 Overshoot amount compensation A0 A0 PI-PID switching control A0 A0 Feed forward A0 A0

Applied control Torque limit A0 A0 Master-slave operation function A8 (Note 5) Scale measurement function A8 (Note 3) Model adaptive control disabled B4 B4 Lost motion compensation function B4 (Note 5) (Note 5, 15) Super trace control B4 (Note 5) One-touch tuning A0 B0 (Note 15)

Adjustment function Adaptive tuning A0 A0

Vibration suppression control 1 tuning A0 A0 Vibration suppression control 2 tuning A0 B0 (Note 15) Fully closed loop electronic gear A3 A3

Dual feedback control A3 A3

Fully closed loop control Semi closed/fully closed switching

loop control A3 A3

MR-J3-_S MR-J3-_B-RJ006

Fully closed loop control error

detection function A3 A3

Linear compatible

Linear servo control error detection function

A0 A0 MR-J3-_B-RJ004

MR-J3W-_B Servo motor series/types setting function

A0 A0

Magnetic pole detection

Direct current exciting method magnetic pole detection

A0 A0 MR-J3-_B-RJ004

MR-J3-_B-RJ080W MR-J3W-_B

Current detection method magnetic pole detection

(Note 6) A0 MR-J3-_B-RJ004

MR-J3W-_B

Minute position detection method magnetic pole detection

A0 A0 MR-J3-_B-RJ004 MR-J3-_B-RJ080W

MR-J3W-_B Initial magnetic pole detection error

detection function A0 A0

Encoder

Semi closed loop control two-wire type/four-wire type selection

A0 A0

Serial interface compatible linear encoder

A0 A0

MR-J3-_S MR-J3-_B-RJ006 MR-J3-_B-RJ004

MR-J3W-_B

Pulse train interface (A/B/Z-phase differential output type) compatible

linear encoder A5 (Note 14) A5 (Note 14)

MR-J3-_S MR-J3-_B-RJ006 MR-J3-_B-RJ004

Functional safety

STO function A0 A0 MR-J3-_S

Forced stop deceleration function at alarm occurrence

A0 A0 (Note 12) MR-J3-_S

Vertical axis freefall prevention function

A0 A0 MR-J3-_S

17. APPLICATION OF FUNCTIONS

17 - 4

Compatibility

( : J4 new, : Equivalent to J3, : Not available)

Function Name MR-J4 series MR-J3/MR-J3W series

(Note 8) J4 mode J3 compatibility

mode

Tough drive function

SEMI-F47 function A0 B0 (Note 15, 16) Vibration tough drive A0 B0 (Note 15)

Instantaneous power failure tough drive

A0 B0 (Note 15)

3-digit alarm display A0 A0 MR-J3W-_B

Diagnosis function 16 alarm histories supported A0 (Note 7) (Note 7)

Drive recorder function A0 B0 (Note 15) Machine diagnosis function A0 B0 (Note 15) SSCNET III A0

Controller SSCNET III/H A0 Home position return function A0 A0

Others J4 mode/J3 compatibility mode

automatic identification (Note 11) A0 A0

Power monitoring function A0 B0 (Note 15) Note 1. The value is at the HG series servo motor driving.

2. The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode, or DD motor

control mode.

3. It is not available with MR-J4W3-_B servo amplifiers.

4. It is not available with the MR-J3W-_B, MR-J4W2-_B, and MR-J4W3-_B servo amplifiers.

5. It is not available with the MR-J4W2-_B and MR-J4W3-_B servo amplifiers.

6. The minute position detection method is available instead.

7. Alarm history will be saved up to six times.

8. The functions of the product with modified parts (GA) in the MR-J3-_B servo amplifiers are all covered by the J3 compatibility

mode of the MR-J4-_B servo amplifiers.

9. MR-J4W3-_B servo amplifiers do not support the fully closed loop control system.

10. For MR-J4 series, the robust filter and vibration tough drive are available instead.

11. The operation mode will be identified automatically at the first controller communication. You can change the operation mode

with the application "MR-J4(W)-B mode selection".

12. When MR-J4 is used as a replacement of MR-J3-_S, "Servo forced stop selection" in [Pr. PA04] will be "Disabled (_ 1 _ _)" in

the initial setting. Change the setting as necessary.

13. This is for MR-J4-_B servo amplifier. MR-J4-_B-RJ servo amplifier is compatible with two-wire type, four-wire type, and A/B/Z-

phase differential output method.

14. It is available with only MR-J4-_B-RJ servo amplifiers. It is not available with MR-J4-_B servo amplifiers.

15. This is available when the J3 extension function is enabled. Refer to section 17.1.9 for details.

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

17. APPLICATION OF FUNCTIONS

17 - 5

17.1.4 How to switch J4 mode/J3 compatibility mode

There are two ways to switch the J4 mode/J3 compatibility mode with the MR-J4W_-_B servo amplifier and

MR-J4-_B_(-RJ) servo amplifier.

(1) Mode selection by the automatic identification of the servo amplifier

J4 mode/J3 compatibility mode is identified automatically depending on the connected controller.

When the controller makes a connection request with SSCNET III/H communication, the mode will be

"J4 mode". For SSCNET communication, it will be "J3 compatibility mode".

For the J3 compatibility mode, standard control, linear servo motor control, or direct drive motor control

will be identified automatically with a motor (encoder) connected to the servo amplifier. For the J4 mode,

the operation mode will be the setting of [Pr. PA01].

J4 mode/J3 compatibility mode automatic

identification

Controller connection check

J4 mode

J3 compatibility mode

Connected encoder check (automatic

identification)

Standard control (rotary servo motor)

Direct drive motor control

Factory setting

Linear servo motor control

Fully closed loop control

[Pr. PA01] setting

Standard control (rotary servo motor)

Direct drive motor control

Linear servo motor control

Fully closed loop control

17. APPLICATION OF FUNCTIONS

17 - 6

(2) Mode selection using the application software "MR-J4(W)-B mode selection"

You can set the factory setting, J4 mode/J3 compatibility mode, and operation mode with the dedicated

application.

Application " MR-J4(W)-B mode

selection tool "

J4 mode

J3 compatibility mode

J4 mode/J3 compatibility mode

automatic identification

Standard control (rotary servo motor)

Direct drive motor control

Linear servo motor control

Fully closed loop control

Standard control (rotary servo motor)

Direct drive motor control

Linear servo motor control

Fully closed loop control

Factory setting

Fixed to the J4 mode (Standard control (rotary servo motor))

Fixed to the J4 mode (Fully closed loop control)

Fixed to the J4 mode (Linear servo motor control)

Fixed to the J4 mode (Direct drive motor control)

Fixed to the J3 compatibility mode (Standard control (rotary servo motor)) [Equivalent to MR-J3-B]

Fixed to the J3 compatibility mode (Fully closed loop control) [Equivalent to MR-J3-B-RJ006]

Fixed to the J3 compatibility mode (Linear servo motor control) [Equivalent to MR-J3-B-RJ004]

Fixed to the J3 compatibility mode (Direct drive motor control) [Equivalent to MR-J3-B-RJ080W]

17.1.5 How to use the J3 compatibility mode

(1) Setting of the controller

To use in the J3 compatibility mode, select MR-J3 series in the system setting window.

Operation mode in J3 compatibility mode System setting

MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B.

MR-J3-B fully closed loop control mode Select MR-J3-_B fully closed.

MR-J3-B linear servo motor control mode Select MR-J3-_B linear.

MR-J3-B DD motor control mode Select MR-J3-_B DDM.

(2) Setting of MR Configurator

To use in the J3 compatibility mode, make the system setting as follows.

Operation mode in J3 compatibility mode System setting

MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B.

MR-J3-B fully closed loop control mode Select MR-J3-_B fully closed.

MR-J3-B linear servo motor control mode Select MR-J3-_B linear.

MR-J3-B DD motor control mode Select MR-J3-_B DDM.

Cautions for using MR Configurator

The gain search cannot be used. You can use the advanced gain search.

The C-axis of MR-J4W3-_B cannot be set with MR Configurator. Use MR Configurator2 for it.

17. APPLICATION OF FUNCTIONS

17 - 7

(3) Setting of MR Configurator2

To use in the J3 compatibility mode, make the system setting as follows.

Operation mode in J3 compatibility mode System setting

MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B. MR-J3-B fully closed loop control mode Select MR-J3-_B fully closed. MR-J3-B linear servo motor control mode Select MR-J3-_B linear. MR-J3-B DD motor control mode Select MR-J3-_B DDM.

Cautions for using MR Configurator2

Use MR Configurator2 with software version 1.12N or later. Older version than 1.12N cannot be used.

Information about existing models (MR-J3) cannot be updated with the parameter setting range

update function. Register a new model to use.

The alarm will be displayed by 3 digits.

The robust disturbance compensation cannot be used.

17.1.6 Cautions for switching J4 mode/J3 compatibility mode

The J3 compatibility mode of the operation mode is automatically identified by factory setting depending on a

connected encoder. If a proper encoder is not connected at the first connection, the system will not start

normally due to a mismatch with a set mode with the controller. (For the J4 mode, you can set the operation

mode with [Pr. PA01].) For example, if the controller is connected without connecting a linear encoder at

linear servo motor driving, the servo amplifier will be the standard control mode (rotary servo motor). The

system will not start because the controller is connected with the linear servo motor driving amplifier.

When the operation mode mismatches, the servo amplifier will display [AL. 3E.1 Operation mode error]. Set

the mode back to the factory setting or set correctly (J4 mode/J3 compatibility mode and operation mode)

using the application "MR-J4(W)-B mode selection".

17.1.7 Cautions for the J3 compatibility mode

The J3 compatibility mode are partly changed and has restrictions compared with MR-J3 series.

(1) The alarm display was changed from 2 digits (_ _) to 3 digits (_ _. _). The alarm detail number (._) is

displayed in addition to the alarm No (_ _). The alarm No. (_ _) is not changed.

(2) When the power of the servo amplifier is cut or fiber-optic cable is disconnected, the same type

communication can be cut regardless of connection order. When you power on/off the servo amplifier

during operation, use the connect/disconnect function of the controller. Refer to the following manuals

for detail.

MELSEC iQ-R Motion Controller Programming Manual (Common) (R16MTCPU/R32MTCPU) (IB-

0300237) "5.3.1 Connect/disconnect function of SSCNET communication"

Motion controller Q series Programming Manual COMMON (Q173D(S)CPU/Q172D(S)CPU) (IB-

0300134) "4.11.1 Connect/disconnect function of SSCNET communication"

MELSEC iQ-R Simple Motion Module User's Manual (Application)

(RD77MS2/RD77MS4/RD77MS8/RD77MS16) (IB-0300247) "8.12 Connect/disconnect function of

SSCNET communication"

MELSEC-Q QD77MS Simple Motion Module User's Manual (IB-0300185) "14.12 Connect/disconnect

function of SSCNET communication"

MELSEC-L LD77MH Simple Motion Module User's Manual (IB-0300172) "14.13 Connect/disconnect

function of SSCNET communication"

MELSEC-L LD77MS Simple Motion Module User's Manual (Positioning Control) (IB-0300211) "14.13

Connect/disconnect function of SSCNET communication"

17. APPLICATION OF FUNCTIONS

17 - 8

(3) The J3 compatibility mode has a functional compatibility. However, the operation timing may differ.

Check the operation timing on customer side to use.

(4) The J3 compatibility mode is not compatible with high-response control set by [Pr. PA01 Operation

mode].

(5) For MR-J3 series, a linear encoder was connected to the CN2L connector. For J4 (J3 compatibility

mode), it is connected to the CN2 connector. Therefore, set the two-wire/four-wire type of the linear

encoder in the J3 compatibility mode with [Pr. PC26], not with [Pr. PC04].

(6) When you use a linear servo motor, select linear servo motor with [Pr. PA17] and [Pr. PA18].

17. APPLICATION OF FUNCTIONS

17 - 9

17.1.8 Change of specifications of "J3 compatibility mode" switching process

(1) Detailed explanation of "J3 compatibility mode" switching

(a) Operation when using a servo amplifier before change of specifications

For the controllers in which "Not required" is described to controller reset in table 17.1, the mode will

be switched to "J3 compatibility mode" for all axes at the first connection. However, it takes about 10

s per axis for completing the connection.

For the controllers in which "Reset required" is described in table 17.1, the operation at the first

connection is shown in table 17.2. The LED displays will be "Ab." for all axes at the first connection

to the controller as shown in table 17.2. After that, resetting controller will change the 1-axis to "b01".

The 2-axis and later will not change from "Ab.". After that, one axis will be connected per two times

of controller reset.

Table 17.1 Controller reset required/not required list (before change of

specifications)

Controller Model Controller reset required/not required

Single-axis connection

Multi-axis connection

Motion controller

R_MTCPU Not required Not required

Q17_DSCPU Not required Not required

Q17_DCPU Not required Not required

Q17_HCPU Not required Not required

Q170MCPU Not required Not required

Simple motion module Positioning module

RD77MS_ Not required Not required

QD77MS_ Not required Not required

LD77MS_ Not required Not required

QD75MH_ Not required Not required

QD74MH_ Reset required Reset required

LD77MH_ Not required Not required

FX3U-20SSC-H Not required Reset required

Table 17.2 Controller connection operation before change of specifications

Before change of specifications (software version A4 or earlier)

First connection of controller

Controller

Axis No. 1

b .A

Axis No. 2

b .A

Axis No. 3

b .A

"Ab." is displayed and stops

After controller reset

Controller

Axis No. 1

0 1b

Axis No. 2

b .A

Axis No. 3

b .A

"b01" is displayed on axis No. 1, "Ab." is displayed on axis No. 2 and later.

One axis is connected per reset.

17. APPLICATION OF FUNCTIONS

17 - 10

(b) Operation when using a servo amplifier after change of specifications

For the controllers in which "Not required" is described to controller reset in table 17.3, the mode will

be switched to "J3 compatibility mode" for all axes at the first connection. It takes about 10 s for

completing the connection not depending on the number of axes.

For the controllers in which "Reset required" is described in table 17.3, the operation at the first

connection is shown in table 17.4. The servo amplifier's mode will be "J3 compatibility mode" and the

LED displays will be "rST" for all axes at the first connection to the controller as shown in table 17.4.

At the status, resetting controller once will change the display to "b##" (## means axis No.) for all

axes and all axes will be ready to connect.

(One controller reset enables to all-axis connection.)

Table 17.3 Controller reset required/not required list (after change of specifications)

Controller Model Controller reset required/not required

Single-axis connection

Multi-axis connection

Motion controller

R_MTCPU Not required Not required

Q17_DSCPU Not required Not required

Q17_DCPU Not required Not required

Q17_HCPU Not required Not required

Q170MCPU Not required Not required

Simple motion module Positioning module

RD77MS_ Not required Not required

QD77MS_ Not required Not required

LD77MS_ Not required Not required

QD75MH_ Not required Not required

QD74MH_ Reset required Reset required

LD77MH_ Not required Not required

FX3U-20SSC-H Reset required Reset required

Table 17.4 Controller connection operation after change of specifications

After change of specifications (software version A5 or later)

First connection of controller

Controller

Axis No. 1

S Tr

Axis No. 2

S Tr

Axis No. 3

S Tr

"rST" is displayed only for the first connection.

After controller reset

Controller

Axis No. 1

0 1b

Axis No. 2

0 2b

Axis No. 3

0 3b

All axes are connected by one reset.

(c) Using servo amplifiers before and after change of specifications simultaneously

When using servo amplifiers before change of specifications and after change of specifications

simultaneously, controller reset is necessary for number of connecting axes of servo amplifiers.

17. APPLICATION OF FUNCTIONS

17 - 11

(2) Changing the mode to "J3 compatibility mode" by using the application "MR-J4(W)-B mode selection".

You can switch the servo amplifier's mode to "J3 compatibility mode" beforehand with the built-in

application software "MR-J4(W)-B mode selection" of MR Configurator2. Use it for a solution when it is

difficult to reset many times with your "Reset required" controller such as "QD74MH_".

The application "MR-J4(W)-B mode selection" has no expiration date.

Select "Change Mode".

Select "J3 Compatibility Mode".

Select "Operation Mode" for each axis.

17.1.9 J3 extension function

POINT

The J3 extension function is used with servo amplifiers with software version B0

or later.

To enable the J3 extension function, MR Configurator2 with software version

1.25B or later is necessary.

The J3 extension function of the amplifier differs from MR-J3-B in motion.

The J3 extension function is for using functions of J4 mode with J3 compatibility mode.

By enabling the J3 extension function, you will get control response which is equal to MR-J4 series using a

controller compatible with SSCNET III.

J4 mode J3 compatibility mode

J3 extension function enabled: [Pr. PX01] = "_ _ _ 1"

J3 extension function disabled: [Pr. PX01] = "_ _ _ 0"

SSCNET III/H communication MR-J4-B function

SSCNET III communication The same parameter ordering as MR- J3-B MR-J4-B control function Parameter added

SSCNET III communication The same parameter ordering as MR- J3-B

17. APPLICATION OF FUNCTIONS

17 - 12

The following shows functions used with the J3 extension function.

Function Description Detailed

explanation

Gain switching function (Vibration suppression control 2 and model loop gain)

You can switch gains during rotation/stop, and can use input devices to switch gains during operation.

Section 17.1.9 (6)

Advanced vibration suppression control II

This function suppresses vibration at the arm end or residual vibration. Section 17.1.9 (5) (c)

Machine resonance suppression filter 3 Machine resonance suppression filter 4 Machine resonance suppression filter 5

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

Section 17.1.9 (5) (a)

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 17.1.9 (5) (b)

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. PX31]

One-touch tuning Gain adjustment is performed just by one click on a certain button on MR Configurator2. MR Configurator2 is necessary for this function.

Section 17.1.9 (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 17.1.9 (7)

SEMI-F47 function (Note)

Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 200 V AC for the input power supply will not comply with SEMI-F47 standard.

[Pr. PX25] [Pr. PX28] Section 17.1.9 (8)

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. PX30] is set to "-1". 4. The controller is not connected (except the test operation mode). 5. An alarm related to the controller is occurring.

[Pr. PX29]

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 in the system of SSCNET III/H. Since the servo amplifier sends data to a servo system controller, you can analyze the data and display the data on a display.

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.

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

17. APPLICATION OF FUNCTIONS

17 - 13

The following shows how to use the J3 extension function.

(1) Settings of J3 extension function

POINT

To set the J3 extension function, connect a personal computer with MR

Configurator2 of software version 1.25B or later to the servo amplifier with USB

cable.

The extension control 2 parameters ([Pr. PX_ _ ]) cannot be set from a

controller.

To use the J3 the extension function, enable the setting of the extension control 2 parameters ([Pr. PX_

_ ]). Set as follows using MR Configurator2.

(a) Setting to enable the extension control 2 parameters ([Pr. PX_ _ ])

1) Open the "Project" menu and click "New" in MR Configurator2. The "New" window will be

displayed.

17. APPLICATION OF FUNCTIONS

17 - 14

2) Select "MR-J3-B extension function" of model selection in the "New" window and click "OK". The

"Extension function change" window will be displayed.

3) Click "Change to MR-J3-B extension function" in the "Extension function change" window and

click "OK". Now, you can set the extension control 2 parameters ([Pr. PX_ _ ]).

(b) Setting to enable the J3 extension function

To enable the J3 extension function, set [Pr. PX01] to "_ _ _ 1".

0 0 0 [Pr. PX01]

J3 extension function selection 0: Disabled 1: Enabled

17. APPLICATION OF FUNCTIONS

17 - 15

(2) Extension control 2 parameters ([Pr. PX_ _ ])

CAUTION

Never make a drastic adjustment or change to the parameter values as doing so

will make the operation unstable.

Do not change the parameter settings as described below. Doing so may cause

an unexpected condition, such as failing to start up the servo amplifier.

Changing the values of the parameters for manufacturer setting

Setting a value out of the range

Changing the fixed values in the digits of a parameter

When you write parameters with the controller, make sure that the control axis

No. of the servo amplifier is set correctly. Otherwise, the parameter settings of

another axis may be written, possibly causing the servo amplifier to be an

unexpected condition.

POINT

The parameter whose symbol is preceded by * is enabled with the following

conditions:

*: After setting the parameter, cycle the power or reset the controller.

**: After setting the parameter, cycle the power.

Abbreviations of J3 compatibility mode indicate the followings.

Standard: Standard (semi closed loop system) use of the rotary servo motor

Full.: Fully closed loop system use of the rotary servo motor

Lin.: Linear servo motor use

DD: Direct drive (DD) motor use

No. Symbol Name Initial value

Unit Each axis/ Common

J3 compatibility

mode S

ta nd

ar d

F ul

l.

Li n.

D D

PX01 **J3EX J3 extension function 0000h Common PX02 XOP1 Function selection X-1 0000h Each axis PX03 VRFTX Vibration suppression control tuning mode (advanced

vibration suppression control II) 0000h Each axis

PX04 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz] Each axis PX05 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz] Each axis PX06 VRF23 Vibration suppression control 2 - Vibration frequency

damping 0.00 Each axis

PX07 VRF24 Vibration suppression control 2 - Resonance frequency damping

0.00 Each axis

PX08 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching

0.0 [Hz] Each axis

PX09 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching

0.0 [Hz] Each axis

PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching

0.00 Each axis

PX11 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching

0.00 Each axis

PX12 PG1B Model loop gain after gain switching 0.0 [rad/s] Each axis PX13 *XOP2 Function selection X-2 0001h Each axis PX14 OTHOV One-touch tuning - Overshoot permissible level 0 [%] Each axis

17. APPLICATION OF FUNCTIONS

17 - 16

No. Symbol Name Initial value

Unit Each axis/ Common

J3 compatibility

mode

S ta

nd ar

d

F ul

l.

Li n.

D D

PX15

For manufacturer setting 0000h

PX16 0000h

PX17 NH3 Machine resonance suppression filter 3 4500 [Hz] Each axis PX18 NHQ3 Notch shape selection 3 0000h Each axis PX19 NH4 Machine resonance suppression filter 4 4500 [Hz] Each axis PX20 NHQ4 Notch shape selection 4 0000h Each axis PX21 NH5 Machine resonance suppression filter 5 4500 [Hz] Each axis PX22 NHQ5 Notch shape selection 5 0000h Each axis PX23 For manufacturer setting 0000h

PX24 FRIC Machine diagnosis function - Friction judgment speed 0 [r/min]/[mm/s] Each axis PX25 *TDS Tough drive setting 0000h Each axis PX26 OSCL1 Vibration tough drive - Oscillation detection level 50 [%] Each axis PX27 *OSCL2 Vibration tough drive function selection 0000h Each axis PX28 CVAT SEMI-F47 function - Instantaneous power failure detection

time 200 [ms] Common

PX29 DRAT Drive recorder arbitrary alarm trigger setting 0000h Common PX30 DRT Drive recorder switching time setting 0 [s] Common PX31 XOP4 Function selection X-4 0000h Each axis PX32 For manufacturer setting 0

PX33 0.0

PX34 0.0

PX35 50

PX36 0

PX37 0

PX38 0

PX39 0

PX40 0000h

PX41 0

PX42 0

PX43 **STOD STO diagnosis error detection time 0 [s] Common PX44 For manufacturer setting 0000h

PX45 0000h

PX46 0000h

PX47 0000h

PX48 0000h

PX49 0000h

PX50 0000h

PX51 0000h

PX52 0000h

PX53 0000h

PX54 0000h

PX55 0000h

PX56 0000h

PX57 0000h

PX58 0000h

PX59 0000h

PX60 0000h

PX61 0000h

PX62 0000h

PX63 0000h

PX64 0000h

17. APPLICATION OF FUNCTIONS

17 - 17

(3) Extension control 2 parameters ([Pr. PX_ _ ]) detailed list

No. Symbol Name and function Initial value [unit]

Setting range

Each/ common

PX01 **J3EX J3 extension function Select enabled or disabled of the J3 extension function.

Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ _ x J3 extension function selection 0: Disabled 1: Enabled When you enable the J3 extension function selection, setting of [Pr. PX01] to [Pr. PX35] will be enabled and you will be able to also use functions in J4 mode with J3 compatibility mode. Additionally, the J3 extension function of the amplifier differs from MR-J3-B in motion.

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PX02 XOP1 Function selection X-1 Refer to Name and function column.

Each axis

Setting digit

Explanation Initial value

_ _ _ x Vibration suppression mode selection 0: Standard mode 1: 3 inertia mode 2: Low response mode When two low resonance frequencies are generated, select "3 inertia mode (_ _ _ 1)". When the load to motor inertia ratio exceeds the recommended load to motor inertia ratio, select "Low response mode (_ _ _ 2)". When you select the standard mode or low response mode, "Vibration suppression control 2" is not available. When you select the 3 inertia mode, the feed forward gain is not available. Before changing the control mode with the controller during the 3 inertia mode or low response mode, stop the motor.

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

17. APPLICATION OF FUNCTIONS

17 - 18

No. Symbol Name and function Initial value [unit]

Setting range

Each/ common

PX03 VRFTX Vibration suppression control tuning mode (advanced vibration suppression control II) This is used to set the vibration suppression control tuning. Refer to (5) (C) in this section for details.

Refer to Name and function column.

Each axis

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ Vibration suppression control 2 tuning mode selection Select the tuning mode of the vibration suppression control 2. To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PX02 Function selection X-1]. 0: Disabled 1: Automatic setting 2: Manual setting

0h

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

PX04 VRF21 Vibration suppression control 2 - Vibration frequency Set the vibration frequency for vibration suppression control 2 to suppress low- frequency machine vibration. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PX02]. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PX03], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 17.1.9 (5) (2) for details.

100.0 [Hz]

0.1 to

300.0

Each axis

PX05 VRF22 Vibration suppression control 2 - Resonance frequency Set the resonance frequency for vibration suppression control 2 to suppress low- frequency machine vibration. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PX02]. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PX03], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 17.1.9 (5) (2) for details.

100.0 [Hz]

0.1 to

300.0

Each axis

PX06 VRF23 Vibration suppression control 2 - Vibration frequency damping Set a damping of the vibration frequency for vibration suppression control 2 to suppress low-frequency machine vibration. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PX02]. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PX03], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. Refer to section 17.1.9 (5) (2) for details.

0.00 0.00 to

0.30

Each axis

PX07 VRF24 Vibration suppression control 2 - Resonance frequency damping Set a damping of the resonance frequency for vibration suppression control 2 to suppress low-frequency machine vibration. To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PX02]. When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PX03], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used. Refer to section 17.1.9 (5) (2) for details.

0.00 0.00 to

0.30

Each axis

17. APPLICATION OF FUNCTIONS

17 - 19

No. Symbol Name and function Initial value [unit]

Setting range

Each/ common

PX08 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching Set the vibration frequency for vibration suppression control 2 when the gain switching is enabled. When you set a value less than 0.1 Hz, the value will be the same as [Pr. PX04]. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PX02]. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual setting (_ _ 2 _)". "Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _ _ 1)".

When you set "0.0", the value will be the same as [Pr. PX04]. Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.0 [Hz]

0.0 to

300.0

Each axis

PX09 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching Set the resonance frequency for vibration suppression control 2 when the gain switching is enabled. When you set a value less than 0.1 Hz, the value will be the same as [Pr. PX05]. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PX02]. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual setting (_ _ 2 _)". "Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _ _ 1)".

When you set "0.0", the value will be the same as [Pr. PX05]. Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.0 [Hz]

0.0 to

300.0

Each axis

PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching is enabled. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PX02]. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual setting (_ _ 2 _)". "Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _ _ 1)".

Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.00 0.00 to

0.30

Each axis

PX11 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching Set a damping of the resonance frequency for vibration suppression control 2 when the gain switching is enabled. To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PX02]. This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". "Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual setting (_ _ 2 _)". "Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _ _ 1)".

Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.00 0.00 to

0.30

Each axis

17. APPLICATION OF FUNCTIONS

17 - 20

No. Symbol Name and function Initial value [unit]

Setting range

Each/ common

PX12 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 "Control command from controller is enabled (_ _ _ 1)".

Switching during driving may cause a shock. Be sure to switch them after the servo motor or linear servo motor stops.

0.0 [rad/s]

0.0 to

2000.0

Each axis

PX13 *XOP2 Function selection X-2 Refer to Name and function column.

Each axis

Setting digit

Explanation Initial value

_ _ _ x One-touch tuning function selection 0: Disabled 1: Enabled When the digit is "0", the one-touch tuning with MR Configurator2 will be disabled.

1h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PX14 OTHOV One-touch tuning - Overshoot permissible level Set a permissible value of overshoot amount for one-touch tuning as a percentage of the in-position range. However, setting "0" will be 50%.

0 [%]

0 to

100

Each axis

PX17 NH3 Machine resonance suppression filter 3 Set the notch frequency of the machine resonance suppression filter 3. To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection" in [Pr. PX18].

4500 [Hz]

10 to

4500

Each axis

PX18 NHQ3 Notch shape selection 3 Set the shape of the machine resonance suppression filter 3.

Refer to Name and function column.

Each axis

Setting digit

Explanation Initial value

_ _ _ 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

17. APPLICATION OF FUNCTIONS

17 - 21

No. Symbol Name and function Initial value [unit]

Setting range

Each/ common

PX19 NH4 Machine resonance suppression filter 4 Set the notch frequency of the machine resonance suppression filter 4. To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PX20].

4500 [Hz]

10 to

4500

Each axis

PX20 NHQ4 Notch shape selection 4 Set the shape of the machine resonance suppression filter 4.

Refer to Name and function column.

Each axis

Setting digit

Explanation Initial value

_ _ _ x Machine resonance suppression filter 4 selection 0: Disabled 1: Enabled When you select "Enabled" of this digit, [Pr. PB17 Shaft resonance suppression filter] is not available.

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

PX21 NH5 Machine resonance suppression filter 5 Set the notch frequency of the machine resonance suppression filter 5. To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5 selection" in [Pr. PX22].

4500 [Hz]

10 to

4500

Each axis

PX22 NHQ5 Notch shape selection 5 Set the shape of the machine resonance suppression filter 5. When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PX31], the machine resonance suppression filter 5 is not available.

Refer to Name and function column.

Each axis

Setting digit

Explanation Initial value

_ _ _ 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

17. APPLICATION OF FUNCTIONS

17 - 22

No. Symbol Name and function Initial value [unit]

Setting range

Each/ common

PX24 FRIC Machine diagnosis function - Friction judgment speed Set a (linear) servo motor speed that divides a friction estimation area into high and low during the friction estimation process of the machine diagnosis. Setting "0" will set a value half of the rated speed. When your operation pattern is under the rated speed, we recommend that you set a half value of the maximum speed.

Forward rotation direction

0 r/min (0 mm/s)

Operation pattern

[Pr. PX24] setting

Maximum speed in operation

Servo motor speed

Reverse rotation direction

0 [r/min]/ [mm/s]

0 to permissi

ble speed

Each axis

PX25 *TDS Tough drive setting Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation. You can assign MTTR (During tough drive) to pins CN3-9, CN3-13, and CN3-15 with [Pr. PD07] to [Pr. PD09]. For MR-J4W2-0303B6 servo amplifiers, MTTR (during tough drive) cannot be assigned.

Refer to Name and function column.

Each axis

Setting digit

Explanation Initial value

_ _ _ 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 exceeds the value of the oscillation level set in [Pr. PX26]. Refer to (8) in this section for details.

0h

_ x _ _ SEMI-F47 function selection 0: Disabled 1: Enabled Selecting "1" enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. In [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time], set the time until the occurrence of [AL. 10.1 Voltage drop in the control circuit power]. For MR-J4W2-0303B6 servo amplifiers, this digit cannot be used other than the initial value.

0h

x _ _ _ For manufacturer setting 0h

17. APPLICATION OF FUNCTIONS

17 - 23

No. Symbol Name and function Initial value [unit]

Setting range

Each/ common

PX26 OSCL1 Vibration tough drive - Oscillation detection level Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration tough drive is enabled. 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.

50 [%]

0 to

100

Each axis

PX27 *OSCL2 Vibration tough drive function selection Refer to Name and function column.

Each axis

Setting digit

Explanation Initial value

_ _ _ x Oscillation detection alarm selection 0: [AL. 54 Oscillation detection] will occur at oscillation

detection. 1: [AL. F3.1 Oscillation detection warning] will occur at

oscillation detection. 2: Oscillation detection function disabled Select alarm or warning when an oscillation continues at a filter readjustment sensitivity level of [Pr. PX26]. The digit is continuously enabled regardless of the vibration tough drive in [Pr. PX25].

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PX28 CVAT SEMI-F47 function - Instantaneous power failure detection time Set the time until the occurrence of [AL. 10.1 Voltage drop in the control circuit power]. This parameter setting range differs depending on the software version of the servo amplifier as follows.

Software version C0 or later: Setting range 30 ms to 200 ms Software version C1 or earlier: Setting range 30 ms to 500 ms

To comply with SEMI-F47 standard, it is unnecessary to change the initial value (200 ms). However, when the instantaneous power failure time exceeds 200 ms, and the instantaneous power failure voltage is less than 70% of the rated input voltage, the power may be normally turned off even if a value larger than 200 ms is set in the parameter. To disable the parameter, set "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr. PX25].

200 [ms]

30 to

500

Common

PX29 DRAT Drive recorder arbitrary alarm trigger setting Refer to Name and function column.

Common

Setting digit

Explanation Initial value

_ _ 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".

17. APPLICATION OF FUNCTIONS

17 - 24

No. Symbol Name and function Initial value [unit]

Setting range

Each/ common

PX30 DRT Drive recorder switching time setting Set the drive recorder switching time. When a USB communication is cut during using a graph function, the function will be changed to the drive recorder function after the setting time of this parameter. When a value from "1" to "32767" is set, it will switch after the setting value. However, when "0" is set, it will switch after 600 s. When "-1" is set, the drive recorder function is disabled.

0 [s]

-1 to

32767

Common

PX31 XOP4 Function selection X-4 Refer to Name and function column.

Each axis

Setting digit

Explanation Initial value

_ _ _ x Robust filter selection 0: Disabled 1: Enabled When you select "Enabled" of this digit, the machine resonance suppression filter 5 set in [Pr. PX22] is not available.

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PX43 **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]

0 to 60

Common

Setting value

STO input diagnosis by TOFB output

Safety level

0

Execute EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, and EN 62061 SIL CL2

Not execute

1 to 60 Execute

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, and EN 62061 SIL CL3

Not execute

EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, and EN 62061 SIL CL2

When the short-circuit connector is connected to the CN8 connector, set "0" in the

parameter. This parameter is available with servo amplifiers with software version C1 or later.

17. APPLICATION OF FUNCTIONS

17 - 25

(4) One-touch tuning

POINT

After the one-touch tuning is completed, "Gain adjustment mode selection" in

[Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr.

PB06 Load to motor inertia ratio/load to motor mass ratio], set "Gain adjustment

mode selection" in [Pr. PA08] to "Auto tuning mode 1 (_ _ _ 1)".

When executing the one-touch tuning, check the [Pr. PX13 One-touch tuning

function selection] is "_ _ _1" (initial value).

At start of the one-touch tuning, only when "Auto tuning mode 1 (_ _ _ 1)" or "2

gain adjustment mode 1 (interpolation mode) (_ _ _ 0)" of "Gain adjustment

mode selection" is selected in [Pr. PA08], [Pr. PB06 Load to motor inertia

ratio/load to motor mass ratio] will be estimated.

Execute the one-touch tuning while the servo system controller and the servo

amplifier are connected.

When executing the one-touch tuning in the test operation mode (SW2-1 is on),

write the tuning result to servo parameters of the servo system controller, and

then connect the servo system controller and the servo amplifier.

The amplifier command method can be used with the servo amplifier with

software version C1 or later and MR Configurator2 with software version 1.45X

or later.

When the one-touch tuning is executed, MR Configurator2 is required.

For MR-J4W2-0303B6 servo amplifier, one-touch tuning by the amplifier

command method will be available in the future.

The one-touch tuning includes two methods: the user command method and the amplifier command

method.

1) User command method

The user command method performs one-touch tuning by inputting commands from outside the

servo amplifier.

2) Amplifier command method

In the amplifier command method, when you simply input a travel distance (permissible travel

distance) that collision against the equipment does not occur during servo motor driving, a

command for the optimum tuning will be generated inside the servo amplifier to perform 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

17. APPLICATION OF FUNCTIONS

17 - 26

The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment

mode selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other

parameters will be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning

response].

Table 17.5 List of parameters automatically set with one-touch tuning

Parameter Symbol Name Parameter Symbol Name

PA08 ATU Auto tuning mode PB18 LPF Low-pass filter setting

PA09 RSP Auto tuning response PB19 VRF11

Vibration suppression control 1 - Vibration frequency PB01 FILT Adaptive tuning mode (adaptive filter II)

PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)

PB20 VRF12

Vibration suppression control 1 - Resonance frequency

PB21 VRF13

Vibration suppression control 1 - Vibration frequency damping PB06 GD2 Load to motor inertia ratio

PB07 PG1 Model loop gain PB22 VRF14

Vibration suppression control 1 - Resonance frequency damping PB08 PG2 Position loop gain

PB09 VG2 Speed loop gain PB23 VFBF Low-pass filter selection

PB10 VIC Speed integral compensation PX17 NH3 Machine resonance suppression filter 3

PB12 OVA Overshoot amount compensation PX18 NHQ3 Notch shape selection 3

PB13 NH1 Machine resonance suppression filter 1 PX19 NH4 Machine resonance suppression filter 4

PB14 NHQ1 Notch shape selection 1 PX20 NHQ4 Notch shape selection 4

PB15 NH2 Machine resonance suppression filter 2 PX22 NHQ5 Notch shape selection 5

PB16 NHQ2 Notch shape selection 2 PX31 XOP4 Function selection X-4

PB17 NHF Shaft resonance suppression filter

17. APPLICATION OF FUNCTIONS

17 - 27

(a) One-touch tuning flowchart

1) User command method

Make one-touch tuning as follows.

Start

Startup of the system

Operation

One-touch tuning start, mode selection

Response mode selection

One-touch tuning execution

One-touch tuning completion

Tuning result check

One-touch tuning in progress

End

Start a system referring to chapter 4.

Rotate the servo motor by a servo system 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 17.5 will be set automatically. When the tuning is not completed normally, the tuning error will be displayed. (Refer to (4) (b) 5) in this section.) Check the tuning result. When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to (4) (b) 8) in this section.)

17. APPLICATION OF FUNCTIONS

17 - 28

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

Controller reset 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 17.5 will be updated automatically. When the tuning is not completed normally, the tuning error will be displayed. (Refer to section (4) (b) 5) in this section.)

Check the tuning result. When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to (4) (b) 8) in this section.) After executing the one-touch tuning, resetting the controller or cycling the power of the servo amplifier returns to the state in which control is performed from the controller.

17. APPLICATION OF FUNCTIONS

17 - 29

(b) Display transition and operation procedure of one-touch tuning

1) Command method selection

Select a command method from two methods in the one-touch tuning window of MR

Configurator2.

a)

b)

17. APPLICATION OF FUNCTIONS

17 - 30

a) User command method

It is recommended to input commands meeting the following conditions to the servo amplifier.

If one-touch tuning is executed while commands which do not meet the conditions are inputted

to the servo amplifier, the one-touch tuning error may occur.

Servo motor speed

Forward rotation 0 r/min Reverse rotation

One cycle time

Dwell time

Deceleration time constant

Travel distance

Acceleration time constant

Fig. 17.1 Recommended command for one-touch tuning in the user command method

Item Description

Travel distance Set 100 pulses or more in encoder unit. Setting less than 100 pulses will cause the one-touch tuning error "C004".

Servo motor speed Set 150 r/min (mm/s) or higher. Setting less than 150 r/min (mm/s) may cause the one-touch tuning error "C005".

Acceleration time constant Deceleration time constant

Set the time to reach 2000 r/min (mm/s) to 5 s or less. Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10% or more of the rated torque. The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration torque is larger, and the one-touch tuning result will be closer to the optimum value.

Dwell time Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".

One cycle time Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".

17. APPLICATION OF FUNCTIONS

17 - 31

b) Amplifier command method

Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed

loop control mode, and in the servo motor-side resolution unit for other control modes. In the

amplifier command method, the servo motor will be operated in a range between "current

value permissible travel distance". Input the permissible travel distance as large as possible

within a range that the movable part does not collide against the machine. Inputting a small

permissible travel distance decreases the possibility that the moving part will collide against

the machine. However, the estimation accuracy of the load to motor inertia ratio may be lower,

resulting in improper tuning.

Also, executing the one-touch tuning in the amplifier command method will generate a

command for the following optimum tuning inside the servo amplifier to start the tuning.

Servo motor speed

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. 17.2 Command generated by one-touch tuning in the amplifier command method

Item Description

Travel distance An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible travel distance with MR Configurator2.

Servo motor speed A speed not exceeding 1/2 of the rated speed and overspeed alarm detection level ([Pr. PC08]) will be automatically set.

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.

17. APPLICATION OF FUNCTIONS

17 - 32

2) Response mode selection

Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.

Table 17.6 Response mode explanations

Response mode 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.

17. APPLICATION OF FUNCTIONS

17 - 33

Refer to the following table for selecting a response mode.

Table 17.7 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

3) One-touch tuning execution

POINT

For equipment in which overshoot during one-touch tuning is in the permissible

level of the in-position range, changing the value of [Pr. PX14 One-touch tuning

overshoot permissible level] will shorten the settling time and improve the

response.

When executing one-touch tuning in the amplifier command method, turn on

EM2. When you turn off EM2 during one-touch tuning, "C008" will be displayed

at status in error code, and the one-touch tuning will be canceled.

When executing the one-touch tuning in the amplifier command method, FLS

(Upper stroke limit) and RLS (Lower stroke limit) will be disabled. Thus, set a

permissible travel distance within a range where moving part collision never

occurs, or execute the one-touch tuning in a state in which the servo motor can

immediately stop in emergency.

When one-touch tuning is executed in the amplifier command method while

magnetic pole detection is not being performed, magnetic pole detection will be

performed, and then one-touch tuning will start after the magnetic pole detection

is completed.

After the response mode is selected in (4) (b) 2) in this section, clicking "Start" will start one-touch

tuning. If "Start" is clicked while the servo motor stops, "C002" or "C004" will be displayed at

status in error code. (Refer to (4) (b) 5) in this section for error codes.)

17. APPLICATION OF FUNCTIONS

17 - 34

Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be

automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier

command method, an optimum tuning command will be generated in the servo amplifier after

servo-on. Then, the servo motor will reciprocate, and the one-touch tuning will be executed. After

the tuning is completed or canceled, the servo amplifier will be the servo-off status. When the

servo-on command is inputted from outside, the amplifier will be the servo-on status.

After one-touch tuning is executed using the amplifier command method, control will not be

performed by commands from the controller. To return to the state in which control is performed

by commands from the controller, reset the controller or cycle the power.

During processing of one-touch tuning, the progress will be displayed as follows. Tuning will be

completed at 100%.

17. APPLICATION OF FUNCTIONS

17 - 35

Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and

the following window will be displayed. Select whether or not to reflect the tuning result in the

project.

After the one-touch tuning is completed, "0000" will be displayed at status in error code. In

addition, settling time and overshoot amount will be displayed in "Adjustment result".

4) Stop of one-touch tuning

When "Stop" is clicked during one-touch tuning, the tuning will be stopped. At this time, "C000"

will be displayed at status in error code. When the one-touch tuning is stopped, the parameter

setting will be returned to the values at the start of the one-touch tuning. Stop the servo motor

before executing the one-touch tuning again. In addition, execute it after the moving part is

returned to the tuning start position.

17. APPLICATION OF FUNCTIONS

17 - 36

5) If an error occurs

If a tuning error occurs during tuning, one-touch tuning will be stopped. With that, the following

error code will be displayed in status. Check the cause of tuning error. When executing one-touch

tuning again, stop the servo motor once. In addition, after returning the moving part to the tuning

start position, execute it.

Display Name Error detail Corrective action example

C000 Tuning canceled "Stop" 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. PX14 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 from the controller, 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]. Manually set [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] properly.

17. APPLICATION OF FUNCTIONS

17 - 37

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 of one axis.: 20 r/min 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. An overspeed alarm detection level is set so that the servo motor speed becomes 150 r/min (mm/s) (50 r/min for direct drive motor) or less at the time of load to motor inertia ratio estimation.

When estimating the load to motor inertia ratio, set the overspeed alarm detection level so that the speed becomes 150 r/min or more.

3. The torque limit has been set to 0. Set the torque limit value to greater than 0.

C008 Stop signal EM2 was 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.

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. PX13] is "Disabled (_ _ _ 0)".

Select "Enabled (_ _ _ 1)".

6) If an alarm occurs

If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated. Remove the

cause of the alarm and execute one-touch tuning again. When executing one-touch tuning in the

amplifier command method again, return the moving part to the tuning start position.

7) If a warning occurs

If a warning which continues the motor driving occurs during one-touch tuning by the user

command method, the tuning will be continued. If a warning which does not continue the motor

driving occurs during the tuning, one-touch tuning will be stopped.

One-touch tuning will be stopped when warning occurs during one-touch tuning by the amplifier

command method regardless of the warning type. Remove the cause of the warning, and return

the moving part to the tuning start position. Then, execute the tuning again.

17. APPLICATION OF FUNCTIONS

17 - 38

8) Initializing one-touch tuning

Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to

return the parameter to the initial value. Refer to table 17.5 for the parameters which you can

initialize.

Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2

enables to return the parameter to the value before clicking "Start".

When the initialization of one-touch tuning is completed, the following window will be displayed.

(returning to initial value)

17. APPLICATION OF FUNCTIONS

17 - 39

(c) Caution for one-touch tuning

1) Caution common for user command method and amplifier command method

a) The tuning is not available in the torque control mode.

b) The one-touch tuning cannot be executed while an alarm or warning which does not continue

the motor driving is occurring.

c) The one-touch tuning cannot be executed during the following test operation mode.

Output signal (DO) forced output

Motor-less operation

d) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or

unusual noise may occur during the tuning.

2) Caution for amplifier command method

a) Starting one-touch tuning while the servo motor is rotating displays "C006" at status in error

code, and the one-touch tuning cannot be executed.

b) Start one-touch tuning when all connected servo motors are at a stop.

c) One-touch tuning is not available during the test operation mode. The following test operation

modes cannot be executed during one-touch tuning.

Positioning operation

JOG operation

Program operation

Machine analyzer operation

d) After one-touch tuning is executed, control will not be performed by commands from the servo

system controller. To return to the state in which control is performed from the servo system

controller, reset the controller or cycle the power of the servo amplifier.

e) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot,

set a value sufficient to prevent machine collision.

f) When Auto tuning mode 2, Manual mode, or 2 gain adjustment mode 2 is selected in [Pr.

PA08 Auto tuning mode], the load to motor inertia ratio will not be estimated. An optimum

acceleration/deceleration command will be generated by [Pr. PB06 Load to motor inertia

ratio/load to motor mass ratio] at the start of one-touch tuning. When the load to motor inertia

ratio is incorrect, the optimum acceleration/deceleration command may not be generated,

causing the tuning to fail.

g) When one-touch tuning is started by using USB communication, if the USB communication is

interrupted during the tuning, the servo motor will stop, and the tuning will also stop. The

parameter will return to the one at the start of the one-touch tuning.

h) When one-touch tuning is started via the controller, if communication between the controller

and the servo amplifier or personal computer is shut-off during the tuning, the servo motor will

stop, and the tuning will also stop. The parameter will return to the one at the start of the one-

touch tuning.

i) When one-touch tuning is started during the speed control mode, the mode will be switched to

the position control mode automatically. The tuning result may differ from the one obtained by

executing tuning by using the speed command.

17. APPLICATION OF FUNCTIONS

17 - 40

(5) Filter setting

The following filters are available with the J3 extension function.

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] 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. PB17]

Speed control

[Pr. PX17]

[Pr. PX19] [Pr. PX21] [Pr. PX20] [Pr. PX31]

(a) Machine resonance suppression filter

POINT

The machine resonance suppression filter is a delay factor for the servo system.

Therefore, vibration may increase if you set an incorrect resonance frequency or

set notch characteristics too deep or too wide.

If the frequency of machine resonance is unknown, decrease the notch

frequency from higher to lower ones in order. The optimum notch frequency is

set at the point where vibration is minimal.

A deeper notch has a higher effect on machine resonance suppression but

increases a phase delay and may increase vibration.

A wider notch has a higher effect on machine resonance suppression but

increases a phase delay and may increase vibration.

The machine characteristic can be grasped beforehand by the machine analyzer

on MR Configurator2. This allows the required notch frequency and notch

characteristics to be determined.

If a mechanical system has a unique resonance point, increasing the servo system response level

may cause resonance (vibration or unusual noise) in the mechanical system at that resonance

frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the

resonance of the mechanical system. The setting range is 10 Hz to 4500 Hz.

17. APPLICATION OF FUNCTIONS

17 - 41

1) Function

The machine resonance suppression filter is a filter function (notch filter) which decreases the

gain of the specific frequency to suppress the resonance of the mechanical system. You can set

the gain decreasing frequency (notch frequency), gain decreasing depth and width.

R e

sp o

n se

o f

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

PX17/PX18 PX17/PX18

Machine resonance suppression filter 4

PX19/PX20 Enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter. Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation. The shaft resonance suppression filter is enabled for the initial setting.

PX19/PX20

Machine resonance suppression filter 5

PX21/PX22 Enabling the robust filter disables the machine resonance suppression filter 5. The robust filter is disabled for the initial setting.

PX22

17. APPLICATION OF FUNCTIONS

17 - 42

2) Parameter

a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14])

Set the notch frequency, notch depth and notch width of the machine resonance suppression

filter 1 ([Pr. PB13] and [Pr. PB14])

When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the

setting of the machine resonance suppression filter 1 is enabled.

b) Machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2

selection" in [Pr. PB16].

How to set the machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16]) is the same

as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

c) Machine resonance suppression filter 3 ([Pr. PX17] and [Pr. PX18])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3

selection" in [Pr. PX18].

How to set the machine resonance suppression filter 3 ([Pr. PX17] and [Pr. PX18]) is the same

as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

d) Machine resonance suppression filter 4 ([Pr. PX19] and [Pr. PX20])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4

selection" in [Pr. PX20]. However, enabling the machine resonance suppression filter 4

disables the shaft resonance suppression filter.

How to set the machine resonance suppression filter 4 ([Pr. PX19] and [Pr. PX20]) is the same

as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

e) Machine resonance suppression filter 5 ([Pr. PX21] and [Pr. PX22])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5

selection" in [Pr. PX22]. However, enabling the robust filter ([Pr. PX31]: _ _ _ 1) disables the

machine resonance suppression filter 5.

How to set the machine resonance suppression filter 5 ([Pr. PX21] and [Pr. PX22]) is the same

as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

17. APPLICATION OF FUNCTIONS

17 - 43

(b) Shaft resonance suppression filter

POINT

This filter is set properly by default according to servo motor you use and load

moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0"

(automatic setting) because changing "Shaft resonance suppression filter

selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may

lower the performance.

1) Function

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may

generate a mechanical vibration at high frequency. The shaft resonance suppression filter

suppresses the vibration.

When you select "Automatic setting", the filter will be set automatically on the basis of the servo

motor you use and the load to motor inertia ratio. The disabled setting increases the response of

the servo amplifier for high resonance frequency.

2) Parameter

Set "Shaft resonance suppression filter selection" in [Pr. PB23].

[Pr. PB23]

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

17. APPLICATION OF FUNCTIONS

17 - 44

(c) Advanced vibration suppression control II

POINT

This is enabled when "Gain adjustment mode selection" is "Auto tuning mode 2

(_ _ _ 2)" or "Manual mode (_ _ _ 3)" in [Pr. PA08].

The machine resonance frequency supported in the vibration suppression

control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range,

set manually.

Stop the servo motor before changing the vibration suppression control-related

parameters. Otherwise, it may cause an unexpected operation.

For positioning operation during execution of vibration suppression control

tuning, provide a stop time to ensure a stop after vibration damping.

Vibration suppression control tuning may not make normal estimation if the

residual vibration at the servo motor side is small.

Vibration suppression control tuning sets the optimum parameter with the

currently set control gains. When the response setting is increased, set vibration

suppression control tuning again.

When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PX02].

17. APPLICATION OF FUNCTIONS

17 - 45

1) Function

Vibration suppression control is used to further suppress load-side vibration, such as work-side

vibration and base shake. The servo motor-side operation is adjusted for positioning so that the

machine does not vibrate.

Vibration suppression: off (normal)

Servo motor side

Load side

t

P os

iti on

Vibration suppression control: on

Servo motor side

Load side

P os

iti on

t

When the advanced vibration suppression control II ([Pr. PB02] and [Pr. PX03]) is executed, the

vibration frequency at load side is automatically estimated to suppress machine side vibration two

times at most.

In the vibration suppression control tuning mode, this mode shifts to the manual setting after the

positioning operation is performed the predetermined number of times. For manual setting, adjust

the vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control

2 with [Pr. PX04] to [Pr. PX07].

2) Parameter

Set the advanced vibration suppression control II ([Pr. PB02] and [Pr. PX03]).

When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode

selection" in [Pr. PB02]. When you use two vibration suppression controls, set "Vibration

suppression control 2 tuning mode selection" in [Pr. PX03] in addition.

[Pr. PB02]

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

0

[Pr. PX03]

0 0 0

Vibration suppression control 2 tuning mode

_ _ 0 _

_ _ 1 _

_ _ 2 _

Setting value Vibration suppression control 2 tuning mode selection

Disabled

Automatic setting

Manual setting

PX04/PX05/PX06/PX07

Automatically set parameter

17. APPLICATION OF FUNCTIONS

17 - 46

3) Vibration suppression control tuning procedure

The following flow chart is for the vibration suppression control 1. For the vibration suppression

control 2, set "_ _ 1 _" in [Pr. PX03] to execute the vibration suppression control tuning.

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.

17. APPLICATION OF FUNCTIONS

17 - 47

4) Vibration suppression control manual mode

POINT

When load-side vibration does not show up in servo motor-side vibration, the

setting of the servo motor-side vibration frequency does not produce an effect.

When the anti-resonance frequency and resonance frequency can be confirmed

using the machine analyzer or external equipment, do not set the same value

but set different values to improve the vibration suppression performance.

The setting range of [Pr. PB19], [Pr. PB20], [Pr. PX04], and [Pr. PX05] varies,

depending on the value in [Pr. PB07]. If a value out of the range is set, the

vibration suppression control will be disabled.

Measure work-side vibration and device shake with the machine analyzer or external measuring

instrument, and set the following parameters to adjust vibration suppression control manually.

Setting item Vibration suppression

control 1 Vibration suppression

control 2

Vibration suppression control - Vibration frequency

[Pr. PB19] [Pr. PX04]

Vibration suppression control - Resonance frequency

[Pr. PB20] [Pr. PX05]

Vibration suppression control - Vibration frequency damping

[Pr. PB21] [Pr. PX06]

Vibration suppression control - Resonance frequency damping

[Pr. PB22] [Pr. PX07]

Step 1. Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode

selection" in [Pr. PB02] or "Manual setting (_ _ 2 _)" of "Vibration suppression control 2

tuning mode selection" in [Pr. PX03].

Step 2. Set "Vibration suppression control - Vibration frequency" and "Vibration suppression

control - Resonance frequency" as follows.

However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency

have the following usable range and recommended range.

Vibration suppression control

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. PX04], [Pr. PX04] > (5.0 + 0.1 [Pr. PB07]) [Pr. PX05] > (5.0 + 0.1 [Pr. PB07])

1.1 < [Pr. PX04]/[Pr. PB19] < 5.5 [Pr. PB07] < 2 (0.3 [Pr. PB19] + 1/8 [Pr. PX04])

When [Pr. PB19] < [Pr. PX04], [Pr. PX04], [Pr. PX05] > 6.25 Hz 1.1 < [Pr. PX04]/[Pr. PB19] < 4

[Pr. PB07] < 1/3 (4 [Pr. PB19] + 2 [Pr. PX04])

17. APPLICATION OF FUNCTIONS

17 - 48

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. PX04]

Vibration suppression control 2 - Resonance frequency

[Pr. PX05]

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".

(6) Gain switching function

You can switch gains with the function. You can switch gains during rotation and during stop, and can

use a control command from a controller to switch gains during operation.

(a) Use

The following shows when you use the function.

1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during

rotation.

2) You want to increase the gains during settling to shorten the stop settling time.

3) You want to change the gains using a control command from a controller to ensure stability of the

servo system since the load to motor inertia ratio varies greatly during a stop (e.g. a large load is

mounted on a carrier).

17. APPLICATION OF FUNCTIONS

17 - 49

(b) Function block diagram

The control gains, load to motor inertia ratio, and vibration suppression control settings are changed

according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain

switching condition].

Command pulse frequency +

-

Droop pulses

Model speed

Control command from controller

Comparator

Changing

CDP [Pr. PB26]

+ -

+ -

GD2 [Pr. PB06]

GD2B [Pr. PB29]

Enabled GD2 value

PG1 [Pr. PB07]

PG1B [Pr. PX12]

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]

VRF11B [Pr. PB33]

Enabled VRF11 value

VRF12 [Pr. PB20]

VRF12B [Pr. PB34]

Enabled VRF12 value

CDL [Pr. PB27]

VRF13 [Pr. PB21]

VRF13B [Pr. PB35]

Enabled VRF13 value

VRF14 [Pr. PB22]

VRF14B [Pr. PB36]

Enabled VRF14 value

VRF21 [Pr. PX04]

VRF21B [Pr. PX08]

Enabled VRF21 value

VRF22 [Pr. PX05]

VRF22B [Pr. PX09]

Enabled VRF22 value

VRF23 [Pr. PX06]

VRF23B [Pr. PX10]

Enabled VRF23 value

VRF24 [Pr. PX07]

VRF24B [Pr. PX11]

Enabled VRF24 value

17. APPLICATION OF FUNCTIONS

17 - 50

(c) Parameter

When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment

mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the

auto tuning mode.

1) Parameter for setting gain switching condition

Parameter Symbol 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 switch at switching.

a) [Pr. PB26 Gain switching function]

Set the gain switching condition. Select the switching condition in the first to third digits.

Gain switching selection 0: Disabled 1: Control command from controller is enabled 2: Command frequency 3: Droop pulses 4: Servo motor speed/linear servo motor speed

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 0: Switching time constant enabled 1: Switching time constant disabled 2: Return time constant disabled

b) [Pr. PB27 Gain switching condition]

Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop

pulses", or "Servo motor speed/linear servo motor speed" with the gain switching selection in

[Pr. PB26 Gain switching function].

Gain switching condition Unit

Command frequency [kpulse/s]

Droop pulses [pulse]

Servo motor speed/linear servo motor speed [r/min]/[mm/s]

c) [Pr. PB28 Gain switching time constant]

You can set the primary delay filter to each gain at gain switching. Use this parameter to

suppress shock given to the machine if the gain difference is large at gain switching, for

example.

17. APPLICATION OF FUNCTIONS

17 - 51

2) Switchable gain parameter

Loop gain Before switching After switching

Parameter Symbol Name Parameter Symbol Name

Load to motor inertia ratio/load to motor mass ratio

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching

Model loop gain PB07 PG1 Model loop gain PX12 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 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching

Vibration suppression control 1 - Resonance frequency

PB20 VRF12 Vibration suppression control 1 - Resonance frequency

PB34 VRF12B 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 VRF13B 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 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching

Vibration suppression control 2 - Vibration frequency

PX04 VRF21 Vibration suppression control 2 - Vibration frequency

PX08 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching

Vibration suppression control 2 - Resonance frequency

PX05 VRF22 Vibration suppression control 2 - Resonance frequency

PX09 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching

Vibration suppression control 2 - Vibration frequency damping

PX06 VRF23 Vibration suppression control 2 - Vibration frequency damping

PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching

Vibration suppression control 2 - Resonance frequency damping

PX07 VRF24 Vibration suppression control 2 - Resonance frequency damping

PX11 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching

17. APPLICATION OF FUNCTIONS

17 - 52

a) [Pr. PB06] to [Pr. PB10]

These parameters are the same as in ordinary manual adjustment. Gain switching allows the

values of load to motor inertia ratio/load to motor mass ratio, model loop gain, position loop

gain, speed loop gain, and speed integral compensation to be switched.

b) [Pr. PB19] to [Pr. PB22]/[Pr. PX04] to [Pr. PX07]

These parameters are the same as in ordinary manual adjustment. You can switch the

vibration frequency, resonance frequency, vibration frequency damping, and resonance

frequency damping by switching gain during motor stop.

c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching]

Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to

motor inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia

ratio/load to motor mass ratio].

d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain

switching], and [Pr. PB32 Speed integral compensation after gain switching]

Set the values of after switching position loop gain, speed loop gain and speed integral

compensation.

e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PX08] to [Pr.

PX11])/[Pr. PX12 Model loop gain after gain switching]

The gain switching vibration suppression control and gain switching model loop gain are used

only with control command from the controller.

You can switch the vibration frequency, resonance frequency, vibration frequency damping,

resonance frequency damping, and model loop gain of the vibration suppression control 1 and

vibration suppression control 2.

17. APPLICATION OF FUNCTIONS

17 - 53

(d) Gain switching procedure

This operation will be described by way of setting examples.

1) When you choose switching by control command from the controller

a) Setting example

Parameter Symbol 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

PX04 VRF21 Vibration suppression control 2 - Vibration frequency

20 [Hz]

PX05 VRF22 Vibration suppression control 2 - Resonance frequency

20 [Hz]

PX06 VRF23 Vibration suppression control 2 - Vibration frequency damping

0.10

PX07 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]

PX12 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 control command from the controller.)

PB28 CDT Gain switching time constant 100 [ms]

PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching

60 [Hz]

PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching

60 [Hz]

PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching

0.15

PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching

0.15

PX08 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching

30 [Hz]

PX09 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching

30 [Hz]

17. APPLICATION OF FUNCTIONS

17 - 54

Parameter Symbol Name Setting value Unit

PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching

0.05

PX11 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching

0.05

b) Switching timing chart

After-switching gain

63.4%

CDT = 100 ms

Before-switching gain Gain switching

Control command from controller

OFF ON OFF

Model loop gain 100 50 100

Load to motor inertia ratio/load to motor mass ratio

4.00 10.00 4.00

Position loop gain 120 84 120

Speed loop 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

17. APPLICATION OF FUNCTIONS

17 - 55

2) When you choose switching by droop pulses

The vibration suppression control after gain switching and model loop gain after gain switching

cannot be used.

a) Setting example

Parameter Symbol 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]

b) Switching timing chart

After-switching gain

63.4%

CDT = 100 ms

Before-switching gain Gain switching

Droop pulses [pulse]

+CDL

-CDL 0

Command pulses Droop pulses

Command pulses

Load to motor inertia ratio/load to motor mass ratio

4.00 10.00 4.00 10.00

Position loop gain 120 84 120 84

Speed loop gain 3000 4000 3000 4000

Speed integral compensation 20 50 20 50

17. APPLICATION OF FUNCTIONS

17 - 56

3) When the gain switching time constant is disabled

a) Switching time constant disabled was selected.

The gain switching time constant is disabled. The time constant is enabled at gain return.

The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse],

and [Pr. PB28 (CDT)] = 100 [ms].

Command pulses

Droop pulses

+100 pulses

-100 pulses 0Droop pulses [pulse]

Switching time constant disabled Switching at 0 ms

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

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

17. APPLICATION OF FUNCTIONS

17 - 57

(7) Tough drive function

POINT

Set enable/disable of the tough drive function with [Pr. PX25 Tough drive

setting]. (Refer to (2) in this section.)

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

The vibration tough drive function and instantaneous power failure tough drive function are available with

the J3 extension function.

(a) Vibration tough drive function

This function prevents vibration by resetting a filter instantaneously when machine resonance occurs

due to varied machine resonance frequency caused by machine aging.

To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance

suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in

advance.

Set [Pr. PB13] and [Pr. PB15] as follows.

1) One-touch tuning execution (Refer to (4) in this section.)

2) Manual setting (Refer to (2) in this section.)

The vibration tough drive function operates when a detected machine resonance frequency is within

30% for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine

resonance suppression filter 2].

To set a detection level of the function, set sensitivity in [Pr. PX26 Vibration tough drive - Oscillation

detection level].

POINT

Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is

performed constantly. However, the number of write times to the EEPROM is

limited to once per hour.

The vibration tough drive function does not reset [Pr. PX17 Machine resonance

suppression filter 3], [Pr. PX19 Machine resonance suppression filter 4], and [Pr.

PX21 Machine resonance suppression filter 5].

The vibration tough drive function does not detect a vibration of 100 Hz or less.

17. APPLICATION OF FUNCTIONS

17 - 58

The following shows the function block diagram of the vibration tough drive function.

The function detects machine resonance frequency and compares it with [Pr. PB13] and [Pr. PB15], and

reset a machine resonance frequency of a parameter whose set value is closer.

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

PX17/PX18

Machine resonance suppression filter 4

PX19/PX20 Enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter. Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation. The shaft resonance suppression filter is enabled for the initial setting.

Machine resonance suppression filter 5

PX21/PX22 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. PX17] 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. PX19] [Pr. PX21]

[Pr. PB17]

[Pr. PX20] [Pr. PX31]

Updates the parameter whose setting is the closest to the machine resonance frequency.

Vibration tough drive

Torque

CALM (AND malfunction)

WNG (Warning)

MTTR (During tough drive)

ON

OFF

[Pr. PX26 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

17. APPLICATION OF FUNCTIONS

17 - 59

(b) Instantaneous power failure tough drive function

The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an

instantaneous power failure occurs during operation. When the instantaneous power failure tough

drive activates, the function will increase the immunity to instantaneous power failures using the

electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of

[AL. 10 Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the control circuit power]

detection time for the control circuit power supply can be changed by [Pr. PX28 SEMI-F47 function -

Instantaneous power failure detection time]. In addition, [AL. 10.2 Voltage drop in the main circuit

power] detection level for the bus voltage is changed automatically.

POINT

MBR (Electromagnetic brake interlock) will not turn off during the instantaneous

power failure tough drive.

When the load of instantaneous power failure is large, [AL. 10.2] caused by the

bus voltage drop may occur regardless of the set value of [Pr. PX28 SEMI-F47

function - Instantaneous power failure detection time].

The MR-J4W2-0303B6 servo amplifier is not compatible with instantaneous

power failure tough drive.

The setting range of [Pr. PX28 SEMI-F47 function - Instantaneous power failure

detection time] differs depending on the software version of the servo amplifier

as follows.

Software version C0 or later: Setting range 30 ms to 200 ms

Software version C1 or earlier: Setting range 30 ms to 500 ms

To comply with SEMI-F47 standard, it is unnecessary to change the initial value

(200 ms).

However, when the instantaneous power failure time exceeds 200 ms, and the

instantaneous power failure voltage is less than 70% of the rated input voltage,

the power may be normally turned off even if a value larger than 200 ms is set in

the parameter.

17. APPLICATION OF FUNCTIONS

17 - 60

1) Instantaneous power failure time of control circuit power supply > [Pr. PX28 SEMI-F47 function -

Instantaneous power failure detection time]

The alarm occurs when the instantaneous power failure time of the control circuit power supply

exceeds [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time].

MTTR (During tough drive) turns on after the instantaneous power failure is detected.

MBR (Electromagnetic brake interlock) turns off when the alarm occurs.

Control circuit power supply

Bus voltage

Undervoltage level (158 V DC)

CALM (AND malfunction)

[Pr. PX28]

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

17. APPLICATION OF FUNCTIONS

17 - 61

2) Instantaneous power failure time of control circuit power supply < [Pr. PX28 SEMI-F47 function -

Instantaneous power failure detection time]

Operation status differs depending on how bus voltage decrease.

a) When the bus voltage decreases lower than 158 V DC within the instantaneous power failure

time of the control circuit power supply

[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than 158 V DC regardless

of the enabled instantaneous power failure tough drive.

[Pr. PX28]

Instantaneous power failure time of the control circuit power supply

ON

OFF

ON (energization)

OFF (power failure)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Control circuit power supply

Bus voltage

Undervoltage level (158 V DC)

CALM (AND malfunction)

MTTR (During tough drive)

MBR (Electromagnetic brake interlock)

Base circuit

WNG (Warning)

17. APPLICATION OF FUNCTIONS

17 - 62

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 (158 V DC)

CALM (AND malfunction)

MTTR (During tough drive)

MBR (Electromagnetic brake interlock)

Base circuit

WNG (Warning)

[Pr. PX28]

Instantaneous power failure time of the control circuit power supply

ON

OFF

ON (energization)

OFF (power failure)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

17. APPLICATION OF FUNCTIONS

17 - 63

(8) Compliance with SEMI-F47 standard

POINT

The control circuit power supply of the MR-J4W_-_B 200 W or more servo

amplifier can comply with SEMI-F47 standard. However, a back-up capacitor

may be necessary for instantaneous power failure in the main circuit power

supply depending on the power supply impedance and operating situation. Be

sure to check them by testing the entire equipment using actual machines.

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

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

The MR-J4W2-0303B6 servo amplifier is not compatible with SEMI-F47

standard.

The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag

immunity test" of MR-J4 series.

This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the

capacitor in case that an instantaneous power failure occurs during operation.

(a) Parameter setting

Setting [Pr. PX25] and [Pr. PX28] as follows will enable SEMI-F47 function.

Parameter Setting value

Description

PX25 _ 1 _ _ Enable SEMI-F47 function selection.

PX28 200 Set the time [ms] until the occurrence of [AL. 10.1 Voltage drop in the control circuit power].

Enabling SEMI-F47 function will change operation as follows.

1) The voltage will drop in the control circuit power at "Rated voltage 50% or less". After 200 ms,

[AL. 10.1 Voltage drop in the control circuit power] will occur.

2) [AL. 10.2 Voltage drop in the main circuit power] will occur with 158 V DC or less in bus voltage.

3) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control

circuit power] occurs.

(b) Requirement of SEMI-F47 standard

Table 17.8 shows the permissible time of instantaneous power failure for instantaneous power

failure of SEMI-F47 standard.

Table 17.8 Requirement of SEMI-F47 standard

Instantaneous power failure voltage

Permissible time of instantaneous power

failure [s]

Rated voltage 80% 1

Rated voltage 70% 0.5

Rated voltage 50% 0.2

17. APPLICATION OF FUNCTIONS

17 - 64

(c) Calculation of tolerance against instantaneous power failure

Table 17.9 shows tolerance against instantaneous power failure when instantaneous power failure

voltage is "rated voltage 50%" and instantaneous power failure time is 200 ms.

Table 17.9 Tolerance against instantaneous power failure (instantaneous power

failure voltage = rated voltage 50%, instantaneous power failure time = 200 ms)

Servo amplifier Instantaneous

maximum output [W]

Tolerance against instantaneous power

failure [W] (voltage drop

between lines)

MR-J4W2-22B 1400 (700 2) 790

MR-J4W2-44B 2800 (1400 2) 1190

MR-J4W2-77B 5250 (2625 2) 2300

MR-J4W2-1010B 6000 (3000 2) 2400

MR-J4W3-222B 2100 (700 3) 970

MR-J4W3-444B 4200 (1400 3) 1700

Instantaneous maximum output means power which servo amplifier can output in maximum torque

at rated speed. You can examine margins to compare the values of following conditions and

instantaneous maximum output.

Even if driving at maximum torque with low speed in actual operation, the motor will not drive with

the maximum output. This can be handled as a margin.

The following shows the conditions of tolerance against instantaneous power failure.

1) Delta connection

For the 3-phase (L1/L2/L3) delta connection, an instantaneous power failure occurs in the voltage

between a pair of lines (e.g. between L1 and L2) among voltages between three pairs of lines

(between L1 and L2, L2 and L3, or L3 and L1).

2) Star connection

For the 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure

occurs in the voltage between a pair of lines (e.g. between L1 and N) among voltages at six

locations, between three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1) and

between one of the lines and the neutral point (between L1 and N, L2 and N, or L3 and N).

17. APPLICATION OF FUNCTIONS

17 - 65

17.2 Scale measurement function

The scale measurement function transmits position information of a scale measurement encoder to the

controller by connecting the scale measurement encoder in semi closed loop control.

POINT

The scale measurement function is available only with MR-J4W2-_B. It will not

be available with MR-J4W3-_B.

The scale measurement function is available for the servo amplifiers of software

version A8 or later.

When a linear encoder is used as a scale measurement encoder for this servo

amplifier, "Linear Encoder Instruction Manual" is necessary.

When the scale measurement function is used for MR-J4W2-_B servo

amplifiers, the following restrictions apply.

A/B/Z-phase differential output type encoder cannot be used.

The scale measurement encoder and servo motor encoder are compatible

with only the two-wire type. The four-wire type load-side encoder and servo

motor encoder cannot be used.

When you use the HG-KR and HG-MR series for driving and load-side

encoder, the optional four-wire type encoder cables (MR-EKCBL30M-L, 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. 9.

The scale measurement function compatible servo amplifier can be used with

any of the following controllers.

Motion controller R_MTCPU/Q17_DSCPU

For settings and restrictions of controllers compatible with the scale

measurement function, refer to user's manuals for each controller.

The MR-J4W2-0303B6 servo amplifier is not compatible with the scale

measurement function.

17.2.1 Functions and configuration

(1) Function block diagram

The following shows a block diagram of the scale measurement function. The control will be performed

per servo motor encoder unit for the scale measurement function.

Servo motor feedback pulses (load-side resolution unit)

(Servo motor) droop pulses

(Servo motor) cumulative feedback pulses

Cumulative load-side feedback pulses

Servo motor

Scale measurement encoder

Controller

S

Encoder pulse setting ([Pr. PA15], [Pr. PA16], and [Pr. PC03])

+

-

+

-

+

-

Control

Monitor

Load-side feedback pulses

17. APPLICATION OF FUNCTIONS

17 - 66

(2) System configuration

(a) For a linear encoder

CN2B

CN2A

Servo amplifier

SSCNET III/H controller

SSCNET III/H

Position command Control signal

Table

To the next servo amplifier

Two-wire type serial interface compatible linear encoder

Load-side encoder signal

Servo motor encoder signal

Linear encoder head

Servo motor

(b) For a rotary encoder

CN2B

CN2A

(Note)

(Note) Servo motor

Two-wire type rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev)

Drive part

Servo amplifier

SSCNET III/H controller

SSCNET III/H

Position command Control signal

To the next servo amplifier

Servo motor encoder signal

Load-side encoder signal

Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.

17. APPLICATION OF FUNCTIONS

17 - 67

17.2.2 Scale measurement encoder

POINT

Always use the scale measurement encoder cable introduced in this section.

Using other products may cause a malfunction.

For details of the scale measurement encoder specifications, performance and

assurance, contact each encoder manufacturer.

(1) Linear encoder

Refer to "Linear Encoder Instruction Manual" for usable linear encoders.

To use the scale measurement function in the absolute position detection system ([Pr. PA22] = 1_ _ _),

an absolute position linear encoder is required. In this case, you do not need to install the encoder

battery to the servo amplifier for backing up the absolute position data of the load side. To use a servo

motor in the absolute position detection system ([Pr. PA03] = _ _ _1), the encoder battery must be

installed to the servo amplifier for backing up the absolute position data of the servo motor side.

(2) Rotary encoder

When a rotary encoder is used as a scale measurement encoder, use the following servo motor as the

encoder.

Servo motors used as encoders

HG-KR HG-MR

MR-J4W2-_B

Use a two-wire type encoder cable. Do not use MR-EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40M-

H, or MR-EKCBL50M-H as they are four-wire type.

When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to

app. 9.

To use the scale measurement function in the absolute position detection system ([Pr. PA22] = 1_ _ _),

the encoder battery must be installed to the servo amplifier for backing up the absolute position data of

the load side. In this case, the battery life will be shorter because the power consumption is increased as

the power is supplied to the two encoders of motor side and load side.

17. APPLICATION OF FUNCTIONS

17 - 68

(3) Configuration diagram of encoder cable

Configuration diagram for servo amplifier and scale measurement encoder is shown below. Cables vary

depending on the scale measurement encoder.

(a) Linear encoder

Refer to "Linear Encoder Instruction Manual" for encoder cables for linear encoder.

Servo amplifier

Linear encoder CN2A CN2B

MR-J4FCCBL03M branch cable (Refer to section 16.2.4.)

Encoder of rotary servo motor

Encoder cable (Refer to "Linear Encoder Instruction Manual".)

CN2 MOTOR

SCALE Scale measurement encoder

(b) Rotary encoder

Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders.

Servo amplifier

CN2A CN2B

MR-J4FCCBL03M branch cable (Refer to section 16.2.4.)

Encoder of rotary servo motor

Encoder cable (Refer to "Servo Motor Instruction Manual (Vol. 3)".)

CN2 MOTOR

SCALE

(Note) Scale measurement encoder

Servo motor HG-KR HG-MR

(Note)

Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.

17. APPLICATION OF FUNCTIONS

17 - 69

(4) MR-J4FCCBL03M branch cable

Use MR-J4FCCBL03M branch cable to connect the scale measurement encoder to CN2A or CN2B

connector.

When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder

Instruction Manual".

LG

View seen from the 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

CN2A/CN2B MOTOR Plate

(Note 1) (Note 2)

0.3 m

MR

P5

MRR

SD

MR

P5

MRR

3

4

1

Plate

View seen from the wiring side.

4 MRR

2 8

6

1 P5

5

10

3 MR

7 9

View seen from the 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. APPLICATION OF FUNCTIONS

17 - 70

17.2.3 How to use scale measurement function

(1) Selection of scale measurement function

The scale measurement function is set with the combination of basic setting parameters [Pr. PA01] and

[Pr. PA22].

(1) Operation mode selection

The scale measurement function can be used during semi closed loop system (standard control

mode). Set [Pr. PA01] to "_ _ 0 _".

Operation mode selection

[Pr. PA01]

1 0 0

Semi closed loop system (standard control mode)

Setting value

0

Operation mode

Servo motor-side resolution unit

Control unit

(b) Scale measurement function selection

Select the scale measurement function. Select "1 _ _ _" (Used in absolute position detection system)

or "2 _ _ _" (Used in incremental system) according to the encoder you use.

Scale measurement function selection 0: Disabled 1: Used in absolute position detection system 2: Used in incremental system

000 [Pr. PA22]

(2) Selection of scale measurement encoder polarity

Select a polarity of the scale measurement encoder with the following "Encoder pulse count polarity

selection" of [Pr. PC27] as necessary.

POINT

"Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14

Rotation direction selection]. Make sure to set the parameter according to the

relationships between servo motor and linear encoder/rotary encoder.

17. APPLICATION OF FUNCTIONS

17 - 71

(a) Parameter setting method

Selection of the encoder pulse count polarity

This parameter is used to set the load-side encoder polarity to be connected to CN2L connector in

order to match the CCW direction of servo motor and the increasing direction of load-side encoder

feedback. Set this as necessary.

0 0 0 [Pr. PC27]

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 scale measurement encoder feedback direction

You can confirm the directions of the cumulative feedback pulses of servo motor encoder and the

load-side cumulative feedback pulses are matched by moving the device (scale measurement

encoder) manually in the servo-off status. If mismatched, reverse the polarity.

(3) Confirmation of scale measurement encoder position data

Check the scale measurement encoder mounting and parameter settings for any problems.

Operate the device (scale measurement encoder) to check the data of the scale measurement encoder

is renewed correctly. If the data is not renewed correctly, check the wiring and parameter settings.

Change the scale polarity as necessary.

17. APPLICATION OF FUNCTIONS

17 - 72

MEMO

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 1

18. MR-J4W2-0303B6 SERVO AMPLIFIER

The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.

Refer to the section of the detailed explanation field for details.

Item Detailed explanation

Parameter Chapter 5

Normal gain adjustment Chapter 6

Special adjustment functions Chapter 7

Troubleshooting Chapter 8

Absolute position detection system Chapter 12

18.1 Functions and configuration

18.1.1 Summary

MR-J4W2-0303B6 servo amplifier is MELSERVO-J4W_-B series 48 V DC and 24 V DC power compatible

ultra small capacity servo amplifier.

The MR-J4W_-B servo amplifier is connected to controllers, including a servo system controller, on the fast

synchronization network SSCNET III/H. The servo amplifier directly receives a command from a controller to

drive a servo motor.

As the same as MR-J4W_-B servo amplifier, this servo amplifier supports the one-touch tuning and the real-

time auto tuning. This enables you to easily adjust the servo gain according to the machine.

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

This allows you to create a large system.

The following shows the difference between this amplifier and MR-J4W_-_B.

Category Item Differences

Related parameter MR-J4W_-_B MR-J4W2-0303B6

Power supply Main circuit power supply

200 V AC 48 V DC/24 V DC [Pr. PC05] ([Pr. Po04] in J3 compatibility mode)

Control circuit power supply

200 V AC 24 V DC

The number of drive axes

Number of axes 2 axes/3 axes 2 axes

Functional safety STO function Compatible

Encoder Encoder resolution 4194304 pulses/rev 262144 pulses/rev

Regenerative option Regenerative option selection

Compatible [Pr. PA02]

Analog monitor output Output voltage range 10 V 5 V [Pr. PC09]/[Pr. PC10]

Dynamic brake Stop system Stop with dynamic brake

Stop with electronic dynamic brake

[Pr. PF06]/[Pr. PF12]

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]/[Pr. PX23]

Instantaneous power failure tough drive

Compatible

Scale measurement function

Compatible [Pr. PA22]

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 2

18.1.2 Function block diagram

The function block diagram of this servo is shown below.

CN5

USB

USB

Personal computer

Servo system controller or

servo amplifier

I/F Control

Servo amplifier or cap

CN1A CN1B

D/A

CN3

Current detectorRegene-

rative TR

Control circuit power supply

Servo amplifier

Base amplifier

+

+

CHARGE lamp

RA PM

0

U1

V1

W1

U

V

W

Electro- magnetic brake

B

RA

24 V DC

B1

B2

Encoder

A-axis servo motor

M

Built-in regenerative resistor

Current detection

(B)

Current detector

Regenerative brake

Virtual encoder

Virtual motor

Model position control (A)

Model speed control (A)

Model position control (B)

Model speed control (B)

Control (A)

Actual position control (A)

Actual speed control (A)

Current control (A)

Actual position control (B)

Actual speed control (B)

Current control (B)

Virtual encoder

Virtual motor

Control (B)

Battery (absolute position detection system)

U2

V2

W2

U

V

W

Electro- magnetic brake

B

RA

24 V DC

B1

B2

Encoder

B-axis servo motor

M

C N

P 1

C N

2B

Overvoltage Current

detection (A)

Overcurrent (A)

Overcurrent (B)

Analog monitor (two channels)

Digital I/O control

Inverter (A)

Inverter (B)

C N

P 1

C N

P 1

C N

2A C

N 4

Circuit protector48 V DC

24 V DC

48 V DC main circuit power supply

Circuit protector

24 V DC

24 V DC main circuit power supply

24

E1

E2

MR-BAT6V1SET-A

Step- down circuit

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 3

18.1 3 Servo amplifier standard specifications

Model MR-J4W2-0303B6

Rated output 30 W (A axis) + 30 W (B axis)

Output Rated voltage 3-phase 13 V AC

Rated current (each axis)

2.4 A

Main circuit power supply input

Voltage 48 V DC/24 V DC (Note 1)

Rated current For 48 V DC: 2.4 A For 24 V DC: 4.8 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.

Control circuit power supply

Voltage 24 V DC

Rated current [A] 0.5 A

Permissible voltage fluctuation

21.6 V DC to 26.4 V DC

Power consumption [W] 10 W

Inrush current [A] Refer to section 18.7.4.

Interface power supply

Voltage 24 V DC 10%

Current capacity [A] 0.25 (Note 2)

Capacitor regeneration

Reusable regenerative energy (Note 6) [J]

0.9

Moment of inertia J of rotary servo motor equivalent to the permissible charging amount (Note 7)

[10-4 kgm2]

0.18

Control method Sine-wave PWM control, current control method

Permissible regenerative power of servo amplifier built-in regenerative resistor

[W] 1.3

Dynamic brake (Note 3) Built-in (electronic dynamic brake)

SSCNET III/H command communication cycle (Note 4)

0.222 ms, 0.444 ms, 0.888 ms

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

Encoder output pulses A/B-phase Compatible

Z-phase Not compatible

Analog monitor Two channels

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

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 5)

DIN rail mounting (width: 35 mm) Possible

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 4

Model MR-J4W2-0303B6

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); 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] 0.3 Note 1. Initial value is the 48 V DC. For 24 V DC, set [Pr. PC05] to "_ 1 _ _". The characteristics of the servo motor vary depending on

whether 48 V DC or 24 V DC is used. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".

2. 0.25 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

3. This is an electronic dynamic brake. This will not operate during control circuit power supply off. In addition, It may not operate

depending on the contents of alarms and warnings. Refer to chapter 8 for details.

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

5. When closely mounting the servo amplifiers, operate them at the ambient temperatures of 45 C or lower, or the total effective

load ratio of 45 w or lower for the two axes.

6. Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the permissible charging

amount, decelerates from the rated speed to stop.

7. This is moment of inertia when the motor decelerates from the rated speed to stop. This will be moment of inertia for two axes

when two motors decelerate simultaneously. And this will be moment of inertia for each axis when multiple motors do not

decelerate simultaneously.

18.1.4 Combinations of servo amplifiers and servo motors

Servo amplifier Servo motor

MR-J4W2-0303B6 HG-AK0136 HG-AK0236 HG-AK0336

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 5

18.1.5 Function list

The following table lists the functions of MR-J4W2-0303B6 servo amplifier. For details of the functions, refer

to each section indicated in the detailed explanation field.

Function 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.

Speed control mode This servo amplifier is used as a speed control servo.

Torque control mode This servo amplifier is used as a torque control servo.

High-resolution encoder High-resolution encoder of 262144 pluses/rev is used for the encoder of the rotary servo motor compatible with the MR-J4W2-0303B6 servo amplifier.

Absolute position detection system

Setting a home position once makes home position return unnecessary at every power-on.

Chapter 12

Gain switching function Using an input device or gain switching conditions (including the servo motor speed) switches gains.

Section 7.2

Advanced vibration suppression control II

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

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]

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

Chapter 6

Regenerative option This is not available with MR-J4W2-0303B6 servo amplifier.

Alarm history clear Alarm history is cleared. [Pr. PC21]

Output signal selection (device settings)

The output devices including ALM (Malfunction) and INP (In-position) can be assigned to specified pins of the CN3 connector.

[Pr. PD07] to [Pr. PD09]

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 4.5.1 (1) (d)

Test operation mode Jog operation, positioning operation, motor-less operation, DO forced output, and program operation MR Configurator2 is necessary for this function.

Section 4.5

Analog monitor output Servo status is outputted in terms of voltage in real time. Section 5.2.3

MR Configurator2 Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others.

Section 11.4

Linear servo system This is not available with MR-J4W2-0303B6 servo amplifier.

Direct drive servo system This is not available with MR-J4W2-0303B6 servo amplifier.

One-touch tuning One click on a certain button on MR Configurator2 adjusts the gains of the servo amplifier. MR Configurator2 is necessary for this function.

Section 6.2

SEMI-F47 function This is not available with MR-J4W2-0303B6 servo amplifier.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 6

Function Description Detailed

explanation

Tough drive function

This function makes the equipment continue operating even under the condition that an alarm occurs. MR-J4W2-0303B6 servo amplifier is compatible with vibration tough drive. This is not compatible with instantaneous power failure tough drive.

Section 7.3

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". 4. The controller is not connected (except the test operation mode). 5. An alarm related to the controller is occurring.

[Pr. PA23]

STO function This is not available with MR-J4W2-0303B6 servo amplifier.

Servo amplifier life diagnosis function

Cumulative operation time can be checked. This function get hold of the replacement time for parts of the servo amplifier including a capacitor before it malfunctions. MR Configurator2 is necessary for this function.

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. Since the servo amplifier sends data to a servo system controller, you can analyze the data and display the data on a display with the SSCNET III/H system.

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.

Fully closed loop system This is not available with MR-J4W2-0303B6 servo amplifier.

Scale measurement function This is not available with MR-J4W2-0303B6 servo amplifier.

J3 compatibility mode This amplifier has "J3 compatibility mode" which compatible with the previous MR- J3-B series. Refer to section 17.1 for software versions. Section 17.1

Continuous operation to torque control mode

This enables to smoothly switch the mode from position control mode/speed control mode to torque control mode without stopping. This also enables to decrease load to the machine and high quality molding without rapid changes in speed or torque. For details of the continuous operation to torque control mode, refer to the manuals for servo system controllers.

[Pr. PB03] Manual of servo system controllers.

18. MR-J4W2-0303B6 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 Country of origin

Serial number AC SERVO

MR-J4W2-0303B6 POWER: 30W2 (A, B) INPUT: 0.5A DC24V, 4.8A DC24V/2.4A DC48V OUTPUT: 3PH13V 0-360Hz 2.4A2 (A, B) STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175

MSIP-REI-MEK-TC300A997G51

SER.A4X001001

Max. Surrounding Air Temp.: 55C IP20

(2) Model

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

are available.

Symbol

SSCNETIII/H interface

Rated output

Number of axes

Symbol Rated output [W]

0303

A-axis B-axis

30 30

Series

W2

Number of axes

2

Symbol

Main circuit power supply

6

Main circuit power supply

48 V DC/24 V DC

Special specifications

Symbol

-EB

Special specifications

MR-J4W2-0303B6 with a special coating specification (3C2) (Note)

Note. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to app. 12.2 for details.

M R J B BW E2 3 34 60 0- --

18. MR-J4W2-0303B6 SERVO AMPLIFIER

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18.1.7 Parts identification

(1)

(2)

(6)

(3) (7)

(8)

(9)

(14) Side

(10)

(11)

(12)

(13)

(4)

(5)

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) Axis selection rotary switch (SW1)

Set the axis No. of the servo amplifier. Section

18.5

(3)

Control axis setting switch (SW2)

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

Test operation select switch Disabling control axis switch for A-axis Disabling control axis switch for B-axis For manufacturer setting Auxiliary axis number setting switch Auxiliary axis number setting switch

1 2 3 4 5 6

O N1

2 3

4 5

6

Section 18.5

(4) Control circuit power voltage error lamp (24 V ERROR)

When a voltage of the control circuit power voltage (24 V DC) is out of permissible range, this will light in yellow.

Section 18.4.3

(5) Charge lamp (CHARGE)

When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.

(6) USB communication connector (CN5)

Connect the personal computer. Section

11.4

(7)

I/O signal connector (CN3)

Used to connect digital I/O signals.

Section 18.3.5 Section 18.3.6

(8)

SSCNET III cable connector (CN1A)

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

Section 18.3.5

Section 18.3.6

(9)

SSCNET III cable connector (CN1B)

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

(10) A-axis encoder connector (CN2A)

Used to connect the A-axis servo motor encoder. Section 18.3.1

Section 18.3.2 (11)

B-axis encoder connector (CN2B)

Used to connect the B-axis servo motor encoder.

(12)

Power and servo motor power output connector (CNP1)

Used to connect input power and servo motor power output line.

Section 18.3.1

Section 18.3.2

(13)

Battery connector (CN4)

Used to connect the battery for absolute position data backup.

Section 11.3

Chapter 12

14 or less

Rating plate Section 18.1.6 (1)

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 9

18.1.8 Configuration including peripheral equipment

CAUTION Wrong wiring to CNP1 connector or connecting an encoder of wrong axis to

CN2A and CN2B may cause a malfunction.

POINT

Equipment other than the servo amplifier and servo motor are optional or

recommended products.

Personal computer

CN3

CN5

CN1B

CN2A

CN2B

CN1A

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

A-axis servo motor

B-axis servo motor

I/O signal

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

CNP1 (Note)

CNP1

CN4

CNP1

MR-BAT6V1SET-A

Note. Refer to section 18.3.2 for details.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 10

18.2 Installation

WARNING

To prevent electric shock, ground equipment securely.

CAUTION

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

Install the equipment on incombustible material. Installing them directly or close to

combustibles will lead to a fire.

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

accordance with the Instruction Manual.

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

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

section 18.1.3.

Provide an adequate protection to prevent screws and other conductive matter, oil

and other combustible matter from entering the servo amplifier.

Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it

may cause a malfunction.

Do not drop or strike the servo amplifier. Isolate it from all impact loads.

Do not install or operate the servo amplifier which has been damaged or has any

parts missing.

When the equipment has been stored for an extended period of time, contact your

local sales office.

When handling the servo amplifier, be careful about the edged parts such as

corners of the servo amplifier.

The servo amplifier must be installed in a metal cabinet.

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

cause a malfunction.

Leave specified clearances between the servo amplifier and the cabinet walls or

other equipment. Otherwise, it may cause a malfunction.

When fumigants that contain halogen materials, such as fluorine, chlorine,

bromine, and iodine, are used for disinfecting and protecting wooden packaging

from insects, they cause malfunction when entering our products. Please take

necessary precautions to ensure that remaining materials from fumigant do not

enter our products, or treat packaging with methods other than fumigation, such

as heat treatment. Additionally, disinfect and protect wood from insects before

packing the products.

The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.

Refer to the section of the detailed explanation field for details.

Item Detailed explanation

Keep out foreign materials Section 2.2

Encoder cable stress Section 2.3

SSCNET III cable laying Section 2.4

Inspection items Section 2.5

Parts having service life Section 2.6

18. MR-J4W2-0303B6 SERVO AMPLIFIER

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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

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 12

(2) Installation of two or more servo amplifiers

POINT

You can install MR-J4W2-0303B6 servo amplifiers without clearances between

them. When closely mounting the servo amplifiers, operate them at the ambient

temperatures of 45 C or lower, or the total effective load ratio of 45 w or lower

for the two axes.

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling

fan to prevent the internal temperature of the cabinet from exceeding the environmental conditions.

When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo

amplifiers in consideration of mounting tolerances.

100 mm or more5 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

18. MR-J4W2-0303B6 SERVO AMPLIFIER

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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.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

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Removing servo amplifier from DIN rail

Hook

Upper tab

Wall

DIN rail

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.

18. MR-J4W2-0303B6 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.

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 linear servo motor of the wrong axis to the CNP1 connector may

cause a malfunction.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 16

The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.

Refer to the section of the detailed explanation field for details.

Item Detailed explanation

Forced stop deceleration function Section 3.6

SSCNET III cable connection Section 3.9

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 amplifiers power supply. If

a circuit protector is not connected, continuous flow of a large current may cause

a fire when the servo amplifier malfunctions.

When alarms are occurring in both axes of A and B, shut off the main circuit

power supply. Not doing so may cause a fire when a regenerative transistor

malfunctions or the like may overheat the built-in regenerative resistor.

Check the servo amplifier model, and then input proper voltage to the servo

amplifier power supply. If input voltage exceeds the upper limit of the

specification, the servo amplifier will break down.

Connecting a servo motor of the wrong axis to the CNP1 connector may cause a

malfunction.

POINT

Even if alarm has occurred, do not switch off the control circuit power supply.

When the control circuit power supply has been switched off, optical module

does not operate, and optical transmission of SSCNET III/H communication is

interrupted. Therefore, the next axis servo amplifier displays "AA" at the

indicator and turns into base circuit shut-off. The servo motor stops with starting

dynamic brake.

EM2 has the same function as EM1 in the torque control mode.

Configure the wiring so that the main circuit power supply is shut off and the servo-on command turned off

after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or an enabled controller

forced stop.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 17

24 V DC (Note 8)

Servo amplifier

U1

V1

W1

CNP1

A-axis servo motor

U

V

W M

Motor

EncoderCN2A (Note 2) Encoder

cable

(Note 2) Encoder

cable

EM2

DICOM

Forced stop 2

CN3

(Note 4)

CALM

DOCOM

24 V DC (Note 8) AND malfunction (Note 3)

CN3

(Note 4) RA1

Off

RA2

On

(Note 3) AND malfunction

RA1

Emergency stop switch

(Note 5)

(Note 7) Main circuit

power supply

CNP1

B-axis servo motor

U

V

W

Motor

EncoderCN2B

(Note 5)

M

U2

V2

W2

E1

24

0

PM

CNP1

Circuit protector (Note 9)

RA2

(Note 6)

24 V DC (Note 1)

48 V DC (Note 1)

Circuit protector (Note 9)

24 V DC (Note 1)

E2

RA2

24 V DC

48 V DC main circuit power supply

24 V DC main circuit power supply

Note 1. Use reinforced insulating type for 24 V DC and 48 V DC power supply.

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

(Vol. 3)".

3. This circuit is an example of stopping all axes when an alarm occurs. If disabling CALM (AND malfunction) output with the

parameter, configure the circuit which switches off the main circuit power supply after detection of alarm occurrence on the

controller side.

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

5. For connecting servo motor power output lines, refer to "Servo Motor Instruction Manual (Vol. 3)". Connecting a wrong axis

may cause a malfunction.

6. The noiseless grounding terminals of E1 and E2 are connected in the servo amplifier. Be sure to ground from the noiseless

grounding terminal of CNP1 to the grounding terminal of the cabinet.

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

amplifier.

8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they

can be configured by one.

For 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.

9. Circuit protectors are required for protection of power supplies, wires, servo amplifiers and others. When not using a circuit

protector, configure an external protective circuit such as a power supply with protection function.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

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18.3.2 Explanation of power supply system

(1) Pin assignment

Servo amplifier

PM

U1

24

CNP1

6

5

4 W1

0

U2

V2

V1

W2

E2

E13

2

1

12

11

10

9

8

7

(2) Detailed explanation

Symbol Connection target

(application) Description

24

Control circuit/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. PC05] according to the specification of main circuit power supply.

Parameter

Main circuit power supply [Pr. PC05 function selection C-2]

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.

U1/V1/W1/E1 A-axis servo motor

power output

Connect the servo amplifier power output (U1/V1/W1/E1) to the servo motor power input (U/V/W/ ) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

U2/V2/W2/E2 B-axis servo motor

power output

Connect the servo amplifier power output (U2/V2/W2/E2) to the servo motor power input (U/V/W/ ) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

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(3) Wiring CNP1

POINT

For the wire sizes used for wiring, refer to section 18.8.3.

(a) Connector

CNP1

MR-J4W2-0303B6 servo amplifier

Table 18.1 Connector and applicable wire

Connector Receptacle assembly Applicable wire

size Stripped length

[mm] Manufacturer

CNP1 DFMC 1,5/ 6-ST-3,5-LR or equivalent

AWG 24 to 16 10 Phoenix Contact

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 20

(b) Cable connection procedure

1) Fabrication on cable insulator

Refer to table 18.1 for stripped length of cable insulator. The appropriate stripped length of cables

depends on their type, etc. Set the length considering their fabrication status.

Insulator Core

Stripped length 10 mm

Twist strands lightly and straighten them as follows.

Loose and bent strands Twist and straighten the strands.

You can also use a ferrule to connect with the connectors. When you use a ferrule, use the

following ferrules and crimp terminal.

Wire size Ferrule model (Phoenix Contact) Crimping tool

(Phoenix Contact) For one For two

AWG 20 AI0.25-10YE

CRIMPFOX6 AWG 18 AI0.34-10TQ

AWG 18 AI0.5-10WH

AWG 16 AI0.75-10GY

2) Inserting wire

When using solid wire, insert the wire to the end. When using stranded wire, insert the wire to the

end with pushing down the release button with a small flat head screwdriver, etc.

The following show a connection example when using stranded wire to the CNP 1 connector.

Release button

Stranded wire

18. MR-J4W2-0303B6 SERVO AMPLIFIER

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(c) Mounting connector

1) Mounting

Fit the CNP1 connector when the servo amplifier is fixed. While pushing the connector, make

sure that the connector is locked to the top and bottom of the socket. After that, check that the

connector cannot be pulled out.

Lock hook Locked

Refer to the following example for a status of lock.

Unlocked

Locked

Locked

Good example (Both are locked.)

Bad example (Bottom is not locked.)

2) Disconnection

Pull out the CNP1 connector after unlocking the top and bottom of the connector.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

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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 electric capacity of the main circuit capacitor is

approximately 630 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 in both

axes of A and B.

2) Switch on the control circuit power supply (24/0) simultaneously with the main circuit power

supply (PM/0) or before switching on the main circuit power supply. If the control circuit power

supply is turned on with the main circuit power supply off, and then the servo-on command is

transmitted, [AL. E9 Main circuit off warning] will occur. Turning on the main circuit power supply

stops the warning and starts the normal operation.

3) The servo amplifier receives the servo-on command within 4 s after the main circuit power supply

is switched on.

(Refer to (2) in this section.)

(2) Timing chart

Servo-on command accepted

Main circuit Control circuit

Base circuit

Servo-on command (from controller)

power supply

95 ms

(4 s)

95 ms10 ms

ON

OFF

ON

OFF

ON

OFF

18. MR-J4W2-0303B6 SERVO AMPLIFIER

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18.3.5 I/O Signal Connection Example

POINT

EM2 has the same function as EM1 in the torque control mode.

(1) For sink I/O interface

DI3-B

23

10

CN3

AND malfunction (Note 11)

(Note 2)

11 CALM

12

25 MBR-B

13

3 LA-A 16 LAR-A

4 LB-A

17 LBR-A

5 LA-B

18 LAR-B

Servo amplifier

Electromagnetic brake interlock for A-axis

CN3

Encoder A-phase pulse A-axis

Encoder B-phase pulse A-axis

Encoder A-phase pulse B-axis

(differential line driver)

(differential line driver)

(differential line driver)

(Note 13)(Note 3, 4) Forced stop 2

A-axis FLS

A-axis RLS

A-axis DOG

B-axis FLS B-axis RLS

B-axis DOG

(Note 14)

DICOM

EM2

7DI1-A

8DI2-A

9DI3-A

(Note 6) SSCNET III cable

(option)

Servo system controller

CN1A

CN1B

(Note 7)

(Note 9) Cap

(Note 5) MR Configurator2

+

Personal computer

CN5

USB cable MR-J3USBCBL3M

(option)

20DI1-B

21DI2-B

22

MBR-A

RA1

RA2

RA3

(Note 10) 24 V DC

10 m or less 10 m or less

Electromagnetic brake interlock for B-axis

(Note 15) Main circuit

power supply

CN1A

CN1B

Servo amplifier

The last servo amplifier (Note 8)

CN1BCN1A

24 (Note 12)

(Note 7)

26 DOCOM

(Note 10) 24 V DC

19

Plate

LBR-B

2 MO1 1 LG

MO2

6 LB-B Encoder B-phase pulse B-axis

10 V DC 5 V Analog monitor 1

10 V DC 5 V Analog monitor 2 LG

SD

15

14

(differential line driver)

(Note 1)CNP1 11

(Note 6) SSCNET III cable (option)

18. MR-J4W2-0303B6 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 of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output

signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. If the controller does not have forced stop function, always install the forced stop 2 switch (normally closed contact).

4. When starting operation, always turn on EM2 (Forced stop 2). (Normally closed contact)

5. Use SW1DNC-MRC2-_. (Refer to section 11.4.)

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

Cable Cable model Cable length

Standard cord inside cabinet

MR-J3BUS_M 0.15 m to 3 m

Standard cable outside cabinet

MR-J3BUS_M-A 5 m to 20 m

Long-distance cable MR-J3BUS_M-B 30 m to 50 m

7. The wiring after the second servo amplifier is omitted.

8. Up to 64 axes of servo amplifiers can be connected. The number of connectable axes depends on the controller you use.

Refer to section 18.5 for setting of axis selection.

9. Make sure to cap the unused CN1B connector.

10. Supply 24 V DC 10% to interfaces from outside. The total current capacity is up to 250 mA.

250 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number

of I/O points. Refer to section 3.8.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC

power supply is divided between input signal and output signal for convenience. However, they can be configured by one. The

24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.

11. CALM (AND malfunction) turns on in normal alarm-free condition. (Normally closed contact)

12. In the initial setting, CINP (AND in-position) is assigned to the pin. You can change devices of the pin with [Pr. PD08].

13. You can change devices of these pins with [Pr. PD07] and [Pr. PD09].

14. Devices can be assigned for these signals with controller setting. For devices that can be assigned, refer to the controller

instruction manual. The following devices can be assigned for R_MTCPU, Q17_DSCPU, RD77MS_, QD77MS_, and

LD77MS_.

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

amplifier.

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(2) For source I/O interface

POINT

For notes, refer to (1) in this section.

(Note 13)

DI3-B

23

10

CN3

AND malfunction (Note 11)

(Note 2)

11 CALM

12

25 MBR-B

13

3 LA-A 16 LAR-A

4 LB-A

17 LBR-A

5 LA-B

18 LAR-B

Servo amplifier

Electromagnetic brake interlock for A-axis

CN3

Encoder A-phase pulse A-axis

Encoder B-phase pulse A-axis

Encoder A-phase pulse B-axis

(differential line driver)

(differential line driver)

(differential line driver)

(Note 3, 4) Forced stop 2

A-axis FLS

A-axis RLS

A-axis DOG

B-axis FLS B-axis RLS

B-axis DOG

(Note 14)

DICOM

EM2

7DI1-A

8DI2-A

9DI3-A

(Note 6) SSCNET III cable

(option)

Servo system controller

CN1A

CN1B

(Note 7)

(Note 1)

(Note 9) Cap

(Note 5) MR Configurator2

+

Personal computer

CN5

USB cable MR-J3USBCBL3M

(option)

20DI1-B

21DI2-B

22

MBR-A

RA1

RA2

RA3

(Note 10) 24 V DC

10 m or less 10 m or less

Electromagnetic brake interlock for B-axis

(Note 15) Main circuit

power supply

CN1A

CN1B

Servo amplifier

The last servo amplifier (Note 8)

CN1BCN1A

24 (Note 12)

(Note 7)

26 DOCOM

(Note 10) 24 V DC

19

Plate

LBR-B

2 MO1 1 LG

MO2

6 LB-B Encoder B-phase pulse B-axis

10 V DC 5 V Analog monitor 1

10 V DC 5 V Analog monitor 2 LG

SD

15

14

(differential line driver)

CNP1 11

(Note 6) SSCNET III cable (option)

18. MR-J4W2-0303B6 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 CN3 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

14

LG

LA-A

1

152

163

174

185

196

207

218

229

2310

2411

2512

2613

LBR-A

LAR-A

LB-A

LA-B

LBR-B

LAR-B

LB-B

DI1-A

DI2-B

DI1-B

DI2-A

DI3-A

DICOM

DI3-B

EM2

CALM

MBR-B

CINP MBR-A

DOCOM

CN3

MO1

LG

MO25A5B CN2A

SHDBAT

4A4B P5LG 3A3B

2A2B

1A1B MRMRR

CN2B 5A5B SHDBAT

4A4B P5LG 3A3B

2A2B

1A1B MRMRR

18. MR-J4W2-0303B6 SERVO AMPLIFIER

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18.3.7 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2 and section 18.3.9

(2).

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

(1) Input device

Device Symbol Connector

pin No. Function and application

I/O division

Forced stop 2 EM2 CN3-10 For details of device, refer to section 3.5.1. DI-1

Forced stop 1 EM1 (CN3-10) DI-1

DI1-A CN3-7 DI-1

DI2-A CN3-8 DI-1

DI3-A CN3-9 DI-1

DI1-B CN3-20 DI-1

DI2-B CN3-21 DI-1

DI3-B CN3-22 DI-1

(2) Output device

(a) Output device pin

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

Connector pin No. Parameter

Initial device I/O division Remark A-axis B-axis

CN3-12 [Pr. PD07] MBR-A For A-axis

CN3-25 [Pr. PD07] MBR-B DO-1

For B-axis

CN3-11 [Pr. PD09] [Pr. PD09] CALM Common pin

CN3-24 [Pr. PD08] [Pr. PD08] CINP Common pin

(b) Output device explanations

POINT

Initial letter and last letter with hyphen in device symbols mean target axis. Refer

to the following table.

Symbol (Note)

Target axis Description

C _ _ _ A axis/B axis When both axes of A and B meet a condition, the device will be enabled (on or off).

X _ _ _ A axis/B axis When each axis of A or B meets a condition, the device will be enabled (on or off).

_ _ _ -A A axis Device for A axis

_ _ _ -B B axis Device for B axis

Note. _ _ _ differs depending on devices.

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Device Symbol Function and application

AND electromagnetic brake interlock

CMBR For details of device, refer to section 3.5.2.

OR electromagnetic brake interlock

XMBR

Electromagnetic brake interlock for A- axis

MBR-A

Electromagnetic brake interlock for B- axis

MBR-B

AND malfunction CALM

OR malfunction XALM

Malfunction for A-axis ALM-A

Malfunction for B-axis ALM-B

AND in-position CINP

OR in-position XINP

In-position for A-axis INP-A

In-position for B-axis INP-B

AND ready CRD

OR ready XRD

Common ready for A- axis

RD-A

Common ready for B- axis

RD-B

AND speed reached CSA

OR speed reached XSA

Speed reached for A- axis

SA-A

Speed reached for B- axis

SA-B

AND limiting speed CVLC

OR limiting speed XVLC

Limiting speed for A- axis

VLC-A

Limiting speed for B- axis

VLC-B

AND zero speed detection

CZSP

OR zero speed detection

XZSP

Zero speed detection for A-axis

ZSP-A

Zero speed detection for B-axis

ZSP-B

AND limiting torque CTLC

OR limiting torque XTLC

Limiting torque for A- axis

TLC-A

Limiting torque for B- axis

TLC-B

AND warning CWNG

OR warning XWNG

Warning for A-axis WNG-A

Warning for B-axis WNG-B

AND battery warning CBWNG

OR battery warning XBWNG

Battery warning for A- axis

BWNG-A

Battery warning for B- axis

BWNG-B

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Device Symbol Function and application

AND variable gain selection

CCDPS For details of device, refer to section 3.5.2.

OR variable gain selection

XCDPS

Variable gain selection for A-axis

CDPS-A

Variable gain selection for B-axis

CDPS-B

AND absolute position undetermined

CABSV

OR absolute position undetermined

XABSV

Absolute position undetermined for A- axis

ABSV-A

Absolute position undetermined for B- axis

ABSV-B

(3) Output signal

Signal name Symbol Connector

Pin No. Function and application

Encoder A-phase pulse A (differential line driver)

LA-A LAR-A

CN3-3 CN3-16

Refer to section 3.5.3 for details of signal.

Encoder B-phase pulse A (differential line driver)

LB-A LBR-A

CN3-4 CN3-17

Encoder A-phase pulse B (differential line driver)

LA-B LAR-B

CN3-5 CN3-18

Encoder B-phase pulse B (differential line driver)

LB-B LBR-B

CN3-6 CN3-19

(4) Power supply

Signal name Symbol Connector

Pin No. Function and application

Digital I/F Power supply input

DICOM CN3-23 Input 24 V DC (24 V DC 10% 250 mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used. For sink interface, connect + of 24 V DC external power supply. For source interface, connect - of the 24 V DC external power supply.

Digital I/F Common

DOCOM CN3-26 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.

Control common LG CN3-1 CN3-14

This is for encoder output pulses (differential line driver).

Shield SD Plate Connect the external conductor of the shielded wire.

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(5) Analog monitor output

Signal name Symbol Connector

pin No. Function and application

I/O division

Analog monitor 1 MO1 CN3-2 This is used to output the data set in [Pr. PC09] to between MO1 and LG in terms of voltage. Output voltage: 10 V 5 V Resolution: 10 bits or equivalent

Analog output

Analog monitor 2 MO2 CN3-15 This signal outputs the data set in [Pr. PC10] to between MO2 and LG in terms of voltage. Output voltage: 10 V 5 V Resolution: 10 bits or equivalent

Analog output

(6) Analog monitor

POINT

A voltage of analog monitor output may be irregular at power-on.

The servo status can be outputted to two channels in terms of voltage.

(a) Setting

Change the following digits of [Pr. PC09] and [Pr. PC10].

Analog monitor 1 output selection (the signal provided to the output across MO1 and LG)

0

[Pr. PC09]

Analog monitor 1 output axis selection 0: A-axis 1: B-axis

Analog monitor 2 output selection (the signal provided to the output across MO2 and LG)

0

[Pr. PC10]

Analog monitor 2 output axis selection 0: A-axis 1: B-axis

[Pr. PC11] and [Pr. PC12] can be used to set the offset voltages to the analog output voltages.

Setting value is -9999 mV to 9999 mV.

Parameter Description Setting range [mV]

PC11 Set the offset voltage of MO1 (Analog monitor 1). -9999 to 9999

PC12 Set the offset voltage of MO2 (Analog monitor 2).

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(b) Set content

The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the

torque to MO2 (Analog monitor 2). The setting can be changed by setting in [Pr. PC09] and [Pr.

PC10] as follows. Refer to (6) (c) in this section for detection point.

Setting value

Output item Description Setting value

Output item Description

00 Servo motor speed (10 V 4 V/max. speed)

Maximum speedMaximum speed

CW direction

CCW direction

10 [V]

14 [V]

6 [V]

0

01 Torque (Note 4) (10 V 4 V/max. torque)

Maximum torqueMaximum torque

Power running in CW direction

Power running in CCW direction

10 [V]

14 [V]

6 [V]

0

02 Servo motor speed (10 V + 4 V/max. speed)

Maximum speedMaximum speed

CW direction CCW direction

10 [V]

14 [V]

0

03 Torque (Note 4) (10 V + 4 V/max. torque)

Maximum torqueMaximum torque

Power running in CW direction

Power running in CCW direction

10 [V]

14 [V]

0

04 Current command (Note 4) (10 V 4 V/max. current command)

Maximum current command (Maximum torque command)

Maximum current command (Maximum torque command)

CW direction

CCW direction

10 [V]

14 [V]

6 [V]

0

05 Speed command (Note 2) (10 V 4 V/max. speed)

Maximum speedMaximum speed

CW direction

CCW direction

10 [V]

14 [V]

6 [V]

0

06 Servo motor-side droop pulses (Note 1, 2, 3) (10 V 5 V/100 pulses)

100 [pulse]100 [pulse]

CW direction

CCW direction

10 [V]

15 [V]

5 [V]

0

07 Servo motor-side droop pulses (Note 1, 2, 3) (10 V 5 V/1000 pulses)

1000 [pulse]1000 [pulse]

CW direction

CCW direction

10 [V]

15 [V]

5 [V]

0

08 Servo motor-side droop pulses (Note 1, 2, 3) (10 V 5 V/10000 pulses)

10000 [pulse]10000 [pulse]

CW direction

CCW direction

10 [V]

15 [V]

5 [V]

0

09 Servo motor-side droop pulses (Note 1, 2, 3) (10 V 5 V/100000 pulses)

100000 [pulse]100000 [pulse]

CW direction

CCW direction

10 [V]

15 [V]

5 [V]

0

0A Feedback position (10 V 5 V/1 Mpulse)

1 [Mpulse]1 [Mpulse]

CW direction

CCW direction

10 [V]

15 [V]

5 [V]

0

0B Feedback position (10 V 5 V/10 Mpulses)

10 [Mpulse]10 [Mpulse]

CW direction

CCW direction

10 [V]

15 [V]

5 [V]

0

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Setting value

Output item Description Setting value

Output item Description

0C Feedback position (10 V 5 V/100 Mpulses)

100 [Mpulse]100 [Mpulse]

CW direction

CCW direction

10 [V]

15 [V]

5 [V]

0

0D Bus voltage (10 V + 5 V/100 V)

100 [V]

10 [V]

15 [V]

0

0E Speed command 2 (Note 2) (10 V 4 V/ max. speed)

Maximum speedMaximum speed

CW direction

CCW direction

10 [V]

14 [V]

6 [V]

0

17 Internal temperature of encoder (10 V 5 V/128 C)

128 [C]-128 [C]

CW direction

CCW direction

10 [V]

15 [V]

5 [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. For details on the value of the maximum current command (maximum torque) for 10 V 4 V, refer to (d) in this section.

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(c) Analog monitor block diagram

Droop pulses

Speed command

Position control

Speed control PWMCurrent

control

Current command Bus voltage

Speed command

Current detector

+ Servo motor

Encoder Current feedback

Position feedback

M

Position command received from servo system controller

Position feedback data returned to servo system controller

Differen- tiation

Differen- tiation

Feedback position standard position (Note)

Feedback position

+ -

Internal temperature of encoder

Servo motor speed Torque

+

+

--

+

-

Speed command 2

Note. The feedback position is outputted based on the position data passed between servo system controller and servo amplifier. [Pr.

PC13] and [Pr. PC14] can set up the standard position of feedback position that is outputted to analog monitor in order to adjust

the output range of feedback position. The setting range is between -9999 pulses and 9999 pulses.

Standard position of feedback position = [Pr. PC14] setting value 10000 + [Pr. PC13] setting value

Parameter Description Setting range

PC13 Set the lower-order four digits of the standard position of feedback position

-9999 to 9999 [pulse]

PC14 Set the upper-order four digits of the standard position of feedback position

-9999 to 9999 [10000 pulses]

(d) Maximum current command (maximum torque) for analog monitor 10 V 4 V

Values of the maximum current command (maximum torque) when the analog monitor is 10 V 4 V

are listed.

The current command (torque) outputs the maximum current command (maximum torque) at 10 V

4 V. The maximum current command (maximum torque) may not match the rated current/maximum

current ratio since it is created from the torque current in the servo amplifier.

Servo motor Servo amplifier/drive unit Maximum current command

(maximum torque) [%]

HG-AK series

HG-AK0136 MR-J4W2-0303B6 380

HG-AK0236 MR-J4W2-0303B6 380

HG-AK0336 MR-J4W2-0303B6 363

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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.

When alarms are occurring in both axes of A and B, shut off the main circuit

power supply. Not doing so may cause a fire when a regenerative transistor

malfunctions or the like may overheat the built-in regenerative resistor.

POINT

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

To deactivate the alarm, cycle the control circuit power or give the error reset or CPU reset command from

the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.

(1) When you use the forced stop deceleration function

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(a) When the forced stop deceleration function is enabled

When an all-axis stop alarm occurs, all axes will be the operation status below. When a

corresponding axis stop alarm occurs, only the axis will be the operation status below. You can

normally operate the axis that any alarm is not occurring.

Command is not received.

Alarm occurrence

Alarm No.No alarm

Model speed command 0 and equal to or less than zero speed (Note 1)

MBR (Electromagnetic brake interlock)

ON

OFF

ON (Not occurring)

OFF (Occurring)

Base circuit (Energy supply to the servo motor)

ON

OFF

Servo amplifier display

0 r/min

Servo motor speed

CALM (AND malfunction)

Dynamic brake operation 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 at this point, the electric dynamic brake will operate continuously

for the time period set by [Pr. PF12].

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

When an all-axis stop alarm occurs, all axes will be the operation status below. When a

corresponding axis stop alarm occurs, only the axis will be the operation status below. You can

normally operate the axis that any alarm is not occurring.

ON (Not occurring)

OFF (Occurring)

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

CALM (AND malfunction)

Braking by the electromagnetic brake

Dynamic brake operation time

(c) When SSCNET III/H communication is shut-off

When SSCNET III/H communication is shut-off, all axes will be the operation status below. The

display of servo amplifier differs by the shut off status of communication (d1 or E7).

ON (Not occurring)

OFF (Occurring)

MBR (Electromagnetic brake interlock)

AANo alarm (d1 or E7)

0 r/min

ON

OFF

ON

OFF

Base circuit (energy supply to the servo motor)

Servo amplifier display

CALM (AND malfunction)

Servo motor speed

SSCNET III/H communication has broken.

Model speed command 0 and equal to or less than zero speed (Note 1)

Dynamic brake operation 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 at this point, the electric dynamic brake will operate continuously

for the time period set by [Pr. PF12].

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(2) When you do not use the forced stop deceleration function

POINT

To disable the function, set "0 _ _ _" in [Pr. PA04].

The timing chart that shows the servo motor condition when an alarm or SSCNETIII/H communication shut-

off occurs is the same as (1) (b) in this section.

18.3.9 Interfaces

The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.

Refer to the section of the detailed explanation field for details.

Item Detailed explanation

Detailed description of interfaces (excluding analog output)

Section 3.8.2

Source I/O interface Section 3.8.3

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 37

(1) Internal connection diagram

EM2

CN3

DICOM 23

CN3

Servo amplifier

(Note 1)

USB D+

GND

D- 2

3

5

CN5

(Note 4) 24 V DC

(Note 2)

DI1-A

DI2-A

DI3-A

DI1-B

DI2-B

DI3-B

10

7

8

9

20

21

22

25

11

24

MBR-B

12 MBR-A

26 DOCOM

CALM

(Note 3)

(Note 2)

RA

RA

CN3

3

16

4

17

5

18

LA-A

1A

4B

1B

MR

MRR

LG

Encoder

E1 M

CN2A

6

19

LAR-A

LB-A LBR-A

LA-B LAR-B

LB-B LBR-B

14 LG

CNP1

9

Insulated

A-axis servo motor

1A

4B

1B

MR

MRR

LG

Encoder

E2 M

CN2B

CNP1

7

B-axis servo motor

Approx. 5.6 k

Approx. 5.6 k

Differential line driver output (35 mA or lower)

(Note 4) 24 V DC

10 V DC 5 V

CN3

MO1

MO2

2

15

Analog monitor

10 V DC 5 V

LG1

CNP1

11

Note 1. Signal can be assigned for these pins with the controller setting.

For contents of signals, refer to the instruction manual of the controller.

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

3. In the initial setting, CINP (AND in-position) is assigned to the pin. You can change devices of the pin with [Pr. PD08].

4. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they

can be configured by one.

The 24 V DC power for I/O signal, use power other than 24 V DC power of servo amplifier control circuit power supply.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 38

(2) Detailed description of interfaces (analog output)

LG

MO1 (MO2)

Servo amplifier

Output voltage: 10 V DC 5 V (Note) Maximum output current: 1 mA Resolution: 10 bits or equivalent

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

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 39

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".

W1

V1

U1

Cabinet

A-axis servo motor

M

U

V

W

CN2A

Servo amplifier

CNP1

Grounding terminal

Outer box

24

0

PM

CNP1

(Note 2)

Encoder

W2

V2

U2

B-axis servo motor

M

U

V

W

CN2B

CNP1

(Note 2)

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

CN3

E1

Encoder

E2

S er

vo s

ys te

m co

nt ro

lle r

Note 1. For power supply specifications, refer to section 18.1.3.

2. Connect of servo motor to E1 and E2 of the CNP1 connector. Do not connect the wire directly to the grounding terminal of

the cabinet.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 40

18.4 Startup

WARNING

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

shock.

CAUTION

Before starting operation, check the parameters. Improper settings may cause

some machines to operate unexpectedly.

The servo amplifier and servo motor may be hot while the power is on and for

some time after power-off. Take safety measures such as providing covers to

avoid accidentally touching them by hands and parts such as cables.

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

cause injury.

The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.

Refer to the section of the detailed explanation field for details.

Item Detailed explanation

Startup Section 4.2

Switch setting and display of the servo amplifier (excluding a part)

Section 4.3

Test operation Section 4.4

Test operation mode Section 4.5

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 41

18.4.1 Startup procedure

When switching power on for the first time, follow this section to make a startup.

01. Wiring check

04. Surrounding environment check

06. Axis No. settings

07. Parameter setting

08. Test operation of the servo motor alone in test

operation mode

09. Test operation of the servo motor alone by commands

10. Test operation with the servo motor and machine connected

11. Gain adjustment

12. Actual operation

Stop

02. Setting of main circuit power supply selection

1. Turning on of control circuit power supply

2. Setting of 24 V DC main circuit power

supply with [Pr. PC05]

3. Turning off of control circuit power supply

4. Turning on of control circuit power supply Check of [Pr. PC05]

03. Recheck of main circuit power supply voltage and wiring

05. Turning on of main circuit power supply

Check that the servo amplifiers and servo motors are wired correctly. (Refer

to section 18.4.4.) Set the main circuit power supply selection (48 V DC or 24 V DC) to servo

amplifier. Set [Pr. PC05] according to the flow of 02-1 to 02-4.

Set this setting only when using 24 V DC.

(The initial value of the main circuit power supply selection is 48 V DC.

When using 48 V DC, turn on the control circuit power supply and go to step

03.)

To set the parameter to servo amplifier, turn on the control circuit power

supply. At this time, do not turn on the main circuit power supply.

Change [Pr. PC05] of both A axis and B axis to "24 V DC (_ 1 _ _)".

Make sure to set both A axis and B axis.

To reflect the parameter setting, turn off the control circuit power supply.

Turn on the control circuit power supply on again, and check that the [Pr.

PC05] of both A axis and B axis are changed to "24 V DC (_ 1 _ _)".

At this time, do not turn on the main circuit power supply.

Make sure that the main circuit power supply voltage of the servo amplifier to

be turned on matches with the voltage set by [Pr. PC05] and that the servo

amplifiers and servo motors are wired correctly by visual inspection, DO

forced output function (section 4.5.1), etc. Check the surrounding environment of the servo amplifier and servo motor.

(Refer to section 18.4.4.) Turn on the main circuit power.

Confirm that the control axis No. set with the auxiliary axis number setting

switches (SW2-5 and SW2-6) and with the axis selection rotary switch

(SW1) match the control axis No. set with the servo system controller. (Refer

to section 4.3.1 (3).) Set the parameters as necessary, such as the used operation mode. (Refer

to chapter 5.) For the test operation, with the servo motor disconnected from the machine

and operated at the speed as low as possible, check whether the servo

motor rotates correctly. (Refer to section 4.5.) For the test operation with the servo motor disconnected from the machine

and operated at the speed as low as possible, give commands to the servo

amplifier and check whether the servo motor rotates correctly. After connecting the servo motor with the machine, check machine motions

with sending operation commands from the servo system controller. Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Stop giving commands and stop operation.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 42

18.4.2 Troubleshooting when "24V ERROR" lamp turns on

(1) When overvoltage is applied to the control circuit in the servo amplifier, power supply to the circuit will be

shut off and the "24V ERROR" lamp will turn on. Then, the 3-digit, 7-segment LED on display will turn

off. Immediately turn off the power and check the wiring, etc. to the main circuit power supply (48 V DC).

(2) If the "24V ERROR" lamp turns on with the 3-digit, 7-segment LED on, the control circuit power supply

voltage (24 V DC) may be failure. Check that the voltage of the control circuit power supply is 21.6 V DC

or more.

18.4.3 Wiring check

(1) Power supply system wiring

Before switching on the main circuit and control circuit power supplies, check the following items.

(a) Power supply system wiring

The power supplied to the power input terminals (24/0/PM) of the servo amplifier should satisfy the

defined specifications. (Refer to section 18.1.3)

(b) Connection of servo amplifier and servo motor

1) Check that each A axis servo motor and B axis servo motor is connected to CNP1 connector of

servo amplifier. Additionally, the servo amplifier power output (U/V/W) should match in phase with

the servo motor power input terminals (U/V/W).

Servo amplifier

CNP1

A-axis servo motor

U

V

W M

B-axis servo motor

U

V

W M

U1

V1

W1

U2

V2

W2

E1

E2

2) The power supplied to the servo amplifier should not be connected to the servo motor power

terminals (U/V/W). Doing so will fail the servo amplifier and servo motor.

Servo amplifier Servo motor

24 0 PM

U V W

M

24 V DC

48 V DC

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 43

3) The noiseless grounding terminal of the servo motor should be connected to the E1 terminal and

E2 terminal of the servo amplifier.

Servo amplifier Servo motor

ME1/E2

4) The encoder of the A axis and B axis servo motors should be connected respectively to the

CN2A and CN2B connectors of the servo amplifier.

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.

Use DO forced output to forcibly turn on/off the pins of the CN3 connector. You can use the function

to check the wiring. In this case, switch on the control circuit power supply only.

For details of I/O signal connection, refer to section 18.3.5.

(b) A voltage exceeding 24 V DC is not applied to the pins of the CN3 connector.

(c) Between plate and DOCOM of the CN3 connector should not be shorted.

Servo amplifier

DOCOM

Plate

CN3

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. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 44

18.5 Switch setting and display of the servo amplifier

Switching to the test operation mode, deactivating control axes, and setting control axis No. are enabled with

switches on the servo amplifier.

On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the

servo system controller at power-on, and the axis number, and diagnose a malfunction at occurrence of an

alarm.

The control axis setting switches of MR-J4W2-0303B6 servo amplifier are aligned vertically unlike other MR-

J4 2-axis servo amplifiers; however, the use of each number switch is the same.

Test operation select switch Disabling control axis switch for A-axis Disabling control axis switch for B-axis For manufacturer setting Auxiliary axis number setting switch Auxiliary axis number setting switch

1 2 3 4 5 6

Application

O N1

2 3

4 5

6

The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.

Refer to the section of the detailed explanation field for details.

Item Detailed explanation

Switches Section 4.3.1

Scrolling display Section 4.3.2

Status display of an axis Section 4.3.3

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 45

18.6 Dimensions

[Unit: mm]

30

16 8

6 100Approx. 80

CNP1

Approx. 51

With MR-BAT6V1SET-A

A pp

ro x.

37 .5

Approx. 27.4

6

Mass: 0.3 [kg]

PM

U1

24

Terminal

CNP1

6

5

4 W1

0

U2

V2

V1

W2

E2

E13

2

1

12

11

10

9

8

7

Mounting screw

Screw size: M5

Tightening torque: 1.87

[Nm]

A pp

ro x.

6 15

6 A

pp ro

x. 6

Approx. 6

Approx. 30

A pp

ro x.

1 68

2-M5 screw

Mounting hole process drawing

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 46

18.7 Characteristics

The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.

Refer to the section of the detailed explanation field for details.

Item Detailed explanation

Cable bending life Section 10.4

18.7.1 Overload protection characteristics

An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo

motor power wires from overloads.

[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve

shown in fig. 18.1. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several

seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken

line in the graph.

For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque

of the machine should be kept at 70% or less of the rated torque.

This servo amplifier has a servo motor overload protection for each axis. (The servo motor overload current

(full load current) is set on the basis of 120% rated current of the servo amplifier.)

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-J4W2-0303B6 SERVO AMPLIFIER

18 - 47

18.7.2 Power supply capacity and generated loss

Table 18.3 indicates the required power supply capacities for main circuit and losses generated under rated

load of the servo amplifier. For thermal design of an enclosed type cabinet, use the values in the table in

consideration for the worst operating conditions. The actual amount of generated heat will be intermediate

between values at rated torque and servo-off according to the duty used during operation. When operating

the servo motor under the rated speed, required power supply capacities for main circuit will be less than the

value of the table.

The values in the table show when the same servo motors are used for both A axis and B axis. When using

different servo motors, estimate the values with an average of the two motors.

Table 18.3 Power supply capacity and generated heat per servo amplifier at

rated output

Servo motor (2)

Main circuit (48 V DC/24 V DC)

Required power supply capacity [W]

(Note) Servo amplifier-generated heat [W]

At rated output With servo-off

HG-AK0136 460 13 3

HG-AK0236 720 19 3

HG-AK0336 960 27 3

Note. Heat generated during regeneration is not included in the servo amplifier-generated heat.

18.7.3 Dynamic brake characteristics

POINT

The dynamic brake of MR-J4W2-0303B6 is an electronic type.

Do not use dynamic brake to stop in a normal operation as it is the function to

stop in emergency.

Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1

(Forced stop 1) frequently in other than emergency.

The time constant "" for the electronic dynamic brake will be shorter than that of

normal dynamic brake. Therefore, coasting distance will be longer than that of

normal dynamic brake. For how to set the electronic dynamic brake, refer to [Pr.

PF06] and [Pr. PF12].

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 48

(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]

t1: Delay time of control section [s]

The processing delay time about 3.5 ms.

(b) Dynamic brake time constant

The following shows necessary dynamic brake time constant for equation (18.1).

D yn

am ic

b ra

ke ti

m e

co n

st a

n t

[s ]

0

Speed [r/min]

0 1000 2000

0.0005

0.0010

0.0015

0.0020

0.0025

3000 4000 5000 6000

0236

0336

0136

HG-AK series

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 49

(2) Permissible load to motor inertia when the dynamic brake is used

Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is

higher than this value, the servo amplifier and the servo motor may burn. If there is a possibility that the

ratio may exceed the value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum

rotation speed of the servo motor.

Servo motor Permissible load to motor

inertia ratio [multiplier]

HG-AK0136

HG-AK0236 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-J4W2-0303B6 220 A (attenuated to approx. 2 A in 1 ms) 600 mA (attenuated to approx. 100 mA in 500 ms)

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 50

18.8 Options and peripheral equipment

WARNING

Before connecting options and peripheral equipment, turn off the power and wait

until the charge lamp turns off. Otherwise, an electric shock may occur. In

addition, when confirming whether the charge lamp is off or not, always confirm it

from the front of the servo amplifier.

CAUTION Use the specified peripheral equipment and options to prevent a malfunction or a

fire.

POINT

We recommend using HIV wires to wire the servo amplifiers, options, and

peripheral equipment. Therefore, the recommended wire sizes may differ from

those used for the previous servo amplifiers.

The items in the following table are the same as those for MR-J4W2-_B and MR-J4W3-_B servo amplifiers.

Refer to the section of the detailed explanation field for details.

Item Detailed explanation

SSCNET III cable Section 11.1.2

Battery Section 11.3

MR Configurator2 Section 11.4

Relay (recommended) Section 11.8

Noise reduction techniques Section 11.9

Junction terminal block MR-TB26A Section 11.12

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 51

18.8.1 Cable/connector sets

POINT

The IP rating indicated for cables and connectors is their protection against

ingress of dust and raindrops when they are connected to a servo amplifier or

servo motor. If the IP rating of the cable, connector, servo amplifier and servo

motor vary, the overall IP rating depends on the lowest IP rating of all

components.

Please purchase the cable and connector options indicated in this section for the servo motor.

18.8.2 Combinations of cable/connector sets

Servo system controller

5)

HG-AK servo motor

Personal computer

6) 7)

Servo amplifier

2) 3) 4)

2) 3) 4)

Cap (packed with the servo amplifier)

CN5

CN3

CN1A

CN1B

Servo amplifier

8)9)

CN1A

CN1B

CN3

CN5

CN2A

CN2B

CNP1

CN4

CN2A

CN2B

CN4

1) Packed with the servo amplifier

Battery

CNP1

(Note)

(Note)

Note. Refer to "Servo Motor Instruction Manual (Vol. 3)" for servo motor power cables and encoder cables.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 52

No. Product name Model Description Remark

1) CNP1 connector

DFMC 1,5/ 6-ST-3,5-LR or equivalent (Phoenix Contact) Applicable wire size: AWG 24 to 16 Insulator OD: to 2.9 mm

Supplied with servo amplifier

2) SSCNET III cable

MR-J3BUS_M Cable length:

0.15 m to 3 m (Refer to section 11.1.2.)

Connector: PF-2D103 (JAE)

Connector: PF-2D103 (JAE)

Standard cord inside cabinet

3) SSCNET III cable

MR-J3BUS_M-A Cable length:

5 m to 20 m (Refer to section 11.1.2.)

Standard cable outside cabinet

4) SSCNET III cable

MR-J3BUS_M-B Cable length:

30 m to 50 m (Refer to section 11.1.2.)

Connector: CF-2D103-S (JAE)

Connector: CF-2D103-S (JAE)

Long- distance cable

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

6) Connector set MR-J2CMP2

Connector: 10126-3000PE Shell kit: 10326-52F0-008 (3M or equivalent)

Quantity: 1

7) Connector set MR-ECN1

Connector: 10126-3000PE Shell kit: 10326-52F0-008 (3M or equivalent)

Quantity: 20

8) Junction terminal block cable

MR-TBNATBL_M Cable length:

0.5,1 m (Refer to section 11.12)

Junction terminal block connector Connector: 10126-6000EL Shell kit: 10326-3210-000 (3M or equivalent)

Servo amplifier-side connector Connector: 10126-6000EL Shell kit: 10326-3210-000 (3M or equivalent)

For junction terminal block connection

9) Junction terminal block

MR-TB26A Refer to section 11.12.

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 53

18.8.3 Selection example of wires

POINT

Refer to section 11.1.2 for SSCNET III cable.

To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for

wiring. To comply with other standards, use a wire that is complied with each

standard.

Selection conditions of wire size are as follows.

Construction condition: Single wire set in midair

Wire length: 30 m or less

The voltage drops because of the cable conductor resistance. Especially for

main circuit/control circuit power supply wiring, wire to secure the required input

voltage at servo amplifier input section. It is recommended that the cable length

be as short as possible.

(1) Wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section.

Servo amplifier

24

0

PM

1) Main/control circuit power supply lead

U1

V1

W1

2) Servo motor power lead

-

+

24 V DC power supply

+

-

48 V DC power supply

U2

V2

W2

E1

E2

M

M

The following shows the wire size selection example.

Table 18.4 Wire size selection example (HIV wire)

Servo amplifier

Wire [mm2]

1) 24/0/PM/ 2) U1/V1/W1/E1

U2/V2/W2/E2 (Note)

MR-J4W2-0303B6 AWG 16 AWG 19

Note. The wire size shows applicable size of the servo amplifier connector. For wires

connecting to the servo motor, refer to "Servo Motor Instruction Manual (Vol. 3)".

18. MR-J4W2-0303B6 SERVO AMPLIFIER

18 - 54

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 5A

Main circuit power supply (24 V DC) CP30-BA 1P 1-M 10A

Note. For operation characteristics, use an intermediate speed type.

APPENDIX

App. - 1

APPENDIX

App. 1 Auxiliary equipment manufacturer (for reference)

Names given in the table are as of October 2017.

For information, such as the delivery time, price, and specifications of the recommended products, contact

each manufacturer.

Manufacturer Contact information

NEC TOKIN NEC TOKIN Corporation

Kitagawa Industries Kitagawa Industries Co., Ltd.

JST J.S.T. Mfg. Co., Ltd.

Junkosha Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch

3M 3M

SEIWA ELECTRIC Seiwa Electric Mfg. Co. Ltd.

Soshin Electric Soshin Electric Co., Ltd.

TE Connectivity TE Connectivity Ltd. Company

TDK TDK Corporation

Molex Molex

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

on the Transport of Dangerous Goods

United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter

Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium

metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation

Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the

International Maritime Organization (IMO).

To comply the instruction and code, we have modified the indication on the package for general-purpose AC

servo batteries.

The above change will not affect the function and performance of the product.

(1) Target model

(a) Battery (cell)

Model 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 mark is for EU countries only.

This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II.

Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and

components which can be recycled and/or reused.

This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately

from your household waste.

If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the

battery or accumulator contains a heavy metal at a certain concentration.

This will be indicated as follows.

Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)

In the European Union there are separate collection systems for used batteries and accumulators. Please,

dispose of batteries and accumulators correctly at your local community waste collection/recycling center.

Please, help us to conserve the environment we live in!

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, IEC/EN 61800-3, IEC/EN 60204-1

ISO/EN ISO 13849-1 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO) (Except for MR-

J4-03A6 and MR-J4W2-0303B6. Refer to section app. 4.8.1 for compatible models.)

MR-J4 servo amplifiers can be used with the MR-D30 functional safety unit, MR-J3-D05 safety logic unit, or

safety PLCs. (For combinations of the servo amplifiers and MR-D30 or MR-J3-D05, refer to each servo

amplifier instruction manual.)

App. 4.2.3 Correct use

Use the MR-J4 servo amplifiers within specifications. Refer to each instruction manual for specifications

such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is

used in any other way or if modifications are made to the device, even in the context of mounting and

installation.

WARNING

It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and

terminals immediately after power off.

If you need to get close to the moving parts of the machine for inspection or

others, ensure safety by confirming the power off, etc. Otherwise, it may cause an

accident.

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. 14.

(a) Power Wiring (local wiring and crimping tool)

The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at

75 C/60 C.

Table app. 1 Recommended wires

Servo amplifier (Note 7) 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, refer to section 11.6.

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

to main circuit, control circuit, and UL listed (recognized) 48 V DC/24 V DC power supplies which

can generate more than 1.2 A/2.4 A per axis.

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

(2) EU compliance

The MR-J4 servo amplifiers are designed to comply with the following directions to meet requirements

for mounting, using, and periodic technical inspections: Machinery directive (2006/42/EC), EMC directive

(2014/30/EU), Low-voltage directive (2014/35/EU), and RoHS directive (2011/65/EU).

(a) EMC requirement

MR-J4 servo amplifiers comply with category C3 in accordance with EN 61800-3. As for I/O wires

(max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 50 m),

use shielded wires and ground the shields. Install an EMC filter and surge protector on the primary

side for input and output of 200 V class and for output of 400 V class servo amplifiers. In addition,

use a line noise filter for outputs of the 11 kW and 15 kW of 400 V class servo amplifiers. The

following shows recommended products.

EMC filter: Soshin Electric HF3000A-UN series, TF3000C-TX series, COSEL FTB series

Surge protector: Okaya Electric Industries RSPD series

Line noise filter: Mitsubishi Electric FR-BLF

MR-J4 Series are not intended to be used on a low-voltage public network which supplies domestic

premises; radio frequency interference is expected if used on such a network. The installer shall

provide a guide for Installation and use, including recommended mitigation devices. To avoid the risk

of crosstalk to signal cables, the installation instructions shall either recommend that the power

interface cable be segregated from signal cables.

Use the DC power supply installed with the amplifiers in the same cabinet. Do not connect the other

electric devices to the DC power supply.

(b) For Declaration of Conformity (DoC)

Hereby, MITSUBISHI ELECTRIC EUROPE B.V. declares that the servo amplifiers are in compliance

with the necessary requirements and standards (2006/42/EC, 2014/30/EU, 2014/35/EU and

2011/65/EU). For the copy of Declaration of Conformity, contact your local sales office.

APPENDIX

App. - 9

(3) USA/Canada compliance

This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 14.

(a) Installation

The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet

so that the ambient temperature in the cabinet is 55 C or less. The servo amplifier must be installed

in the metal cabinet. Additionally, mount the servo amplifier on a cabinet that the protective earth

based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should

be used in open type (UL 50) and overvoltage category shown in table in section app. 4.8.1. The

servo amplifier needs to be installed at or below pollution degree 2. For connection, use copper

wires.

(b) Short-circuit current rating (SCCR)

Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical

Amperes, 500 Volts Maximum (Not More Than 5 kA rms Symmetrical Amperes, 48 Volts Maximum

for MR-J4-03A6 and MR-J4W2-0303B6). For SCCR when using a Type E Combination motor

controller, refer to section 11.6.

(c) Overload protection characteristics

The MR-J4 servo amplifiers have solid-state servo motor overload protection. (It is set on the basis

(full load current) of 120% rated current of the servo amplifier.)

(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.

Integral thermal protection(s) is necessary for motor and refer to app. 4.4 for the proper connection.

(e) Branch circuit protection

For installation in United States, branch circuit protection must be provided, in accordance with the

National Electrical Code and any applicable local codes.

For installation in Canada, branch circuit protection must be provided, in accordance with the

Canada Electrical Code and any applicable provincial codes.

(4) South Korea compliance

This product complies with the Radio Wave Law (KC mark). Please note the following to use the

product. (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).

APPENDIX

App. - 10

App. 4.2.4 General cautions for safety protection and protective measures

Observe the following items to ensure proper use of the MR-J4 servo amplifiers. (1) For safety components and installing systems, only qualified personnel and professional engineers

should perform.

(2) When mounting, installing, and using the MELSERVO MR-J4 servo amplifier, always observe standards

and directives applicable in the country.

(3) The item about noises of the test notices in the manuals should be observed.

App. 4.2.5 Residual risk

(1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.

(2) Perform all risk assessments and safety level certification to the machine or the system as a whole.

(3) If the upper and lower power modules in the servo amplifier are shorted and damaged simultaneously,

the servo motor may make a half revolution at a maximum.

(4) Only qualified personnel are authorized to install, start-up, repair or service the machines in which these

components are installed. Only trained engineers should install and operate the equipment. (ISO 13849-

1 Table F.1 No. 5)

(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1 Table F.1 No.

1)

(6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).

(7) Keep the required clearance/creepage distance depending on voltage you use.

App. 4.2.6 Disposal

Disposal of unusable or irreparable devices should always occur in accordance with the applicable 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 on a cabinet which meets IP54 in the correct direction

to maintain pollution degree 2.

The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not

have a protective cover. Touching the resistor (including wiring/screw hole area)

may cause a burn injury and electric shock. Even if the power was shut-off, be

careful until the bus voltage discharged and the temperature decreased because

of the following reasons. It may cause a burn injury due to very high temperature without cooling. It may cause an electric shock due to charged capacitor of the servo amplifier.

To adapt your machine using MR-J4-03A6 or MR-J4W2-0303B6 to IEC/EN 60950-1, either supply the

amplifier with a power supply complying with the requirement of 2.5 stated in IEC/EN 60950-1 (Limited

Power Source), or cover the amplifier and motors connected to the outputs with a fire enclosure.

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

S er

vo a

m 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

MCCB or fuse

Controller

STO

Encoder cable

(3-phase 230 V AC)

Power supply (3-phase 400 V AC)

Transformer (Note 3) (star-connected)

(Note 1) MCCB or fuse

PE

L11 L21

MC Servo amplifier

Cabinet side

Machine side

Encoder

Servo motor

L1 C P+

D N-

U/V/W/PE

CN2

CN1

CN8

L2L3

To protective equipment (Thermal signal) (Note 2)

Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.

2. Please use a thermal sensor, etc. for thermal protection of the servo motor.

3. For 400 V class, a step-down transformer is not required.

APPENDIX

App. - 13

(2) 1-phase input for MR-J4 1-axis servo amplifier

MCCB or fuse

Controller

STO

Encoder cable

(1-phase 230 V AC)

Power supply (3-phase 400 V AC)

Transformer (star-connected)

(Note 1) MCCB or fuse

PE

L11 L21

MC Servo amplifier

Cabinet side

Machine side

Encoder

Servo motor

L1 C P+

D N-

U/V/W/PE

CN2

CN1

CN8

L2L3 (Note 2)

(Note 2)

To protective equipment (Thermal signal) (Note 3)

Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.

2. When using a 100 V class servo amplifier, step down the power supply voltage to

100 V and connect the main circuit power supply lines to L1 and L2. For 1-phase

200 V AC servo amplifiers, connect the lines to L1 and L3.

3. Please use a thermal sensor, etc. for thermal protection of the servo motor.

(3) Main circuit 48 V DC input for MR-J4 1-axis servo amplifier

Controller

Encoder cable

CNP1

48 V DC

24 V DC

Servo amplifier

Encoder

Servo motor

CN2

CN1

Cabinet side

Machine sideTo protective equipment (Thermal signal) (Note)

0 PM

24

U/V/W/E

Note. Please use a thermal sensor, etc. for thermal protection of the servo motor.

The connectors described by rectangles are safely separated from the main circuits described by circles.

The connected motors will be limited as follows.

(1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric)

(2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA)

APPENDIX

App. - 14

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

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

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 (Note 3) 10 years

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 years to 3 years)

(Note 1) Battery backup time Approximately 20,000 hours (equipment power supply: off,

ambient temperature: 20 C)

(Note 2) Battery life 5 years from date of manufacture Note 1. The time is for using MR-J4 1-axis servo amplifier with an rotary servo motor using MR-BAT6V1SET, MR-BAT6V1SET-A, or

MR-BAT6V1BJ. For details and other battery backup time, refer to chapter 12.

2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the

connection status.

3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends

on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation in

air-conditioned environment (surrounding air temperature of 40 C or less for use at the maximum 1000 m above sea level,

30 C or less for over 1000 m to 2000 m).

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.

Do not hold the front cover, cables, or connectors when carrying the servo

amplifier. Otherwise, it may drop.

For detailed information on transportation and handling of the battery, refer to

app. 2 and app. 3.

Install the product in a load-bearing place of servo amplifier and servo motor in

accordance with the instruction manual.

Do not put excessive load on the machine.

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

Item Environment

Ambient temperature

Operation [C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3)

Transportation (Note) [C] -20 to 65 Class 2K4 (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 2)

3-phase 200 V AC to 240 V AC,

50 Hz/60 Hz (Note 2)

1-phase 100 V AC to 120 V AC,

50 Hz/60 Hz

3-phase 380 V AC to 480 V AC,

50 Hz/60 Hz

48 V DC or 24 V DC

Control circuit (line voltage)

1-phase 200 V AC to 240 V AC, 50/60 Hz (Note 2)

1-phase 100 V AC to 120 V AC,

50 Hz/60 Hz

1-phase 380 V AC to 480 V AC,

50 Hz/60 Hz

24 V DC

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 3)

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, and EN 61800-5-2

Mean time to dangerous failure MTTFd 100 [years] (314a)

Effectiveness of fault monitoring of a system or subsystem

DC = Medium, 97.6 [%]

Average probability of dangerous failures per hour

PFH = 6.4 10-9 [1/h]

Mission time 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)

Note 1. For the use in US/Canada, constitute a branch circuit including the power supply which endures SCCR of 5 kA minimum in the

industrial cabinet.

2. For MR-J4-_-RJ, 283 V DC to 340 V DC are also supported.

3. Servo amplifiers manufactured in June 2015 or later comply with SIL 3 requirements. However, MR-J4-_A_/MR-J4-_B_ servo

amplifiers manufactured in China comply with SIL 3 requirements from the December 2015 production.

APPENDIX

App. - 19

App. 4.8.2 Dimensions/mounting hole process drawing

W D

H Front Side

Servo amplifier Variable dimensions [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 safety regulations and laws in which machines with these

components are installed, particularly the standards and guidelines mentioned in this Instruction Manual and

the requirements mentioned in ISO/EN ISO 13849-1, IEC 61508, IEC/EN 61800-5-2, and IEC/EN 60204-1.

The staff responsible for this work must be given express permission from the company to perform start-up,

programming, configuration, and maintenance of the machine in accordance with the safety standards.

WARNING Improper installation of the safety related components or systems may cause

improper operation in which safety is not assured, and may result in severe

injuries or even death.

Protective Measures

As described in IEC/EN 61800-5-2, the Safe Torque Off (STO) function only prevents the MFR-J4 series

servo amplifier from supplying energy to the servo motor. Therefore, if an external force acts upon the

drive axis, additional safety measures, such as brakes or counter-weights must be used.

App. 5.4 Residual risk

Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are

residual risks associated with the STO/EMG function. Mitsubishi Electric is not liable for any damages or

injuries caused by the residual risks.

(1) The SS1 function only guarantees the delay time before STO/EMG is engaged. Proper setting of this

delay time is the full responsibility of the company and/or individuals responsible for installation and

commissioning of the safety related system. The system, as a whole, must pass safety standards

certification.

(2) When the SS1 delay time is shorter than the required servo motor deceleration time, if the forced stop

function is malfunctioning, or if STO/EMG is engaged while the servo motor is still rotating; the servo

motor will stop with the dynamic brake or freewheeling.

(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety

related component.

(4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.

The Mitsubishi Electric safety related components mentioned in this manual are certified by Certification

Body as meeting the requirements of ISO/EN ISO 13849-1 Category 3, PL d and IEC 61508 SIL 2.

(5) Safety is not assured until safety-related components of the system are completely installed or adjusted.

(6) When replacing a servo amplifier etc. or MR-J3-D05, confirm that the new equipment is exactly the

same as those being replaced. Once installed, be sure to verify the performance of the functions before

commissioning the system.

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 modules in the servo amplifier are shorted and damaged simultaneously,

the servo motor may make a half revolution at a maximum. For a linear servo motor, the primary side will

move a distance of pole pitch.

App. 5.5 Block diagram and timing chart

(1) Function block diagram

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 safety logic unit is equipped with LED displays to check errors for maintenance.

Please dispose this unit according to your local laws and regulations.

App. 5.7 Functions and configuration

App. 5.7.1 Summary

MR-J3-D05 has two systems in which the each system has SS1 function (delay time) and output of STO

function.

APPENDIX

App. - 24

App. 5.7.2 Specifications

Safety logic unit model MR-J3-D05

Control circuit power supply

Voltage 24 V DC

Permissible voltage fluctuation

24 V DC 10%

Power supply capacity

[A] 0.5 (Note 1, 2)

Compatible system 2 systems (A-axis, B-axis independent)

Shut-off input 4 points (2 points 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 method 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 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and 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 global standards

CE marking LVD: EN 61800-5-1 EMC: EN 61800-3

MD: EN ISO 13849-1, 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

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

Servo amplifier

STO cable MR-D05UDL3M-B

CN9

CN10

CN8

CN3

L1 L2 L3

U V W

EM2 (Forced stop 2)

APPENDIX

App. - 26

(2) Connection example

STO1

4

5

3

6

7

8

CN3

EM2 (B-axis)

CN8

SDO1A+4A

4B SDO1A-

SDI1A+1A

1B SDI1A-

SDI2A+

SRESA+

SDO2A+

TOFA

3A

3B

1A

1B

6A

6B

8A

SDI2A-

SDO2A-

SRESA-

CN9

CN10

STO1

TOFB2

TOFCOM

STO2

STOCOM

TOFB1

Servo amplifier

SW1

FG

4

5

3

6

7

8

CN3

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

+24V7A

0V7B

SDI2B-

SDO2B-

SRESB-

CN9

CN10

SW2

S1

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)

MR-J3-D05

(Note 1) (Note 1)

24 V (Note 2) (Note 2)

S4 RESB

S2 RESA

Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.

2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.

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

About 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 the input terminal.

Transmit signals from source (open-collector) type transistor output, relay switch, etc.

VCES 1.0 V ICEO 100 A

About 5.4 k

Approximately 5 mA 24 V DC 10% 200 mA

Switch

SRESA-, etc.

MR-J3-D05

SRESA+, etc.

(b) Digital output interface DO-1

This is a circuit in which the emitter of the output transistor is the output terminal. When the output

transistor is turned on, the current will flow from the output terminal to a load.

A maximum of 2.6 V voltage drop occurs in the MR-J3-D05.

MR-J3-D05

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: UL 1007)

and strip the wires to make the stripped length 7.0 mm 0.3 mm. Confirm the stripped length with

gauge, etc. before using the wires.

(b) If the stripped wires are bent, loose or too thick due to twisting too much, fix the wires by twisting

lightly, etc. Then, confirm the stripped length before using the wires. Do not use excessively

deformed wires.

(c) Smooth out the wire surface and stripped insulator surface.

(2) Connecting wires

Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires

are connected with inserted connector, the connector and the printed board may malfunction.

(a) Using extraction tool (1891348-1 or 2040798-1)

1) Dimensions and mass

[Unit: mm]

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) Applicable screwdriver

Diameter: 2.3 mm 0.05 mm

Length: 120 mm or less

Width: 2.3 mm, Blade thickness: 0.25 mm

Angle in tip of the blade: 18 1 degrees

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, Blade thickness: 0.3 mm

Angle in tip of the blade: 12 1 degrees

0.3 mm

2.5 mm

2.5 mm 0.05 mm 12 1

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) Applicable wire

Applicable 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 Definition LED

Column A

Column B

SRES Monitor LED for start/reset Off: The start/reset is off. (The switch contact is opened.) On: The start/reset is on. (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 from when the STO shut off switch is pressed until when STO output is performed. Set the

same setting for SW1 and SW2. The following table shows the delay time to be set according to the setting

value of the rotary switch.

Setting cannot be changed while power is on. Notify users that setting cannot be changed by putting a seal

or by another method so that end users will not change the setting after the shipment.

0 to F in the following table is the set value of the rotary switches (SW1 and SW2).

Rotary switch setting and delay time at A-axis/B-axis [s]

B-axis

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 Definition Cause Action

Power is not supplied. Power LED does not turn on although power is supplied.

1. 24 V DC power supply is malfunctioning.

Replace the 24 V DC power supply.

2. Wires 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

A pp

ro x.

1 92

A pp

ro x.

5 A

pp ro

x. 5

18 2

Approx. 80

Mounting hole process drawing

19.5

22.5

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 +24 V 0 V

8A 8B TOFA TOFB

CN8A CN8B 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

Servo amplifier

Servo amplifier

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 complies 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 How to replace servo amplifier without magnetic pole detection

CAUTION Be sure to write the magnetic pole information of the servo amplifier before the

replacement to the servo amplifier after the replacement. If the information before

and after replacement are different, the servo motor may operate unexpectedly.

When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole

detection cannot be performed unavoidably, write the magnetic pole information from the servo amplifier

before the replacement to the one after the replacement using MR Configurator2. (1) Procedures

(a) Read the magnetic pole information of the servo amplifier before the replacement.

(b) Write the read magnetic pole information to the servo amplifier after the replacement.

(c) Perform the test operation with the torque limit for ensuring the safety, and confirm that there is no

trouble.

(2) Migration method of the magnetic pole information

(a) How to read the magnetic pole information from the servo amplifier before the replacement

1) Open the project in MR Configurator2, select "MR-J4-B" for model, and select "Linear" for

operation mode. Tick the "Multi axis" box and select one from A-axis to C-axis from the menu.

2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis"

and then "Linear diagnosis".

3) Click the "Magnetic pole information" button ( 1) in figure) to open the magnetic pole information

window.

4) Click "Read All" of the magnetic pole information window. ( 2) in figure)

5) Confirm the data 1 and data 2 ( 3) in figure) of the magnetic pole information window and take

notes.

(b) How to write the magnetic pole information to the servo amplifier after the replacement

1) Open the project in MR Configurator2, select "MR-J4-B" for model, and select "Linear" for

operation mode. Tick the "Multi axis" box and select one from A-axis to C-axis from the menu.

2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis"

and then "Linear diagnosis".

3) Click the "Magnetic pole information" button ( 1) in Figure) to open the magnetic pole information

window.

4) Input the value of the magnetic pole information taken notes to the data 1 and data 2 ( 3) in

figure) of the magnetic pole information window.

5) Click "Write All" ( 4) in figure) of the magnetic pole information window.

APPENDIX

App. - 43

6) Cycle the power of the servo amplifier.

2) 3) 4) 1)

App. 8 Two-wire type encoder cable for HG-MR/HG-KR

Use a two-wire type encoder cable for the fully closed loop control of the MR-J4W2-_B servo amplifiers.

For MR-EKCBL_M-_ encoder cables for HG-MR and HG-KR, up to 20 m cables are two-wire type.

Therefore, when you need a longer encoder cable of two-wire type than 20 m, fabricate one using MR-

ECNM connector set. Use the internal wiring diagram in the section to fabricate a cable up to 50 m.

App. 8.1 Configuration diagram

Servo amplifier

CN2A

CN2B

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

APPENDIX

App. - 44

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. Keep open the pins shown with . Especially, pin 10 is provided

for manufacturer adjustment. If it is connected with any other pin, the

servo amplifier cannot operate normally.

App. 8.3 Internal wiring diagram

(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.

APPENDIX

App. - 45

App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System &

Service

POINT

For the details of the SSCNET III cables, contact your local sales office.

Do not look directly at the light generated from CN1A/CN1B connector of servo

amplifier or the end of SSCNET III cable. The light can be a discomfort when it

enters the eye.

The cable is available per 1 m up to 100 m. The number of the length (1 to 100) will be in the underscore in

the cable model.

Cable model Cable length

Bending life Application/remark 1 m to 100 m

SC-J3BUS_M-C 1 to 100 Ultra-long

bending life Using long distance cable

App. 10 CNP_crimping connector

CNP1

CNP2

1) 2)

No. Name Model Definition Number of

parts

1) Connector set MR-J3WCNP12-DM

For CNP1 Receptacle housing: J43FSS-03V-KX Receptacle contact: BJ4F-71GF-M3.0 (JST) Applicable wire Wire size: 1.25 mm2 to 2.0 mm2

(AWG 16 to 14) Insulator OD: 2.0 mm to 3.8 mm The crimping tool (YRF-1130) is required.

For CNP2 Receptacle housing: F32FMS-06V-KXY Receptacle contact: BF3F-71GF-P2.0 (JST) Applicable wire Wire size: 1.25 mm2 to 2.0 mm2

(AWG 16 to 14) Insulator OD: 2.4 mm to 3.4 mm The crimping tool (YRF-1070) is required.

1 each

2) Connector set MR-J3WCNP12-DM- 10P

10 each

APPENDIX

App. - 46

App. 11 Recommended cable for servo amplifier power supply

The following information is as of September 2015. For the latest information, contact the manufacturer.

Manufacturer: Mitsubishi Electric System & Service

FA PRODUCT DIVISION mail: oss-ip@melsc.jp

(1) Specifications 1 Primary-side power cable

Name Model Wire size Insulator material

Minimum bend radius [mm]

Insulator OD [mm]

Applicable standard

(wire part)

1) Main circuit power supply SC-EMP01CBL_M-L AWG 14 3 pcs. PVC

(red, white, blue)

30 Approx.

3.6

UL 1063/MTW

2) Control circuit power supply SC-ECP01CBL_M-L AWG 16 2 pcs. PVC

(red, white) 30

Approx. 3.2

3) Regenerative option SC-ERG01CBL_M-L AWG 14 2 pcs. PVC

(black)

30 Approx.

3.6 4) Built-in regenerative resistor short circuit connector

SC-ERG02CBL01M-L AWG 14 1 pcs. -

A symbol "_" in the model name indicates a cable length.

Motor-side power cable

Name Model Wire size

Material Minimum bend radius [mm]

Overall diameter

[mm]

Applicable standard

(wire part) Insulator Outer sheath

5) Direct connection to rotary servo (up to 10 m)

Standard SC-EPWS1CBL_M-*-L AWG 18 4C

ETFE

PVBC (black)

50 Approx.

6.2 UL 13/CL3

6) Long

bending life

SC-EPWS1CBL_M-*-H AWG 19 4C 40 Approx.

5.7 UL AWM 2103

7) Linear servo (up to 10 m)

Standard SC-EPWS2CBL_M-L

AWG 18 4C 50 Approx.

6.2 UL 13/CL3

8)

Linear servo (more than 10 m)/junction connection to rotary servo (more than 10 m)

AWG 16 4C PVC 90 Approx.

11.1 UL AWM 2501

9) Linear servo (up to 10 m)

Long bending

life SC-EPWS2CBL_M-H

AWG 19 4C

ETFE

40 Approx.

5.7 UL AWM 2103

10)

Linear servo (more than 10 m)/junction connection to rotary servo (more than 10 m)

AWG 14 4C 75 Approx.

10.5 UL AWM 2501

A symbol "_" in the model name indicates a cable length.

A symbol "*" in the model name is "A1" or "A2". A1: Load-side lead, A2: Opposite to load-side lead.

The characters "-H" or "-L" at the end of a model name indicate a bending life. A model name with the

characters "-H" has a long bending life, and "-L" has a standard bending life.

APPENDIX

App. - 47

(2) Dimensions

[Unit: mm]

1) [SC-EMP01CBL_M-L]

L [m]

Power sideAmplifier side

24

3 4

9

1 2

3

2) [SC-ECP01CBL_M-L]

1 2

3

L [m]23

3 0

8

Power sideAmplifier side

3) [SC-ERG01CBL_M-L]

1 2

3

L [m]23

3 0

8

Regenerative option side

Amplifier side

4) [SC-ERG02CBL01M-L]

Amplifier side

30

8

23

1 2

3

5)/6) [SC-EPWS1CBL_M-*-L/

SC-EPWS1CBL_M-*-H] Motor sideAmplifier side

L [m] 200

2 0

1 0

23 30

2 5

1 4

Cable OD : 5) Standard 6) Long bending life

About 6.2 About 5.7

7)/8)/9)/10) [SC-EPWS2CBL_M-L/

SC-EPWS2CBL_M-H]

200

Motor sideAmplifier side

L [m] 200

20

10

23

Cable OD : 7) Standard 8) Standard 9) Long bending life 10) Long bending life

10 m or shorter 11 m to 30 m 10 m or shorter 11 m to 30 m

About 6.2 About 11.1 About 5.7 About 10.5

A symbol "_" in the model name indicates a cable length.

A symbol "*" in the model name is "A1" or "A2". A1: Load-side lead, A2: Opposite to load-side lead.

APPENDIX

App. - 48

App. 12 Special specification

App. 12.1 Amplifier without dynamic brake

App. 12.1.1 Summary

This section explains servo amplifiers without dynamic brakes Items not given in this section will be the

same as MR-J4W_-_B_.

App. 12.1.2 Model

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

available.

Symbol

SSCNETIII/H interface

Rated output Number of axes

Symbol Rated output [kW]

44

22

77

A-axis B-axis C-axis

0.2

0.4

0.75

1

0.2

0.4

0.2

0.4

0.75

1

0.2

0.4

0.2

0.4

222

444

1010

Series

W2

W3

Number of axes

2

3

Special specifications

Symbol Special specifications

-ED

None Standard

Without a dynamic brake

M R J DBW E2 224 - --

App. 12.1.3 Specifications

The dynamic brake built-in the servo amplifier is removed.

Take safety measures such as making another circuit in case of an emergency stop, alarm, and servo motor

stop at power supply shut-off.

When the following servo motors are used, the electronic dynamic brake can start at an alarm occurrence.

Series Servo motor

HG-KR HG-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-J4W_-_B-ED [Pr. PF06] _ _ _ 2

When "2 _ _ _" (initial value) is set in [Pr. PA04], an forced stop deceleration can start at an alarm

occurrence. Setting "0 _ _ _" in [Pr. PA04] disables the forced stop deceleration.

APPENDIX

App. - 49

App. 12.2 Special coating-specification product (IEC 60721-3-3 Class 3C2)

App. 12.2.1 Summary

This section explains servo amplifiers with a special coating specification. Items not given in this section will

be the same as MR-J4W_-_B_.

App. 12.2.2 Model

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

available.

Symbol

SSCNET III/H interfaceRated output

Number of axes

Symbol Rated output [kW]

44

22

77

A-axis B-axis C-axis

0.2

0.4

0.75

1

0.2

0.4

0.2

0.4

0.75

1

0.2

0.4

0.2

0.4

222

444

1010

Series

W2

W3

Number of axes

2

3

Symbol

Power supply

None

6

Power supply

3-phase 200 V AC to 240 V AC

48 V DC/24 V DC

0303 0.03 0.03

Special coating-specification product (3C2)

M R J B BW E2 2 24 ---

APPENDIX

App. - 50

App. 12.2.3 Specifications

(1) Special coating

Using the MR-J4 series in an atmosphere containing a corrosive gas may cause its corrosion with time,

resulting in a malfunction. For the printed circuit board of the servo amplifiers with a special coating

specification, a urethane coating agent is applied to some parts capable of being coated technically

(except LEDs, connectors, terminal blocks, etc.) to improve the resistance to corrosive gases. Use a

servo amplifier with a special coating specification specifically for applications susceptible to corrosive

gases, including tire manufacturing and water treatment. Although the special coating-specification

products have the improved resistance to corrosive gases, proper operations in environments

mentioned above are not guaranteed. Therefore, perform periodic inspections for any abnormality.

(2) Standard for corrosive gases

In IEC 60721-3-3, corrosive gases refer to sea salt, sulfur dioxide, hydrogen sulfide, chlorine, hydrogen

chloride, hydrogen fluoride, ammonia, ozone, and nitrogen oxides shown in the environmental

parameter column of the table below.

The table also shows the corrosive gas concentrations defined in IEC 60721-3-3, Class 3C2.

Environmental parameter 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. - 51

App. 13 Driving on/off of main circuit power supply with DC power supply

App. 13.1 Connection example

The following is common in 200 W or more MR-J4W_-_B servo amplifiers. For the signals and wiring that

are not described in this section, refer to section 3.1.

MC (Note 3)

CALM

DOCOM

CN3

(Note 2)

24 V DC (Note 6)

24 V DC (Note 6)

24 V DC (Note 7, 8)

AND malfunctionRA1

L1

L2

L3

Power supply (Note 1)

Servo amplifier

AND malfunction RA1

OFF

MC

ON MC

Emergency stop switch

CN3

Forced stop 2(Note 2) EM2

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 3.8.3.

3. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of

contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may

cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not

required, slow the time to turn off the magnetic contactor.

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

amplifier.

5. When not using the STO function, attach the short-circuit connector came with a servo amplifier.

6. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they

can be configured by one.

7. Driving the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements.

8. Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply. Always use the power supply

designed exclusively for the magnetic contactor.

APPENDIX

App. - 52

App. 13.2 Magnetic contactor

Use a magnetic contactor with an operation delay time (interval between current being applied to the coil

until closure of contacts) of 80 ms or less.

(1) For MR-J4W2

Total output of rotary servo motors

Total continuous thrust of linear servo motors

Total output of direct drive motors

Magnetic contactor

300 W or less

From over 300 W to 600 W 150 N or less 100 W or less SD-N11

From over 600 W to 1 kW From over 150 N to 300 N From over 100 W to 252 W

From over 1 kW to 2 kW From over 300 N to 720 N From over 252 W to 838 W SD-N21

(2) For MR-J4W3

Total output of rotary servo motors

Total continuous thrust of linear servo motors

Total output of direct drive motors

Magnetic contactor

450 W or less 150 N or less SD-N11

From over 450 W to 800 W From over 150 N to 300 N 252 W or less

From over 800 W to 1.5 kW From over 300 N to 450 N From over 252 W to 378 W SD-N21

APPENDIX

App. - 53

App. 14 Optional data monitor function

The optional data monitor function is used to monitor data in the servo amplifier with the servo system

controller. In the optional data monitor function, data types of registered monitor and transient command can

be set.

For details of usage, unit of data type, and others, refer to the manuals for servo system controllers.

App. 14.1 Registered monitor

Data type Description

Effective load ratio The continuous effective load current is displayed. The effective value is displayed considering a rated current as 100%.

Regenerative load ratio The ratio of regenerative power to permissible regenerative power is displayed in %.

Peak load ratio The maximum torque generated is displayed. The highest value in the past 15 s is displayed, with the rated torque being 100%.

Position feedback Feedback pulses from the servo motor encoder are counted and displayed.

Encoder position within one revolution The position in servo motor-side 1-revolution is displayed in the encoder pulse unit. When the value exceeds the maximum number of pulses, it resets to 0.

Encoder multiple revolution counter The rotation amount of the servo motor is displayed. The value is counted up by one per servo motor revolution.

Load inertia moment ratio The set ratio of the load inertia moment to the servo motor shaft inertia moment is displayed.

Load mass ratio The load to mass of the linear servo motor primary-side ratio is displayed.

Model loop gain The model loop gain value is displayed.

Main circuit bus voltage The voltage of main circuit converter (between P+ and N-) is displayed.

Cumulative current value The cumulative current value of the servo motor is displayed.

Servo motor speed The servo motor speed is displayed.

Servo motor speed The linear servo motor speed is displayed at linear servo motor driving.

Selected droop pulse The droop pulse set in [Pr. PE10] is displayed.

Module power consumption The module power consumption is displayed. The positive value is displayed in power running. The negative value is displayed in regeneration.

Module integral power consumption The module integral power consumption is displayed.

Instantaneous torque The instantaneous torque is displayed. The value of torque being occurred is displayed in real time considering a rated torque as 100%.

Instantaneous thrust The instantaneous thrust is displayed at linear servo motor driving. The value of thrust being occurred is displayed in real time considering a continuous thrust as 100%.

Load-side encoder information 1 When an incremental type linear encoder is used for the load-side encoder, the Z-phase counter of the load-side encoder is displayed by encoder pulses. When an absolute position type linear encoder is used for the load-side encoder, the encoder absolute position is displayed.

Load-side encoder information 2 When an incremental type linear encoder is used for the load-side encoder, the display shows 0. When an absolute position type linear encoder is used for the load-side encoder, the display shows 0. When a rotary encoder is used for the load-side encoder, the display shows the multi- revolution counter value of the encoder.

Z-phase counter The Z-phase counter is displayed in the encoder pulse unit. For an incremental type linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For an absolute position type linear encoder, the encoder absolute position is displayed.

Servo motor thermistor temperature The thermistor temperature is displayed for the servo motor with a thermistor. For the servo motor without thermistor, "9999" is displayed. For the servo motor with a thermistor, refer to each servo motor instruction manual.

Disturbance torque The difference between the torque necessary to drive the servo motor and the actually required torque (Torque current value) is displayed as the disturbance torque.

Disturbance thrust The difference between the thrust necessary to drive the linear servo motor and the actually required thrust (Thrust current value) is displayed as the disturbance thrust.

APPENDIX

App. - 54

Data type Description

Overload alarm margin The margins to the levels which trigger [AL. 50 Overload 1] and [AL. 51 Overload 2] are displayed in percentage.

Error excessive alarm margin The margin to the level which triggers the error excessive alarm is displayed in units of encoder pulses. The error excessive alarm occurs at 0 pulses.

Settling time The time (Settling time) after command is completed until INP (In-position) turns on is displayed.

Overshoot amount The overshoot amount during position control is displayed in units of encoder pulses.

Servo motor side/load-side position deviation

During fully closed loop control, a deviation between servo motor side position and load- side position is displayed. The number of pulses displayed is in the load-side encoder pulse unit.

Servo motor side/load-side speed deviation

During fully closed loop control, a deviation between servo motor side speed and load-side speed is displayed.

Internal temperature of encoder The internal temperature of encoder is displayed. "0" is displayed for the linear servo motor. When an encoder communication error occurs, the last value will be displayed before the error. This is available with servo amplifiers with software version C4 or later.

Servo command value The position command from the controller is displayed.

Torque command The torque command from the controller is displayed.

App. 14.2 Transient command

Data type Description

Motor serial number (First 8 characters) The servo motor serial number is displayed. The serial number is not displayed for linear servo motors. This data type is available with servo amplifier with software version C8 or later.

Motor serial number (Last 8 characters)

Servo motor ID (SSCNET III)/Encoder ID The servo motor ID and encoder ID sent from the encoder are displayed. The types of the connected servo motor and encoder can be checked by referring to the ID. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".

Servo motor ID (SSCNET III/H) The servo motor ID sent from the encoder is displayed. The type of the connected servo motor can be checked by referring to the ID. For details, refer to "Servo Motor Instruction Manual (Vol. 3)".

Encoder resolution The encoder resolution is displayed.

Servo amplifier serial number (First 8 characters)

The servo amplifier serial number is displayed.

Servo amplifier serial number (Last 8 characters)

Servo amplifier recognition information (First 8 characters)

The servo amplifier name is displayed.

Servo amplifier recognition information (Last 8 characters)

Servo amplifier software number (First 8 characters)

The software version of the servo amplifier is displayed.

Servo amplifier software number (Last 8 characters)

Power ON cumulative time The cumulative time after power on of the servo amplifier is displayed.

Inrush relay ON/OFF number The number of on and off for inrush relay of the servo amplifier is displayed.

Read alarm history number The maximum number of alarm histories of the connected servo amplifier is displayed.

Alarm history/Detail #1, #2 The alarm history/detail #1, #2 are displayed. (Hexadecimal)

Alarm history/Detail #3, #4 The alarm history/detail #3, #4 are displayed. (Hexadecimal)

Alarm history/Detail #5, #6 The alarm history/detail #5, #6 are displayed. (Hexadecimal)

Alarm history/Detail #7, #8 The alarm history/detail #7, #8 are displayed. (Hexadecimal)

Alarm history/Detail/Occurrence time The alarm history data of specific number # is displayed.

Alarm occurrence time #1, #2 The alarm occurrence time #1, #2 are displayed.

Alarm occurrence time #3, #4 The alarm occurrence time #3, #4 are displayed.

Alarm occurrence time #5, #6 The alarm occurrence time #5, #6 are displayed.

Alarm occurrence time #7, #8 The alarm occurrence time #7, #8 are displayed.

Alarm history clear command Used for alarm history clear.

APPENDIX

App. - 55

Data type Description

Home position [command unit] The home position is displayed.

Main circuit bus voltage The voltage of main circuit converter (between P+ and N-) is displayed.

Regenerative load ratio The ratio of regenerative power to permissible regenerative power is displayed in %.

Effective load ratio The continuous effective load current is displayed. The effective value is displayed considering a rated current as 100%.

Peak load ratio The maximum torque generated is displayed. The highest value in the past 15 s is displayed, with the rated torque being 100 %.

Estimate inertia moment ratio The set ratio of the load inertia moment to the servo motor shaft inertia moment is displayed.

Model loop gain The model loop gain value is displayed.

LED display The value shown on the 7-segment LED display of the servo amplifier is displayed.

Load-side encoder information 1 When an incremental type linear encoder is used for the load-side encoder, the Z-phase counter of the load-side encoder is displayed by encoder pulses. When an absolute position type linear encoder is used for the load-side encoder, the encoder absolute position is displayed.

Load-side encoder information 2 When an incremental type linear encoder is used for the load-side encoder, the display shows 0. When an absolute position type linear encoder is used for the load-side encoder, the display shows 0. When a rotary encoder is used for the load-side encoder, the display shows the multi- revolution counter value of the encoder.

Speed feedback The servo motor speed is displayed.

Servo motor thermistor temperature The thermistor temperature is displayed for the servo motor with a thermistor. For the servo motor without thermistor, "9999" is displayed. For the servo motor with a thermistor, refer to each servo motor instruction manual.

Z-phase counter The Z-phase counter is displayed in the encoder pulse unit. For an incremental type linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For an absolute position type linear encoder, the encoder absolute position is displayed.

Module power consumption The module power consumption is displayed. The positive value is displayed in power running. The negative value is displayed in regeneration.

Module integral power consumption The module integral power consumption is displayed.

Disturbance torque The difference between the torque necessary to drive the servo motor and the actually required torque (Torque current value) is displayed as the disturbance torque.

Instantaneous torque The instantaneous torque is displayed. The value of torque being occurred is displayed in real time considering a rated torque as 100%.

Overload alarm margin The margins to the levels which trigger [AL. 50 Overload 1] and [AL. 51 Overload 2] are displayed in percentage.

Error excessive alarm margin The margin to the level which triggers the error excessive alarm is displayed in units of encoder pulses. The error excessive alarm occurs at 0 pulses.

Settling time The time (Settling time) after command is completed until INP (In-position) turns on is displayed.

Overshoot amount The overshoot amount during position control is displayed in units of encoder pulses.

Servo motor side/load-side position deviation

During fully closed loop control, a deviation between servo motor side position and load- side position is displayed. The number of pulses displayed is in the load-side encoder pulse unit.

Servo motor side/load-side speed deviation

During fully closed loop control, a deviation between servo motor side speed and load-side speed is displayed.

Internal temperature of encoder The internal temperature of encoder is displayed. "0" is displayed for the linear servo motor. When an encoder communication error occurs, the last value will be displayed before the error. This is available with servo amplifiers with software version C4 or later.

Machine diagnostic status The current status of the machine diagnostic function is displayed.

Friction estimation data The friction estimation data estimated by the machine diagnostic function is displayed.

Vibration estimation data The vibration estimation data estimated by the machine diagnostic function is displayed.

APPENDIX

App. - 56

App. 15 STO function with SIL 3 certification

The MR-J4 series general-purpose AC servo amplifiers now comply with safety integrity level 3 (SIL 3) of the

IEC 61508:2010 functional safety standard.

App. 15.1 Target models

MR-J4 series AC servo amplifiers (excluding MR-J4-03A6(-RJ) and MR-J4W2-0303B6)

App. 15.2 Change of the compliance

The target MR-J4 servo amplifiers now comply with SIL 3 (Table app. 3).

Table app. 3 Compliance with SIL 3

Before change After change

Safety performance (Standards certified by CB)

EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 STO function

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2 STO function

App. 15.3 Schedule

For the products manufactured in Japan, this change has been made sequentially from the June 2015

production.

For the products manufactured and sold in China, this change has been made sequentially from the

December 2015 production.

There may be cases where both the former and new products exist in the distribution stage.

App. 15.4 Use with SIL 3

Set the safety level with [Pr. PF18 STO diagnosis error detection time].

To use the servo amplifier with SIL 3, set [Pr. PF18 STO diagnosis error detection time] within the range of 1

to 60, connect the TOFB output (CN8) of the servo amplifier to the input of a SIL 3-certified controller and

execute the diagnosis. SIL 3 functional safety of the servo amplifiers is certified by TV SD.

App. 15.5 Use with SIL 2 (as conventional)

The servo amplifiers are still capable of SIL 2 as before regardless of whether the STO diagnosis function is

enabled or not.

Either of the conventionally-used TV Rheinland certification or the new TV SD certification may be

used.

APPENDIX

App. - 57

App. 15.6 How to check the country of origin, and the year and month of manufacture

The country of origin, and the year and month of manufacture are indicated on the packaging box (Fig. app.

2) and the rating plate (Fig. app. 3).

Manufacture month and year

Country of origin

Fig. app. 2 Indication example on the packaging box

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. - 58

App. 16 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. - 59

(3) Difference between the China RoHS directive and the EU RoHS directive

The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a

product complies with the EU RoHS directive, a hazardous substance in the product may be considered

to be above the limit requirement (marked " ") in the China RoHS directive.

The following shows some restriction exemptions and their examples according to the EU RoHS

directive.

Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to

0.35% lead by weight, lead as an alloying element in aluminum containing up to 0.4% lead by weight,

and copper alloy containing up to 4% lead by weight, e.g. brass-made insert nuts

Lead in high melting temperature type solders (i.e. lead-based alloys containing 85% by weight or

more lead)

Electrical and electronic components containing lead in a glass or ceramic other than dielectric

ceramic in capacitors, e.g. piezoelectronic devices

Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip

resistors

(4) Status of our products for compliance with the China RoHS directive (Chinese)

The following shows table app. 4 in Chinese according to "Management Methods for the Restriction of

the Use of Hazardous Substances in Electrical and Electronic Products".

.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]

/

REVISIONS

*The manual number is given on the bottom left of the back cover. Revision Date *Manual Number Revision

Mar. 2012 SH(NA)030105ENG-A First edition

Jun. 2012 SH(NA)030105ENG-B 4. Additional instructions

(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

Section 1.3.1

Section 1.3.2

Section 1.4

Section 1.6

Section 1.7

Section 2.6

Chapter 3

Section 3.1

Section 3.2.1

Section 3.2.2

Section 3.3.3 (2) (a)

Section 3.4

Section 3.5.2 (2)

Section 3.7.1 (3)

Section 3.8.2 (1)

Section 3.8.2 (2)

Section 3.8.3 (1)

Section 3.8.3 (2)

Section 4.1.2 (1) (b) 1)

Section 4.1.2 (1) (b) 4)

Section 4.3.3 (1)

Section 4.5.2 (1) (b)

Section 5.1

Section 5.1.1

Section 5.1.6

Section 5.2.1

Section 5.2.3

Section 5.2.4

Section 5.2.5

Section 5.2.6

Chapter 6

Section 6.2.2 (4)

Chapter 7

Section 7.3.1

The sentences are added.

The sentences are added.

The reference is changed.

The reference is changed.

Added.

The diagram is changed.

The table is changed. Note 8 is added.

The table is changed. Note 7 and 8 is added.

The item of the drive recorder function is changed. The item of

the fully closed loop system is changed.

The diagram is changed.

Note is changed.

The explanation of relay lifetime is changed.

The sentences are added to CAUTION.

The sentences are added to CAUTION. Note 12 is added.

Note 20 is added.

Note 20 is added.

The ferrule is added.

The diagram is added.

The sentences of INP (In-position) are added. CLDS (During

fully closed loop control) is added.

The sentences are added.

The sentences are changed.

The sentences are added.

The sentences are added.

The sentences are added.

The sentences are changed.

Added.

The diagram is changed.

Note is added. [AL. 20 Encoder normal communication error 1

(ABZ input)] in the table is deleted.

POINT is changed and Note is deleted.

PA25 is changed from "For manufacturer setting".

PF06 and PF12 are changed from "For manufacturer setting".

The sentences are added to PA01 and PA20, and PA25 is

added.

The sentences of PC01 are changed and sentences are

added to PC03.

The table of PD07 is changed.

The sentences are added to PE08.

PF06 and PF12 are added.

The sentences in POINT are changed.

The part of table is changed.

The sentences in POINT are changed.

The sentences are added to POINT.

Revision Date *Manual Number Revision

Jun. 2012 SH(NA)030105ENG-B Section 8.1

Section 8.2

Section 10.3

Section 11.2.2

Section 11.4

Section 12.2

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)

Section 14.1.2

Section 14.2

Section 14.3.1 (1)

Section 14.3.1 (2)

Section 14.3.2 (3) (a)

Section 14.3.2 (3) (b)

Section 14.4.4

Section 15.2

Section 15.3.2 (3) (a)

Section 15.3.2 (3) (b)

Section 15.4.3 (2)

Chapter 16

Section 16.1.1

Section 16.1.2 (1)

Section 16.3.1 (5)

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

Appendix. 10.1

Appendix. 13 (1)

Appendix. 14

The column of the fully closed loop control is added. [AL. 13.2],

[AL. 1E.2], [AL. 1F.2], [AL. 21.4], [AL. 42.8], [AL. 42.9], [AL.

42.A], [AL. 70], [AL. 71], [AL. 72], and [AL. E8.2] are added.

The troubleshooting for the MR-J4W3 servo amplifiers with

software version A2 or below.

POINT is added.

The title is changed.

Note is changed.

The sentences are added to POINT.

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.

CAUTION is changed.

CAUTION is added.

The diagram is added.

"Set the linear servo motor series and linear servo motor type"

is added.

POINT and sentences are changed.

POINT is changed.

The table is changed and the sentences are added. CAUTION

is changed.

CAUTION is added.

POINT and sentences are changed.

POINT is changed.

The table is changed.

"Available in the future" is deleted. The sentences in POINT

are changed.

The sentences of Note 2 are changed.

The part of diagram is changed.

The part of table is changed.

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.

The diagram is changed.

The wire size of 6) is changed.

Added.

Sep. 2012 SH(NA)030105ENG-C Section 3.2.1

Section 3.2.2

Section 3.10.2 (1) (b)

Section 13.3.1

The diagram is changed.

The diagram is changed.

The diagram is changed.

The sentences are changed.

Revision Date *Manual Number Revision

Sep. 2012 SH(NA)030105ENG-C Section 13.4.1 (1)

Section 13.4.2 (1)

The diagram is changed.

The diagram is changed.

Feb. 2013 SH(NA)030105ENG-D 4. Additional instructions

COMPLIANCE WITH CE

MARKING

COMPLIANCE WITH

UL/CSA STANDARD

COMPLIANCE WITH KC

MARK

Compliance with global

standards

Section 1.3.1

Section 1.3.2

Section 1.3.3

Section 1.4

Chapter 3

Section 3.1

Section 3.3.2

Section 3.4

Section 3.5.2

Section 3.6

Section 3.6.2

Section 3.6.3

Section 3.8.1

Section 3.10.1 (1)

Section 4.3.2 (1)

Chapter 5

Section 5.1

Section 5.1.4

Section 5.1.6

Section 5.2.1

Section 5.2.2

Section 5.2.3

Section 5.2.6

Section 5.2.7

Section 6.2.2 (2)

Section 6.2.2 (4)

Section 6.2.2 (5)

Section 6.3.1 (1)

Section 7.3.2

Section 7.4

Chapter 8

Section 8.1

Section 10.1

Section 10.2

Section 10.3.1 (2)

Section 10.3.2

Chapter 11

Section 11.4 (1)

Section 11.4 (2)

Section 11.5 (1)

Section 11.9 (1) (c)

The diagram is partially changed.

Deleted.

Deleted.

Deleted.

Added.

The table is partially changed.

The table is partially changed.

The table is changed. HG-UR and HG-JR are added.

The table is partially changed.

The diagram in CAUTION is partially changed.

The diagram is partially changed.

POINT is added.

The pin name is changed. The table is deleted.

The table is partially changed.

The sentences are added to POINT.

The sentences are partially changed.

The sentences are partially changed.

The diagram is partially changed.

The diagram is partially changed.

The diagram is partially changed.

The sentences are added to CAUTION.

POINT is partially changed.

The operation mode in [Pr. PD12] is changed.

The name of [Pr. PF25] is changed.

The name of the third digit is changed.

The sentences in [Pr. PB17], [Pr. PB33] to [Pr. PB36], and [Pr.

PB56] to [Pr. PB60] are partially changed.

The table in [Pr. PC03] is partially changed.

The sentences are added to the fourth digit in [Pr. PC04].

The sentences are added to [Pr. PC05].

The name of [Pr. PF25] is changed.

The note is added to the first digit in [Pr. PL04].

POINT is added.

The table is partially changed.

The sentences are added.

POINT is partially changed.

CAUTION is deleted. The name of [Pr. PF25] is changed.

Added.

The sentences are added to POINT.

Error reset of watchdog is changed.

HG-UR and HG-JR are added.

HG-UR and HG-JR are added.

HG-UR and HG-JR are added.

HG-UR and HG-JR are added.

POINT is added.

The table is partially changed.

The table is partially changed.

The diagram is partially changed.

The table is partially changed.

Revision Date *Manual Number Revision

Feb. 2013 SH(NA)030105ENG-D Section 13.2.2 (2)

Section 13.2.2 (3)

Section 14.2

Section 14.3.5 (2) (a)

Section 15.2

Section 15.3.3 (2)

Section 16.1.3

Section 16.2.1

Section 16.3.1 (1)

Section 16.3.1 (3)

Section 16.3.1 (5)

Section 16.3.1 (6)

Section 16.3.5

Section 16.3.6

Appendix. 4

Appendix. 12.1

Appendix. 12.5 (3)

Appendix. 12.8

The table is partially changed.

The sentences are partially changed.

The diagram is partially changed.

The table is partially changed.

The diagram is partially changed. The table is partially

changed.

The table is partially changed.

The diagram is partially changed.

The sentences are added. The table is deleted.

The diagram is partially changed.

Added.

The table is partially changed.

The table is partially changed.

Added.

Added.

The contents are entirely changed.

The sentences are partially changed.

The sentences are partially changed.

Added.

Aug. 2013 SH(NA)030105ENG-E The scale measurement function is added.

4. Additional instructions

Section 1.3.1

Section 1.3.2

Section 1.4

Section 1.5

Section 1.6

Section 5.1.1

Section 5.1.3

Section 5.1.4

Section 5.2.1

Section 5.2.4

Section 5.2.6

Section 7.1.5 (4)

Section 7.4 (3)

Section 8.1

Section 8.2

Section 11.4.2

Section 11.4.3

Section 11.6 (1) (a)

Section 11.6 (1) (b)

Section 11.7 (1)

Section 14.1.1

Section 14.1.2

Section 15.3.2

Chapter 17

App. 4

App. 12

CAUTION is added.

Note 10 is added.

Note 10 is added.

A function is added.

The sentences are added.

The table is changed. Note 2 is added.

PA22 is added.

The operation mode of PC27 is changed.

PD11 is added.

PA22 is added.

PD11 is added.

PF23 is partially changed.

Table is added.

The table is partially changed.

The table is partially changed.

The table is changed. Note 8 is added.

The table is changed.

Added.

The table is partially changed.

The table is partially changed.

The table is partially changed.

The table is partially changed.

The illustration is partially changed.

POINT is added.

Added.

The sentences are added.

Moved to chapter 17.

Dec. 2013 SH(NA)030105ENG-F Functions are added. Descriptions of batteries are changed.

Section 1.1

Section 1.3.1

Section 1.3.2

Section 1.4

Section 1.5 (2)

Section 3.3.2 (1)

Section 3.3.2 (2)

Section 3.3.3

Table is added.

Note is added.

Note is added.

A function is added.

Special specification is added.

The sentences are changed.

Note is added.

POINT is added.

Revision Date *Manual Number Revision

Dec. 2013 SH(NA)030105ENG-F Section 3.10.1 (2)

Section 3.10.2 (1)

Section 4.5.2 (b)

Chapter 5

Section 6.2

Section 7.1.1 (1)

Section 7.1.3

Section 7.1.4 (1)

Section 7.2.3 (1)

Section 7.3

Section 7.3.1

Section 7.3.2

Section 7.4

Chapter 8

Section 10.5

Section 11.3

Section 11.4.2

Section 11.6

Section 11.9 (2)

Section 11.11

Section 12.2 (1)

Section 12.2 (2)

Section 13.3.4

Section 14.4.1

Chapter 15

Section 15.1.1

Section 17.1.2

Section 17.1.3

Section 17.1.4

Section 17.1.7

Section 17.2

App. 1

App. 2 (1)

App. 4.2.3

App. 4.3

App. 4.4

App. 4.6.1

App. 4.6.2

App. 4.7

App. 4.8.1

App. 4.8.2

App. 4.8.3

App. 12

Partially changed.

Partially changed.

The table is partially changed.

PA20, PA22, PB24, PE10, PF06, PF25, and PF31 are

partially changed.

POINT is added.

Partially changed.

POINT is added.

The sentence is added.

The title is changed.

The sentence is added.

Partially changed.

Partially changed.

Partially changed.

POINT is added.

The table is changed.

Note is partially changed.

POINT is added. Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

POINT is changed.

The table is partially changed.

The sentence is added.

POINT is added.

The table is partially changed.

Partially changed.

Partially changed.

Partially changed.

Added.

POINT is partially changed.

The table is changed.

Partially changed.

Partially changed.

Note is added.

Note is added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Added.

Oct. 2014 SH(NA)030105ENG-G Functional addition

Section 1.4

Section 1.5

Section 3.3.2

Section 3.8.1

Section 3.10.1

Section 3.10.2

Section 4.3.1

Section 5.1.2

A function is added.

Partially changed.

Partially changed.

Partially changed.

CAUTION is changed.

Partially changed.

POINT is added.

Partially added.

Revision Date *Manual Number Revision

Oct. 2014 SH(NA)030105ENG-G Section 5.1.3

Section 5.1.5

Section 5.2.2

Section 5.2.3

Section 5.2.5

Section 7.2.3

Section 7.2.4

Section 7.5

Chapter 8

Section 8.2

Section 8.3

Section 9.1

Section 11.3

Section 11.4.2

Section 12.2

Section 14.1.2

Section 14.3.2

Section 15.1.2

Section 15.3.2

Section 17.1.3

Section 17.1.9

Section 17.2

App. 4

Partially added.

Partially added.

Partially changed. Partially added.

Partially changed. Partially added.

Partially changed. Partially added.

Partially changed.

Partially changed.

Added.

Partially changed.

Partially added.

Partially added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.

POINT is added.

Partially added.

POINT is added.

Partially changed.

Added.

Partially changed.

Partially changed.

Apr. 2015 SH(NA)030105ENG-H Addition of MR-J4W2-0303B6

Chapter 1

Section 1.4

Section 3.1

Section 3.3.3

Section 3.7.1

Chapter 5

Section 5.1

Section 5.2

Section 7.3.2

Section 7.4

Section 7.5

Chapter 8

Section 11.3

Section 11.6

Chapter 12

Chapter 13

Section 13.3.3

Chapter 14

Chapter 15

Chapter 16

Chapter 17

Chapter 18

App. 13

POINT is added.

Partially added.

CAUTION is added.

Partially changed.

Partially changed.

POINT is added.

Partially changed.

Partially changed.

POINT is added.

POINT is added.

POINT is added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

POINT is added.

Partially changed.

POINT is added.

POINT is added.

POINT is added.

Partially changed.

Added.

Added.

Sep. 2015 SH(NA)030105ENG-J The contents of the one-touch tuning are changed, and operable environment is changed to

maximum altitude of 2000 m above sea level.

1. To prevent electric shock,

note the following

4. Additional instructions (1)

Section 1.3

Section 1.5 (2)

Section 2.7

Partially changed.

The altitude is changed.

Partially changed.

Partially added.

Added.

Revision Date *Manual Number Revision

Sep. 2015 SH(NA)030105ENG-J Section 3.2.1

Section 3.7.1

Section 5.1.6

Section 5.2.2

Section 5.2.3

Section 5.2.6

Section 7.2.3

Section 7.3.2

Section 8.2

Section 11.1.3

Section 11.3.3

Section 11.4.2

Section 11.6 (2)

Section 13.1.1

Section 13.1.5

Section 13.3.1

Section 13.3.3

Section 14.3.3

Section 14.3.5

Section 15.3.3

Section 16.3.3

Section 17.1.7

Section 17.1.8

Section 17.1.9

Section 17.2

Section 18.1.6 (2)

Section 18.3.1

Section 18.3.4

Section 18.3.7

Section 18.3.8

Section 18.4.1

Section 18.7.4

App. 1

App. 2

App. 4

App. 12

App. 14

Partially changed.

Partially changed.

[Pr. PF18] is added.

Partially changed.

Partially changed.

[Pr. PF18] is added.

The sentences are added to [Pr. PF25].

Note is added.

POINT is added.

[AL. 68] is added.

Partially changed.

Partially changed.

POINT is added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.

Partially added.

Partially added.

Partially added.

Partially added.

Partially added.

Partially added.

POINT is partially changed.

Partially added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.

Added.

May 2016 SH(NA)030105ENG-K Adaptive filter II is improved.

3. To prevent injury, note the

following

4. Additional instructions (2),

(5), (6)

DISPOSAL OF WASTE

Section 1.6

Section 1.6

Section 2.5

Section 3.1

Chapter 4

Section 4.1.2

Section 4.3.3

Section 4.5.2

Section 5.2.2

Section 5.2.3

Partially changed.

Partially added.

Partially added.

Partially changed.

Partially changed.

Partially added.

CAUTION is partially changed.

CAUTION is partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added to PB01.

Partially added to PC05.

Revision Date *Manual Number Revision

May 2016 SH(NA)030105ENG-K Section 5.2.6

Section 6.2

Section 6.2.2

Section 6.2.3

Section 7.1.2

Section 7.2.3

Section 8.2

Section 8.3

Chapter 9

Section 10.5

Section 11.2.2

Section 11.3.4

Section 11.4

Section 11.11

Section 13.1

Section 13.3.2

Section 14.3.2

Section 17.1.3

Section 17.1.9

Section 17.2.2

Section 18.4

Section 18.7.3

App. 1

App. 4

App. 5.7.3

App. 6

App. 14

App. 15

PF18 is partially changed.

POINT is added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

POINT is partially changed.

Note is added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Note is partially changed.

Partially changed.

Partially changed.

POINT is partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.

Partially added.

Added.

Mar. 2017 SH(NA)030105ENG-L TM-RG2M series / TM-RU2M series direct drive motor is added.

4. Additional instructions

(1) Transportation and

installation

Partially changed.

Section 1.3.1 Partially changed.

Section 1.3.2 Partially changed.

Section 1.3.3 Added direct drive motor.

Section 3.5.1 Partially changed.

Section 3.5.2 Partially changed.

Section 4.1.2 Partially changed.

Chapter 5 CAUTION is changed.

Section 6.2 POINT is added.

Section 6.2.2 Partially changed.

Section 6.2.3 Partially added.

Section 8.2 Partially changed.

Section 8.3 Partially changed.

Chapter 11 The title is changed.

Section 11.1.1 Partially changed.

Section 11.1.3 Partially changed.

Section 11.2.2 Partially changed.

Section 11.3.4 Partially changed.

Section 11.4.2 Partially changed. Partially added.

Section 11.6 Partially added.

Section 11.10 Partially changed.

Section 13.3.3 The diagrams are partially changed.

Chapter 15 POINT is added.

Section 15.3.2 Partially changed.

Revision Date *Manual Number Revision

Mar. 2017 SH(NA)030105ENG-L Section 15.4.1 The diagram is added.

Section 15.4.2 Partially added.

Section 15.4.3 (1) The diagram is added.

Section 15.4.3 (2) Partially added.

Section 17.1 Partially changed.

Section 17.1.9 (2) CAUTION is changed. Partially added.

Section 17.1.9 (3) Partially added.

Section 17.1.9 (4) POINT is added. Partially changed.

Section 18.1.3 Partially changed.

Section 18.3.7 (6) Partially added.

App. 4 Partially changed.

App. 5 Partially changed.

App. 6 The diagram is changed. Partially added.

App. 14 Partially changed and partially added.

App. 16 Newly added.

Oct. 2017 SH(NA)030105ENG-M TM-RG2M002C30 and TM-RU2M002C30 are added.

3. To prevent injury, note the

following

Partially changed.

4. Additional instructions Partially changed.

Section 1.3.3 Partially changed.

Section 1.5 Partially changed.

Chapter 2 CAUTION is partially changed.

Section 2.7 Partially changed.

Chapter 3 CAUTION is partially changed.

Section 3.3.3 Partially changed.

Section 3.6 Partially added.

Section 3.7 Partially added.

Chapter 4 CAUTION is partially changed.

Section 4.2 Partially changed.

Section 4.3.1 Partially changed.

Section 4.5.1 Partially changed.

Section 5.2.1 Partially changed.

Section 5.2.2 Partially changed.

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 11.3.2 Partially changed.

Section 11.4.2 Partially changed.

Section 11.11 Partially changed.

Section 13.2.3 Partially changed.

Section 13.3.4 Partially changed.

Section 14.4.2 Partially changed.

Section 15.2 Partially changed.

Section 15.4.1 Partially changed.

Section 15.4.2 Partially changed.

Section 15.4.3 Partially changed.

Section 17.1.9 Partially changed.

Section 18.3.7 Partially changed.

Section 18.7.1 Partially changed.

App. 1 Partially changed.

App. 2 Partially changed.

App. 4.1 Partially changed.

Revision Date *Manual Number Revision

Oct. 2017 SH(NA)030105ENG-M App. 4.2.2 Partially changed.

App. 4.2.3 Partially changed.

App. 4.7 CAUTION is partially changed.

App. 14.2 Partially changed.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

2012 MITSUBISHI ELECTRIC CORPORATION

MEMO

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.

Warranty

1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (Warranty Period). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and

conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your

hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval

(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a

safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly

maintained and replaced

(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of

voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment

of the Product from our company

(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The

announcement of the stop of production for each model can be seen in our Sales and Service, etc.

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product (1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any

failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

SH(NA)030105ENG-M

SH(NA)030105ENG-M(1710)MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.

MODEL

MODEL CODE

General-Purpose AC Servo

M R-J4W

2-_B/M R-J4W

3-_B/M R-J4W

2-0303B6 SERVO AM

PLIFIER INSTRUCTIO N M

ANUAL

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MODEL

MR-J4W2-_B MR-J4W3-_B MR-J4W2-0303B6 SERVO AMPLIFIER INSTRUCTION MANUAL

SSCNET /H

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