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Mitsubishi Electric MRCR55K Instruction Manual PDF
Summary of Content for Mitsubishi Electric MRCR55K Instruction Manual PDF
SH(NA)030125ENG-G(1705)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-J4-(DU)_B_-RJ020 M
R-CR55K_ M R-J4-T20 SERVO AM
PLIFIER INSTRUCTION M ANUAL
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SERVO AMPLIFIER INSTRUCTION MANUAL
Conversion Unit for SSCNET of MR-J2S-B Compatible AC Servo
1CW814
MR-J4-B-RJ020 MR-J4-T20 INSTRUCTION
MODEL (Servo Amplifier)
MR-J4-_B_-RJ020 MODEL (Drive Unit)
MR-J4-DU_B_-RJ020 MODEL (Converter Unit)
MR-CR55K_ MODEL (Conversion Unit for SSCNET of MR-J2S-B)
MR-J4-T20
G
G
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 or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. Do not operate switches with wet hands. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause an electric shock. Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock. Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the power is off. The servo amplifier is charged and you may get an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. Always connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.
In order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply, always connect one molded-case circuit breaker or fuse per one servo amplifier between the power supply and the power supply (L1/L2/L3) of a servo amplifier. 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, servo motor, and MR-J4-T20. Always connect a molded-case circuit breaker to the power supply of the servo amplifier.
A - 3
3. To prevent injury, note the following
CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.
4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire etc.
(1) Transportation and installation
CAUTION Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the front cover when transporting 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.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and MR-J4-T20 which have been damaged or have any parts missing.
Do not block the intake and exhaust areas of the servo amplifier and MR-J4-T20. Otherwise, it may
cause a malfunction.
Do not drop or strike the servo amplifier, servo motor, and MR-J4-T20. Isolate them from all impact loads.
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 (directions of X, Y and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier and MR-J4-T20, be careful about the edged parts such as corners of them.
The servo amplifier and MR-J4-T20 must be installed in a metal cabinet.
A - 4
CAUTION When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause 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) Wiring
CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo amplifier output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not 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
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 emergency stop and other protective circuits may not operate.
DOCOM 24 V DC
Servo amplifier
RA
For sink output interface
Control output signal
DOCOM
Control output signal
24 V DC Servo amplifier
RA
For source output interface
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
A - 5
(3) Test run and adjustment
CAUTION Before operation, check 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 When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition.
Do not disassemble, repair, or modify the equipment.
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 be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.
(5) Corrective actions
CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an electromagnetic brake or external brake to prevent the condition.
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 with the emergency stop switch.
Contacts must be opened when an alarm occurs or MBR (Electromagnetic brake interlock) turns off.
24 V DC
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
A - 6
(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.
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 STO function cannot be used when the servo amplifier is in the J2S compatibility mode. To use the STO function, switch the operation mode to J4 mode. Refer to section 13.1 for the mode switching procedure.
Compliance with global standards
Refer to app. 6 and 7 for the compliance with global standard.
A - 7
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. Servo amplifiers and drive units are written as servo amplifiers in this Instruction Manual under certain
circumstances, unless otherwise stated.
Relevant manuals
Manual name Manual No.
MELSERVO Servo Motor Instruction Manual (Vol. 3) SH(NA)030113ENG
MELSERVO Linear Encoder Instruction Manual (Note 1) SH(NA)030111ENG
MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) (Note 2) SH(NA)030109ENG
MELSERVO-J4 Instructions and Cautions for Drive of HC/HA Series Servo Motor with MR-J4- (DU)_B_-RJ020 (Note 3)
SH(NA)030127ENG
MELSERVO-J4 Conversion unit for SSCNET of MR-J2S-B MR-J4-T20 Installation Guide (Packed with MR-J4-T20.)
IB(NA)0300204ENG
MELSERVO EMC Installation Guidelines IB(NA)67310ENG
Note 1. It is necessary for using the fully closed loop system.
2. It is necessary for using a converter unit.
3. It is necessary for using an HC series/HA series servo motor.
Wiring
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 C.
A - 8
MEMO
1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-42
1.1 Summary ........................................................................................................................................... 1- 1 1.2 Function block diagram ..................................................................................................................... 1- 2 1.3 Standard specifications ..................................................................................................................... 1- 8
1.3.1 Servo amplifier standard specifications ..................................................................................... 1- 8 1.3.2 Conversion unit for SSCNET of MR-J2S-B ............................................................................... 1-13
1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-14 1.5 Function list ...................................................................................................................................... 1-16 1.6 Model designation ............................................................................................................................ 1-18 1.7 Structure .......................................................................................................................................... 1-19
1.7.1 Parts identification ..................................................................................................................... 1-19 1.7.2 Parts identification of MR-J4-T20 .............................................................................................. 1-26 1.7.3 Removal and reinstallation of the front cover............................................................................ 1-27
1.8 Installation and removal of MR-J4-T20 ............................................................................................ 1-29 1.9 Configuration including peripheral equipment ................................................................................. 1-33
2. INSTALLATION 2- 1 to 2- 8
2.1 Installation direction and clearances ................................................................................................ 2- 2 2.2 Keep out foreign materials ................................................................................................................ 2- 4 2.3 Encoder cable stress ........................................................................................................................ 2- 4 2.4 Inspection items ................................................................................................................................ 2- 5 2.5 Parts having service life .................................................................................................................... 2- 6 2.6 Restrictions when using this product at altitude exceeding 1000 m and up to
2000 m above sea level .................................................................................................................... 2- 7
3. SIGNALS AND WIRING 3- 1 to 3-34
3.1 Input power supply circuit ................................................................................................................. 3- 2 3.2 I/O signal connection example ......................................................................................................... 3-12
3.2.1 For sink I/O interface ................................................................................................................. 3-12 3.2.2 For source I/O interface ............................................................................................................ 3-14
3.3 Explanation of power supply system ............................................................................................... 3-15 3.3.1 Signal explanations ................................................................................................................... 3-15 3.3.2 Power-on sequence .................................................................................................................. 3-17 3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-18
3.4 Connectors and pin assignment ...................................................................................................... 3-21 3.5 Signal (device) explanations ............................................................................................................ 3-23
3.5.1 Input device ............................................................................................................................... 3-23 3.5.2 Output device ............................................................................................................................ 3-23 3.5.3 Output signal ............................................................................................................................. 3-24 3.5.4 Power supply ............................................................................................................................. 3-24
3.6 Alarm occurrence timing chart ......................................................................................................... 3-25 3.7 Interfaces ......................................................................................................................................... 3-26
3.7.1 Internal connection diagram ...................................................................................................... 3-26 3.7.2 Detailed explanation of interfaces ............................................................................................. 3-27 3.7.3 Source I/O interfaces ................................................................................................................ 3-29
3.8 Servo motor with an electromagnetic brake .................................................................................... 3-30
2
3.8.1 Safety precautions .................................................................................................................... 3-30 3.8.2 Timing chart ............................................................................................................................... 3-31
3.9 Grounding ........................................................................................................................................ 3-34
4. STARTUP 4- 1 to 4-14
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- 5
4.2 Startup .............................................................................................................................................. 4- 6 4.3 Switch setting and display of the servo amplifier .............................................................................. 4- 7
4.3.1 Switches ..................................................................................................................................... 4- 7 4.3.2 Status display of an axis ............................................................................................................ 4- 9
4.4 Test operation .................................................................................................................................. 4-11 4.5 Test operation mode ........................................................................................................................ 4-11
4.5.1 Test operation mode in MR Configurator .................................................................................. 4-12 4.5.2 Motor-less operation in controller .............................................................................................. 4-14
5. PARAMETERS 5- 1 to 5-20
5.1 Parameter list .................................................................................................................................... 5- 1 5.1.1 Basic setting parameters ............................................................................................................ 5- 2 5.1.2 Adjustment parameters .............................................................................................................. 5- 2 5.1.3 Extension parameters ................................................................................................................ 5- 3 5.1.4 Extension parameters 2 ............................................................................................................. 5- 4
5.2 Detailed list of parameters ................................................................................................................ 5- 5 5.2.1 Basic setting parameters ............................................................................................................ 5- 5 5.2.2 Adjustment parameters ............................................................................................................. 5-10 5.2.3 Extension parameters ............................................................................................................... 5-14
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-10
6.1 Different adjustment methods ........................................................................................................... 6- 1 6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1 6.1.2 Adjustment using MR Configurator ............................................................................................ 6- 3
6.2 Auto tuning ........................................................................................................................................ 6- 3 6.2.1 Auto tuning mode ....................................................................................................................... 6- 3 6.2.2 Auto tuning mode basis .............................................................................................................. 6- 4 6.2.3 Adjustment procedure by auto tuning ........................................................................................ 6- 5 6.2.4 Response level setting in auto tuning mode .............................................................................. 6- 6
6.3 Manual mode 1 (simple manual adjustment) .................................................................................... 6- 7 6.3.1 Manual mode 1 basis ................................................................................................................. 6- 7 6.3.2 Adjustment by manual mode 1................................................................................................... 6- 7
6.4 Interpolation mode ............................................................................................................................ 6- 9
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7- 10
7.1 Filter setting ...................................................................................................................................... 7- 1 7.1.1 Machine resonance suppression filter ....................................................................................... 7- 1 7.1.2 Low-pass filter ............................................................................................................................ 7- 3
3
7.1.3 Adaptive vibration suppression control function ........................................................................ 7- 4 7.2 Gain switching function ..................................................................................................................... 7- 6
7.2.1 Applications ................................................................................................................................ 7- 6 7.2.2 Function block diagram .............................................................................................................. 7- 6 7.2.3 Parameter ................................................................................................................................... 7- 7 7.2.4 Gain switching procedure .......................................................................................................... 7- 9
8. TROUBLESHOOTING 8- 1 to 8-16
8.1 Alarm and warning list ...................................................................................................................... 8- 1 8.2 Remedies for alarms ......................................................................................................................... 8- 2 8.3 Remedies for warnings .................................................................................................................... 8-13 8.4 Troubleshooting at power on ........................................................................................................... 8-16
9. DIMENSIONS 9- 1 to 9-20
9.1 Servo amplifier .................................................................................................................................. 9- 1 9.2 MR-J4-T20 ....................................................................................................................................... 9-16 9.3 Connectors ....................................................................................................................................... 9-17
9.3.1 Servo amplifier side connectors ................................................................................................ 9-17 9.3.2 MR-J4-T20 connectors.............................................................................................................. 9-19
10. CHARACTERISTICS 10- 1 to 10-14
10.1 Overload protection characteristics .............................................................................................. 10- 1 10.2 Power supply capacity and generated loss .................................................................................. 10- 4 10.3 Dynamic brake characteristics ...................................................................................................... 10- 7
10.3.1 Dynamic brake operation ....................................................................................................... 10- 7 10.3.2 Permissible load to motor inertia when the dynamic brake is used ...................................... 10-10
10.4 Cable bending life ........................................................................................................................ 10-11 10.5 Inrush currents at power-on of main circuit and control circuit .................................................... 10-12
11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-114
11.1 Cable/connector sets .................................................................................................................... 11- 1 11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2 11.1.2 SSCNET cable ....................................................................................................................... 11- 6 11.1.3 RS-232C communication cable ............................................................................................ 11-10 11.1.4 Battery cable/junction battery cable ...................................................................................... 11-12
11.2 Regenerative option ..................................................................................................................... 11-13 11.2.1 Combination and regenerative power ................................................................................... 11-13 11.2.2 Selection of the regenerative option ..................................................................................... 11-15 11.2.3 Parameter setting .................................................................................................................. 11-17 11.2.4 Selection of the regenerative option ..................................................................................... 11-18 11.2.5 Dimensions ........................................................................................................................... 11-22
11.3 FR-BU2-(H) brake unit ................................................................................................................. 11-26 11.3.1 Selection................................................................................................................................ 11-27 11.3.2 Brake unit parameter setting ................................................................................................. 11-27 11.3.3 Connection example ............................................................................................................. 11-28 11.3.4 Dimensions ........................................................................................................................... 11-36
11.4 FR-RC-(H) power regeneration converter ................................................................................... 11-38
4
11.5 FR-CV-(H) power regeneration common converter .................................................................... 11-42 11.5.1 Model definition ..................................................................................................................... 11-42 11.5.2 Selection................................................................................................................................ 11-42
11.6 Junction terminal block PS7DW-20V14B-F (recommended) ...................................................... 11-49 11.7 MR Configurator .......................................................................................................................... 11-50
11.7.1 Specifications ........................................................................................................................ 11-50 11.7.2 Additional instructions ........................................................................................................... 11-51 11.7.3 System requirements ............................................................................................................ 11-52 11.7.4 Precautions for using RS-232C communication function ..................................................... 11-55
11.8 Battery .......................................................................................................................................... 11-56 11.8.1 Selection of battery ............................................................................................................... 11-56 11.8.2 MR-BAT6V1SET battery ....................................................................................................... 11-56 11.8.3 MR-BAT6V1BJ battery for junction battery cable ................................................................. 11-60 11.8.4 MR-BT6VCASE battery case ................................................................................................ 11-64 11.8.5 MR-BAT6V1 battery .............................................................................................................. 11-70
11.9 Selection example of wires .......................................................................................................... 11-71 11.10 Molded-case circuit breakers, fuses, magnetic contactors ....................................................... 11-76 11.11 Power factor improving DC reactor ........................................................................................... 11-79 11.12 Power factor improving AC reactor ............................................................................................ 11-82 11.13 Relay (recommended) ............................................................................................................... 11-85 11.14 Noise reduction techniques ....................................................................................................... 11-86 11.15 Earth-leakage current breaker ................................................................................................... 11-93 11.16 EMC filter (recommended) ........................................................................................................ 11-96 11.17 External dynamic brake ........................................................................................................... 11-103 11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) ........................................................ 11-109
12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6
12.1 Summary ....................................................................................................................................... 12- 1 12.1.1 Features ................................................................................................................................. 12- 1 12.1.2 Structure ................................................................................................................................. 12- 2 12.1.3 Parameter setting ................................................................................................................... 12- 2 12.1.4 Confirmation of absolute position detection data ................................................................... 12- 3
12.2 Battery ........................................................................................................................................... 12- 4 12.2.1 Using MR-BAT6V1SET battery .............................................................................................. 12- 4 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable ........................................................ 12- 5 12.2.3 Using MR-BT6VCASE battery case ....................................................................................... 12- 6
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE 13- 1 to 13-66
13.1 Mode switching procedure ............................................................................................................ 13- 2 13.1.1 Switching from the J2S compatibility mode to the J4 mode .................................................. 13- 2 13.1.2 Switching from the J4 mode to the J2S compatibility mode .................................................. 13- 3
13.2 Parameter ..................................................................................................................................... 13- 3 13.2.1 Parameters for converter unit ................................................................................................ 13- 4 13.2.2 Parameters for converter unit/drive unit ................................................................................. 13- 7
13.3 Troubleshooting ........................................................................................................................... 13-51 13.3.1 Explanation for the lists ......................................................................................................... 13-51 13.3.2 Alarm list ................................................................................................................................ 13-52 13.3.3 Warning list ........................................................................................................................... 13-62 13.3.4 Troubleshooting at power on ................................................................................................ 13-65
5
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT 14- 1 to 14-124
14.1 Functions and configuration ......................................................................................................... 14- 1 14.1.1 Summary ................................................................................................................................ 14- 2 14.1.2 Function block diagram .......................................................................................................... 14- 3 14.1.3 Standard specifications .......................................................................................................... 14- 5 14.1.4 Combinations of converter units, drive units and servo motors ............................................. 14- 8 14.1.5 Model definition ...................................................................................................................... 14- 9 14.1.6 Structure ................................................................................................................................ 14-11 14.1.7 Configuration including peripheral equipment ...................................................................... 14-19
14.2 Installation .................................................................................................................................... 14-20 14.2.1 Installation direction and clearances ..................................................................................... 14-21 14.2.2 Keeping out of foreign materials ........................................................................................... 14-22 14.2.3 Inspection items .................................................................................................................... 14-22 14.2.4 Parts having service life ........................................................................................................ 14-23 14.2.5 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to
2000 m above sea level ........................................................................................................ 14-24 14.3 Signals and wiring ........................................................................................................................ 14-25
14.3.1 Input power supply circuit ..................................................................................................... 14-26 14.3.2 Explanation of power supply system ..................................................................................... 14-36 14.3.3 Connectors and pin assignment ........................................................................................... 14-40 14.3.4 Signal (device) explanations ................................................................................................. 14-42 14.3.5 Alarm occurrence timing chart .............................................................................................. 14-43 14.3.6 Interfaces .............................................................................................................................. 14-49 14.3.7 Grounding ............................................................................................................................. 14-51
14.4 Start up ........................................................................................................................................ 14-52 14.4.1 Switching power on for the first time ..................................................................................... 14-53 14.4.2 Startup ................................................................................................................................... 14-56 14.4.3 Display and operation section of the converter unit .............................................................. 14-57
14.5 Parameters .................................................................................................................................. 14-63 14.5.1 Parameters for converter unit ............................................................................................... 14-63 14.5.2 Parameters for drive unit ....................................................................................................... 14-66
14.6 Troubleshooting ........................................................................................................................... 14-67 14.7 Dimensions .................................................................................................................................. 14-68
14.7.1 Converter unit (MR-CR55K_) ................................................................................................ 14-69 14.7.2 Drive unit ............................................................................................................................... 14-70
14.8 Characteristics ............................................................................................................................. 14-72 14.8.1 Overload protection characteristics ...................................................................................... 14-72 14.8.2 Power supply capacity and generated loss .......................................................................... 14-74 14.8.3 Dynamic brake characteristics .............................................................................................. 14-76 14.8.4 Inrush currents at power-on of main circuit/control circuit .................................................... 14-79
14.9 Options and peripheral equipment .............................................................................................. 14-80 14.9.1 Cable/connector sets ............................................................................................................ 14-81 14.9.2 Regenerative option .............................................................................................................. 14-83 14.9.3 External dynamic brake......................................................................................................... 14-89 14.9.4 Selection example of wires ................................................................................................... 14-93 14.9.5 Molded-case circuit breakers, fuses, magnetic contactors ................................................... 14-95 14.9.6 Power factor improving DC reactor ....................................................................................... 14-97 14.9.7 Noise reduction techniques ................................................................................................... 14-98 14.9.8 Earth-leakage current breaker ............................................................................................ 14-102
6
14.9.9 EMC filter (recommended) .................................................................................................. 14-104 14.9.10 FR-BU2-(H) Brake Unit ..................................................................................................... 14-106
15. FULLY CLOSED LOOP SYSTEM 15- 1 to 15-40
15.1 Functions and configuration ......................................................................................................... 15- 1 15.1.1 Function block diagram .......................................................................................................... 15- 1 15.1.2 Selecting procedure of control mode ..................................................................................... 15- 3 15.1.3 System configuration .............................................................................................................. 15- 4
15.2 Load-side encoder ........................................................................................................................ 15- 5 15.2.1 Linear encoder ....................................................................................................................... 15- 6 15.2.2 Rotary encoder ....................................................................................................................... 15- 7 15.2.3 Configuration diagram of encoder cable ................................................................................ 15- 7
15.3 Operation and functions ................................................................................................................ 15- 8 15.3.1 Startup .................................................................................................................................... 15- 8 15.3.2 Home position return ............................................................................................................. 15-17 15.3.3 Operation from controller ...................................................................................................... 15-24 15.3.4 Fully closed loop control error detection functions................................................................ 15-27 15.3.5 Auto tuning function .............................................................................................................. 15-28 15.3.6 Machine analyzer function .................................................................................................... 15-28 15.3.7 Test operation mode ............................................................................................................. 15-28 15.3.8 Absolute position detection system under fully closed loop system ..................................... 15-29 15.3.9 About MR Configurator ......................................................................................................... 15-30
15.4 Detailed list of parameters ........................................................................................................... 15-33 15.4.1 Basic setting parameters ...................................................................................................... 15-33 15.4.2 Adjustment parameters ......................................................................................................... 15-34 15.4.3 Extension parameters ........................................................................................................... 15-36
15.5 Troubleshooting ........................................................................................................................... 15-39 15.6 Details on linear encoder errors ([AL. 2A]) for respective manufacturers ................................... 15-39
APPENDIX App. - 1 to App. -58
App. 1 Using the HC series/HA series servo motor ......................................................................... App.- 1 App. 2 Linear encoders compatible with MR-J2S ............................................................................ App.- 3 App. 3 Peripheral equipment manufacturer (for reference) .............................................................. App.- 4 App. 4 Handling of AC servo amplifier batteries for the United Nations Recommendations
on the Transport of Dangerous Goods ................................................................................. App.- 4 App. 5 Symbol for the new EU Battery Directive .............................................................................. App.- 7 App. 6 Compliance with global standards for servo amplifier .......................................................... App.- 8 App. 7 Compliance with global standards for converter unit and drive unit .................................... App.-24 App. 8 Analog monitor ..................................................................................................................... App.-38 App. 9 Special specification ............................................................................................................. App.-47 App. 10 Setting of added parameters for MR-J4-_B_-RJ020 servo amplifier ................................... App.-49 App. 11 Driving on/off of main circuit power supply with DC power supply ...................................... App.-56 App. 12 Status of general-purpose AC servo products for compliance
with the China RoHS directive ............................................................................................. App.-57
1. FUNCTIONS AND CONFIGURATION
1 - 1
1. FUNCTIONS AND CONFIGURATION
POINT
Refer to chapter 14 for the MR-CR55K_ converter unit and MR-J4-DU_B_- RJ020 drive unit.
1.1 Summary
This Instruction Manual explains about the MR-J4-_B_-RJ020 AC servo amplifiers compatible with a conversion unit for SSCNET of MR-J2S-B, and the MR-J4-T20 conversion unit for SSCNET of MR-J2S-B. Always use MR-J4-T20 with MR-J4-_B_-RJ020. MR-J4-_B_-RJ020 can be connected to SSCNET of MR-J2S-B by being used with MR-J4-T20. MR-J4-_B_-RJ020 servo amplifiers have "J2S compatibility mode (factory setting)" and "J4 mode" as the operation mode. The "J2S compatibility mode" is the operation mode compatible with the previous functions of the MR-J2S-B series. This Instruction Manual explains when the "J2S compatibility mode" is used except for in chapter 13. When using the servo amplifier in "J4 mode", refer to chapter 13. When you use an MR-J4-_B_-RJ020 servo amplifier, please note the following items. (1) When an HG series servo motor is used in the J2S compatibility mode, the encoder resolution per servo
motor revolution will be 131072 pulses/rev (17 bits), not 4194303 pulses/rev (22 bits) (2) It may be required to change existing equipment program because the initialization time after power on
is different between MR-J2S-_B_ servo amplifier and MR-J4-_B_-RJ020 servo amplifier. Especially when using it in vertical motion applications, please be careful of electromagnetic brake release time. The moving part can fall.
(3) Motor-less operation cannot be used with MR Configurator. To use motor-less operation, set "_ 1 _ _" in
[Pr. 24]. (4) When using [Pr. 13 Position loop gain 1] of MR-J4-_B_-RJ020 and MR-J2S-_B_ simultaneously such as
in the interpolation mode, check droop pulses for each axis and readjust gains as necessary. (5) MR-J4-_B_-RJ020 servo amplifier is not compatible with adaptive vibration suppression control. (6) Power is not supplied from the SSCNET cable connection connector to the encoder. When using the
MR-J4-_B_-RJ020 servo amplifier in absolute position detection system, always connect a battery to the CN4 connector.
(7) When the servo amplifier is set to the J2S compatibility mode, it supports the fully closed loop system. In
the fully closed loop control mode, when an HG series servo motor is used for the load-side encoder, the resolution of the load-side encoder will be 131072 pulses/rev (17 bits), which is the same as that of the servo motor side. Refer to chapter 15 for details.
1. FUNCTIONS AND CONFIGURATION
1 - 2
1.2 Function block diagram
The function block diagram of this servo is shown below. (1) MR-J4-500B-RJ020 or less/MR-J4-350B4-RJ020 or less
L11
L21
(Note 6)
Cooling fan (Note 3)
Encoder
N-C D
L3
L2
L1
Dynamic brake circuit
(Note 5) Power factor improving
DC reactor
Current detection
Overcurrent protection
Voltage detection
(Note 2) Power supply
MCMCCB
Base amplifier
STO circuit
CN5
USB D/A
Analog monitor (2 channels)
CN3
Servo amplifier
U
V
W
U
V
W
P3 P4 (Note 4)
Diode stack Relay
P+
+
+ B
RA
24 V DC
B1
B2
M
C N
2C N
8
Control circuit power supply
Servo motor
CHARGE lamp
Regene- rative TR
Current encoder
Digital I/O control
Regenerative option
U U
U
RS-232C
CN30
RS-232C
Personal computer
Servo system controller or
servo amplifier
Servo amplifier or termination
connector
CN10A CN10B
MR-J4-T20 (Note 7)
CN7 CN9
I/F Control
(Note 1)
Electromagnetic brake
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
Position command
input
Battery (for absolute position detection system)
C N
4
Model speed Model torque
Model position control
Model speed control
Step- down circuit
C N
2L External encoder
1. FUNCTIONS AND CONFIGURATION
1 - 3
Note 1. The built-in regenerative resistor is not provided for MR-J4-10B-RJ020.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
For power supply specifications, refer to section 1.3.1.
3. The MR-J4-70B-RJ020 or more, MR-J4-200B4-RJ020 and MR-J4-350B4-RJ020 servo amplifiers have a cooling fan.
4. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
5. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
6. This is not used when the servo amplifier is in the J2S compatibility mode. Always attach the short-circuit connector came with
a servo amplifier.
7. Used to change the servo amplifier mode. Refer to section 13.1 for the mode selection procedure.
1. FUNCTIONS AND CONFIGURATION
1 - 4
(2) MR-J4-700B-RJ020/MR-J4-500B4-RJ020/MR-J4-700B4-RJ020
CN5
USB D/A
CN3
L11
L21
N-C
MCMCCB U
V
W
U
V
W
P3 P4 (Note 2) P+
+
+ B
RA
24 V DC
B1
B2
M
C N
2C N
8
L3
L2
L1
U U
U
(Note 4)
RS-232C
CN30
RS-232C
CN10A CN10B
MR-J4-T20 (Note 5)
CN7 CN9
(Note 1) Power supply
(Note 3) Power factor improving
DC reactor
Servo amplifier
Diode stack Relay
Regenerative option
Dynamic brake circuit
Servo motor
CHARGE lamp
Regene- rative TR
Current encoder
Cooling fan
Electromagnetic brake
Encoder
Current detection
Overcurrent protection
Voltage detection
Base amplifier
STO circuit
Control circuit power supply
Analog monitor (2 channels)
Digital I/O controlPersonal
computer
Servo system controller or
servo amplifier
Servo amplifier or termination
connector
I/F Control
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
Position command
input
Battery (for absolute position detection system)
C N
4 Model speed Model torque
Model position control
Model speed control
Step- down circuit
C N
2 L
External encoder
Note 1. For power supply specifications, refer to section 1.3.1. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers. 3. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4. 4. This is not used when the servo amplifier is in the J2S compatibility mode. Always attach the short-circuit connector came with
a servo amplifier. 5. Used to change the servo amplifier mode. Refer to section 13.1 for the mode selection procedure.
1. FUNCTIONS AND CONFIGURATION
1 - 5
(3) MR-J4-11KB-RJ020/MR-J4-15KB-RJ020/MR-J4-22KB-RJ020/MR-J4-11KB4-RJ020/
MR-J4-15KB4-RJ020/MR-J4-22KB4-RJ020
Current detector
L11
L21
Cooling fan
Encoder
N-C
Power factor improving DC reactor
Current detection
Overcurrent protection
Voltage detection
(Note 1) Power supply
MCMCCB
Base amplifier
STO circuit
D/A
Analog monitor (2 channels)
CN3
Servo amplifier P3 P4 (Note 2) P+
+
+ B
RA
24 V DC
B1
B2
M
C N
2
Control circuit power supply
Servo motor
Charge lamp
Regene- rative TR
Digital I/O control
Regenerative resistor or
regenerative option
L3
L2
L1
U U
U
Thyristor
(Note 6)
External dynamic brake
(optional)
U
V
W
U
V
W
(Note 3)
Diode stack
C N
8
CN5
USBI/F Control
RS-232C
CN30
RS-232C
Personal computer
Servo system controller or
servo amplifier
Servo amplifier or terminal connector
CN10A CN10B
MR-J4-T20 (Note 5)
CN7 CN9
(Note 4)
Electromagnetic brake
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
Position command
input
Battery (for absolute position detection system)
C N
4
Model speed Model torque
Model position control
Model speed control
Step- down circuit
C N
2L External encoder
1. FUNCTIONS AND CONFIGURATION
1 - 6
Note 1. For power supply specifications, refer to section 1.3.1.
2. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
3. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
4. This is not used when the servo amplifier is in the J2S compatibility mode. Always attach the short-circuit connector came with
a servo amplifier.
5. This is used to change the servo amplifier mode. Refer to section 13.1 for the mode selection procedure.
6. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external
dynamic brake, refer to section 11.7.
1. FUNCTIONS AND CONFIGURATION
1 - 7
(4) MR-J4-10B1-RJ020/MR-J4-20B1-RJ020/MR-J4-40B1-RJ020
L11
L21
(Note 3)
Encoder
N-C D
Dynamic brake circuit
Current detection
Overcurrent protection
Voltage detection
Base amplifier
STO circuit
CN5
USB D/A
Analog monitor (two channels)
CN3
Servo amplifier
U
V
W
U
V
W
P+
+ B
RA
24 V DC
B1
B2
M
C N
2C N
8
Control circuit power supply
Servo motor
Regene- rative TR
Current detector
Digital I/O control
Regenerative option
RS-232C
CN30
RS-232C
Personal computer
Servo system controller or
servo amplifier
CN10A CN10B
MR-J4-T20 (Note 4)
CN7 CN9
I/F Control
L2
L1
(Note 2) Power supply
MCMCCB
Diode stack
Relay +
Charge lampU
+
Servo amplifier or terminal connector
(Note 1)
Electromagnetic brake
Model position
Current control
Actual position control
Actual speed control
Virtual motor
Virtual encoder
Position command
input
Battery (for absolute position detection system)
C N
4 Model speed Model torque
Model position control
Model speed control
Step- down circuit
C N
2 L
External encoder
Note 1. The built-in regenerative resistor is not provided for MR-J4-10B1-RJ020.
2. For power supply specifications, refer to section 1.3.1.
3. This is not used when the servo amplifier is in the J2S compatibility mode. Always attach the short-circuit connector came with
a servo amplifier.
4. This is used to change the servo amplifier mode. Refer to section 13.1 for the mode selection procedure.
1. FUNCTIONS AND CONFIGURATION
1 - 8
1.3 Standard specifications
1.3.1 Servo amplifier standard specifications
(1) 200 V class Model: MR-J4-_-RJ020 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB
Output Rated voltage 3-phase 170 V AC
Rated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0
Main circuit power supply input
Voltage/Frequency 3-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 6)
[A] 0.9 1.5 2.6 3.2
(Note 3)
3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0
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.
Control circuit power supply input
Voltage/Frequency 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
Rated current [A] 0.2 0.3
Permissible voltage fluctuation
1-phase 170 V AC to 264 V AC
Permissible frequency fluctuation
Within 5%
Power consumption
[W] 30 45
Inrush current [A] Refer to section 10.5.
Interface power supply
Voltage 24 V DC 10%
Current capacity [A] 0.1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in External option
(Note 5)
Fully closed loop control Compatible (Note 7)
Load-side encoder interface Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal
(Note 7)
Communicati on function
USB Connection to a personal computer
(compatible with an application "MR-J4(W)-B mode selection" (Note 4))
Encoder output pulses Compatible (A/B/Z-phase pulse)
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, magnetic pole detection protection, linear servo control error protection
Functional safety Not available
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) Force cooling, open (IP20) (Note 2)
Close mounting (Note 1) Possible Impossible
1. FUNCTIONS AND CONFIGURATION
1 - 9
Model: MR-J4-_-RJ020 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5% RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight),free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Note 8)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 0.8 1.0 1.4 2.1 2.3 4.0 6.2 13.4 18.2 Note 1. When closely mounting the servo amplifier, operate them at the ambient temperatures of 0 C to 45 C or at 75% or smaller
effective load ratio.
2. Except for the terminal block.
3. The rated current is 2.9 A when the servo amplifier is used with a UL or CSA compliant servo motor.
4. The application "MR-J4(W)-B mode selection" is necessary for using MR-J4-_B-RJ020 in the J4 mode.
It is unnecessary for using MR-J4-_B-RJ020 in the J2S compatibility mode. Use the application "MR-J4(W)-B mode selection"
packed with MR Configurator2 of software version 1.17T or later.
5. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external
dynamic brake, refer to section 11.7.
6. This value is applicable when a 3-phase power supply is used.
7. Use the servo amplifier or the drive unit with following software version:
A4 or later for 7 kW or less
A6 or later for 11 kW or more
8. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 10
(2) 400 V class Model: MR-J4-_-RJ020 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4
Output Rated voltage 3-phase 323 V AC
Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0
Main circuit power supply input
Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6
Permissible voltage fluctuation
3-phase 323 V AC to 528 V AC
Permissible frequency fluctuation
Within 5%
Power supply capacity
[kVA] Refer to section 10.2.
Inrush current [A] Refer to section 10.5.
Control circuit power supply input
Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Rated current [A] 0.1 0.2
Permissible voltage fluctuation
1-phase 323 V AC to 528 V AC
Permissible frequency fluctuation
Within 5%
Power consumption
[W] 30 45
Inrush current [A] Refer to section 10.5.
Interface power supply
Voltage 24 V DC 10%
Current capacity [A] 0.1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in External option
(Note 3)
Fully closed loop control Compatible (Note 4)
Load-side encoder interface Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal
(Note 4)
Communication function
USB Connection to a personal computer
(compatible with an application "MR-J4(W)-B mode selection" (Note 2))
Encoder output pulses Compatible (A/B/Z-phase pulse)
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, magnetic pole detection protection, linear servo control error protection
Functional safety Not available
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)
Force cooling, open (IP20) (Note 1)
Close mounting Impossible
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5% RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Note 5)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 1.7 2.1 3.6 4.3 6.5 13.4 18.2
1. FUNCTIONS AND CONFIGURATION
1 - 11
Note 1. Except for the terminal block.
2. The application "MR-J4(W)-B mode selection" is necessary for using MR-J4-_B4-RJ020 in the J4 mode.
It is unnecessary for using MR-J4-_B4-RJ020 in the J2S compatibility mode. Use the application "MR-J4(W)-B mode
selection" packed with MR Configurator2 of software version 1.17T or later.
3. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment.
4. Use the servo amplifier or the drive unit with following software version:
A4 or later for 7 kW or less
A6 or later for 11 kW or more
5. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 12
(3) 100 V class
Model: MR-J4-_-RJ020 10B1 20B1 40B1
Output Rated voltage 3-phase 170 V AC
Rated current [A] 1.1 1.5 2.8
Main circuit power supply input
Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz
Rated current [A] 3.0 5.0 9.0
Permissible voltage fluctuation
1-phase 85 V AC to 132 V AC
Permissible frequency fluctuation
Within 5%
Power supply capacity
[kVA] Refer to section 10.2.
Inrush current [A] Refer to section 10.5.
Control circuit power supply input
Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz
Rated current [A] 0.4
Permissible voltage fluctuation
1-phase 85 V AC to 132 V AC
Permissible frequency fluctuation
Within 5%
Power consumption
[W] 30
Inrush current [A] Refer to section 10.5.
Interface power supply
Voltage 24 V DC 10%
Current capacity [A] 0.1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
Fully closed loop control Compatible (Note 3)
Load-side encoder interface Mitsubishi Electric high-speed serial communication/A/B/Z-phase
differential input signal (Note 3)
Communicati on function
USB Connection with the personal computer (compatible with an application software "MR-J4(W)-B mode selection" (Note 2))
Encoder output pulses Compatible (A/B/Z-phase pulse)
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
Functional safety Not available
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)
Close mounting (Note 1) Possible
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5% RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Note 4)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 0.8 1.0
Note 1. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 C to 45 C or at 75% or smaller effective load ratio.
2. The application software "MR-J4(W)-B mode selection" is necessary for using MR-J4-_B1-RJ020 in J4 mode. It is unnecessary when using MR-J4-_B1-RJ020 in J2S compatibility mode. Use the application "MR- J4(W)-B mode selection" which packed with MR Configurator2 of software version 1.17T or later.
3. The fully closed loop control is available only in J2S compatibility mode. Use a servo amplifier with software version A4 or later.
4. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 13
1.3.2 Conversion unit for SSCNET of MR-J2S-B
Model MR-J4-T20
Control circuit power supply
Voltage 5 V DC (supplied from the servo amplifier)
Rated current [A] 0.1
Network interface SSCNET interface (CN10A connector/CN10B connector)
Communica- tion function
RS-232C Connection to a personal computer
(MR Configurator (MRZJW3-SETUP161E) (CN30 connector))
Structure Natural-cooling, open (IP rating: IP00)
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)
Environment Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
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 [g] 140
1. FUNCTIONS AND CONFIGURATION
1 - 14
1.4 Combinations of servo amplifiers and servo motors
POINT
When an HG series servo motor is used with the MR-J4-_B_-RJ020 servo amplifier, the encoder resolution per servo motor revolution will be 131072 pulses/rev (17 bits), not 4194303 pulses/rev (22 bits).
To operate the HG series servo motor at the maximum torque, set the torque limit value in the servo system controller to 500%. When using the maximum torque in the test operation mode, set [Pr. 10 Forward rotation torque limit value] and [Pr. 11 Reverse rotation torque limit value] to 500%.
(1) 200 V class
Servo amplifier
Servo motor
HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR HG-JR
(at maximum torque 400%)
MR-J4-10B-RJ020 053 13
053 13
MR-J4-20B-RJ020 23 23
MR-J4-40B-RJ020 43 43
MR-J4-60B-RJ020 51 52
53
MR-J4-70B-RJ020 73 73 72 73
MR-J4-100B-RJ020 81 102
103 53
MR-J4-200B-RJ020 121 201 152 202
152 103 153
153 203
73 103
MR-J4-350B-RJ020 301 352
202 203 353 153 203
MR-J4-500B-RJ020 421 502
352 502
353 503
503 353
MR-J4-700B-RJ020 702 601 701M 703
503
MR-J4-11KB-RJ020 801 12K1
11K1M 903
MR-J4-15KB-RJ020 15K1 15K1M
MR-J4-22KB-RJ020 20K1 25K1
22K1M
1. FUNCTIONS AND CONFIGURATION
1 - 15
(2) 400 V class
Servo amplifier
Servo motor
HG-SR HG-JR HG-JR
(at maximum torque 400%)
MR-J4-60B4-RJ020 524 534
MR-J4-100B4-RJ020 1024 734 1034
534
MR-J4-200B4-RJ020 1524 2024
1534 2034
734 1034
MR-J4-350B4-RJ020 3524 3534 1534 2034
MR-J4-500B4-RJ020 5024 5034 3534
MR-J4-700B4-RJ020 7024 6014 701M4 7034
5034
MR-J4-11KB4-RJ020 8014 12K14
11K1M4 9034
MR-J4-15KB4-RJ020 15K14 15K1M4
MR-J4-22KB4-RJ020 20K14 25K14
22K1M4
(3) 100 V class
Servo amplifier Servo motor
HG-KR HG-MR
MR-J4-10B1-RJ020 053 13
053 13
MR-J4-20B1-RJ020 23 23
MR-J4-40B1-RJ020 43 43
1. FUNCTIONS AND CONFIGURATION
1 - 16
1.5 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field.
Function Description Detailed
explanation
Model adaptive control This realizes a high response and stable control following the ideal model. The two- degrees-of-freedom-model model adaptive control enables you to set a response to the command and response to the disturbance separately.
Position control mode This servo is used as a position control servo.
Speed control mode This servo is used as a speed control servo.
Torque control mode This servo is used as a torque control servo.
High-resolution encoder When the servo amplifier is in the J2S compatibility mode, the encoder resolution of the servo amplifier will be 131072 pulses/rev.
Absolute position detection system
Merely setting a home position once makes home position return unnecessary at every power-on.
Chapter 12
Gain switching function You can switch gains during rotation and during stop, and can use an input device to switch gains during operation.
Section 7.2
Adaptive vibration suppression control
This is not available with this servo amplifier.
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
Adaptive vibration suppression control function
The servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. This is available with servo amplifiers with software version A9 or later.
Section 7.1.3
Low-pass filter Suppresses high-frequency resonance which occurs as servo system response is increased.
Section 7.1.2
Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator installed personal computer and servo amplifier. MR Configurator is necessary for this function.
Machine simulation This is not available with this servo amplifier.
Gain search function This is not available with this servo amplifier.
Slight vibration suppression control
Suppresses vibration of 1 pulse produced at a servo motor stop. [Pr. 24]
Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.
Section 6.2
Brake unit Used when the regenerative option cannot provide enough regenerative power. Can be used for the 5 kW or more servo amplifier.
Section 11.3
Power regeneration converter Used when the regenerative option cannot provide enough regenerative power. Can be used for the 5 kW or more servo amplifier.
Section 11.4
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
Torque limit Servo motor torque can be limited to any value. [Pr. 10], [Pr. 11]
EM1 (Forced stop) automatic on
This function automatically switches on and disables EM1 (Forced stop) in the servo amplifier.
[Pr. 23]
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, DO forced output, and program operation MR Configurator is necessary for this function.
Section 4.5.1
Motor-less operation To use motor-less operation, set " _1_ _ " in [Pr. 24].
Section 4.5.2
Analog monitor output Servo status is outputted in terms of voltage in real time. [Pr. 22]
MR Configurator Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others. Use MRZJW3-SETUP161E for MR-J4-_B_-RJ020 servo amplifier.
Section 11.7
Linear servo system This is not available with this servo amplifier.
Direct drive servo system This is not available with this servo amplifier.
1. FUNCTIONS AND CONFIGURATION
1 - 17
Function Description Detailed
explanation
Fully closed loop system
Fully closed loop system can be configured using the load-side encoder. The fully closed loop system is enabled only in J2S compatibility mode. Use the servo amplifier or the drive unit with following software version:
A4 or later for 7 kW or less A6 or later for 11 kW or more
In the fully closed loop system, the following cable can be used for the servo motor encoder:
Two-wire type for software version A4 or later Two-wire and four-wire types for software version A6 or later
Check the software version with MR Configurator (MRZJW3-SETUP161E).
Chapter 15
STO function The STO function cannot be used when the servo amplifier is in J2S compatibility mode.
1. FUNCTIONS AND CONFIGURATION
1 - 18
1.6 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
Serial number
KC certification number, The year and month of manufacture Country of origin
Servo amplifier
TOKYO 100-8310, JAPAN MADE IN JAPAN
MODEL POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300175 Max. Surrounding Air Temp.: 55C IP20
: 100W : 3AC/AC200-240V 0.9A/1.5A 50/60Hz : 3PH170V 0-360Hz 1.1A
AC SERVO
MR-J4-10B-RJ020 SER.S21001001
Model Serial number
Country of origin
IP rating, Manual number
Conversion Unit for SSCNET of MR-J2S-B
The year and month of manufacture
SER. A33001001 MR-J4-T20MODEL
IP00 MAN. :IB(NA)0300204
DATE: 2013-03 TOKYO 100-8310, JAPAN
MSIP-REI-MEK-TC350A153G51 KC certification number
(2) Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Series
Rated output
Symbol Rated output [kW]
10 0.1
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2
350 3.5
500 5
700 7
SSCNETIII/H interface
Power supply
Symbol Power supply
None 3-phase or 1-phase 200 V AC to 240 V AC
4 3-phase 380 V AC to 480 V AC
11K 11
15K 15
22K 22
Special specifications
Symbol Special specifications
-RJ020
Compatible with the conversion unit for SSCNET of MR-J2S-B Fully closed loop control four-wire type/load-side encoder A/B/ Z-phase input compatible (Note 3)
-RZ020 MR-J4-_B_-RJ020 without regenerative resistor (Note 2) -RU020 MR-J4-_B_-RJ020 without a dynamic brake (Note 1)
1 1-phase 100 V AC to 120 V AC
M R J R JB 24 46 --- 0 0 0
Note 1. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. Refer to app. 10.1 for details.
2. These are servo amplifiers of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory.
Refer to app. 10.2 for details.
3. This is available with software version of A4 or later for 7 kW or less, and with A6 or later for 11 kW or more.
The following cable can be used for the servo motor encoder:
Two-wire type for software version A4 or later
Two-wire and four-wire types for software version A6 or later
1. FUNCTIONS AND CONFIGURATION
1 - 19
1.7 Structure
1.7.1 Parts identification
(1) MR-J4-200B-RJ020 or less/MR-J4-200B4-RJ020 or less/MR-J4-40B1-RJ020 or less The diagram shows MR-J4-10B-RJ020.
(11)
(12)
(20) (19)
(4)
(13)
(15)
(14) Side
(16)
(17)
(18)
(5)
(6)
(7)
(8)
(10)
(9)
(1)
(3)
(2)
Inside of the display cover
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)
Not used in J2S compatibility mode. Turn all switches "OFF (down)".)
(4)
USB communication connector (CN5)
Connect with the personal computer.
Used to change the servo amplifier mode.
Section 13.1
(5)
I/O signal connector (CN3)
Used to connect digital I/O signals.
The pin assignments are different from the MR-J2S series. Wire it correctly in accordance with section 3.4.
Section 3.2
Section 3.4
(6) STO input signal connector (CN8)
Not used in J2S compatibility mode. Always attach the supplied short-circuit connector.
(7) SSCNET III cable connector (CN1A)
Not used in J2S compatibility mode. Always cap the connector.
(8) SSCNET III cable connector (CN1B)
Not used in J2S compatibility mode. Always cap the connector.
(9)
Encoder connector (CN2)
Used to connect the servo motor encoder.
Section 3.4
"Servo Motor Instruction Manual (Vol. 3)"
(10) Battery connector (CN4)
Used to connect the battery for absolute position data backup.
Chapter 12
(11) Battery holder
Install the battery for absolute position data backup. Section 12.2
(12) Protective earth (PE) terminal Section 3.1
Section 3.3 (13) Main circuit power connector (CNP1)
Connect the input power supply.
(14) Rating plate Section 1.6
(15) Control circuit power connector (CNP2)
Connect the control circuit power supply and regenerative option.
Section 3.1
Section 3.3
(16) Servo motor power connector (CNP3)
Connect the servo motor.
(17) Charge lamp
When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.
(18) External encoder connector (CN2L)
Used only for the fully closed loop system.
Section 3.4
Chapter 15
(19) Optional unit connector 1 (CN7)
Connector used for connection with the CN70 connector of MR-J4-T20
(20) Optional unit connector 2 (CN9)
Connector used for connection with the CN90 connector of MR-J4-T20
1. FUNCTIONS AND CONFIGURATION
1 - 20
(2) MR-J4-350B-RJ020
(1)
(3)
(2) Side
(4)
(5)
(6)(7)
The broken line area is the same as MR-J4-200B-RJ020 or less/MR-J4-200B4-RJ020 or less.
No. Name/Application Detailed
explanation
(1) Main circuit power connector (CNP1)
Connect the input power supply.
Section 3.1
Section 3.3
(2) Rating plate Section 1.6
(3) Servo motor power connector (CNP3)
Connect the servo motor. Section 3.1
Section 3.3 (4)
Control circuit power connector (CNP2)
Connect the control circuit power supply and regenerative option.
(5)
Charge lamp
When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
(6) Protective earth (PE) terminal Section 3.1
Section 3.3
(7) Battery holder
Install the battery for absolute position data backup. Section 12.2
(3) MR-J4-350B4-RJ020
The broken line area is the same as MR-J4-200B-RJ020 or less/MR-J4-200B4-RJ020 or less.
(6)
(5)
(4)
(2) Side
(3)
(1)
(7) (Note)
No. Name/Application Detailed
explanation
(1) Main circuit power connector (CNP1)
Connect the input power supply.
Section 3.1
Section 3.3
(2) Rating plate Section 1.6
(3) Control circuit power connector (CNP2)
Connect the control circuit power supply and regenerative option.
Section 3.1
Section 3.3
(4) Servo motor power output connector (CNP3)
Connect the servo motor.
(5)
Charge lamp
When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
(6) Protective earth (PE) terminal Section 3.1
Section 3.3
(7) Battery holder
Install the battery for absolute position data backup. Section 12.2
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 21
(4) MR-J4-500B-RJ020
POINT
The servo amplifier is shown with the front cover open. The front cover cannot be removed.
(1)
(3) (Note)
(2)
(8)
(4) Side
(5)
(6)
(7)
The broken line area is the same as MR-J4-200B-RJ020 or less/MR-J4-200B4-RJ020 or less.
No. Name/Application Detailed
explanation
(1) Control circuit terminal block (TE2)
Used to connect the control circuit power supply. Section 3.1
Section 3.3 (2)
Main circuit terminal block (TE1)
Connect the input power supply.
(3) Battery holder
Install the battery for absolute position data backup. Section 12.2
(4) Rating plate Section 1.6
(5)
Regenerative option/power factor improving reactor terminal block (TE3)
Used to connect a regenerative option and a power factor improving DC reactor.
Section 3.1
Section 3.3
(6) Servo motor power supply terminal block (TE4)
Connect the servo motor.
(7)
Charge lamp
When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
(8) Protective earth (PE) terminal Section 3.1
Section 3.3
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 22
(5) MR-J4-500B4-RJ020
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.3.
(1)
(3) (Note)
(2)
(4)
(5)
(6)
(7)
The broken line area is the same as MR-J4-200B-RJ020 or less/MR-J4-200B4-RJ020 or less.
No. Name/Application Detailed
explanation
(1) Control circuit terminal block (TE2)
Used to connect the control circuit power supply. Section 3.1
Section 3.3 (2)
Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative option, and servo motor.
(3) Battery holder
Install the battery for absolute position data backup. Section 12.2
(4) Rating plate Section 1.6
(5)
Regenerative option/power factor improving reactor terminal block (TE3)
Used to connect a regenerative option and a power factor improving DC reactor.
Section 3.1
Section 3.3
(6)
Charge lamp
When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
(7) Protective earth (PE) terminal Section 3.1
Section 3.3
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 23
(6) MR-J4-700B-RJ020/MR-J4-700B4-RJ020
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.3.
(1)
(5) (Note)
(2)
(4)
(3)
(6)
The broken line area is the same as MR-J4-200B-RJ020 or less/MR-J4-200B4-RJ020 or less.
(7)
No. Name/Application Detailed
explanation
(1) Power factor improving reactor terminal block (TE3)
Used to connect a power factor improving DC reactor.
Section 3.1
Section 3.3
(2) Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative option, and servo motor.
(3) Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
(4) Protective earth (PE) terminal
(5) Battery holder
Install the battery for absolute position data backup. Section 12.2
(6) Rating plate Section 1.6
(7)
Charge lamp
When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 24
(7) MR-J4-11KB-RJ020/MR-J4-15KB-RJ020/MR-J4-11KB4-RJ020/MR-J4-15KB4-RJ020
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.3.
(1)
(2)
(4)
(3)
(6)
The broken line area is the same as MR-J4-200B-RJ020 or less/MR-J4-200B4-RJ020 or less.
(7)
(5) (Note)
No. Name/Application Detailed
explanation
(1) Power factor improving reactor terminal block (TE1-2)
Used to connect a power factor improving DC reactor and a regenerative option.
Section 3.1
Section 3.3 (2)
Main circuit terminal block (TE1-1)
Used to connect the input power supply and servo motor.
(3) Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
(4) Protective earth (PE) terminal
(5) Battery holder
Install the battery for absolute position data backup. Section 12.2
(6) Rating plate Section 1.6
(7)
Charge lamp
When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 25
(8) MR-J4-22KB-RJ020/MR-J4-22KB4-RJ020
POINT
The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.3.
(7)
(6)
(5) (Note)
(2)
(3)
(4)
(1)
The broken line area is the same as MR-J4-200B-RJ020 or less/MR-J4-200B4-RJ020 or less.
No. Name/Application Detailed
explanation
(1) Power factor improving reactor terminal block (TE1-2)
Used to connect a power factor improving DC reactor and a regenerative option.
Section 3.1
Section 3.3 (2)
Main circuit terminal block (TE1-1)
Used to connect the input power supply and servo motor.
(3) Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
(4) Protective earth (PE) terminal
(5) Battery holder
Install the battery for absolute position data backup. Section 12.2
(6) Rating plate Section 1.6
(7)
Charge lamp
When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
Note. Lines for slots around the battery holder are omitted from the illustration.
1. FUNCTIONS AND CONFIGURATION
1 - 26
1.7.2 Parts identification of MR-J4-T20
No. Name/Application Detailed explanation
(1)
(2)
(3)
(4)
(5)
(1) SSCNET cable connector (CN10A)
Used to connect the servo system controller or the previous axis servo amplifier.
Section 3.2
Section 11.1 (2) SSCNET cable connector (CN10B)
Used for connection with the next axis servo amplifier or for connection of the terminal connector (MR-A-TM).
(3) RS-232C communication connector (CN30)
Connect with the personal computer.
(4) Optional unit connector 2 (CN90)
Connector used for connection with the CN9 connector of the servo amplifier
(5) Optional unit connector 1 (CN70)
Connector used for connection with the CN7 connector of the servo amplifier
1. FUNCTIONS AND CONFIGURATION
1 - 27
1.7.3 Removal and reinstallation of the front cover
WARNING
Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
The following shows how to remove and reinstall the front cover of MR-J4-700B-RJ020 to MR-J4-22KB- RJ020 and MR-J4-500B4-RJ020 to MR-J4-22KB4-RJ020. The diagram shows MR-J4-700B-RJ020. (1) Removal of the front cover
A)
A)
1) Hold the ends of lower side of the front cover with both hands. 2) Pull up the cover, supporting at point A).
3) Pull out the front cover to remove.
1. FUNCTIONS AND CONFIGURATION
1 - 28
(2) Reinstallation of the front cover
Front cover setting tab
A)
A)
1) Insert the front cover setting tabs into the sockets of servo amplifier (2 places).
2) Push down the cover, supporting at point A).
Setting tab
3) Press the cover against the terminal box until the installing knobs click.
1. FUNCTIONS AND CONFIGURATION
1 - 29
1.8 Installation and removal of MR-J4-T20
WARNING
Before installing or removing MR-J4-T20, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
CAUTION
Avoid installing and removing MR-J4-T20 repeatedly. Any contact failure of the connector may be caused.
Avoid unsealing MR-J4-T20 to be free of dust and dirt against the connector except installing. Make sure to use the pre-packing when storing.
Avoid using MR-J4-T20 of which the hook and knobs for fixing are damaged. Any contact failure of the connector may be caused.
When installing and removing MR-J4-T20 to MR-J4-500B-RJ020 to MR-J4-22KB- RJ020 and MR-J4-350B4-RJ020 to MR-J4-22KB4-RJ020 servo amplifiers, avoid dropping out the installing screw inside it. Otherwise, it may cause a malfunction.
When installing MR-J4-T20 to MR-J4-500B-RJ020 to MR-J4-22KB-RJ020 and MR-J4-350B4-RJ020 to MR-J4-22KB4-RJ020 servo amplifiers, avoid damaging the control board by the fixing plate. Otherwise, it may cause a malfunction.
Make sure to tighten MR-J4-T20 with the enclosed installing screws when installing.
POINT
The internal circuits of the servo amplifier and MR-J4-T20 may be damaged by static electricity. Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.
1. FUNCTIONS AND CONFIGURATION
1 - 30
(1) For MR-J4-350B-RJ020 or less/MR-J4-200B4-RJ020 or less/MR-J4-40B1-RJ020 or less
(a) Installation of MR-J4-T20
2)
2)
Guide pin
Guide hole
MR-J4-T20
1)
1) Remove the covers of CN7/CN9 connector. Make sure to store the removed cover.
2) Find the guide hole on the side of the servo amplifier. To the guide hole, insert the MR-J4-T20' s guide pins.
Knob
4)
3)
3) Push the four corners of the side of MR-J4-T20 simultaneously to the servo amplifier until the four knobs click so that CN7 and CN9 connectors are connected straight.
4) Tighten the unit with the enclosed installing screw (M4).
(b) Removal of MR-J4-T20
1)
d)
c)
a)
2)
b)
1) Remove the installing screw. 2) Keep pushing the knobs ( a), b), c), d)) and pull out MR-J4-
T20 to the arrow direction. Avoid pulling out MR-J4-T20 while it is tightened with the installation screw.
3)
3) After removing MR-J4-T20, make sure to cap the CN7/CN9 connector to avoid dust and dirt.
1. FUNCTIONS AND CONFIGURATION
1 - 31
(2) For MR-J4-500B-RJ020 to MR-J4-700B-RJ020 and MR-J4-350B4-RJ020 to MR-J4-700B4-RJ020
(a) Removal of the side cover
b)
a)
1)
1) Keep pushing the knobs ( a) , b) ) and pull out the side cover to the arrow direction.
(b) Installation of MR-J4-T20
1)
1)
Guide pin
Guide hole
1) Find the guide hole on the side of the servo amplifier. To the guide hole, insert the MR-J4-T20' s guide pins.
3)2)
Knob
2) Push the four corners of the side of MR-J4-T20 simultaneously to the servo amplifier until the four knobs click so that CN7 and CN9 connectors are connected straight.
3) Tighten the unit with the enclosed installing screw (M4).
(c) Removal of MR-J4-T20
b)
1)2)
a)
d)
c)
1) Remove the installing screw. 2) Keep pushing the knobs ( a), b), c), d)) and pull out MR-J4-
T20 to the arrow direction. Avoid pulling out MR-J4-T20 while it is tightened with the installation screw.
1. FUNCTIONS AND CONFIGURATION
1 - 32
(d) Installation of the side cover
Side cover setting tab
a)
1)
1)
1) Insert the side cover setting tabs into the sockets a) of servo amplifier.
2)
Knob
2) Push the side cover at the supporting point a) until the knobs click.
(3) For MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020/MR-J4-11KB4-RJ020 to MR-J4-22KB4-RJ020
CAUTION Avoid touching any remained burr after cutting off the part a) of the case. Otherwise, it may cause injury.
The installing screw holes for the MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020/MR-J4-11KB4-RJ020 to MR-J4-22KB4-RJ020 servo amplifiers are covered and not shown at shipping. When installing the unit for the first time, cut off the part a) of the case after removing the side cover. When cutting off the part a), avoid damaging the case of the servo amplifier. After cutting off it, inside of the servo amplifier has been exposed even though the side cover and the unit are installed. Avoid unwanted parts from entering through the opened area into the servo amplifier. For installing or removing the unit, refer to (2) in this section. The side cover structure is the same for MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020/MR-J4-11KB4-RJ020 to MR-J4-22KB4-RJ020 and for this unit. Install or remove the side cover with the same way as for the unit.
a)
1. FUNCTIONS AND CONFIGURATION
1 - 33
1.9 Configuration including peripheral equipment
CAUTION Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
POINT
Equipment other than the servo amplifier and servo motor are optional or recommended products.
(1) MR-J4-200B-RJ020 or less
The diagram shows MR-J4-10B-RJ020.
CN4
Line noise filter (FR-BSF01)
Regenerative option
P+
C
L11
L21
P3
P4
Servo motor
Personal computer
MR Configurator (MRZJW3-SETUP161E)
CN3
CN10A
CN10B
CN2
W
V
U
Magnetic contactor (MC)
L1
L2
L3
Power factor improving DC reactor (FR-HEL-(H))
Junction terminal block
Battery
Molded-case circuit breaker (MCCB)
R S T (Note 2) Power supply
Servo amplifier MR-J4-T20
CN30
Servo system controller or preceding axis servo
amplifier CN10B
Subsequent axis servo amplifier CN10A or
Termination connector
(Note 1)
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B-RJ020 or less. 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 1.3.1.
1. FUNCTIONS AND CONFIGURATION
1 - 34
(2) MR-J4-350B-RJ020
P+
C
P3
P4
L3
MR-J4-T20
Line noise filter (FR-BSF01)
Regenerative option
Magnetic contactor (MC)
Power factor improving DC reactor (FR-HEL)
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 1)
Servo motor
Battery
Personal computer
Junction terminal block
Servo amplifier
Servo system controller or preceding axis servo
amplifier CN10B
Subsequent axis servo amplifier CN10A or
Termination connector
L11
L21
MR Configurator (MRZJW3-SETUP161)
CN3
CN2
W
V
U
L1
L2
CN4
R S T
CN30
CN10A
CN10B
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. For power supply specifications, refer to section 1.3.1.
1. FUNCTIONS AND CONFIGURATION
1 - 35
(3) MR-J4-350B4-RJ020 or less
The diagram shows MR-J4-350B4-RJ020.
P+
C
L11
L21
P3
P4
W
V
U
L1
L2
L3
R S T
CN2
CN4
CN3
CN10A
CN10B
CN30
MR-J4-T20
Line noise filter (FR-BSF01)
Regenerative option
Magnetic contactor (MC)
Power factor improving DC reactor (FR-HEL-H)
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 1)
Servo motor
Battery
Junction terminal block
Servo amplifier
Servo system controller or preceding axis servo
amplifier CN10B
Subsequent axis servo amplifier CN10A or
Termination connector
MR Configurator (MRZJW3-SETUP161E)
Personal computer
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. For power supply specifications, refer to section 1.3.1.
1. FUNCTIONS AND CONFIGURATION
1 - 36
(4) MR-J4-500B-RJ020
CN2
CN4 P+
C
L11
L21
P3
P4
W
V
U
L1
L2
L3
R S T
MR-J4-T20
CN3
CN10A
CN10B
CN30
Line noise filter (FR-BLF)
Regenerative option
Magnetic contactor (MC)
Power factor improving DC reactor (FR-HEL)
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 1)
Servo motor
Battery
Junction terminal block
Servo amplifier
Servo system controller or preceding axis servo
amplifier CN10B
Subsequent axis servo amplifier CN10A or
Termination connector
MR Configurator (MRZJW3-SETUP161E)
Personal computer
Note 1.
The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. For power supply specifications, refer to section 1.3.1.
1. FUNCTIONS AND CONFIGURATION
1 - 37
(5) MR-J4-500B4-RJ020
L21
L11
CN2
L1
L2 L3
P3
P4
CN4
R S T
P+ C
WVU
CN3
CN10A
CN10B
CN30
MR-J4-T20
Junction terminal block
Servo amplifier
Servo system controller or preceding axis servo
amplifier CN10B
Subsequent axis servo amplifier CN10A or
Termination connector
Servo motor
Battery
Regenerative option
Line noise filter (FR-BSF01)
Magnetic contactor (MC)
Power factor improving DC reactor (FR-HEL-H)
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 1)
MR Configurator (MRZJW3-SETUP161E)
Personal computer
Note 1.
The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. For power supply specifications, refer to section 1.3.1.
1. FUNCTIONS AND CONFIGURATION
1 - 38
(6) MR-J4-700B-RJ020/MR-J4-700B4-RJ020
The diagram shows MR-J4-700B-RJ020.
P+ C
CN2
WVU
CN4
L11
L21
P4
P3
L3
L2
L1
R S T
MR-J4-T20
CN3
CN10A
CN10B
CN30
Line noise filter (FR-BLF)
Magnetic contactor (MC)
Molded-case circuit breaker (MCCB)
(Note 2) Power supply
(Note 1)
Servo motor
Battery
Junction terminal block
Servo amplifier
Servo system controller or preceding axis servo
amplifier CN10B
Subsequent axis servo amplifier CN10A or
Termination connector
Regenerative option
MR Configurator (MRZJW3-SETUP161E)
Personal computer
Power factor improving DC reactor (FR-HEL-(H))
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. For power supply specifications, refer to section 1.3.1.
1. FUNCTIONS AND CONFIGURATION
1 - 39
(7) MR-J4-11KB-RJ020/MR-J4-15KB-RJ020/MR-J4-11KB4-RJ020/MR-J4-15KB4-RJ020
Power factor improving DC reactor (FR-HEL-(H))
P3
P4
Line noise filter (FR-BLF)
Regenerative option P+ C
Magnetic contactor
(Note 3)
Power supply (Note 2)
(Note 1)
(MC)
L1
Molded-case circuit breaker (MCCB)
R S T
L3
L11
L21
L2
Servo motor
Personal computer
MR Configurator (MRZJW3-SETUP161E)
Junction terminal block
Servo system controller or preceding axis servo
amplifier CN10B
Subsequent axis servo amplifier CN10A or
Termination connector
U V W
MR-J4-T20
CN4 Battery
CN3
CN2
CN30
CN10A
CN10B
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. For power supply specifications, refer to section 1.3.1.
1. FUNCTIONS AND CONFIGURATION
1 - 40
(8) MR-J4-22KB-RJ020/MR-J4-22KB4-RJ020
Power factor improving DC reactor (FR-HEL-(H))
P3
P4
Line noise filter (FR-BLF)
Regenerative option
P+ C
Magnetic contactor
(Note 3)
Power supply (Note 2)
(Note 1)
(MC)
L1
Molded-case circuit breaker (MCCB)
R S T
L3
L11
L21
L2
Personal computer
MR Configurator (MRZJW3-SETUP161E)
Junction terminal block
Servo motor
U V W
CN3
CN2
MR-J4-T20
CN30
CN4
CN10A
CN10B
Battery
Servo system controller or preceding axis servo
amplifier CN10B
Subsequent axis servo amplifier CN10A or
Termination connector
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. For power supply specifications, refer to section 1.3.1.
1. FUNCTIONS AND CONFIGURATION
1 - 41
(9) MR-J4-10B1-RJ020/MR-J4-20B1-RJ020/MR-J4-40B1-RJ020
The diagram shows MR-J4-10B1-RJ020.
CN4
Line noise filter (FR-BSF01)
Regenerative option
P+
C
L11
L21
Servo motor
Personal computer
MR Configurator (MRZJW3-SETUP161E)
CN3
CN10A
CN10B
CN2
W
V
U
Magnetic contactor
L1
L2
(MC)
Junction terminal block
Battery
Molded-case circuit breaker (MCCB)
R T
Power supply (Note 2)
Servo amplifier MR-J4-T20
CN30
Servo system controller or previous servo amplifier CN10B
Next servo amplifier CN10A or terminal connector
(Note 1) Power factor improving AC reactor (FR-HAL)
Note 1. The power factor improving DC reactor cannot be used.
2. For power supply specifications, refer to section 1.3.1.
1. FUNCTIONS AND CONFIGURATION
1 - 42
MEMO
2. INSTALLATION
2 - 1
2. INSTALLATION
WARNING
To prevent electric shock, ground each equipment securely.
CAUTION
Stacking in excess of the specified number of product packages is not allowed.
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 1.3.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and MR-J4-T20.
Do not block the intake and exhaust areas of the servo amplifier and MR-J4-T20. Otherwise, it may cause a malfunction.
Do not drop or strike the servo amplifier and MR-J4-T20. Isolate them from all impact loads.
Do not install or operate the servo amplifier and MR-J4-T20 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 and MR-J4-T20, be careful about the edged parts such as corners of them.
The servo amplifier and MR-J4-T20 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 malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.
POINT
When pulling out CNP1, CNP2, and CNP3 connectors of 100 V class and 600 W or less of 200 V class servo amplifiers, pull out CN3 and CN8 connectors beforehand.
2. INSTALLATION
2 - 2
2.1 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction.
Leave specified clearances between the servo amplifier/MR-J4-T20 and the cabinet walls or other equipment. Otherwise, it may cause a malfunction.
(1) Installation clearances of the servo amplifier
(a) Installation of one servo amplifier
40 mm or more
10 mm or more
10 mm or more (Note 1)
40 mm or more
Servo amplifier
Cabinet Cabinet
80 mm or more
Wiring allowance
Top
Bottom
(Note 2)
Note 1. When mounting MR-J4-500B-RJ020, maintain a minimum clearance of 25 mm on the left side.
2. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.
2. INSTALLATION
2 - 3
(b) Installation of two or more servo amplifiers
POINT
Close mounting is possible depending on the capacity of the servo amplifier. Refer to section 1.3 for availability of close mounting.
When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the left. Otherwise, the CNP1, CNP2, and CNP3 connectors cannot be removed.
Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment. When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within 0 C to 45 C or use the servo amplifier with 75% or less of the effective load ratio.
100 mm or more
10 mm or more (Note 1, 3)
30 mm or more
30 mm or more
40 mm or more (Note 2)
Cabinet
Top
Bottom
100 mm or more
1 mm
30 mm or more
40 mm or more
Cabinet
1 mm
Leaving clearance Mounting closely
(Note 3)
Note 1. When mounting MR-J4-500B-RJ020, maintain a minimum clearance of 25 mm between the MR-J4-500B-RJ020 and a servo
amplifier mounted on the left side.
2. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.
3. A clearance for mounting can be smaller for the following servo amplifiers.
Servo amplifier Clearance for the right-side
servo amplifier [mm] (recommended clearance: 10 mm or more)
Clearance for the right-side cabinet wall [mm]
(recommended clearance: 30 mm or more)
MR-J4-10B-RJ020/MR-J4-20B-RJ020 MR-J4-70B-RJ020/MR-J4-100B-RJ020 MR-J4-10B1-RJ020/MR-J4-20B1-RJ020
8 28
MR-J4-200B-RJ020/MR-J4-350B-RJ020 MR-J4-200B4-RJ020
3 23
MR-J4-500B4-RJ020 8 28
2. INSTALLATION
2 - 4
(2) Others
When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.2 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 (encoder, power supply, and
brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the bending life range. Use the power supply and brake wiring cables within the bending life of the cables.
(3) Avoid any probability that the cable insulator might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles. (4) For installation on a machine where the servo motor moves, the flexing radius should be made as large
as possible. Refer to section 10.4 for the bending life.
2. INSTALLATION
2 - 5
2.4 Inspection items
WARNING
Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office.
CAUTION Do not perform insulation resistance test on the servo amplifier. Otherwise, it may cause a malfunction.
Do not disassemble and/or repair the equipment on customer side. It is recommended that the following points periodically be checked. (1) Check for loose terminal block screws. Retighten any loose screws. (2) Check the cables and the like for scratches or cracks. Inspect them periodically according to operating
conditions especially when the servo motor is movable. (3) Check that the connector is securely connected to the servo amplifier and MR-J4-T20. (4) Check that the wires are not coming out from the connector. (5) Check for dust accumulation on the servo amplifier and MR-J4-T20. (6) Check for unusual noise generated from the servo amplifier and MR-J4-T20. (7) Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
2. INSTALLATION
2 - 6
2.5 Parts having service life
Service life of the following parts is listed below. However, the service life varies depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor 10 years
Relay
Number of power-on, forced stop by EM1 (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)
Absolute position battery Refer to section 12.2.
(1) Smoothing capacitor
The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 40 C or less).
(2) Relays
Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of their lives when the power has been turned on, forced stop by EM1 (Forced stop) 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 lives of relays may depend on the power supply capacity.
(3) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 10,000 hours to 30,000 hours. Normally, therefore, the cooling fan must be replaced in a few years of continuous operation as a guideline. If unusual noise or vibration is found during inspection, the cooling fan must also be replaced. The life indicates under the yearly average ambient temperature of 40 C, free from corrosive gas, flammable gas, oil mist, dust and dirt.
2. INSTALLATION
2 - 7
2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level
(1) Effective load ratio and regenerative load ratio As heat dissipation effects decrease in proportion to decreasing 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 ffe
ct iv
e lo
ad r
at io
[%]
[m]
When closely mounting the product, operate them at the ambient temperatures of 0 C to 45 C or at 75% or smaller effective load ratio. (Refer to section 2.1.)
(2) Input voltage
Generally, 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) Relays
There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.5.)
(c) Servo amplifier cooling fan There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.5.)
2. INSTALLATION
2 - 8
MEMO
3. SIGNALS AND WIRING
3 - 1
3. SIGNALS AND WIRING
WARNING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.
To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM 24 V DC
Servo amplifier
RA
For sink output interface
Control output signal
DOCOM
Control output signal
24 V DC Servo amplifier
RA
For source output interface
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF (-H)) with the power 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.
Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
3. SIGNALS AND WIRING
3 - 2
CAUTION
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U
Servo motor
MV
W
U
V
W
U
MV
W
U
V
W
Servo amplifier Servo motorServo amplifier
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.
Switch main circuit power supply off at detection of an alarm on the controller side. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.
Check the servo amplifier model, and then input proper voltage to the servo amplifier power supply. If input voltage exceeds the upper limit of the specification, the servo amplifier will break down.
The servo amplifier has a built-in surge absorber (varistor) to reduce exogenous noise and to suppress lightning surge. Exogenous noise or lightning surge deteriorates the varistor characteristics, and the varistor may be damaged. To prevent a fire, use a molded-case circuit breaker or fuse for input power supply.
Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
The N- terminal is not a neutral point of the power supply. Incorrect wiring will cause a burst, damage, etc.
POINT
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J2S series servo amplifier's. When using MR-J4 as a replacement for MR-J2S, be careful not to connect the power to L2.
Configure the wiring to shut off the main circuit power supply and turn off the servo-on command as soon as an alarm occurs, or the servo forced stop or controller forced stop is enabled. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.
3. SIGNALS AND WIRING
3 - 3
(1) For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10B-RJ020 to MR-J4-350B-RJ020
(Note 7) MC
L1
L2
L3
3-phase 200 V AC to 240 V AC
Servo amplifier
P3
P4
P+
L11
L21
N-
D
C
U
V
W
(Note 1)(Note 10)
(Note 2)
CNP1
CNP3
CNP2
Servo motor
U
V
W M
Motor
EncoderCN2 (Note 3) Encoder cable
(Note 6) (Note 11)
(Note 11)
(Note 4) Alarm RA1 OFF
MC
ON MC
SK Emergency stop switch
CN3
(Note 5) Forced stop EM1
DICOM
CN8(Note 9) Short-circuit connector (Packed with the servo amplifier)
(Note 8) Main circuit power supply
MCCB
24 V DC
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
5. This diagram shows sink input interface. For source input interface, refer to section 3.7.3.
6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.
8. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
9. STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came with a
servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
3. SIGNALS AND WIRING
3 - 4
(2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10B-RJ020 to MR-J4-70B-RJ020
POINT
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-J2S series servo amplifier's. When using MR-J4 as a replacement for MR-J2S, be careful not to connect the power to L2.
(Note 7) MC
L1
L2
L3
1-phase 200 V AC to 240 V AC
Servo amplifier
P3
P4
P+
L11
L21
N-
D
C
U
V
W
(Note 1)
(Note 2)
CNP1
CNP3
CNP2
Servo motor
U
V
W M
Motor
EncoderCN2
(Note 4) Alarm RA1 OFF
MC
ON MC
SKEmergency stop switch
CN8
MCCB
(Note 3) Encoder cable
(Note 6)
(Note 5) Forced stop
(Note 9) Short-circuit connector (Packed with the servo amplifier)
(Note 10)
(Note 11)
(Note 11)
CN3
EM1
DICOM
(Note 8) Main circuit power supply
24 V DC
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
5. This diagram shows sink input interface. For source input interface, refer to section 3.7.3.
6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.
8. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
9. STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came with a
servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
3. SIGNALS AND WIRING
3 - 5
(3) MR-J4-60B4-RJ020 to MR-J4-350B4-RJ020
(Note 7) MC
L1
L2
L3
Servo amplifier
P3
P4
P+
L11
L21
N-
D
C
U
V
W
(Note 1)(Note 10)
(Note 2)
CNP1
CNP3
CNP2
Servo motor
U
V
W M
Motor
EncoderCN2 (Note 3) Encoder cable
(Note 6) (Note 11)
(Note 11)
(Note 4) Alarm RA1 OFF
MC
ON MC
SKEmergency stop switch
CN3
(Note 5) Forced stop EM1
DICOM
CN8(Note 9) Short-circuit connector (Packed with the servo amplifier)
(Note 8) Main circuit power supply
MCCB
24 V DC
3-phase 380 V AC to 480 V AC
(Note 12) Step-down transformer
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
5. This diagram shows sink input interface. For source input interface, refer to section 3.7.3.
6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.
8. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
9. STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came with a
servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
12. Step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class.
3. SIGNALS AND WIRING
3 - 6
(4) MR-J4-500B-RJ020
(Note 7) MC
L1
L2
L3
3-phase 200 V AC to 240 V AC
Servo amplifier
L11
L21
P3
C
N-
P+
P4
U
V
W
Servo motor
U
V
W M
Motor
EncoderCN2 (Note 3) Encoder cable
(Note 6)
(Note 4) Alarm RA1 OFF
MC
ON MC
SK Emergency stop switch
(Note 5) Forced stop
CN8 (Note 9) Short-circuit connector (Packed with the servo amplifier)
MCCB
D
(Note 1)
(Note 2)
(Note 10)
(Note 11)
(Note 11)
CN3
EM1
DICOM
(Note 8) Main circuit power supply
24 V DC
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
5. This diagram shows sink input interface. For source input interface, refer to section 3.7.3.
6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.
8. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
9. STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came with a
servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
3. SIGNALS AND WIRING
3 - 7
(5) MR-J4-700B-RJ020
(Note 3) Encoder cable
(Note 5) Forced stop
(Note 9) Short-circuit connector (Packed with the servo amplifier)
C
P+
L11
L21
P3
P4
N-
(Note 1)
Built-in regenerative
resistor
(Note 7) MC
L1
L2
L3
3-phase 200 V AC to 240 V AC
Servo amplifier
U
V
W(Note 2)
Servo motor
U
V
W M
Motor
EncoderCN2
(Note 6)
(Note 4) Alarm RA1 OFF
MC
ON MC
SKEmergency stop switch
CN8
MCCB
(Note 10)
(Note 11)
(Note 11)
CN3
EM1
DICOM
(Note 8) Main circuit power supply
24 V DC
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
2. When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
5. This diagram shows sink input interface. For source input interface, refer to section 3.7.3.
6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.
8. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
9. STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came with a
servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
3. SIGNALS AND WIRING
3 - 8
(6) MR-J4-500B4-RJ020/MR-J4-700B4-RJ020
(Note 3) Encoder cable
(Note 5) Forced stop
(Note 9) Short-circuit connector (Packed with the servo amplifier)
C
P+
L11
L21
P3
P4
N-
(Note 1)
Built-in regenerative
resistor
(Note 7) MC
L1
L2
L3
Servo amplifier
U
V
W(Note 2)
Servo motor
U
V
W M
Motor
EncoderCN2
(Note 6)
(Note 4) Alarm RA1 OFF
MC
ON MC
SKEmergency stop switch
CN8
MCCB
(Note 10)
(Note 11)
(Note 11)
CN3
EM1
DICOM
(Note 8) Main circuit power supply
24 V DC
3-phase 380 V AC to 480 V AC
(Note 12) Step-down transformer
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
2. When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
5. This diagram shows sink input interface. For source input interface, refer to section 3.7.3.
6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.
8. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
9. STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came with a
servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
12. Step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class.
3. SIGNALS AND WIRING
3 - 9
(7) MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020
(Note 3) Encoder cable
(Note 5) Forced stop
(Note 9) Short-circuit connector (packed with the servo amplifier)
C
P+
L11
L21
P3
P4
N-
(Note 1)
MC (Note 7) L1
L2
L3
3-phase 200 V AC to 240 V AC
Servo amplifier
U
V
W
(Note 2)
Servo motor
U
V
W M
Motor
EncoderCN2
(Note 6)
(Note 4) Alarm RA1
OFF
MC
ON MC
SK Emergency stop switch
CN8
MCCB
(Note 10)
(Note 11)
(Note 11)
(Note 14) External dynamic brake (optional)
(Note 12)Cooling fan
BU
BV
BW
MCCB
(Note 13) Cooling fan power supply
CN3
EM1
DICOM
(Note 8) Main circuit power supply
24 V DC
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
2. When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
5. This diagram shows sink input interface. For source input interface, refer to section 3.7.3.
6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.
8. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
9. The STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came
with a servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
12. Only HG-JP22K1M servo motor is equipped with a cooling fan.
13. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
14. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external
dynamic brake, refer to section 11.7.
3. SIGNALS AND WIRING
3 - 10
(8) MR-J4-11KB4-RJ020 to MR-J4-22KB4-RJ020
(Note 3) Encoder cable
(Note 5) Forced stop
(Note 9) Short-circuit connector (packed with the servo amplifier)
C
P+
L11
L21
P3
P4
N-
(Note 1)
MC (Note 7) L1
L2
L3
Servo amplifier
U
V
W
(Note 2)
Servo motor
U
V
W M
Motor
EncoderCN2
(Note 6)
(Note 4) Alarm RA1
OFF
MC
ON MC
SKEmergency stop switch
CN8
MCCB
(Note 10)
(Note 11)
(Note 11)
External dynamic brake (optional)
(Note 15)
(Note 13)Cooling fan
BU
BV
BW
MCCB
(Note 14) Cooling fan power supply
CN3
EM1
DICOM
(Note 8) Main circuit power supply
24 V DC
3-phase 380 V AC to 480 V AC
(Note 12) Step-down transformer
Regenerative resistor
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
2. When using the regenerative resistor, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)". 4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side. 5. This diagram shows sink input interface. For source input interface, refer to section 3.7.3. 6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)". 7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. 8. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier. 9. The STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came
with a servo amplifier. 10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.) 11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 12. A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class. 13. Only HG-JR22K1M4 servo motor has a cooling fan. 14. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". 15. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic brake, refer to section 11.7.
3. SIGNALS AND WIRING
3 - 11
(9) MR-J4-10B1-RJ020/MR-J4-20B1-RJ020/MR-J4-40B1-RJ020
MC (Note 7) L1
L2
1-phase 100 V AC to 120 V AC
Servo amplifier
P+
L11
L21
N-
D
C
U
V
W
(Note 2)
CNP1
CNP3
CNP2
Servo motor
U
V
W M
Motor
EncoderCN2
(Note 4) Alarm RA1
OFF
MC
ON MC
SKEmergency stop switch
CN8
MCCB
(Note 3) Encoder cable
(Note 6)
(Note 5) Forced stop
(Note 9) Short-circuit connector (packed with the servo amplifier)
(Note 10)
(Note 11)
(Note 11)
CN3
EM1
DICOM
(Note 8) Main circuit power supply
24 V DC
Unassigned
Unassigned
Unassigned (Note 1)
Note 1. The power factor improving DC reactor cannot be used.
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section
11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor
Instruction Manual (Vol. 3)".
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on
the controller side.
5. This diagram shows sink input interface. For source input interface, refer to section 3.7.3.
6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until
closure of contacts) of 80 ms or less.
8. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the
servo amplifier.
9. The STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit
connector came with a servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1 and L2, use a molded-case circuit breaker.
(Refer to section 11.10.)
11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
3. SIGNALS AND WIRING
3 - 12
3.2 I/O signal connection example
3.2.1 For sink I/O interface
20EM1
Servo amplifier
CN3 (Note 11)
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Encoder Z-phase pulse (differential line driver)
CN3
Electromagnetic brake interlock13 MBR
6 LA
16 LAR
7 LB
17 LBR
8 LZ
18 LZR
11 LG Control common
RA1
DOCOM
DICOM
3
10
5DICOM
(Note 12) Main circuit power supply
Personal computer
CN30
(Note 5) MR Configurator
+
Personal computer communication cable (RS-232C cable) (optional)
Analog monitor 1 10 V DC
Analog monitor 2 10 V DC
MO1
LG
MO2
4
1
14
SDPlate
2 m or less
CN8 (Note 13) Short-circuit connector (packed with the servo amplifier)
10 m or less
10 m or less
(Note 3, 4) Forced stop
(Note 6, 15) SSCNET cable
(optional)
Servo system controller
(Note 1)
CN1BCN1A
24 V DC (Note 10)
(Note 2)
1st axis
Cable clamp (optional)
CN7 CN9
Servo amplifier
CN10A
CN10B
(Note 7)
Cap (Note 9)
CN10A
CN10B
The last servo amplifier
(Note 6, 15) SSCNET cable (optional)
(Note 7)
Cap (Note 9)
MR-J4-T20
MR-J4-T20
MR-J4-T20
n-th axis (n = 1 to 8) (Note 8)
2nd axis
(Note 14) MR-A-TM
Junction cable for RS-232C (optional)
CN10A CN10B
CN70 CN90
15 DB RA2 Dynamic brake interlock (Note 16)
(Note 11)
(Note 10) 24 V DC
3. SIGNALS AND WIRING
3 - 13
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 EM1 (Forced stop) and other protective circuits.
3. If the controller does not have forced stop function, always install the forced stop switch (normally closed contact).
4. When starting operation, always turn on EM1 (Forced stop). (Normally closed contact)
5. Use MRZJW3-SETUP161E. (Refer to section 11.7.)
6. The SSCNET cables vary depending on servo system controllers connected. Refer to the following table for selecting
SSCNET cables. Additionally, use MR-J2HBUS_M for the SSCNET cable to connect previous and next axis servo amplifiers.
Servo system controller
Servo amplifier
MR-J4-_B_-RJ020 + MR-J4-T20 MR-J2S-_B_ MR-J2-03B5
Positioning module QD75M MR-J2HBUS_M
A1SD75M MR-J2HBUS_M-A
Motion controller
Q172CPU(N) Q172J2BCBL_M(-B)
Q173CPU(N) Q173J2B_CBL_M
A171SHCPU(N) A172SHCPU(N) A173UHCPU A273UHCPU
MR-J2HBUS_M-A
7. The wiring after the second servo amplifier is omitted.
8. Up to 8 axes (n = 1 to 8) can be connected.
9. CN1A and CN1B cannot be used in J2S compatibility mode. Be sure to cap the CN1A and CN1B connectors.
10. Supply 24 V DC 10% to interfaces from outside. The total current capacity is up to 100 mA. 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. The pins with the same signal name are connected in the servo amplifier.
12. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
13. STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came with a
servo amplifier.
14. Always attach the terminal connector (MR-A-TM) to CN10B of the last servo amplifier.
15. Connect the SSCNET cable within the overall distance of 30 m. To enhance noise tolerance, it is recommended that the cable
clamp and data line filters (3 to 4pcs. connected in series) be attached near the servo system controller-side connector.
16. When using an external dynamic brake with 11 kW or more servo amplifier, set [Pr. 2] to "_ 1 _ _" to enable DB (Dynamic
brake interlock).
3. SIGNALS AND WIRING
3 - 14
3.2.2 For source I/O interface
POINT
For notes, refer to section 3.2.1.
10
10 m or less
10 m or less
20EM1Forced stop
Servo amplifier
CN3 (Note 11)
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Encoder Z-phase pulse (differential line driver)
CN3
Electromagnetic brake interlock13 MBR
6 LA
16 LAR
7 LB
17 LBR
8 LZ
18 LZR
11 LG Control common
RA1
(Note 3, 4)
5DICOM
DICOM
(Note 12) Main circuit power supply
(Note 10) 24 V DC
Analog monitor 1
Analog monitor 2
MO1
LG
MO2
4
1
14
SDPlate
2 m or less
CN8 (Note 13) Short-circuit connector (packed with the servo amplifier)
(Note 2) 3 DOCOM
24 V DC (Note 10)
1st axis
Personal computer
CN30
MR Configurator
+
(Note 6, 15) SSCNET cable
(optional)
Servo system controller
(Note 1)
CN1BCN1A
Cable clamp (optional)
CN7 CN9
Servo amplifier
CN10A
CN10B
(Note 7)
Cap (Note 9)
CN10A
CN10B
The last servo amplifier
(Note 6, 15) SSCNET cable (optional)
(Note 7)
Cap (Note 9)
MR-J4-T20
MR-J4-T20
MR-J4-T20
n-th axis (n = 1 to 8) (Note 8)
2nd axis
(Note 14) MR-A-TM
Junction cable for RS-232C (optional)
CN10A CN10B
CN70 CN90
Personal computer communication cable (RS-232C cable) (optional)
Dynamic brake interlock (Note 16)
15 DB RA2
10 V DC
10 V DC
(Note 11)
(Note 5)
3. SIGNALS AND WIRING
3 - 15
3.3 Explanation of power supply system
3.3.1 Signal explanations
POINT
For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS.
Symbol Connection target
(application) Description
L1/L2/L3 Main circuit power
supply
Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
Servo amplifier
Power MR-J4-10B-RJ020 to MR-J4-70B-RJ020
MR-J4-100B-RJ020 to MR-J4-22KB-RJ020
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
Servo amplifier
Power MR-J4-60B4-RJ020 to MR-J4-22KB4-RJ020
3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
L1/L2/L3
Servo amplifier
Power MR-J4-10B1-RJ020 to MR-J4-40B1-RJ020
1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz
L1/L2
P3/P4 Power factor improving DC
reactor
When not using the power factor improving DC reactor, connect P3 and P4. (factory-wired) When using the power factor improving DC reactor, disconnect P3 and P4, and connect the power factor improving DC reactor to P3 and P4. Additionally, the power factor improving DC reactor cannot be used for the 100 V class servo amplifiers. Refer to section 11.11 for details.
P+/C/D Regenerative
option
(1) 200 V/100 V class 1) MR-J4-500B-RJ020 or less/MR-J4-40B1-RJ020 or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory-wired) When using a regenerative option, disconnect P+ and D, and connect the regenerative option to P+ and C.
2) MR-J4-700B-RJ020 to MR-J4-22KB-RJ020 MR-J4-700B-RJ020 to MR-J4-22KB-RJ020 do not have D. When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factory-wired) When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative resistor. And then connect wires of the regenerative option to P+ and C.
(2) 400 V class 1) MR-J4-350B4-RJ020 or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory-wired) When using a regenerative option, disconnect P+ and D, and connect the regenerative option to P+ and C.
2) MR-J4-500B4-RJ020 to MR-J4-22KB4-RJ020 MR-J4-500B4-RJ020 to MR-J4-22KB4-RJ020 do not have D. When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factory-wired) When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative resistor. And then connect wires of the regenerative option to P+ and C.
Refer to section 11.2 for details.
3. SIGNALS AND WIRING
3 - 16
Symbol Connection target
(application) Description
L11/L21 Control circuit power supply
Supply the following power to L11 and L21. Servo amplifier
Power MR-J4-10B-RJ020 to MR-J4-22KB-RJ020
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
L11/L21
Servo amplifier
Power MR-J4-60B4-RJ020 to MR-J4-22KB4-RJ020
1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
L11/L21
Servo amplifier
Power MR-J4-10B1-RJ020 to MR-J4-40B1-RJ020
1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz
L11/L21
U/V/W Servo motor power output
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
N-
Power regeneration
converter Power
regeneration common converter
Brake unit
This terminal is used for a power regeneration converter, power regeneration common converter and brake unit. Refer to section 11.3 to 11.5 for details.
Protective earth
(PE) Connect it to the grounding terminal of the servo motor and to the protective earth (PE) of the cabinet for grounding.
3. SIGNALS AND WIRING
3 - 17
3.3.2 Power-on sequence
CAUTION
The following shows the initialization time (from turning on power until receiving servo-on command) of MR-J2S-_B_ servo amplifier and MR-J4-_B_-RJ020 servo amplifier.
MR-J2S-_B_: maximum of 3 s
MR-J4-_B_-RJ020: maximum of 4 s Therefore, please note the following items when replacing MR-J2S-_B_ servo amplifier with MR-J4-_B_-RJ020 servo amplifier.
When a release time of braking for preventing a drop of axis is adjusted with an external timer in a system which a moving part works vertically, the moving part can drop due to longer time until servo-lock. Please readjust the release time of braking or use MBR (Electromagnetic brake interlock).
The time from power on until the servo motor begins to work can be longer.
POINT
The voltage of analog monitor output, output signal, etc. may be unstable at power-on.
(1) Power-on procedure
1) Always wire the power supply as shown in section 3.1 using the magnetic contactor with the main circuit power supply (L1/L2/L3). Configure an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply (L11/L21) simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the control circuit power supply is turned on with the main circuit power supply off, and then the servo-on command is transmitted, [AL. E9 Main circuit off warning] will occur. Turning on the main circuit power supply stops the warning and starts the normal operation.
3) The servo amplifier receives the servo-on command within 3 s to 4 s after the main circuit power
supply is switched on. (Refer to (2) in this section.)
(2) Timing chart
(3 s to 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
3. SIGNALS AND WIRING
3 - 18
3.3.3 Wiring CNP1, CNP2, and CNP3
POINT
For the wire sizes used for wiring, refer to section 11.9.
MR-J4-500B-RJ020 or more/MR-J4-500B4-RJ020 or more do not have these connectors.
Use the servo amplifier power connector for wiring CNP1, CNP2, and CNP3. (1) Connector
(a) MR-J4-10B-RJ020 to MR-J4-100B-RJ020
CNP2
CNP1
CNP3
Servo amplifier
Table 3.1 Connector and applicable wire
Connector Receptacle assembly Applicable wire Stripped
length [mm] Open tool
Manufac-
turer Size Insulator OD
CNP1 06JFAT-SAXGDK-H7.5
AWG 18 to 14 3.9 mm or less 9 J-FAT-OT (N)
or J-FAT-OT
JST CNP2 05JFAT-SAXGDK-H5.0
CNP3 03JFAT-SAXGDK-H7.5
(b) MR-J4-200B-RJ020/MR-J4-350B-RJ020
CNP2
CNP1
CNP3
MR-J4-200B-RJ020 Servo amplifier
CNP3
CNP1
CNP2
MR-J4-350B-RJ020 Servo amplifier
Table 3.2 Connector and applicable wire
Connector Receptacle assembly Applicable wire Stripped
length [mm] Open tool
Manufac-
turer Size Insulator OD
CNP1 06JFAT-SAXGFK-XL AWG 16 to 10 4.7 mm or less 11.5
J-FAT-OT-EXL JST CNP3 03JFAT-SAXGFK-XL
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or less 9
3. SIGNALS AND WIRING
3 - 19
(c) MR-J4-60B4-RJ020 to MR-J4-350B4-RJ020
CNP2
CNP1
CNP3
Servo amplifier
Table 3.3 Connector and applicable wire
Connector Receptacle assembly Applicable wire Stripped
length [mm] Open tool
Manufac-
turer Size Insulator OD
CNP1 06JFAT-SAXGDK-HT10.5
AWG 16 to 14 3.9 mm or less 10 J-FAT-OT-XL JST CNP2 05JFAT-SAXGDK-HT7.5
CNP3 03JFAT-SAXGDK-HT10.5
(d) MR-J4-10B1-RJ020 to MR-J4-40B1-RJ020
CNP2
CNP1
CNP3
Servo amplifier
Table 3.4 Connector and applicable wire
Connector Receptacle assembly Applicable wire Stripped
length [mm] Open tool
Manufac-
turer Size Insulator OD
CNP1 06JFAT-SAXGDK-H7.5
AWG 18 to 14 3.9 mm or less 9 J-FAT-OT (N)
or J-FAT-OT
JST CNP2 05JFAT-SAXGDK-H5.0
CNP3 03JFAT-SAXGDK-H7.5
3. SIGNALS AND WIRING
3 - 20
(2) Cable connection procedure
(a) Fabrication on cable insulator Refer to table 3.1 to 3.4 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status.
Insulator Core
Stripped length
Twist strands lightly and straighten them as follows.
Loose and bent strands Twist and straighten the strands.
You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following ferrules and crimp terminal.
Servo amplifier Wire size Ferrule model (Phoenix Contact) Crimping tool
(Phoenix Contact) For one For two
MR-J4-10B-RJ020 to MR-J4-100B-RJ020
MR-J4-60B4-RJ020 to MR-J4-350B4-RJ020
AWG 16 AI1.5-10BK AI-TWIN21.5-10BK
CRIMPFOX-ZA3
AWG 14 AI2.5-10BU
MR-J4-200B-RJ020 to MR-J4-350B-RJ020
AWG 16 AI1.5-10BK AI-TWIN21.5-10BK
AWG 14 AI2.5-10BU AI-TWIN22.5-10BU
AWG 12 AI4-10GY
MR-J4-10B1-RJ020 to MR-J4-40B1-RJ020
AWG 16 AI1.5-10BK AI-TWIN21.5-10BK
AWG 14 AI2.5-10BU
(b) Inserting wire
Insert the open tool as follows and push down it to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the wire insulator does not get caught by the spring. Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. The following shows a connection example of the CNP3 connector for MR-J4-200B-RJ020/MR-J4- 350B-RJ020.
1) Push down the open tool.
3) Release the open tool to fix the wire.
2) Insert the wire.
3. SIGNALS AND WIRING
3 - 21
3.4 Connectors and pin assignment
POINT
The pin assignment of the connectors is as viewed from the cable connector wiring section.
The CN3 connector pin assignment is different between MR-J4-_B_-RJ020 and MR-J2S-_B_. Wire it correctly in accordance with this 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
3. SIGNALS AND WIRING
3 - 22
The servo amplifier front view shown is that of the MR-J4-20B-RJ020 and MR-J4-T20. Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers.
CN3 (Note)
CN10A (Connector for SSCNET cable for previous servo amplifier axis) Refer to section 11.1.2.
CN10B (Connector for SSCNET cable for next servo amplifier axis) Refer to section 11.1.2.
CN30 (RS-232C communication connector) Refer to section 11.1.3.
CN4 (Battery connector) Refer to section 11.8
1
2
3
5
4
6
7
9
8
10
11
12
13
14
15
16
17
18
19
20
MO1
DICOM
LG
DOCOM
DICOM
LZ
MO2
EM1
LG
MBR
LBR
LA
LB
LZR
LAR
4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
BAT
MXR
MX
CN2
CN8 (Not used in J2S compatibility mode.)
CN1A (Not used in J2S compatibility mode.)
CN1B (Not used in J2S compatibility mode.)
The frames of the CN2 and CN3 connectors are connected to the protective earth terminal in the servo amplifier.
CN5 (USB communication connector) Used to change the servo amplifier mode. (Refer to section 13.1.)
1
2
3
5
4
6
7
9
8
10
11
12
13
14
15
16
17
18
19
20
RD
LG LG
RD*
TD*TD
LG
EMG
BT
EMG*
LG
13
12
10
9
8
7
6
5
4
3
2
1
TXD
LGLG
RXD
11
14 1
2
3
5
4
6
7
9
8
10
11
12
13
14
15
16
17
18
19
20
RD
LG LG
RD*
TD*TD
LG
EMG
BT
EMG*
LG
DB
4 MRR2
2 LG 8
6
1 P5
5
10
3 MR2
7 9
MXR2
MX2
(Note) CN2L
4 PAR
2 LG 8
6
1 P5
5
10
3 PA
7 9
PB
PZR
PZ
PBR PSEL
(for using serial encoder) (Note) CN2L
(for using A/B/Z-phase pulse encoder)
BAT
Note. Used only in the fully closed loop system with the servo amplifier of 7 kW or less. Refer to chapter 15 for details. This CN2L is a
connector of 3M. When using any other connector, refer to each servo motor instruction manual.
3. SIGNALS AND WIRING
3 - 23
CN3 connector Pin No. Symbol Precautions when
replacing MR-J2S-_B_ MR-J2S-_B_ MR-J4-_B_-RJ020
2 RXD
This is for manufacturer setting. Leave this open. Connect RXD to the CN30 connector of MR-J4-T20 (13 pins).
3 SG DOCOM A 24 V DC external power supply for interface is necessary. Review the wiring.
5 COM DICOM
10 VDD DICOM
12 TXD
This is for manufacturer setting. Leave this open. Connect TXD to the CN30 connector of MR-J4-T20 (14 pins).
3.5 Signal (device) explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.7.2. 3.5.1 Input device
Device Symbol Connector
Pin No. Function and application
I/O division
Forced stop EM1 CN3-20 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).
DI-1
3.5.2 Output device
Device Symbol Connector
Pin No. Function and application
I/O division
Electromagnetic brake interlock
MBR CN3-13 When using the device, set operation delay time of the electromagnetic brake in [Pr. 21]. When a servo-off status or alarm occurs, MBR will turn off.
DO-1
Dynamic brake interlock
DB CN3-15
To use the device, set [Pr. 2] to "_ 1 _ _". DB turns off when the dynamic brake needs to operate. When using the external dynamic brake on the servo amplifier of 11 kW or more, this device is required. (Refer to section 11.17.) For the servo amplifier of 7 kW or less, it is not necessary to use this device.
DO-1
3. SIGNALS AND WIRING
3 - 24
3.5.3 Output signal
Signal name Symbol Connector
pin No. Function and application
Encoder A-phase pulse (differential line driver)
LA LAR
CN3-6 CN3-16
These signals output pulses per servo motor revolution set in [Pr. 38] in the differential line driver type. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A- phase pulse by a phase angle of /2. Output pulse specification and dividing ratio setting can be selected with [Pr. 33].
Encoder B-phase pulse (differential line driver)
LB LBR
CN3-7 CN3-17
Encoder Z-phase pulse (differential line driver)
LZ LZR
CN3-8 CN3-18
The encoder zero-point signal is outputted in the differential line driver type. One pulse is outputted per servo motor revolution. This turns on when the zero-point position is reached. (negative logic) The minimum pulse width is about 400 s. For home position return using this pulse, set the creep speed to 100 r/min or less.
Analog monitor 1 MO1 CN3-4 This is used to output the data set in [Pr. 22] between MO1 and LG in voltage. Resolution: 10 bits or equivalent
Analog monitor 2 MO2 CN3-14 This signal outputs the data set in [Pr. 22] between MO2 and LG in voltage. Resolution: 10 bits or equivalent
3.5.4 Power supply
Signal name Symbol Connector
Pin No. Function and application
Digital I/F power supply input
DICOM CN3-5 CN3-10
Input 24 V DC (24 V DC 10% 100 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 CN3-3 Common terminal of input signal such as EM1 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.
Monitor common LG CN3-1 CN3-11
Common terminal of MO1 and MO2. Pins are connected internally.
Shield SD Plate Connect the external conductor of the shielded wire.
3. SIGNALS AND WIRING
3 - 25
3.6 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.
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.
MBR (Electromagnetic brake interlock)
ON
OFF
Base circuit 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
3. SIGNALS AND WIRING
3 - 26
3.7 Interfaces
3.7.1 Internal connection diagram
10 V DC
10 V DC
Approx. 6.2 k
Encoder
3
CN3
6
16
7
17
8
18
LA
LAR
LB
LBR
LZ
LZR
Differential line driver output (35 mA or lower)
2
4
7
8
MR
MRR
MX
MXR
LG
PE
Servo motor
M
CN2
CN3
MO1
MO2
LG
4
14
1
Analog monitor
LG11
EM1
CN3
20
DICOM 5
10
CN3
3
13
DOCOM
Servo amplifier
MBR
DICOM
Forced stop
(Note 1) (Note 1)
RA
Insulated
(Note 2) 24 V DC
(Note 2) 24 V DC
15 DB RA
Note 1. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.7.3.
2. 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 - 27
3.7.2 Detailed explanation of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external device. (1) Digital input interface DI-1
This is an input circuit whose photocoupler cathode side is 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 3.7.3 for source input.
Approximately 6.2 k
Approximately 5 mA
VCES 1.0 V ICEO 100 A
TR
24 V DC 10% 100 mA
Switch
For transistor
EM1
Servo amplifier
DICOM
(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 3.7.3 for source output.
(Note) 24 V DC 10% 100 mA
If polarity of diode is reversed, servo amplifier will malfunction.
Servo amplifier
MBR 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. SIGNALS AND WIRING
3 - 28
(3) Encoder output pulses DO-2 (differential line driver type)
(a) Interface Maximum output current: 35 mA
150
100 Am26LS32 or equivalent
Servo amplifier
LA (LB, LZ)
LAR (LBR, LZR)
SD LG
High-speed photocoupler
Servo amplifier
LAR (LBR, LZR)
SD
LA (LB, LZ)
(b) Output pulse
/2
LAR T
Servo motor CCW rotation Time cycle (T) is determined by the [Pr. 33] and [Pr. 38] settings.
LA
LB
LBR
LZ LZR
400 s or more
(4) Analog output
LG
MO1 (MO2)
Servo amplifier
Output voltage: 10 V (Note) Maximum output current: 1 mA Resolution: 10 bits or equivalent
Note. Output voltage range varies depending on the output contents.
3. SIGNALS AND WIRING
3 - 29
3.7.3 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.
Approximately 6.2 k
VCES
ICEO A
24 V DC 10% 100 mA
Approximately 5 mA
EM1
Servo amplifier
Switch
DICOM
TR
For transistor
(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.
Servo amplifier
MBR
DOCOM
Load
(Note) 24 V DC 10% 100 mA
If polarity of diode is reversed, servo amplifier will malfunction.
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
3. SIGNALS AND WIRING
3 - 30
3.8 Servo motor with an electromagnetic brake
3.8.1 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 an alarm occurs 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.
POINT
Refer to "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.
Refer to "Servo Motor Instruction Manual (Vol. 3)" for the selection of a surge absorber for the electromagnetic brake.
Note the following when the servo motor with an electromagnetic brake is used.
1) The brake will operate when the power (24 V DC) turns off.
2) Turn off the servo-on command after the servo motor stopped. (1) Connection diagram
B2
B1 Servo motor
24 V DC
Alarm occurrence
Servo amplifier
MBR
DOCOM
MBR RA1
RA1 B
(Note 1)
(Note 2) 24 V DC
U
Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.
2. Do not use the 24 V DC interface power supply for the electromagnetic brake.
(2) Setting
In [Pr. 21 Electromagnetic brake sequence output], set a delay time (Tb) from MBR (Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in section 3.8.2.
3. SIGNALS AND WIRING
3 - 31
3.8.2 Timing chart
(1) 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
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. 21 Electromagnetic brake sequence output]
Note 1. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake has been activated.
2. Electromagnetic brake is released after the release delay time of electromagnetic brake and operation time of external circuit
relay, etc. 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.
(2) Off/on of the forced stop command (from controller) or EM1 (Forced stop)
Dynamic brake Dynamic brake + Electromagnetic brake
Electromagnetic brake
MBR (Electromagnetic brake interlock)
Operation delay time of the electromagnetic brake
Approx. 210 ms
Approx. 210 ms
Electromagnetic brake has released.
(Note) ON
OFF
Base circuit ON
OFF
Servo motor speed
Forced stop command (from controller) or EM1 (Forced stop)
ON (Disabled)
OFF (Enabled)
0 r/min Approx. 10 ms
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake has been activated.
3. SIGNALS AND WIRING
3 - 32
(3) Alarm occurrence
The operation status during an alarm is the same as section 3.6. (4) Both main and control circuit power supplies off
MBR (Electromagnetic brake interlock)
(Note 2) ON
OFF
Base circuit ON
OFF
Alarm [AL. 10 Undervoltage]
No alarm
Alarm
Approx. 10 ms
Dynamic brake Dynamic brake + Electromagnetic brake
Electromagnetic brake
(Note 1)
Operation delay time of the electromagnetic brake
Servo motor speed
ON
OFF
Main circuit Control circuit power supply
0 r/min
Note 1. Variable according to the operation status.
2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake has been activated.
(5) Main circuit power supply off during control circuit power supply on
Dynamic brake Dynamic brake + Electromagnetic brake
Electromagnetic brake
Operation delay time of the electromagnetic brake
MBR (Electromagnetic brake interlock)
(Note 2)
Base circuit
Alarm [AL. 10 Undervoltage]
No alarm
Alarm
Servo motor speed Approx. 10 ms
(Note 1)
ON
OFF
ON
OFF
Main circuit power supply
ON
OFF
0 r/min
Note 1. Variable according to the operation status.
2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake has been activated.
3. SIGNALS AND WIRING
3 - 33
(6) Ready-off command from controller
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 has been activated.
3. SIGNALS AND WIRING
3 - 34
3.9 Grounding
WARNING Ground the servo amplifier and servo motor securely.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to "EMC Installation Guidelines".
Ensure to connect the wire to the PE terminal of the servo amplifier. Do not connect the wire directly to the grounding of the cabinet.
Li ne
fi lte
r
(Note 1) Power supply
V
U
Cabinet
Servo motor
M
U
V
WW
Encoder
CN2
Servo amplifier
L11
L1
L2
L3
L21
CN10A
S er
vo s
ys te
m co
nt ro
lle r
Protective earth (PE)
Outer box
MCMCCB
MR-J4-T20
(Note 2)
Note 1. For the power supply specifications, refer to section 1.3.
2. To reduce the influence of the external noise, it is recommended to attach a cable clamp fitting to ground the
SSCNET cable or connect 3 to 4 data line filters in series near the servo system controller.
4. STARTUP
4 - 1
4. STARTUP
WARNING
Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.
CAUTION
Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on and for some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the parts (cables, etc.) by hand.
During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.
POINT
Before switching power on, install MR-J4-T20 to the MR-J4-_B_-RJ020 servo amplifier. For the MR-J4-T20 installation procedure, refer to section 1.8.
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 axis selection rotary switch (SW1) matches the control axis No. set with the servo system controller. (Refer to section 4.3.1.) 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.
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4 - 3
4.1.2 Wiring check
(1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring
1) The power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.)
2) When the power factor improving DC reactor is not used, between P3 and P4 should be
connected.
Servo amplifier
P3
P4 (Note)
Note. The 100 V class servo amplifiers do not have P3 and P4.
(b) Connection of servo amplifier and servo motor
1) The servo amplifier power output (U/V/W) should match in phase with the servo motor power input terminals (U/V/W).
Servo amplifier Servo motor
M
U
V
W
U
V
W
2) The power supplied to the servo amplifier should not be connected to the power outputs (U/V/W). Otherwise, the servo amplifier and servo motor will fail.
Servo amplifier Servo motor
M
U
V
W
U
V
W
L1
L2
L3
3) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.
Servo amplifier Servo motor
M
4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable.
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4 - 4
(c) When you use an option and peripheral equipment
1) 200 V class a) When you use a regenerative option for 5 kW or less servo amplifiers
The lead wire between P+ terminal and D terminal should not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
Twisted wires should be used. (Refer to section 11.2.4.)
b) When you use a regenerative option for 7 kW or more servo amplifiers
For 7 kW, the lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
Twisted wires should be used. (Refer to section 11.2.4.)
c) When you use a brake unit and power regeneration converter for 5 kW or more servo amplifiers
For 5 kW, the lead wire between P+ terminal and D terminal should not be connected.
For 7 kW, the lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.
Wires of a brake unit or power regeneration converter should be connected to P+ terminal and N- terminal. (Refer to section 11.3 and 11.4.)
Twisted wires should be used when wiring is over 5 m and equal to or less than 10 m using a brake unit. (Refer to section 11.3.)
d) When you use a power regeneration common converter
For 5 kW or less, the lead wire between P+ terminal and D terminal should not be connected.
For 7 kW, the lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.
The wire of power regeneration common converter should be connected to P4 terminal and N- terminal. (Refer to section 11.5.)
e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to
section 11.11.)
(Note)
Power factor improving DC
reactor
Servo amplifier
P3
P4
Note. Always disconnect between P3 and P4.
2) 400 V class
a) When you use a regenerative option for 3.5 kW or less servo amplifiers
The lead wire between P+ terminal and D terminal should not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
Twisted wires should be used. (Refer to section 11.2.4.)
b) When you use a regenerative option for 5 kW or more servo amplifiers
For 5 kW and 7 kW, the lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should be removed.
The regenerative option should be connected to P+ terminal and C terminal.
Twisted wires should be used. (Refer to section 11.2.4.)
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4 - 5
c) When you use a brake unit and power regeneration converter for 5 kW or more servo
amplifiers
For 5 kW and 7 kW, the lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should be removed.
Wires of a brake unit or power regeneration converter should be connected to P+ terminal and N- terminal. (Refer to section 11.3 and 11.4.)
Twisted wires should be used when wiring is over 5 m and equal to or less than 10 m using a brake unit. (Refer to section 11.3.)
d) When you use a power regeneration common converter for 11 kW or more servo amplifiers
The wire of power regeneration common converter should be connected to P4 terminal and N- terminal. (Refer to section 11.5.)
e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to
section 11.11.)
(Note)
Power factor improving DC
reactor
Servo amplifier
P3
P4
Note. Always disconnect between P3 and P4.
3) 100 V class
The lead wire between P+ terminal and D terminal should not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
Twisted wires should be used. (Refer to section 11.2.4.) (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. Refer to section 3.2 for details of I/O signal connection.
(b) A voltage exceeding 24 V DC is not applied to the pins of the CN3 connector.
(c) Between the plate and DOCOM of the CN3 connector should not be 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.
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4 - 6
4.2 Startup
Connect the servo motor with a machine after confirming that the servo motor operates properly alone. (1) Power on
When the main and control circuit power supplies are turned on, "b1" (for the first axis) appears on the servo amplifier display. When you use the absolute position detection system, first power-on results in [AL. 25 Absolute position erased] and the servo system cannot be switched on. The alarm can be deactivated by then switching power off once and on again. Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.
(2) Parameter setting
POINT
The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. 23] to "_ 1 _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H MR-ESCBL30M-L MR-ESCBL30M-H MR-ESCBL40M-H MR-ESCBL50M-H
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for details. After setting the above parameters, turn off the power 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.
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(5) Stop
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.8 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 base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop. [AL. E7 Controller forced stop warning] occurs.
Servo amplifier
Alarm occurrence The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop.
EM1 (Forced stop) off The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop. [AL. E6 Servo forced stop warning] occurs.
4.3 Switch setting and display of the servo amplifier
Switching to the test operation mode 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.
The following shows the description of the axis selection rotary switch.
3-digit, 7-segment LED
Control axis setting switch (SW2) (Not used in J2S compatibility mode. Turn all switches "OFF (down)".)
Axis selection rotary switch (SW1)
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POINT
The control axis No. set to 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.
Use the axis selection rotary switch (SW1) to set the control axis number for the servo. 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 cable connection sequence. Set the switch to "F" when performing the test operation mode by using MR Configurator.
87 6
5 4
3
2
1 0 F
E
D C
B
A 9
Axis selection rotary switch (SW1)
No. Description
0 Axis No. 1
1 Axis No. 2
2 Axis No. 3
3 Axis No. 4
4 Axis No. 5
5 Axis No. 6
6 Axis No. 7
7 Axis No. 8
8
9
A
B Not used in J2S compatibility mode.
C
D
E
F Test operation mode or when a
machine analyzer is used (Refer to section 6.1.2)
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4.3.2 Status display of an axis
(1) Display sequence
Servo system controller power on (SSCNET communication begins)
Ready-on
Ready-on
Ordinary operation
Servo system controller power off
Servo system controller power on
When alarm occurs, its alarm code appears.
Ready-on and servo-off
Ready-on and servo-on
(Note 1)
(Note 1)
(Note 1)
When an alarm No. or warning No. is displayed (Note 2)
Initial data communication with the servo system controller (initialization communication)
Ready-off and ready-off Example:
Blinking
When [AL. 50 Overload 1] occurs at axis No. 1
Example:
Blinking
When [AL. E1 Overload warning 1] occurs at axis No. 1
Servo amplifier power on
Waiting for servo system controller power to switch on (SSCNET communication)
System check in progress
Alarm reset or warning cleared
Note 1.
Axis No. 1
Axis No. 2
Axis No. 64
The segment of the last 1 digit shows the axis number.
2. The alarm No. or warning No. is displayed, but the axis No. is not displayed.
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(2) Indication list
Display Status Description
Initializing System check in progress
A b Initializing
The servo amplifier power was switched on when the servo system controller power was off. The control axis No. set to the axis selection rotary switch (SW1) does not match the one set to the servo system controller. A servo amplifier malfunctioned, or communication error occurred with the servo system controller or the previous axis servo amplifier. In this case, the indication changes as follows: "Ab", "AC", "Ad", and "Ab" The servo system controller is malfunctioning.
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
AA Initializing standby The power supply of servo system controller was turned off while the power supply of servo amplifier is on.
(Note 1) b # Ready-off The ready-off command from the servo system controller was received.
(Note 1) d # Servo-on The servo-on command from the servo system controller was received.
(Note 1) C # Servo-off The servo-off command from the servo system controller was received.
(Note 2) * * Alarm and warning The alarm No. and the warning No. that occurred are displayed. (Refer to chapter 8.)
8 88 CPU error CPU watchdog error has occurred.
0b .
(Note 3) Test operation mode
JOG operation, positioning operation, DO forced output, and program operation
(Note 1) #b . JOG operation, positioning operation, program operation, output signal (DO) forced output, or motor-less operation was set.
#d .
#C . Note 1. # denotes any of numerals 0 to 8 and what it means is listed below.
# Description
0 Set to the test operation mode.
1 to 8 Axis No. 1 to Axis No. 8
2. "**" indicates the alarm No. and the warning No.
3. For JOG operation, positioning operation, DO forced output and program operation, MR Configurator is necessary.
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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 Configurator. 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 EM1 (Forced stop) 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 Configurator, you can execute JOG operation, positioning operation, DO forced output program operation without connecting the servo system controller.
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4.5.1 Test operation mode in MR Configurator
POINT
When you set the axis selection rotary switch (SW1) to "F", the SSCNET communication for the servo amplifier and the subsequent 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/off and whether the servo system controller is connected or not. Exercise control on the JOG operation screen of MR Configurator.
1) Operation pattern
Item Initial value Setting range
Speed [r/min] 200 0 to max. speed
Acceleration/deceleration time constant [ms]
1000 0 to 20000
2) Operation method
Operation Screen control
Forward rotation start Click "Forward".
Reverse rotation start Click "Reverse".
Stop Click "Stop".
(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/off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of MR Configurator.
1) Operation pattern
Item Initial value Setting range
Travel distance [pulse] 131072 0 to 9999999
Speed [r/min] 200 0 to max. speed
Acceleration/deceleration time constant [ms]
1000 0 to 20000
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2) Operation method
Operation Screen control
Forward rotation start Click "Forward".
Reverse rotation start Click "Reverse".
Pause Click "Pause".
(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/off and whether the servo system controller is connected or not. Exercise control on the program operation screen of MR Configurator. For full information, refer to the MR Configurator Installation Guide.
Operation Screen control
Start Click "Start".
Stop Click "Reset".
(d) 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 Configurator.
(2) Operation procedure
1) Turn off the power.
2) Set SW1 to "F".
Set SW1 to "F".
87 6
5 4
3
2
1 0 F
E
D C
B
A 9
Setting SW1 to "F" 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.
The decimal point blinks.
4) Start operation with the personal computer.
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4.5.2 Motor-less operation in controller
POINT
Motor-less operation cannot be used with MR Configurator. To use motor-less operation, set "_ 1 _ _" in [Pr. 24].
Use motor-less operation which is available by making the servo system controller parameter setting.
Connect the servo system controller to the servo amplifier before the motor-less operation.
(1) Motor-less operation
Without connecting the servo motor to the servo amplifier, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the forced stop reset. Use this operation with the servo system controller connected to the servo amplifier. 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. 12 Ratio of load inertia to servo motor inertia (load
inertia 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 error 1]
[AL. 20 Encoder error 2]
[AL. 25 Absolute position erased]
[AL. 92 Battery cable disconnection warning]
[AL. 9F Battery warning] (2) Operation procedure
1) Set the servo amplifier to the servo-off status.
2) Set "_ 1 _ _" in [Pr. 24] and turn off the servo amplifier power.
3) Turn on the servo amplifier. When initialization is completed, the decimal point on the first digit will blink.
The decimal point blinks.
4) Start the motor-less operation with the servo system controller.
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
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 Configurator software version. For details, refer to the servo system controller user's manual.
Changing operation mode initializes parameters. When operation mode is changed, make gain adjustment again.
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.
5. PARAMETERS
5 - 2
5.1.1 Basic setting parameters
No. Symbol Name Initial value Unit
1 *AMS Amplifier setting 0000h
2 *REG Regenerative resistor 0000h
3
Automatically set from the servo system controller 0080h
4 0000h
5 1
6 *FBP Feedback pulse number (Note 2) 0
7 *POL Rotation direction selection 0
8 ATU Auto tuning 0001h
9 RSP
Servo response 7 kW or less: 0005h
11 kW or more: 0002h
10 TLP Forward rotation torque limit (Note 1) 300 [%]
11 TLN Reverse rotation torque limit (Note 1) 300 [%]
Note 1. The programming software of motion controller cannot set or change this parameter.
2. The initial value varies in the fully closed loop control mode as follows:
No. Name Initial value
Standard control mode
Fully closed loop control mode
6 Feedback pulse number 0 7 kW or less: 0
11 kW or more: 255
5.1.2 Adjustment parameters
No. Symbol Name Initial value Unit
12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio) 7.0 [Multiplier]
13 PG1 Position loop gain 1 7 kW or less: 35
11 kW or more: 19 [rad/s]
14 VG1 Speed loop gain 1 7 kW or less: 177
11 kW or more: 96 [rad/s]
15 PG2 Position loop gain 2 7 kW or less: 35
11 kW or more: 19 [rad/s]
16 VG2 Speed loop gain 2 7 kW or less: 817
11 kW or more: 455 [rad/s]
17 VIC Speed integral compensation 7 kW or less: 48
11 kW or more: 91 [ms]
18 NCH Machine resonance suppression filter 1 (notch filter) 0000h
19 FFC Feed forward gain 0 [%]
20 INP In-position range 100 [pulse]
21 MBR Electromagnetic brake sequence output 0 [ms]
22 MOD Analog monitor output 0001h
23 *OP1 Option function 1 0000h
24 *OP2 Option function 2 0000h
25 LPF Low-pass filter 0000h
26 For manufacturer setting 0
5. PARAMETERS
5 - 3
5.1.3 Extension parameters
No. Symbol Name Initial value Unit
27 MO1 Analog monitor 1 offset 0 [mV]
28 MO2 Analog monitor 2 offset 0 [mV]
29 For manufacturer setting 0001h
30 ZSP Zero speed 50 [r/min]
31 ERZ Error excessive alarm level 8.0 [0.25 rev]
32 OP5 Option function 5 0000
33 *OP6 Option function 6 0000
34 VPI PI-PID switching position droop 0 [pulse]
35 For manufacturer setting 0
36 VDC Speed differential compensation 980
37 For manufacturer setting 0010h
38 *ENR Encoder output pulses 4000 [pulse/rev]
39 DBT Electronic dynamic brake operating time 0 [ms]
40 *BLK Parameter writing inhibit (Note) 0000h
Note. The programming software of motion controller cannot set or change this parameter.
5. PARAMETERS
5 - 4
5.1.4 Extension parameters 2
No. Symbol Name Initial value Unit
41 For manufacturer setting 500
42 0000h
43 0111h
44 20
45 50
46 0
47 0
48 0
49 *CDP Gain switching selection 0000h
50 CDS Gain switching condition 10 [kpulse/s]/ [pulse]/ [r/min]
51 CDT Gain switching time constant 1 [ms]
52 GD2B Ratio of load inertia to servo motor inertia 2 7.0 [Multiplier]
53 PG2B Position loop gain 2 change ratio 100
[%]
54 VG2B Speed loop gain 2 change ratio 100 [%]
55 VICB Speed integral compensation change ratio 100 [%]
56 *OP8 Option function 8 0000h
57 For manufacturer setting 0000h
58 *OPA Option function A (Note 1) 0000h
59 For manufacturer setting 0000h
60 *OPC Option function C 0000h
61 NH2 Machine resonance suppression filter 2 0000h
62 *FCT Fully closed loop selection (Note 2) 0000h
63 BC1 Fully closed loop control error detection 1 400 [r/min]
64 BC2 Fully closed loop control error detection 2 (Note 2) 100 [0.1 rev]
65 *FCM Fully closed loop electronic gear numerator 1
66 *FCD Fully closed loop electronic gear denominator 1
67 DUF Dual feedback filter (Note 2) 0 [rad/s]
68 FC2 Fully closed loop selection 2 (Note 2) 0
69 For manufacturer setting 0
70 0
71 0
72 0
73 0
74 0
75 0
Note 1. Used by servo amplifiers with software version A1 or later.
2. For the fully closed loop control mode, initial values are different as follows.
No. Name Initial value
Standard control mode
Fully closed loop control mode
62 Fully closed loop selection 0000 1300
64 Fully closed loop control error detection 2 100 10
67 Dual feedback filter 0 10
68 Fully closed loop selection 2 0 0000
5. PARAMETERS
5 - 5
5.2 Detailed list of parameters
POINT
Set a value to each "x" in the "Setting digit" columns.
5.2.1 Basic setting parameters
No. Symbol Name and function Initial value [unit]
Setting range
1 *AMS Amplifier setting Set this parameter when using the absolute position detection system. When using this in the fully closed loop system, refer to section 15.4.
Refer to Name and function column.
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
5. PARAMETERS
5 - 6
No. Symbol Name and function Initial value [unit]
Setting range
2 *REG Regenerative resistor Select the regenerative option. Incorrect setting may cause the regenerative option to burn. If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter error] occurs.
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ x x Regenerative option selection 00: Regenerative option is not used.
For servo amplifier of 100 W, regenerative option is not used. For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11 kW to 22 kW.
01: FR-RC/FR-RC-H/FR-CV/FR-CV-H/FR-BU2/FR-BU2-H 05: MR-RB32 08: MR-RB30 09: MR-RB50 (Cooling fan is required.) 0B: MR-RB31 0C: MR-RB51 (Cooling fan is required.) 0E: When the supplied regenerative resistors are cooled by the
cooling fan to increase the ability with the servo amplifier of 11 kW to 22 kW.
10: MR-RB032 11: MR-RB12 13: MR-RB5E 14: MR-RB5E (Cooling fan is required.) 17: MR-RB9F 18: MR-RB9F (Cooling fan is required.) 20: MR-RB3N 21: MR-RB5N (Cooling fan is required.) 23: MR-RB5R 24: MR-RB5R (Cooling fan is required.) 25: MR-RB9P 26: MR-RB9P (Cooling fan is required.) 27: MR-RB9T 28: MR-RB9T (Cooling fan is required.) 80: MR-RB3H-4 (Cooling fan is required.) 81: MR-RB5H-4 (Cooling fan is required.) 82: MR-RB3G-4 (Cooling fan is required.) 83: MR-RB5G-4 (Cooling fan is required.) 84: MR-RB34-4 (Cooling fan is required.) 85: MR-RB54-4 (Cooling fan is required.) 86: MR-RB1L-4 87: MR-RB3M-4 (Cooling fan is required.) 90: MR-RB1H-4 9C: MR-RB3U-4 (Cooling fan is required.) 9D: MR-RB5U-4 (Cooling fan is required.)
00h
_ x _ _ External dynamic brake selection 0: Disabled 1: Enabled When using an external dynamic brake with 11 kW or more servo amplifier, select "1".
0h
x _ _ _ For manufacturer setting 0h
5. PARAMETERS
5 - 7
No. Symbol Name and function Initial value [unit]
Setting range
6 *FBP Feedback pulse number Set the number of pulses per revolution of the servo motor in the controller side command unit. Information on the servo motor such as the cumulative feedback pulses, current position, droop pulses and within-one-revolution position are derived from the values converted into the number of pulses set here. If the number of pulses set exceeds the actual servo motor encoder resolution, the servo motor encoder resolution is automatically set.
0 Refer to Name and
function column.
Setting value Feedback pulse number
0 16384
1 8192
6 32768
7 131072
255 Depending on the number of servo motor encoder resolution pulses
7 *POL Rotation direction selection Select the rotation direction of command input pulse.
0 0 to 1
Setting value
Servo motor rotation direction
Positioning address increase
Positioning address decrease
0 CCW CW
1 CW CCW
The following shows the servo motor rotation directions.
Forward rotation (CCW)
Reverse rotation (CW)
5. PARAMETERS
5 - 8
No. Symbol Name and function Initial value [unit]
Setting range
8 ATU Auto tuning Select the gain adjustment mode.
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x Gain adjustment mode selection 0: Interpolation mode 1: Auto tuning mode 1 2: Manual mode 2 3: Auto tuning mode 2 4: Manual mode 1 Refer to table 5.1 for details.
1h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
Table 5.1 Gain adjustment mode selection
Setting value Gain adjustment
mode Automatically adjusted parameter
_ _ _ 0 Interpolation mode [Pr. 12 Ratio of load inertia to servo motor inertia (load inertia ratio)] [Pr. 15 Position loop gain 2] [Pr. 16 Speed loop gain 2] [Pr. 17 Speed integral compensation]
_ _ _ 1 Auto tuning Mode 1
[Pr. 12 Ratio of load inertia to servo motor inertia (load inertia ratio)] [Pr. 13 Position loop gain 1] [Pr. 14 Speed loop gain 1] [Pr. 15 Position loop gain 2] [Pr. 16 Speed loop gain 2] [Pr. 17 Speed integral compensation]
_ _ _ 2 Manual mode 2
_ _ _ 3
Auto tuning Mode 2
[Pr. 13 Position loop gain 1] [Pr. 14 Speed loop gain 1] [Pr. 15 Position loop gain 2] [Pr. 16 Speed loop gain 2] [Pr. 17 Speed integral compensation]
_ _ _ 4 Manual mode 1 [Pr. 14 Speed loop gain 1] [Pr. 15 Position loop gain 2]
5. PARAMETERS
5 - 9
No. Symbol Name and function Initial value [unit]
Setting range
9 RSP Servo response Set the auto tuning response. If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value.
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x Response level setting Refer to table 5.2 for settings.
7 kW or
less: 05h
11 kW or
more: 02h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
Table 5.2 Response level setting
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
15 9 Middle response
High response
85
2 20 A 105
3 25 B 130
4 30 C 160
5 35 D 200
6 45 E 240
7 55 F 300
8 70
10 TLP Forward rotation torque limit Set the rated torque = 100%. The parameter limits the torque in the forward rotation during power running and reverse rotation during regeneration. In other than the test operation mode by MR Configurator, the torque limit value in the servo system controller is enabled. To operate HG series servo motor at the maximum torque, set the torque limit value in the servo system controller at 500%. When the maximum torque is used in the test operation mode, set this parameter to 500%.
300 [%]
0 to
500
11 TLN Reverse rotation torque limit Set the rated torque = 100%. The parameter limits the torque in reverse rotation during power running and forward rotation during regeneration. In other than the test operation mode by MR Configurator, the torque limit value in the servo system controller is enabled. To operate HG series servo motor at the maximum torque, set the torque limit value in the servo system controller at 500%. When the maximum torque is used in the test operation mode, set this parameter to 500%.
300 [%]
0 to
500
5. PARAMETERS
5 - 10
5.2.2 Adjustment parameters
No. Symbol Name and function Initial value [unit]
Setting range
12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio) Set the load moment of inertia to the moment of inertia on servo motor shaft (load inertia ratio). When auto tuning mode 1 or interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 6.1.1.)
7.0
[Multiplier]
0.0 to
300.0
13 PG1 Position loop gain 1 This is used to set the gain of the position loop. Increase the gain to improve track ability in response to the position command. When the auto turning mode 1 or auto turning mode 2 is selected, the result of auto turning is automatically used.
7 kW or less:
35 [rad/s] 11 kW
or more: 19 [rad/s]
4 to
2000
14 VG1 Speed loop gain 1 Normally, changing this parameter is not required. Increasing the setting value will also increase the response level but will be liable to generate vibration and noise. When the auto tuning mode 1, auto tuning mode 2, or manual mode 1 is selected, the result of auto tuning is automatically used.
7 kW or less:
177 [rad/s] 11 kW
or more: 96 [rad/s]
20 to
8000
15 PG2 Position loop gain 2 This is used to set the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Increasing the setting value will also increase the response level but will be liable to generate vibration and noise. When auto tuning mode 1, auto tuning mode 2, manual mode 1, or interpolation mode is selected, the result of auto tuning is automatically used.
7 kW or less:
35 [rad/s] 11 kW
or more: 19 [rad/s]
1 to
1000
16 VG2 Speed loop gain 2 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. When the auto tuning mode 1, auto tuning mode 2, or interpolation mode is selected, the result of auto tuning is automatically used.
7 kW or less:
817 [rad/s] 11 kW
or more: 455
[rad/s]
20 to
20000
17 VIC Speed integral compensation Set the time constant of the integral compensation. When the auto tuning mode 1, auto tuning mode 2, or interpolation mode is selected, the result of auto tuning is automatically used.
7 kW or less: 48 [ms] 11 kW
or more: 91 [ms]
1 to
1000
5. PARAMETERS
5 - 11
No. Symbol Name and function Initial value [unit]
Setting range
18 NCH Machine resonance suppression filter 1 (notch filter) Select the machine resonance suppression filter. (Refer to section 7.1.1.)
Refer to Name and function column.
Setting digit Explanation Initial value
_ _ x x Notch frequency selection Refer to table 5.3 for settings.
00h
_ x _ _ Notch depth selection 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB
0h
x _ _ _ For manufacturer setting 0h
Table 5.3 Notch frequency selection
Setting value Frequency [Hz] Setting value Frequency [Hz]
_ _ 0 0 Disabled _ _ 1 0 281.3
_ _ 0 1 4500 _ _ 1 1 264.7
_ _ 0 2 2250 _ _ 1 2 250
_ _ 0 3 1500 _ _ 1 3 236.8
_ _ 0 4 1125 _ _ 1 4 225
_ _ 0 5 900 _ _ 1 5 214.3
_ _ 0 6 750 _ _ 1 6 204.5
_ _ 0 7 642.9 _ _ 1 7 195.7
_ _ 0 8 562.5 _ _ 1 8 187.5
_ _ 0 9 500 _ _ 1 9 180
_ _ 0 A 450 _ _ 1 A 173.1
_ _ 0 B 409.1 _ _ 1 B 166.7
_ _ 0 C 375 _ _ 1 C 160.1
_ _ 0 D 346.2 _ _ 1 D 155.2
_ _ 0 E 321.4 _ _ 1 E 150
_ _ 0 F 300 _ _ 1 F 145.2
19 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
20 INP In-position range Set an in-position range per command pulse.
100 [pulse]
0 to
50000
5. PARAMETERS
5 - 12
No. Symbol Name and function Initial value [Unit]
Setting range
21 MBR Electromagnetic brake sequence output Set the delay time from MBR (Electromagnetic brake interlock) off to base circuit shut-off.
0 [ms]
0 to
1000
22 MOD Analog monitor output Select the signals to output to MO1 (Analog monitor 1) and MO2 (Analog monitor 2). Refer to app. 9 (3) for detection point of output selection. When using this in the fully closed loop system, refer to section 15.4.
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x Analog monitor 2 output selection Refer to table 5.4 for settings.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ Analog monitor 1 output selection Refer to table 5.4 for settings.
0h
x _ _ _ For manufacturer setting 0h
Table 5.4 Analog monitor setting value
Setting value Item
0 Servo motor speed (8 V/max. speed)
1 Torque (8 V/max. torque) (Note 1)
2 Servo motor speed (+8 V/max. speed)
3 Torque (+8 V/max. torque) (Note 1)
4 Current command (8 V/max. current command)
5 Speed command (8 V/max. speed)
6 Droop pulses (10 V/1128 pulses) (Note 2)
7 Droop pulses (10 V/2048 pulses) (Note 2)
8 Droop pulses (10 V/8192 pulses) (Note 2)
9 Droop pulses (10 V/32768 pulses) (Note 2)
A Droop pulses (10 V/131072 pulses) (Note 2)
B Bus voltage (200 V class and 100 V class: +8 V/400 V, 400 V class: +8 V/800 V)
Note 1. 8 V is outputted at the maximum torque.
2. Encoder pulse unit
23 *OP1 Option function 1 The servo forced stop function can be disabled. When using this in the fully closed loop system, refer to section 15.4.
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x Servo forced stop selection 0: Enabled (EM1 (Forced stop) is used.) 1: Disabled (EM1 (Forced stop) is not used.)
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ Encoder cable communication method selection 0: Two-wire type 1: Four-wire type Incorrect setting will result in [AL. 16 Encoder error 1].
0h
x _ _ _ For manufacturer setting 0h
5. PARAMETERS
5 - 13
No. Symbol Name and function Initial value [Unit]
Setting range
24 *OP2 Option function 2 Select the slight vibration suppression control and motor-less operation.
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x For manufacturer setting 0h
_ _ x _ Slight vibration suppression control selection 0: Disabled 1: Enabled To enable the slight vibration suppression control, select "Manual mode 2 (_ _ _ 2)" of "Gain adjustment mode selection" in [Pr. 8].
0h
_ x _ _ Motor-less operation selection 0: Disabled 1: Enabled
0h
x _ _ _ For manufacturer setting 0h
25 LPF Low-pass filter Select the low-pass filter. (Refer to section 7.1.2.)
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x For manufacturer setting 0h
_ _ x _ Low-pass filter selection 0: Enabled (automatic tuning) 1: Disabled When enabled, the filter band in the following equation is automatically set. For 1 kW or less
VG2 setting value 10
2 (1 + GD2 setting value 0.1) [Hz]
For 2 kW or more
VG2 setting value 5
2 (1 + GD2 setting value 0.1) [Hz]
0h
_ x _ _ Adaptive vibration suppression control selection 0: Disabled
The filter characteristics of the adaptive filter II are initialized. The machine resonance suppression filter 2 is enabled.
1: Enabled The machine resonance frequency is detected, and the filter is set according to the resonance. When adaptive tuning is executed again, the machine resonance frequency is detected, and the filter is reset according to the resonance.
This digit is available with servo amplifier with software version A9 or later.
0h
x _ _ _ For manufacturer setting 0h
5. PARAMETERS
5 - 14
5.2.3 Extension parameters
No. Symbol Name and function Initial value [Unit]
Setting range
27 MO1 Analog monitor 1 offset Set the offset voltage of MO1 (Analog monitor 1).
0 [mV]
-999 to
999
28 MO2 Analog monitor 2 offset Set the offset voltage of MO2 (Analog monitor 2).
0 [mV]
-999 to
999
30 ZSP Zero speed Set the output range of zero speed command sent to the controller.
50 [r/min]
0 to
10000
31 ERZ Error excessive alarm level Set the range for [AL. 52 Error excessive] to occur.
8.0 [0.25 rev]
0.1 to
100.0
5. PARAMETERS
5 - 15
No. Symbol Name and function Initial value [Unit]
Setting range
32 *OP5 Option function 5 Select the PI-PID switching control.
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x PI-PID switching control selection 0: Continuous PI control enabled 1: Droop-based switching is valid in the position control mode. (Refer to [Pr. 34].) 2: Continuous PID control enabled If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the PC (Proportion control) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
33 *OP6 Option function 6 Set the serial communication baud rate selection, serial communication response delay time, and encoder output pulse setting selection. When using this in the fully closed loop system, refer to section 15.4.
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x Serial communication baud rate selection 0: 9600 [bps] 1: 19200 [bps] 2: 38400 [bps] 3: 57600 [bps]
0h
_ _ x _ Serial communication response delay time 0: Disabled 1: Enabled (responding after 800 s or more delay time)
0h
_ x _ _ Encoder output pulse setting selection (Refer to [Pr. 38].) 0: Output pulse specification 1: Division ratio setting
0h
x _ _ _ For manufacturer setting 0h
34 VPI PI-PID switching position droop Set the position droop value (the number of pulses) at which PI control is switched over to PID control. Setting "0 0 0 1" in [Pr. 32] enables this parameter.
0 or less [pulse]
0 to
50000
36 VDC Speed differential compensation This is used to set the differential compensation.
980 0 to
1000
5. PARAMETERS
5 - 16
No. Symbol Name and function Initial value [Unit]
Setting range
38 *ENR Encoder output pulses Set the encoder pulses (A-phase and B-phase) output by the servo amplifier. Set the four-fold value of the A-phase and B-phase pulses. When using this in the fully closed loop system, refer to section 15.4. You can use [Pr. 33] to choose the output pulse setting or output dividing ratio setting. The number of A-phase and B-phase pulses actually output is one fourth of the preset number of pulses. The maximum output frequency is 1.3 Mpulses/s (after multiplication by four). Use this parameter within this range. 1. For output pulse designation Set "_ 0 _ _ (initial value)" in [Pr. 33]. Set the number of pulses per servo motor revolution. Output pulse = Setting value [pulse/rev] For instance, when "5600" is set, the actual A/B-phase output pulses are as indicated below. A-phase and B-phase output pulses = 5600/4 = 1400 [pulse] 2. For output dividing ratio setting Set "_ 1 _ _" in [Pr. 33]. The number of pulses per servo motor revolution is divided by the set value. Output pulse = Encoder resolution per servo motor revolution/Setting value [pulse/rev] For instance, when "8" is set, the actual A/B-phase output pulses are as indicated below. A-phase and B-phase pulses = 131072/8 x 1/4 = 4069 [pulse]
4000 [pulse/
rev]
0 to
65535
39 DBT Electronic dynamic brake operating time Set an operating time for the electronic dynamic brake. However, when "0" is set, the operating time is 2000 ms.
0 [ms]
0 to
10000
40 *BLK Parameter writing inhibit Select a reference range and writing range of the parameter. Refer to table 5.5 for settings.
0000h Refer to Name and
function column. Table 5.5 [Pr. 40] setting value and reading/writing range
Pr. 40
Setting operation
Operation from controller Operation from MR
Configurator
0000h (initial value)
Reading
[Pr. 1] to [Pr. 75]
[Pr. 1] to [Pr. 11], [Pr. 40]
Writing
000Ah
Reading [Pr. 40]
Writing
000Ch
Reading [Pr. 1] to [Pr. 40]
Writing [Pr. 1] to [Pr. 11], [Pr. 40]
000Eh
Reading [Pr. 1] to [Pr. 40]
Writing
000Fh
Reading [Pr. 1] to [Pr. 75]
Writing
100Eh
Reading [Pr. 1] to [Pr. 40]
Writing [Pr. 40]
5. PARAMETERS
5 - 17
No. Symbol Name and function Initial value [Unit]
Setting range
49 *CDP Gain switching selection Select the gain switching condition. (Refer to section 7.2.)
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x Gain switching selection The gain is changed depending on the setting value of [Pr. 52] to [Pr. 55] with the following conditions. 0: Disabled 1: Control command from controller 2: Command frequency is the [Pr. 50] setting value or more. 3: Droop pulses is the [Pr. 50] setting value or more. 4: Servo motor speed is the [Pr. 50] setting value or more.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
50 CDS Gain switching condition Set the value of gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. 49]. The set value unit differs depending on the switching condition item. (Refer to section 7.2.)
10 [kpulse/s] /[pulse] /[r/min]
0 to
9999
51 CDT Gain switching time constant Set the time constant at which the gains will change in response to the conditions set in [Pr. 49] and [Pr. 50]. (Refer to section 7.2.)
1 [ms]
0 to
100
52 GD2B Ratio of load inertia to servo motor inertia 2 Set the load to motor inertia ratio when gain switching is enabled.
7.0 [Multipli
er]
0.0 to
300.0
53 PG2B Position loop gain 2 change ratio Set the change ratio against position loop gain 2 when gain switching is enabled. Enabled when the auto tuning is disabled.
100 [%]
10 to
200
54 VG2B Speed loop gain 2 change ratio Set the change ratio against speed loop gain 2 when gain switching is enabled. Enabled when the auto tuning is disabled.
100 [%]
10 to
200
55 VICB Speed integral compensation change ratio Set the change ratio against speed integral compensation when gain switching is enabled. Enabled when the auto tuning is disabled.
100 [%]
50 to
1000
56 *OP8 Option function 8 Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x For manufacturer setting 0h
_ _ x _ 0h
_ x _ _ 0h
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
5. PARAMETERS
5 - 18
No. Symbol Name and function Initial value [Unit]
Setting range
58 *OPA Option function A This is used to select enabled or disabled for the thermistor of the servo motor.
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x Servo motor thermistor enabled/disabled selection 0: Enabled 1: Disabled For servo motors without thermistor, the setting will be disabled. This parameter is used by servo amplifier with software version A1 or later.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
60 *OPC Option function C Select the encoder output pulse setting. When using this in the fully closed loop system, refer to section 15.4.
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ _ x For manufacturer setting 0h
_ _ x _ 0h
_ x _ _ Encoder output pulse phase selection 0: Increasing A-phase 90 in CCW 1: Increasing A-phase 90 in CW
0h
Setting value
Servo motor rotation direction
CCW CW
0
A-phase
B-phase
A-phase
B-phase
1
A-phase
B-phase
A-phase
B-phase
x _ _ _ For manufacturer setting 0h
5. PARAMETERS
5 - 19
No. Symbol Name and function Initial value [unit]
Setting range
61 NH2 Machine resonance suppression filter 2 Select the machine resonance suppression filter 2. (Refer to section 7.1.1.)
Refer to Name and function column.
Setting digit Explanation
Initial value
_ _ x x Notch frequency selection Refer to table 5.6 for settings. When the adaptive vibration suppression control selection is set to "Enabled" ([Pr. 25] = "_ 1 _ _"), set "00" to this digit.
00h
_ x _ _ Notch depth selection 0: -40 dB 1: -14 dB 2: -8 dB 3: -4 dB
0h
x _ _ _ For manufacturer setting 0h
Table 5.6 Notch frequency selection
Setting value Frequency [Hz] Setting value Frequency [Hz]
_ _ 0 0 Disabled _ _ 1 0 281.3
_ _ 0 1 4500 _ _ 1 1 264.7
_ _ 0 2 2250 _ _ 1 2 250
_ _ 0 3 1500 _ _ 1 3 236.8
_ _ 0 4 1125 _ _ 1 4 225
_ _ 0 5 900 _ _ 1 5 214.3
_ _ 0 6 750 _ _ 1 6 204.5
_ _ 0 7 642.9 _ _ 1 7 195.7
_ _ 0 8 562.5 _ _ 1 8 187.5
_ _ 0 9 500 _ _ 1 9 180
_ _ 0 A 450 _ _ 1 A 173.1
_ _ 0 B 409.1 _ _ 1 B 166.7
_ _ 0 C 375 _ _ 1 C 160.1
_ _ 0 D 346.2 _ _ 1 D 155.2
_ _ 0 E 321.4 _ _ 1 E 150
_ _ 0 F 300 _ _ 1 F 145.2
62 *FCT Fully closed loop selection This parameter is only for the fully closed loop system. Refer to section 15.4.
63 BC1 Fully closed loop control error detection 1 This parameter is only for the fully closed loop system. Refer to section 15.4.
64 BC2 Fully closed loop control error detection 2 This parameter is only for the fully closed loop system. Refer to section 15.4.
65 *FCM Fully closed loop electronic gear numerator This parameter is only for the fully closed loop system. Refer to section 15.4.
66 *FCD Fully closed loop electronic gear denominator This parameter is only for the fully closed loop system. Refer to section 15.4.
5. PARAMETERS
5 - 20
MEMO
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. 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 using [Pr. 13 Position loop gain 1] of MR-J4-_B_-RJ020 and MR-J2S-_B_ simultaneously such as in the interpolation mode, check droop pulses for each axis and readjust gains.
6.1 Different adjustment methods
6.1.1 Adjustment on a single servo amplifier
The following 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", "Manual mode 1" and "Manual mode 2" in this order. (1) Gain adjustment mode explanation
Gain adjustment mode [Pr. 8] 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. 12]) PG1 ([Pr. 13]) VG1 ([Pr. 14]) PG2 ([Pr. 15]) VG2 ([Pr. 16]) VIC ([Pr. 17])
RSP ([Pr. 9])
Auto tuning mode 2 _ _ _ 3 Fixed to [Pr. 12] value PG1 ([Pr. 13]) VG1 ([Pr. 14]) PG2 ([Pr. 15]) VG2 ([Pr. 16]) VIC ([Pr. 17])
GD2 ([Pr. 12]) RSP ([Pr. 9])
Manual mode 1 _ _ _ 4 VG1 ([Pr. 14]) PG2 ([Pr. 15])
GD2 ([Pr. 12]) PG1 ([Pr. 13]) VG2 ([Pr. 16]) VIC ([Pr. 17])
Manual mode 2 _ _ _ 2 GD2 ([Pr. 12]) PG1 ([Pr. 13]) VG1 ([Pr. 14]) PG2 ([Pr. 15]) VG2 ([Pr. 16]) VIC ([Pr. 17])
Interpolation mode _ _ _ 0 Always estimated GD2 ([Pr. 12]) PG2 ([Pr. 15]) VG2 ([Pr. 16]) VIC ([Pr. 17])
PG1 ([Pr. 13]) VG1 ([Pr. 14])
6. NORMAL GAIN ADJUSTMENT
6 - 2
(2) Adjustment sequence and mode usage
End
Interpolation made for 2 or more axes?
Start
Operation
Auto tuning mode 2
Adjustment OK?
Manual mode 1
Adjustment OK?
Manual mode 2
Adjustment OK?
Adjustment OK?
No
Yes
No
Yes
No
Yes
No
Yes
No
Yes
Auto tuning mode 1
Operation
Interpolation mode
Operation
Operation
Usage
Used when you want to match PG1 (position gain) between 2 or more axes. Normally not used for other purposes.
Allows adjustment by merely changing the response level setting. First, use this mode to make adjustment.
Used when the condition of "Auto tuning mode 1" is not satisfied or the load to motor inertia ratio could not be estimated properly.
This mode permits adjustment easily with three gains if you were not satisfied with auto tuning results.
You can adjust all gains manually when you want to do fast settling or the like.
6. NORMAL GAIN ADJUSTMENT
6 - 3
6.1.2 Adjustment using MR Configurator
POINT
When using the machine analyzer, set the axis No. of servo amplifier to "F". (Refer to section 4.3.1.)
This section explains the functions and adjustment using the servo amplifier with MR Configurator.
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. You can automatically set the optimum gains in response to the machine characteristic. This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time.
6.2 Auto tuning
6.2.1 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 "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 "Auto tuning mode 1".
Parameter Symbol Name
12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio)
13 PG1 Position loop gain 1
14 VG1 Speed loop gain 1
15 PG2 Position loop gain 2
16 VG2 Speed loop gain 2
17 VIC Speed integral compensation
POINT
"Auto tuning mode 1" may not be performed properly if all of the following conditions are not satisfied.
The acceleration/deceleration time constant to reach 2000 r/min is 5 s or less.
Speed is 150 r/min or higher.
The load to 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 "Auto tuning mode 2", "Manual mode 1" or "Manual mode 2" to make gain adjustment.
6. NORMAL GAIN ADJUSTMENT
6 - 4
(2) Auto tuning mode 2
Use "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. 12]. The following parameters are automatically adjusted in "Auto tuning mode 2".
Parameter Symbol Name
13 PG1 Position loop gain 1
14 VG1 Speed loop gain 1
15 PG2 Position loop gain 2
16 VG2 Speed loop gain 2
17 VIC Speed integral compensation
6.2.2 Auto tuning mode basis
The block diagram of real-time auto tuning is shown below.
Loop gain PG1, VG1, PG2, VG2, VIC
Current control
Load to motor inertia ratio estimation
section
Gain table
[Pr. 12 Ratio of load inertia to servo
motor inertia (load inertia ratio)]
Response level setting
Gain adjustment mode selection
[Pr. 8]
+ -
+ -
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. 9]
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. 12 Ratio of load inertia to servo motor inertia (load inertia ratio). These results can be confirmed on the status display screen of the MR Configurator. 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 (_ _ _ 3)" in [Pr. 8] to stop the estimation (turning off the switch in the above diagram), and set the load to motor inertia ratio ([Pr. 12]) manually. From the preset load to motor inertia ratio ([Pr. 12]) value and response ([Pr. 9]), the optimum loop gains are automatically set on the basis of the internal gain table. The auto tuning results are saved in the motion controller about every 10 s since power-on. At power-on, auto tuning is performed with the value of each loop gain saved in the motion controller being used as an initial value.
6. NORMAL GAIN ADJUSTMENT
6 - 5
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 (_ _ _ 3)" in [Pr. 8] and then set the correct load to motor inertia ratio in [Pr. 12].
When any of "Auto tuning mode 1", "Auto tuning mode 2" or "Manual mode 1" settings is changed to the manual mode setting, the current loop gains and load to motor inertia ratio estimation value are saved in the EEP-ROM.
6.2.3 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 not satisfied?
(Estimation of load to motor inertia ratio is difficult)
Load to motor inertia ratio estimation value stable?
Set [Pr. 08] to "_ _ _ 3" and set [Pr. 12 Ratio of load inertia to servo motor inertia (load inertia ratio)] manually.
Adjust response level setting so that desired response is achieved on vibration-free level.
To manual mode
Requested performance satisfied?
End
Yes
No
Yes
No
No
Yes
Acceleration/deceleration repeated
6. NORMAL GAIN ADJUSTMENT
6 - 6
6.2.4 Response level setting in auto tuning mode
Set the response of the whole servo system by [Pr. 9]. 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, [Pr. 18 Machine resonance suppression filter 1 (notch filter)] may be used to suppress machine resonance. Suppressing machine resonance may allow the response level setting to increase. For changing the setting value of the machine resonance suppression filter, refer to 7.1.1.
[Pr. 9]
Setting value
Machine characteristic
Response
Guideline for machine
resonance frequency [Hz]
1 Low response 15
2
20
3 25
4 30
5 35
6 45
7 55
8 Middle response 70
9
85
A 105
B 130
C 160
D 200
E 240
F High response 300
6. NORMAL GAIN ADJUSTMENT
6 - 7
6.3 Manual mode 1 (simple manual adjustment)
If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually.
POINT
If the machine resonance occurs, you can suppress the machine resonance with [Pr. 18 Machine resonance suppression filter 1 (notch filter)]. (Refer to section 7.1.1.)
6.3.1 Manual mode 1 basis
In this mode, setting of three gains of PG1 (position loop gain 1), VG2 (speed loop gain 2) and VIC (speed integral compensation) automatically sets the other gains to the optimum values according to these gains.
PG1 VG2 VIC
PG2 VG1Automatic setting
GD2 User setting
Therefore, you can adjust the model adaptive control system in the same image as the general PI control systems (position gain, speed gain and speed integral time constant). Here, the position corresponds to PG1, speed gain to VG2 and speed integral compensation time constant to VIC. When you adjust the gain with this mode, set [Pr. 12 Ratio of load inertia to servo motor inertia (load inertia ratio)] properly. 6.3.2 Adjustment by manual mode 1
(1) For speed control (a) Parameter
The following parameters are used for gain adjustment.
Parameter Symbol Name
12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio)
16 VG2 Speed loop gain 2
17 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 2 ([Pr. 8]: _ _ _ 2).
3 Set an estimated value in [Pr. 12 Ratio of load inertia to servo motor inertia (load inertia ratio)].
4 Increase the [Pr. 16 Speed loop gain 2] within the vibration- and unusual noise-free range, and return slightly if vibration takes place.
Increase the speed loop gain.
5 Decrease the [Pr. 17 Speed integral compensation] within the vibration-free range, and return slightly if vibration takes place.
Decrease the time constant of the speed integral compensation.
6
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 machine resonance suppression filter and then executing steps 4 and 5.
Suppression of machine resonance Refer to section 7.1.1.
7 While checking the motor status, fine-adjust each gain. Fine adjustment
6. NORMAL GAIN ADJUSTMENT
6 - 8
(c) Parameter adjustment
1) [Pr. 16 Speed loop gain 2] This parameter determines the response level of the speed control loop. Increasing the setting increases the response level, but the mechanical system is liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Speed loop response frequency [Hz] = (1 + Load to motor inertia ratio) 2
Speed loop gain 2
2) [Pr. 17 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 2/(1 + Load to motor inertia ratio)
(2) For position control
(a) Parameter The following parameters are used for gain adjustment.
Parameter Symbol Name
12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio)
13 PG1 Position loop gain 1
16 VG2 Speed loop gain 2
17 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 2 ([Pr. 8]: _ _ _ 2).
3 Set an estimated value in [Pr. 12 Ratio of load inertia to servo motor inertia (load inertia ratio)].
4 Set a slightly smaller value in [Pr. 13 Position loop gain 1].
5 Increase the [Pr. 16 Speed loop gain 2] within the vibration- and unusual noise-free range, and return slightly if vibration takes place.
Increase the speed loop gain.
6 Decrease the [Pr. 17 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 [Pr. 13 Position loop gain 1], and return slightly if vibration takes place.
Increase the position 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 machine resonance suppression filter and then executing steps 5 to 7.
Suppression of machine resonance Refer to section 7.1.1.
9 While checking the settling characteristic and motor status, fine- adjust each gain.
Fine adjustment
6. NORMAL GAIN ADJUSTMENT
6 - 9
(c) Parameter adjustment
1) [Pr. 16 Speed loop gain 2] This parameter determines the response level of the speed control loop. Increasing the setting increases the response level, but the mechanical system is liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Speed loop response frequency [Hz] = (1 + Load to motor inertia ratio) 2
Speed loop gain 2
2) [Pr. 17 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 2/(1 + Load to motor inertia ratio)
3) [Pr. 13 Position loop gain 1]
This parameter determines the response level to a disturbance to the position control loop. Increasing the position loop gain 1 increases the response level to a disturbance, but the mechanical system is liable to vibrate.
Position loop gain 1 guideline (1 + Load to motor inertia ratio) 2
Speed loop gain 2
(1 + Load to motor inertia ratio)
Speed loop gain 2
5 1
3 1 to
6.4 Interpolation mode
The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the position loop gain 1 and speed loop gain 1 that determine command track ability. Other parameters for gain adjustment are set automatically. (1) Parameter
(a) Automatically adjusted parameter The following parameters are automatically adjusted by auto tuning.
Parameter Symbol Name
12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio)
15 PG2 Position loop gain 2
16 VG2 Speed loop gain 2
17 VIC Speed integral compensation
6. NORMAL GAIN ADJUSTMENT
6 - 10
(b) Manually adjusted parameter
The following parameters are adjustable manually.
Parameter Symbol Name
13 PG1 Position loop gain 1
14 VG1 Speed loop gain 1
(2) Interpolation mode adjustment procedure
Step Operation Description
1 Set the auto tuning mode 1 ([Pr. 8: _ _ _ 1]) and machine resonance frequency of response level to 15 Hz ([Pr. 9: _ _ _ 1]).
Select the auto tuning mode 1.
2 During operation, increase the response level setting value in [Pr. 9], and return the setting if vibration occurs.
Adjustment in the auto tuning mode 1
3 Check the values of [Pr. 13 Position loop gain 1] and [Pr. 14 Speed loop gain 1].
Check the upper setting limits.
4 Set to the interpolation mode ([Pr. 8: _ _ _ 0]). Select the interpolation
mode.
5 Set the position loop gain 1 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 position loop gain 1.
Set the position loop gain 1.
6
Considering the speed loop gain 1 value you checked in step 3 as an upper limit guideline, set not less than three times the position loop gain 1 setting value while checking the servo motor movement.
Set the speed loop gain 1.
7 While checking the interpolation characteristic and the motor status, fine-adjust the gains and response level setting.
Fine adjustment
(3) Parameter adjustment
(a) [Pr. 13 Position loop gain 1] This parameter determines the response level of the position control loop. Increasing the position loop gain 1 improves track ability to a position command, but a too high value will make overshoot liable to occur at settling. Number of droop pulses is determined by the following expression.
Number of droop pulses [pulse] = Position loop gain 1 setting
131072 [pulse] 60
Speed [r/min]
(b) [Pr. 14 Speed loop gain 1]
Set the response of the model speed loop. Set the values by referring to the following expression.
Speed loop gain 1 setting value Position loop gain 1 setting value 3
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. MR-J4-_B_-RJ020 servo amplifier is not compatible with the adaptive vibration suppression control.
7.1 Filter setting
Speed control
Servo motor
Encoder
Current command
Low-pass filter
"_ _ 0_"
[Pr. 25]
M
"_ _ 1_"
"_ _ 0 0"
Except "_ _ 0 0"
[Pr. 18] + -
Machine resonance
suppression filter 1
7.1.1 Machine resonance suppression filter
POINT
The machine resonance suppression filter is a delay factor for the servo system. Therefore, vibration may increase if you set an incorrect resonance frequency or set notch depth 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 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 Configurator. 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 can suppress the resonance of the mechanical system.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 2
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency) and gain decreasing depth.
R es
p on
se o
f m
e ch
an ic
al
sy st
em
Machine resonance point
N o
tc h
de pt
h
Notch frequency Frequency
Frequency
(2) Parameter
Set the notch frequency and notch depth of [Pr. 18 Machine resonance suppression filter 1 (notch filter)].
(-4 dB)3
00
01
02
03
04
05
06
07
173.1
166.7
160.1
155.2
145.2
187.5
Frequency
Disabled
4500
2250
08
09
0A
Notch frequency selection
Notch depth selection
0
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
1500
1125
900
750
642.9
500
450
409.1
375
346.2
321.4
300
562.5 281.3
264.7
250
236.8
225
214.3
204.5
195.7
180
150
Depth (Gain)
0
1
2
(-40 dB)Deep
Shallow
(-14 dB)
(-8 dB)
[Pr. 18]
Setting value
Setting value Setting value Frequency Setting value Frequency Setting value Frequency
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 3
7.1.2 Low-pass filter
POINT
In a mechanical system with extremely high rigidity where resonance is difficult to occur, setting the low-pass filter to "Disabled" may increase the servo system response to shorten the settling time.
(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 the initial value. The filter frequency of the low-pass filter is automatically adjusted to the value in the following equation.
Filter frequency (Hz) = Speed loop gain 2 setting value 10
+ Load to motor inertia ratio setting value)
(2) Parameter
Set "Low-pass filter selection" in [Pr. 25].
Low-pass filter selection 0: Enabled (automatic adjustment) 1: Disabled
[Pr. 25]
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 4
7.1.3 Adaptive vibration suppression control function
The adaptive vibration suppression control function is a function where the servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. The MR-J4-_B_-RJ020 servo amplifier has an adaptive vibration suppression control function different from that of the MR-J2S-_B_ servo amplifier. You can set filter characteristics with the adaptive filter II (adaptive tuning) or vibration tough drive function, both of which are equivalent to those of the MR-J4-_B_(-RJ) servo amplifier. (1) 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 s 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.
Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics.
Unlike the MR-J2S-_B_, the MR-J4-_B_-RJ020 supports the adaptive filter II (adaptive tuning) equivalent to that of the MR-J4-_B_. However, only the standard mode is available for the tuning accuracy.
Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine resonance for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.
Machine resonance point
Notch frequency Frequency
FrequencyR es
p o
n se
o f
m e
ch a
n ic
a l
sy st
em N
ot ch
d ep
th
Machine resonance point
Notch frequency Frequency
FrequencyR e
sp o
n se
o f
m e
ch a
n ic
a l
sy st
em N
ot ch
d ep
th
When machine resonance is large and frequency is low
When machine resonance is small and frequency is high
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 5
(2) Vibration tough drive function
This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to varied vibration frequency caused by machine aging. The vibration tough drive function operates when the detected machine resonance frequency is within 30% of that detected in adaptive tuning.
POINT
The vibration tough drive function continuously resets the machine resonance frequency. However, the data is written to the EEP-ROM once per hour.
The vibration tough drive function does not detect a vibration of 100 Hz or less.
(3) Function block diagram
+ -
Adaptive filter II
Vibration tough drive
[Pr. 18]
[Pr. 61]
"_ 0 _ _"
"_ 1 _ _"
[Pr. 25] [Pr. 25] Current
command Machine
resonance suppression
filter 1
Machine resonance
suppression filter 2 Low-pass
filter
Speed control
Servo motor
Encoder
(4) Parameter Enable or disable "Adaptive vibration suppression control selection" ([Pr. 25]).
POINT
"Adaptive vibration suppression control selection (_ x _ _)" ([Pr. 25]) is factory- set to "Disabled (_ 0 _ _)".
When "Enabled (_ 1 _ _)" is set in [Pr. 25 (_ x _ _)] in the servo-off status, adaptive tuning is executed after servo-on.
When "Enabled (_ 1 _ _)" is set in [Pr. 25 (_ x _ _)], the vibration tough drive function resets the machine resonance frequency.
When the servo amplifier is removed and installed to a different machine, set "Disabled (_ 0 _ _)" in [Pr. 25 (_ x _ _)] to initialize the filter characteristics.
[Pr. 25]
Adaptive vibration suppression control selection
0 0
0
1
Mode selection
Disabled
Enabled
Machine resonance suppression filter 2
Adaptive filter II + Vibration tough drive function
Enabled filterSetting value
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 6
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).
7.2.2 Function block diagram
The control gains and load to motor inertia ratio settings are changed according to the conditions selected by [Pr. 49 Gain switching function] and [Pr. 50 Gain switching condition].
Command pulse frequency
+ -
Droop pulses
Model speed
Control command from controller
Comparator
Changing
CDP [Pr. 49]
+ -
+ -
GD2 [Pr. 12]
GD2B [Pr. 52]
Enabled GD2 value
PG2 [Pr. 15]
PG2 PG2B 100
Enabled PG2 value
CDS [Pr. 50]
VG2 [Pr. 16]
VG2 VG2B 100
Enabled VG2 value
VIC [Pr. 17]
VIC VICB 100
Enabled VIC value
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 7
7.2.3 Parameter
When using the gain switching function, always select "Manual mode 2 (_ _ _ 2)" of "Gain adjustment mode selection" in [Pr. 8 Auto tuning]. The gain switching function cannot be used in the auto tuning mode.
Parameter Symbol Name Unit Description
13 PG1 Position loop gain 1 [rad/s]
Position and speed gains of a model used to set the response level to a command. Always enabled.
14 VG1 Speed loop gain 1 [rad/s] Control parameters before changing
12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio)
[Multiplier]
15 PG2 Position loop gain 2 [rad/s]
16 VG2 Speed loop gain 2 [rad/s]
17 VIC Speed integral compensation [ms]
52 GD2B Ratio of load inertia to servo motor inertia 2
[Multiplier] Set the ratio of load inertia to servo motor inertia after switching.
53 PG2B Position loop gain 2 change ratio [%]
Set the ratio (%) of the position loop gain 2 after switching against the position loop gain 2.
54 VG2B Speed loop gain 2 change ratio [%]
Set the ratio (%) of the speed loop gain 2 after switching against the speed loop gain 2.
55 VICB Speed integral compensation change ratio [%]
Set the ratio (%) of the speed integral compensation time constant after switching against the speed integral compensation.
49 CDP Gain switching selection Select the changing condition.
50 CDS Gain switching condition [kpulse /s]
/[pulse] /[r/min]
Set the changing condition values.
51 CDT Gain switching time constant [ms] Set the filter time constant for a gain change at changing.
(1) [Pr. 12] to [Pr. 17]
These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio, position loop gain 2, model loop gain, speed loop gain 2, and speed integral compensation to be changed.
(2) [Pr. 52 Ratio of load inertia to servo motor inertia 2]
Set the ratio of load inertia to servo motor inertia after switching. If the load to motor inertia ratio does not change, set it to the same value as [Pr. 12 Ratio of load inertia to servo motor inertia (load inertia ratio)].
(3) [Pr. 53 Position loop gain 2 change ratio]/[Pr. 54 Speed loop gain 2 change ratio]/[Pr. 55 Speed integral
compensation change ratio] Set the values of the position loop gain 2, speed loop gain 2 and speed integral compensation after gain switching in the ratio ([%)]. When the setting is 100%, the gain does not change. For example, if position loop gain 2 = 100, speed loop gain 2 = 2000, speed integral compensation = 20, and position loop gain 2 change ratio = 180%, speed loop gain 2 change ratio = 150%, and speed integral compensation change ratio = 80%, the values after switching are as follows. Position loop gain 2
= Position loop gain 2 Position loop gain 2 change ratio/100 = 180 [rad/s] Speed loop gain 2
= Position loop gain 2 Position loop gain 2 change ratio/100 = 3000 [rad/s] Speed integral compensation = Speed integral compensation Speed integral compensation change ratio/100 = 16 [ms]
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 8
(4) [Pr. 49 Gain switching selection]
Set the gain switching condition. Select the switching condition in the first digit.
Gain switching selection The gain is changed depending on the setting value of [Pr. 52] to [Pr. 55] with the following conditions. 0: Disabled 1: Control command from controller 2: Command frequency is the [Pr. 50] setting value or more. 3: Droop pulse is the [Pr. 50] setting value or more. 4: Servo motor speed is the [Pr. 50] setting value or more.
[Pr. 49]
0 0 0
(5) [Pr. 50 Gain switching condition] Set a level to switch gain with [Pr. 50] when "Command frequency", "Droop pulses", or "Servo motor speed" is selected with the gain switching selection in [Pr. 49 Gain switching selection]. The setting unit is as follows.
Gain switching condition Unit
Command frequency [kpulse/s]
Droop pulses [pulse]
Servo motor speed [r/min]
(6) [Pr. 51 Gain switching time constant]
You can set the primary delay filter to each gain at gain switching. This parameter is used to suppress shock given to the machine if the gain difference is large at gain switching, for example.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 9
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
Parameter No. Symbol Name Setting value Unit
13 PG1 Position loop gain 1 100 [rad/s]
14 VG1 Speed loop gain 1 1000 [rad/s]
12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio)
40 Multiplier
15 PG2 Position loop gain 2 120 [rad/s]
16 VG2 Speed loop gain 2 3000 [rad/s]
17 VIC Speed integral compensation 20 [ms]
52 GD2B Ratio of load inertia to servo motor inertia 2
100 Multiplier
53 PG2B Position loop gain 2 change ratio
70 [%]
54 VG2B Speed loop gain 2 change ratio 133 [%]
55 VICB Speed integral compensation change ratio
250 [%]
49 CDP Gain switching selection 0001
Control command from controller
51 CDT Gain switching time constant 100 [ms]
(b) Switching timing chart
Control command from controller
OFF ON OFF
After-switching gain
CDT = 100 ms Before-switching gainGain switching
Position loop gain 1 100
Speed loop gain 1 1000
Ratio of load inertia to servo motor inertia 4.0 10.0 4.0
Position loop gain 2 120 84 120
Speed loop gain 2 3000 4000 3000
Speed integral compensation 20 50 20
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 10
(2) When you choose switching by droop pulses
(a) Setting
Parameter No. Symbol Name Setting value Unit
13 PG1 Position loop gain 1 100 [rad/s]
14 VG1 Speed loop gain 1 1000 [rad/s]
12 GD2 Ratio of load inertia to servo motor inertia
40 Multiplier
15 PG2 Position loop gain 2 120 [rad/s]
16 VG2 Speed loop gain 2 3000 [rad/s]
17 VIC Speed integral compensation 20 [ms]
52 GD2B Ratio of load inertia to servo motor inertia 2
100 Multiplier
53 PG2B Position loop gain 2 change ratio
70 [%]
54 VG2B Speed loop gain 2 change ratio 133 [%]
55 VICB Speed integral compensation change ratio
250 [%]
49 CDP Gain switching selection 0003
(switching by droop pulses)
50 CDS Gain switching condition 50 [pulse]
51 CDT Gain switching time constant 100 [ms]
(b) Switching timing chart
Droop pulses [pulse]
After-switching gain
CDT = 100 ms Before-switching gain
Gain switching
+CDS
-CDS 0
Command pulses
Droop pulses
Position loop gain 1 100
Speed loop gain 1 1000
Ratio of load inertia to servo motor inertia 4.0 10.0 4.0 10.0
Position loop gain 2 120 84 120 84
Speed loop gain 2 3000 4000 3000 4000
Speed integral compensation 20 50 20 50
8. TROUBLESHOOTING
8 - 1
8. TROUBLESHOOTING
8.1 Alarm and warning list
When an error occurs during operation, the corresponding alarm and warning are displayed. When an alarm or warning is displayed, refer to section 8.2 or 8.3 to remove the failure. After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column in the following table.
No. Name Stop
method (Note 6)
Alarm reset
Power off to on
Error reset
CPU reset
A la
rm 10 Undervoltage EDB
12. _ (Note 5)
Memory error 1 DB
13 Clock error DB 15 Memory error 2 DB
16 Encoder error 1 DB 17 Board error DB 19. _ Memory error 3 DB 1A Motor combination error DB
1B Converter unit error DB
20 Encoder error 2 EDB 24 Main circuit error DB 25 Absolute position erased DB (Note 2)
28 Fully closed loop encoder error 2 EDB
2A Fully closed loop encoder error 1 EDB
30 Regenerative error DB (Note 1) (Note 1) (Note 1) 31 Overspeed EDB 32 Overcurrent DB (Note 4) (Note 4) 33 Overvoltage EDB 34 CRC error EDB 35 Command frequency error EDB 36 Transfer error EDB 37 Parameter error DB (Note 4) 3E. 2 Mode selection error DB (Note 3)
42 Fully closed loop control error detection EDB
45 Main circuit device overheat EDB (Note 1) (Note 1, 4) (Note 1, 4) 46 Servo motor overheat DB (Note 1) (Note 1) (Note 1) 50 Overload 1 EDB (Note 1) (Note 1) (Note 1) 51 Overload 2 DB (Note 1) (Note 1) (Note 1) 52 Error excessive EDB
70 Fully closed loop encoder communication error 1 DB
71 Fully closed loop encoder communication error 2 EDB
8E Serial communication error EDB 888 Watchdog DB
W ar
ni ng
s 92 Battery cable disconnection warning Warnings are automatically canceled after the cause of occurrence is removed.
96 Home position setting warning 9F Battery warning E0 Excessive regeneration warning
E1 Overload warning E3 Absolute position counter warning E4 Parameter warning E6 Servo forced stop warning EDB (Note 7) E7 Controller forced stop warning EDB E9 Main circuit off warning DB EE SSCNET error warning
8. TROUBLESHOOTING
8 - 2
Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2. For confirming the connection to the servo system controller, the alarm may not be reset unless turning the power on twice or
more times.
3. When the mode is correctly set, it will be reset.
4. The alarm factor may not be removed depending on the cause of occurrence.
5. Digits after the decimal point may not be displayed.
6. The following shows two stop methods of DB and EDB.
DB: Stop with dynamic brake
EDB: Stop with electronic dynamic brake (enabled only with the 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
7. When STO1 or STO2 is turned off (when the short-circuit connector is disconnected), the stop method will be DB.
8.2 Remedies for alarms
CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Otherwise, it may cause injury.
If [AL. 25 Absolute position erased] occurs, always make home position setting again. Otherwise, it may cause an unexpected operation.
As soon as an alarm occurs, set the servo amplifier to the servo-off status and interrupt the main circuit power.
POINT
When any of the following alarms has occurred, do not deactivate the alarm to restart. Doing so will cause a malfunction of the servo amplifier and servo motor. Remove its cause and allow about 30 minutes for cooling before resuming the operation. To protect the main circuit elements, any of these alarms cannot be deactivated from the servo system controller until the specified time elapses after its occurrence. Judging the load changing condition until the alarm occurs, the servo amplifier calculates this specified time automatically.
[AL. 30 Regenerative error] [AL. 50 Overload 1]
[AL. 51 Overload 2]
To deactivate the alarm, cycle the power, command the error reset, or CPU reset from the servo system controller. Refer to section 8.1.
[AL. 37 Parameter error] is not recorded in the alarm history.
8. TROUBLESHOOTING
8 - 3
When an alarm occurs, the dynamic brake is operated to stop the servo motor. At this time, the display indicates the alarm No. Remove the cause of the alarm in accordance with this section. Use MR Configurator to refer to the cause of alarm occurrence. However, it is not applicable for [AL. 12. _], [AL. 19. _], [AL. 3E.2] and [AL. 888]. Display Name Description Cause Action
10 Undervoltage The power supply voltage dropped. 200 V class: 160 V AC or less 400 V class: 280 V AC or less 100 V class: 80 V AC or less
1. Power supply voltage is low. Review the power.
2. There was an instantaneous control circuit power failure of 60 ms or more.
3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc.
4. For servo amplifier, the bus voltage dropped to the following value or less. 200 V class: 200 V DC 400 V class: 380 V DC 100 V class: 158 V DC
5. For drive unit, the bus voltage of the converter unit dropped to the following value or less. 200 V class: 200 V DC 400 V class: 380 V DC
6. For drive unit, the magnetic contactor connector of the converter unit is disconnected.
Connect it correctly.
7. A part in the servo amplifier is malfunctioning.
Check if [AL. 10] occurs if power is switched on after disconnection of all cables except the control circuit power cable.
Check method
Replace the servo amplifier.
12. _ Memory error 1
RAM memory error 1. A part in the servo amplifier is malfunctioning.
Check if [AL. 12] or [AL. 13] occurs if power is switched on after disconnection of all cables except the control circuit power cable.
Check method
Replace the servo amplifier.
13 Clock error Printed board error
A clock error transmitted from the controller
2. The controller is malfunctioning.
Check if the alarm occurs when you connect the amplifier to the controller.
Check method
Replace the controller.
Next servo amplifier axis error 3. The servo amplifier of the next axis is malfunctioning.
Replace the servo amplifier of the next axis.
Software process incomplete within the specified time
4. The parameter setting is incorrect. Set it correctly.
5. A synchronous signal error transmitted from the controller occurred.
Replace the controller, and then check the repeatability.
Check method
Replace the controller.
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Display Name Description Cause Action
15 Memory error 2
EEP-ROM error 1. A part in the servo amplifier is malfunctioning.
Check if [AL. 15] occurs if power is switched on after disconnection of all cables except the control circuit power cable.
Check method
Replace the servo amplifier.
2. The number of write times exceeded 100,000.
3. The EEP-ROM is malfunctioning during normal operation.
Check if the error occurs when you change parameters during normal operation.
Check method
4. A write error occurred while tuning results was processed.
Check if the alarm occurs after an hour from power on.
Check method
5. The system parameter error occurred.
Check if an alarm occurs when you initialize the parameters with the built-in application software "MR-J4(W)-B mode selection" of MR Configurator2.
Check method
16 Encoder error 1
An error occurred in the communication between the encoder and servo amplifier.
1. The Encoder connector (CN2) is disconnected.
Connect it correctly.
2. The encoder is malfunctioning. Replace the servo motor.
3. There is a loose connection of the encoder cable. (It is disconnected or shorted.)
Repair or replace the encoder cable.
4. The servo amplifier is malfunctioning.
Replace the servo amplifier.
5. The voltage of the control circuit power supply has been unstable.
Review the power and related parts.
Incompatible encoder 6. A servo motor, which is not compatible with the servo amplifier, was connected.
Replace it with the servo motor which is compatible with the servo amplifier.
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Display Name Description Cause Action
17 Board error A part such as CPU is malfunctioning.
1. A part in the servo amplifier is malfunctioning.
Check if [AL. 17] occurs if power is switched on after disconnection of all cables except the control circuit power cable.
Check method
Replace the servo amplifier.
The output terminals (U/V/W) of the servo amplifier and the input terminals (U/V/W) of the servo motor are not connected.
2. The wiring of U/V/W is disconnected or not connected.
Connect the output terminals (U/V/W) of the servo amplifier and the input terminals (U/V/W) of the servo motor correctly.
Servo amplifier recognition signal error
3. The servo amplifier recognition signal was not read properly.
Check if [AL. 17] occurs if power is switched on after disconnection of all cables except the control circuit power cable.
Check method
Replace the servo amplifier.
Inrush current suppression circuit error
4. The inrush current suppressor circuit is malfunctioning.
Replace the servo amplifier.
Mode selection error 5. There is a mismatch between the operation mode setting and actual operation mode.
Initialize it with the built-in application software "MR-J4(W)-B mode selection" of MR Configurator2.
MR-J4-T20 error 6. MR-J4-T20 came off. Check the connection of MR-J4-T20.
19. _ Memory error 3
ROM memory error 1. A part in the servo amplifier is malfunctioning.
Check if [AL. 19] occurs if power is switched on after disconnection of all cables except the control circuit power cable.
Check method
Replace the servo amplifier.
1A Servo motor combination error
The combination of servo amplifier and servo motor is incorrect.
1. The servo amplifier and the servo motor was connected incorrectly.
Use them in the correct combination.
Encoder error 2. The encoder is malfunctioning. Replace the servo motor.
1B Converter alarm
An alarm occurred in the converter unit during the servo-on status.
1. An alarm occurred in the converter unit during the servo-on status.
Check the alarm of the converter unit, and take the action following the remedies for alarms of the converter unit. (Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)".)
2. The protection coordination cable is not correctly connected.
Connect it correctly.
20 Encoder error 2
An error occurred in the communication between the encoder and servo amplifier.
1. The Encoder connector (CN2) is disconnected.
Connect it correctly.
2. The encoder is malfunctioning. Replace the servo motor.
3. The encoder cable is malfunctioning. (It is disconnected or shorted.)
Repair or replace the cable.
4. The servo amplifier is malfunctioning.
Replace the servo amplifier.
The function detects an acceleration error in the encoder.
5. An excessive acceleration occurred due to oscillation, etc.
1. Decrease the speed control gain 2. 2. Decrease the auto tuning response
level.
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Display Name Description Cause Action
24 Main circuit error
Ground fault occurred at the servo motor power output (U/V/W) of the servo amplifier.
1. The power wire is contacting with the servo motor power output (U/V/W) of the servo amplifier.
Correct the wiring.
2. The insulator of servo motor power wire deteriorated, resulting in ground fault.
Replace the cable.
3. The main circuit of servo amplifier failed.
Check if [AL. 24] occurs if power is switched on after disconnection of U/V/W.
Check method
Replace the servo amplifier.
25 Absolute position erased
Power was switched on for the first time in the absolute position detection system.
1. Power was switched on for the first time in the absolute position detection system.
Check that the battery is mounted correctly, and make home position return.
The absolute position data is faulty.
2. When an MR-BAT6V1SET battery was used, CN4 of the servo amplifier was disconnected during control circuit power supply off.
Check that the battery is mounted correctly, and make home position return.
3. When an MR-BAT6V1BJ battery for junction battery cable was used, both CN4 of the servo amplifier and MR-BAT6V1BJ battery for junction battery cable were disconnected from the MR-BT6VCBL03M junction battery cable.
4. When an MR-BAT6V1SET battery was used, the power was turned off with the battery disconnected from CN4.
5. When an MR-BAT6V1BJ battery for junction battery cable was used, the power was turned off with the battery disconnected from CN4 and MR-BT6VCBL03M junction battery cable.
6. The encoder cable was disconnected with the MR- BAT6V1BJ battery disconnected from MR-BT6VCBL03M junction battery cable.
Check that the MR-BAT6V1BJ battery is connected to CN4 and MR- BT6VCBL03M junction battery cable, and execute a home position return.
7. The MR-BT6VCBL03M junction battery cable is not connected to the encoder cable.
Connect the MR-BT6VCBL03M junction battery cable to the encoder cable.
8. The battery voltage is low. The battery is consumed.
Replace the battery.
9. The voltage has dropped greatly in the encoder cable wired to the battery.
Use a recommended wire.
10. A battery cable is malfunctioning. Replace the battery cable.
11. There is a loose connection of the encoder cable on the servo motor side.
Repair or replace the encoder cable.
Encoder error 12. An encoder is malfunctioning. Replace the servo motor.
Servo amplifier error 13. The servo amplifier is malfunctioning.
Replace the servo amplifier.
28 Fully closed loop encoder error 2
Working environment of linear encoder is not normal.
1. The temperature of linear encoder is high. (Linear encoder manufactured by Mitutoyo)
Check the temperature of linear encoder and contact the linear encoder manufacturer.
2. The signal level of the linear encoder has dropped.
Check the installation condition of the linear encoder.
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Display Name Description Cause Action
2A Fully closed loop encoder error 1
An error occurred in the load- side encoder (linear encoder/encoder with A/B/Z- phase pulse specifications)
1. The installation positions of the linear encoder and detection head are not correct.
Adjust the positions of the linear encoder and detection head.
2. The speed of linear encoder has exceeded the range of specifications.
Use it within the range of specifications.
3. A load-side encoder is malfunctioning.
Contact the linear encoder manufacturer.
4. An alarm of the linear encoder occurred.
Check the detailed information indicated in section 15.6 and contact the linear encoder manufacturer.
5. Noise entered. Take the noise reduction measures. Contact the linear encoder manufacturer.
30 Regenerative error
Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded.
There is a mismatch between the built-in regenerative resistor (regenerative option) and [Pr. 2] setting.
Set it correctly.
2. The built-in regenerative resistor or regenerative option is not connected.
Connect it correctly.
3. Very frequent operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded.
Check the regenerative load ratio using MR Configurator.
Check method
1. Reduce the frequency of positioning.
2. Replace the regenerative option for the one with larger capacity.
3. Reduce the load.
4. The power supply voltage is too high. 200 V class: 264 V AC or more 400 V class: 523 V AC or more 100 V class: 132 V AC or more
Review the power.
5. The built-in regenerative resistor or regenerative option is malfunctioning.
Replace the servo amplifier or regenerative option.
Regenerative transistor failure 6. The regenerative transistor is malfunctioning.
1. Check if the regenerative option is overheating.
2. Check if the alarm occurs even after removal of the built-in
regenerative resistor or regenerative option.
Check method
Replace the servo amplifier.
31 Overspeed The servo motor seed has exceeded the permissible instantaneous speed.
1. The short acceleration/deceleration time constant increased the overshoot.
Increase the acceleration/deceleration time constant.
2. The servo system is unstable, causing an overshoot.
1. Reset the servo gain to a proper value.
2. If the servo gain cannot be set to a proper value. 1) Reduce the load to motor inertia
ratio. 2) Review the
acceleration/deceleration time constant.
3. The encoder is malfunctioning. Replace the servo motor.
4. The command from the controller is excessive.
Check the operation pattern.
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Display Name Description Cause Action
32 Overcurrent
A current higher than the permissible current was applied to the servo amplifier.
1. Short occurred in the servo amplifier output phases U/V/W.
Correct the wiring.
2. A transistor in the servo amplifier is malfunctioning.
Check if [AL. 32] occurs if power is switched on after disconnection of U/V/W.
Check method
Replace the servo amplifier.
3. Ground fault occurred in servo amplifier output phases U/V/W.
Correct the wiring.
4. The servo motor is malfunctioning. Replace the servo motor.
5. The dynamic brake is malfunctioning.
Check if this occurs when you turn on the servo-on command.
Check method
Replace the servo amplifier.
6. External noises caused the overcurrent detection circuit to misoperate.
Take noise suppression measures.
7. The servo gain is high. Reduce the speed loop gain.
33 Overvoltage The value of the bus voltage exceeded the prescribed value. 200 V class: 400 V DC 400 V class: 800 V DC 100 V class: 400 V DC
1. A regenerative option is not used. Use a regenerative option.
2. Though the regenerative option is used, the [Pr. 2] setting is "0 0 _ _ (the regenerative option is not used.)".
Set it correctly.
3. The lead wire of built-in regenerative resistor or regenerative option is broken or disconnected.
1. Replace the lead wire. 2. Connect it correctly.
4. The regenerative transistor is malfunctioning.
Replace the servo amplifier.
5. Wire breakage of the built-in regenerative resistor or regenerative option
When using a built-in regenerative resistor, replace the servo amplifier. When using a regenerative option, replace the regenerative option.
6. The capacity of built-in regenerative resistor or regenerative option is insufficient.
Add another regenerative option or increase the capacity.
7. The power supply voltage is high. Review the power.
8. Ground fault occurred in servo amplifier output phases (U/V/W).
Correct the wiring.
9. The jumper across BUE-SD of the FR-BU2 brake unit is removed.
Fit the jumper across BUE-SD.
10. The impedance at main circuit power supply cable (L1/L2/L3) is high, and the leak current from servo motor power wire (U/V/W) is large.
Use a regenerative option. (A regenerative resistor not incorporated)
34 CRC error Communication error with the SSCNET cable
1. The SSCNET cable was disconnected.
Connect it correctly.
2. The SSCNET cable is malfunctioning.
Replace the cable.
3. Noises entered into the SSCNET cable.
Take noise suppression measures.
4. The terminal connector was disconnected.
Mount the termination connector.
5. The same No. exists in the servo amplifier side axis setting.
Set it correctly.
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Display Name Description Cause Action
35 Command frequency error
The input pulse frequency of command pulse is too high.
1. A command given was greater than the maximum speed of the servo motor.
Check the operation program.
2. Noises entered into the SSCNET cable.
Take noise suppression measures.
3. The servo system controller is malfunctioning.
Replace the servo system controller.
36 Transfer error SSCNET cable or printed board malfunction
1. The SSCNET cable was disconnected.
Connect the SSCNET cable connector.
2. The SSCNET cable is malfunctioning.
Replace the cable.
3. The printed board is malfunctioning.
Replace the servo amplifier.
4. The terminal connector was disconnected.
Mount the termination connector.
37 Parameter error
The parameter setting is incorrect.
1. The parameter setting has changed due to a servo amplifier malfunction.
Replace the servo amplifier.
2. A parameter was set out of setting range.
Correct the parameter value to within the setting range.
3. The number of write times to EEP- ROM exceeded 100,000 due to parameter write, etc.
Replace the servo amplifier.
4. A parameter setting contradicts another.
Correct the setting value.
3E.2 Mode selection error
There is a mismatch between the operation mode setting and actual operation mode.
The power supply was turned on with MR-J4-T20 disconnected.
1. Connect MR-J4-T20 and restart the servo amplifier.
2. Select J2S compatibility mode with the built-in application software "MR-J4(W)-B mode selection" of MR Configurator2.
42 Fully closed loop control error detection
The fully closed loop control error detection function operates. 1) The deviation between the
feedback speed of load- side encoder and that of motor-side encoder exceeds the [Pr. 63] setting value.
2) The deviation between the feedback position of load- side encoder and that of motor-side encoder exceeds the [Pr. 64] setting value converted into the motor shaft.
1. A load-side encoder is malfunctioning.
Replace the load-side encoder.
2. The polarity of the load-side encoder is set reversely.
Check the installation direction of the load-side encoder. Review the [Pr. 62] setting.
3. The electronic gear setting of the load-side encoder is incorrect.
Review the [Pr. 65] and [Pr. 66] settings. Check the installation condition of the load-side encoder.
4. The setting of the load-side encoder resolution is incorrect.
Review the setting of the load-side encoder resolution.
45 Main circuit device overheat
The main circuit was overheated.
1. The servo amplifier is malfunctioning.
Replace the servo amplifier.
2. The ambient temperature is over 55 C.
Lower the ambient temperature.
3. Turning on and off were repeated under the overload status.
Review the operation pattern.
4. The cooling fan of the servo amplifier stopped.
1. Replace the servo amplifier or cooling fan.
2. Lower the ambient temperature.
5. The cooling fan speed is lower than the prescribed value.
Replace the servo amplifier.
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Display Name Description Cause Action
46 Servo motor overheat
A servo motor temperature rise actuated the thermal sensor.
1. The ambient temperature of servo motor is over 40 C.
Review the environment so that the ambient temperature is 0 C to 40 C.
2. The servo motor is overloaded. 1. Reduce the load. 2. Check the operation pattern. 3. Switch to a larger capacity servo
motor.
3. The thermal sensor in the encoder is malfunctioning.
Replace the servo motor.
Thermistor wire connection malfunction
4. A thermistor wire is not connected. Connect the thermistor wire.
5. The encoder cable MR- ENECBL_M-H for HF-JP series servo motors is used for the HG- JR22K1M/HG-JR22K1M4 servo motor.
Replace the encoder cable with MR- ENECBL_M-HMTH.
6. The thermistor wire was disconnected.
Repair the lead wire.
Thermal error due to overload 7. The servo amplifier was used in excess of its continuous output current.
1. Reduce the load. 2. Check the operation pattern. 3. Switch to a larger capacity servo
motor.
50 Overload 1 The load exceeded the overload protection characteristic of servo amplifier.
1. The servo amplifier is used in excess of its continuous output current.
1. Reduce the load. 2. Check the operation pattern. 3. Switch to a larger capacity servo
motor.
2. The servo system is unstable and hunting.
1. Repeat acceleration/deceleration to execute auto tuning.
2. Change the auto tuning response setting.
3. Set the auto tuning to off and manually adjust the gain.
3. A moving part collided against the machine.
1. Check the operation pattern. 2. Install limit switches.
4. The servo motor is connected incorrectly. The output terminals (U/V/W) of the servo amplifier do not match the input terminals (U/V/W) of the servo motor.
Connect it correctly.
5. The power cable was disconnected.
Repair the power cable.
6. The electromagnetic brake is operating.
Check if the electromagnetic brake does not work during operation.
Check method
Review the wiring.
7. After the overload alarm occurrence, the operation was resumed without cooling.
Wait for 30 minutes or more after an alarm occurs and check if the alarm is canceled.
Check method
Leave a sufficient time and reset the alarm.
8. The servo amplifier is malfunctioning.
Replace the servo amplifier.
9. The encoder is malfunctioning.
When the servo motor shaft is rotated with the servo-off, check if the cumulative feedback pulses do not vary in proportion to the rotation angle of the shaft but the indication skips or returns midway.
Check method
Replace the servo motor.
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Display Name Description Cause Action
51 Overload 2 The maximum output current flowed continuously for several seconds due to a machine collision or the like.
1. A moving part collided against the machine.
1. Check the operation pattern. 2. Install limit switches.
2. The servo motor is connected incorrectly. The output terminals (U/V/W) of the servo amplifier do not match the input terminals (U/V/W) of the servo motor.
Connect it correctly.
3. The power cable was disconnected.
Repair the power cable.
4. The connection of the encoder cable is incorrect.
Connect it correctly.
5. The servo system is unstable and hunting.
1. Repeat acceleration/deceleration to execute auto tuning.
2. Change the auto tuning response setting.
3. Set the auto tuning to off and manually adjust the gain.
6. The torque is saturated. Check the operation pattern.
7. The servo amplifier is malfunctioning.
Replace the servo amplifier.
8. The encoder is malfunctioning. When the servo motor shaft is rotated with the servo-off, check if the cumulative feedback pulses do not vary in proportion to the rotation angle of the shaft but the indication skips or returns midway.
Check method
Replace the servo motor.
52 Error excessive
The deviation between the model position and the actual servo motor position exceeds the [Pr. 31] setting value (initial value: 2 revolutions).
1. The acceleration/deceleration time constant is too short.
Increase the acceleration/deceleration time constant.
2. The torque limit value is small. Increase the torque limit value.
3. The motor cannot be started due to torque shortage caused by a power supply voltage drop.
1. Check the power supply capacity. 2. Switch to a larger capacity servo
motor.
4. The [Pr. 13 Position loop gain 1] value is small.
Increase the setting value and adjust to ensure proper movement.
5. The servo motor shaft was rotated by external force.
1. When the torque is limited, increase the limit value.
2. Reduce the load. 3. Switch to a larger capacity servo
motor.
6. A moving part collided against the machine.
1. Check the operation pattern. 2. Install limit switches.
7. The encoder is malfunctioning. Replace the servo motor.
8. The connection of the servo motor is incorrect. The output terminals (U/V/W) of the servo amplifier do not match the input terminals (U/V/W) of the servo motor.
Connect it correctly.
9. The power cable was disconnected.
Repair the power cable.
10. The connection of the encoder cable is incorrect.
Connect it correctly.
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Display Name Description Cause Action
70 Fully closed
loop encoder
communication
error 1
An error occurred in the communication between the load-side encoder and servo amplifier.
1. CN2L connector is disconnected. Connect it correctly.
2. A load-side encoder cable is malfunctioning.
Replace or repair the cable.
71 Fully closed
loop encoder
communication
error 2
An error occurred in the communication between the load-side encoder and servo amplifier.
1. A load-side encoder cable is malfunctioning.
Replace or repair the cable.
2. Wiring mistake of load-side encoder cable (Each A/B/Z-phase signal and the power wire are not all wired.)
Review the wiring.
8E Serial communica- tion error
A serial communication error occurred between the servo amplifier and communication device (e.g. personal computer).
1. A communication cable is malfunctioning. (It is disconnected or shorted.)
Repair or replace the cable.
2. Communication device (e.g. personal computer) is malfunctioning.
Replace the communication device (e.g. personal computer).
3. The transmitted character was out of specifications.
Correct the transmission command.
4. The communication protocol is incorrect.
Modify the transmission data according to the communication protocol.
5. The transmitted command was out of specifications.
Correct the transmission command.
6. The transmitted data number was out of specifications.
Correct the transmission command.
7. The servo amplifier is malfunctioning.
Replace the servo amplifier.
888 Watchdog A part such as CPU is malfunctioning.
A part in the servo amplifier is malfunctioning.
Check if [AL. 888] occurs if power is switched on after disconnection of all cables except the control circuit power cable.
Check method
Replace the servo amplifier.
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8.3 Remedies for warnings
CAUTION If [AL. E3 Absolute position counter warning] occurs, always make home position setting again. Otherwise, it may cause an unexpected operation.
POINT
When any of the following alarms has occurred, do not cycle the power of the servo amplifier repeatedly to restart. Doing so will cause a malfunction of the servo amplifier and servo motor. If the power of the servo amplifier is switched off/on during the alarms, allow more than 30 minutes for cooling before resuming operation.
[AL. E0 Excessive regenerative warning]
[AL. E1 Overload warning]
The warnings are not recorded in the alarm history.
If [AL. E6], [AL. E7], [AL. E9] or [AL. EE] occurs, the amplifier will be in the servo-off status. If any other warning occurs, the operation can be continued but an alarm may take place or proper operation may not be performed. Remove the cause of warning according to this section. Use MR Configurator to refer to the cause of warning occurrence. Display Name Description Cause Action
92 Battery cable disconnection warning
Battery voltage for absolute position detection system decreased.
1. When an MR-BAT6V1SET battery was used, the battery was disconnected from CN4.
Connect it correctly.
2. When an MR-BAT6V1BJ battery for junction battery cable was used, the battery was not connected to both CN4 and MR-BT6VCBL03M junction battery cable.
3. A battery cable was disconnected. Replace or repair the cable.
4. Battery voltage supplied from the servo amplifier to the encoder fell to less than about 3.1 V. (Detected with the encoder)
Replace the battery.
5. An encoder cable was disconnected.
Replace or repair the cable.
96 Home position setting warning
Home position setting could not be made properly.
1. Droop pulses remaining are greater than the in-position range setting.
Remove the cause of droop pulses occurrence.
2. Home position return was performed while commanding an operation.
Reduce the creep speed.
3. The creep speed is high.
9F Battery warning
Battery voltage for absolute position detection system decreased.
1. The battery is not connected to CN4.
Connect it correctly.
2. Battery voltage fell to less than 4.9 V. (Detected with the servo amplifier)
Replace the battery.
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Display Name Description Cause Action
E0 Excessive regeneration warning
There is a possibility that the regenerative power may exceed the permissible regenerative power of built-in regenerative resistor or regenerative option.
The regenerative power increased to 85% or more of the permissible regenerative power of built-in regenerative resistor or regenerative option.
Check the regenerative load ratio using MR Configurator.
Check method
1. Reduce the frequency of positioning.
2. Replace the regenerative option for the one with larger capacity.
3. Reduce the load.
A warning occurred in the converter unit during the servo-on status.
Check the warning of the converter unit, and take the action following the remedies for warnings of the converter unit. (Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)".)
E1 Overload warning
[AL. 50 Overload 1] or [AL. 51 Overload 2] may occur.
1. The load increased to 85% or more of the alarm level of [AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2].
Check it with the check method for [AL. 50] or [AL. 51].
Check method
Refer to [AL. 50] or [AL. 51].
The servo motor overheat alarm may occur.
2. The load of the motor thermal value increased to 85% or more of the servo motor overheat alarm level.
Check it with the check method for [AL. 46].
Check method
Refer to [AL. 46].
3. Ambient temperature of servo motor is over 40 C.
Review environment so that ambient temperature is 0 C to 40 C.
4. Servo motor is overloaded. 1. Reduce the load. 2. Check operation pattern. 3. Switch to a larger capacity servo
motor. 5. The servo motor thermistor is
malfunctioning. Replace the servo motor.
The main circuit device overheat alarm may occur.
6. The temperature in the servo amplifier is high.
Check it with the check method for [AL. 45].
Check method
Refer to [AL. 45].
Operations over rated output were repeated while the servo motor shaft was not rotated.
7. The load is too large or the capacity is not enough.
1. Reduce the load. 2. Replace the servo amplifier/servo
motor with the one of larger capacity.
The status, in which the output wattage (speed torque) of the servo motor exceeded the rated output, continued steadily.
8. The status, in which the output wattage (speed torque) of the servo motor exceeded 150% of the rated output.
1. Reduce the servo motor speed. 2. Reduce the load.
E3 Absolute position counter warning
Absolute position encoder pulses are faulty.
1. The travel distance from the home position exceeded 32768 rotation in the absolute position system.
1. Review the operation range. 2. Execute the home position return
again. 2. Noises entered into the encoder. Take noise suppression measures. 3. The encoder is malfunctioning. Replace the servo motor.
E4 Parameter warning
Parameter outside setting range
A parameter was set to out of range with the servo system controller.
Set it within the range.
E6 Servo forced stop warning
EM1 is off. 1. The forced stop was enabled. (EM1 was turned off.)
Ensure safety and deactivate the forced stop.
STO1 is off. 2. The short-circuit connector of CN8 is disconnected.
Attach the short-circuit connector came with a servo amplifier.
STO2 is off. 3. The short-circuit connector of CN8 is disconnected.
Attach the short-circuit connector came with a servo amplifier.
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Display Name Description Cause Action
E7 Controller forced stop warning
The forced stop signal was entered into the servo system controller.
Ensure safety and deactivate forced stop.
E9 Main circuit off warning
The servo-on command was inputted with main circuit power supply off.
1. The main circuit power supply is off.
Turn on the main circuit power.
2. For servo amplifier, the bus voltage is lower than the prescribed value. 200 V class: 215 V DC 400 V class: 430 V DC 100 V class: 215 V DC
Review the wiring. Check the power supply capacity.
3. For drive unit, the bus voltage of the converter unit is lower than the prescribed value. 200 V class: 215 V DC 400 V class: 430 V DC
4. The setting value of [Pr. PA02 Magnetic contactor drive output selection] of the converter unit contradicts the wiring constitution.
Review the [Pr. PA02] setting.
Bus voltage dropped during low speed operation.
5. The bus voltage dropped during the servo motor driving under 50 r/min.
Review the power supply capacity. Increase the acceleration time constant.
The forced stop of the converter unit is enabled during the servo-on command.
6. The forced stop of the converter unit is enabled.
Deactivate the forced stop of the converter unit.
7. The protection coordination cable is not correctly connected.
Connect it correctly.
EE SSCNET error warning
The connected servo system controller is not compatible with the SSCNET.
8. TROUBLESHOOTING
8 - 16
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.
A SSCNET cable was disconnected.
"AA" is displayed in the corresponding axis and following axes.
Replace the SSCNET cable of the corresponding axis.
Check if the connectors (CN10A, CN10B) are unplugged.
Connect it correctly.
The terminal connector is disconnected.
Check that the terminal connector (MR-A-TM) is connected with the terminal axis servo amplifier connector (CN10B).
Mount it 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.
The setting of the axis No. is incorrect.
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.
A SSCNET cable was disconnected.
"Ab" is displayed in the corresponding axis and following axes.
Replace the SSCNET cable of the corresponding axis.
Check for incorrect connection of the SSCNET cable to CN3.
Connect it correctly.
Check if the connectors (CN10A, CN10B) are unplugged.
Connect it correctly.
The terminal connector is disconnected.
Check that the terminal connector (MR-A-TM) is connected with the terminal axis servo amplifier connector (CN10B).
Mount it 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.
b##. (Note)
The system has been in the test operation mode.
Test operation mode has been enabled.
The axis selection rotary switch (SW1) is set to "F".
Set the axis selection rotary switch (SW1) correctly.
off The operation mode for manufacturer setting is set.
The operation mode for manufacturer setting is enabled.
Check if the control axis setting switches (SW2-1 to SW2-4) are on.
Turn off all the control axis setting switches (SW2).
Note. ## indicates an axis No.
9. DIMENSIONS
9 - 1
9. DIMENSIONS
9.1 Servo amplifier
(1) MR-J4-10B-RJ020/MR-J4-20B-RJ020
[Unit: mm]
Approx. 80 15
6
A pp
ro x.
2 1
6
6
40 6
6 135
4
Approx. 38.5
Approx. 69.3
CNP2
CNP1
CNP3
PE
6 mounting hole
With MR-BAT6V1SET
16 8
16 1
52
Lock knob
Mass: 0.8 [kg] (servo amplifier only)
L2
N-
P3
L11
L21
P4
L3
L1
C
D
P+
PE
Terminal CNP1
CNP2
V
W
U
CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
0.
5
6 2-M5 screw
Mounting hole process drawing
A pp
ro x.
6 A
pp ro
x. 6
A pp
ro x.
1 68
Approx. 40
9. DIMENSIONS
9 - 2
(2) MR-J4-40B-RJ020/MR-J4-60B-RJ020
[Unit: mm]
16 1
16 8
52
Approx. 80 170
15 6
6
40
6
6
5
A pp
ro x.
2 1
6 Approx. 69.3
CNP2
CNP1
CNP3
PE
6 mounting hole
With MR-BAT6V1SET
Approx. 38.5
Lock knob
Mass: 1.0 [kg] (servo amplifier only)
L2
N-
P3
L11
L21
P4
L3
L1
C
D
P+
PE
Terminal CNP1
CNP2
V
W
U
CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
6 2-M5 screw
15 6
0.
5
Mounting hole process drawing
Approx. 40
A pp
ro x.
1 68
A pp
ro x.
6 A
pp ro
x. 6
9. DIMENSIONS
9 - 3
(3) MR-J4-70B-RJ020/MR-J4-100B-RJ020
[Unit: mm]
15 6
6
4212
6
60
6
12 Approx. 80
Cooling fan air intake
185
6
A pp
ro x.
2 1
Approx. 69.3
CNP2
CNP1
CNP3
6 mounting hole
PE
With MR-BAT6V1SET
ExhaustLock knob
Approx. 38.5
16 8
16 1
72
Mass: 1.4 [kg] (servo amplifier only)
L2
N-
P3
L11
L21
P4
L3
L1
C
D
P+
PE
Terminal CNP1
CNP2
V
W
U
CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
0.
5
42 0.3
3-M5 screw
Mounting hole process drawing
A pp
ro x.
6 A
pp ro
x. 6
A pp
ro x.
1 68
Approx. 6
Approx. 60
Approx. 12
9. DIMENSIONS
9 - 4
(4) MR-J4-60B4-RJ020/MR-J4-100B4-RJ020
[Unit: mm]
15 6
6
4212
6
60
6
12 Approx. 80 195
6
A pp
ro x.
2 1
Approx. 69.3
16 8
16 1
CNP1
6 mounting hole
PE
CNP2
CNP3
72
With MR-BAT6V1SET
Lock knob
Approx. 38.5
Mass: 1.7 [kg] (servo amplifier only)
L2
N-
P3
L11
L21
P4
L3
L1
C
D
P+
PE
Terminal CNP1
CNP2
V
W
U
CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
42 0.3
15 6
0.
5
Approx. 60
A p
p ro
x. 6
A pp
ro x.
1 68
3-M5 screw
Approx. 6
A p
p ro
x. 6
Approx. 12
Mounting hole process drawing
9. DIMENSIONS
9 - 5
(5) MR-J4-200B-RJ020
[Unit: mm]
Approx. 80 195
6
Approx. 69.3
Approx. 38.5
Cooling fan air intake
With MR-BAT6V1SET
ExhaustLock knob
6
6 6 78 6
6 15
6
45 85
A pp
ro x.
2 1
CNP2
CNP1
CNP3
PE
16 8
16 1
97
6 mounting hole
Mass: 2.1 [kg] (servo amplifier only)
L2
N-
P3
L11
L21
P4
L3
L1
C
D
P+
PE
Terminal CNP1
CNP2
V
W
U
CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
3-M5 screw
78 0.3
15 6
0.
5
Mounting hole process drawing
A pp
ro x.
6 A
pp ro
x. 6
A pp
ro x.
1 68
Approx. 90
Approx. 6 Approx. 6
9. DIMENSIONS
9 - 6
(6) MR-J4-200B4-RJ020
[Unit: mm]
Approx. 80 195
6
Approx. 69.3
6 mounting hole
Lock knob
Approx. 38.5
Cooling fan air intake
With MR-BAT6V1SET
Exhaust
6
6 6 78 6
16 8
6 15
6
45 85
16 1
A pp
ro x.
2 1
PE
CNP2
CNP1
CNP3
97
Mass: 2.1 [kg] (servo amplifier only)
L2
N-
P3
L11
L21
P4
L3
L1
C
D
P+
PE
Terminal CNP1
CNP2
V
W
U
CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
0.
5
78 0.3
A pp
ro x.
1 68
3-M5 screw
Approx. 90
Approx. 6Approx. 6
A p
p ro
x. 6
A p
p ro
x. 6
Mounting hole process drawing
9. DIMENSIONS
9 - 7
(7) MR-J4-350B-RJ020
[Unit: mm]
Approx. 80 195
Cooling fan air intake
6
Approx. 69.3
With MR-BAT6V1SET
Exhaust
Mounting hole
Approx. 38.5
Lock knob
6
6 6 78 6
6 15
6
45 85
A pp
ro x.
2 1
CNP3
CNP1
CNP2
PE
16 8
16 1
97
Mass: 2.3 [kg] (servo amplifier only)
Terminal
Screw size: M4 Tightening torque: 1.2 [Nm]
PE
L3
L1
P3
P4
N-
L2
CNP1
L11
L21
C
D
P+
CNP2
V
W
U
CNP3
6
10
(R)
13 hole
Mounting hole dimensions
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
3-M5 screw
78 0.3
15 6
0.
5
Mounting hole process drawing
A pp
ro x.
6 A
pp ro
x. 6
A pp
ro x.
1 68
Approx. 6 Approx. 6
Approx. 90
9. DIMENSIONS
9 - 8
(8) MR-J4-350B4-RJ020
[Unit: mm]
105 93 66
7. 5
23 5
200 6
Approx. 80 Approx. 28
107
Cooling fan exhaust
2-6 mounting hole 25
0 7.
5
6
CNP1
CNP2
CNP3
With MR-BAT6V1SET
Intake
A p
p ro
x. 73
.5 A
p p
ro x.
69 .3
A p
p ro
x. 34
A p
p ro
x. 38
.5
Lock knob
Mass: 3.6 [kg] (servo amplifier only)
L2
N-
P3
L11
L21
P4
L3
L1
C
D
P+
PE
Terminal CNP1
CNP2
V
W
U
CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
23 5
0.
5
93 0.5 Approx. 6Approx. 6
4-M5 screw
Approx. 105
A pp
ro x.
2 50
Mounting hole process drawing
A p
p ro
x. 7.
5 A
p p
ro x.
7. 5
9. DIMENSIONS
9 - 9
(9) MR-J4-500B-RJ020
[Unit: mm]
200105
93 66
7. 5
23 5
6
Approx. 80 Approx. 28
107
A pp
ro x.
34 A
pp ro
x. 38
.5
25 0
7. 5
6 PE
TE1
TE3
TE4
TE2
Cooling fan exhaust
Intake
2-6 mounting hole
With MR-BAT6V1SET
Approx. 25
Mass: 4.0 [kg] (servo amplifier only)
L2
N-
P3
L11
L21
P4
L3
L1
C
D
P+
PE
Terminal
TE2
TE1
V
W
U
TE3
TE4
TE2
TE1
TE3
TE4
PE
Screw size: M3.5 Tightening torque: 0.8 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
93 0.5
4-M5 screw
23 5
0.
5
Mounting hole process drawing
A pp
ro x.
7 .5
A pp
ro x.
7 .5
A pp
ro x.
2 50
Approx. 105
Approx. 6Approx. 6
9. DIMENSIONS
9 - 10
(10) MR-J4-500B4-RJ020
[Unit: mm]
66 118
130
132
7. 5
23 5
7. 5
25 0
200
A pp
ro x.
73 .5
A p
p ro
x. 69
.3
Approx. 200
Approx. 28
A p
p ro
x. 60
A p
p ro
x. 38
.5
Approx. 80
Approx. 28
TE2 TE3
TE1
PE
Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [Nm]
Cooling fan exhaust
Intake With MR-BAT6V1SET
Mass: 4.3 [kg] (servo amplifier only)
TE1
TE2
Terminal screw: M4 Tightening torque: 1.2 [Nm]
Terminal screw: M3.5 Tightening torque: 0.8 [Nm]
PE
TE3
PE
Terminal screw: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
N- P3 P4TE3
L2 L3L1 CP+TE1 V WU
L11 L21TE2
Terminal
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
23 5
0.
5
118 0.5
Mounting hole process drawing
A p
p ro
x. 7.
5 A
p p
ro x.
7. 5
A pp
ro x.
2 50
4-M5 screw
Approx. 6Approx. 6
Approx. 130
9. DIMENSIONS
9 - 11
(11) MR-J4-700B-RJ020/MR-J4-700B4-RJ020
[Unit: mm]
200172
160 66
7. 5
28 5
6
Approx. 80
Approx. 28
174
TE3
TE1 TE2PE6
30 0
7. 5 Cooling fan
exhaust
2-6 mounting hole
With MR-BAT6V1SET Intake
A pp
ro x.
1 01
A p
p ro
x. 38
.5
Approx. 200
Approx. 28
A p
p ro
x. 73
.9 A
p p
ro x.
69 .3
Built-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.2 [Nm]
Servo amplifier Mass [kg]
(servo amplifier only)
MR-J4-700B-RJ020 6.2
MR-J4-700B4-RJ020 6.5
TE1
TE2
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M3.5 Tightening torque: 0.8 [Nm]
PE TE3
PE
Screw size: M4 Tightening torque: 1.2 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
N- P3 P4TE3
L2 L3L1 CP+TE1 V WU L11 L21TE2
Terminal
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
160 0.5
4-M5 screw
28 5
0.
5
Mounting hole process drawing
A p
p ro
x. 7.
5 A
p p
ro x.
7. 5
A pp
ro x.
3 00
Approx. 6 Approx. 6 Approx. 172
9. DIMENSIONS
9 - 12
(12) MR-J4-11KB-RJ020/MR-J4-15KB-RJ020/MR-J4-11KB4-RJ020/MR-J4-15KB4-RJ020
[Unit: mm]
260 Approx.
80
10.5
220
196 1212
6
40 0
2-6 mounting hole
38 0
10 10
TE1-1
25.5 57.9
5 25.5 (= 127.5)
22.8
PE
TE2
1124.2
43 60 78
.5
TE1-2
188
237.4 224.2
Approx. 28
With MR-BAT6V1SET
Cooling fan exhaust
Intake
A pp
ro x.
38 .5
A pp
ro x.
13 9.
5
Mass: 13.4 [kg]
TE1-2
TE2
Screw size: M6 Tightening torque: 3.0 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
PE TE1-1
PE
Screw size: M6 Tightening torque: 3.0 [Nm]
Screw size: M6 Tightening torque: 3.0 [Nm]
TE1-1
TE1-2 L11 L21TE2
Terminal
L1 L2 L3 V W
C N-P4P+
U
P3
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
0.5
Approx. 220 Approx. 12
Approx. 12 196
4-M5 screw
Mounting hole process drawing
A pp
ro x.
10 A
pp ro
x. 4
00 A
pp ro
x. 10
38 0
0. 5
9. DIMENSIONS
9 - 13
(13) MR-J4-22KB-RJ020/MR-J4-22KB4-RJ020
[Unit: mm]
260
40 0
12 12
12
236 260
188.5 223.4 235.4
37 6
12 12
Approx. 80
Approx. 28
PE
5 25.5 (= 127.5)
40 .5
40 26
.5 22.8
11 TE1-2 TE1-1
TE2
59.9
32.7
25.5
Cooling fan exhaust
Intake
With MR-BAT6V1SET
2-12 mounting hole
A pp
ro x.
38 .5
A pp
ro x.
17 9
Mass: 18.2 [kg]
TE1-2
TE2
Screw size: M8 Tightening torque: 6.0 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
PE
TE1-1
PE
Screw size: M8 Tightening torque: 6.0 [Nm]
Screw size: M8 Tightening torque: 6.0 [Nm]
TE1-1
TE1-2
TE2
Terminal
L1 L2 L3 V W
C N-P4P+
U
P3
L11 L21
Mounting screw Screw size: M10 Tightening torque: 26.5 [Nm]
0.5 Approx. 260
Approx. 12Approx. 12 236
4-M10 screw
Mounting hole process drawing
A pp
ro x.
12 A
pp ro
x. 4
00 A
pp ro
x. 12
37 6
0. 5
9. DIMENSIONS
9 - 14
(14) MR-J4-10B1-RJ020/MR-J4-20B1-RJ020
[Unit: mm]
Approx. 80
15 6
A pp
ro x.
2 1
6
6
40
6
6 135
4
Approx. 38.5
Approx. 69.3
CNP2
CNP1
CNP3
PE
6 mounting hole
With MR-BAT6V1SET
16 8
16 1
52
Lock knob
Mass: 0.8 [kg] (servo amplifier only)
N-
L11
L21
L2
L1
C
D
P+
PE
Terminal CNP1
CNP2
V
W
U
CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
15 6
0.
5
6
Approx. 40
A p
p ro
x. 6
A p
p ro
x. 6
A p
p ro
x. 16
8
2-M5 screw
Mounting hole process drawing
Mounting screw
Screw size: M5 Tightening torque: 3.24 [Nm]
9. DIMENSIONS
9 - 15
(15) MR-J4-40B1-RJ020
[Unit: mm]
16 1
16 8
52
Approx. 80 170
15 6
6
40
6
6
5
A pp
ro x.
2 1
6
Approx. 38.5
Approx. 69.3
CNP2
CNP1
CNP3
PE
6 mounting hole
With MR-BAT6V1SET
Lock knob
Mass: 1.0 [kg] (servo amplifier only)
N-
L11
L21
L1
C
D
P+
PE
Terminal CNP1
CNP2
V
W
U
CNP3
Screw size: M4 Tightening torque: 1.2 [Nm]
L2
Mounting screw
Screw size: M5
Tightening torque: 3.24 [Nm]
6
Approx. 40
A p
p ro
x. 6
A p
p ro
x. 6
A p
p ro
x. 16
8
2-M5 screw
Mounting hole process drawing
15 6
0.
5
9. DIMENSIONS
9 - 16
9.2 MR-J4-T20
[Unit: mm]
94.9
103.7
97
24 .5
11 4.
5
98.7 16
1
12
20
5 6 mounting hole for grounding
Rating plate
Mass: 0.14 [kg]
9. DIMENSIONS
9 - 17
9.3 Connectors
9.3.1 Servo amplifier side connectors
(1) Miniature delta ribbon (MDR) system (3M) for CN3 (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 Variable dimensions
A B C D E
10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0
(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 Variable dimensions
A B C D E F
10120-3000PE 10320-52A0-008 22.0 33.3 14.0 10.0 12.0 27.4
9. DIMENSIONS
9 - 18
(2) SCR connector system (3M) for CN2
Receptacle: 36210-0100PL Shell kit: 36310-3200-008
[Unit: mm]
34.8
39.5
22 .4
1 1.
0
9. DIMENSIONS
9 - 19
9.3.2 MR-J4-T20 connectors
(1) Connector for CN10A/CN10B (Honda Tsushin Kogyo)
[Unit: mm]
23.0
13.0
RS
Approx. 1Approx. 1 12.2
14.2
38 .5
27.4
32.0
HONDA
PCR-LS20LA1
38 .5
27.4
32.0
HONDA
RS
10.4
1.9 20
.6 Approx.
1 Approx.
1 12.2
PCR-LS20LA1W
Number of
pins
Model
Connector Case Crimping terminal
20 PCR-S20FS + (soldered type) PCR-LS20LA1
PCR-LS20LA1W
(Note)
FHAT-002A PCR-S20F (crimped type) (Note)
Note. PCR-S20F and PCR-LS20LA1W are not options. They are to be supplied by the customer.
9. DIMENSIONS
9 - 20
(2) Connector for CN30A (JAE)
[Unit: mm]
Connector: HDR-E14MG1+ Case: HDR-E14LPA5
21
17 5.6
25 10
8. 0
Number of
pins
Model
Connector Case (Note) Tool
14 HDR-E14MG1+ HDR-E14LPA5
Wire straightening tool:
FHAT-0029
Crimping terminal:
FHPT-0004C
Note. Not available from us. They are to be supplied by the customer.
10. CHARACTERISTICS
10 - 1
10. CHARACTERISTICS
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 an 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-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 protective function. (The servo motor overload current (full load current) is set on the basis of 115% rated current of the servo amplifier.) The following table shows combinations of each servo motor and graph of overload protection characteristics.
Servo motor Graph of overload
protection characteristics HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR
HG-JR (When the maximum
torque is 400%) 053 13
053 13
72 Characteristics a
23 43 73
23 43 73
51 81 52 102
53 73 103
53 Characteristics b
121 201 152 202 301 352
152 202
103 153 203
153 203 353
73 103 153 203
Characteristics c
421 502 702
352 502
353 503
601 701M 503 703
353 503
Characteristics d
801 12K1 15K1 20K1 25K1 11K1M 15K1M 22K1M 903
Characteristics e
524 1024
534 734 1034
534 Characteristics b
1524 2024 3524
1534 2034 3534
734 1034 1534 2034
Characteristics c
5024 7024
6014 701M4 5034 7034
3534 5034
Characteristics d
8014 12K14 15K14 20K14 25K14 11K1M4 15K1M4 22K1M4 9034
Characteristics e
10. CHARACTERISTICS
10 - 2
The following graphs show overload protection characteristics.
1000
100
10
1
0.1 100 200 300 3500 50 150 250
Load ratio [%](Note 1, 2)
Servo-lock
Operating
O p
er a
tio n
ti m
e [s
]
Characteristics a
1000
100
10
1
0.1 100 200 300 4000 50 150 250 350
Load ratio [%](Note 1, 2, 3)
Servo-lock
Operating
O pe
ra tio
n tim
e [s
]
Characteristics b
1000
100
10
1
0.1 100 200 300 4000 50 150 250 350
Load ratio [%](Note 1, 3)
Servo-lock
Operating
O p
er at
io n
tim e
[s ]
Characteristics c
1000
100
10
1
0.1 100 200 300 4000 50 150 250 350
Load ratio [%](Note 1, 3)
Servo-lock
Operating
O pe
ra tio
n ti
m e
[s ]
Characteristics d
10. CHARACTERISTICS
10 - 3
10000
1000
100
10
1 0 100 200 300
Operating
Servo-lock
50 150 250
O pe
ra tio
n tim
e [s
]
Load ratio [%](Note 1)
Characteristics e
Note 1. If an 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 30 r/min or less low-speed operation status, the servo amplifier may malfunction
regardless of the electronic thermal protection.
2. The load ratio ranging from 300% to 350% applies to the HG-KR servo motor.
3. The operation time at the load ratio of 300% to 400% applies when the maximum torque of HG-JR servo motor is increased to
400% of rated torque.
Fig. 10.1 Electronic thermal protection characteristics
10. CHARACTERISTICS
10 - 4
10.2 Power supply capacity and generated loss
(1) Amount of heat generated by the servo amplifier Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the servo motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.
Table 10.1 Power supply capacity and generated loss per servo motor at rated output
Servo amplifier Servo motor
(Note 1) Power supply
capacity [kVA]
(Note 2) Servo amplifier generated heat [W]
Area required for heat
dissipation [m2] At rated output
At rated output [Generated heat
in the cabinet when cooled outside the
cabinet] (Note 3)
With servo-off
MR-J4-10B-RJ020
HG-MR053 0.3 25 15 0.5 HG-MR13 0.3 25 15 0.5 HG-KR053 0.3 25 15 0.5 HG-KR13 0.3 25 15 0.5
MR-J4-20B-RJ020 HG-MR23 0.5 25 15 0.5 HG-KR23 0.5 25 15 0.5
MR-J4-40B-RJ020 HG-MR43 0.9 35 15 0.7 HG-KR43 0.9 35 15 0.7
MR-J4-60B-RJ020 HG-SR52 1.0 40 15 0.8 HG-SR51 1.0 40 15 0.8 HG-JR53 1.0 40 15 0.8
MR-J4-70B-RJ020
HG-MR73 1.3 50 15 1.0 HG-KR73 1.3 50 15 1.0 HG-UR72 1.3 50 15 1.0 HG-JR73 1.3 50 15 1.0
MR-J4-100B-RJ020 HG-SR102 1.7 50 15 1.0 HG-SR81 1.5 50 15 1.0 HG-JR103 1.7 50 15 1.0
MR-J4-200B-RJ020
HG-SR152 2.5 90 20 1.8 HG-SR202 3.5 90 20 1.8 HG-SR121 2.1 90 20 1.8 HG-SR201 3.5 90 20 1.8 HG-RR103 1.7 50 15 1.0 HG-RR153 2.5 90 20 1.8 HG-UR152 2.5 90 20 1.8 HG-JR153 2.5 90 20 1.8 HG-JR203 3.5 90 20 1.8
MR-J4-350B-RJ020
HG-SR352 5.5 130 20 2.6 HG-SR301 4.8 120 20 2.4 HG-RR203 3.5 90 20 1.8 HG-UR202 3.5 90 20 1.8 HG-JR353 5.5 160 20 2.7
MR-J4-500B-RJ020
HG-SR502 7.5 195 25 3.9 HG-SR421 6.3 160 25 3.2 HG-RR353 5.5 135 25 2.7 HG-RR503 7.5 195 25 3.9 HG-UR352 5.5 195 25 3.9 HG-UR502 7.5 195 25 3.9 HG-JR503 7.5 195 25 3.9
MR-J4-700B-RJ020 HG-SR702 10 300 25 6.0 HG-JR703 10 300 25 6.0
10. CHARACTERISTICS
10 - 5
Servo amplifier Servo motor
(Note 1) Power supply
capacity [kVA]
(Note 2) Servo amplifier generated heat [W]
Area required for heat
dissipation [m2] At rated output
At rated output [Generated heat
in the cabinet when cooled outside the
cabinet] (Note 3)
With servo-off
MR-J4-11KB-RJ020
HG-JR903 13 435 130 45 8.7 HG-JR11K1M 16 530 160 45 11.0 HG-JR801 12 370 110 45 7.0 HG-JR12K1 18 570 170 45 11.5
MR-J4-15KB-RJ020 HG-JR15K1M 22 640 195 45 13.0 HG-JR15K1 22 640 195 45 12.8
MR-J4-22KB-RJ020 HG-JR22K1M 33 850 260 55 17.0 HG-JR20K1 30 800 240 55 16.0 HG-JR25K1 38 900 270 55 19.0
MR-J4-60B4-RJ020 HG-SR524 1.0 40
18 0.8 HG-JR534 1.0 40 18 0.8
MR-J4-100B4-RJ020 HG-SR1024 1.7 60 18 1.2 HG-JR734 1.3 60 18 1.2 HG-JR1034 1.7 60 18 1.2
HG-SR1524 2.5 90 20 1.8
MR-J4-200B4-RJ020 HG-SR2024 3.5 90 20 1.8 HG-JR1534 2.5 90 20 1.8
HG-JR2034 3.5 90 20 1.8
MR-J4-350B4-RJ020 HG-SR3524 5.5 130 20 2.6 HG-JR3534 5.5 160 20 2.7
MR-J4-500B4-RJ020 HG-SR5024 7.5 195 25 3.9 HG-JR5034 7.5 195 25 3.9
MR-J4-700B4-RJ020
HG-SR7024 10 300 25 6.0 HG-JR7034 10 300 25 6.0 HG-JR701M4 10 300 25 6.0 HG-JR6014 8.6 250 25 5.0
MR-J4-11KB4-RJ020
HG-JR9034 13 435 130 45 8.7 HG-JR11K1M4 16 530 160 45 11.0 HG-JR8014 12 370 110 45 7.0 HG-JR12K14 18 570 170 45 11.5
MR-J4-15KB4-RJ020 HG-JR15K1M4 22 640 195 45 13.0 HG-JR15K14 22 640 195 45 12.8
MR-J4-22KB4-RJ020 HG-JR22K1M4 33 850 260 55 17.0 HG-JR20K14 30 800 240 55 16.0 HG-JR25K14 38 900 270 55 19.0
MR-J4-10B1-RJ020
HG-MR053 0.3 25 15 0.5 HG-MR13 0.3 25 15 0.5 HG-KR053 0.3 25 15 0.5 HG-KR13 0.3 25 15 0.5
MR-J4-20B1-RJ020 HG-MR23 0.5 25 15 0.5 HG-KR23 0.5 25 15 0.5
MR-J4-40B1-RJ020 HG-MR43 0.9 35 15 0.7 HG-KR43 0.9 35 15 0.7
Note 1. The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power
factor improving AC reactor or power factor improving DC reactor is not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 11.2.
3. This value is applicable when the servo amplifier is cooled by using the panel through attachment.
10. CHARACTERISTICS
10 - 6
(2) Heat dissipation area for an enclosed type cabinet
The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 C at the ambient temperature of 40 C. (With an approximately 5 C safety margin, the system should operate within a maximum 55 C limit.) The necessary cabinet heat dissipation area can be calculated by equation 10.1.
A = K T
P (10.1)
A: Heat dissipation area [m2] P: Loss generated in the cabinet [W] T: Difference between the internal and ambient temperatures [C] K: Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with equation 10.1, assume that P is the sum of all losses generated in the cabinet. Refer to table 10.1 for heat generated by the servo amplifier. "A" indicates the effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra amount must be added to the cabinet's surface area. The required heat dissipation area will vary with the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a cooling fan should be considered. Table 10.1 lists the cabinet dissipation area for each servo amplifier (guideline) when the servo amplifier is operated at the ambient temperature of 40 C under rated load.
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 - 7
10.3 Dynamic brake characteristics
POINT
Do not use the 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) after servo motor stops when using EM1 (Forced stop) 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. 39] and [Pr. 56].
When an HG series servo motor is used with a servo amplifier of 11 kW or more, use the external dynamic brake for MR-J4. The external dynamic brake for MR- J2S cannot be used.
10.3.1 Dynamic brake operation
(1) Calculation of coasting distance Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to (2) of 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.
Dynamic brake time constant
Timete
V0
ON
OFF EM1 (Forced stop)
Machine speed
Fig. 10.3 Dynamic brake operation diagram
Lmax = 60 V0
JM
te + 1 + JL (10.2)
Lmax : Maximum coasting distance [mm] V0 : Machine's fast feed speed [mm/min] JM : Moment of inertia of the servo motor [ 10-4 kgm2] JL : Load moment of inertia converted into equivalent value on servo motor shaft [ 10-4 kgm2] : Dynamic brake time constant [s] te : Delay time of control section [s]
For servo amplifier of 7 kW or less, there is internal relay delay time of about 10 ms. For the servo amplifier of 11 kW to 22 kW, there is delay caused by magnetic contactor built into the external dynamic brake (about 50 ms) and delay caused by the external relay.
10. CHARACTERISTICS
10 - 8
(2) Dynamic brake time constant
The following shows necessary dynamic brake time constant for equation 10.2.
(a) 200 V class
0
10
20
30
40
50
0 1000 2000 3000 4000 5000 6000
73 43
23
13
053
Speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
10
20
30
40
50
0 1000 2000 3000 4000 5000 6000
73 43
23
13 053
Speed [r/min]
HG-MR series HG-KR series
121
0
20
40
60
80
100
0 250 500 750 1000 1250 1500
51 81
201
301421
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Speed [r/min]
0 500 1000 1500 2000 2500 3000
52 102
0
100
50
200
150
250
300
350
352
202
702
152 502 D
yn am
ic b
ra ke
ti m
e co
ns ta
nt
[m s]
Speed [r/min]
HG-SR 1000 r/min series HG-SR 2000 r/min series
0
20 10
30 40 50 60 70 80 90
100
0 500 1000 1500 2000
15K1 25K1
20K1
801 60112K1
Speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
Speed [r/min]
80
0
70
60
50
40
30
20
10
500 1000 1500 2000 2500 30000
15K1M
11K1M
22K1M
701M
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
HG-JR1000 r/min series HG-JR1500 r/min series
503 353
203
53
103
73
153
260
0
220
180
140
100
60
20
1000 2000 3000 4000 5000 60000
703
903
Speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
D yn
a m
ic b
ra ke
ti m
e co
n st
an t
[ m
s]
Speed [r/min]
0
2 4 6
8
10
12
14 16
18
0 500 1000 1500 2000 2500 3000
153
503103
353 203
HG-JR3000 r/min series HG-RR series
10. CHARACTERISTICS
10 - 9
352
500 1000 1500 20000 0
10 20 30 40 50 60 70 80 90
100
502 72
202152
D yn
am ic
b ra
ke ti
m e
co n
st an
t [
m s]
Speed [r/min]
HG-UR series
(b) 400 V class
Speed [r/min] 0 500 1000 1500 2000 2500 3000
1524
5024
1024
524 100
80
60
40
20
0
2024
3524
7024
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
10
20
30
40
50
60
0 500 1000 1500 2000
6014
8014
25K14
12K14 20K14
15K14
Speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
HG-SR series HG-JR1000 r/min series
Speed [r/min]
50
0
40
30
20
10
500 1000 1500 2000 2500 30000
11K1M4
22K1M4
15K1M4701M4
70
60
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
Speed [r/min] 0 1000 2000 3000 4000 5000 6000
7341534
5034
1034
534
120
100
80
60
40
20
0 2034
3534
9034
7034
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
HG-JR1500 r/min series HG-JR3000 r/min series
10. CHARACTERISTICS
10 - 10
10.3.2 Permissible load to motor inertia when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia moment is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor. The value in the parenthesis shows the value at the rated speed.
Servo motor Permissible load to motor inertia
ratio [multiplier] Servo motor
Permissible load to motor inertia ratio [multiplier]
HG-KR053 HG-JR53
30
HG-KR13 HG-JR73
HG-KR23 30 HG-JR103
HG-KR43 HG-JR153
HG-KR73 HG-JR203
HG-MR053 35 HG-JR353 16 (30)
HG-MR13 HG-JR503 15 (30)
HG-MR23 32
HG-JR703 11 (30)
HG-MR43 HG-JR903 18 (30)
HG-MR73 HG-JR701M 5
HG-SR51 HG-JR11K1M 10 (30)
HG-SR81 30
HG-JR15K1M
HG-SR121 HG-JR22K1M 20 (30)
HG-SR201 HG-JR601 5
HG-SR301 16 HG-JR801 30
HG-SR421 15 HG-JR12K1 20 (30)
HG-SR52 30
HG-JR15K1 17 (30)
HG-SR102 HG-JR20K1 26 (30)
HG-SR152 21
HG-JR25K1 21 (30)
HG-SR202 HG-JR534
30 (30)
HG-SR352 13 (15)
HG-JR734
HG-SR502 HG-JR1034
HG-SR702 5 (15) HG-JR1534
HG-SR524 5 (15) HG-JR2034
HG-SR1024 5 (17)
HG-JR3534 20 (30) (Note)
HG-SR1524 HG-JR5034 15 (30)
HG-SR2024 HG-JR7034 11 (30)
HG-SR3524 5 (15)
HG-JR9034 18 (30)
HG-SR5024 HG-JR701M4 7 (10)
HG-SR7024 HG-JR11K1M4 10 (30)
HG-UR72 30
HG-JR15K1M4
HG-UR152 HG-JR22K1M4 20 (30)
HG-UR202 16
HG-JR6014 10
HG-UR352 HG-JR8014 30
HG-UR502 15 HG-JR12K14 20 (30)
HG-RR103 30
HG-JR15K14 30 (30)
HG-RR153 HG-JR20K14 26 (30)
HG-RR203 16 HG-JR25K14 21 (30)
HG-RR353 15
HG-RR503
Note. When the maximum torque is increased to 400%, the permissible load to motor inertia ratio at the maximum speed
of the servo motor is 25 times.
10. CHARACTERISTICS
10 - 11
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.
a1 108
5 107
1 107
5 106
1 106
5 105
1 105
5 104
1 104
5 103
1 103
4 7 10 20 40 70 100 200
b
a:
b:
Long bending life encoder cable Long bending life motor power cable Long bending life electromagnetic brake cable
Standard encoder cable Standard motor power cable Standard electromagnetic brake cable
N um
be r
of b
en di
ng ti
m es
Bend radius [mm]
10. CHARACTERISTICS
10 - 12
10.5 Inrush currents at power-on of main circuit and control circuit
POINT
For a servo amplifier of 600 W or less, the inrush current values can change depending on frequency of turning on/off the power and ambient temperature.
Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and magnetic contactors. (Refer to section 11.10.) When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used. (1) 200 V class
The following table indicates the inrush current (reference data) that will flow when 240 V AC is applied to the servo amplifier with 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-J4-10B-RJ020 to MR-J4-70B-RJ020, the inrush current of the main circuit power supply will be the same.
Servo amplifier Inrush current (A0-P)
Main circuit power supply (L1/L2/L3)
Control circuit power supply (L11/L21)
MR-J4-10B-RJ020 MR-J4-20B-RJ020 MR-J4-40B-RJ020 MR-J4-60B-RJ020
30 A (attenuated to approx. 3 A in 20 ms)
20 A to 30 A (attenuated to approx. 1 A in 20 ms) MR-J4-70B-RJ020
MR-J4-100B-RJ020 34 A
(attenuated to approx. 7 A in 20 ms)
MR-J4-200B-RJ020 MR-J4-350B-RJ020
113 A (attenuated to approx. 12 A in 20 ms)
MR-J4-500B-RJ020 42 A
(attenuated to approx. 20 A in 20 ms) 34 A (attenuated to approx. 2 A in 20 ms)
MR-J4-700B-RJ020 85 A
(attenuated to approx. 20 A in 30 ms)
MR-J4-11KB-RJ020 226 A
(attenuated to approx. 30 A in 30 ms)
42 A (attenuated to approx. 2 A in 30 ms)
MR-J4-15KB-RJ020 226 A
(attenuated to approx. 50 A in 30 ms)
MR-J4-22KB-RJ020 226 A
(attenuated to approx. 70 A in 30 ms)
10. CHARACTERISTICS
10 - 13
(2) 400 V class
The following table indicates the inrush current (reference data) that will flow when 480 V AC is applied to the servo amplifier with the power supply capacity of 2500 kVA and the wiring length of 1 m.
Servo amplifier Inrush current (A0-P)
Main circuit power supply (L1/L2/L3)
Control circuit power supply (L11/L21)
MR-J4-60B4-RJ020 MR-J4-100B4-RJ020
65 A (attenuated to approx. 5 A in 10 ms)
40 A to 50 A (attenuated to approx. 0 A in 2 ms)
MR-J4-200B4-RJ020 80 A
(attenuated to approx. 5 A in 10 ms)
MR-J4-350B4-RJ020 100 A
(attenuated to approx. 20 A in 10 ms)
MR-J4-500B4-RJ020 65 A
(attenuated to approx. 9 A in 20 ms) 41 A (attenuated to approx. 0 A in 3 ms)
MR-J4-700B4-RJ020 68 A
(attenuated to approx. 34 A in 20 ms)
MR-J4-11KB4-RJ020 339 A
(attenuated to approx. 10 A in 30 ms)
38 A (attenuated to approx. 1 A in 30 ms)
MR-J4-15KB4-RJ020 339 A
(attenuated to approx. 15 A in 30 ms)
MR-J4-22KB4-RJ020 339 A
(attenuated to approx. 20 A in 30 ms)
(3) 100 V class
The following table indicates the inrush currents (reference data) that will flow when 120 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m.
Servo amplifier Inrush currents (A0-P)
Main circuit power supply (L1/L2)
Control circuit power supply (L11/L21)
MR-J4-10B1-RJ020 MR-J4-20B1-RJ020 MR-J4-40B1-RJ020
38 A (attenuated to approx. 14 A in 10 ms)
20 A to 30 A (attenuated to approx. 0 A
in 1 ms to 2 ms)
10. CHARACTERISTICS
10 - 14
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 peripheral equipment and options to prevent a malfunction or a fire.
POINT
We recommend using HIV wires to wire the servo amplifiers, options, and peripheral equipment. Therefore, the recommended wire sizes may differ from those used for the previous servo amplifiers.
11.1 Cable/connector sets
POINT
The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.
The CN1A and CN1B connectors are not used in the J2S compatibility mode. Always put caps came with the servo amplifier.
The CN8 connector is not used in the J2S compatibility mode. Always attach the short-circuit connector came with the servo amplifier.
For connecting the servo amplifier with the HG series servo motor, refer to "Servo Motor Instruction Manual (Vol. 3)".
Please 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
Battery
(packed with the servo amplifier) 2)
CN1A
CN1B
CN3
CNP1
CNP2
CNP3
CN1A
CN1B
CN3
3)
Servo system controller
1)
MR-J4-_B_-RJ020 Servo amplifier
CN2
CN8
CN5
CN8
CN5
CN4
CN2L
CN10A
CN10B
MR-J4-T20 MR-J4-T20
MR-J4-_B_-RJ020 Servo amplifier
7) 8) 9) 10) 11) 12) (Note 2)
(Note 1)
CN10A
CN10B CN2
CN4
CN2L
4)
CN30
8) 12) (Note 2)
CN30
13)
15)
14) Battery unit MR-BT6VCASE and MR-BAT6V1 battery
6)5)
Personal computer
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 3
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.
2. The SSCNET cables vary depending on servo system controllers connected. Refer to the following table for selecting
SSCNET cables.
Servo system controller
Servo amplifier
MR-J4-_B_-RJ020 + MR-J4-T20 MR-J2S-_B_ MR-J2-03B5
Positioning module
QD75M 8) MR-J2HBUS_M 12) MR-J2CN1
A1SD75M 7) MR-J2HBUS_M-A 11) MR-J2CN1-A
Motion controller
Q172CPU(N) 9) Q172J2BCBL_M(-B)
Q173CPU(N) 10) Q173J2B_CBL_M
A171SHCPU(N) A172SHCPU(N) A173UHCPU A273UHCPU
7) MR-J2HBUS_M-A 11) MR-J2CN1-A
Additionally, select a SSCNET cable from the followings to connect previous and next axis servo amplifiers.
Previous axis servo amplifier
Next servo amplifier
MR-J4-_B_-RJ020 + MR-J4-T20 MR-J2S-_B_ MR-J2-03B5
MR-J4-_B_-RJ020 + MR-J4-T20 MR-J2S-_B_ MR-J2-03B5
8) MR-J2HBUS_M 12) MR-J2CN1
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 4
No. Product name Model Description Remark
1) Servo amplifier power connector set
Supplied with 200 V class and 100 V class servo amplifiers of 1 kW or less
CNP1 connector: 06JFAT-SAXGDK-H7.5 (JST)
CNP2 connector: 05JFAT-SAXGDK-H5.0 (JST)
CNP3 connector: 03JFAT-SAXGDK-H7.5 (JST)
Applicable wire size: 0.8 mm2 to 2.1 mm2 (AWG 18 to 14) Insulator OD: to 3.9 mm
Open tool J-FAT-OT (N) or J-FAT-OT (JST)
Supplied with 200 V class servo amplifiers of 2 kW and 3.5 kW
CNP1 connector: 06JFAT-SAXGFK-XL (JST)
CNP2 connector: 05JFAT-SAXGDK-H5.0 (JST)
CNP3 connector: 03JFAT-SAXGFK-XL (JST)
(CNP1 and CNP3) Applicable wire size:
1.25 mm2 to 5.5 mm2 (AWG 16 to 10) Insulator OD: to 4.7 mm
(CNP2) Applicable wire size:
0.8 mm2 to 2.1 mm2 (AWG 18 to 14) Insulator OD: to 3.9 mm
Open tool Quantity: 1 Model: J-FAT-OT-EXL (JST)
Supplied with 400 V class servo amplifiers of 3.5 kW or less
CNP1 connector: 06JFAT-SAXGDK- HT10.5 (JST)
CNP2 connector: 05JFAT-SAXGDK- HT7.5 (JST)
CNP3 connector: 03JFAT-SAXGDK- HT10.5 (JST)
Applicable wire size: 1.25 mm2 to 2.1 mm2 (AWG 16 to 14) Insulator OD: to 3.9 mm
Open tool J-FAT-OT-XL (JST)
2) Connector set MR-CCN1
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
3) Junction terminal block (recommended)
MR-J2HBUS_M
PS7DW-20V14B-F (Toho Technology)
The junction terminal block PS7DW-20V14B-F is not provided as an option. For using the junction terminal block, the optional MR-J2HBUS_M is necessary. Refer to section 11.6 for details.
4) Short-circuit connector
Supplied
with servo amplifiers
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 5
No. Product name Model Description Remark
5) Junction cable for RS-232C
MR-J4T20CH00 Connector: HDR-E14MG1+ Case: HDR-E14LPA5 (Honda Tsushin Kogyo)
Receptacle: 10220-0200EL Shell kit: 10320-E2W0-008 (3M)
For junction with a PC- AT compatible personal computer
Refer to section 11.1.3 for details.
6) Personal computer communication cable (RS-232C cable)
MR-CPCATCBL3M Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)
Connector: DE-9SF-N Connector case: DE-C1-J6-S6 (JAE)
For connection with a PC- AT compatible personal computer
Refer to section 11.1.3 for details.
7) SSCNET cable MR-J2HBUS_M-A Connector: PCR-S20FS+ Case: PCR-LS20LA1 (Honda Tsushin Kogyo)
Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)
Refer to section 11.1.2 (1) for details.
8) SSCNET cable MR-J2HBUS_M Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)
Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)
Refer to section 11.1.2 (2) for details.
9) SSCNET cable Q172J2BCBL_M (-B)
Connector: HDR-E14MG1+ Case: HDR-E14LPA5 (Honda Tsushin Kogyo)
Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)
(Note)
Socket: HNC2-2.5S-2 Terminal: HNC2-2.5S-D-B (Hirose Electric) Note. For the battery unit Q170BAT, use Q172J2BCBL_M-B. Refer to section 11.1.2 (3) for details.
10) SSCNET cable Q173J2B_CBL_M Connector: HDR-E26MG1+ Case: HDR-E26LPA5 (Honda Tsushin Kogyo)
Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)
Refer to section 11.1.2 (4) for details.
11) Connector set MR-J2CN1-A Connector: PCR-S20FS+ Case: PCR-LS20LA1 (Honda Tsushin Kogyo)
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
Refer to section 11.1.2 (1) for details.
12) Connector set MR-J2CN1 Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
Quantity: 2 each
Refer to section 11.1.2 (2) for details.
13) Terminal connector
MR-A-TM
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 6
No. Product name Model Description Remark
14) Battery cable MR-BT6V1CBL_M Cable length:
0.3/1 m (Refer to section 11.1.4.)
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
15) Junction battery cable
MR-BT6V2CBL_M Cable length:
0.3/1 m (Refer to section 11.1.4.)
Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST)
Housing: PALR-02VF-O Contact: SPAL-001GU-P0.5 (JST)
For battery junction
Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST)
11.1.2 SSCNET cable
CAUTION If you have fabricated the SSCNET cable, connect it correctly. Otherwise, it may cause an unexpected operation and malfunction.
(1) MR-J2HBUS_M-A
(a) Model explanations
Model:
Symbol Cable length [m]
05
1
5
0.5
5
1
M R - J 2 H B U S 0 5 M A-
(b) Cable internal wiring diagram
MR-J2HBUS_M-A
10120-6000EL (Connector) 10320-3210-000 (Shell kit)
SD
LG
LG
RD
RD*
TD
TD*
LG
LG
EMG*
EMG
1
11
2
12
4
14
5
15
6
16
20 Plate
1
11
2
12
4
14
5
15
7
17
PCR-S20FS+ (Connector) PCR-LS20LA1 (Case)
(c) SSCNET cable fabrication Use the MR-J2CN1-A connector set to fabricate the cable according to the wiring diagram in (b). The overall cable length in the same SSCNET system should be within 30 m. Refer to section 11.9 for the specifications of the cable to use.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 7
(2) MR-J2HBUS_M
(a) Model explanations
05
1
5
0.5
5
1
M R - J 2 H B U S 0 5 MModel:
Symbol Cable length [m]
(b) Cable internal wiring diagram
MR-J2HBUS_M
10120-6000EL (Connector) 10320-3210-000 (Shell kit)
10120-6000EL (Connector) 10320-3210-000 (Shell kit)
1
11
2
12
3
13
4
14
5
15
Plate
6
16
7
17
8
18
9
19
10
20
1
11
2
12
3
13
4
14
5
15
Plate
6
16
7
17
8
18
9
19
10
20
LG
RD*
LG
RD
TD
TD*
LG
LG
EMG
EMG*
SD
(c) SSCNET cable fabrication Use the MR-J2CN1 connector set to fabricate the cable according to the wiring diagram in (b). The overall cable length in the same SSCNET system should be within 30 m. Refer to section 11.9 for the specifications of the cable to use.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 8
(3) Q172J2BCBL_M(-B)
For the battery unit Q170BAT, use Q172J2BCBL_M-B. For Q170BAT, refer to the "motion controller Q series users manual" of (IB(NA)0300040). (a) Model explanations
Q 1 7 2 J 2 B BC B L 0 5 M -
None
-B
None
Yes
05
1
5
0.5
5
1
Model:
Symbol
Symbol Cable length [m]
Connection of battery unit
(b) Cable internal wiring diagram
Q172J2BCBL_M
HDR-E14MG1+ (Connector)
HDR-E14-LPA5 (Case)
10120-6000EL (Connector)
10320-3210-000 (Shell kit)
Shell
8
2
9
3
10
6
13
4
TD1
TD1*
LG
LG
RD
RD*
LG
EMG
EMG*
SD
1 RD
Plate
12
1
11
4
14
5
9
7
17
RD*
LG
LG
TD
TD*
LG
EMG
EMG*
SD
2
11
Q172J2BCBL_M-B
HDR-E14MG1+ (Connector)
HDR-E14-LPA5 (Case)
10120-6000EL (Connector)
10320-3210-000 (Shell kit)
Shell
8
2
9
3
10
6
13
4
TD1
TD1*
LG
LG
RD
RD*
LG
BT
EMG
EMG*
SD
1 RD
Plate
12
1
11
4
14
5
9
7
17
RD*
LG
LG
TD
TD*
LG
EMG
EMG*
SD
2
11
2
1BAT
LG
HNC2-2.5S-2 (Socket) HNC2-2.5S-D-B (Terminal)
(4) Q173J2B_CBL_M (a) Model explanations
Model:
Symbol Cable length [m]
05
1
5
0.5
1
5
Symbol The number of SSCNET system None 1
2 2 4 4
Q 1 7 3 J 2 2B C B L 0 5 M
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 9
(b) Cable internal wiring diagram
Q173J2B_CBL_M
HDR-E26MG1+ (Connector)
HDR-E26LPA5 (Case)
10120-6000EL (Connector)
10320-3210-000 (Shell kit)
14
3
16
2
15
13
26
6
TD1
TD1*
LG
LG
RD1
RD1*
LG
EMG12
EMG12*
1 RD
12
1
11
4
14
5
9
7
17
RD*
LG
LG
TD
TD*
LG
EMG
EMG*
SD
2
19
RD
12
1
11
4
14
5
9
7
17
RD*
LG
LG
TD
TD*
LG
EMG
EMG*
SD
2
RD
12
1
11
4
14
5
9
7
17
RD*
LG
LG
TD
TD*
LG
EMG
EMG*
SD
2
RD
12
1
11
4
14
5
9
7
17
RD*
LG
LG
TD
TD*
LG
EMG
EMG*
SD
2
17
5
18
TD2
TD2*
RD2
RD2*
4
20
9
22
8
21
12
TD3
TD3*
LG
LG
RD3
RD3*
EMG34
EMG34*
7
25
Shell
23
11
24
TD4
TD4*
RD4
RD4*
SD
10
The number of systems is 1.
SSCNET system number 2
SSCNET system number 1
SSCNET system number 3
SSCNET system number 4
Plate
Plate
Plate
Plate
The number of systems is 2.
The number of systems is 4.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 10
11.1.3 RS-232C communication cable
This section indicates the cable which connects MR-J4-T20 to a personal computer via RS-232C communication. The RS-232C communication cable consists of the following two cables.
Cable model Cable length Product name
MR-J4T20CH00 0.2 m Junction cable for RS-232C
MR-CPCATCBL3M 3 m Personal computer communication cable
(RS-232C cable)
(1) Connection of MR-J4-T20 with a personal computer
CN30
Personal computer
Junction cable for RS-232C MR-J4T20CH00 (option)
Personal computer communication cable (RS-232C cable) MR-CPCATCBL3M (option) To RS-232C connector
2)1) 3) 4)
(2) MR-J4T20CH00
(a) Cable specifications
Cable model 1) MR-J4-T20 connector 2) Junction connector
MR-J4T20CH00 Connector: HDR-E14MG1+ Connector case: HDR-E14LPA5 (Honda Tsushin Kogyo)
13
12
10
9
8
7
6
5
4
3
2
1
TXD
LG LG
RXD
11
14
View seen from the wiring side. (Note)
Connector: 10220-0200EL Shell kit: 10320-E2W0-008 (3M)
1 2
3
5
4
6
7
9
8
10
11 12
13 14
15 16
17 18
19 20
LG LG TXDRXD
View seen from the wiring side. (Note)
Note. Keep open the pins shown with . Note. Keep open the pins shown with .
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 11
(b) Cable internal wiring diagram
2
12
11
1
RXD
LG
13
1
TXD
LG
14
8
Connector on MR-J4-T20 Junction connector
Shell
LG
TXD
LG
RXD
MR-J4T20CH00
Shell
(3) MR-CPCATCBL3M
(a) Cable specifications
Cable model 3) Junction connector 4) Personal computer side connector
MR-CPCATCBL3M Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)
1
2
3
5
4
6
7
9
8
10
11
12
13
14
15
16
17
18
19
20
LGLG
View seen from the wiring side. (Note)
RXDTXD
Connector: DE-9SF-N Case: DE-C1-J6-S6 (JAE)
View seen from the wiring side. (Note)
1
DSR
6
RTS
7
CTS
8
9
GND
5
DTR
4
TXD
3
RXD
2
Note. Keep open the pins shown with . Note. Keep open the pins shown with .
(b) Cable internal wiring diagram
3
5
7
2
RXD
LG
2
1
TXD
LG
12
11
Connector on personal computer
Plate
RXD
GND
RTS
TXD
MR-CPCATCBL3M
Junction connector
8
6
4
CTS
DSR
DTR
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 12
11.1.4 Battery cable/junction battery cable
(1) Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available.
Cable 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 - 13
11.2 Regenerative option
CAUTION Do not use servo amplifiers with regenerative options other than the combinations specified below. Otherwise, it may cause a fire.
11.2.1 Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers. (1) 200 V class
Servo amplifier
Regenerative power [W]
Built-in regenera-
tive resistor
MR-RB032 [40 ]
MR-RB12 [40 ]
MR-RB30 [13 ]
MR-RB3N [9 ]
MR-RB31 [6.7 ]
MR-RB32 [40 ]
(Note 1) MR-RB50
[13 ]
(Note 1) MR-RB5N
[9 ]
(Note 1) MR-RB51
[6.7 ]
MR-J4-10B- RJ020
30
MR-J4-20B- RJ020
10 30 100
MR-J4-40B- RJ020
10 30 100
MR-J4-60B- RJ020
10 30 100
MR-J4-70B- RJ020
20 30 100 300
MR-J4-100B- RJ020
20 30 100 300
MR-J4-200B- RJ020
100 300 500
MR-J4-350B- RJ020
100 300 500
MR-J4-500B- RJ020
130 300 500
MR-J4-700B- RJ020
170 300 500
Servo amplifier
(Note 2) Regenerative power [W]
External regenerative resistor (accessory)
MR-RB5R [3.2 ]
MR-RB9F [3 ]
MR-RB9T [2.5 ]
MR-J4-11KB- RJ020
500 (800) 500
(800)
MR-J4-15KB- RJ020
850 (1300) 850
(1300)
MR-J4-22KB- RJ020
850 (1300) 850
(1300) Note 1. Always install a cooling fan.
2. Values in parentheses assume the installation of a cooling fan.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 14
(2) 400 V class
Servo amplifier
Regenerative power [W]
Built-in regenera
-tive resistor
MR- RB1H-4 [82 ]
(Note 1) MR-
RB3M-4 [120 ]
(Note 1) MR-
RB3G-4 [47 ]
(Note 1) MR-
RB5G-4 [47 ]
(Note 1) MR-
RB34-4 [26 ]
(Note 1) MR-
RB54-4 [26 ]
(Note 1) MR-
RB3U-4 [22 ]
(Note 1) MR-
RB5U-4 [22 ]
MR-J4-60B4-RJ020 15 100 300
MR-J4-100B4-RJ020 15 100 300
MR-J4-200B4-RJ020 100 300 500
MR-J4-350B4-RJ020 100 300 500
MR-J4-500B4-RJ020 130 300 500
MR-J4-700B4-RJ020 170 300 500
Servo amplifier
(Note 2) Regenerative power [W]
External regenerative resistor (accessory)
MR- RB5K-4 [10 ]
MR- RB6K-4 [10 ]
MR-J4-11KB4-RJ020 500 (800) 500 (800)
MR-J4-15KB4-RJ020 850 (1300) 850
(1300)
MR-J4-22KB4-RJ020 850 (1300) 850
(1300) Note 1. Always install a cooling fan.
2. Values in parentheses assume the installation of a cooling fan.
(3) 100 V class
Servo amplifier
Regenerative power [W]
Built-in regenerative
resistor
MR-RB032 [40 ]
MR-RB12 [40 ]
MR-J4-10B1-RJ020 30
MR-J4-20B1-RJ020 10 30 100
MR-J4-40B1-RJ020 10 30 100
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 15
11.2.2 Selection of the regenerative option
Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. (1) Regenerative energy calculation
M
Friction torque
U nb
al an
ce to
rq ue
TF
TU
S er
vo m
ot or
s pe
ed G
en er
at ed
to rq
ue
Time
Up V tf (1 cycle)
Down
(+)
(-)
(Power running)
(Regenerative)
tpsd2
t2 t3 t4t1
tpsa2tpsd1tpsa1
1)
2)
3)
4) 5)
6)
7)
8)
Formulas for calculating torque and energy in operation
Regenerative power
Torque applied to servo motor [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 = 9.55 104
-(JL + JM) V
tpsd1
1 + TU + TF E3 =
2
0.1047 V T3 tpsd1
4), 8) T4, T8 = TU E4, E8 0 (No regeneration)
5) T5 = 9.55 104
(JL/ + JM) V
tpsa2
1 - TU + TF E5 =
2
0.1047 V T5 tpsa2
6) T6 = -TU + TF E6 = 0.1047 V T6 t3
7) T7 = 9.55 104
-(JL + JM) V
tpsd2
1 - TU + TF E7 =
2
0.1047 V T7 tpsd2
Note. : Drive system efficiency
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 16
(2) Losses of the servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
Servo amplifier
Inverse efficiency [%]
Capacitor charging [J]
Servo amplifier Inverse
efficiency [%] Capacitor
charging [J]
MR-J4-10B-RJ020 55 9 MR-J4-60B4-RJ020 85 12
MR-J4-20B-RJ020 75 9 MR-J4-100B4-RJ020 85 12
MR-J4-40B-RJ020 85 11 MR-J4-200B4-RJ020 85 25
MR-J4-60B-RJ020 85 11 MR-J4-350B4-RJ020 85 43
MR-J4-70B-RJ020 85 18 MR-J4-500B4-RJ020 90 45
MR-J4-100B-RJ020 85 18 MR-J4-700B4-RJ020 90 70
MR-J4-200B-RJ020 85 36 MR-J4-11KB4-RJ020 90 120
MR-J4-350B-RJ020 85 40 MR-J4-15KB4-RJ020 90 170
MR-J4-500B-RJ020 90 45 MR-J4-22KB4-RJ020 90 250
MR-J4-700B-RJ020 90 70 MR-J4-10B1-RJ020 55 4
MR-J4-11KB-RJ020 90 120 MR-J4-20B1-RJ020 75 4
MR-J4-15KB-RJ020 90 170 MR-J4-40B1-RJ020 85 10
MR-J4-22KB-RJ020 90 250
Inverse efficiency (m): Efficiency including some efficiencies of the servo motor and servo amplifier
when the rated (regenerative) torque is generated at the rated speed. Efficiency varies with the speed and generated torque. Since the characteristics of the electrolytic capacitor change with time, allow for approximately 10% higher inverse efficiency.
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J] = m Es - Ec
Calculate the power consumption of the regenerative option on the basis of one-cycle operation period tf [s] to select the necessary regenerative option.
PR [W] = ER/tf
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 17
11.2.3 Parameter setting
Set [Pr. 2] according to the option to be used.
00: Regenerative option is not used. For servo amplifier of 100 W, regenerative option is not used. For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11 kW to 22 kW.
01: FR-RC/FR-RC-H/FR-CV/FR-CV-H/FR-BU2/FR-BU2-H 05: MR-RB32 08: MR-RB30 09: MR-RB50 (Cooling fan is required.) 0B: MR-RB31 0C: MR-RB51 (Cooling fan is required.) 0E: When the supplied regenerative resistors are cooled by the cooling fan to increase the ability with the
servo amplifier of 11 kW to 22 kW. 10: MR-RB032 11: MR-RB12 13: MR-RB5E 14: MR-RB5E (Cooling fan is required.) 17: MR-RB9F 18: MR-RB9F (Cooling fan is required.) 20: MR-RB3N 21: MR-RB5N (Cooling fan is required.) 23: MR-RB5R 24: MR-RB5R (Cooling fan is required.) 25: MR-RB9P 26: MR-RB9P (Cooling fan is required.) 27: MR-RB9T 28: MR-RB9T (Cooling fan is required.) 80: MR-RB3H-4 (Cooling fan is required.) 81: MR-RB5H-4 (Cooling fan is required.) 82: MR-RB3G-4 (Cooling fan is required.) 83: MR-RB5G-4 (Cooling fan is required.) 84: MR-RB34-4 (Cooling fan is required.) 85: MR-RB54-4 (Cooling fan is required.) 86: MR-RB1L-4 87: MR-RB3M-4 (Cooling fan is required.) 90: MR-RB1H-4 9C: MR-RB3U-4 (Cooling fan is required.) 9D: MR-RB5U-4 (Cooling fan is required.)
0 0
[Pr. 2]
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 18
11.2.4 Selection of the regenerative option
POINT
When MR-RB50, MR-RB51, MR-RB5N, MR-RB3M-4, MR-RB3G-4, MR-RB5G- 4, MR-RB34-4, MR-RB54-4, MR-RB3U-4, or MR-RB5U-4 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer.
For the wire sizes used for wiring, refer to section 11.9.
The regenerative option generates heat of 100 C higher than the ambient temperature. Fully consider heat dissipation, installation position, wires used, etc. before installing the option. For wiring, use flame-resistant wires or make the wires flame-resistant and keep them away from the regenerative option. Use twisted wires with a maximum length of 5 m for a connection with the servo amplifier. (1) MR-J4-500B-RJ020 or less/MR-J4-350B4-RJ020 or less
Always remove the wiring across P+ and D and fit the regenerative option between P+ and C. G3 and G4 are terminals for a thermal sensor. The connection between G3 and G4 is opened when the regenerative option overheats abnormally.
D
P+
C
G4
G3
C
P
Regenerative option
5 m or less
Servo amplifier
Always remove the lead from across P+ to D.
(Note 3)
Cooling fan
(Note 1, 2)
Note 1. When using the MR-RB50, MR-RB5N, MR-RB51, MR-RB3M-4, MR-RB3G-4, or
MR-RB5G-4, forcedly cool it with a cooling fan (1.0 m3/min or more, 92 mm 92
mm).
2. When the ambient temperature is more than 55 C and the regenerative load ratio
is more than 60% in MR-RB30, MR-RB31, MR-RB32, and MR-RB3N, forcedly
cool the air with a cooling fan (1.0 m3/min or more, 92 mm 92 mm). A cooling
fan is not required if the ambient temperature is 35 C or less. (A cooling fan is
required for the shaded area in the following graph.)
100
60
0 0
Ambient temperature [C]
35 55
A cooling fan is not required.
A cooling fan is required.
Lo ad
r at
io [%
]
3. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 19
(2) MR-J4-700B-RJ020/MR-J4-500B4-RJ020/MR-J4-700B4-RJ020
Always remove the wiring (between P+ and C) of the servo amplifier built-in regenerative resistor and fit the regenerative option between P+ and C. G3 and G4 are terminals for a thermal sensor. The connection between G3 and G4 is opened when the regenerative option overheats abnormally.
Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor.
P+
C
G4
G3
C
P
Regenerative option
5 m or less
Servo amplifier
(Note 2)
Cooling fan
(Note 1)
Note 1. When using the MR-RB51, MR-RB34-4, MR-RB54-4, MR-RB3U-4, or MR-RB5U-
4, forcibly cool it with a cooling fan (1.0 m3/min or more, 92 mm 92 mm).
2. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
When using the regenerative option, remove the servo amplifier's built-in regenerative resistor wires (across P+ to C), fit them back to back, and secure them to the frame with the accessory screw as shown below.
Built-in regenerative resistor lead terminal fixing screw
Accessory screw
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 20
(3) MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020/MR-J4-11KB4-RJ020 to MR-J4-22KB4-RJ020 (when using
the supplied regenerative resistor)
CAUTION
The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protective cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock. Even if the power was shut-off, be careful until the bus voltage discharged and the temperature decreased because of the following reasons.
It may cause a burn injury due to very high temperature without cooling.
It may cause an electric shock due to charged capacitor of the servo amplifier.
Do not use servo amplifiers with external regenerative resistors other than the combinations specified below. Otherwise, it may cause a fire.
When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative resistors burn. Install the resistors at intervals of about 70 mm. Cooling the resistors with two cooling fans (92 92, minimum air flow: 1.0 m3) improves the regeneration capability. In this case, set "_ _ 0 E" in [Pr. 2].
P+ C
Servo amplifier
Cooling fan
(Note) Series connection
5 m or less
Note. The number of resistors connected in series depends on the resistor type. The
thermal sensor is not mounted on the attached regenerative resistor. An abnormal
heating of resistor may be generated at a regenerative circuit failure. Install a thermal
sensor near the resistor and establish a protective circuit to shut off the main circuit
power supply when abnormal heating occurs. The detection level of the thermal
sensor varies according to the settings of the resistor. Set the thermal sensor in the
most appropriate position on your design basis, or use the thermal sensor built-in
regenerative option. (MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, or MR-RB6K-4)
Servo amplifier Regenerative resistor Symbol (Note) Regenerative power [W] Resultant
resistance [] Number of resistors Normal Cooling
MR-J4-11KB-RJ020 GRZG400-0.8 GR400 R80K 500 800 3.2 4
MR-J4-15KB-RJ020 GRZG400-0.6 GR400 R60K 850 1300
3 5
MR-J4-22KB-RJ020 GRZG400-0.5 GR400 R50K 2.5
MR-J4-11KB4-RJ020 GRZG400-2.5 GR400 2R5K 500 800 10 4
MR-J4-15KB4-RJ020 MR-J4-22KB4-RJ020
GRZG400-2 GR400 2R0K 850 1300 10 5
Note. The following shows an indication example of symbol.
GR400 R80K
Symbol
Regenerative resistor
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 21
(4) MR-J4-11KB-RZ020 to MR-J4-22KB-RZ020/MR-J4-11KB4-RZ020 to MR-J4-22KB4-RZ020 (when using
the regenerative option) MR-J4-11KB-RZ020 to MR-J4-22KB-RZ020/MR-J4-11KB4-RZ020 to MR-J4-22KB4-RZ020 are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the MR- RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, or MR-RB6K-4. Cooling the regenerative option with cooling fans improves regenerative capability. G3 and G4 are terminals for thermal sensor. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Regenerative option
Configure a circuit which shuts off main circuit power when thermal protector operates.
Servo amplifier
C
P+
5 m or less
(Note)
P
C
G3
G4
Note. G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
Servo amplifier Regenerative
option Resistance
[]
Regenerative power [W]
Without cooling fans
With cooling fans
MR-J4-11KB-RZ020 MR-RB5R 3.2 500 800
MR-J4-15KB-RZ020 MR-RB9F 3 850 1300
MR-J4-22KB-RZ020 MR-RB9T 2.5 850 1300
MR-J4-11KB4-RZ020 MR-RB5K-4 10 500 800
MR-J4-15KB4-RZ020 MR-J4-22KB4-RZ020
MR-RB6K-4 10 850 1300
When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option.
MR-RB5R/MR-RB9F/MR-RB9T/MR-RB5K-4/MR-RB6K-4
Mounting screw 4-M3
Top
Bottom
TE1
G4 G3 C P
TE1 terminal block
Cooling fan 2 (1.0 m3/min or more, 92 mm 92 mm)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 22
11.2.5 Dimensions
(1) MR-RB12
[Unit: mm]
5
14 4
Approx. 20
169
16 8
15 6
6 12
6
36
40 6 mounting hole
TE1
15
A pp
ro x.
6
149 2
TE1 terminal
G3
G4
P
C
Applicable wire size: 0.2 mm2 to 2.5 mm2 (AWG 24 to 12)
Tightening torque: 0.5 to 0.6 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Mass: 1.1 [kg]
(2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR-RB34-4/MR-RB3M-4/MR-RB3G-4/ MR-RB3U-4
[Unit: mm]
8. 5
12 5
15 0
A pp
ro x.
3 0
14 2
79 82
.5 30
8. 5
10 90 101.5 82.5
318A
B
Intake
7
100
Cooling fan mounting screw (2-M4 screw)
Terminal
P
C
G3
G4
Terminal screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M6 Tightening torque: 5.4 [Nm]
Regenerative option
Variable dimensions Mass
[kg] A B
MR-RB30
17 335
2.9
MR-RB31
MR-RB32
MR-RB3N
MR-RB34-4
23 341 MR-RB3M-4
MR-RB3G-4
MR-RB3U-4
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 23
(3) MR-RB50/MR-RB51/MR-RB5N/MR-RB54-4/MR-RB5G-4/MR-RB5U-4
[Unit: mm]
2.3
13 3
82 .5
49 82.5
Cooling fan mounting screw (2-M3 screw) On opposite side
200 A B 8120
1081212 .5
16 2.
5
35 0
16 2.
5 12
.5
7 Approx. 30
7 14 slotted hole
Intake
Terminal block
P
C
G3
G4
Terminal screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M6 Tightening torque: 5.4 [Nm]
Regenerative option
Variable dimensions Mass
[kg] A B
MR-RB50
17 217
5.6
MR-RB51
MR-RB5N
MR-RB54-4
23 223 MR-RB5G-4
MR-RB5U-4
(4) MR-RB032
[Unit: mm]
TE1
30
15
99
1.6
119
14 4
12
15 6
16 8
66
5
6 mounting hole
A pp
ro x.
6
A pp
ro x.
1 2
Approx. 20
TE1 terminal
G3
G4
P
C
Applicable wire size: 0.2 mm2 to 2.5 mm2 (AWG 24 to 12)
Tightening torque: 0.5 to 0.6 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Mass: 0.5 [kg]
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 24
(5) MR-RB1H-4
[Unit: mm]
15 6
16 8
14 4
6 2
149
173
6
A pp
ro x.
6
Approx. 24
6
15 6 mounting hole
36
40
TE1 terminal
P
C
G3
G4
Applicable wire size: AWG 24 to 10 Tightening torque: 0.5 to 0.6 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Mass: 1.1 [kg]
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 25
(6) MR-RB5R/MR-RB9F/MR-RB9T/MR-RB5K-4/MR-RB6K-4
[Unit: mm]
48 0
10
260 230
10
2-10 mounting hole
50 0
30 42
7 43
197 15 2.3
Cooling fan intake
215 1523015
10
15 15
82 .5
82.582.5
A pp
ro x.
42
Cooling fan mounting screw (4-M3 screw)
TE1 terminal block
PCG3G4
Terminal screw size: M5 Tightening torque: 2.0 [Nm]
Mounting screw Screw size: M8 Tightening torque: 13.2 [Nm]
Regenerative option
Mass [kg]
MR-RB5R 10
MR-RB9F 11
MR-RB9T
MR-RB5K-4 10
MR-RB6K-4 11
(7) GRZG400-0.8/GRZG400-0.6/GRZG400-0.5/GRZG400-2.5/GRZG400-2.0 (standard accessories)
[Unit: mm]
A pp
ro x.
K
1. 6
Approx. 47
9.5
40 411
385
10
Approx. C Approx.
A
Approx. 2.4
40
Approx. 330
Regenerative resistor
Variable dimensions Mounting screw size
Tightening torque [Nm]
Mass [kg] A C K
GRZG400-0.8 10 5.5 39
M8 13.2 0.8
GRZG400-0.6 16 8.2 46
GRZG400-0.5
GRZG400-2.5 GRZG400-2.0
10 5.5 39
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 26
11.3 FR-BU2-(H) brake unit
POINT
Use a 200 V class brake unit and a resistor unit with a 200 V class servo amplifier, and a 400 V class brake unit and a resistor unit with a 400 V class servo amplifier. Combination of different voltage class units cannot be used.
When a brake unit and a resistor unit are installed horizontally or diagonally, the heat dissipation effect diminishes. Install them on a flat surface vertically.
The temperature of the resistor unit case will be higher than the ambient temperature by 100 C or over. Keep cables and flammable materials away from the case.
The ambient temperature condition for the brake unit is between -10 C and 50 C. Note that the condition is different from the ambient temperature condition of the servo amplifier (between 0 C and 55 C).
Configure the circuit to shut down the power-supply with the alarm output of the brake unit and the resistor unit under abnormal condition.
Use the brake unit with a combination indicated in section 11.3.1.
For executing a continuous regenerative operation, use the FR-RC-(H) power regeneration converter or FR-CV-(H) power regeneration common converter.
Brake unit and regenerative options (Regenerative resistor) cannot be used simultaneously.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 27
Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient regenerative capability. When using the brake unit, set "_ _ 0 1" in [Pr. 2]. When using the brake unit, always refer to "FR-BU2 Brake Unit Instruction Manual". 11.3.1 Selection
Use a combination of the servo amplifier, brake unit and resistor unit listed below.
Brake unit Resistor unit Number of connected
units
Permissible continuous
power [kW]
Resultant resistance
[]
Applicable servo amplifier (Note 3)
200 V class
FR-BU2-15K FR-BR-15K 1 0.99 8 MR-J4-500B-RJ020 (Note 1)
2 (parallel) 1.98 4 MR-J4-500B-RJ020 MR-J4-700B-RJ020 MR-J4-11KB-RJ020 MR-J4-15KB-RJ020
FR-BU2-30K FR-BR-30K 1 1.99 4 MR-J4-500B-RJ020 MR-J4-700B-RJ020 MR-J4-11KB-RJ020 MR-J4-15KB-RJ020
FR-BU2-55K FR-BR-55K 1 3.91 2 MR-J4-11KB-RJ020 MR-J4-15KB-RJ020 MR-J4-22KB-RJ020
MT-BR5-55K 1 5.5 2 MR-J4-22KB-RJ020 400 V class
FR-BU2-H30K FR-BR-H30K 1 1.99 16 MR-J4-500B4-RJ020 MR-J4-700B4-RJ020 MR-J4-11KB4-RJ020 (Note 2)
FR-BU2-H55K FR-BR-H55K 1 3.91 8 MR-J4-11KB4-RJ020 MR-J4-15KB4-RJ020 MR-J4-22KB4-RJ020
FR-BU2-H75K MT-BR5-H75K 1 7.5 6.5 MR-J4-22KB4-RJ020
Note 1. Only when using the HG-RR353/HG-UR352 servo motor
2. When HG-JR11K1M4 servo motor is used, limit the torque during power running to 180% or less, or the servo motor
speed to 1800 r/min or less.
3. When the brake unit is selected by using the capacity selection software, other combinations may be shown. Refer to
the display on the capacity selection software for detailed combinations.
11.3.2 Brake unit parameter setting
Whether a parameter can be changed or not is listed below.
Parameter Change possible/
impossible Remark
No. Name
0 Brake mode switchover Impossible Do not change the parameter. 1 Monitor display data selection Possible Refer to "FR-BU2 Brake Unit Instruction
Manual". 2 Input terminal function selection 1 Impossible Do not change the parameter. 3 Input terminal function selection 2
77 Parameter write selection 78 Cumulative energization time
carrying-over times
CLr Parameter clear ECL Alarm history clear C1 For manufacturer setting
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 28
11.3.3 Connection example
POINT
Connecting the PR terminal of the brake unit to the P+ terminal of the servo amplifier results in a brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit.
(1) Combination of the FR-BU2-(H) brake unit and FR-BR-(H) resistor unit
(a) When connecting a brake unit to a servo amplifier 1) 200 V class
Emergency stop switch
Servo amplifier
MCMCCB
(Note 1) Power supply
L1
L2
L3
L11
L21
(Note 11) Alarm RA1
OFF
MC
ON MC
SK
P3
P4 (Note 3)
P+
N-
C
(Note 2)
(Note 7)
(Note 10)
N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
(Note 4)
(Note 6)
FR-BU2
FR-BR
P
PR TH2
TH1(Note 5)
(Note 8)
CN3 (Note 9) Main circuit power supply
24 V DC 5
10
EM1
DICOM
20
DICOM
Note 1. For the power supply specifications, refer to section 1.3.
2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative
resistor (5 kW or less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a
supplied regenerative resistor to the P+ and C terminals.
3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the
short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC
reactor and power factor improving AC reactor cannot be used simultaneously.
4. Connect the P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection results in a
servo amplifier and brake unit malfunction.
5. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is
conducting.
7. Do not connect more than one cable to each of the P+ and N- terminals of the servo amplifier.
8. Always connect the wiring between BUE and SD terminals. (factory-wired)
9. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of
the servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit
breaker.
11. Configure the power supply circuit which turns off the magnetic contactor after detection of an alarm occurrence
on the controller side.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 29
2) 400 V class
Emergency stop switch
Servo amplifier
MCMCCB (Note 1) Power supply
L1
L2
L3
L11
L21
(Note 11) Alarm RA1
OFF
MC
ON MC
SK
P3
P4 (Note 3)
P+
N-
C
(Note 2)
(Note 7)
(Note 10)
N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
(Note 4)
(Note 6)
FR-BU2-H
FR-BR-H
P
PR TH2
TH1(Note 5)
(Note 8)
CN3 (Note 9) Main circuit power supply
24 V DC 5
10
EM1
DICOM
DICOM
20
Step-down transformer
Note 1. For the power supply specifications, refer to section 1.3.
2. For the servo amplifier of 5 kW and 7 kW, always disconnect the lead wire of the built-in regenerative resistor
across the P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied
regenerative resistor to the P+ and C terminals.
3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the
short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC
reactor and power factor improving AC reactor cannot be used simultaneously.
4. Connect the P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection results in a
servo amplifier and brake unit malfunction.
5. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is
conducting.
7. Do not connect more than one cable to each of the P+ and N- terminals of the servo amplifier.
8. Always connect the wiring between BUE and SD terminals. (factory-wired)
9. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of
the servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit
breaker.
11. Configure the power supply circuit which turns off the magnetic contactor after detection of an alarm occurrence
on the controller side.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 30
(b) When connecting two brake units to a servo amplifier
POINT
For 400 V class servo amplifiers, two brake units cannot be connected with one servo amplifier.
For parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
Always connect the terminals for master/slave (MSG to MSG, SD to SD) between the two brake units.
Do not connect the servo amplifier and brake units as below. Connect the cables with a terminal block to distribute as indicated in this section.
N/-
P/+
Brake unit
Brake unitServo amplifier
P+
N- N/-
P/+
Connecting two cables to P+ and N- terminals
N/-
P/+
Brake unit
Brake unitServo amplifier
P+
N- N/-
P/+
Passing wiring
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 31
P3
P4
N-
C
Emergency stop switch
Servo amplifier
(Note 12)
MCMCCB
(Note 1) Power supply
L1
L2
L3
L11
L21
(Note 13) Alarm RA1
OFF
MC
ON MC
SK
(Note 3)
P+
(Note 2)
(Note 7) N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
(Note 4)
(Note 6)
FR-BU2
FR-BR
P
PR TH2
TH1(Note 5)
(Note 8)
(Note 10)
Terminal block
(Note 9)
N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
(Note 4)
(Note 6)
FR-BU2
FR-BR
P
PR TH2
TH1(Note 5)
(Note 8)
(Note 9)
CN3 (Note 11) Main circuit power supply
24 V DC 5
10
EM1
DICOM
20
DICOM
Note 1. For the power supply specifications, refer to section 1.3. 2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5
kW or less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+ and C terminals.
3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
4. Connect the P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection results in a servo amplifier and brake unit malfunction.
5. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting.
7. Do not connect more than one cable to each of the P+ and N- terminals of the servo amplifier. 8. Always connect the wiring between BUE and SD terminals. (factory-wired) 9. Connect the MSG and SD terminals of the brake unit to a correct destination. Incorrect connection results in a servo
amplifier and brake unit malfunction. 10. For connecting the P+ and N- terminals of the servo amplifier to the terminal block, use the cable indicated in (3) (b) in
this section. 11. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the
servo amplifier. 12. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 13. Configure the power supply circuit which turns off the magnetic contactor after detection of an alarm occurrence on
the controller side.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 32
(2) Combination with MT-BR5-(H) resistor unit
1) 200 V class
Emergency stop switch
Servo amplifier
MCMCCB
(Note 1) Power supply
L1
L2
L3
L11
L21
(Note 11) Alarm RA1 OFF
MC
ON MC
SK
P3
P4 (Note 3)
P+
N-
C
(Note 2)
(Note 7) N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
FR-BU2
MT-BR5
P
PR TH2
TH1
EM1 20
DICOM 5
DICOM 10
CN3Main circuit power supply
24 V DC
SK
RA2
RA2
(Note 4)
(Note 6)
(Note 5)
(Note 8)
(Note 10)
(Note 9)
Note 1. For the power supply specifications, refer to section 1.3.
2. Please do not connect a supplied regenerative resistor to the P+ and C terminals.
3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo
amplifier and brake unit malfunction.
5. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
7. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier.
8. Always connect BUE and SD terminals. (factory-wired)
9. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
11. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 33
2) 400 V class
RA2
MC
MC
SK Emergency stop switch
(Note 11) Alarm RA1 OFF
ON
SK
RA2
Servo amplifier
MCMCCB
(Note 1) L1
L2
L3
L11
L21
P3
P4 (Note 3)
P+
N-
(Note 7)
(Note 10)
N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
(Note 4)
(Note 6)
FR-BU2-H
P
PR TH2
TH1(Note 5)
(Note 8)
CN3 (Note 9)
24 V DC 5
10
EM1
DICOM
DICOM
20
Step-down transformer
MT-BR5-H
Power supply
Main circuit power supply
C
(Note 2)
Note 1. For the power supply specifications, refer to section 1.3. 2. Please do not connect a supplied regenerative resistor to the P+ and C terminals. 3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo amplifier and brake unit malfunction.
5. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
7. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier. 8. Always connect BUE and SD terminals. (factory-wired) 9. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier. 10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. 11. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 34
(3) Connection instructions
Keep the wires between the servo amplifier and the brake unit, and between the resistor unit and the brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter. The wires should not exceed 10 m even when the wires are twisted. If wires exceeding 5 m without twisted or exceeding 10 m with or without twisted are used, the brake unit may malfunction.
Servo amplifier
Brake unit
5 m or less 5 m or less
Servo amplifier
Brake unit
10 m or less 10 m or less
P+ N-
P/+ N/-
P PR
P PR
P/+ N/-
P PR
P PR
Twist Twist
Resistor unit Resistor unit
P+ N-
(4) Wires (a) Wires for the brake unit
For the brake unit, the HIV wire (600 V grade heat-resistant polyvinyl chloride insulated wire) is recommended.
1) Main circuit terminal
N/- P/+ PR
Terminal block
Brake unit
Main circuit
terminal screw size
Crimp terminal Tightening
torque [Nm]
Wire size
N/-, P/+, PR,
N/-, P/+, PR, HIV wire
[mm2] AWG
200 V class
FR-BU2-15K M4 5.5-4 1.5 3.5 12 FR-BU2-30K M5 5.5-5 2.5 5.5 10 FR-BU2-55K M6 14-6 4.4 14 6
400 V class
FR-BU2-H30K M4 5.5-4 1.5 3.5 12
FR-BU2-H55K M5 5.5-5 2.5 5.5 10
FR-BU2-H75K M6 14-6 4.4 14 6
2) Control circuit terminal
POINT
Under tightening can cause a cable disconnection or malfunction. Over tightening can cause a short circuit or malfunction due to damage to the screw or the brake unit.
A RESPC
B SDBUE
C MSGSD MSG SD SD
Jumper
Terminal block
Insulator Core
6 mm
Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it. Screw size: M3 Tightening torque: 0.5 Nm to 0.6 Nm Wire size: 0.3 mm2 to 0.75 mm2 Screw driver: Small flat-blade screwdriver
(Tip thickness: 0.4 mm/Tip width 2.5 mm)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 35
(b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets
of the brake unit
Brake unit Wire size
HIV wire [mm2] AWG
FR-BU2-15K 8 8
(5) Crimp terminals for the P+ and N- terminals of servo amplifier
(a) Recommended crimp terminals
POINT
Some crimp terminals may not be mounted depending on their sizes. Make sure to use the recommended ones or equivalent ones.
Servo amplifier Brake unit Number of
connected
units
Crimp terminal (Manufacturer) (Note 1)
Applicable tool
200 V class
MR-J4-500B-RJ020 FR-BU2-15K 1 FVD5.5-S4 (JST) a
2 8-4NS (JST) (Note 2) b
FR-BU2-30K 1 FVD5.5-S4 (JST) a
MR-J4-700B-RJ020 FR-BU2-15K 2 8-4NS (JST) (Note 2) b
FR-BU2-30K 1 FVD5.5-S4 (JST) a
MR-J4-11KB-RJ020 FR-BU2-15K 2 FVD8-6 (JST) c
FR-BU2-30K 1 FVD5.5-6 (JST) a
FR-BU2-55K 1 FVD14-6 (JST) d
MR-J4-15KB-RJ020 FR-BU2-15K 2 FVD8-6 (JST) c
FR-BU2-30K 1 FVD5.5-6 (JST) a
FR-BU2-55K 1 FVD14-6 (JST) d
MR-J4-22KB-RJ020 FR-BU2-55K 1 FVD14-8 (JST) d
400 V class
MR-J4-500B4-RJ020 FR-BU2-H30K 1 FVD5.5-S4 (JST) a
MR-J4-700B4-RJ020 FR-BU2-H30K 1 FVD5.5-S4 (JST) a
MR-J4-11KB4-RJ020 FR-BU2-H30K 1 FVD5.5-6 (JST) a
FR-BU2-H55K 1 FVD5.5-6 (JST) a
MR-J4-15KB4-RJ020 FR-BU2-H55K 1 FVD5.5-6 (JST) a
MR-J4-22KB4-RJ020 FR-BU2-H55K 1 FVD5.5-8 (JST) a
FR-BU2-H75K 1 FVD14-8 (JST) d
Note 1. Symbols in the applicable tool field indicate applicable tools in (5) (b) in this section.
2. Coat the crimped part with an insulation tube.
(b) Applicable tool
Symbol
Servo amplifier-side crimp terminals
Crimp terminal Applicable tool
Manufacturer Body Head Dice
a FDV5.5-S4 FDV5.5-6
YNT-1210S
JST
b 8-4NS YHT-8S
c FVD8-6 YF-1
E-4 YNE-38 DH-111
DH-121
d FVD14-6 FVD14-8
YF-1 E-4
YNE-38 DH-112 DH-122
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 36
11.3.4 Dimensions
(1) FR-BU2-(H) brake unit
FR-BU2-15K
[Unit: mm]
Rating plate
5 hole (Screw size: M4)
68 6 56 6
5 5 11
8 5
12 8
18.5 52 62 4
132.5
FR-BU2-30K/FR-BU2-H30K
[Unit: mm]
129.5
5 5918.5
Rating plate
52
2-5 hole (Screw size: M4)
12 8
5 5
11 8
5
108 6 696
FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K
[Unit: mm]
18.5
Rating plate
52 72
5
142.5
12 8
11 8
5 5
5
61586 170
2-5 hole (Screw size: M4)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 37
(2) FR-BR-(H) resistor unit
[Unit: mm]
H 3
1
H 1
3
A pp
ro x.
H 2
A pp
ro x.
H 2
D 1
H
5
2-C
Control circuit terminal
Main circuit terminal
W1 1Approx. 35 Approx. 35 C C
W 5 D
5
(Note)
(Note)
Note. Ventilation ports are provided on both sides and the top. The bottom is open.
Resistor unit W W1 H H1 H2 H3 D D1 C Approximate
mass [kg]
200 V class
FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15
FR-BR-30K 340 270 600 560 20 582 220 4 10 30
FR-BR-55K 480 410 700 620 40 670 450 3.2 12 70
400 V class
FR-BR-H30K 340 270 600 560 20 582 220 4 10 30
FR-BR-H55K 480 410 700 620 40 670 450 3.2 12 70
(3) MT-BR5-(H) resistor unit
[Unit: mm]
4-15 mounting hole
30075 75
4507.5 7.5
M6 M4
193 189
480 510
8 5
8 5
8 0
0
37 60 2110
4 0 3 0
NP
Resistor unit Resistance Approximate
mass [kg]
200 V class
MT-BR5-55K 2.0 50
400 V class
MT-BR5-H75K 6.5 70
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 38
11.4 FR-RC-(H) power regeneration converter
POINT
When using the FR-RC-(H) power regeneration converter, refer to "Power Regeneration Converter FR-RC Instruction Manual (IB(NA)66330)".
When using the FR-RC-(H) power regeneration converter, set "_ _ 0 1" in [Pr. 2]. (1) Selection
The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of 5 kW to 22 kW.
Power regeneration converter
Nominal regenerative
power [kW]
Servo amplifier
Nominal regenerative power [%]
50 75 100 1500
500
300
200
100
50
30
20
C on
tin uo
us e
ne rg
iz at
io n
tim e
[s ]
FR-RC-15K 15 MR-J4-500B-RJ020 MR-J4-700B-RJ020 MR-J4-11KB-RJ020 MR-J4-15KB-RJ020
FR-RC-30K 30
FR-RC-55K 55 MR-J4-22KB-RJ020
FR-RC-H15K 15 MR-J4-500B4-RJ020 MR-J4-700B4-RJ020
FR-RC-H30K 30 MR-J4-11KB4-RJ020 MR-J4-15KB4-RJ020
FR-RC-H55K 55 MR-J4-22KB4-RJ020
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 39
(2) Connection example
(a) 200 V class
(Note 1)
P3 P4 CN- P+
N/- P/+
(Note 4)
RD
SEReady
Alarm output
RDY output
MCMCCB
(Note 7)
(Note 5) Power supply
RX
R
SX
S
TX
T
R/L1
S/L2
T/L3
B
C
EM1
DICOM
CN3
Power factor improving AC reactor (Note 8)
Forced stop (Note 6)
Power regeneration converter FR-RC
B C
FR-RC Alarm (Note 3)
RA
Operation ready OFF
MC
ON MC
Forced stop (Note 6) SK
L11
L21
L1
L2
L3
Servo amplifier
(Note 2)
5 m or less
A
B
C
24 V DC
Phase detection terminals
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain
removed, the FR-RC will not operate.
2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5
kW or less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a supplied
regenerative resistor to the P+ and C terminals.
3. Configure the power supply circuit which turns off the magnetic contactor after detection of an alarm occurrence on the
controller side.
4. Between P3 and P4 is connected by default.
5. For the power supply specifications, refer to section 1.3.
6. Configure the circuit which shuts off main circuit power with external circuit at EM1 (Forced stop) off.
7. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
8. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual
(IB(NA)66330)".
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 40
(b) 400 V class
(Note 1)
P3 P4 CN- P+
N/- P/+
(Note 4)
RD
SEReady
Alarm output
RDY output
MCMCCB
(Note 7)
Power supply
RX
R
SX
S
TX
T
R/L1
S/L2
T/L3
B
C
EM1
DICOM
CN3
Power factor improving AC reactor (Note 8)
Forced stop (Note 6)
Power regeneration converter FR-RC-H
B C
FR-RC-H Alarm (Note 3)
RA
Operation ready OFF
MC
ON MC
Forced stop (Note 6) SK
L11
L21
L1
L2
L3
Servo amplifier
(Note 2)
5 m or less
A
B
C
24 V DCStep-down transformer
(Note 5)
Phase detection terminals
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain
removed, the FR-RC-H will not operate.
2. When using the servo amplifier of 7 kW and 5 kW, make sure to disconnect the wiring of built-in regenerative resistor
across the P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative
resistor to the P+ and C terminals.
3. Configure the power supply circuit which turns off the magnetic contactor after detection of an alarm occurrence on the
controller side.
4. Between P3 and P4 is connected by default.
5. For the power supply specifications, refer to section 1.3.
6. Configure the circuit which shuts off main circuit power with external circuit at EM1 (Forced stop) off.
7. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
8. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction
Manual (IB(NA)66330)".
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 41
(3) Dimensions
AA
A C
F K
E E
B A B
E
D
2-D hole
Rating plate
Front cover
Display panel window
Mounting foot (removable)
Mounting foot (movable)
Cooling fan
Heat generation area outside mounting dimension
[Unit: mm]
Power regeneration converter
A AA B BA C D E EE K F Approximate
mass [kg]
FR-RC-15K 270 200 450 432 195 10 10 8 3.2 87 19
FR-RC-30K 340 270 600 582 195 10 10 8 3.2 90 31
FR-RC-55K 480 410 700 670 250 12 15 15 3.2 135 55
FR-RC-H15K 340 270 600 582 195 10 10 8 3.2 90 31
FR-RC-H30K
FR-RC-H55K 480 410 700 670 250 12 15 15 3.2 135 55
(4) Mounting hole machining dimensions
The following shows mounting hole dimensions for mounting the heat generation area of the power regeneration converter outside a cabinet as measures against heat generation when the converter is mounted in an enclosed type cabinet.
[Unit: mm]
(AA)
(B A
)
b
a
(2-D hole)
(Mounting hole)
Power regeneration converter
a b D AA BA
FR-RC-15K 260 412 10 200 432
FR-RC-30K 330 562 10 270 582
FR-RC-55K 470 642 12 410 670
FR-RC-H15K 330 562 10 270 582
FR-RC-H30K
FR-RC-H55K 470 642 12 410 670
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 42
11.5 FR-CV-(H) power regeneration common converter
POINT
For details of the power regeneration common converter FR-CV-(H), refer to "FR-CV Instruction Manual (IB(NA)0600075)".
Do not supply power to the main circuit power supply terminals (L1/L2/L3) of the servo amplifier. Otherwise, the servo amplifier and FR-CV-(H) will malfunction.
Connect the DC power supply between the FR-CV-(H) and servo amplifier with correct polarity. Connection with incorrect polarity will cause a malfunction of the FR-CV-(H) and servo amplifier.
Using two or more FR-CV-(H)s will not improve regeneration capability. Two or more FR-CV-(H)s cannot be connected to the same DC power supply line.
When using the FR-CV-(H) power regeneration common converter, set "_ _ 0 1" in [Pr. 2]. 11.5.1 Model definition
The following describes what each block of a model name indicates.
Capacity
Symbol Capacity [kW]
22K 22
30K 30
37K 37
55K 55
Symbol Voltage class
H 400 V class
7.5K 7.5
11K 11
15K 15
None 200 V class
F R - -C V H 7 . 5 K
11.5.2 Selection
(1) 200 V class FR-CV power regeneration common converter can be used for the servo amplifier of 100 W to 22 kW. The following shows the restrictions on using the FR-CV.
(a) Up to six servo amplifiers can be connected to one FR-CV.
(b) FR-CV capacity [W] Total of the rated capacities of servo amplifiers connected to FR-CV [W] 2
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV.
(d) Among the servo amplifiers connected to the FR-CV, the maximum capacity should be equal to or less than the maximum connectable capacity [W].
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 43
The following table lists the restrictions.
Item
FR-CV-_
7.5K 11K 15K 22K 30K 37K 55K
Maximum number of connected servo amplifiers
6
Total capacity of connectable servo amplifiers [kW]
3.75 5.5 7.5 11 15 18.5 27.5
Total rated current of connectable servo motors [A]
33 46 61 90 115 145 215
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
When using FR-CV, always install the dedicated stand-alone reactor (FR-CVL).
Power regeneration common
converter Dedicated stand-alone
reactor
FR-CV-7.5K(-AT) FR-CVL-7.5K
FR-CV-11K(-AT) FR-CVL-11K
FR-CV-15K(-AT) FR-CVL-15K
FR-CV-22K(-AT) FR-CVL-22K
FR-CV-30K(-AT) FR-CVL-30K
FR-CV-37K FR-CVL-37K
FR-CV-55K FR-CVL-55K
(2) 400 V class
FR-CV-H power regeneration common converter can be used for the servo amplifier of 11 kW to 22 kW. The following shows the restrictions on using the FR-CV-H.
(a) Up to two servo amplifiers can be connected to one FR-CV-H.
(b) FR-CV-H capacity [W] Total of rated capacities [W] 2 of servo amplifiers connected to FR-CV-H.
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV-H.
(d) Among the servo amplifiers connected to the FR-CV-H, the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity [W].
The following table lists the restrictions.
Item FR-CV-H_
22K 30K 37K 55K
Maximum number of connected servo amplifiers
1 2
Total capacity of connectable servo amplifiers [kW]
11 15 18.5 27.5
Total rated current of connectable servo motors [A]
43 57 71 110
Maximum servo amplifier capacity [kW] 11 15 15 22
When using the FR-CV-H, always install the dedicated stand-alone reactor (FR-CVL-H).
Power regeneration common
converter Dedicated stand-alone
reactor
FR-CV-H22K(-AT) FR-CVL-H22K
FR-CV-H30K(-AT) FR-CVL-H30K
FR-CV-H37K FR-CVL-H37K
FR-CV-H55K FR-CVL-H55K
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 44
(3) Connection diagram
(a) 200 V class
MCMCCB R/L11
3-phase 200 V AC to 230 V AC
S/L21
T/L31
S2/L22
R2/L12
T2/L32
FR-CVL
MC
RA2RA1 EM1 OFF ON
(Note 1)
MC
SK
RA1 EM1
R2/L1
S2/L2
N/L-
(Note 2)
P24
SD
RDYB
RDYA
SE
P/L+ T2/L3
R/L11
S/L21
T/MC1
(Note 1)
L11
L21
P4
N-
U
V
W
(Note 1) EM1
U
V
W
CN2
FR-CV
Servo motorServo amplifier
Servo system controller
(Note 4)
(Note 5)
(Note 6)
DICOM
B
C
A RA1
24 V DC (Note 7)
24 V DC (Note 7)
(Note 3)
Note 1. Configure a sequence that will shut off main circuit power in the following.
An alarm occurred at FR-CV or the servo amplifier.
EM1 (Forced stop) is enabled.
2. For the servo amplifier, configure a sequence that will switch the servo-on after FR-CV is ready.
3. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or
less: P+ and D, 7 kW: P+ and C).
4. Configure a sequence that will stop the servo amplifier with the emergency stop input of the servo system controller if an alarm
occurs in the FR-CV. When the servo system controller does not have an emergency stop input, use the forced stop input of
the servo amplifier to stop the servo amplifier as shown in the diagram.
5. When using FR-CV, always disconnect the wiring between P3 and P4 terminals.
6. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
7. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 45
(b) 400 V class
MCMCCB R/L11
3-phase 380 V AC to 480 V AC
S/L21
T/L31
S2/L22
R2/L12
T2/L32
FR-CVL-H
MC
RA2RA1 EM1 OFF ON
(Note 1)
MC
SK
RA1 EM1
R2/L1
S2/L2
N/L-
(Note 2)
P24
SD
RDYB
RDYA
SE
P/L+ T2/L3
R/L11
S/L21
T/MC1
(Note 1)
L11
L21
P4
N-
U
V
W
(Note 1) EM1
U
V
W
CN2
FR-CV-H
Servo motorServo amplifier
Servo system controller
(Note 3)
(Note 4)
(Note 5)
DICOM
B
C
A RA1
24 V DC (Note 6)
24 V DC (Note 6)
Step-down transformer
Note 1. Configure a sequence that will shut off main circuit power in the following.
An alarm occurred at FR-CV-H or servo amplifier.
EM1 (Forced stop) is enabled.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV-H is ready.
3. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in
the FR-CV-H. When the servo system controller does not have an emergency stop input, use the forced stop input of the servo
amplifier to make a stop as shown in the diagram.
4. When using FR-CV-H, always disconnect wiring between P3 and P4 terminals.
5. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
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.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 46
(4) Selection example of wires used for wiring
POINT
Selection conditions of wire size are as follows. Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: single wire set in midair
(a) Wire size
1) Between P and P4, and between N and N- The following table indicates the connection wire size for the DC power supply (P4, N- terminals) between the FR-CV and servo amplifier.
Total of servo amplifier capacities [kW] Wire [mm2]
1 or less 2 (AWG 14) 2 3.5 (AWG 12) 5 5.5 (AWG 10) 7 8 (AWG 8)
11 14 (AWG 6) 15 22 (AWG 4) 22 50 (AWG 2)
The following table indicates the connection wire size for the DC power supply (P4, N- terminals) between the FR-CV-H and servo amplifier.
Total of servo amplifier capacities [kW] Wire [mm2]
11 8 (AWG 8)
15 8 (AWG 8)
22 14 (AWG 6)
2) Grounding
For grounding, use the wire of the size equal to or greater than that indicated in the following table, and make it as short as possible.
Power regeneration common
converter Grounding wire size
[mm2]
FR-CV-7.5K to FR-CV-15K 8 (AWG 8) FR-CV-22K/FR-CV-30K 22 (AWG 4) FR-CV-37K/FR-CV-55K 38 (AWG 2)
FR-CV-H22K/FR-CV-H30K 8 (AWG 8)
FR-CV-H37K/FR-CV-H55K 14 (AWG 6)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 47
(b) Example of the wire size selection
1) 200 V class When connecting multiple servo amplifiers, always use junction terminals for wiring to the servo amplifier terminals P4 and N-. Also, connect the servo amplifiers in the order of larger to smaller capacities.
R2/L1
S2/L2
T2/L3
R/L11
S/L21
T/MC1
P/L+
N/L-
P4
N-
Servo amplifier (15 kW)50 mm2
Total wire length: 5 m or less
First unit: total of connectable servo amplifier capacities
50 mm2 for 27.5 kW since 15 kW + 7 kW + 3.5 kW + 2.0 kW = 27.5 kW
P4
N-
P4
N-
P4
N-
22 mm2
8 mm2
2 mm2
22 mm2
8 mm2
3.5 mm2
2 mm2
Junction terminals
Wire as short as possible.
Second unit: total of connectable servo amplifier capacities
22 mm2 for 15 kW since 7 kW + 3.5 kW + 2.0 kW = 12.5 kW
Third unit: total of connectable servo amplifier capacities
8 mm2 for 7 kW since 3.5 kW + 2.0 kW = 5.5 kW
Fourth unit: total of connectable servo amplifier capacities
FR-CV-55K
Servo amplifier (7 kW)
Servo amplifier (3.5 kW)
Servo amplifier (2 kW)
(Note)
2 mm2 for 2 kW since 2.0 kW = 2.0 kW
(Note)
(Note)
Note. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5
kW or less: across P+ and D, 7 kW: across P+ and C).
2) 400 V class
When connecting two servo amplifiers of 11 kW, always use junction terminals for wiring the servo amplifier terminals P4 and N-.
R2/L1
S2/L2
T2/L3
R/L11
S/L21
T/MC1
P/L+
N/L-
P4
N-
Servo amplifier (11 kW)22 mm2
Total wire length: 5 m or less
First unit: total of connectable servo amplifier capacities 22 mm2 for 22 kW since 11 kW + 11 kW = 22 kW
8 mm2
8 mm2
8 mm2
Wire as short as possible.
Second unit: total of connectable servo amplifier capacities 8 mm2 for 11 kW since 11 kW = 11 kW
FR-CV-H55K
Servo amplifier (11 kW)
P4
N- Junction terminals
(5) Other precautions (a) When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Do not
use the power factor improving AC reactor (FR-HAL-(H)) or power factor improving DC reactor (FR- HEL-(H)).
(b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency
components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them. In this case, interference can be reduced by installing the radio noise filter (FR-BIF(-H)) or line noise filter (FR-BSF01, FR-BLF).
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 48
(c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo
amplifiers should be 5 m or less, and the wiring must be twisted. (6) Specifications
Power regeneration common converter FR-CV-_
Item
7.5K 11K 15K 22K 30K 37K 55K
Total capacity of connectable servo amplifiers
[kW] 3.75 5.5 7.5 11 15 18.5 27.5
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
O ut
pu t Total of connectable servo
motor rated currents [A] 33 46 61 90 115 145 215
Regenerative braking torque
Short-time rating Total capacity of applicable servo motors, 300% torque, 60 s (Note 1)
Continuous rating 100% torque
P ow
er s
up pl
y Rated input AC voltage/frequency 3-phase 200 V AC to 220 V AC, 50 Hz, 200 V AC to 230 V AC, 60 Hz
Permissible AC voltage fluctuation 3-phase 170 V AC to 242 V AC, 50 Hz, 170 V AC to 253 V AC, 60 Hz
Permissible frequency fluctuation 5%
Power supply capacity (Note 2)
[kVA] 17 20 28 41 52 66 100
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
E nv
iro n-
m en
t
Ambient temperature -10 C to 50 C (non-freezing)
Ambient humidity 5 %RH to 90 %RH (non-condensing)
Ambience Indoors (no direct sunlight), free from corrosive gas,
flammable gas, oil mist, dust, and dirt
Altitude, vibration resistance 1000 m or less above sea level, 5.9 m/s2
Molded-case circuit breaker or earth- leakage current breaker
30AF 30A
50AF 50A
100AF 75A
100AF 100A
125AF 125A
125AF 125A
225AF 175A
Magnetic contactor S-N20 S-T21
S-N35 S-T35
S-N50 S-T50
S-N65 S-T65
S-N80 S-T80
S-N95 S-T100
S-N125
Power regeneration common
converter FR-CV-H_
Item
22K 30K 37K 55K
Total of connectable servo amplifier capacities
[kW] 11 15 18.5 27.5
Maximum servo amplifier capacity [kW] 11 15 15 22
O ut
pu t
Total of connectable servo motor rated currents
[A] 43 57 71 110
Regenerative braking torque
Short-time rating Total capacity of applicable servo motors, 300%
torque, 60 s (Note 1)
Continuous rating 100% torque
P ow
er s
up pl
y Rated input AC voltage/frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Permissible AC voltage fluctuation 3-phase 323 V AC to 528 V AC, 50 Hz/60 Hz
Permissible frequency fluctuation 5%
Power supply capacity (Note 2)
[kVA] 41 52 66 100
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
E nv
iro n-
m en
t
Ambient temperature -10 C to 50 C (non-freezing)
Ambient humidity 5 %RH to 90 %RH (non-condensing)
Ambience Indoors (no direct sunlight), free from corrosive
gas, flammable gas, oil mist, dust, and dirt
Altitude, vibration resistance 1000 m or less above sea level, 5.9 m/s2
Molded-case circuit breaker or earth- leakage current breaker
50AF 50A
60AF 60A
100AF 75A
100AF 100A
Magnetic contactor S-N25 S-T25
S-N35 S-T35
S-N50 S-T50
S-N65 S-T65
Note 1. This is the time when the protective function of the FR-CV-(H) is activated. The protective function of the servo amplifier is
activated in the time indicated in section 10.1. 2. The specified value is the power supply capacity of FR-CV-(H). The total power supply capacities of the connected servo
amplifiers are actually required.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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11.6 Junction terminal block PS7DW-20V14B-F (recommended)
(1) Usage Always use the junction terminal block PS7DW-20V14B-F (Toho Technology) with the option cable (MR- J2HBUS_M). A connection example is shown below.
Junction terminal block PS7DW-20V14B-F
CN3 MR-J2HBUS_M
Servo amplifier
Cable clamp (AERSBAN-ESET)
Ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN- ESET). For the use of the cable clamp fitting, refer to section 11.14, (2) (c).
(2) Connection of MR-J2HBUS_M cable and junction terminal block
LG 1
2
DOCOM
MO1
3
4
LZ 8
LB 7
9
SD Shell
(Note) MR-J2HBUS_M
5
6
10DICOM
DICOM
LA
LG 11
12
MBR
MO2
13
14
LZR 18
LBR 17
19
15
16
20EM1
LAR
Shell Shell Shell
1
2
3
4
8
7
9
5
6
10
11
12
13
14
18
17
19
15
16
20
1
2
3
4
8
7
9
5
6
10
11
12
13
14
18
17
19
15
16
20
1
2
3
4
8
7
9
5
6
10
11
12
13
14
18
17
19
15
16
20
LG
DOCOM
MO1
LZ
LB
SD
DICOM
DICOM
LA
LG
MBR
MO2
LZR
LBR
EM1
LAR
E
Servo amplifier
CN3
Junction terminal block PS7DW-20V14B-F
Connector: 52316-2019 (Molex) Shell kit: 52370-2070 (Molex)
CN Terminal block
1
2
3
4
8
7
9
5
6
10
11
12
13
14
18
17
19
15
16
20
DBDB
Note. The symbol indicating cable length is put in _.
05: 0.5 m
1: 1 m
5: 5 m
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 50
(3) Dimensions of the junction terminal block
[Unit: mm]
M3 6L
M3 5L
36 .5
27 .8
18 .8
7.62
44.11
54 63
4.5
4. 5
5
4 60509.
3 27
TB.E (6)
1.426.2
11.7 MR Configurator
POINT
For using MR Configurator with MR-J4-_B_-RJ020 servo amplifier, the restrictions apply to the MR-J2S-_B_ servo amplifier. Refer to section 11.7.2 for details. When using MR Configurator (MRZJW3-SETUP161E) with an operating system of Windows Vista, Windows 7, Windows 8, and Windows 8.1, refer to section 11.7.3 (2) and (3).
MR Configurator (MRZJW3-SETUP161E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. 11.7.1 Specifications
Item Description Communication signal RS-232C Baud rate [bps] 57600/38400/19200/9600
Monitor Batch display, high speed display, graph display (Minimum resolution changes with the processing speed of the personal computer.)
Alarm Alarm display, alarm history, alarm occurrence time
Diagnosis Digital I/O, no motor rotation, total power-on time, software No., servo motor information (Note 1), tuning data, ABS data display, Axis name setting.
Parameter Parameter setting, turning, change list, detailed information Test operation function (Note 2) JOG operation, positioning operation, DO forced output, and program operation
Advanced function (Note 3) Machine analyzer
File operation Data read, save, print Others Automatic demo, help display
Note 1. The HG series servo motor information will not be displayed. 2. The motor-less operation using MR Configurator is not available. To use motor-less operation, set "_ 1 _ _" in
[Pr. 24]. (Refer to section 4.5.2.) 3. Machine simulation and gain search functions are not available.
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11.7.2 Additional instructions
Item Description Display
Restrictions
MR-J4-_B_-RJ020 MR-J2S-_B_
Monitor Batch display Batch monitor display
Regardless of the [Pr. 7] setting, the display of the cumulative command pulses and command pulse frequency is as follows.
When the servo motor rotation direction is forward rotation (CCW), the + sign is indicated. When the servo motor rotation direction is reverse rotation (CW), the - sign is indicated.
[Pr. 7] setting affects cumulative command pulses and command pulse frequency, and the display is as follows. When "0" is set in [Pr. 7].
When the servo motor rotation direction is forward (CCW) due to increase in the positioning address, the + sign is indicated. When the servo motor rotation direction is reverse (CW) due to decrease in the positioning address, the - sign is indicated.
When "1" is set in [Pr. 7].
When the servo motor rotation direction is reverse (CW) due to increase in the positioning address, the + sign is indicated. When the servo motor rotation direction is forward (CCW) due to decrease in the positioning address, the - sign is indicated.
High speed display
High speed monitor display
Alarm At alarm occurrence
Data batch display at alarm
occurrence
Test operation
Positioning operation
Positioning operation
Regardless of the [Pr. 7] setting, the operation is as follows.
Click "Forward" changes the servo motor rotation direction to forward (CCW). Click "Reverse" changes the servo motor rotation direction to reverse (CW).
MR-J2S-700B or less The function operates as follows by the [Pr. 7] setting. When "0" is set in [Pr. 7].
Click "Forward" changes the servo motor rotation direction to forward (CCW). Click "Reverse" changes the servo motor rotation direction to reverse (CW).
When "1" is set in [Pr. 7].
Click "Forward" changes the servo motor rotation direction to reverse (CW). Click "Reverse" changes the servo motor rotation direction to forward (CCW).
DO forced output
DO forced output MR-J4-11KB-RJ020 or more/MR-J4- 11KB4-RJ020 or more To forcibly output the output signal CN3-13 pin, turn on/off the CON2-3 pin of the DO forced output screen. To forcibly output the output signal CN3-15 pin, turn on/off the CON2-4 pin of the DO forced output screen.
MR-J2S-11KB or more/MR-J2S- 11KB4 or more To forcibly output the output signal CON2-3 pin, turn on/off the CON2-3 pin of the DO forced output screen. To forcibly output the output signal CON2-4 pin, turn on/off the CON2-4 pin of the DO forced output screen.
Diagnosis DI/DO display DI/DO batch display
MR-J4-11KB-RJ020 or more/MR-J4- 11KB4-RJ020 or more The CON2-2 pin of the DI/DO batch display screen displays the status of the input signal CN3-20 pin. The CON2-3 pin of the DI/DO batch display screen displays the status of the output signal CN3-13 pin. The CON2-4 pin of the DI/DO batch display screen displays the status of the output signal CN3-15 pin.
MR-J2S-11KB or more/MR-J2S- 11KB4 or more The CON2-2 pin of the DI/DO batch display screen displays the status of the input signal CN2-2 pin. The CON2-3 pin of the DI/DO batch display screen displays the status of the output signal CN2-3 pin. The CON2-4 pin of the DI/DO batch display screen displays the status of the output signal CN2-4 pin.
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11.7.3 System requirements
(1) Components To use MR Configurator (MRZJW3-SETUP161E), the following components are required in addition to the servo amplifier and servo motor.
Model Description
(Note) Personal computer
IBM PC/AT compatible where the English version of Windows 95, Windows 98, Windows Me, Windows NT Workstation 4.0, Windows 2000 Professional Windows XP Professional, Windows XP Home Edition, Windows Vista Home Basic, Windows Vista Home Premium, Windows Vista Business, Windows Vista Ultimate, Windows Vista Enterprise, Windows 7 Starter, Windows 7 Home Premium, Windows 7 Professional, Windows 7 Ultimate, Windows 7 Enterprise, Windows 8 Enterprise, Windows 8 Pro, Windows 8, Windows 8.1 Enterprise, Windows 8.1 Pro, Windows 8.1 operates Processor: Pentium 133 MHz or more (Windows 95, Windows 98, Windows NT Workstation 4.0,
Windows 2000 Professional) Pentium 150 MHz or more (Windows Me) Pentium 300 MHz or more (Windows XP Professional, Windows XP Home Edition)
Memory: 16 MB or more (Windows 95), 24 MB or more (Windows 98) 32 MB or more (Windows Me, Windows NT Workstation 4.0, Windows 2000 Professional) 128 MB or more (Windows XP Professional, Windows XP Home Edition)
Free hard disk space: 60 MB or more Serial port used
OS
Windows 95, Windows 98, Windows Me, Windows NT Workstation 4.0, Windows 2000 Professional, Windows XP Professional, Windows XP Home Edition, Windows Vista Home Basic, Windows Vista Home Premium, Windows Vista Business, Windows Vista Ultimate, Windows Vista Enterprise, Windows 7 Starter, Windows 7 Home Premium, Windows 7 Professional, Windows 7 Ultimate, Windows 7 Enterprise, Windows 8 Enterprise, Windows 8 Pro, Windows 8, Windows 8.1 Enterprise, Windows 8.1 Pro, Windows 8.1 (English version)
Display With 800 600 or more resolution and 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. Do not use a serial mouse.
Printer Connectable with the above personal computer.
Communication cable MR-CPCATCBL3M and MR-J4T20CH00 Note. On some personal computers, MR Configurator may not run properly.
(2) Warnings for installation and startup
POINT
For installation and startup of MR Configurator (MRZJW3-SETUP161E), log in as a user having Administrator authority (for computer control).
The security functions of Windows Vista, Windows 7, Windows 8, and Windows 8.1 are greatly enhanced compared to the conventional operating system. Therefore, when you use MR Configurator (MRZJW3-SETUP161E) with an operating system of Windows Vista, Windows 7, Windows 8, and Windows 8.1, a warning window will be displayed at the time of installation and startup for MR Configurator. Even if the warning window is displayed, MR Configurator will operate properly. For details of warning windows, refer to the following.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(a) For Windows Vista
On installation, the following "User Account Control" window is displayed. In this case, click "Allow". After that, installation will start normally.
Click
When you start MR Configurator, the "User Account Control" window is displayed in the same way as with installation. In this case, click "Allow". After that, MR Configurator will start normally.
(b) For Windows 7, Windows 8, and Windows 8.1
On installation, the following "User Account Control" window is displayed. In this case, click "Yes". After that, installation will start normally.
Click
When you start MR Configurator, The same "User Account Control" window is displayed in the same way as with installation. In this case, click "Yes". After that, MR Configurator will start normally.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(3) Help
POINT
We have checked that the Windows Help program (WinHlp32.exe) operates normally with the MR Configurator (MRZJW3-SETUP161E) version F2.
Installing the Windows Help program (WinHlp32.exe) enables you to use Windows Help. Download the Windows Help program (WinHlp32.exe) from the Microsoft download site. When you start help with MR Configurator, "Windows Help and support" window is displayed. From this window, you can also access to the web site for download.
(4) Connection with the servo amplifier
CN30
Personal computer
Junction cable for RS-232C MR-J4T20CH00 (option)
Personal computer communication cable (RS-232C cable) MR-CPCATCBL3M (option)
To RS-232C connector
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 55
11.7.4 Precautions for using RS-232C 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
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11.8 Battery
POINT
Refer to app. 4 and 5 for battery transportation and the new EU Battery Directive.
This battery is used to construct an absolute position detection system. Refer to chapter 12 for construction of the absolute position detection system. 11.8.1 Selection of battery
The available batteries vary depending on servo amplifiers. Select a required battery. (1) Applications of the batteries
Model Name Application Built-in battery
MR-BAT6V1SET Battery For absolute position data backup MR-BAT6V1
MR-BAT6V1BJ Battery for junction battery cable For transporting a servo motor and machine apart
MR-BT6VCASE Battery case For absolute position data backup of multi-axis servo motor
MR-BAT6V1
(2) Combinations of batteries and the servo amplifier
Model MR-J4-_B_(-RJ020)
MR-BAT6V1SET MR-BAT6V1BJ MR-BT6VCASE
11.8.2 MR-BAT6V1SET battery
POINT
For the specifications and year and month of manufacture of the built-in MR- BAT6V1 battery, refer to section 11.8.5.
(1) Parts identification and dimensions
[Unit: mm]
Connector for servo amplifier
Case
Rating plate
28 69.3
38 .5
Mass: 34 [g] (including MR-BAT6V1 battery)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 57
(2) Battery mounting
Connect as follows.
CN2 CN4
Servo amplifier
Encoder cable
Servo motor MR-BAT6V1SET
(3) Battery replacement procedure
WARNING
Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns 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 Battery warning]. However, the absolute position data will not be erased.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(a) Battery installation and removal procedure
1) Installation procedure
POINT
For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
Install a battery, and insert the plug into the CN4 connector.
Install a battery, and pass the battery cable through a gap between the battery and servo amplifier.
Install a battery, and insert the plug into the CN4 connector.
For the servo amplifier with a battery holder on the bottom
For the servo amplifier with a battery holder on the front
2) Removal procedure
CAUTION Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery.
While pressing the lock release lever, pull out the connector.
While pressing the lock release lever, slide the battery case toward you.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(4) Replacement procedure of the built-in battery
When the MR-BAT6V1SET reaches the end of its life, replace the MR-BAT6V1 battery in the MR- BAT6V1SET.
Cover
Locking part
1) While pressing the locking part, open the cover.
MR-BAT6V1
2) Replace the battery with a new MR-BAT6V1.
Projection
3) Press the cover until it is fixed with the projection of the locking part to close the cover.
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11.8.3 MR-BAT6V1BJ battery for junction battery cable
POINT
MR-BAT6V1BJ is compatible only with HG series servo motors.
MR-BAT6V1BJ cannot be used for fully closed loop system.
(1) Parts identification and dimensions
[Unit: mm]
Orange: Connector for servo amplifier
Black: Connector for branch cable
Case
34.8 69.3
38 .5
Rating plate
Mass: 66 [g]
(2) Year and month of manufacture of battery
Production year and month are indicated in a serial number (SERIAL) on the rating plate. The second digit from left in the number indicates the first digit of the year, the third digit from left indicates a month (Oct: X, Nov: Y, Dec.: Z). For November 2013, the serial is like, "SERIAL: _ 3Y _ _ _ _ _ _".
(3) Specification list
Item Description
Battery pack 2CR17335A
2CR17335A (CR17335A 2 pcs. connected 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. 4 for details.)
Operating humidity and storage humidity
5 %RH to 90 %RH (non-condensing)
(Note) Battery life 5 years from date of manufacture
Mass [g] 66
Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from
the production date regardless of the connection status.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(4) Battery mounting
Connect the MR-BAT6V1BJ using the MR-BT6VCBL03M junction battery cable as follows.
CN2 CN4
Servo amplifier
Orange: Connector for servo amplifier Black: Connector for branch cable
Encoder cable
HG series servo motors
MR-BT6VCBL03M
MR-BAT6V1BJ
(5) Transporting a servo motor and machine apart
POINT
Be sure to connect the connector for branch cable connection (black) when transporting a servo motor and machine apart. When the connector for branch cable connection (black) is not connected to the MR-BT6VCBL03M junction battery cable, no alarm will occur. However, the absolute position data will be erased when you transport a servo motor and machine apart.
When you transport a servo motor and machine apart, disconnect only CN2 and CN4 of the servo amplifier. When other connectors or cables are disconnected between the servo motor and battery, the absolute position data will be deleted.
CN2 CN4
Servo amplifier
Orange: Connector for servo amplifier Black: Connector for branch cable
Encoder cableMR-BT6VCBL03M
MR-BAT6V1BJ HG series servo motors
Disconnect only CN2 and CN4.
11. OPTIONS AND PERIPHERAL EQUIPMENT
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(6) Battery replacement procedure
WARNING
Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Then, check the voltage between P+ and N- with a voltage tester or others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
CAUTION
The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.
The battery built in MR-BAT6V1BJ cannot be replaced. Do not disassemble the MR-BAT6V1BJ. Otherwise, it may cause a malfunction.
POINT
To replace the MR-BAT6V1BJ, follow the procedures given in this section to avoid erasing absolute position data.
Before replacing batteries, check that the new battery is within battery life.
For MR-BAT6V1BJ, the battery can be replaced with the control circuit power supply off.
(a) Battery installation and removal procedure
The battery installation and removal procedure to the servo amplifier are the same as for the MR- BAT6V1SET battery. Refer to (3) of section 11.8.2.
(b) Preparation for replacing MR-BAT6V1BJ
Prepare a new MR-BAT6V1BJ as follows.
Model Number and use Remark
MR-BAT6V1BJ 1 for replacement Battery within two years from the production date.
(c) Procedures of replacing MR-BAT6V1BJ
Replace the product as follows regardless of on/off of the control circuit power supply. When it is replaced with other procedures, the absolute position data will be erased.
1) Remove the connector for branch cable connection (black) of the old MR-BAT6V1BJ.
MR-BT6VCBL03M
CN4
CN2
Servo amplifier
Old MR-BAT6V1BJ New MR-BAT6V1BJ
Orange
Orange
Black
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 63
2) Connect the connector for branch cable connection (black) of the new MR-BAT6V1BJ.
MR-BT6VCBL03M
CN4
CN2
Servo amplifier
Old MR-BAT6V1BJ New MR-BAT6V1BJ
Orange
Orange
Black
3) Remove the connector for servo amplifier (orange) of the old MR-BAT6V1BJ. When the control circuit power supply is on, performing 3) without [AL. 9F Battery warning] will trigger [AL. 9F].
MR-BT6VCBL03M
CN4
CN2
Servo amplifier
Old MR-BAT6V1BJ New MR-BAT6V1BJ
Orange
Orange
Black
4) Remove the old MR-BAT6V1BJ from servo amplifier and mount the new MR-BAT6V1BJ. When the control circuit power supply is on, [AL. 9F] will occur after 3).
MR-BT6VCBL03M
CN4
CN2
Servo amplifier
New MR-BAT6V1BJ
Old MR-BAT6V1BJ Orange
Orange BlackBlack
5) Mount the connector for servo amplifier (orange) of the new MR-BAT6V1BJ. When the control circuit power supply is on, [AL. 9F] will be canceled.
MR-BT6VCBL03M
CN4
CN2
Servo amplifier
New MR-BAT6V1BJ
Orange
Black
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 64
11.8.4 MR-BT6VCASE battery case
POINT
The battery unit consists of an MR-BT6VCASE battery case and five MR- BAT6V1 batteries.
For the specifications and year and month of manufacture of MR-BAT6V1 battery, refer to section 11.8.5.
MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. A battery case does not have any batteries. Please prepare MR-BAT6V1 batteries separately. (1) The number of connected servo motors
One MR-BT6VCASE holds absolute position data up to eight axes servo motors. Servo motors in the incremental system are included as the axis Nos.
(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 - 65
(3) Battery mounting
POINT
One battery unit can be connected to up to 8-axis servo motors. Servo motors in the incremental system are included as the axis Nos.
(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 - 66
(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 Battery warning]. However, the absolute position data will not be erased.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 67
(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 - 68
b) Mounting MR-BAT6V1
BAT1
Securely mount a MR-BAT6V1 to the BAT1 holder.
CON1
Click
Insert the MR-BAT6V1 connector mounted on BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect 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 - 69
c) Assembly of the case
After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 Nm.
POINT
When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.
Threads
d) Precautions for removal of battery The connector attached to the MR-BAT6V1 battery has the lock release lever. When removing the connector, pull out the connector while pressing the lock release lever.
3) Battery cable removal
CAUTION Pulling out the connector of the MR-BT6V1CBL and the MR-BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the MR-BT6V1CBL or MR-BT6V2CBL.
While pressing the lock release lever, pull out the connector.
Battery cable
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 70
11.8.5 MR-BAT6V1 battery
The MR-BAT6V1 battery is a battery for replacing 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 a 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. connected 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. 4 for details.
Operating humidity and storage humidity
5 %RH to 90 %RH (non-condensing)
(Note) Battery life 5 years from date of manufacture
Mass [g] 34
Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from
the production date regardless of the connection status.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 71
11.9 Selection example of wires
POINT
To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 6 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 Wiring length: 30 m or less
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
5) Power regeneration converter lead
Power regeneration converter
N-
3) Regenerative option lead
Regenerative option
2) Control circuit power supply lead
C
P+
L1
L2
L3
L11
L21
1) Main circuit power supply lead
Power supply Servo amplifier
U
V
W
M
4) Servo motor power supply lead
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 72
(1) Example of selecting the wire sizes
Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following shows the wire size selection example.
(a) 200 V class
Table 11.1 Wire size selection example (HIV wire)
Servo amplifier
Wire [mm2] (Note 1)
1) L1/L2/L3/ 2) L11/L21 3) P+/C 4) U/V/W/
(Note 3)
MR-J4-10B-RJ020
MR-J4-20B-RJ020
MR-J4-40B-RJ020 1.25 to 2 (AWG 16 to 14) (Note 4)
AWG 18 to 14 (Note 4) MR-J4-60B-RJ020 2 (AWG 14)
2 (AWG 14) MR-J4-70B-RJ020
MR-J4-100B-RJ020
MR-J4-200B-RJ020 AWG 16 to 10
MR-J4-350B-RJ020 3.5 (AWG 12)
MR-J4-500B-RJ020 (Note 2)
5.5 (AWG 10): a
1.25 (AWG 16): a 2 (AWG 14): d (Note 4)
2 (AWG 14): c
2 (AWG 14): c 3.5 (AWG 12): a 5.5 (AWG 10): a
MR-J4-700B-RJ020 (Note 2)
8 (AWG 8): b
2 (AWG 14): c 3.5 (AWG 12): a 5.5 (AWG 10): a 8 (AWG 8): b
MR-J4-11KB-RJ020 (Note 2)
14 (AWG 6): f
1.25 (AWG 16): c 2 (AWG 14): c
3.5 (AWG 12): g 14 (AWG 6): f 8 (AWG 8): k
MR-J4-15KB-RJ020 (Note 2)
22 (AWG 4): h 5.5 (AWG 10): g 22 (AWG 4): h
MR-J4-22KB-RJ020 (Note 2)
38 (AWG 2): i 5.5 (AWG 10): j 38 (AWG 2): i
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2)
in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the
terminal block.
3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
connecting to the servo motor, refer to each servo motor instruction manual.
4. Be sure to use the size of 2 mm2 when corresponding to the IEC/EN/UL/CSA standard.
Use wires (5)) of the following sizes with the power regeneration converter (FR-RC).
Model Wire [mm2]
FR-RC-15K 14 (AWG 6)
FR-RC-30K 14 (AWG 6)
FR-RC-55K 22 (AWG 4)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 73
(b) 400 V class
Table 11.2 Wire size selection example (HIV wire)
Servo amplifier Wire [mm2] (Note 1)
1) L1/L2/L3/ 2) L11/L21 3) P+/C 4) U/V/W/
(Note 3)
MR-J4-60B4-RJ020 MR-J4-100B4-RJ020
2 (AWG 14) 1.25 to 2 (AWG 16 to 14) (Note 4)
2 (AWG 14) AWG 16 to 14 MR-J4-200B4-RJ020 MR-J4-350B4-RJ020 MR-J4-500B4-RJ020 (Note 2)
2 (AWG 14): b 1.25 (AWG 16): a 2 (AWG 14): c (Note 4)
2 (AWG 14): b 3.5 (AWG 12): a
MR-J4-700B4-RJ020 (Note 2)
3.5 (AWG 12): a 5.5 (AWG 10): a
MR-J4-11KB4-RJ020 (Note 2)
5.5 (AWG 10): d 1.25 (AWG 16): b 2 (AWG 14): b (Note 4)
2 (AWG 14): f 8 (AWG 8): g
MR-J4-15KB4-RJ020 (Note 2)
8 (AWG 8): g 3.5 (AWG 12): d
MR-J4-22KB4-RJ020 (Note 2)
14 (AWG 6): i 3.5 (AWG 12): e 14 (AWG 6): i
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2)
in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the
terminal block.
3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
connecting to the servo motor, refer to "Servo Motor Instruction Manual (Vol. 3)".
4. Be sure to use the size of 2 mm2 when corresponding to the IEC/EN/UL/CSA standard.
Use wires (5)) of the following sizes with the power regeneration converter (FR-RC-H).
Model Wire [mm2]
FR-RC-H15K 14 (AWG 6) FR-RC-H30K
FR-RC-H55K
(c) 100 V class
Table 11.3 Wire size selection example (HIV wire)
Servo amplifier
Wire [mm2]
1) L1/L2/ 2) L11/L21 3) P+/C 4) U/V/W/
(Note 1)
MR-J4-10B1-RJ020
2 (AWG 14) 1.25 to 2 (AWG 16 to 14) (Note 2)
2 (AWG 14) AWG 18 to 14 (Note 4)
MR-J4-20B1-RJ020
MR-J4-40B1-RJ020
Note 1. 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)".
2. Be sure to use the size of 2 mm2 when corresponding to the IEC/EN/UL/CSA standard.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 74
(2) Selection example of crimp terminals
(a) 200 V class
Symbol Servo amplifier-side crimp terminals
(Note 2) Crimp terminal
Applicable tool Manufacturer
Body Head Dice
a FVD5.5-4 YNT-1210S
JST
b (Note 1) 8-4NS YHT-8S c FVD2-4
YNT-1614
d FVD2-M3 e FVD1.25-M3 YNT-2216
f FVD14-6 YF-1 YNE-38 DH-122 DH-112
g FVD5.5-6 YNT-1210S
h FVD22-6 YF-1 YNE-38 DH-123 DH-113
i FVD38-8 YF-1 YNE-38 DH-124 DH-114
j FVD5.5-8 YNT-1210S
k FVD8-6 YF-1 E-4
YNE-38 DH-121 DH-111
Note 1. Coat the crimping part with an insulation tube.
2. Some crimp terminals may not be mounted depending on their sizes. Make sure to use the
recommended ones or equivalent ones.
(b) 400 V class
Symbol
Servo amplifier-side crimp terminals
Manufacturer Crimp terminal (Note)
Applicable tool
Body Head Dice
a FVD5.5-4 YNT-1210S
JST
b FVD2-4 YNT-1614
c FVD2-M3
d FVD5.5-6 YNT-1210S
e FVD5.5-8 YNT-1210S
f FVD2-6 YNT-1614
g FVD8-6
YF-1 YNE-38
DH-121 DH-111 h FVD8-8
i FVD14-8 DH-122 DH-112
Note. Some crimp terminals may not be mounted depending on their sizes. Make sure to use the
recommended ones or equivalent ones.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 75
(3) Wires for cables
When fabricating a cable, use the wire models given in the following table or equivalent.
Table 11.4 Wires for option cables
Type Model Length
[m]
Core size
[mm2]
Number of core
Characteristics of one core (Note 2)
Overall
diameter
[mm]
Wire model Structure [Wires/
mm]
Conductor
resistance
[/km]
Insulator
OD
d [mm]
(Note 1)
SSCNET cable
MR-J2HBUS_M 0.5 to 5 0.08
20 (10
pairs) 7/0.127
222 or less
0.38 6.1 UL20276 AWG#28 10pair (cream) MR-J2HBUS_M-A
Note 1. d is as shown below.
d
InsulatorConductor
2. Standard OD. Max. OD is about 10 greater.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 76
11.10 Molded-case circuit breakers, fuses, magnetic contactors
CAUTION
To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed.
Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
(1) For main circuit power supply
Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.
Servo amplifier
Molded-case circuit breaker (Note 1, 4) Fuse
Magnetic contactor (Note 2)
Frame, rated current Voltage AC
[V] Class Current [A]
Voltage AC [V]
Power factor improving reactor is
not used
Power factor improving reactor is
used
MR-J4-10B-RJ020 30 A frame 5 A 30 A frame 5 A
240 T
10
300
S-N10 S-T10
MR-J4-20B-RJ020 30 A frame 5 A 30 A frame 5 A
MR-J4-40B-RJ020 30 A frame 10 A 30 A frame 5 A 15
MR-J4-60B-RJ020 30 A frame 15 A 30 A frame 10 A
20 MR-J4-70B-RJ020 30 A frame 15 A 30 A frame 10 A
MR-J4-100B- RJ020
30 A frame 15 A 30 A frame 10 A
MR-J4-200B- RJ020
30 A frame 20 A 30 A frame 20 A 40 S-N20
(Note 3) S-T21
MR-J4-350B- RJ020
30 A frame 30 A 30 A frame 30 A 70 S-N20 S-T21
MR-J4-500B- RJ020
50 A frame 50 A 50 A frame 50 A 125 S-N35 S-T35
MR-J4-700B- RJ020
100 A frame 75 A 60 A frame 60 A 150 S-N50 S-T50 MR-J4-11KB-
RJ020 100 A frame 100 A 100 A frame 100 A 200
MR-J4-15KB- RJ020
125 A frame 125 A 125 A frame 125 A 250 S-N65 S-T65
MR-J4-22KB- RJ020
225 A frame 175 A 225 A frame 175 A 350 S-N95 S-T100
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 77
Servo amplifier
Molded-case circuit breaker (Note 1, 4) Fuse
Magnetic contactor (Note 2)
Frame, rated current Voltage AC
[V] Class Current [A]
Voltage AC [V]
Power factor improving reactor is
not used
Power factor improving reactor is
used
MR-J4-60B4- RJ020
30 A frame 5 A 30 A frame 5 A
480 T
10
600
S-N10 S-T10
MR-J4-100B4- RJ020
30 A frame 10 A 30 A frame 5 A 15
MR-J4-200B4- RJ020
30 A frame 15 A 30 A frame 10 A 25
MR-J4-350B4- RJ020
30 A frame 20 A 30 A frame 15 A 35 S-N20 (Note 3) S-T21
MR-J4-500B4- RJ020
30 A frame 20 A 30 A frame 20 A 50
MR-J4-700B4- RJ020
30 A frame 30 A 30 A frame 30 A 65 S-N20 S-T21
MR-J4-11KB4- RJ020
50 A frame 50 A 50 A frame 50 A 100 S-N25 S-T35
MR-J4-15KB4- RJ020
60 A frame 60 A 60 A frame 60 A 150 S-N35 S-T35
MR-J4-22KB4- RJ020
100 A frame 100 A 100 A frame 100 A 175 S-N50 S-T50
MR-J4-10B1- RJ020
30 A frame 5 A 30 A frame 5 A
240 T
10
300 S-N10 S-T10
MR-J4-20B1- RJ020
30 A frame 10 A 30 A frame 10 A 15
MR-J4-40B1- RJ020
30 A frame 15 A 30 A frame 10 A 20
Note 1. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 6.
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of the
contact) of 80 ms or less.
3. S-N18 can be used when an auxiliary contact is not required.
4. 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-J4-10B-RJ020
200 to 240 3-phase
MMP-T32
240
1.6
50
MR-J4-20B-RJ020 2.5
MR-J4-40B-RJ020 4
MR-J4-60B-RJ020 6.3
MR-J4-70B-RJ020 6.3
MR-J4-100B-RJ020 8
MR-J4-200B-RJ020 18
MR-J4-350B-RJ020 25 25
MR-J4-500B-RJ020 32
MR-J4-60B4-RJ020
380 to 480 3-phase 480Y/277
2.5
50
MR-J4-100B4-RJ020 4
MR-J4-200B4-RJ020 8
MR-J4-350B4-RJ020 13
MR-J4-500B4-RJ020 18
MR-J4-700B4-RJ020 25 25
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 78
(2) For control circuit
When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.
Servo amplifier Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-10B-RJ020
30 A frame 5 A 240 1 300 1 250
MR-J4-20B-RJ020
MR-J4-40B-RJ020
MR-J4-60B-RJ020
MR-J4-70B-RJ020
MR-J4-100B-RJ020
MR-J4-200B-RJ020
MR-J4-350B-RJ020
MR-J4-500B-RJ020
MR-J4-700B-RJ020
MR-J4-11KB-RJ020
MR-J4-15KB-RJ020
MR-J4-22KB-RJ020
MR-J4-60B4-RJ020
30 A frame 5 A 480 1 600 1 600
MR-J4-100B4-RJ020
MR-J4-200B4-RJ020
MR-J4-350B4-RJ020
MR-J4-500B4-RJ020
MR-J4-700B4-RJ020
MR-J4-11KB4- RJ020
MR-J4-15KB4- RJ020
MR-J4-22KB4- RJ020
MR-J4-10B1-RJ020
30 A frame 5 A 240 1 300 1 250 MR-J4-20B1-RJ020
MR-J4-40B1-RJ020 Note. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 6.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 79
11.11 Power factor improving DC reactor
The following shows the advantages of using the power factor improving DC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to about 85%.
As compared to the power factor improving AC reactor (FR-HAL-(H)), it decreases the loss. When connecting the power factor improving DC reactor to the servo amplifier, always disconnect the wiring between P3 and P4. If they remain connected, the effect of the power factor improving DC reactor is not produced. When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10 cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side. (1) 200 V class
2-d mounting hole (Varnish is removed from right mounting hole (face and back side).) (Note 1)
W 2 W1
H
D or less
P P1
Fig. 11.1
4-d mounting hole (Varnish is removed from front right mounting hole (face and back side).) (Note 1)
W 2 W1
H
D1
D3
D or less
D2
P P1
Fig. 11.2
D or less D3 or less
W 2 W1
D1 2 D2
H
2
4-d mounting hole (Note 1)
Fig. 11.3
(Note 2)
Servo amplifier
P3
P4
FR-HEL
5 m or less
Note 1. Use this for grounding.
2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 80
Servo amplifier Power factor improving DC
reactor Dimensions
Dimensions [mm] Terminal
size Mass [kg]
Wire [mm2] (Note 2) W W1 H
D
(Note 1) D1 D2 D3 d
MR-J4-10B-RJ020
MR-J4-20B-RJ020 FR-HEL-0.4K
Fig. 11.1
70 60 71 61
21
M4 M4 0.4
2 (AWG 14)
MR-J4-40B-RJ020 FR-HEL-0.75K 85 74 81 61 21 M4 M4 0.5
MR-J4-60B-RJ020
MR-J4-70B-RJ020 FR-HEL-1.5K 85 74 81 70 30 M4 M4 0.8
MR-J4-100B-RJ020 FR-HEL-2.2K 85 74 81 70 30 M4 M4 0.9
MR-J4-200B-RJ020 FR-HEL-3.7K
Fig. 11.2
77 55 92 82 66 57 37 M4 M4 1.5
MR-J4-350B-RJ020 FR-HEL-7.5K 86 60 113 98 81 72 43 M4 M5 2.5 3.5 (AWG 12)
MR-J4-500B-RJ020 FR-HEL-11K 105 64 133 112 92 79 47 M6 M6 3.3 5.5 (AWG 10)
MR-J4-700B-RJ020 FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 8 (AWG 8)
MR-J4-11KB-RJ020 FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 14 (AWG 6)
MR-J4-15KB-RJ020 FR-HEL-22K 105 64 93 175 117 104 115
(Note 1) M6 M10 5.6 22 (AWG 4)
MR-J4-22KB-RJ020 FR-HEL-30K Fig. 11.3 114 72 100 200 125 101 135
(Note 1) M6 M10 7.8 38 (AWG 2)
Note 1. Maximum dimensions. The dimension varies depending on the input/output lines.
2. Selection conditions of wire size are as follows.
Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Construction condition: single wire set in midair
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 81
(2) 400 V class
W1 D2 W 2.5
H
2 .5
D or less
(D3)
D1 1
4-d mounting hole (Note 1)
P P1
Fig. 11.4
W1 W 2.5
D2 D1 1
H
2 .5
P P1
D or less
(D3)
4-d mounting hole (Note 1)
Fig. 11.5
H
2 .5
W1 W 2.5
D2 D1 1
P P1
D or less
(D3)
4-d mounting hole (Note 1)
6
Fig. 11.6
(Note 2)
Servo amplifier
P3
P4
FR-HEL-H
5 m or less
Note 1. Use this for grounding.
2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 82
Servo amplifier Power factor improving DC
reactor Dimensions
Dimensions [mm] Terminal
size Mass [kg]
Wire [mm2] (Note) W W1 H D D1 D2 D3 d
MR-J4-60B4-RJ020 FR-HEL-H1.5K
Fig. 11.4
66 50 100 80 74 54 37 M4 M3.5 1.0 2 (AWG 14)
MR-J4-100B4-RJ020 FR-HEL-H2.2K 76 50 110 80 74 54 37 M4 M3.5 1.3 2 (AWG 14)
MR-J4-200B4-RJ020 FR-HEL-H3.7K 86 55 120 95 89 69 45 M4 M4 2.3 2 (AWG 14)
MR-J4-350B4-RJ020 FR-HEL-H7.5K Fig. 11.5
96 60 128 105 100 80 50 M5 M4 3.5 2 (AWG 14)
MR-J4-500B4-RJ020 FR-HEL-H11K 105 75 137 110 105 85 53 M5 M5 4.5 3.5 (AWG 12)
MR-J4-700B4-RJ020 FR-HEL-H15K
Fig. 11.6
105 75 152 125 115 95 62 M5 M6 5.0 5.5 (AWG 10)
MR-J4-11KB4-RJ020 FR-HEL-H15K 105 75 152 125 115 95 62 M5 M6 5.0 8 (AWG 8)
MR-J4-15KB4-RJ020 FR-HEL-H22K 133 90 178 120 95 75 53 M5 M6 6.0 8 (AWG 8)
MR-J4-22KB4-RJ020 FR-HEL-H30K 133 90 178 120 100 80 56 M5 M6 6.5 14 (AWG 6) Note. Selection conditions of wire size are as follows.
Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Construction condition: single wire set in midair
11.12 Power factor improving AC reactor
The following shows the advantages of using the power factor improving AC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to about 80%. When using power factor improving reactors for two or more servo amplifiers, be sure to connect a power factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated. (1) 200 V/100 V class
4-d mounting hole (Varnish is removed from front right mounting hole (face and back side).) (Note 1)
Terminal layout
R X ZS Y T
W or less (Note 2)
W1
D1
D2
H
D or less
Fig. 11.7
Y
Z
S
T
Y
Z
S
T
MCMCCB
MCMCCB
FR-HAL
Servo amplifier 3-phase 200 V class
XR L1
L2
L3
3-phase 200 V AC to 240 V AC
FR-HAL
Servo amplifier 1-phase 200 V class
XR L1
L2 (Note) 1-phase 200 V AC to 240 V AC L3
Y
Z
S
T
MCMCCB FR-HAL
Servo amplifier 1-phase 100 V class
XR L1
1-phase 100 V AC to 120 V AC
L2
Unassigned
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 - 83
4-d mounting hole (Varnish is removed from front right mounting hole (face and back side).) (Note )
Terminal layout
R X ZS Y T
W 2
H
D1
D or less
W1 D2
Fig. 11.8
X
D or less
D1 2 D2W1
W or less
R TS
Y Z H
5
4-d mounting hole (Note )
Fig. 11.9
Note. Use this for grounding.
Servo amplifier Power factor improving AC
reactor Dimensions
Dimensions [mm] Terminal
size Mass
[kg] W W1 H D
(Note) D1 D2 d
MR-J4-10B-RJ020 MR-J4-20B-RJ020 MR-J4-10B1-RJ020
FR-HAL-0.4K
Fig. 11.7
104 84 99 72 51 40 M5 M4 0.6
MR-J4-40B-RJ020 MR-J4-20B1-RJ020
FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8
MR-J4-60B-RJ020 MR-J4-70B-RJ020 MR-J4-40B1-RJ020
FR-HAL-1.5K 104 84 99 77 61 50 M5 M4 1.1
MR-J4-100B-RJ020 FR-HAL-2.2K 115
(Note) 40 115 77 71 57 M6 M4 1.5
MR-J4-200B-RJ020 FR-HAL-3.7K 115
(Note) 40 115 83 81 67 M6 M4 2.2
MR-J4-350B-RJ020 FR-HAL-7.5K
Fig. 11.8
130 50 135 100 98 86 M6 M5 4.2
MR-J4-500B-RJ020 FR-HAL-11K 160 75 164 111 109 92 M6 M6 5.2
MR-J4-700B-RJ020 FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
MR-J4-11KB-RJ020 FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
MR-J4-15KB-RJ020 FR-HAL-22K 185
(Note) 75 150 158 100 87 M6 M8 9.0
MR-J4-22KB-RJ020 FR-HAL-30K Fig. 11.9 185
(Note) 75 150 168 100 87 M6 M10 9.7
Note. Maximum dimensions. The dimension varies depending on the input/output lines.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 84
(2) 400 V class
W 0.5
W1
R X ZS Y T
H
5
D1 D2
4-d mounting hole (Note) (5 groove)
D or less
Fig. 11.10
Y
Z
S
T
MCMCCB FR-HAL-H
Servo amplifier 3-phase
400 V class
XR L1
L2
L3
3-phase 380 V AC to 480 V AC
W 0.5 W1
D1 D2
H
5
125 D or less 150
4-d mounting hole (Note)
ZY TR X S
(6 groove)
Fig. 11.11
D or less
4-d mounting hole (Note)
ZY TR X S
H
5
180
W 0.5 W1
D1 D2
(8 groove)
Fig. 11.12
Note. Use this for grounding.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 85
Servo amplifier Power factor improving AC
reactor Dimensions
Dimensions [mm] Terminal
size Mass
[kg] W W1 H D
(Note) D1 D2 d
MR-J4-60B4-RJ020 FR-HAL-H1.5K
Fig. 11.10
135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-100B4-RJ020 FR-HAL-H2.2K 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-200B4-RJ020 FR-HAL-H3.7K 135 120 115 69 70.6 57 M4 M3.5 2.5
MR-J4-350B4-RJ020 FR-HAL-H7.5K
Fig. 11.11
160 145 142 91 91 75 M4 M4 5.0
MR-J4-500B4-RJ020 FR-HAL-H11K 160 145 146 91 91 75 M4 M5 6.0
MR-J4-700B4-RJ020 MR-J4-11KB4-RJ020
FR-HAL-H15K 220 200 195 105 90 70 M5 M5 9.0
MR-J4-15KB4-RJ020 FR-HAL-H22K Fig. 11.12
220 200 215 170 90 70 M5 M8 9.5
MR-J4-22KB4-RJ020 FR-HAL-H30K 220 200 215 170 96 75 M5 M8 11
Note. Maximum dimensions. The dimension varies depending on the input/output lines.
11.13 Relay (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, type MY
Digital output (interface DO-1) Relay used for digital output signals
Small relay with 12 V DC or 24 V DC of rated current 40 mA or less (Ex.) Omron: type MY
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 86
11.14 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral equipment to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required. Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral equipment malfunctions due to noises produced by the servo amplifier, noise suppression measures must be taken. The measures will vary slightly with the routes of noise transmission. (1) Noise reduction techniques
(a) General reduction techniques Avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables. Use a shielded twisted pair cable for connection with the encoder and for control signal transmission, and connect the external conductor of the cable to the SD terminal. Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.9.)
(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 killers on the noise sources to suppress noises. Attach data line filters to the signal cables. Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings. Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral equipment located near the main circuit cables, and those transmitted through the power supply cables.
Noises produced by servo amplifier
Noises transmitted in the air
Noise radiated directly from servo amplifier
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 - 87
Instrument Receiver
Servo amplifier
Servo motor M
2)
2)
8)
1)
7)
7) 7)
5)
3)
4) 6)
3)
Sensor power supply
Sensor
Noise transmission route
Suppression techniques
1) 2) 3)
When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1. Provide maximum clearance between easily affected devices and the servo amplifier. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier. 3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side
or bundling them together. 4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line. 5. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
4) 5) 6)
When the power lines and the signal lines are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. The following techniques are required. 1. Provide maximum clearance between easily affected devices and the servo amplifier. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier. 3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side
or bundling them together. 4. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
7)
When the power supply of peripheral equipment is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required. 1. Install the radio noise filter (FR-BIF(-H)) on the power lines (Input lines) of the servo amplifier. 2. Install the line noise filter (FR-BSF01/FR-BLF) on the power lines of the servo amplifier.
8) If the grounding wires of the peripheral equipment and the servo amplifier make a closed loop circuit, leakage current may flow through, causing the equipment to malfunction. In this case, the malfunction may be prevented by the grounding wires disconnected from the equipment.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 88
(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]
250 0.5 50 (1/2 W)
Between terminals: 625 V AC, 50/60 Hz 60 s
Between terminal and case: 2000 V AC
50/60 Hz 60 s
6 1
300 min. 300 min.
Soldered
Band (clear) AWG 18 Twisted wire 15 1
48 1.5
CR-50500
6 1
16 1 (18.5 + 5) max.
3.6
( 18
.5 +
2 )
1
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 two times the drive current of the relay or the like
-+
Diode
RA
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 89
(c) Cable clamp fitting AERSBAN-_SET
Generally, connecting the grounding of the shielded wire to the SD terminal of the connector provides a sufficient effect. However, the effect can be increased when the shielded wire is connected directly to the grounding plate as shown below. Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the grounding plate with the cable clamp. If the cable is thin, clamp several cables in a bunch. The cable clamp comes as a set with the grounding plate.
[Unit: mm]
Cable clamp (A, B)
Cable
Earth plate
External conductor
Clamp section diagram
40
Strip the cable sheath of the clamped area. cutter
cable
Dimensions
[Unit: mm]
Earth plate
(Note) M4 screw
11 3
6
C A
6 22
17.5
35
35
7
24 0 -0
.2
B
0 .3
2-5 hole installation hole
[Unit: mm]
Clamp section diagram
L or less 10
30 24
+ 0
.3
0
Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.
Model A B C Accessory fittings Clamp fitting L
AERSBAN-DSET 100 86 30 Clamp A: 2pcs. A 70
AERSBAN-ESET 70 56 Clamp B: 1pc. B 45
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 90
(d) Line noise filter (FR-BSF01/FR-BLF)
This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band.
Connection diagram Dimensions [Unit: mm]
The line noise filters can be mounted on lines of the main circuit 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 circuit 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. Noise-reducing effect will be enhanced.
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
FR-BLF (for wire size 5.5 mm2 (AWG 10) or more)
130
85
35
31 .5
7
80 2.
3 160
180
7
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 91
(e) Radio noise filter (FR-BIF(-H))
This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radio frequency bands. The (FR-BIF(-H)) is designed for the input only.
200 V/100 V class: FR-BIF 400 V class: FR-BIF-H
Connection diagram Dimensions [Unit: mm]
Make the connection cables as short as possible. Grounding is always required. When using the FR-BIF with a single-phase power supply, always insulate the lead wires that are not used for wiring.
MR-J4-350B-RJ020 or less/MR-J4-350B4-RJ020 or less/ MR-J4-40B1-RJ020 or less
Radio noise filter
Servo amplifier
Power supply
MCMCCB
L3
L2
L1
Terminal block
MR-J4-500B-RJ020 or more/MR-J4-500B4-RJ020 or more
L3
L2
L1 MCMCCB
Radio noise filter
Servo amplifier
Power supply
Leakage current: 4 mA
29
58
42
4
Red BlueWhite Green
44 29 7
5 hole
A pp
ro x.
3 00
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 92
(f) Varistor for input power supply (recommended)
Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by Nippon Chemi-Con, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.
Power supply voltage
Varistor
Maximum rating Maximum
limit voltage
Static capacity
(reference value)
Varistor voltage rating (range) V1 mA Permissible circuit
voltage
Surge current
immunity
Energy immunity
Rated pulse power [A] [V]
AC [Vrms] DC [V] 8/20 s [A] 2 ms [J] [W] [pF] [V]
200 V/ 100 V class
TND20V-431K 275 350 10000/1
time 195
1.0 100 710 1300 430 (387 to 473)
TND20V-471K 300 385 7000/2 times
215 775 1200 470 (423 to 517)
400 V class
TND20V-102K 625 825
7500/1 time
6500/2 times
400 1.0 100 1650 560 1000 (900 to 1100)
[Unit: mm]
W E
H
D
L
T
d
Model D
Max. H
Max. T
Max. E
1.0
(Note) L
Min.
d 0.05
W 1.0
TND20V-431K 21.5 24.5
6.4 3.3 20 0.8 10.0
TND20V-471K 6.6 3.5
TND20V-102K 22.5 25.5 9.5 6.4 20 0.8 10.0
Note. For items with special lead length (L), contact the manufacturer.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 93
11.15 Earth-leakage current breaker
(1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select an earth-leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely. To minimize leakage currents, make the input and output wires as short as possible, and keep a distance of 30 cm or longer between the wires and ground.
Rated sensitivity current 10 {Ig1 + Ign + Iga + K (Ig2 + Igm)} [mA] (11.1)
Ign
Noise filter Wire
Ig1 Iga Ig2 Igm
M Servo
amplifier
NV Wire
Earth-leakage current breaker
K Type
Mitsubishi Electric products
Models provided with harmonic and surge reduction techniques
NV-SP NV-SW NV-CP NV-CW NV-HW
1
General models BV-C1 NFB NV-L
3
Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input
terminals of the servo amplifier (Found from Fig. 11.13.) Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo
motor (found from Fig. 11.13.) Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF or FR-BIF-H) Iga: Leakage current of the servo amplifier (Found from table 11.6.) Igm: Leakage current of the servo motor (Found from table 11.5.)
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
120
100
80
60
40
20
0 2
3.5 5.5
8 14
22 38
80 150
30 60
100
Le ak
ag e
cu rr
en t [
m A
]
Cable size [mm ]2
200 V/100 V class (Note) 400 V class
Note. "Ig1" of 100 V class servo amplifiers will be 1/2 of 200 V class servo amplifiers.
Fig. 11.13 Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 94
Table 11.5 Servo motor leakage current example (lgm)
Servo motor power [kW] Leakage current [mA]
0.05 to 1 0.1
1.2 to 2 0.2
3 to 3.5 0.3
4.2 to 5 0.5
6 to 7 0.7
8 to 11 1.0
12 to 15 1.3
20 to 22 2.3
Table 11.6 Servo amplifier leakage current example (Iga)
Servo amplifier capacity [kW] Leakage current [mA]
0.1 to 0.6 0.1
0.75 to 3.5 0.15
5/7 2
11/15 5.5
22 7
Table 11.7 Earth-leakage current breaker selection example
Servo amplifier Rated sensitivity current of earth-
leakage current breaker [mA]
MR-J4-10B-RJ020 to MR-J4-350B-RJ020 MR-J4-60B4-RJ020 to MR-J4-350B4-RJ020 MR-J4-10B1-RJ020 to MR-J4-40B1-RJ020
15
MR-J4-500B-RJ020 MR-J4-500B4-RJ020
30
MR-J4-700B-RJ020 MR-J4-700B4-RJ020
50
MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020 MR-J4-11KB4-RJ020 to MR-J4-22KB4-RJ020
100
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 95
(2) Selection example
Indicated below is an example of selecting an earth-leakage current breaker under the following conditions.
Servo motor HG-KR43
2 mm2 5 m2 mm2 5 m
M
NV
Ig1 Iga Ig2 Igm
Servo amplifier MR-J4-40B-RJ020
Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find the terms of equation (11.1) from the diagram.
Ig1 = 20 5
1000 = 0.1 [mA]
Ig2 = 20 5
1000 = 0.1 [mA]
Ign = 0 (not used)
Iga = 0.1 [mA]
Igm = 0.1 [mA]
Insert these values in equation (11.1).
Ig 10 {0.1 + 0 + 0.1 + 1 (0.1 + 0.1)} 4 [mA]
According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity current (Ig) of 4.0 mA or more. An earth-leakage current breaker having Ig of 15 mA is used with the NV-SP/SW/CP/CW/HW series.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 96
11.16 EMC filter (recommended)
POINT
For when multiple servo amplifiers are connected to one EMC filter, refer to section 6.4 of "EMC Installation Guidelines".
It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current. (1) Combination with the servo amplifier
Servo amplifier Recommended filter (Soshin Electric)
Mass [kg] Model Rated current [A]
Rated voltage [VAC]
Leakage current [mA]
MR-J4-10B-RJ020 to MR-J4-100B-RJ020
HF3010A-UN (Note)
10
250
5 3.5
MR-J4-200B-RJ020 MR-J4-350B-RJ020
HF3030A-UN (Note)
30 5.5
MR-J4-500B-RJ020 MR-J4-700B-RJ020
HF3040A-UN (Note)
40
6.5
6
MR-J4-11KB-RJ020 MR-J4-15KB-RJ020 MR-J4-22KB-RJ020
HF3100A-UN (Note)
100 12
MR-J4-60B4-RJ020 MR-J4-100B4-RJ020
TF3005C-TX 5
500 5.5
6 MR-J4-200B4-RJ020 to MR-J4-700B4-RJ020
TF3020C-TX 20
MR-J4-11KB4-RJ020 TF3030C-TX 30 7.5 MR-J4-15KB4-RJ020 TF3040C-TX 40
12.5 MR-J4-22KB4-RJ020 TF3060C-TX 60 MR-J4-10B1-RJ020 to MR-J4-40B1-RJ020
HF3010A-UN (Note)
10 250 5 3.5
Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.
Servo amplifier Recommended filter (COSEL)
Mass [kg] Model Rated current [A]
Rated voltage [VAC]
Leakage current [mA]
MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020
(Note) FTB-100-355-L
100 500 40 5.3
MR-J4-22KB4-RJ020 (Note) FTB-80-355-L
80 500 80 5.3
Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 97
(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. For power supply specifications, refer to section 1.3.
2. The example is when a surge protector is connected.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 98
(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/HF-3040A-UN
[Unit: mm]
12 5
2
44
1
260 5
140 2
70 2
14 0
1
15 5
2
3-M5
6-R3.25 length: 8
3-M5
M4
85 1
210 2
85 1
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 99
HF3100A-UN
[Unit: mm]
2-6.5 8
M8
2- 6.5
1 45
1
1 65
3
M6380 1 400 5
16 0
3
M8
TF3005C-TX/TF3020C-TX/TF3030C-TX
[Unit: mm]
290 2
100 1
308 5
332 5
A pp
ro x.
1 2.
2
3-M4
1 6
6-R3.25 length 8 M4 M4
12 5
2
14 0
1
15 5
2
IN
150 2
Approx. 67.5 3
Approx. 160
170 5
M4 3-M4
100 1
1 6
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 100
TF3040C-TX/TF3060C-TX
[Unit: mm]
180 2
Approx. 91.5
Approx. 190
200 5
M6
390 2
100 1
412 5
438 5
A p
p ro
x. 17
3-M6
22 2
2
8-R3.25 length: 8 (for M6) M4 M4
14 5
2
3-M6
16 0
1
17 5
2
IN
100 1 100 1
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 101
FTB-100-355-L/FTB-80-355-L
[Unit: mm]
309
350
335 0.5
2-6.5
80
0 .5
20
14 3
10 0
26
6. 5
6. 5
20 28
14 3 17
0
3-M8 (option-S: hexagon socket head cap screw)
Output
Protective earth (PE)
M6 (option-S: hexagon socket head cap screw)
Input
Protective earth (PE)
3-M8 (option-S: hexagon socket head cap screw)
M6 (option-S: hexagon socket head cap screw) Terminal block coverTerminal block cover
Mounting hole
Mounting hole
Mounting plate
(Note)
Model plate
Note. No heat radiation holes on the opposite face.
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 102
(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 - 103
11.17 External dynamic brake
CAUTION
Use an external dynamic brake for a servo amplifier of MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020/MR-J4-11KB4-RJ020 to MR-J4-22KB4-RJ020. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment.
POINT
Configure a sequence which switches off the magnetic contactor of the external dynamic brake after (or as soon as) servo-on command has been turned off at a power failure or a malfunction.
For the braking time taken when the dynamic brake is operated, refer to section 10.3.
The external dynamic brake is rated for a short duration. Do not use it very frequently.
When using the 400 V class external dynamic brake, the power supply voltage is restricted to 1-phase 380 V AC to 463 V AC (50 Hz/60 Hz).
When an alarm, [AL. E6 Servo forced stop warning], or [AL. E6 Controller forced stop warning] occurs, or the power is turned off, the external dynamic brake will operate. 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) after servo motor stops when using EM1 (Forced stop) frequently in other than emergency.
(1) Selection of external dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7 kW or less servo amplifier. Since it is not built in the 11 kW or more servo amplifier, purchase it separately. Set [Pr. 2] to "_ 1 _ _".
Servo amplifier External dynamic brake Molded-case circuit breaker Fuse (Class T) Fuse (Class K5)
Frame, rated current Voltage AC [V]
Current [A] Voltage AC [V]
Current [A] Voltage AC [V]
MR-J4-11KB-RJ020 DBU-11K
30 A frame 5 A 240 1 300 1 250 MR-J4-15KB-RJ020 DBU-15K
MR-J4-22KB-RJ020 DBU-22K-R1
MR-J4-11KB4-RJ020 DBU-11K-4
30 A frame 5 A 480 1 600 1 600 MR-J4-15KB4-RJ020 DBU-22K-4
MR-J4-22KB4-RJ020
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 104
(2) Connection example
(a) 200 V class
(Note 8)
(Note 8)
Emergency stop switch
L11
L21
U
V
W
U
V
W
E
M
Servo amplifier
Servo motor
L3
L2
L1 (Note 3) Power supply
DB
DOCOM3
CN3
MCCB
Operation ready
MC
(Note 4) Alarm RA1 OFF ON
MC
SK
RA2
MC
Main circuit power supply
24 V DC (Note 6)
5
DICOM 10
EM1 20
DICOM
CN3
24 V DC (Note 6)
P4
P3
13 U14 V W
a
b
(Note 1)
RA2
Dynamic brake interlock
External dynamic brake
(Note 5) (Note 7)
(Note 2) 15
Note 1. Terminals 13 and 14 are normally open contact outputs. If the external dynamic brake is seized, terminals 13 and 14 will open.
Therefore, configure an external sequence to prevent servo-on.
2. To enable DB (Dynamic brake interlock), set [Pr. 2] to "_ 1 _ _".
3. For the power supply specifications, refer to section 1.3.
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
5. Turn off EM1 when the main power circuit power supply is off.
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. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 11.10 and (1) in this section.)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 105
(b) 400 V class
(Note 10)
(Note 10)
Emergency stop switch
L11
L21
U
V
W
U
V
W
E
M
Servo amplifier
Servo motor
L3
L2
L1 (Note 3) Power supply
DB
DOCOM3
CN3
MCCB
Operation ready
MC
(Note 4) Alarm RA1 OFF ON
MC
SK
RA2
MC
Main circuit power supply
24 V DC (Note 6)
5
DICOM 10
EM1 20
DICOM
CN3
24 V DC (Note 6)
P4
P3
13 U14 V W
a
b
(Note 1)
RA2
Dynamic brake interlock
External dynamic brake
(Note 5) (Note 7)
(Note 2) 15
(Note 8) Step-down transformer
(Note 9)
Note 1. Terminals 13 and 14 are normally open contact outputs. If the external dynamic brake is seized, terminals 13 and 14 will open.
Therefore, configure an external sequence to prevent servo-on.
2. To enable DB (Dynamic brake interlock), set [Pr. 2] to "_ 1 _ _".
3. For the power supply specifications, refer to section 1.3.
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
5. Turn off EM1 when the main power circuit power supply is off.
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. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
8. Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class.
9. The power supply voltage of the inside magnet contactor for 400 V class external dynamic brake DBU-11K-4 and DBU-22K-4
is restricted as follows. When using these external dynamic brakes, use them within the range of the power supply.
External dynamic brake Power supply voltage
DBU-11K-4 DBU-22K-4
1-phase 380 V AC to 463 V AC, 50 Hz/60 Hz
10. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 11.10 and (1) in this section.)
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 106
(3) Timing chart
Servo motor speed
Coasting
Alarm
ON
OFF
Emergency stop switch
Not occurring
Disabled
Enabled
Shorted
Opened
Dynamic brake
Base circuit
ON
OFF
Coasting
Dynamic brakeDynamic brake
Occurring
DB (Dynamic brake interlock)
a. Timing chart at alarm occurrence b. Timing chart at Emergency stop switch enabled
(Note) 7 ms
10 ms
Dynamic brake Coasting
Electromagnetic brake interlock
Operation delay time of the electromagnetic brake
MBR (Electromagnetic brake interlock)
ON OFF (enabled)
Base circuit ON
OFF
Servo motor speed
Main circuit Control circuit
ON
OFF
DB (Dynamic brake interlock)
Dynamic brake
ON
OFF
Disabled
Enabled
power supply
Note. When powering off, DB (Dynamic brake interlock) will be turned off, and the base
circuit is turned off earlier than usual before an output shortage occurs.
c. Timing chart when both of the main and control circuit power are off
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 107
(4) Dimensions
(a) DBU-11K/DBU-15K/DBU-22K-R1
[Unit: mm]
C
100 FD D
5
E E
B A
5
2.3G
Terminal block
a b 13 14
Screw: M3.5 Tightening torque: 0.8 [Nm]
U V W
Screw: M4 Tightening torque: 1.2 [Nm]
External dynamic brake A B C D E F G Mass [kg]
(Note) Connection wire [mm2]
U/V/W Except U/V/W
DBU-11K 200 190 140 20 5 170 163.5 2 5.5 (AWG 10) 2 (AWG 14)
DBU-15K/DBU-22K-R1 250 238 150 25 6 235 228 6 5.5 (AWG 10) 2 (AWG 14)
Note. Selection conditions of wire size are as follows.
Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Construction condition: single wire set in midair
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 108
(b) DBU-11K-4/DBU-22K-4
[Unit: mm]
15
51
25
15
73.75 7
25150
10
200
170
17 8.
5
17 9.
5 15
26 0
28 0
43
10
2-7 mounting hole
195
22 8
26 26
210
2.3
Mass: 6.7 [kg]
Terminal block TE1
a b 13 14
Screw: M3.5 Tightening torque: 0.8 [Nm]
TE2
WVU
Screw: M4 Tightening torque: 1.2 [Nm]
External dynamic brake (Note) Connection wire [mm2]
U/V/W Except U/V/W
DBU-11K-4 5.5 (AWG 10) 2 (AWG 14)
DBU-22K-4 5.5 (AWG 10) 2 (AWG 14)
Note. Selection conditions of wire size are as follows.
Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Construction condition: single wire set in midair
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 109
11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)
Use the panel through attachment to mount the heat generation area of the servo amplifier in the outside of the cabinet to dissipate servo amplifier-generated heat to the outside of the cabinet and reduce the amount of heat generated in the cabinet. In addition, designing a compact cabinet is allowed. In the cabinet, machine a hole having the panel cut dimensions, fit the panel through attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the cabinet. Please prepare screws for mounting. They do not come with. The environment outside the cabinet when using the panel through attachment should be within the range of the servo amplifier operating environment. The panel through attachment can be used for MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020/MR-J4-11KB4- RJ020 to MR-J4-22KB4-RJ020. The following shows the combinations.
Servo amplifier Panel through attachment
MR-J4-11KB-RJ020 MR-J4-15KB-RJ020
MR-J4ACN15K
MR-J4-22KB-RJ020 MR-J3ACN
MR-J4-11KB4-RJ020 MR-J4-15KB4-RJ020
MR-J4ACN15K
MR-J4-22KB4-RJ020 MR-J3ACN
(1) MR-J4ACN15K
(a) Panel cut dimensions
[Unit: mm]
196
218
18
51 0
41 053
5 A
pp ro
x. 1
25
163 4-M10 screw
Punched hole
(b) How to assemble the attachment for panel through attachment
Screw (two places)
Attachment
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 110
(c) Mounting method
Attachment
Attachment
Fit using the screws for assembling.
Servo amplifier
a. Assembling the panel through attachment
Cabinet
Punched hole
Servo amplifier
b. Mounting it to inside cabinet
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 111
(d) Mounting dimensional diagram
[Unit: mm]
12 51
058 0
A pp
ro x.
5 8
18 8 14
5 A
pp ro
x. 4
00
78
35
196
240
3.2
155 108.3 Approx. 263.3
Panel
Panel
20.6
Attachment
Mounting hole
Servo amplifier Servo amplifier
(2) MR-J3ACN (a) Panel cut dimensions
[Unit: mm]
236
255
270
A pp
ro x.
1 25
33 1
39 .5
53 5
51 0
18
203
39 .5
4-M10 screw
Punched hole
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 112
(b) How to assemble the attachment for panel through attachment
Screw (two places)
Attachment
(c) Mounting method
Fit using the screws for assembling.
Attachment
Servo amplifier
Attachment
Servo amplifier
Punched hole
Cabinet
a. Assembling the panel through attachment b. Mounting it to inside cabinet
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 113
(d) Mounting dimensional diagram
[Unit: mm]
A pp
ro x.
5 8
58 0
236
Approx. 260
19 4
20
14 5
105
Servo amplifier Attachment
Mounting hole
51 0
12
280 84
A pp
ro x.
4 00
35
3.2 155 Approx. 260
Approx. 11.5
Panel
Panel
Servo amplifier
11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 114
MEMO
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 1
12. ABSOLUTE POSITION DETECTION SYSTEM
CAUTION
If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation.
If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short 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 12.5 for the replacement procedure of the battery.
For configuring the absolute position detection system, there are three batteries of MR-BAT6V1SET, MR-BAT6V1BJ and MR-BT6VCASE. Compared with other batteries, MR-BAT6V1BJ has the following advantages.
You can disconnect the encoder cable from the servo amplifier.
You can change the battery with the control circuit power supply off.
When absolute position data is erased from the encoder, always execute home position setting before operation. The absolute position data of the encoder will be erased in the followings. Additionally, when the battery is used out of specification, the absolute position data can be erased. When an MR-BAT6V1SET and MR-BT6VCASE are used...
The encoder cable was disconnected.
The battery was replaced when the control circuit power supply was off. When an MR-BAT6V1BJ is used...
A connector or cable was disconnected between the servo motor and battery.
The battery was replaced with procedures other than those of (3) in section 11.8.3.
MR-BAT6V1BJ is only for the HG series servo motors.
Power is not supplied from the SSCNET cable connection connector to the encoder. When using the servo amplifier in absolute position detection system, always connect a battery to the CN4 connector.
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. ABSOLUTE POSITION DETECTION SYSTEM
12 - 2
12.1.2 Structure
The following shows a configuration of the absolute position detection system. For the battery connection, refer to (2) (b) of section 12.2.1 for the MR-BAT6V1SET battery. For the battery connection, refer to (2) (b) of section 12.2.2 for the MR-BAT6V1BJ battery for junction battery cable.
Servo system controller Servo amplifier
CN10A
Servo motor
CN2
Battery CN4
MR-J4-T20
12.1.3 Parameter setting
Set "_ _ _ 1" in [Pr. 1] 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. 1]
1
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 3
12.1.4 Confirmation of absolute position detection data
POINT
When using MR Configurator with the MR-J4-_B_-RJ020 servo amplifier, select "System" - "system settings" and set model selection" to "MR-J2S-B".
You can check the absolute position data with MR Configurator. Choose "Diagnostics" and "Absolute encoder data" to open the absolute position data display screen.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 4
12.2 Battery
12.2.1 Using MR-BAT6V1SET battery
(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
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]
6000 (only when acceleration time until 6000 r/min is 0.2 s or more)
(Note 2) Battery backup time
Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 C)
Approximately 29,000 hours (power-on time ratio: 25%, ambient temperature: 20 C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the
like. Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch
may occur due to external force or the like.
2. The data-holding time by the battery using MR-BAT6V1SET. Replace the batteries within three years
since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is
used out of specification, [AL. 25 Absolute position erased] may occur.
3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 5
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable
POINT
MR-BAT6V1BJ is compatible only with HG series servo motors.
MR-BAT6V1BJ cannot be used for fully closed loop system.
(1) Configuration diagram
CYC0
Current position
Home position data LS0
Position data
Servo amplifierServo system controller
Step-down circuit
(6 V 3.4 V)
MR-BAT6V1BJ
P os
iti on
c on
tr o
l
S p
e e
d c
o n
tr o
l
LS Detecting the
number of revolutions
CYC Detecting the
position at one revolution
High speed serial communication
BatteryServo motor
Cumulative revolution counter (1 pulse/rev)
One-revolution counter
Step-down circuit
Primary lithium battery
(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]
6000 (only when acceleration time until 6000 r/min is 0.2 s or more)
(Note 2) Battery backup time
Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 C)
Approximately 29,000 hours (power-on time ratio: 25%, ambient temperature: 20 C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the
like. Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch
may occur due to external force or the like.
2. The data-holding time by the battery using MR-BAT6V1BJ. Replace the batteries within three years
since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is
used out of specification, [AL. 25 Absolute position erased] may occur.
3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.
12. ABSOLUTE POSITION DETECTION SYSTEM
12 - 6
12.2.3 Using MR-BT6VCASE battery case
POINT
One MR-BT6VCASE holds absolute position data up to eight axes servo motors.
Always install five MR-BAT6V1 batteries to an MR-BT6VCASE.
(1) Configuration diagram
CYC0
Current position
Home position data
LS0
Position data
LS Detecting the
number of revolutions
CYC Detecting the position within one revolution
Servo motor
Accumulative 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 o
si tio
n c
o n
tr o
l
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.
(Note 1) Maximum speed at power failure [r/min]
6000 (only when acceleration time until 6000 r/min is 0.2 s or more)
(Note 2) Battery backup time
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)
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 THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 1
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
POINT
The MR-J4-_B_-RJ020 amplifier used in the J4 mode has restrictions in terms of functions as follows as compared to the MR-J4-_B_ servo amplifier. Other functions are the same as ones for the MR-J4-_B_ servo amplifier.
Function Availability for use
MR-J4-_B_ MR-J4-_B_-RJ MR-J4-_B_-RJ020 CN2L connector None Provided
Provided (not available)
Linear servo system Available Available Not available Direct drive servo system Available Available Not available Fully closed loop system Available Available Not available Scale measurement function Available Available Not available MR-D30 functional safety unit Not available Available Not available Servo motor with functional safety Not available Available Not available
The fully closed loop control is not available in J4 mode. It is available only in J2S compatibility mode.
This chapter explains the mode switching procedure when the MR-J4-_B_-RJ020 servo amplifier or MR-J4- DU_B_-RJ020 drive unit is used in the J4 mode, the list of parameters, and the list of alarms. For other usages, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". When you use the MR-J4-_B_-RJ020 servo amplifier or MR-J4-DU_B_-RJ020 drive unit in the J4 mode, it is required to switch to the J4 mode using the application "MR-J4(W)-B Change mode" came with MR Configurator2 version 1.17T or later. The application "MR-J4(W)-B Change mode" is designed for USB connection only.
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 2
13.1 Mode switching procedure
13.1.1 Switching from the J2S compatibility mode to the J4 mode
(1) Turn on the servo amplifier or drive unit with MR-J4-T20 disconnected. (2) Start the application "MR-J4(W)-B Change mode" and check that "J2S compatibility mode" is not
displayed in the "compatibility mode". If it is displayed, repeat the procedure from (1) in this section again.
(3) After selecting "Change the mode", select "J4 mode". Never select other than "Standard control mode"
for "Operation Mode".
(4) Press "Write". (5) Cycling the power of the servo amplifier or drive unit switches the mode to the J4 mode.
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 3
13.1.2 Switching from the J4 mode to the J2S compatibility mode
(1) Turn on the servo amplifier or drive unit with MR-J4-T20 connected. (2) Start the application "MR-J4(W)-B Change mode" and check that "J2S compatibility mode" is displayed
in the "compatibility mode". If it is not displayed, repeat the procedure from (1) in this section again. (3) After selecting "switching mode", select "J2S compatibility mode". Only "Standard control mode" can be
selected for "operation mode".
(4) Press "Write". (5) Cycling the power of the servo amplifier or drive unit switches the mode to the J2S compatibility mode. 13.2 Parameter
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
When you connect the amplifier to a servo system controller, servo parameter values of the servo system controller will be written to each parameter.
Setting may not be made to some parameters and their ranges depending on the servo system controller model, servo amplifier software version, and MR Configurator2 software version. For details, refer to the servo system controller user's manual. Check the software version of the servo amplifier or drive unit using MR Configurator2.
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 4
13.2.1 Parameters for converter unit
(1) Parameter list
POINT
To enable a parameter whose symbol is preceded by *, cycle the power after setting it.
No. Symbol Name Initial value Unit
PA01 *REG Regenerative option 0000h
PA02 *MCC Magnetic contactor drive output selection 0001h
PA03
For manufacturer setting 0001h
PA04 0
PA05 100
PA06 0
PA07 100
PA08 *DMD Status display selection 0000h
PA09 *BPS Alarm history clear 0000h
PA10
For manufacturer setting 0
PA11 0000h
PA12 *DIF Input filter setting 0002h
PA13
For manufacturer setting 0000h
PA14 0000h
PA15 AOP3 Function selection A-3 0000h
PA16 For manufacturer setting 0000h
PA17 *AOP5 Function selection A-5 0001h
PA18 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 [ms]
PA19 For manufacturer setting 0000h
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 5
(2) Detailed list of parameters
POINT
Set a value to each "x" in the "Setting digit" columns.
No./symbol/ name
Setting digit
Function Initial value [unit]
PA01 *REG Regenerative option
_ _ x x Regenerative option Select a regenerative option. Incorrect setting will trigger [AL. 37 Parameter error]. 00: Regenerative option is not used.
When using the FR-BU2-(H) brake unit, select the value. 01: MR-RB139 02: MR-RB137 (3 pcs.) 13: MR-RB137-4 14: MR-RB13V-4 (3 pcs.)
00h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PA02 *MCC Magnetic contactor drive output selection
_ _ _ x Magnetic contactor drive output selection Select the magnetic contactor drive output. 0: Disabled 1: Enabled
1h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PA08 *DMD Status display selection
_ _ _ x Status display selection Select a status display shown at power-on. 0: Status 1: Bus voltage 2: Effective load ratio 3: Peak load ratio 4: Regenerative load ratio 5: Unit power consumption 1 6: Unit total power consumption 1 7: Unit total power consumption 2
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PA09 *BPS Alarm history clear
_ _ _ x Alarm history clear Used to clear the alarm history. 0: Disabled 1: Enabled When you select "Enabled", the alarm history will be cleared at next power-on. After the alarm history is cleared, the setting is automatically disabled.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 6
No./symbol/ name
Setting digit
Function Initial value [unit]
PA12 *DIF Input filter setting
_ _ _ x Input filter setting Select the input filter. If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 1.777 [ms] 2: 3.555 [ms] 3: 5.333 [ms]
2h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PA15 AOP3 Function selection A-3
_ _ _ x Selection of unit power consumption display unit 0: increment of 1 kW 1: increment of 0.1 kW
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PA17 *AOP5 Function selection A-5
The [Pr. PA17 SEMI-F47 function selection] and [Pr. PA18 SEMI-F47 function - Instantaneous power failure detection time] settings of the converter unit must be the same as [Pr. PA20 SEMI-F47 function selection] and [Pr. PF25 SEMI- F47 function - Instantaneous power failure detection time] settings of the drive unit.
_ _ _ x [AL. 10 Undervoltage] detection method selection Set this parameter when [AL. 10 Undervoltage] occurs due to distorted power supply voltage waveform. 0: [AL. 10] not occurrence 1: [AL. 10] occurrence
1h
_ _ 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. PA18 SEMI-F47 function - Instantaneous power failure detection time], set the time until the occurrence of [AL. 10 Undervoltage].
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PA18 CVAT SEMI-F47 function - Instanta- neous power failure detection time
The [Pr. PA17 SEMI-F47 function selection] and [Pr. PA18 SEMI-F47 function - Instantaneous power failure detection time] settings of the converter unit must be the same as [Pr. PA20 SEMI-F47 function selection] and [Pr. PF25 SEMI- F47 function - Instantaneous power failure detection time] settings of the drive unit.
Set the time until the occurrence of [AL. 10 Undervoltage]. To disable the parameter setting value, select "Disabled (_ _ 0 _)" of "SEMI-F47 function selection" in [Pr. PA17]. Setting range: 30 to 200
200 [ms]
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 7
13.2.2 Parameters for converter unit/drive unit
(1) Parameter list
POINT
The parameter whose symbol is preceded by * is enabled under the following conditions: *: After setting the parameter, cycle the power or reset the controller. **: After setting the parameter, cycle the power.
(a) Basic setting parameters ([Pr. PA_ _ ])
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PA01 **STY Operation mode 1000h
PA02 **REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 0000h
PA04 *AOP1 Function selection A-1 2000h
PA05 For manufacturer setting 10000
PA06 1
PA07 1
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 16
PA10 INP In-position range 1600 [pulse]
PA11 For manufacturer setting 1000.0
PA12 1000.0
PA13 0000h
PA14 *POL Rotation direction selection 0
PA15 *ENR Encoder output pulses 4000 [pulse/rev]
PA16 *ENR2 Encoder output pulses 2 1
PA17 **MSR Servo motor series setting 0000h
PA18 **MTY Servo motor type setting 0000h
PA19 *BLK Parameter writing inhibit 00ABh
PA20 *TDS Tough drive setting 0000h
PA21 *AOP3 Function selection A-3 0001h
PA22 For manufacturer setting 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
PA24 AOP4 Function selection A-4 0000h
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%]
PA26 *AOP5 Function selection A-5 0000h
PA27 For manufacturer setting 0000h
PA28 0000h
PA29 0000h
PA30 0000h
PA31 0000h
PA32 0000h
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 8
(b) Gain/filter setting parameters ([Pr. PB_ _ ])
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)
0000h
PB03 TFBGN Torque feedback loop gain 18000 [rad/s]
PB04 FFC Feed forward gain 0 [%]
PB05 For manufacturer setting 500
PB06 GD2 Load to motor inertia ratio 7.00 [Multiplier]
PB07 PG1 Model loop gain 15.0 [rad/s]
PB08 PG2 Position loop gain 37.0 [rad/s]
PB09 VG2 Speed loop gain 823 [rad/s]
PB10 VIC Speed integral compensation 33.7 [ms]
PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 [%]
PB13 NH1 Machine resonance suppression filter 1 4500 [Hz]
PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 [Hz]
PB16 NHQ2 Notch shape selection 2 0000h
PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 [rad/s]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control 0000h
PB25 For manufacturer setting 0000h
PB26 *CDP Gain switching function 0000h
PB27 CDL Gain switching condition 10 [kpulse/s]/ [pulse]/ [r/min]
PB28 CDT Gain switching time constant 1 [ms]
PB29 GD2B Load to motor inertia ratio after gain switching 7.00 [Multiplier]
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]
PB31 VG2B Speed loop gain after gain switching 0 [rad/s]
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 [Hz]
PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching
0.0 [Hz]
PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching
0.00
PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching
0.00
PB37 For manufacturer setting 1600
PB38 0.00
PB39 0.00
PB40 0.00
PB41 0
PB42 0
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 9
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PB46 NH3 Machine resonance suppression filter 3 4500 [Hz]
PB47 NHQ3 Notch shape selection 3 0000h
PB48 NH4 Machine resonance suppression filter 4 4500 [Hz]
PB49 NHQ4 Notch shape selection 4 0000h
PB50 NH5 Machine resonance suppression filter 5 4500 [Hz]
PB51 NHQ5 Notch shape selection 5 0000h
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching
0.0 [Hz]
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching
0.00
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching
0.00
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h
(c) Extension setting parameters ([Pr. PC_ _ ])
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PC01 ERZ Error excessive alarm level 0 [rev]
PC02 MBR Electromagnetic brake sequence output 0 [ms]
PC03 *ENRS Encoder output pulse selection 0000h
PC04 **COP1 Function selection C-1 0000h
PC05 **COP2 Function selection C-2 0000h
PC06 *COP3 Function selection C-3 0000h
PC07 ZSP Zero speed 50 [r/min]
PC08 OSL Overspeed alarm detection level 0 [r/min]
PC09 MOD1 Analog monitor 1 output 0000h
PC10 MOD2 Analog monitor 2 output 0001h
PC11 MO1 Analog monitor 1 offset 0 [mV]
PC12 MO2 Analog monitor 2 offset 0 [mV]
PC13 MOSDL Analog monitor - Feedback position output standard data - Low 0 [pulse]
PC14 MOSDH Analog monitor - Feedback position output standard data - High 0 [10000 pulses]
PC15 For manufacturer setting 0
PC16 0000h
PC17 **COP4 Function selection C-4 0000h
PC18 *COP5 Function selection C-5 0000h
PC19 For manufacturer setting 0000h
PC20 *COP7 Function selection C-7 0000h
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 10
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PC21 *BPS Alarm history clear 0000h
PC22 For manufacturer setting 0
PC23 0000h
PC24 RSBR Forced stop deceleration time constant 100 [ms]
PC25 For manufacturer setting 0
PC26 **COP8 Function selection C-8 0000h
PC27 **COP9 Function selection C-9 0000h
PC28 For manufacturer setting 0000h
PC29 *COPB Function selection C-B 0000h
PC30 For manufacturer setting 0
PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001 rev]
PC32 For manufacturer setting 0000h
PC33 0
PC34 100
PC35 0000h
PC36 0000h
PC37 0000h
PC38 ERW Error excessive warning level (Note) 0 [rev]
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
PC56 0000h
PC57 0000h
PC58 0000h
PC59 0000h
PC60 0000h
PC61 0000h
PC62 0000h
PC63 0000h
PC64 0000h Note. This is available with servo amplifiers with software version A4 or later.
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 11
(d) I/O setting parameters ([Pr. PD_ _ ])
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PD01 For manufacturer setting 0000h
PD02 *DIA2 Input signal automatic on selection 2 0000h
PD03 For manufacturer setting 0020h
PD04 0021h
PD05 0022h
PD06 0000h
PD07 *DO1 Output device selection 1 0005h
PD08 *DO2 Output device selection 2 0004h
PD09 *DO3 Output device selection 3 0003h
PD10 For manufacturer setting 0000h
PD11 *DIF Input filter setting (Note 1) 0004h
PD12 *DOP1 Function selection D-1 0000h
PD13 *DOP2 Function selection D-2 (Note 3) 0000h
PD14 *DOP3 Function selection D-3 0000h
PD15 *IDCS Driver communication setting (Note 2) 0000h
PD16 *MD1 Driver communication setting - Master - Transmit data selection 1 (Note 2) 0000h
PD17 *MD2 Driver communication setting - Master - Transmit data selection 2 (Note 2) 0000h
PD18 For manufacturer setting 0000h
PD19 0000h
PD20 *SLA1 Driver communication setting - Slave - Master axis No. selection 1 (Note 2) 0
PD21 For manufacturer setting 0
PD22 0
PD23 0
PD24 0000h
PD25 0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 TLC Master-slave operation - Torque command coefficient on slave (Note 2) 0
PD31 VLC Master-slave operation - Speed limit coefficient on slave (Note 2) 0
PD32 VLL Master-slave operation - Speed limit adjusted value on slave (Note 2) 0 [r/min]
PD33 For manufacturer setting 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 1. Refer to the servo system controller instruction manual for the setting.
2. Used by servo amplifiers with software version A2 or later.
3. This is available with servo amplifiers with software version A4 or later.
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 12
(e) Extension setting 2 parameters ([Pr. PE_ _ ])
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PE01 **FCT1 Fully closed loop function selection 1 0000h
PE02 For manufacturer setting 0000h
PE03 *FCT2 Fully closed loop function selection 2 0003h
PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator 1
PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator
1
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 [r/min]
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 [kpulse]
PE08 DUF Fully closed loop dual feedback filter 10 [rad/s]
PE09 For manufacturer setting 0000h
PE10 FCT3 Fully closed loop function selection 3 0000h
PE11 For manufacturer setting 0000h
PE12 0000h
PE13 0000h
PE14 0111h
PE15 20
PE16 0000h
PE17 0000h
PE18 0000h
PE19 0000h
PE20 0000h
PE21 0000h
PE22 0000h
PE23 0000h
PE24 0000h
PE25 0000h
PE26 0000h
PE27 0000h
PE28 0000h
PE29 0000h
PE30 0000h
PE31 0000h
PE32 0000h
PE33 0000h
PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator 1
PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator
1
PE36 For manufacturer setting 0.0
PE37 0.00
PE38 0.00
PE39 20
PE40 0000h
PE41 EOP3 Function selection E-3 0000h
PE42 For manufacturer setting 0
PE43 0.0
PE44 LMCP Lost motion compensation positive-side compensation value selection (Note)
0 [0.01%]
PE45 LMCN Lost motion compensation negative-side compensation value selection (Note)
0 [0.01%]
PE46 LMFLT Lost motion filter setting (Note) 0 [0.1 ms]
PE47 TOF Torque offset (Note) 0 [0.01%]
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 13
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PE48 *LMOP Lost motion compensation function selection (Note) 0000h
PE49 LMCD Lost motion compensation timing (Note) 0 [0.1 ms]
PE50 LMCT Lost motion compensation non-sensitive band (Note) 0 [pulse]/ [kpulse]
PE51 For manufacturer setting 0000h
PE52 0000h
PE53 0000h
PE54 0000h
PE55 0000h
PE56 0000h
PE57 0000h
PE58 0000h
PE59 0000h
PE60 0000h
PE61 0.00
PE62 0.00
PE63 0.00
PE64 0.00 Note. This is available with servo amplifiers with software version A4 or later.
(f) Extension setting 3 parameters ([Pr. PF_ _ ])
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PF01 For manufacturer setting 0000h
PF02 0000h
PF03 0000h
PF04 0
PF05 0000h
PF06 *FOP5 Function selection F-5 0000h
PF07 For manufacturer setting 0000h
PF08 0000h
PF09 0
PF10 0
PF11 0
PF12 DBT Electronic dynamic brake operating time 2000 [ms]
PF13 For manufacturer setting 0000h
PF14 10
PF15 0000h
PF16 0000h
PF17 0000h
PF18 0000h
PF19 0000h
PF20 0000h
PF21 DRT Drive recorder switching time setting 0 [s]
PF22 For manufacturer setting 200
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%]
PF24 *OSCL2 Vibration tough drive function selection 0000h
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 [ms]
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 14
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PF26 For manufacturer setting 0
PF27 0
PF28 0
PF29 0000h
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgment speed 0 [r/min]
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 0000h
PF45 0000h
PF46 0000h
PF47 0000h
PF48 0000h
(g) Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301h
PL02 **LIM Linear encoder resolution - Numerator 1000 [m]
PL03 **LID Linear encoder resolution - Denominator 1000 [m]
PL04 *LIT2 Linear servo motor/DD motor function selection 2 0003h
PL05 LB1 Position deviation error detection level 0 [mm]/ [0.01 rev]
PL06 LB2 Speed deviation error detection level 0 [r/min]/ [mm/s]
PL07 LB3 Torque/thrust deviation error detection level 100 [%]
PL08 *LIT3 Linear servo motor/DD motor function selection 3 0010h
PL09 LPWM Magnetic pole detection voltage level 30 [%]
PL10 For manufacturer setting 5
PL11 100
PL12 500
PL13 0000h
PL14 0
PL15 20
PL16 0
PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection
0000h
PL18 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude
0 [%]
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 15
No. Symbol Name Initial value
Unit
Operation mode
R J0
20
F ul
l.
Li n.
D D
PL19 For manufacturer setting 0
PL20 0
PL21 0
PL22 0
PL23 0000h
PL24 0
PL25 0000h
PL26 0000h
PL27 0000h
PL28 0000h
PL29 0000h
PL30 0000h
PL31 0000h
PL32 0000h
PL33 0000h
PL34 0000h
PL35 0000h
PL36 0000h
PL37 0000h
PL38 0000h
PL39 0000h
PL40 0000h
PL41 0000h
PL42 0000h
PL43 0000h
PL44 0000h
PL45 0000h
PL46 0000h
PL47 0000h
PL48 0000h
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 16
(2) Detailed list of parameters
POINT
Set a value to each "x" in the "Setting digit" columns.
(a) Basic setting parameters ([Pr. PA_ _ ])
No. Symbol Name and function Initial value [unit]
Setting range
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. For the drive unit, select the regenerative option with the converter unit. With the converter unit, selecting other than "_ _ 0 0" or "_ _ 0 1" will trigger [AL. 37 Parameter error].
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ x x Regenerative option selection 00: Regenerative option is not used.
For servo amplifier of 100 W, regenerative option is not used. For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11 kW to 22 kW.
The regenerative option is used with the drive unit (set with the converter unit). 01: FR-RC-(H)/FR-CV-(H)/FR-BU2-(H)
When you use FR-RC-(H) or FR-CV-(H), select "Mode 2 (_ _ _ 1)" of "Undervoltage alarm detection mode selection" in [Pr. PC20].
02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50 (Cooling fan is required.) 08: MR-RB31 09: MR-RB51 (Cooling fan is required.) 0B: MR-RB3N 0C: MR-RB5N (Cooling fan is required.) 80: MR-RB1H-4 81: MR-RB3M-4 (Cooling fan is required.) 82: MR-RB3G-4 (Cooling fan is required.) 83: MR-RB5G-4 (Cooling fan is required.) 84: MR-RB34-4 (Cooling fan is required.) 85: MR-RB54-4 (Cooling fan is required.) 91: MR-RB3U-4 (Cooling fan is required.) 92: MR-RB5U-4 (Cooling fan is required.) FA: When the supplied regenerative resistor or a regenerative
option used with the servo amplifier of 11 kW to 22 kW is cooled by a cooling fan to increase regenerative ability.
00h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
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No. Symbol Name and function Initial value [unit]
Setting range
PA03 *ABS Absolute position detection system Set this parameter when using the absolute position detection system.
Refer to Name and function column.
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.
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 13.1 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 13.1 for details.
2h
Table 13.1 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 or EM1
MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.
2 1 _ _ Not using EM2 or EM1
MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.
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No. Symbol Name and function Initial value [unit]
Setting range
PA08 ATU Auto tuning mode Select the gain adjustment mode.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Gain adjustment mode selection 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode 4: 2 gain adjustment mode 2 Refer to table 13.2 for details.
1h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
Table 13.2 Gain adjustment mode selection
Setting value
Gain adjustment mode
Automatically adjusted parameter
_ _ _ 0 2 gain adjustment mode 1 (interpolation mode)
[Pr. PB06 Load to motor inertia ratio] [Pr. PB08 Position loop gain] [Pr. PB09 Speed loop gain] [Pr. PB10 Speed integral compensation]
_ _ _ 1 Auto tuning mode 1
[Pr. PB06 Load to motor inertia ratio] [Pr. PB07 Model loop gain] [Pr. PB08 Position loop gain] [Pr. PB09 Speed loop gain] [Pr. PB10 Speed integral compensation]
_ _ _ 2 Auto tuning mode 2
[Pr. PB07 Model loop gain] [Pr. PB08 Position loop gain] [Pr. PB09 Speed loop gain] [Pr. PB10 Speed integral compensation]
_ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment mode 2
[Pr. PB08 Position loop gain] [Pr. PB09 Speed loop gain] [Pr. PB10 Speed integral compensation]
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No. Symbol Name and function Initial value [unit]
Setting range
PA09 RSP Auto tuning response Set a response of the auto tuning.
16 1 to 40
Setting value
Machine characteristic
Setting value
Machine characteristic
Response
Guideline for machine
resonance frequency [Hz]
Response
Guideline for machine
resonance frequency [Hz]
1 Low
response
2.7 21 Middle
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 Middle
response 52.9 39 High
response 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
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
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No. Symbol Name and function Initial value [unit]
Setting range
PA14 *POL Rotation direction selection Select the rotation direction of command input pulse. For the setting for the master-slave operation function, refer to section 17.2 of "MR-J4-_B_(- RJ) Servo Amplifier Instruction Manual".
0 0 to 1
Setting value
Servo motor rotation direction
Positioning address increase
Positioning address decrease
0 CCW CW
1 CW CCW
The following shows the servo motor rotation directions.
Forward rotation (CCW)
Reverse rotation (CW)
PA15 *ENR Encoder output pulses Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) To set a numerator of the electronic gear, select "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC03]. The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this range.
4000 [pulse/
rev]
1 to
65535
PA16 *ENR2 Encoder output pulses 2 Set a denominator of the electronic gear for the A/B-phase pulse output. To set a denominator of the electronic gear, select "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC03].
1 1 to
65535
PA19 *BLK Parameter writing inhibit Select a reference range and writing range of the parameter. Refer to table 13.3 for settings.
00ABh Refer to Name and function column.
Table 13.3 [Pr. PA19] setting value and reading/writing range
PA19
Setting operation
PA PB PC PD PF
Other than below
Reading
Writing
000Ah
Reading Only 19
Writing Only 19
000Bh
Reading
Writing
000Ch
Reading
Writing
00ABh (initial value)
Reading
Writing
100Bh
Reading
Writing Only 19
100Ch
Reading
Writing Only 19
10ABh
Reading
Writing Only 19
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No. Symbol Name and function Initial value [unit]
Setting range
PA20 *TDS Tough drive setting Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation. You can assign MTTR (During tough drive) to pins CN3-9, CN3-13, and CN3-15 with [Pr. PD07] to [Pr. PD09].
Refer to Name and function column.
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]. For details, refer to section 7.3 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
0h
_ x _ _ SEMI-F47 function selection The [Pr. PA20 SEMI-F47 function selection] and [Pr. PF25 SEMI- F47 function - Instantaneous power failure detection time] settings of the drive unit must be the same as [Pr. PA17 SEMI-F47 function selection] and [Pr. PA18 SEMIF47 function - Instantaneous power failure detection time] settings of the converter unit. 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. PF25 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].
0h
x _ _ _ For manufacturer setting 0h
PA21 *AOP3 Function selection A-3 Refer to Name and function column. 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
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No. Symbol Name and function Initial value [unit]
Setting range
PA23 DRAT Drive recorder arbitrary alarm trigger setting Refer to Name and function column. 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".
PA24 AOP4 Function selection A-4 Refer to Name and function column. 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
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No. Symbol Name and function Initial value [unit]
Setting range
PA26 *AOP5 Function selection A-5 Refer to Name and function column. Setting
digit Explanation
Initial value
_ _ _ x Torque limit function selection at instantaneous power failure 0: Disabled 1: Enabled When an instantaneous power failure occurs during operation, you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration. You can also delay the time until [AL. 10.2 Voltage drop in the main circuit power] occurs with instantaneous power failure tough drive function. Doing this will enable you to set a longer time in [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time]. The torque limit function at instantaneous power failure is enabled when "SEMI-F47 function selection" in [Pr. PA20] is "Enabled (_ 1 _ _)".
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
(b) Gain/filter setting parameters ([Pr. PB_ _ ])
No. Symbol Name and function Initial value [unit]
Setting range
PB01 FILT Adaptive tuning mode (adaptive filter II) Set the adaptive tuning.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Filter tuning mode selection Select the adjustment mode of the machine resonance suppression filter 1. For details, refer to section 7.1.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". 0: Disabled 1: Automatic setting 2: Manual setting
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
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No. Symbol Name and function Initial value [unit]
Setting range
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II) This is used to set the vibration suppression control tuning. For details, refer to section 7.1.5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
Refer to Name and function column.
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
PB04 FFC Feed forward gain Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. When the super trace control is enabled, constant speed and uniform acceleration/deceleration droop pulses will be almost 0. However, sudden acceleration/ deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the acceleration time constant up to the rated speed.
0 [%]
0 to
100
PB06 GD2 Load to motor inertia ratio Set a load to motor inertia ratio. 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
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)
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No. Symbol Name and function Initial value [unit]
Setting range
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. 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
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 the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Increasing the setting value will also increase the response level to the load disturbance but will be liable to generate vibration and noise. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details.
37.0 [rad/s]
1.0 to
2000.0
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1 (interpolation mode))
Automatic setting
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting
PB09 VG2 Speed loop gain Set the gain of the speed loop. Set this parameter when vibration occurs on machines of low rigidity or large backlash. Increasing the setting value will also increase the response level but will be liable to generate vibration and noise. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
823 [rad/s]
20 to
65535
PB10 VIC Speed integral compensation Set the integral time constant of the speed loop. Decreasing the setting value will increase the response level but will be liable to generate vibration and noise. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
33.7 [ms]
0.1 to
1000.0
PB11 VDC Speed differential compensation Set the differential compensation. To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching control selection" in [Pr. PB24].
980 0 to
1000
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No. Symbol Name and function Initial value [unit]
Setting range
PB12 OVA Overshoot amount compensation Set a percentage of viscous friction torque against the servo motor rated value or thrust against the linear servo motor rated value. When the response level is low, or when the torque is limited, the efficiency of the parameter may be lower.
0 [%]
0 to
100
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
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.
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
PB16 NHQ2 Notch shape selection 2 Set the shape of the machine resonance suppression filter 2.
Refer to Name and function column.
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
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No. Symbol Name and function Initial value [unit]
Setting range
PB17 NHF Shaft resonance suppression filter Set the shaft resonance suppression filter. Use this to suppress a high-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. 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.
Setting digit
Explanation Initial value
_ _ x x Shaft resonance suppression filter setting frequency selection Refer to table 13.4 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 13.4 Shaft resonance suppression filter setting
frequency selection
Setting value
Frequency [Hz] Setting
value Frequency [Hz]
00 Disabled 10 562
01 Disabled 11 529
02 4500 12 500
03 3000 13 473
04 2250 14 450
05 1800 15 428
06 1500 16 409
07 1285 17 391
08 1125 18 375
09 1000 19 360
0A 900 1A 346
0B 818 1B 333
0C 750 1C 321
0D 692 1D 310
0E 642 1E 300
0F 600 1F 290
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
[Pr. PB23] [Pr. PB18]
_ _ 0 _ (Initial value) Automatic setting
_ _ 1 _ Setting value enabled
_ _ 2 _ Setting value disabled
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No. Symbol Name and function Initial value [Unit]
Setting range
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. For details, refer to section 7.1.5 of "MR- J4-_B_(-RJ) Servo Amplifier Instruction Manual".
100.0 [Hz]
0.1 to
300.0
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. For details, refer to section 7.1.5 of "MR- J4-_B_(-RJ) Servo Amplifier Instruction Manual".
100.0 [Hz]
0.1 to
300.0
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. For details, refer to section 7.1.5 of "MR- J4-_B_(-RJ) Servo Amplifier Instruction Manual".
0.00 0.00 to
0.30
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. For details, refer to section 7.1.5 of "MR- J4-_B_(-RJ) Servo Amplifier Instruction Manual".
0.00 0.00 to
0.30
PB23 VFBF Low-pass filter selection Select the shaft resonance suppression filter and low-pass filter.
Refer to Name and function column.
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
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No. Symbol Name and function Initial value [Unit]
Setting range
PB24 *MVS Slight vibration suppression control Select the slight vibration suppression control and PI-PID switching control.
Refer to Name and function column.
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), switching on the PC (Proportion control) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift.
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
PB26 *CDP Gain switching function Select the gain switching condition. Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
Refer to Name and function column.
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
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 _ _ For manufacturer setting 0h
x _ _ _ 0h
PB27 CDL Gain switching condition Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26]. The set value unit differs depending on the switching condition item. (Refer to "MR-J4-_B_(- RJ) Servo Amplifier Instruction Manual" section 7.2.3.)
10 [kpulse/s] /[pulse] /[r/min]
0 to
65535
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
PB29 GD2B Load to motor inertia ratio after gain switching Set the load to motor inertia 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
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No. Symbol Name and function Initial value [Unit]
Setting range
PB30 PG2B Position loop gain after gain switching Set the position loop gain when the gain switching is enabled. When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08]. This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08].
0.0 [rad/s]
0.0 to
2000.0
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
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
PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching Set the vibration frequency of 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. 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 stops.
0.0 [Hz]
0.0 to
300.0
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 stops.
0.0 [Hz]
0.0 to
300.0
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 stops.
0.00 0.00 to
0.30
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 stops.
0.00 0.00 to
0.30
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No. Symbol Name and function Initial value [Unit]
Setting range
PB45 CNHF Command notch filter Set the command notch filter.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ x x Command notch filter setting frequency selection Refer to table 13.5 for the relation of setting values to frequency.
00h
_ x _ _ Notch depth selection Refer to table 13.6 for details.
0h
x _ _ _ For manufacturer setting 0h
Table 13.5 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
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
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No. Symbol Name and function Initial value [unit]
Setting range
PB45 CNHF Table 13.6 Notch depth selection Refer to Name and function column. Setting value Depth [dB] Setting value Depth [dB]
0 -40.0 8 -6.0
1 -24.1 9 -5.0
2 -18.1 A -4.1
3 -14.5 B -3.3
4 -12.0 C -2.5
5 -10.1 D -1.8
6 -8.5 E -1.2
7 -7.2 F -0.6
PB46 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
PB47 NHQ3 Notch shape selection 3 Set the shape of the machine resonance suppression filter 3.
Refer to Name and function column.
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
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No. Symbol Name and function Initial value [unit]
Setting range
PB49 NHQ4 Notch shape selection 4 Set the shape of the machine resonance suppression filter 4.
Refer to Name and function column.
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
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.
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.
100.0 [Hz]
0.1 to
300.0
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
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No. Symbol Name and function Initial value [unit]
Setting range
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.
100.0 [Hz]
0.1 to
300.0
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.
0.00 0.00 to
0.30
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.
0.00 0.00 to
0.30
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 select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24] the setting value in this parameter will be 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 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 stops.
0.0 [Hz]
0.0 to
300.0
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 select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24] the setting value in this parameter will be 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 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 stops.
0.0 [Hz]
0.0 to
300.0
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. When you select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24] the setting value in this parameter will be 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 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 stops.
0.00 0.00 to
0.30
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
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No. Symbol Name and function Initial value [unit]
Setting range
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. When you select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. PA24] the setting value in this parameter will be 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 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 stops.
0.00 0.00 to
0.30
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 stops.
0.0 [rad/s]
0.0 to
2000.0
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(c) Extension setting parameters ([Pr. PC_ _ ])
No. Symbol Name and function Initial value [unit]
Setting range
PC01 ERZ Error excessive alarm level Set an error excessive alarm level. Set this per rev for rotary servo motors. Setting "0" will be 3 rev. Setting over 200 rev will be clamped at 200 rev.
0 [rev]
(Note)
0 to
1000
Note. Setting can be changed in [Pr. PC06].
PC02 MBR Electromagnetic brake sequence output Set the delay time from when MBR (Electromagnetic brake interlock) turns off until when the base drive circuit is shut-off.
0 [ms]
0 to
1000
PC03 *ENRS Encoder output pulse selection Select an encoder pulse direction and encoder output pulse setting.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Encoder output pulse phase selection 0: Increasing A-phase 90 in CCW 1: Increasing A-phase 90 in CW
0h
Setting value
Servo motor rotation direction
CCW CW
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 in this parameter, [AL. 37 Parameter error] will occur.
1: Dividing ratio setting 3: A-phase/B-phase pulse electronic gear setting
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PC04 **COP1 Function selection C-1 Select the encoder cable communication method selection.
Refer to Name and function column.
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
0h
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No. Symbol Name and function Initial value [unit]
Setting range
PC05 **COP2 Function selection C-2 Set the motor-less operation and [AL. 9B Error excessive warning].
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Motor-less operation selection 0: Disabled 1: Enabled
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ [AL. 9B Error excessive warning] selection 0: [AL. 9B Error excessive warning] disabled 1: [AL. 9B Error excessive warning] enabled The setting of this digit is used by servo amplifier with software version A4 or later.
0h
PC06 *COP3 Function selection C-3 Select the error excessive alarm level unit for the [Pr. PC01] setting. The parameter is not available in the speed control mode and torque control mode.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ _ x For manufacturer setting 0h
_ _ x _ 0h
_ x _ _ 0h
x _ _ _ Error excessive alarm level unit selection 0: 1 rev unit 1: 01 rev unit 2: 001 rev unit 3: 0001 rev unit
0h
PC07 ZSP Zero speed Set an output range of ZSP (Zero speed detection). ZSP (Zero speed detection) has hysteresis of 20 r/min.
50 [r/min]
0 to
10000
PC08 OSL Overspeed alarm detection level Set an overspeed alarm detection level. When you set a value more than "servo motor maximum speed 120%", the set value will be clamped. When you set "0", the value of "servo motor maximum speed 120%" will be set.
0 [r/min]
0 to
20000
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No. Symbol Name and function Initial value [unit]
Setting range
PC09 MOD1 Analog monitor 1 output Select a signal to output to MO1 (Analog monitor 1). Refer to app. 11 (3) of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" for the detection point of output selection.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ x x Analog monitor 1 output selection Refer to table 13.7 for settings.
00h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Table 13.7 Analog monitor setting value
Setting value
Item
00 Servo motor speed (8 V/max. speed)
01 Torque (8 V/max. torque)
02 Servo motor speed (+8 V/max. speed)
03 Torque (+8 V/max. torque)
04 Current command (8 V/max. current command)
05 Speed command (8 V/max. speed)
06 Servo motor-side droop pulses (10 V/100 pulses) (Note)
07 Servo motor-side droop pulses (10 V/1000 pulses) (Note)
08 Servo motor-side droop pulses (10 V/10000 pulses) (Note)
09 Servo motor-side droop pulses (10 V/100000 pulses) (Note)
0A Feedback position (10 V/1 Mpulse) (Note)
0B Feedback position (10 V/10 Mpulses) (Note)
0C Feedback position (10 V/100 Mpulses) (Note)
0D Bus voltage (200 V class and 100 V class: +8 V/400 V, 400 V class: +8 V/800 V)
0E Speed command 2 (8 V/max. speed)
17 Internal temperature of encoder (10 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 app. 11 (3) of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" for the detection point of output selection.
Refer to Name and function column.
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 _ _ _ 0h
PC11 MO1 Analog monitor 1 offset Set the offset voltage of MO1 (Analog monitor 1).
0 [mV]
-999 to
999
PC12 MO2 Analog monitor 2 offset Set the offset voltage of MO2 (Analog monitor 2).
0 [mV]
-999 to
999
PC13 MOSDL Analog monitor - Feedback position output standard data - Low Set a monitor output standard position (lower 4 digits) for the feedback position 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
0 [pulse]
-9999 to
9999
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No. Symbol Name and function Initial value [unit]
Setting range
PC14 MOSDH Analog monitor - Feedback position output standard data - High Set a monitor output standard position (higher 4 digits) for the feedback position 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
0 [10000 pulses]
-9999 to
9999
PC17 **COP4 Function selection C-4 Select a home position setting condition.
Refer to Name and function column.
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 _ For manufacturer setting 0h
_ x _ _ 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.
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 the ready-on and servo-on command 1: Detection only with the servo-on command
0h
PC20 *COP7 Function selection C-7 Select the detection method of [AL. 10 Undervoltage].
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Undervoltage alarm detection method selection Set this parameter when [AL. 10 undervoltage] occurs due to distorted power supply voltage waveform while using FR-RC-(H) or FR-CV-(H). 0: [AL. 10] not occurrence 1: [AL. 10] occurrence
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ Undervoltage alarm selection Select the alarm and warning that occurs 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 or less, [AL. 10] at over 50 r/min
0h
x _ _ _ For manufacturer setting 0h
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No. Symbol Name and function Initial value [unit]
Setting range
PC21 *BPS Alarm history clear Used to clear the alarm history.
Refer to Name and function column.
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 for the forced stop deceleration function. Set the time taken to reach 0 r/min from the rated speed in ms unit.
Forced stop deceleration
[Pr. PC24] 0 r/min
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 at quick stop of the controller. If a shorter time is set, [AL. 52 Error excessive] may occur.
100 [ms]
0 to
20000
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No. Symbol Name and function Initial value [unit]
Setting range
PC29 *COPB Function selection C-B Select the POL reflection at torque control.
Refer to Name and function column.
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 in the unit of servo motor rotation amount. When a positive value is set, compensation is performed to increase the command address. When a negative value is set, compensation is performed to decrease the command address. 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) An alarm has occurred or EM2 has turned off when the 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. PC16].
0 [0.0001
rev]
-25000 to
25000
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 the level in rev unit. When "0" is set, 1 rev will be applied. Setting over 200 rev will be clamped to 200 rev. 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 setting is available with servo amplifiers with software version A4 or later.
0 [rev]
0 to
1000
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(d) I/O setting parameters ([Pr. PD_ _ ])
No. Symbol Name and function Initial value [unit]
Setting range
PD02 *DIA2 Input signal automatic on selection 2 Refer to Name and function column. 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: 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
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No. Symbol Name and function Initial value [unit]
Setting range
PD07 *DO1 Output device selection 1 You can assign any output device to the CN3-13 pin. As the initial value, MBR (Electromagnetic brake interlock) is assigned to the pin.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ x x Device selection Refer to table 13.8 for settings.
05h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Table 13.8 Selectable output devices
Setting value
Output device
00 Always off
02 RD (Ready)
03 ALM (Malfunction)
04 INP (In-position)
05 MBR (Electromagnetic brake interlock)
06 DB (Dynamic brake interlock)
07 TLC (Limiting torque)
08 WNG (Warning)
09 BWNG (Battery warning)
0A SA (Speed reached)
0C ZSP (Zero speed detection)
0F CDPS (Variable gain selection)
11 ABSV (Absolute position undetermined)
17 MTTR (During tough drive)
PD08 *DO2 Output device selection 2 You can assign any output device to the CN3-9 pin. INP (In-position) is assigned as the initial value. The devices that can be assigned and the setting method are the same as in [Pr. PD07].
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ x x Device selection Refer to table 13.8 in [Pr. PD07] for settings.
04h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PD09 *DO3 Output device selection 3 You can assign any output device to the CN3-15 pin. ALM (Malfunction) is assigned as the initial value. The devices that can be assigned and the setting method are the same as in [Pr. PD07].
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ x x Device selection Refer to table 13.8 in [Pr. PD07] for settings.
03h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
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No. Symbol Name and function Initial value [unit]
Setting range
PD11 *DIF Input filter setting Select the input filter.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Input signal filter selection Refer to the servo system controller instruction manual for the setting. If 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.
Setting digit
Explanation Initial value
_ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ Servo motor thermistor enabled/disabled selection
0: Enabled 1: Disabled For servo motors without thermistor, the setting will be disabled. This parameter is used by servo amplifier with software version A1 or later.
0h
PD13 *DOP2 Function selection D-2 Select a condition to turn on INP (In-position). This parameter is supported with software version A4 or later.
Refer to the Name and function column.
Setting digit
Explanation Initial value
_ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ INP (In-position) on condition selection
Select a condition that INP (In-position) is turned on. 0: Droop pulses are within the in-position range. 1: The command pulse frequency is 0, and droop pulses are within the in-position range. When the position command is not inputted for about 1 ms, the command pulse frequency is decided as 0.
0h
x _ _ _ For manufacturer setting 0h
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No. Symbol Name and function Initial value [unit]
Setting range
PD14 *DOP3 Function selection D-3 Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ _ x For manufacturer setting 0h _ _ x _ Selection of the 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
PD15 *IDCS Driver communication setting Select master/slave axis for the driver communication. This is available only when the deceleration to a stop function is disabled. When the deceleration to a stop function is enabled, [AL. 37] will occur. This parameter is supported with software version A2 or later.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Master axis operation selection Setting "1" other than in standard control mode will trigger [AL. 37]. 0: Disabled (not using master-slave operation function) 1: Enabled (this servo amplifier: master axis)
0h
_ _ x _ Slave axis operation selection Setting "1" other than in standard control mode will trigger [AL. 37]. 0: Disabled (not using master-slave operation function) 1: Enabled (this servo amplifier: slave axis)
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Master-slave operation function Setting value
Not used 0000
Used
Master 0001
Slave 0010
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No. Symbol Name and function Initial value [unit]
Setting range
PD16 *MD1 Driver communication setting - Master - Transmit data selection 1 Select transmit data from master axis to slave axis. When setting this amplifier as master axis ([Pr. PD15] is "_ _ 0 1".), select "_ _ 3 8 (torque command)" with this parameter. This parameter is supported with software version A2 or later.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ x x Transmission data selection 00: Disabled 38: Torque command
00h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PD17 *MD2 Driver communication setting - Master - Transmit data selection 2 Select transmit data from master axis to slave axis. When setting this amplifier as master axis ([Pr. PD15] is "_ _ 0 1".), select "_ _ 3 A (speed limit command)" with this parameter. This parameter is supported with software version A2 or later.
Refer to Name and function column.
Setting digit
Explanation Initial value
_ _ x x Transmission data selection 00: Disabled 3A: speed limit command
00h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PD20 *SLA1 Driver communication setting - Slave - Master axis No. selection 1 Select a master axis when this amplifier is slave axis. When setting this amplifier as slave axis ([Pr. PD15] is "_ _ 1 0".), set the axis No. of the servo amplifier of master. Refer to section 4.3.1 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" for details of axis Nos. Setting "0" disables this parameter. This parameter is supported with software version A2 or later.
0 0 to 32
PD30 TLC Master-slave operation - Torque command coefficient on slave Set an internal torque command coefficient to torque command value received from master axis. This parameter is enabled when this amplifier is set as slave axis ([Pr. PD15] is "_ _ 1 0".). The maximum value is 500. Setting over 500 will be 500. Setting 100 [%] means multiplication of one. The torque ratio will be 100 (master) to 100 (slave). Setting 90 [%] means multiplication of 0.9. The torque ratio will be 100 (master) to 90 (slave). This parameter is supported with software version A2 or later.
0 [%] 0 to 500
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No. Symbol Name and function Initial value [unit]
Setting range
PD31 VLC Master-slave operation - Speed limit coefficient on slave Set an internal speed limit value coefficient to speed limit command value received from master axis. This parameter is enabled when this amplifier is set as slave axis ([Pr. PD15] is "_ _ 1 0".). The maximum value is 500. Setting over 500 will be 500. Setting 100 [%] means multiplication of one. Setting example: [Pr. PD31 (VLC)] = 140 [%], [Pr. PD32 (VLL)] = 300 [r/min], and master side acceleration/deceleration at 1000 [r/min]
0 [%] 0 to 500
VLL
0
Speed command from master side VLC [%]
Speed limit value of slave side
300 r/min
1400 r/min
1000 r/min
Speed limit command from master side (driver communication)
S pe
ed (
r/ m
in )
This parameter is supported with software version A2 or later.
PD32 VLL Master-slave operation - Speed limit adjusted value on slave Set a minimum value for internal speed limit value. This parameter is enabled when this amplifier is set as slave axis ([Pr. PD15] is "_ _ 1 0".). The speed limit value will not be this setting value or lower. This parameter ensures torque control range at low speed driving (avoid area likely to reach speed limit). Set 100 to 500 [r/min] normally as a reference. Refer to [Pr. PD31] for the setting example. This parameter is supported with software version A2 or later.
0 [r/min] 0 to 32767
(e) Extension setting 2 parameters ([Pr. PE_ _ ])
No. Symbol Name and function Initial value [Unit]
Setting range
PE41 EOP3 Function selection E-3 Refer to Name and function column. 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
PE44 LMCP Lost motion compensation positive-side compensation value selection Set the lost motion compensation for when reverse rotation (CW) switches to forward rotation (CCW) in increments of 0.01% assuming the rated torque as 100%. This parameter setting is available with servo amplifiers with software version A4 or later.
0 [0.01%]
0 to
30000
PE45 LMCN Lost motion compensation negative-side compensation value selection Set the lost motion compensation for when forward rotation (CCW) switches to reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%. This parameter setting is available with servo amplifiers with software version A4 or later.
0 [0.01%]
0 to
30000
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No. Symbol Name and function Initial value [Unit]
Setting range
PE46 LMFLT Lost motion filter setting Set the time constant of the lost motion compensation filter in increments of 0.1 ms. When "0" is set, the torque is compensated with the value set in [Pr. PE44] and [Pr. PE45]. When other than "0" is set, the torque is compensated with the high-pass filter output value of the set time constant, and the lost motion compensation will continue. This parameter setting is available with servo amplifiers with software version A4 or later.
0 [0.1 ms]
0 to
30000
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 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 setting is available with servo amplifiers with software version A4 or later.
0 [0.01%]
-10000 to
10000
PE48 *LMOP Lost motion compensation function selection Select the lost motion compensation function. This parameter setting is available with servo amplifiers with software version A4 or later.
Refer to the Name and function column.
Setting value
Explanation Initial value
_ _ _ x Lost motion compensation selection 0: Disabled 1: Enabled
0h
_ _ x _ Unit setting of lost motion compensation non-sensitive band 0: 1 pulse unit 1: 1 kpulse unit
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PE49 LMCD Lost motion compensation timing Set the lost motion compensation timing in increments of 0.1 ms. You can delay the timing to perform the lost motion compensation for the set time. This parameter setting is available with servo amplifiers with software version A4 or later.
0 [0.1 ms]
0 to
30000
PE50 LMCT Lost motion compensation non-sensitive band Set the lost motion compensation non-sensitive band. When the fluctuation of droop pulses equals to or less than the setting value, the speed will be 0. Setting can be changed in [Pr. PE48]. Set the parameter per encoder unit. This parameter setting is available with servo amplifiers with software version A4 or later.
0 [pulse]/ [kpulse]
0 to
65535
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(f) Extension setting 3 parameters ([Pr. PF_ _ ])
No. Symbol Name and function Initial value [unit]
Setting range
PF06 *FOP5 Function selection F-5 Refer to Name and function column. 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
_ _ 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
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 s. When "-1" is set, the drive recorder function is disabled.
0 [s]
-1 to
32767
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. 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
PF24 *OSCL2 Vibration tough drive function selection Refer to Name and function column. 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. 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
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No. Symbol Name and function Initial value [unit]
Setting range
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. To disable the parameter, select "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr. PA20]. The [Pr. PA20 SEMI-F47 function selection] and [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] settings of the drive unit must be the same as [Pr. PA17 SEMI- F47 function selection] and [Pr. PA18 SEMIF47 function - Instantaneous power failure detection time] settings of the converter unit.
200 [ms]
30 to
200
PF31 FRIC Machine diagnosis function - Friction judgment speed Set a servo motor speed to divide a friction estimation area into high and low for the friction estimation process of the machine diagnosis. However, setting "0" will be the value half of the rated speed. When your operation pattern is under rated speed, we recommend that you set half value to the maximum speed with this.
Maximum speed in operation
[Pr. PF31] setting
Operation pattern
0 r/min Servo motor speed
Forward rotation direction
Reverse rotation direction
0 [r/min]
0 to
Permissi- ble speed
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13.3 Troubleshooting
POINT
Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings.
As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power.
[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
When an error occurs during operation, the corresponding alarm and warning are displayed. When an alarm or warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM will turn off. 13.3.1 Explanation for the lists
(1) No./Name/Detail No./Detail name Indicates each No./Name/Detail No./Detail name of alarms or warnings.
(2) Stop method
For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or "EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.
(3) Alarm deactivation
After 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. Reset command from controller 2. Click the "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.
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13.3.2 Alarm list
No. Name Detail No.
Detail name
Stop method
(Note 2, 3)
Alarm deactivation
Alarm reset
CPU reset
Cycling the
power
A la
rm
10 Undervoltage
10.1 Voltage drop in the control circuit power
EDB
10.2 Voltage drop in the main circuit power
SD
11 Switch setting error
11.1 Axis number setting error/ Station number setting error
DB
11.2 Disabling control axis setting error
DB
12.1 RAM error 1 DB
12.2 RAM error 2 DB
12
Memory error 1 (RAM)
12.3 RAM error 3 DB
12.4 RAM error 4 DB
12.5 RAM error 5 DB
12.6 RAM error 6 DB
13 Clock error
13.1 Clock error 1 DB
13.2 Clock error 2 DB
14.1 Control process error 1 DB
14.2 Control process error 2 DB
14.3 Control process error 3 DB
14.4 Control process error 4 DB
Control process
error
14.5 Control process error 5 DB
14 14.6 Control process error 6 DB
14.7 Control process error 7 DB
14.8 Control process error 8 DB
14.9 Control process error 9 DB
14.A Control process error 10 DB
14.B Control process error 11 DB
15 Memory error 2
(EEP-ROM)
15.1 EEP-ROM error at power on DB
15.2
EEP-ROM error during operation
DB
15.4
Home position information read error
DB
16.1
Encoder initial communication - Receive data error 1
DB
16.2
Encoder initial communication - Receive data error 2
DB
16.3
Encoder initial communication - Receive data error 3
DB
16.5
Encoder initial communication - Transmission data error 1
DB
16.6
Encoder initial communication - Transmission data error 2
DB
16 Encoder initial communication
error 1
16.7 Encoder initial communication - Transmission data error 3
DB
16.A
Encoder initial communication - Process error 1
DB
16.B
Encoder initial communication - Process error 2
DB
16.C
Encoder initial communication - Process error 3
DB
16.D
Encoder initial communication - Process error 4
DB
16.E
Encoder initial communication - Process error 5
DB
16.F
Encoder initial communication - Process error 6
DB
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No. Name Detail No.
Detail name
Stop method
(Note 2, 3)
Alarm deactivation
Alarm reset
CPU reset
Cycling the
power
A la
rm
17.1 Board error 1 DB
17.3 Board error 2 DB
17.4 Board error 3 DB
17 Board error
17.5 Board error 4 DB
17.6 Board error 5 DB
17.7 Board error 7 DB
17.8 Board error 6 (Note 6) EDB
17.9 Board error 8 DB
Memory error 3 (Flash-ROM)
19.1 Flash-ROM error 1 DB
19 19.2 Flash-ROM error 2 DB
19.3 Flash-ROM error 3 DB
1A.1
Servo motor combination error 1
DB
1A
Servo motor combination error
1A.2 Servo motor control mode combination error
DB
1A.4
Servo motor combination error 2
DB
1B Converter error 1B.1 Converter unit error DB
1E
Encoder initial communication
error 2
1E.1 Encoder malfunction DB
1E.2 Load-side encoder malfunction DB
1F
Encoder initial communication
error 3
1F.1 Incompatible encoder DB
1F.2 Incompatible load-side encoder DB
20.1
Encoder normal communication - Receive data error 1
EDB
20.2
Encoder normal communication - Receive data error 2
EDB
20.3
Encoder normal communication - Receive data error 3
EDB
20 Encoder normal communication
error 1
20.5 Encoder normal communication - Transmission data error 1
EDB
20.6 Encoder normal communication - Transmission data error 2
EDB
20.7
Encoder normal communication - Transmission data error 3
EDB
20.9
Encoder normal communication - Receive data error 4
EDB
20.A
Encoder normal communication - Receive data error 5
EDB
21.1 Encoder data error 1 EDB
21.2 Encoder data update error EDB
Encoder normal communication
error 2
21.3 Encoder data waveform error EDB
21 21.4 Encoder non-signal error EDB
21.5 Encoder hardware error 1 EDB
21.6 Encoder hardware error 2 EDB
21.9 Encoder data error 2 EDB
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No. Name Detail No.
Detail name
Stop method
(Note 2, 3)
Alarm deactivation
Alarm reset
CPU reset
Cycling the
power
A la
rm
24 Main circuit error
24.1 Ground fault detected by hardware detection circuit
DB
24.2 Ground fault detected by software detection function
DB
25 Absolute position
erased
25.1 Servo motor encoder - Absolute position erased
DB
25.2 Scale measurement encoder - Absolute position erased
DB
27.1
Initial magnetic pole detection - Abnormal termination
DB
27.2
Initial magnetic pole detection - Time out error
DB
27.3
Initial magnetic pole detection - Limit switch error
DB
27
Initial magnetic pole detection error
27.4 Initial magnetic pole detection - Estimated error
DB
27.5
Initial magnetic pole detection - Position deviation error
DB
27.6
Initial magnetic pole detection - Speed deviation error
DB
27.7
Initial magnetic pole detection - Current error
DB
28
Linear encoder error 2
28.1 Linear encoder - Environment error
EDB
2A.1 Linear encoder error 1-1 EDB
2A.2 Linear encoder error 1-2 EDB
2A.3 Linear encoder error 1-3 EDB
2A
Linear encoder error 1
2A.4 Linear encoder error 1-4 EDB
2A.5 Linear encoder error 1-5 EDB
2A.6 Linear encoder error 1-6 EDB
2A.7 Linear encoder error 1-7 EDB
2A.8 Linear encoder error 1-8 EDB
2B
Encoder counter error
2B.1 Encoder counter error 1 EDB
2B.2 Encoder counter error 2 EDB
30.1 Regeneration heat error DB
(Note 1)
(Note 1)
(Note 1)
30 Regenerative error 30.2 Regeneration signal error DB
(Note 1)
(Note 1)
(Note 1)
30.3
Regeneration feedback signal error
DB (Note 1)
(Note 1)
(Note 1)
31 Overspeed 31.1 Abnormal motor speed SD
32.1
Overcurrent detected at hardware detection circuit (during operation)
DB
32 Overcurrent
32.2 Overcurrent detected at software detection function (during operation)
DB
32.3 Overcurrent detected at hardware detection circuit (during a stop)
DB
32.4
Overcurrent detected at software detection function (during a stop)
DB
33 Overvoltage 33.1 Main circuit voltage error EDB
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No. Name Detail No.
Detail name
Stop method
(Note 2, 3)
Alarm deactivation
Alarm reset
CPU reset
Cycling the
power
A la
rm
34 SSCNET receive
error 1
34.1 SSCNET receive data error SD
(Note 5)
34.2 SSCNET connector connection error
SD
34.3
SSCNET communication data error
SD
34.4 Hardware error signal detection SD
34.5
SSCNET receive data error (safety observation function)
SD
34.6
SSCNET communication data error (safety observation function)
SD
35
Command frequency error
35.1 Command frequency error SD
36 SSCNET receive
error 2
36.1 Continuous communication data error
SD
36.2
Continuous communication data error (safety observation function)
SD
37 Parameter error
37.1 Parameter setting range error DB
37.2 Parameter combination error DB
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
3D Parameter setting
error for driver communication
3D.1 Parameter combination error for driver communication on slave
DB
3D.2
Parameter combination error for driver communication on master
DB
3E
Operation mode error
3E.1 Operation mode error DB
3E.6 Operation mode switch error DB
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)
42.2
Servo control error by speed deviation
EDB (Note 4) (Note 4)
42.3
Servo control error by torque/thrust deviation
EDB (Note 4) (Note 4)
Fully closed loop control error
(for fully closed loop control)
42.8 Fully closed loop control error by position deviation
EDB (Note 4) (Note 4)
42.9
Fully closed loop control error by speed deviation
EDB (Note 4) (Note 4)
42.A
Fully closed loop control error by position deviation during command stop
EDB (Note 4) (Note 4)
45 Main circuit device
overheat
45.1 Main circuit device overheat error 1
SD (Note 1)
(Note 1)
(Note 1)
45.2 Main circuit device overheat error 2
SD (Note 1)
(Note 1)
(Note 1)
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No. Name Detail No.
Detail name
Stop method
(Note 2, 3)
Alarm deactivation
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)
46.2 Abnormal temperature of servo motor 2
SD (Note 1)
(Note 1)
(Note 1)
46 Servo motor
overheat
46.3 Thermistor disconnected error SD (Note 1)
(Note 1)
(Note 1)
46.4 Thermistor circuit error SD (Note 1)
(Note 1)
(Note 1)
46.5 Abnormal temperature of servo motor 3
DB (Note 1)
(Note 1)
(Note 1)
46.6 Abnormal temperature of servo motor 4
DB (Note 1)
(Note 1)
(Note 1)
47 Cooling fan error
47.1 Cooling fan stop error SD
47.2
Cooling fan speed reduction error
SD
50.1 Thermal overload error 1 during operation
SD (Note 1)
(Note 1)
(Note 1)
50.2 Thermal overload error 2 during operation
SD (Note 1)
(Note 1)
(Note 1)
50 Overload 1
50.3 Thermal overload error 4 during operation
SD (Note 1)
(Note 1)
(Note 1)
50.4 Thermal overload error 1 during a stop
SD (Note 1)
(Note 1)
(Note 1)
50.5 Thermal overload error 2 during a stop
SD (Note 1)
(Note 1)
(Note 1)
50.6 Thermal overload error 4 during a stop
SD (Note 1)
(Note 1)
(Note 1)
51 Overload 2
51.1 Thermal overload error 3 during operation
DB (Note 1)
(Note 1)
(Note 1)
51.2 Thermal overload error 3 during a stop
DB (Note 1)
(Note 1)
(Note 1)
52.1 Excess droop pulse 1 SD
52 Error excessive
52.3 Excess droop pulse 2 SD
52.4
Error excessive during 0 torque limit
SD
52.5 Excess droop pulse 3 EDB
54 Oscillation detection
54.1 Oscillation detection error EDB
56 Forced stop error
56.2 Over speed during forced stop EDB
56.3
Estimated distance over during forced stop
EDB
61 Operation error 61.1 Point table setting range error DB
63.1 STO1 off DB
63 STO timing error 63.2 STO2 off DB
63.5 STO by functional safety unit DB
Functional safety unit setting error
64.1 STO input error DB
64 64.2 Compatibility mode setting error DB
64.3 Operation mode setting error DB
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No. Name Detail No.
Detail name
Stop method
(Note 2, 3)
Alarm deactivation
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
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
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 58
No. Name Detail No.
Detail name
Stop method
(Note 2, 3)
Alarm deactivation
Alarm reset
CPU reset
Cycling the
power
A la
rm
70.1 Load-side encoder initial communication - Receive data error 1
DB
70.2 Load-side encoder initial communication - Receive data error 2
DB
70.3 Load-side encoder initial communication - Receive data error 3
DB
70.5 Load-side encoder initial communication - Transmission data error 1
DB
70.6 Load-side encoder initial communication - Transmission data error 2
DB
70
Load-side encoder initial
communication error 1
70.7 Load-side encoder initial communication - Transmission data error 3
DB
70.A Load-side encoder initial communication - Process error 1
DB
70.B Load-side encoder initial communication - Process error 2
DB
70.C Load-side encoder initial communication - Process error 3
DB
70.D Load-side encoder initial communication - Process error 4
DB
70.E Load-side encoder initial communication - Process error 5
DB
70.F Load-side encoder initial communication - Process error 6
DB
71.1
Load-side encoder normal communication - Receive data error 1
EDB
71.2
Load-side encoder normal communication - Receive data error 2
EDB
71.3
Load-side encoder normal communication - Receive data error 3
EDB
71
Load-side encoder normal
communication error 1
71.5 Load-side encoder normal communication - Transmission data error 1
EDB
71.6 Load-side encoder normal communication - Transmission data error 2
EDB
71.7
Load-side encoder normal communication - Transmission data error 3
EDB
71.9
Load-side encoder normal communication - Receive data error 4
EDB
71.A
Load-side encoder normal communication - Receive data error 5
EDB
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 59
No. Name Detail No.
Detail name
Stop method
(Note 2, 3)
Alarm deactivation
Alarm reset
CPU reset
Cycling the
power
A la
rm
72.1 Load-side encoder data error 1 EDB
72.2 Load-side encoder data update error
EDB
Load-side encoder normal
communication error 2
72.3 Load-side encoder data waveform error
EDB
72 72.4
Load-side encoder non-signal error
EDB
72.5
Load-side encoder hardware error 1
EDB
72.6
Load-side encoder hardware error 2
EDB
72.9 Load-side encoder data error 2 EDB
74.1 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
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 60
No. Name Detail No.
Detail name
Stop method
(Note 2, 3)
Alarm deactivation
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
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
8E.2
USB communication checksum error/serial communication checksum error
SD
8E
USB communication
error/serial communication
error/Modbus-RTU communication
error
8E.3 USB communication character error/serial communication character error
SD
8E.4
USB communication command error/serial communication command error
SD
8E.5
USB communication data number error/serial communication data number error
SD
8E.6
Modbus-RTU communication receive error
SD
8E.7
Modbus-RTU communication message frame error
SD
8E.8
Modbus-RTU communication CRC error
SD
88888 Watchdog 8888._ Watchdog DB
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 61
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.
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 62
13.3.3 Warning list
No. Name Detail No.
Detail name
Stop method (Note 2,
3)
W
ar ni
ng
Home position
return incomplete warning
90.1 Home position return incomplete
90 90.2 Home position return abnormal termination
90.5 Z-phase unpassed
91
Servo amplifier overheat warning
(Note 1) 91.1
Main circuit device overheat warning
92
Battery cable disconnection
warning
92.1 Encoder battery cable disconnection warning
92.3 Battery degradation
93 ABS data transfer
warning 93.1
ABS data transfer requirement warning during magnetic pole detection
95.1 STO1 off detection DB
95.2 STO2 off detection DB
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
96 Home position setting warning
96.2 Command input warning at home positioning
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, 5)
99 Stroke limit warning
99.2 Reverse rotation stroke end off (Note 4, 5)
99.4 Upper stroke limit off (Note 5)
99.5 Lower stroke limit off (Note 5)
9A
Optional unit input data error warning
9A.1 Optional unit input data sign error
9A.2 Optional unit BCD input data error
9B Error excessive
warning
9B.1 Excess droop pulse 1 warning
9B.3 Excess droop pulse 2 warning
9B.4 Error excessive warning during 0 torque limit
9C Converter 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
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 63
No. Name Detail No.
Detail name
Stop method (Note 2,
3)
W ar
ni ng
9E
CC-Link IE warning 2
9E.1 CC-Link IE communication warning
9F Battery warning 9F.1 Low battery
9F.2 Battery degradation warning
E0 Excessive
regeneration warning
E0.1 Excessive regeneration warning
E1.1 Thermal overload warning 1 during operation
E1.2 Thermal overload warning 2 during operation
E1.3 Thermal overload warning 3 during operation
E1 Overload warning 1
E1.4 Thermal overload warning 4 during operation
E1.5 Thermal overload error 1 during a stop
E1.6 Thermal overload error 2 during a stop
E1.7 Thermal overload error 3 during a stop
E1.8 Thermal overload error 4 during a stop
E2 Servo motor
overheat warning E2.1 Servo motor temperature warning
E3.1 Multi-revolution counter travel distance excess warning
E3 Absolute position counter warning
E3.2 Absolute position counter warning
E3.4 Absolute positioning counter EEP- ROM writing frequency warning
E3.5 Encoder absolute positioning counter warning
E4 Parameter warning E4.1 Parameter setting range error warning
E5 ABS time-out
warning
E5.1 Time-out during ABS data transfer
E5.2 ABSM off during ABS data transfer
E5.3 SON off during ABS data transfer
E6 Servo forced stop
warning
E6.1 Forced stop warning SD
E6.2 SS1 forced stop warning 1 (safety observation function)
SD
E6.3 SS1 forced stop warning 2 (safety observation function)
SD
E7 Controller forced stop
warning E7.1 Controller forced stop input warning SD
E8
Cooling fan speed reduction warning
E8.1 Decreased cooling fan speed warning
E8.2 Cooling fan stop
E9 Main circuit off
warning
E9.1 Servo-on signal on during main circuit off
DB
E9.2 Bus voltage drop during low speed operation
DB
E9.3 Ready-on signal on during main circuit off
DB
E9.4 Converter unit forced stop DB
EA ABS servo-on
warning EA.1 ABS servo-on warning
EB The other axis error
warning EB.1 The other axis error warning DB
EC Overload warning 2 EC.1 Overload warning 2
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 64
No. Name Detail No.
Detail name
Stop method (Note 2,
3)
W ar
ni ng
ED
Output watt excess warning
ED.1 Output watt excess warning
F0 Tough drive warning F0.1
Instantaneous power failure tough drive warning
F0.3 Vibration tough drive warning
F2 Drive recorder -
Miswriting warning
F2.1 Drive recorder - Area writing time- out warning
F2.2 Drive recorder - Data miswriting warning
F3 Oscillation detection
warning F3.1 Oscillation detection warning
F4 Positioning warning
F4.4 Target position setting range error warning
F4.6 Acceleration time constant setting range error warning
F4.7 Deceleration time constant setting range error warning
F4.9 Home position return type error warning
F5 Simple cam
function - Cam data miswriting warning
F5.1 Cam data - Area writing time-out warning
F5.2 Cam data - Area miswriting warning
F5.3 Cam data checksum error
F6 Simple cam
function - Cam control warning
F6.1 Cam axis one cycle current value restoration failed
F6.2 Cam axis feed current value restoration failed
F6.3 Cam unregistered error
F6.4 Cam control data setting range error
F6.5 Cam No. external error
F6.6 Cam control inactive
F7 Machine diagnosis
warning
F7.1 Vibration failure prediction warning
F7.2 Friction failure prediction warning
F7.3 Total travel distance failure prediction warning
Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.
2. The following shows two stop methods of DB and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6.
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB
using [Pr. PA04].
4. For MR-J4-_A_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD30].
5. For MR-J4-_GF_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD12]. (I/O mode
only)
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 65
13.3.4 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.
An 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 it 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.
The control axis is disabled.
Check if the disabling control axis switch (SW2-2) is on.
Turn off the disabling control axis switch (SW2-2).
The setting of the axis No. is incorrect.
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.
An 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 it 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.
b##. (Note)
The system has been in the test operation mode.
Test operation mode has been enabled.
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 an axis No.
13. USING THE MR-J4-(DU)_B_-RJ020 IN THE J4 MODE
13 - 66
MEMO
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 1
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
The following items are the same as those of MR-J4-_B_-RJ020 servo amplifiers. Refer to each chapter of the detailed explanation field for details.
Item Detailed explanation
Normal gain adjustment Chapter 6
Special adjustment functions Chapter 7
Absolute position detection system Chapter 12
Using MR-J4-(DU)_B_-RJ020 in J4 mode Chapter 13
Using fully closed loop control Chapter 15
14.1 Functions and configuration
The following items are the same as those of MR-J4-_B_-RJ020. Refer to each section of the detailed explanation field for details.
Item Detailed explanation
Conversion unit for SSCNET of MR-J2S-B Section 1.3.2
Function list Section 1.5
Parts identification of MR-J4-T20 Section 1.7.2
Installation and removal of MR-J4-T20 Section 1.8 (3)
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 2
14.1.1 Summary
This section explains MR-J4-DU_B_-RJ020 drive unit compatible with conversion unit for SSCNET of MR- J2S-B and MR-J4-T20 conversion unit for SSCNET of MR-J2S-B. Always use MR-J4-T20 with MR-J4-DU_B_-RJ020. Using MR-J4-T20 with an MR-J4-DU_B_-RJ020 enables the MR-J4-DU_B_-RJ020 to connect to SSCNET of MR-J2S-B. MR-J4-DU_B_-RJ020 drive unit has "J2S compatibility mode (factory setting)" and "J4 mode" as the operation mode. "J2S compatibility mode" is the operation mode compatible with the previous functions of MR-J2S-B series. This section explains a case where the drive unit is used in "J2S compatibility mode". When using it in "J4 mode", refer to chapter 13. When you use an MR-J4-DU_B_-RJ020 drive unit, please note the following items. (1) When an HG series servo motor is used in the J2S compatibility mode, the encoder resolution per servo
motor revolution will be 131072 pulses/rev (17 bits), not 4194303 pulses/rev (22 bits). (2) It may be required to change existing equipment program because the initialization time after power on
is different between MR-J2S-_B_ servo amplifier and MR-J4-DU_B_-RJ020 drive unit. Especially when using it in vertical motion applications, please be careful of electromagnetic brake release time. The moving part may fall.
(3) Motor-less operation cannot be used with MR Configurator. To use motor-less operation, set "_ 1 _ _" in
[Pr. 24]. (4) When using [Pr. 13 Position loop gain 1] of MR-J4-DU_B_-RJ020 and MR-J2S-_B_ simultaneously such
as in the interpolation mode, check droop pulses for each axis and readjust gains as necessary. (5) MR-J4-DU_B_-RJ020 drive unit is not compatible with adaptive vibration suppression control. (6) Power is not supplied from the SSCNET cable connection connector to the encoder. When using it in
absolute position detection system, always connect a battery to the CN4 connector of the MR-J4- DU_B_-RJ020 drive unit.
(7) When the servo amplifier is set to the J2S compatibility mode, it supports the fully closed loop system. In
the fully closed loop control mode, when an HG series servo motor is used for the load-side encoder, the resolution of the load-side encoder will be 131072 pulses/rev (17 bits), which is the same as that of the servo motor side. Refer to chapter 15 for details.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 3
14.1.2 Function block diagram
The function block diagram of this servo is shown below.
+
MC
Thyristor
Power supply
Control circuit power supply
L11
L21
L1
L2
L3
CN1 I/F
CHARGE lamp
Regenerative option
Converter unit
Diode stack
P1 P2
Cooling fan
C
CPU
Malfunction, warning, forced stop
CN40
Converter unit protection coordination
To CN40A of drive unit
To L11 of drive unit
To L21 of drive unit
To L+ of drive unit L+
To L- of drive unit L-
Regene- rative TR
Power factor improving DC reactor
CNP1
MC drive
Current detection
Voltage detection
Base amplifier
MCCB
+ U U
U
MCCB
MCCB
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 4
External dynamic brake
(optional)
(Note 2)
From CN40 of converter unit
Base amplifier
Encoder
Servo motor
L11
L21
Drive unit
Current detection
From L11 of converter unit From L21 of converter unit
Overcurrent protection
Control circuit power supply
Current detector
(Note 1) Power supply
From L+ of converter unit
L+
From L- of converter unit
L-
Cooling fan
Cooling fan
MCCB
+
STO control circuit
C N
40 A
D/A
Analog monitor (2 channels)
Digital I/O control
BU BV BW
C N
2
U
V
W
U
V
W
C N
8
CN5
USB
RS-232C
CN30
RS-232C
Personal computer
Servo system controller or
drive unit
CN10A CN10B
MR-J4-T20 (Note 4)
CN7 CN9
I/F Control
Drive unit or terminal connector
(Note 3)
CN3
M
C N
4 C
N 2
L
Model position control
Model speed control
Position command
input
Virtual motor
Virtual encoder
External encoder
step- down circuit
Model position Model speed Model torque
Current control
Actual position control
Actual speed control
Battery (for absolute position detection system)
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
2. Use an external dynamic brake for the drive unit. Failure to do so will cause an accident because the servo motor does not
stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic
brake, refer to section 14.9.3.
3. This is not used when the drive unit is in the J2S compatibility mode. Always attach the short-circuit connector came with the
drive unit.
4. This is used to change the drive unit mode. Refer to section 13.1 for the mode selection procedure.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 5
14.1.3 Standard specifications
(1) Converter unit Model: MR-CR_ 55K 55K4
Output Rated voltage 270 V DC to 324 V DC 513 V DC to 648 V DC
Rated current [A] 215.9 113.8
Main circuit power supply input
Voltage/Frequency 3-phase
200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase
380 V AC to 480 V AC, 50 Hz/60 Hz
Rated current [A] 191.3 100.7
Permissible voltage fluctuation
3-phase 170 V AC to 264 V AC 3-phase 323 V AC to 528 V AC
Permissible frequency fluctuation
Within 5%
Power supply capacity [kVA] Refer to section 14.8.2.
Inrush current [A] Refer to section 14.8.4.
Control circuit power supply
Voltage/Frequency 1-phase 200 V AC to 240 V AC,
50 Hz/60 Hz 1-phase 380 V AC to 480 V AC,
50 Hz/60 Hz
Rated current [A] 0.3 0.2
Permissible voltage fluctuation
1-phase 170 V AC to 264 V AC 1-phase 323 V AC to 528 V AC
Permissible frequency fluctuation
Within 5%
Power consumption [W] 45
Inrush current [A] Refer to section 14.8.4.
Interface power supply
Voltage 24 V DC 10%
Current capacity [A] (Note 1) 0.15
Rated output [kW] 55
Regenerative power (regenerative option) One MR-RB139: 1300 W
Three MR-RB137: 3900 W One MR-RB137-4: 1300 W
Three MR-RB13V-4: 3900 W
Protective functions Regenerative overvoltage shut-off, overload shut-off (electronic thermal),
regenerative error protection, undervoltage protection, and instantaneous power failure protection
Compliance with global standards
CE marking LVD: EN 61800-5-1 EMC: EN 61800-3
UL standard UL 508C
Structure (IP rating) Force cooling, open (IP20) (Note 2)
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing)
Ambient humidity Operation
5% RH to 90 %RH (non-condensing) Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Note 3)
Vibration resistance 5.9 m/s2 or less, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 22 Note 1. When all I/O signals are used, the applicable value is 0.15 A. The current capacity can be decreased by reducing the number
of I/O points.
2. Except for the terminal block.
3. Follow the restrictions in section 14.2.5 when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above
sea level.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 6
(2) Drive unit
(a) 200 V class Model: MR-J4-DU_-RJ020 30KB 37KB
Output Rated voltage 3-phase 170 V AC
Rated current [A] 174 204
Main circuit power supply input The main circuit power of the drive unit is supplied by the converter unit.
Control circuit power supply
Voltage/Frequency 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
Rated current [A] 0.3
Permissible voltage fluctuation
1-phase 170 V AC to 264 V AC
Permissible frequency fluctuation
Within 5%
Power consumption [W] 45
Inrush current [A] Refer to section 14.8.4.
Interface power supply
Voltage 24 V DC 10%
Current capacity [A] 0.1
Control method Sine-wave PWM control, current control method
Dynamic brake External option (Note 3)
Fully closed loop control Compatible (Note 4)
Load-side encoder interface Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input
signal (Note 4)
Communication function
USB Connection with a personal computer (compatible with an application software
"MR-J4(W)-B mode selection" (Note 2))
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Protective functions
Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, undervoltage protection,
instantaneous power failure protection, overspeed protection, and error excessive protection
Functional safety Not compatible
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) (Note 1)
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing)
Ambient humidity Operation
5% RH to 90 %RH (non-condensing) Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Note 5)
Vibration resistance 5.9 m/s2 or less, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 21 Note 1. Except for the terminal block.
2. The application software "MR-J4(W)-B mode selection" is necessary for using MR-J4-DU_B-RJ020 in J4 mode. It is
unnecessary when using MR-J4-DU_B-RJ020 in J2S compatibility mode. Use the application software "MR-J4(W)-B mode
selection" which packed with MR Configurator2 of software version 1.27D or later.
3. Use an external dynamic brake for the drive unit. Failure to do so will cause an accident because the servo motor does not
stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic
brake, refer to section 14.9.3.
4. The fully closed loop control is available only in J2S compatibility mode. Use the drive unit with software version A6 or later.
5. Follow the restrictions in section 14.2.5 when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above
sea level.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 7
(b) 400 V class
Model: MR-J4-DU_-RJ020 30KB4 37KB4 45KB4 55KB4
Output Rated voltage 3-phase 323 V AC
Rated current [A] 87 102 131 143
Main circuit power supply input The main circuit power of the drive unit is supplied by the converter unit.
Control circuit power supply
Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Rated current [A] 0.2
Permissible voltage fluctuation
1-phase 323 V AC to 528 V AC
Permissible frequency fluctuation
Within 5%
Power consumption [W] 45
Inrush current [A] Refer to section 14.8.4.
Interface power supply
Voltage 24 V DC 10%
Current capacity [A] 0.1
Control method Sine-wave PWM control, current control method
Dynamic brake External option (Note 3)
Fully closed loop control Compatible (Note 4)
Load-side encoder interface Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input
signal (Note 4)
Communication function
USB Connection with a personal computer (compatible with an application software "MR-
J4(W)-B mode selection" (Note 2))
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Protective functions Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat
protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, and error excessive protection
Functional safety Not compatible
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) (Note 1)
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing)
Ambient humidity Operation
5% RH to 90 %RH (non-condensing) Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Note 5)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 16 21 Note 1. Except for the terminal block.
2. The application software "MR-J4(W)-B mode selection" is necessary for using MR-J4-DU_B4-RJ020 in J4 mode. It is
unnecessary when using MR-J4-DU_B4-RJ020 in J2S compatibility mode. Use the application software "MR-J4(W)-B mode
selection" which packed with MR Configurator2 of software version 1.27D or later.
3. Use an external dynamic brake for the drive unit. Failure to do so will cause an accident because the servo motor does not
stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic
brake, refer to section 14.9.3.
4. The fully closed loop control is available only in J2S compatibility mode. Use the drive unit with software version A6 or later.
5. Follow the restrictions in section 14.2.5 when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above
sea level.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 8
14.1.4 Combinations of converter units, drive units and servo motors
(1) 200 V class
Servo motor
Converter unit Drive unit HG-JR_
1000 r/min series 1500 r/min series
MR-CR55K MR-J4-DU30KB-RJ020 30K1 30K1M
MR-J4-DU37KB-RJ020 37K1 37K1M
(2) 400 V class
Servo motor
Converter unit Drive unit HG-JR_
1000 r/min series 1500 r/min series
MR-J4-DU30KB4-RJ020 30K14 30K1M4
MR-CR55K4 MR-J4-DU37KB4-RJ020 37K14 37K1M4
MR-J4-DU45KB4-RJ020 45K1M4
MR-J4-DU55KB4-RJ020 55K1M4
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 9
14.1.5 Model definition
(1) Rating plate The following shows examples of rating plates for explanation of each item.
(a) Converter unit
Serial number Model
Capacity Applicable power supply
Rated output current Standard, Manual number Ambient temperature IP rating KC certification number The year and month of manufacture Country of origin
TOKYO 100-8310, JAPAN MADE IN JAPAN
DATE: 2014-6
MR-CR55K SER. A33001001
AC SERVO
POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB0300228 Max. Surrounding Air Temp.: 55C IP20 (Terminal block IP00)
: 55kW : 3AC200-240V 191.3A 50Hz/60Hz : DC270-324V 215.9A
MSIP-REI-MEK- TC300A911G51
(b) Drive unit
TOKYO 100-8310, JAPAN MADE IN JAPAN
DATE: 2015-3
MR-J4-DU30KB-RJ020 SER. A33001001
AC SERVO
POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB0300228 Max. Surrounding Air Temp.: 55C IP20 (Terminal block IP00)
: 30kW : DC270-324V 117.7A : 3PH170V 0-360Hz 174.0A
MSIP-REI-MEK- TC301A011G51
Serial number Model
Capacity Applicable power supply
Rated output current Standard, Manual number Ambient temperature IP rating KC certification number The year and month of manufacture Country of origin
(c) Conversion unit for SSCNET of MR-J2S-B
Serial number Model IP rating, Manual number
KC certification number The year and month of manufacture
Country of origin
SER. A33001001 MR-J4-T20MODEL
IP00 MAN. :IB(NA)0300204
DATE: 2013-03 TOKYO 100-8310, JAPAN
MSIP-REI-MEK-TC350A153G51
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 10
(2) Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
(a) Converter unit
Series
Rated output: 55 kW
Symbol Power supply
None 3-phase 200 V AC to 240 V AC
4 3-phase 380 V AC to 480 V AC
Power supply
4K5 5M RR C-
(b) Drive unit
37K Symbol Power supply
Series
None 3-phase 200 V AC to 240 V AC
4 3-phase 380 V AC to 480 V AC
Symbol Rated output [kW]
30K
Rated output
37 Power supply
SSCNET III/H interface
45K 45
55K 55
30
Indicates drive unit
Special specifications
Symbol Special specifications
RJ020
Compatible with the conversion unit for SSCNET of MR-J2S-B Fully closed loop control four-wire type/load-side encoder A/B/Z-phase input compatible (Note)
D U B 4M R J 4- -- K3 0 R J 20 0
Note. Only with the servo amplifier with software version A6 or later.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 11
14.1.6 Structure
(1) Parts identification (a) Converter unit (MR-CR55K(4))
POINT
The converter unit is shown with the terminal cover open. For opening or closing of the terminal cover, refer to section 14.1.6 (2).
(1) (2) (15) (3) (4)
(5)
(6)
(7)
(8)
(9)
(10)
(12)(11)(13)(12)(14)
No. Name/Application Detailed
explanation
(1) Magnetic contactor control connector (CNP1)
Used to connect the coil of the magnetic contactor. Section 14.3.3 (1)
(2) I/O signal connector (CN1)
Used to connect digital I/O signals.
(3)
Charge lamp
Lights up when the main circuit is charged.
While this lamp is lit, do not reconnect the cables.
(4) Display
The 3-digit, 7-segment LED display shows the converter unit status and the alarm number.
Section 14.4.3
(5)
Operation section
Used to perform status display, diagnostic, alarm, and parameter setting operations.
Used to set data.
MODE UP DOWN SET
Used to change the display or data in each mode.
Used to change the mode.
(6)
Manufacturer setting connector (CN6)
This is for manufacturer setting. Although the shape is similar to the analog monitor connector (CN6) of the drive unit, do not connect anything including an analog monitor.
(7) Protection coordination connector (CN40)
Used to connect CN40A of the drive unit. Section 14.3.1
(8)
Manufacturer setting connector (CN3)
This is for manufacturer setting. Although the shape is similar to the RS-422 communication connector (CN3) of the drive unit, do not connect anything, including a personal computer and parameter unit.
(9) L+/L- terminal (TE2-2)
Used to connect a drive unit using a bus bar supplied with the drive unit.
Section 14.3.1
Section 14.3.2
(10) Control circuit terminal L11 and L21 (TE3)
Used to connect the control circuit power supply.
(11)
Regenerative option/Power factor improving DC reactor (TE1-2)
Used to connect a regenerative option or a power factor improving DC reactor.
(12) Protective earth (PE) terminal
(13) Main circuit terminal block (TE1-1)
Used to connect the input power supply.
(14) L+/L- terminal (TE2-1)
When using a brake unit, connect it to this terminal. Do not connect anything other than the brake unit.
Section 14.9.10
(15) Rating plate Section
14.1.5
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 12
(b) Drive unit (MR-J4-DU_B_-RJ020)
POINT
The drive unit is shown with the terminal cover open. For opening or closing of the terminal cover, refer to section 14.1.6 (2).
1) 200 V class
a) MR-J4-DU30KB-RJ020/MR-J4-DU37KB-RJ020
(14) (17)
(16)(12)(13)
(1)
(2) (3)
(4) (20)
(5) (19) (6) (7) (11) (Note) (8) (9) (18)
(21)
(15)
(10)
No. Name/Application Detailed
explanation
(1) Display The 3-digit, 7-segment LED display shows the drive unit status and the alarm number.
Section 4.3 (2) Axis selection rotary switch (SW1) Used to set the axis No. of the drive unit.
(3) Control axis setting switch (SW2) Not used in J2S compatibility mode. Turn all switches "OFF (down)".
(4) USB communication connector (CN5) Used to connect a personal computer. This is used to change the drive unit mode.
Section 13.1
(5)
I/O signal connector (CN3) Used to connect digital I/O signals. The pin assignment is different from that of MR-J2S series. Wire it correctly in accordance with section 3.4.
Section 3.2 Section 3.4
(6) STO input signal connector (CN8) Not used in J2S compatibility mode. Always attach the supplied short-circuit connector.
(7) SSCNET III cable connector (CN1A) Not used in J2S compatibility mode. Always cap the connector.
(8) SSCNET III cable connector (CN1B) Not used in J2S compatibility mode. Always cap the connector.
(9) Encoder connector (CN2) Connect to the servo motor encoder.
Section 3.4 "Servo Motor Instruction Manual (Vol. 3)"
(10) Battery connector (CN4) Used to connect the battery for absolute position data backup.
Chapter 12
(11)
Battery holder Used to house the battery for absolute position data backup.
Section 12.2
(12) Protective earth (PE) terminal Section 14.3.1
Section 14.3.2
(13)
L+/L- terminal (TE2-1) Used to connect the L+ and L- terminals of the converter unit using the bus bars supplied.
(14) Rating plate Section 14.1.4
(15) Control circuit terminal L11/L21 (TE3) Used to connect the control circuit power supply.
Section 14.3.1
Section 14.3.2
(16) Servo motor power output terminal (TE1) Used to connect the servo motor.
(17) Protection coordination connector (CN40A) Used to connect CN40 of the converter unit.
Section 14.3.1
(18)
External encoder connector (CN2L) Used only for the fully closed loop system.
Section 14.3.3
Chapter 15
(19)
Optional unit connector (CN7) Connector used for connection with the CN70 connector of MR-J4-T20
(20)
Optional unit connector (CN9) Connector used for connection with the CN90 connector of MR-J4-T20
(21) Manufacturer setting terminal (TE2-2) This is for manufacturer setting. Leave this open.
Note. Lines for slots around the battery holder are omitted from the illustration.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 13
2) 400 V class
a) MR-J4-DU30KB4-RJ020/MR-J4-DU37KB4-RJ020
(14) (17)
(16)(12)(13)
(1)
(2) (3)
(4) (20)
(5) (19) (6) (7) (11) (Note) (8) (9) (18) (10)
(15)
No. Name/Application Detailed
explanation
(1) Display
The 3-digit, 7-segment LED display shows the drive unit status and the alarm number.
Section 4.3 (2) Axis selection rotary switch (SW1)
Used to set the axis No. of the drive unit.
(3) Control axis setting switch (SW2)
Not used in J2S compatibility mode. Turn all switches "OFF (down)".
(4)
USB communication connector (CN5)
Used to connect a personal computer.
This is used to change the drive unit mode.
Section 13.1
(5)
I/O signal connector (CN3)
Used to connect digital I/O signals.
The pin assignment is different from that of MR-J2S series. Wire it correctly in accordance with section 3.4.
Section 3.2
Section 3.4
(6) STO input signal connector (CN8)
Not used in J2S compatibility mode. Always attach the supplied short-circuit connector.
(7) SSCNET III cable connector (CN1A)
Not used in J2S compatibility mode. Always cap the connector.
(8) SSCNET III cable connector (CN1B)
Not used in J2S compatibility mode. Always cap the connector.
(9) Encoder connector (CN2)
Connect to the servo motor encoder.
Section 3.4
"Servo Motor Instruction Manual (Vol. 3)"
(10) Battery connector (CN4)
Used to connect the battery for absolute position data backup.
Chapter 12
(11) Battery holder
Used to house the battery for absolute position data backup.
Section 12.4
(12) Protective earth (PE) terminal Section 14.3.1
Section 14.3.2
(13)
L+/L- terminal (TE2-1)
Used to connect the L+ and L- terminals of the converter unit using the bus bars supplied.
(14) Rating plate Section 14.1.4
(15)
Control circuit terminal L11/L21 (TE3)
Used to connect the control circuit power supply. Section 14.3.1
Section 14.3.2
(16)
Servo motor power output terminal (TE1)
Used to connect the servo motor.
(17)
Protection coordination connector (CN40A)
Used to connect CN40 of the converter unit. Section 14.3.1
(18)
External encoder connector (CN2L)
Used only for the fully closed loop system.
Section 14.3.3
Chapter 15
(19)
Optional unit connector (CN7)
Connector used for connection with the CN70 connector of MR-J4-T20
(20)
Optional unit connector (CN9)
Connector used for connection with the CN90 connector of MR-J4-T20
Note. Lines for slots around the battery holder are omitted from the illustration.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 14
b) MR-J4-DU45KB4-RJ020/MR-J4-DU55KB4-RJ020
(5)
(1)
(2)(6)(4)
(3) The broken line area is the same as MR-J4-DU30KB4-RJ020/MR-J4-DU37KB4-RJ020.
No. Name/Application Detailed
explanation
(1) Control circuit terminal L11/L21 (TE3)
Used to connect the control circuit power supply. Section 14.3.1
Section 14.3.2 (2)
Servo motor power output terminal (TE1)
Used to connect the servo motor.
(3) Rating plate Section 14.1.4
(4) L+/L- terminal (TE2-1)
Used to connect the L+ and L- terminals of the converter unit using the bus bars supplied.
Section 14.3.1
Section 14.3.2
(5) Manufacturer setting terminal (TE2-2)
This is for manufacturer setting. Leave this open.
(6) Protective earth (PE) terminal
Section 14.3.1
Section 14.3.2
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 15
(2) Opening and closing of the terminal block cover
WARNING
Before opening or closing the terminal block cover, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L+ and L- is safe with a voltage tester or others. Otherwise, an electric shock may occur. In addition, always confirm that the charge lamp is off from the front of the converter unit.
The following shows how to open and close the terminal block cover using illustrations of converter units as an example. For a drive unit, the shape of the main unit is different. However, the terminal block cover can be opened or closed in the same procedure.
(a) Upper terminal block cover
1) How to open
A)
A)
a) Pull up the cover using point A) as a support.
b) The cover is fixed when pulled up to the position as shown in the illustration.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 16
2) How to close
A)
A)
Setting tab
a) Close the cover using point A) as a support.
Setting tab
b) Press the cover against the terminal box until the installing knobs click.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 17
(b) Lower terminal block cover
1) How to open
a) Hold the bottom of the terminal block cover with both hands.
B)
B)
b) Pull up the cover using point B) as a support.
c) The cover is fixed when pulled up to the top.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 18
2) How to close
Setting tab
Setting tab
a) Hold the bottom of the terminal block cover with both hands.
B)
B)
b) Close the cover using point B) as a support.
Setting tab
c) Press the cover against the terminal box until the installing knobs click.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 19
14.1.7 Configuration including peripheral equipment
The diagram shows MR-J4-DU30KB4-RJ020 and MR-J4-DU37KB4-RJ020. The connection for the interface of MR-J4-DU_B_-RJ020 is the same as in the case of MR-J4-_B_-RJ020. Refer to section 1.9.
Magnetic contactor (MC)
Molded-case circuit breaker (MCCB)
Line noise filter (FR-BLF)
Personal computer
(Note 1)
Drive unit
Converter unit
Protection coordination cable
Servo motor
Molded-case circuit breaker (MCCB)
Regenerative option
Magnetic contactor operation coil
(I/O signal)
Encoder cable Power factor improving DC reactor
(Note 3) Servo motor cooling fan power supply
(Note 4)
Power supply (Note 2)
BV BWBU
L11
L21
L11
R S T
+
MR Configurator (MRZJW3-SETUP161)
L+
L-
RS-232C communication cable
VUE W
P2
P1
L1
L2
L3
P
C
S
R
L21
L-
R S T
L+
L11
L21
P1P2C
Note 1. The L+ and L- bus bars used to connect a converter unit to a drive unit are standard accessories. The converter unit is
attached to the drive unit actually.
2. For power supply specifications, refer to section 14.1.3.
3. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
4. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 14.9.5.)
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 20
14.2 Installation
WARNING To prevent electric shock, ground each equipment securely.
CAUTION
Stacking in excess of the specified number of product packages is not allowed.
Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire.
Install the converter unit, the drive unit, and the servo motor in a load-bearing place in accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
Use the equipment within the specified environment. For the environment, refer to section 1.2.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the converter unit, drive unit, and MR- J4-T20.
Do not block the intake and exhaust areas of the converter unit, drive unit, and MR-J4-T20. Otherwise, it may cause malfunction.
Do not drop or strike the converter unit, drive unit, and MR-J4-T20 as they are precision equipment.
Do not install or operate the converter unit, drive unit, and MR-J4-T20 which have been damaged or have any parts missing.
When the equipment has been stored for an extended period of time, contact your local sales office.
When handling the converter unit, drive unit, and MR-J4-T20, be careful about the edged parts such as the corners of the converter unit and drive unit.
The converter unit, drive unit, and MR-J4-T20 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 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 following items are the same as those of MR-J4-_B_-RJ020. Refer to each section of the detailed explanation field for details.
Item Detailed explanation
Encoder cable stress Section 2.3
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 21
14.2.1 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, it may cause malfunction.
Leave the specified clearances between the converter unit, drive unit, and MR-J4- T20 and the cabinet walls or other equipment. Otherwise, it may cause malfunction.
(1) Installation
POINT
Make sure to connect a drive unit to the right side of a converter unit as shown in the diagram.
Side
Drive unitConverter unit
Front
100 mm or more
120 mm or more
30 mm or more30 mm
or more
Top
Bottom
80 mm or more
(2) Mounting hole process drawing
9.5
Converter unit
Punched hole
Drive unit
Punched hole
4-M6 screw
38 0
300
36 0
0.
5 10
20 260 0.5
A p
p ro
x. 10
281
34 2
19 A
p p
ro x.
19
Approx. 9.5 Approx. 20
4-A screw
W1
W3 W2 W4
Approx. W5 Approx. W3
W5
36 0
0.
5 10
A p
p ro
x. 10
34 2
19 A
p p
ro x.
19
Drive unit Variable dimensions [mm]
Screw size
W1 W2 W3 W4 W5 A
MR-J4-DU30KB-RJ020 MR-J4-DU37KB-RJ020 MR-J4-DU45KB4-RJ020 MR-J4-DU55KB4-RJ020
300 260
0.5 20 281 9.5 M6
MR-J4-DU30KB4-RJ020 MR-J4-DU37KB4-RJ020
240 120
0.5 60 222 9 M5
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 22
(3) Others
When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the converter unit and drive unit are not affected. Install the converter unit and drive unit on a perpendicular wall in the correct vertical direction.
14.2.2 Keeping out of foreign materials
(1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the converter unit and the drive unit.
(2) Prevent oil, water, metallic dust, etc. from entering the converter unit and the drive unit 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 (that
forces 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.
14.2.3 Inspection items
WARNING
Before starting maintenance and/or inspection, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L+ and L- is safe with a voltage tester or others. Otherwise, an electric shock may occur. In addition, always confirm that the charge lamp is off from the front of the converter unit.
To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office.
CAUTION Do not perform insulation resistance test on the converter unit and the drive unit. Otherwise, it may cause a malfunction.
Do not disassemble and/or repair the equipment on customer side.
It is recommended that the following points periodically be checked. (1) Check for loose terminal block screws. Retighten any loose screws. (2) Check for scratches and cracks of cables and the like. Inspect them periodically according to operating
conditions especially when the servo motor is movable. (3) Check that the connectors are securely connected to the converter unit, drive unit, and MR-J4-T20. (4) Check that the wires are not coming out from the connector. (5) Check for dust accumulation on the converter unit, drive unit, and MR-J4-T20. (6) Check for unusual noise generated from the converter unit, drive unit, and MR-J4-T20.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 23
14.2.4 Parts having service life
Service life of the following parts is listed below. However, the service life varies depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor 10 years
Relay Number of power-on, forced stop by EM1
(Forced stop 1), controller forced stop, and on/off for STO: 100,000 times
Cooling fan 10,000 hours to 30,000 hours
(2 years to 3 years)
Absolute position battery Refer to section 12.2.
(1) Smoothing capacitor
The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 40 C or less).
(2) Relays
Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of their lives when the number of power-on, forced stop by EM1 (Forced stop 1), controller forced stop, and on/off for STO while the servo motor is stopped under servo-off state reaches 100,000 times. However, the lives of relays may depend on the power supply capacity.
(3) Cooling fan
The cooling fan bearings reach the end of their lives in 10,000 hours to 30,000 hours. Therefore, the cooling fan normally must be replaced in a few years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection. The life is calculated under the annual average ambient temperature of 40 C, free from corrosive gas, flammable gas, oil mist, dust and dirt.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 24
14.2.5 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above
sea level
(1) Effective load ratio and regenerative load ratio Heat dissipation effects decrease in proportion to decreasing air density, and hence use the servo amplifiers with the effective load ratio and the regenerative load ratio within the following range.
0 20001000
Altitude
95 100
0
R e
g e
n e
ra tiv
e lo
a d
r a
tio E
ffe ct
iv e
lo a
d r
a tio
[%]
[m]
(2) Input voltage Generally, withstand voltage decreases as increasing altitude; however, there is no restriction on the withstand voltage.
(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) Relays
There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 14.2.4.)
(c) Servo amplifier cooling fan There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 14.2.4.)
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 25
14.3 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 wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L+ and L- is safe with a voltage tester or others. Otherwise, an electric shock may occur. In addition, always confirm that the charge lamp is off from the front of the converter unit.
Ground the converter unit, the drive unit and the servo motor securely.
Do not attempt to wire the converter unit, the drive unit, and the servo motor until they have been installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.
To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM 24 V DC
Converter unit Drive unit
RA
For sink output interface
Control output signal
DOCOM
Control output signal
24 V DC
Converter unit Drive unit
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 converter unit and the drive unit.
Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF (-H)) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire.
Do not modify the equipment.
Connect the drive unit power outputs (U/V/W) to the servo motor power inputs (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
Drive unit Servo motorDrive unit
Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the drive unit. Otherwise, a malfunction may occur.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 26
The following items are the same as those of MR-J4-_B_-RJ020. Refer to each section of the detailed explanation field for details.
Item Detailed explanation
I/O signal connection example Section 3.2
14.3.1 Input power supply circuit
WARNING
Insulate the connections of the power supply terminals. Otherwise, an electric shock may occur.
Always connect the magnetic contactor wiring connector to CNP1 of the converter unit. If the connector is not connected, an electric shock may occur.
CAUTION
Always connect the magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the converter unit, in order to configure a circuit that shuts down the power supply on the side of the converter unit power supply. If the magnetic contactor is not connected, a large current keeps flowing and may cause a fire when the converter unit or the drive unit malfunctions.
Switch main circuit power supply off at detection of an alarm on the controller side. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.
The converter unit 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.
Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the drive unit. Otherwise, a malfunction may occur.
Check the converter unit model, and then input proper voltage to the converter unit power supply. If input voltage exceeds the upper limit, the converter unit and the drive unit will break down.
(1) Magnetic contactor control connector (CNP1)
CAUTION Always connect the magnetic contactor wiring connector to the converter unit. If the connector is not connected, an electric shock may occur since CNP1-1 and L11 are always conducting.
By enabling magnetic contactor drive output, the main circuit power supply can be shut off automatically when an alarm occurs in the converter unit or the drive unit. To enable magnetic contactor drive output, set [Pr. PA02] of the converter unit to "_ _ _ 1" (initial value).
Magnetic contactor drive output selection 0: Disabled 1: Enabled
1 [Pr. PA02]
0 0 0
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 27
(a) When magnetic contactor drive output is enabled
To control the magnetic contactor, connect the magnetic contactor control connector (CNP1) to the coil of the magnetic contactor.
Internal connection diagram of CNP1
MCCB
Converter unit
L11
L21
Power supply
1MC1
2MC2
CNP1
RA1 RA2
Converter unit malfunction Operation ready
OFF/ON Alarm Emergency stop
switch
L1
L2
L3
(Note 1)
MC
SK
(Note 2) MC
Note 1. A step-down transformer is required when coil voltage of the magnetic contactor is
200 V class, and the converter unit and the drive unit are 400 V class.
2. When the voltage between L11 and L21 drops due to an instantaneous power
failure and others, the magnetic contactor is turned off.
When the converter unit receives a start command from the drive unit, CNP1-2 and L21 are shorted, and the control circuit power is supplied to the magnetic contactor. When the control circuit power is supplied, the magnetic contactor is turned on, and the main circuit power is supplied to the converter unit. In the following cases, CNP1-2 and L21 in the converter unit are opened, and the main circuit power supply is automatically shut off.
1) An alarm occurred in the converter unit.
2) An alarm occurred in the drive unit.
3) The forced stop (EM1) of the converter unit was disabled.
4) [AL. E6 Servo forced stop warning] occurred in the drive unit.
(b) When magnetic contactor drive output is disabled
The main circuit power supply is not automatically shut off even when an alarm occurs in the converter unit or the drive unit. Therefore, configure an external circuit to shut off the main circuit power supply when detecting an alarm.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 28
(2) Wiring diagram
(a) When magnetic contactor drive output is enabled (factory setting)
POINT
The converter unit controls the magnetic contactor.
Always connect a protection coordination cable (MR-J3CDL05M).
Always turn on or off the control circuit power supplies of the converter unit and the drive unit simultaneously.
1) 200 V class
External dynamic brake
(optional)
MR-J3CDL05M cable
Converter unit Drive unit
MCCB
Servo motor
Power factor improving DC reactor (optional)
(Note 2)
(Note 7) Encoder cable
24 V DC Encoder (Note 3) Power supply
Cooling fan
(Note 5) Main circuit power supply
(Note 6)
RA3RA1 RA2
(Note 10) Short-circuit connector (packed with the drive unit)
(Note 8)
(Note 12)
(Note 11)
Converter unit malfunction
Optional thermal Operation ready
(Note 13) Alarm
Emergency stop switch
(Note 1) Regenerative
option
3-phase 200 V AC to 240 V AC
Cooling fan
(Note 1) Regenerative
option Cooling fan
(Note 1) Regenerative
option Cooling fan
OFF/ON MC
SK
MC (Note 4)
RA2
L+
L-
L1
L2
L3
L11
L21
1MC1
2MC2 CN40 CN40A
BV
V
U
W
V
U
W
TE2-2 L+
L-
TE2-1
C
P1
P2
L11
L21
G4G3
P C
G4G3
P C
S1R1
G4G3
P C
S1R1 S1R1
CNP1
CN1
1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
CN3
EM1
3
20
SDPlate
DOCOM
5 DICOM 24 V DC
MCCB
BW
BU
RA3
24 V DC
CN8
(Note 9) (Note 9)
M
(Note 11) CN2
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 29
Note 1. This is for MR-RB137. For the MR-RB137, three units are used as one set (permissible regenerative power: 3900 W).
2. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to section 14.9.6 for details.
3. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
4. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, delay the time to turn off the magnetic contactor.
5. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM1 in the drive unit when the main circuit
power is turned off.
6. Use an external dynamic brake for the drive unit. Failure to do so will cause an accident because the servo motor does not
stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic
brake, refer to section 14.9.3.
7. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
8. This diagram shows sink I/O interface. For source I/O interface, refer to section 14.3.6 (2).
9. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 14.9.5.)
10. The STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came
with the drive unit.
11. Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the drive unit. Otherwise, a malfunction may occur.
12. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
13. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 30
2) 400 V class
G4G3 G4G3
S400R400S400R400 S400R400
(Note 3) Step-down transformer
24 V DC
(Note 14) External dynamic brake
(optional)
MR-J3CDL05M cable
Converter unit Drive unit
MCCB
(Note 12)
Servo motor
Power factor improving DC reactor (optional)
(Note 2)
(Note 8) Encoder cable
24 V DC Encoder (Note 4) Power supply
Cooling fan
(Note 6) Main circuit power supply
(Note 7)
(Note 11) Short-circuit connector (packed with the drive unit)
(Note 9)
(Note 13)
(Note 12)
(Note 1) Regenerative
option
3-phase 380 V AC to 480 V AC
Cooling fan
(Note 1) Regenerative
option Cooling fan
(Note 1) Regenerative
option Cooling fan
MC (Note 5)
RA2
L+
L-
L1
L2
L3
L11
L21
1MC1
2MC2 CN40 CN40A
BV
V
U
W
V
U
W
TE2-2 L+
L-
TE2-1
C
P1
P2
L11
L21
P C P C
G4G3
P C
CNP1
CN1
1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
CN3
EM1
3
20
SDPlate
DOCOM
5 DICOM 24 V DC
MCCB
BW
BU
RA3
CN8
(Note 10) (Note 10)
M
RA3RA1 RA2
Converter unit malfunction
Optional thermal
Operation ready
(Note 15) Alarm
Emergency stop switch
OFF/ON MC
SK
CN2
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 31
Note 1. This is for MR-RB13V-4. For the MR-RB13V-4, three units are used as one set (permissible regenerative power: 3900 W).
2. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to section 14.9.6 for details.
3. A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class.
4. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, delay the time to turn off the magnetic contactor.
6. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM1 in the drive unit when the main circuit
power is turned off.
7. Use an external dynamic brake for the drive unit. Failure to do so will cause an accident because the servo motor does not
stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic
brake, refer to section 14.9.3.
8. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
9. This diagram shows sink I/O interface. For source I/O interface, refer to section 14.3.6 (2).
10. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 14.9.5.)
11. The STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came
with the drive unit.
12. Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the drive unit. Otherwise, a malfunction may occur.
13. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
14. For the MR-J4-DU30KB4-RJ020 and MR-J4-DU37KB4-RJ020, the terminal block is TE2.
15. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 32
(b) When magnetic contactor drive output is disabled
POINT
Always connect a protection coordination cable (MR-J3CDL05M).
Always turn on or off the control circuit power supplies of the converter unit and the drive unit simultaneously.
1) 200 V class
External dynamic brake
(optional)
MR-J3CDL05M cable
Converter unit Drive unit
Servo motor
Power factor improving DC reactor (optional)
(Note 2)
(Note 8) Encoder cable
24 V DC Encoder (Note 4) Power supply
Cooling fan
(Note 6) Main circuit power supply
(Note 7)
(Note 11) Short-circuit connector (packed with the drive unit)
(Note 9)
(Note 13)
(Note 1) Regenerative
option
3-phase 200 V AC to 240 V AC
Cooling fan
(Note 1) Regenerative
option Cooling fan
(Note 1) Regenerative
option Cooling fan
MC (Note 5) L+
L-
CN40 CN40A
BV
V
U
W V
U
W
TE2-2 L+
L-
TE2-1
P1
P2
L11
L21
CN1
DICOM
DOCOM
DICOM
ALM
EM1
DOCOM
CN3
EM1
3
20
SDPlate
DOCOM
5 DICOM 24 V DC
MCCB
BW
BU
24 V DC
CN8
(Note 10) (Note 10)
RA2
L1
L2
L3
L11
L21
MCCB
M
C
G4G3
P C
G4G3
P C
S1R1
G4G3
P C
S1R1 S1R1
1
5
6
2
7
9
RA3RA2
Converter unit malfunction
Optional thermal
MC
ON MC
OFF
Operation ready
SK
Emergency stop switch
1MC1
2MC2
CNP1
RA3
(Note 3)
RA1
(Note 14) Alarm
(Note 12) CN2
(Note 12)
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 33
Note 1. For the MR-RB137. For the MR-RB137, three units are used as one set (permissible regenerative power: 3900 W). 2. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to section 14.9.6 for details. 3. Always connect the magnetic contactor wiring connector to CNP1 of the converter unit. Disconnected state may cause an
electric shock. 4. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". 5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
6. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM1 in the drive unit when the main circuit power is turned off.
7. Use an external dynamic brake for the drive unit. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic brake, refer to section 14.9.3.
8. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
9. This diagram shows sink I/O interface. For source I/O interface, refer to section 14.3.6 (2).
10. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 14.9.5.)
11. The STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came
with the drive unit.
12. Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the drive unit. Otherwise, a malfunction may occur.
13. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
14. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 34
2) 400 V class
External dynamic brake
(optional)
MR-J3CDL05M cable
Converter unit Drive unit
(Note 13) CN2
Servo motor
Power factor improving DC reactor (optional)
(Note 2)
(Note 9) Encoder cable
24 V DC Encoder (Note 5) Power supply
Cooling fan
(Note 7) Main circuit power supply
(Note 8)
(Note 12) Short-circuit connector (packed with the drive unit)
(Note 10)
(Note 14)
(Note 13)
(Note 1) Regenerative
option
3-phase 380 V AC to 480 V AC
Cooling fan
(Note 1) Regenerative
option Cooling fan
(Note 1) Regenerative
option Cooling fan
MC (Note 6) L+
L-
CN40 CN40A
BV
V
U
W
TE2-2 L+
L-
TE2-1
P1
P2
L11
L21
CN1
DICOM
DOCOM
DICOM
ALM
EM1
DOCOM
CN3
EM1
3
20
SDPlate
DOCOM
5 DICOM 24 V DC
MCCB
BW
BU
24 V DC
CN8
(Note 11) (Note 11)
L1
L2
L3
L11
L21
MCCB
C
G4G3
P C
G4G3
P C
G4G3
P C
1
5
6
2
7
9
RA3RA2
Converter unit malfunction
Optional thermal
Operation readyEmergency stop switch
1MC1
2MC2
CNP1(Note 4)
RA1
(Note 16) Alarm
RA2
M
S400R400S400R400 S400R400
MC
ON MC
OFF
SK
RA3
(Note 15)
(Note 3) Step-down transformer
V
U
W
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 35
Note 1. This is for MR-RB13V-4. For the MR-RB13V-4, three units are used as one set (permissible regenerative power: 3900 W).
2. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to section 14.9.6 for details.
3. A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class.
4. Always connect the magnetic contactor wiring connector to CNP1 of the converter unit. Disconnected state may cause an
electric shock.
5. For specifications of the cooling fan power supply, 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, delay the time to turn off the magnetic contactor.
7. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM1 in the drive unit when the main circuit
power is turned off.
8. Use an external dynamic brake for the drive unit. Failure to do so will cause an accident because the servo motor does not
stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic
brake, refer to section 14.9.3.
9. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
10. This diagram shows sink I/O interface. For source I/O interface, refer to section 14.3.6 (2).
11. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 14.9.5.)
12. The STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came
with the drive unit.
13. Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the drive unit. Otherwise, a malfunction may occur.
14. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
15. For the MR-J4-DU30KB4-RJ020 and MR-J4-DU37KB4-RJ020, the terminal block is TE2.
16. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
(3) How to use the bus bars
Make sure to use the supplied bus bars and connect the L+ and L- of the drive unit to those of the converter unit as shown below. Never use bus bars other than the ones supplied with the drive unit. Both the units are shown with the terminal cover open.
L+
L-
Converter unit
Bus bar
L+
L-
Drive unit
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 36
14.3.2 Explanation of power supply system
(1) Signal explanations
POINT
For the layout of the terminal block, refer to section 14.7 Dimensions.
(a) Converter unit
Connection target
(application) Symbol
(Note) Terminal
block
Description
MR-CR55K MR-CR55K4
Main circuit power supply
L1/L2/L3 TE1-1 Supply 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz power to L1, L2, and L3.
Supply 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz power to L1, L2, and L3.
Control circuit power supply
L11/L21 TE3 Supply 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz power to L11 and L21.
Supply 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz power to L11 and L21.
Power factor improving DC reactor
P1/P2 TE1-2 When using the power factor improving DC reactor, connect P1 and P2 after removing the short bar across them.
Regenerative option P2/C TE1-2 Connect the regenerative option between P2 and C.
Brake unit L+/L- TE2-1 When using a brake unit, connect it to this terminal. Do not connect anything other than the brake unit.
Drive unit L+/L- TE2-2 Connect the L+ and L- of the drive unit to this terminal. Use the bus bars supplied with the drive unit to connect.
Protective earth (PE) PE Connect the protective earth (PE) of the cabinet to this terminal. Note. The permissible tension applied to any of the terminal blocks TE1-1, TE1-2, TE2-1, TE2-2 is 350 N.
(b) Drive unit
Connection target
(application) Symbol
(Note 1) Terminal
block
Description
MR-J4-DU30KB-RJ020/ MR-J4-DU37KB-RJ020
MR-J4-DU30KB4-RJ020 to MR-J4-DU55KB4-RJ020
Control circuit power supply
L11/L21 TE3 Supply 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz power to L11 and L21.
Supply 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz power to L11 and L21.
Converter unit L+/L- TE2-1 (TE2)
(Note 2)
Connect the L+ and L- of the converter unit to this terminal. Use the bus bars supplied with the drive unit to connect.
Servo motor power output
U/V/W TE1 Connect the drive unit power outputs (U/V/W) to the servo motor power inputs (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Protective earth (PE) PE Connect the grounding terminal of the servo motor and the protective earth (PE) of the cabinet to this terminal.
Note 1. The permissible tension applied to any of the terminal blocks TE1, TE2-1 (TE2) is 350 N.
2. Explanations in parentheses are for MR-J4-DU30KB4-RJ020 and MR-J4-DU7KB4-RJ020.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(2) Power-on sequence
(a) Power-on procedure 1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown in
above section 14.3.1 (2). Configure an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Turn on the control circuit power supplies (L11/L21) of the converter unit and drive unit
simultaneously with the main circuit power supply or before turning on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the drive unit will operate properly.
(b) Timing chart
1) When magnetic contactor drive output is enabled and the status remains at ready-on The main circuit power is not shut off with servo-off.
ON
OFF
Main circuit power supply
ON
OFF
Servo-on command (from servo system controller)
(95 ms)
ON
OFF Base circuit
(3 s) (Note 4)
Tb
ON
OFF
ON
OFF
(Note 1) ON
OFF
MBR (Electromagnetic brake interlock)
0 r/min Servo motor speed
0 r/min Position command (Note 3)
(Note 2)
Converter unit control circuit power supply
Drive unit control circuit power supply
Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will operate
the electromagnetic brake as follow using MBR (Electromagnetic brake interlock).
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Give a position command after the external electromagnetic brake is released.
3. This is in position control mode.
4. In [Pr. 21 Electromagnetic brake sequence output], set a delay time (Tb) from MBR (Electromagnetic
brake interlock) off to base circuit shut-off at a servo-off.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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2) When magnetic contactor drive output is enabled and the status returns to ready-off
The magnetic contactor of the converter unit is turned off with servo-off, and the main circuit power supply is shut off.
ON
OFF
Main circuit power supply
ON
OFF
Servo-on command (from servo system controller)
(3 s)
ON
OFF Base circuit
(3 s)
ON
OFF
ON
OFF
(Note 1) ON
OFF
MBR (Electromagnetic brake interlock)
0 r/min Servo motor speed
0 r/min Position command (Note 3)
(Note 2)
Converter unit control circuit power supply
Drive unit control circuit power supply
Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will operate
the electromagnetic brake as follow using MBR (Electromagnetic brake interlock).
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Give a position command after the external electromagnetic brake is released.
3. This is in position control mode.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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3) When magnetic contactor drive output is disabled
When an alarm occurs, turn off the magnetic contactor using the external sequence, and shut off the main circuit power supply.
ON
OFF
Main circuit power supply
ON
OFF
Servo-on command (from servo system controller)
(95 ms)
ON
OFF Base circuit
(3 s) (Note 4, 5)
Tb
ON
OFF
Converter unit control circuit power supply
ON
OFF
Drive unit control circuit power supply
(Note 1) ON
OFF
MBR (Electromagnetic brake interlock)
0 r/min Servo motor speed
0 r/min Position command (Note 3)
(Note 2)
Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will operate
the electromagnetic brake as follow using MBR (Electromagnetic brake interlock).
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Give a position command after the external electromagnetic brake is released.
3. This is in position control mode.
4. In [Pr. 21 Electromagnetic brake sequence output], set a delay time (Tb) from MBR (Electromagnetic
brake interlock) off to base circuit shut-off at a servo-off.
5. The base circuit remains ready-on status at servo-off. When the status is ready-off, the base circuit and
the servo-on command turn off at the same time. (Tb = 0)
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.3.3 Connectors and pin assignment
POINT
The pin assignment of the connectors is as viewed from the cable connector wiring section.
(1) Converter unit
CN6 Leave this open.
CN40 Connect to CN40A of the drive unit.
CN3 Leave this open.
CN1CNP1
CN1 (Digital I/O connector) Model: 17JE-23090-02(D8A)K11-CG (D-sub 9 pin or equivalent) (DDK)
DICOM
WNG
9 DOCOM
5
2
4
6
7 3
1
8
DOCOM
EM1
DICOM ALM
CNP1 (Magnetic contactor wiring connector) Model: GFKC 2,5/2-STF-7,62
(Phoenix Contact)
1
MC1
2
MC2
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(2) Drive unit
The following shows the front view of drive units of MR-J4-DU30KB4-RJ020, MR-J4-DU37KB4-RJ020, and MR-J4-T20. For views of other drive units, connector arrangements, and details, refer to section 3.4.
CN8 (Not used in J2S compatibility mode.) CN10B (Connector for SSCNET cable for next servo amplifier axis) Refer to section 11.1.2.
CN3 (I/O signal connector) Refer to section 3.4.
CN5 (USB connector) Refer to section 13.1.
CN30 (RS-232C communication connector) Refer to section 11.1.3.
CN10A (Connector for SSCNET cable for previous servo amplifier axis) Refer to section 11.1.2.
CN1A (Not used in J2S compatibility mode.)
CN1B (Not used in J2S compatibility mode.)
CN2 (Encoder connector) Refer to section 3.4.
CN2L (Load-side encoder connector) Refer to section 3.4.
CN4 (Battery connector) Refer to section 11.8.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.3.4 Signal (device) explanations
Signals (devices) of MR-J4-DU_B_-RJ020 are the same as those of MR-J4-_B_-RJ020. Refer to section 3.5. The following table lists the converter unit signals (devices). For the I/O interfaces (symbols in I/O division column in the table), refer to section 14.3.6 (1).
Signal (device) Symbol Connector
pin No. Function and application
I/O division
Digital I/F power supply input
DICOM CN1-1 CN1-6
Input 24 V DC (24 V DC 10% 150 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.
Forced stop EM1 CN1-7 When MR-CR55K is used with MR-J4-DUB_-RJ020, EM1 is not used. Connect between EM1 and DOCOM externally. Turn EM1 off to bring the converter unit to a forced stop state. In this state, the magnetic connector is turned off, [AL. E9 Main circuit off warning] occurs in the drive unit, and the servo-on turns off. When the converter unit is in the forced stop state, turning EM1 on resets the state.
DI
Malfunction ALM CN1-2 ALM turns off when power is switched off or the protective circuit is activated. When no alarm occurs, ALM turns on 1.5 s after power-on.
DO
Warning WNG CN1-8 When warning has occurred, WNG turns on. DO
Digital I/F common DOCOM CN1-5 CN1-9
Common terminal for the ALM and WNG output signals of the converter unit. This is separated from LG. Pins are connected internally. For sink interface, connect - of 24 V DC external power supply. For source interface, connect + of 24 V DC external power supply.
Magnetic contactor drive output
MC1 CNP1-1 Connect it to the coil of the magnetic contactor. Always supplies the control circuit power since it is conducted with L11 in the converter unit.
WARNING
Always connect the magnetic contactor wiring connector to CNP1 of the converter unit. Disconnected state may cause an electric shock.
MC2 CNP1-2 Connect it to the coil of the magnetic contactor. When the converter unit receives a start command from the drive unit, CNP1-2 and L21 are shorted, and the control circuit power is supplied to the magnetic contactor. Set "_ _ _ 0" in [Pr. PA02] when controlling the magnetic contactor without magnetic contactor control connector (CNP1). (Refer to section 14.3.1 (1).)
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.3.5 Alarm occurrence timing chart
CAUTION
When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation.
As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power.
(1) Timing charts of converter unit and drive unit
(a) When magnetic contactor drive output is enabled 1) Converter unit
When an alarm occurs in the converter unit, the magnetic contactor is turned off and the main circuit magnetic contactor is shut off. The drive unit in operation stops. To deactivate the alarm, cycle the control circuit power or request the operation from the driver unit. However, the alarm cannot be deactivated unless its cause is removed.
b)
Drive unit control circuit power supply
Main circuit power supply
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Servo-on command (from servo system controller)
Drive unit alarm
Reset command (from servo system controller)
Base circuit
No alarmAlarmNo alarm
1.5 s
50 ms or more
Converter unit alarm
No alarmNo alarm Alarm No alarm
(3 s) (3 s)
a) d)
Alarm occurrence
Alarm
Alarm occurrence
c)
Converter unit control circuit power supply
a) in figure When the drive unit is at servo-off, even if an alarm occurs in the converter, the drive unit does not detect the alarm.
b) and c) in figure To deactivate the alarm of the converter unit, cycle the power of the converter unit
(b)), or turn on the servo-on command (c)). d) in figure If an alarm occurs in the converter unit when the drive unit is at servo-on, the
alarm also occurs in the drive unit and the drive unit becomes servo-off.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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2) Drive unit
When an alarm occurs on the drive unit, the base circuit is shut off and the servo motor coasts. When an external dynamic brake (option) is used, the external dynamic brake is activated to stop the servo motor. 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.
Drive unit control circuit power supply
Main circuit power supply
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Servo-on command (from controller)
Drive unit alarm
Reset command (from controller)
Base circuit
No alarmAlarmNo alarm
1.5 s
50 ms or more
Converter unit alarm
No alarm
(3 s) (3 s)
Alarm occurrence
a) a)
Converter unit control circuit power supply
a) in figure After the start-up of the drive unit is completed, the main circuit power is supplied while the drive unit and the converter unit have no alarm.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(b) When magnetic contactor drive output is disabled
1) Converter unit When an alarm occurs in the converter unit, the converter unit turns into servo-off, but the main circuit power supply is not shut off. Therefore, shut off the main circuit power supply using the external sequence. Cancel the alarm in the converter unit. If an alarm also occurs in the drive unit, cancel the alarm in the drive unit as well. Then, turn on the error reset command from the servo system controller to resume the operation.
b)
Drive unit control circuit power supply
Main circuit power supply
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Servo-on command (from servo system controller)
Drive unit alarm
Reset command (from servo system controller)
Base circuit
No alarmAlarmNo alarm
1.5 s
50 ms or more
Converter unit alarm
No alarmNo alarm Alarm No alarm
(3 s) (3 s)
a) d)
Alarm occurrence
Alarm
Alarm occurrence
c)
e)
Converter unit control circuit power supply
a) in figure When the drive unit is at servo-off, even if an alarm occurs in the converter, the drive unit does not detect the alarm.
b) and c) in figure To deactivate the alarm of the converter unit, cycle the power of the converter unit
(b)), or turn on the servo-on command (c)). d) in figure If an alarm occurs in the converter unit when the drive unit is at servo-on, the
alarm also occurs in the drive unit and the drive unit becomes servo-off. e) in figure Shut off the main circuit power supply using the external sequence as soon as an
alarm occurs.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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2) Drive unit
When an alarm occurs in the drive unit, the drive unit turns into the servo-off, but the main circuit power supply is not shut off. Therefore, shut off the main circuit power supply using the external sequence. After cancelling the alarm in the drive unit, turn on the error reset command from the servo system controller to resume the operation.
Drive unit control circuit power supply
Main circuit power supply
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Servo-on command (from servo system controller)
Drive unit alarm
Reset command (from servo system controller)
Base circuit
No alarmAlarmNo alarm
1.5 s
50 ms or more
Converter unit alarm
No alarm
(3 s) (3 s)
Alarm occurrence
a) b)
Converter unit control circuit power supply
a) in figure When an alarm occurs in the drive unit, shut off the main circuit power supply using the external sequence.
b) in figure Turn on the main circuit power supply while an alarm in the drive unit is cancelled.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(2) Forced stop in the converter unit
(a) When magnetic contactor drive output is enabled When EM1 (Forced stop) is disabled in the converter unit, the magnetic contactor is turned off and the main circuit power supply is shut off. The drive unit in operation stops, and [AL. E9 Main circuit off warning] appears. When EM1 (Forced stop) is enabled in the converter unit, the magnetic contactor is turned on, the main circuit power is supplied, and then the drive unit automatically resumes the operation.
Dynamic brake
MBR (Electromagnetic brake interlock)
(50 ms) (Note 2)
Base circuit
Servo motor speed
Converter main circuit off warning
Existence
Nothing
Main circuit power supply
ON
OFF
EM1 (forced stop) ON
OFF (Enabled)
(3 s)
(3 s)
2)
2)
1)
ON
OFF
(Note 1) ON
OFF
Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence
which will operate the electromagnetic brake as follow using MBR (Electromagnetic
brake interlock).
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. There is delay caused by magnetic contactor built into the external dynamic brake
(about 50 ms) and delay caused by the external relay.
1) in figure When EM1 (Forced stop) is enabled in the converter unit, the main circuit power
is supplied. 2) in figure After the capacitor in the main circuit is fully charged, the base circuit and MBR
(Electromagnetic brake interlock) turn on.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(b) When magnetic contactor drive output is disabled
When EM1 (Forced stop) is disabled in the converter unit, the base circuit of the drive unit that is in operation shuts off, and [AL. E9 Main circuit off warning] appears on the drive unit. When EM1 (Forced stop) is enabled in the converter unit, the drive unit automatically resumes the operation.
Dynamic brake
MBR (Electromagnetic brake interlock)
(50 ms) (Note 2)
(Note 1) ON
OFF
Base circuit ON
OFF
Servo motor speed
Converter main circuit off warning
Existence
Nothing
Main circuit power supply
ON
OFF
EM1 (forced stop) ON
OFF (Enabled)
(3 s)
(3 s)
1)
Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence
which will operate the electromagnetic brake as follow using MBR (Electromagnetic
brake interlock).
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. There is delay caused by magnetic contactor built into the external dynamic brake
(about 50 ms) and delay caused by the external relay.
1) in figure When EM1 (Forced stop) is enabled, the converter main circuit off warning is
released.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.3.6 Interfaces
The interface of MR-J4-DU_B_-RJ020 is the same as that of MR-J4-_B_-RJ020. Refer to section 3.8. (1) Detailed explanation of interfaces
This section (1) provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 14.3.4. Refer to this section and make connections to the external device.
(a) Digital input interface DI
This is an input circuit in which the cathode of the photocoupler is the input terminal. Transmit signals from sink (open-collector) type transistor output, relay switch, etc. The following shows a connection diagram for sink input. Refer to section 14.3.6 (2) for source input.
10%
Approx. 5.6 k
Approx. 5 mA
VCES 1.0 V ICEO 100 A
TR
24 V DC 150 mA
Switch
For transistor
EM1
Converter unit
DICOM
(b) Digital output interface DO 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 converter unit. The following shows a connection diagram for sink output. Refer to section 14.3.6 (2) for source output.
(Note) 24 V DC 10% 150 mA
If polarity of diode is reversed, converter unit will malfunction.
Converter unit
ALM, etc.
Load
DOCOM
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(2) Source I/O interfaces
In this converter unit, source type I/O interfaces can be used.
(a) Digital input interface DI This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
Approx. 5.6 k
10%
VCES 1.0 V ICEO 100 A
24 V DC 150 mA
Approx. 5 mA
EM1
Converter unit
Switch
DICOM
TR
For transistor
(b) Digital output interface DO 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 converter unit.
Converter unit
ALM, etc.
DOCOM
Load
(Note) 24 V DC 10% 150 mA
If polarity of diode is reversed, converter unit 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.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.3.7 Grounding
WARNING
Ground the converter unit, the drive unit and the servo motor securely.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the converter unit and drive unit to the protective earth (PE) of the cabinet.
The drive unit switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the drive unit may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to "EMC Installation Guidelines".
Ensure to connect the wire to the PE terminal of the drive unit. Do not connect the wire directly to the protective earth of the cabinet.
Li ne
fi lte
r
(Note 1) Power supply
V
U
Cabinet
Servo motor
M
U
V
WW
Encoder
CN2
Drive unit
L11
L1
L2
L3
L21
Protective earth (PE)
Outer box
MCMCCB
Converter unit
L+
L-
CN40 CN40A
L11
L21
L+
L-
S e
rv o
s ys
te m
co nt
ro lle
r
CN10A
MR-J4-T20
(Note 2)
Note 1. For power supply specifications, refer to section 14.1.2.
2. To reduce the influence of the external noise, it is recommended that you attach cable clamp fittings to ground the SSCNET
cable or connect 3 to 4 data line filters in series near the servo system controller.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.4 Start up
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 heat sink of the converter unit, the drive unit, the regenerative resistor, the servo motor, etc. may become hot while power is on and for some time after power-off. Take safety measures, such as providing covers, to avoid accidentally touching the parts (cables, etc.) by hand.
During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.
POINT
Before switching power on, install MR-J4-T20 to MR-J4-DU_B_-RJ020 drive unit. For MR-J4-T20 installation procedure, refer to section 1.8.
The following items are the same as those of MR-J4-_B_-RJ020. Refer to each section of the detailed explanation field for details. Read the corresponding section by replacing "servo amplifier" to "drive unit".
Item Detailed explanation
Switch setting and display of the servo amplifier Section 4.3
Test operation Section 4.4
Test operation mode Section 4.5
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.4.1 Switching power on for the first time
When switching power on for the first time, follow this section to make a startup. (1) Startup procedure
Wiring check
Surrounding environment check
Axis No. settings
Parameter setting
Test operation of servo motor alone in test operation mode
Test operation of servo motor alone by commands
Test operation with servo motor and machine connected
Gain adjustment
Actual operation
Stop
Description Reference
Check whether the converter unit, the drive unit, and the servo motor are wired correctly using visual inspection, DO forced output function, etc.
Section 14.4.1 (2)
Check the surrounding environment of the converter unit, the drive unit and the servo motor.
Section 4.1.3
Confirm that the control axis No. set with the axis selection rotary switch (SW1) and the control axis No. set with the servo system controller are consistent.
Section 4.3.1
Set the parameters as necessary, such as the used operation mode and regenerative option selection.
Section 14.5
For the test operation, disconnect the servo motor from the machine, and check whether the servo motor rotates correctly at the slowest speed.
Section 4.5
For the test operation, disconnect the servo motor from the machine, give commands to the drive unit, and check whether the servo motor rotates correctly at the lowest speed.
Connect the servo motor with the machine, and check machine motions by transmitting operation commands from the servo system controller.
Make gain adjustment to optimize the machine motions. Chapter 6
Stop giving commands and stop operation.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(2) Wiring check
(a) Power supply system wiring Before turning on the power supplies of the main circuit and the control circuit, check the following items.
1) Power supply system wiring
a) The power supplied to the converter unit power input terminals (L1/L2/L3/L11/L21) and the drive unit power input terminals (L11/L21) should satisfy the defined specifications. (Refer to section 14.1.3.)
b) When magnetic contactor drive output is enabled, the magnetic contactor control connector
(CNP1) should be connected to the coil of the magnetic contactor.
c) When the power factor improving DC reactor is not used, P1 and P2 in the converter unit should be connected.
Converter unit
P1
P2
2) Connection of drive unit and servo motor a) The drive unit power outputs (U/V/W) should match in phase with the servo motor power input
terminals (U/V/W).
Drive unit Servo motor
M
U
V
W
U
V
W
b) The power supplied to the converter unit should not be connected to the drive unit power outputs (U/V/W). Doing so will fail the connected drive unit and servo motor.
Drive unit Servo motor
M
U
V
W
U
V
W
c) The grounding terminal of the servo motor is connected to the PE terminal of the drive unit.
Drive unit Servo motor
M
d) The CN2 connector of the drive unit should be connected to the encoder of the servo motor securely by using the encoder cable.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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3) When using options and peripheral equipment
a) When using a regenerative option
The regenerative option should be connected to P+ and C terminals of the converter unit.
A twisted wire should be used. (Refer to section 14.9.2 (4).)
b) When using a brake unit
The brake unit should be connected to L+ and L- terminals of TE2-1 of the converter unit. (Refer to section 14.9.10 (3).)
A twisted wire should be used for the wiring over 5 m and equal to or less than 10 m when the brake unit is used. (Refer to section 14.9.10 (3).)
c) The power factor improving DC reactor should be connected between P1 and P2 of the
converter unit. (Refer to section 14.9.6.)
(Note)
Power factor improving DC
reactor
Converter unit
P1
P2
Note. Always disconnect wiring between P1 and P2.
(b) I/O signal wiring
1) Converter unit a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN1 connector. This function can be used to perform a wiring check. In this case, turn on the control circuit power supply only. For details of I/O signal connection, refer to section 14.3.1 (2). For details of DO forced output, refer to section 14.4.3 (3) (c).
b) A voltage exceeding 24 V DC is not applied to the pins of the CN1 connector.
c) Between plate and DOCOM of the CN1 connector should not be shorted.
Converter unit
DOCOM
Plate
CN1
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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2) Drive unit
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, turn on the control circuit power supply only. Refer to section 3.2 for details of I/O signal connection. For details of DO forced output, refer to section 4.5.1.
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.
Drive unit
DOCOM
Plate
CN3
14.4.2 Startup
Startup of the MR-J4-DU_B_-RJ020 is the same as that of the MR-J4-_B_-RJ020. Refer to section 4.2 for details. The converter unit display shows "roF" (ready-off) at power-on. When an error occurs or EM1 (Forced stop) is disabled in the converter unit, the operation will stop.
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14.4.3 Display and operation section of the converter unit
(1) Display flowchart The converter unit has the display (3-digit, 7-segment LED) and the operation section (4 pushbuttons) for converter unit status display, alarm display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. The following shows the operation procedure after power-on.
Current alarm
Sixth alarm in past
DOWN
Status display
UP
MODE Button
Alarm Basic parameters
Effective load ratio [%]
Peak load ratio [%]
Bus voltage [V]
First alarm in past [Pr. PA02]
[Pr. PA01]
Parameter error No. [Pr. PA19]
[Pr. PA18]
External I/O signal display
Output signal (DO) forced output
Diagnostic
Software version - Upper
Software version - Lower
Regenerative load ratio [%]
Status
(Note 1)
(Note 1)
(Note 1)
(Note 1)
Unit power consumption 1 [kW] (Note 2)
Unit total power consumption 1 [kWh]
Unit total power consumption 2 [MWh]
Note 1. When a parameter is selected, the parameter group and the parameter No. are displayed alternately. Refer to section 14.4.3
(5) for details.
2. The unit of unit power consumption 1 can be changed with [Pr. PA15].
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(2) Status display mode
The converter unit status during operation is shown on the 3-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the "SET" button to display that data.
(a) Display examples
The following table shows the display examples.
Item State Displayed data
Status
Ready-off
Ready-on
Bus voltage 300 [V]
Effective load ratio 67 [%]
Peak load ratio 95 [%]
Regenerative load ratio 90 [%]
(b) Status display list
The following table lists the converter unit statuses that may be displayed.
Status display Symbol Unit Description Indication
range
Status
Ready -off
Ready-off is displayed during initialization or alarm occurrence, in the external forced stop status, or when the bus voltage is not established.
roF
Ready -on
Ready-on is displayed when the servo was switched on after completion of initialization and the converter unit is ready to operate.
ron
Bus voltage Pn V The bus voltage is displayed. 0 to 999
Effective load ratio
J % The effective load ratio in the past 15 s is displayed relative to the rated load of 100%.
0 to 300
Peak load ratio b % The peak load ratio in the past 15 s is displayed relative to the rated load of 100%.
0 to 400
Regenerative load ratio
L % The ratio of regenerative power to permissible regenerative power is displayed in %.
0 to 300
Unit power consumption 1
PC1 kW (Note) Unit power consumption is displayed by increment of 1 kW or 0.1 kW. 0 to 999
Unit total power consumption 1
TP1 kWh Unit total power consumption is displayed by increment of 1 kWh. 0 to 999
Unit total power consumption 2
TP2 MWh Unit total power consumption is displayed by increment of 1 MWh. 0 to 999
Note. The unit of unit power consumption 1 can be changed with [Pr. PA15].
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(3) Diagnostic mode
(a) Diagnostic list
Name Display Description
External I/O signal display Indicates the on/off status of external I/O signal. Refer to (b) in this section for details.
Output signal (DO) forced output Indicates that the digital output signal can be switched on/off forcibly. Refer to (c) in this section for details.
Software version - Lower Indicates the version of the software.
Software version - Upper Indicates the system number of the software.
(b) External I/O signal display
The on/off states of the digital I/O signals connected to the converter unit can be confirmed.
1) Operation The following shows the display screen at power-on. Using the "MODE" button, display the diagnostic screen.
External I/O signal display screen
Press MODE once.
2) Display definition The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off. The 7-segment LED segments and CN1 connector pins correspond as shown below.
CN1-7: EM1 (Forced stop 1)
CN1-2: ALM (Malfunction)CN1-8: WNG (Warning)
Light on: on Light off: off
Input signal
Output signals
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(c) Output signal (DO) forced output
Output signals can be forcibly switched on/off independently of the converter unit status. Use this function for checking output signal wiring, etc. The following shows the display screen at power-on. When turning CN1-8 on and off
External I/O signal display screen
Press SET for longer than 2 s.
CN1-8
CN1-8 CN1-2
Press MODE once.
Press UP once.
Switch on/off the signal below the lit segment.
Indicates on/off of output signal. (Light on: on, light off: off)
Press MODE once.
The lit LED moves to the upper LED of CN1-8.
Press UP once.
CN1-8 switches on. (Between CN1-8 and DOCOM are connected.)
Press DOWN once.
CN1-8 switches off.
Press SET for longer than 2 s.
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(4) Alarm mode
The current alarm, past alarm history, and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error.
Name Display Description
Current alarm
Indicates no occurrence of an alarm.
Indicates that [AL. 33 Overvoltage] occurred. Blinks at alarm occurrence.
Indicates that the last alarm is [AL. 50 Overload 1].
Indicates that the second alarm in the past is [AL. 33 Undervoltage].
Alarm history
Indicates that the third alarm in the past is [AL. 10 Undervoltage].
Indicates that the fourth alarm in the past is [AL. 10 Undervoltage].
Indicates that the fifth alarm in the past is [AL. 10 Undervoltage].
Indicates that the sixth alarm in the past is [AL. 50 Overload 1].
Parameter error No.
Indicates no occurrence of [AL. 37 Parameter error].
Displayed alternately
Indicates that the data of [Pr. PA01 Regenerative option] is faulty.
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Functions at alarm occurrence
(a) Any mode screen displays the current alarm.
(b) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation area. At this time, the decimal point in the third digit remains blinking.
(c) For any alarm, remove its cause and clear it in any of the following methods. (Refer to chapter 6 for
the alarms that can be cleared.)
1) Switch power off, then on.
2) Press the "SET" button on the current alarm screen.
(d) Use [Pr. PA09] to clear the alarm history. (5) Parameter mode
POINT
The display of the converter unit has three digits. When a parameter No. is displayed, the parameter group and the parameter No. are displayed alternately. For example, when [Pr. PA01] is displayed, "PA" and "01" are displayed alternately.
The following example shows how to select MR-RB137 in [Pr. PA01 Regenerative option] after power-on.
Displayed alternately
( _ _ _ 2: MR-RB137 (3 pcs.) are used.)
(Note)
Press MODE three times. The parameter number is displayed. For [Pr. PA01], "PA" and "01" are displayed alternately.
Press UP or DOWN to change the number.
Press MODE twice. The set value of the specified parameter number blinks. In this case, the lower three digits of the setting value "0 0 0 0" are displayed.
Press MODE once. During blinking, the set value can be changed.
Use UP or DOWN. When a negative value is set, the decimal point blinks.
Press SET to enter.
Note. When the lower three digits of the four digits are displayed, pressing the "MODE" button displays the fourth digit. However, do not
change the setting of the fourth digit. Pressing the "MODE" button again resets the display to the lower three digits.
To shift to the next parameter, press the "UP" or "DOWN" button. When changing the [Pr. PA01] setting, change its setting value, and then cycle the power to enable the new value.
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14.5 Parameters
CAUTION
Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.
If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
Do not set a value other than the described values to each parameter.
14.5.1 Parameters for converter unit
(1) Parameter list
POINT
To enable a parameter whose symbol is preceded by *, cycle the power after setting it.
No. Symbol Name Initial value Unit
PA01 *REG Regenerative option 0000h
PA02 *MCC Magnetic contactor drive output selection 0001h
PA03
For manufacturer setting 0001h
PA04 0
PA05 100
PA06 0
PA07 100
PA08 *DMD Status display selection 0000h
PA09 *BPS Alarm history clear 0000h
PA10
For manufacturer setting 0
PA11 0000h
PA12 *DIF Input filter setting 0002h
PA13
For manufacturer setting 0000h
PA14 0000h
PA15 AOP3 Function selection A-3 0000h
PA16 For manufacturer setting 0000h
PA17 *AOP5 Function selection A-5 0001h
PA18
For manufacturer setting 200
PA19 0000h
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(2) Detailed list of parameters
POINT
Set a value to each "x" in the "Setting digit" columns.
No./symbol/ name
Setting digit
Function Initial value [unit]
PA01 *REG Regenerative option
_ _ x x Regenerative option Select a regenerative option. Incorrect setting will trigger [AL. 37 Parameter error]. 00: Regenerative option is not used.
When using the FR-BU2-(H) brake unit, select the value. 01: MR-RB139 02: MR-RB137 (3 pcs.) 13: MR-RB137-4 14: MR-RB13V-4 (3 pcs.)
00h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PA02 *MCC Magnetic contactor drive output selection
_ _ _ x Magnetic contactor drive output selection Select the magnetic contactor drive output. 0: Disabled 1: Enabled
1h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PA08 *DMD Status display selection
_ _ _ x Status display selection Select a status display shown at power-on. 0: Status 1: Bus voltage 2: Effective load ratio 3: Peak load ratio 4: Regenerative load ratio 5: Unit power consumption 1 6: Unit total power consumption 1 7: Unit total power consumption 2
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PA09 *BPS Alarm history clear
_ _ _ x Alarm history clear Used to clear the alarm history. 0: Disabled 1: Enabled When you select "Enabled", the alarm history will be cleared at next power-on. After the alarm history is cleared, the setting is automatically disabled.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
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No./symbol/ name
Setting digit
Function Initial value [unit]
PA12 *DIF Input filter setting
_ _ _ x Input filter setting Select the input filter. If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 1.777 [ms] 2: 3.555 [ms] 3: 5.333 [ms]
2h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PA15 AOP3 Function selection A-3
_ _ _ x Selection of unit power consumption display unit 0: increment of 1 kW 1: increment of 0.1 kW
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PA17 *AOP5 Function selection A-5
_ _ _ x [AL. 10 Undervoltage] detection method selection Set this parameter when [AL. 10 Undervoltage] occurs due to distorted power supply voltage waveform. 0: [AL. 10] not occurrence 1: [AL. 10] occurrence
1h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
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14.5.2 Parameters for drive unit
POINT
When you connect the amplifier to a servo system controller, servo parameter values of the servo system controller will be written to each parameter.
Setting may not be made to some parameters and their ranges depending on the servo system controller model, drive unit software version, and MR Configurator software version. For details, refer to the servo system controller user's manual.
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.
Set a value to each "x" in the "Setting digit" columns.
The following shows parameter settings exclusively for the driver unit. Other parameters are the same as those of MR-J4-_B_-RJ020. Refer to chapter 5.
No. Symbol Name and function Initial value [unit]
Setting range
2 *REG Regenerative option Select a regenerative option. For the drive unit, select the regenerative option with the converter unit. Selecting other than "_ _ 0 0" or "_ _ 0 1" will trigger [AL. 37 Parameter error].
Refer to the Name and function column.
Setting digit
Explanation Initial value
_ _ x x Regenerative option selection 00: Regenerative option is not used, or when you use a
regenerative option, set the regenerative option with the converter unit.
01: FR-BU2-(H)
00h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.6 Troubleshooting
POINT
Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for remedies for alarms/warnings of the converter unit.
For lists and remedies for alarms/warnings of the drive unit, refer to chapter 8.
[AL. 37 Parameter error] and warnings 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 will turn off. (1) Explanation for the lists
(a) No./Name Indicates each No./Name of alarms or warnings.
(b) Alarm deactivation
After cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated with alarm reset or cycling the power.
Alarm deactivation Explanation
Alarm reset Push the "SET" button on the current alarm screen of the display.
Cycling the power Turning the power off and then turning it on again.
(2) Alarm/warning list
Display Name
Alarm deactivation Display Name
Alarm reset Cycling
the power
W ar
ni ng
A.91 Converter overheat warning
A.E0 Excessive regeneration warning
A la
rm
A.10 Undervoltage A.E1 Overload warning 1
A.12 Memory error 1 (RAM) A.E6 Converter forced stop warning
A.15 Memory error 2 (EEP-ROM) A.E8 Cooling fan speed reduction warning
A.17 Board error
A.19 Memory error 3 (Flash-ROM)
A.30 Regenerative error (Note) (Note)
A.33 Overvoltage
A.37 Parameter error
A.38 MC drive circuit error
A.39 Open phase
A.3A Inrush current suppression circuit error
A.45 Main circuit device overheat (Note) (Note)
A.47 Cooling fan error
A.50 Overload 1 (Note) (Note)
A.51 Overload 2 (Note) (Note)
888 Watchdog
Note. After resolving the source of trouble, cool the equipment for approximately 30 minutes.
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14.7 Dimensions
POINT
Refer to section 14.2.1 for the mounting hole process drawing.
The following items are the same as those of MR-J4-_B_-RJ020 servo amplifiers. Refer to each section of the detailed explanation field for details.
Item Detailed explanation
MR-J4-T20 Section 9.2
Connector Section 9.3
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.7.1 Converter unit (MR-CR55K_)
[Unit: mm]
300
20 260 20
3 8
0
1 0
3 6
0 1
0 7
100
180
1 9
5 1
5 5
200
175.5
178.5 15.5
32
63
2 31 = 62
33
2 31 = 62
230
4 15
9
2 4
1 2
4 .5
9 2
1 1
192
9 8
.6
1 3
0 .3
1 6
2 .5
22 22 22.522.5
2.3
2-7 mounting hole Cooling fan exhaust
TE2-1 TE2-2
PE
TE3
PETE1-1 TE1-2Intake
L-
L+
L21
L11
PE
Terminal
TE2-1
TE3
L-
L+
TE2-2 TE1-1 Screw size: M10 Tightening torque: 12.0 [Nm]
TE1-2 Screw size: M10 Tightening torque: 12.0 [Nm]
TE2-1 Screw size: M6 Tightening torque: 3.0 [Nm]
TE2-2 Screw size: M6 Tightening torque: 3.0 [Nm]
TE3 Screw size: M4 Tightening torque: 1.2 [Nm]
PE Screw size: M10 Tightening torque: 12.0 [Nm]
TE1-1 TE1-2 PE
L1 L2 L3 C P2 P1
Mass: 22 [kg] Mounting screw
Screw size: M6 Tightening torque: 5.49 [Nm]
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14.7.2 Drive unit
(1) MR-J4-DU30KB-RJ020/MR-J4-DU37KB-RJ020/MR-J4-DU45KB4-RJ020/MR-J4-DU55KB4-RJ020
[Unit: mm]
100
180
1 5
5
300
3 8
0
3 6
0 1
0
20
CN40A
260
200
175.5
178.5
22.5 22
32
118 62
15.5
9 2
1 1
4 15 91
2 4
.5 2
4
1 9
5
TE2-1 TE2-2
TE1PE
TE3
7
20
1 0
10
1 3
0 .1
1 6
2 .5
3128
2-7 mounting hole
Approx. 80
With MR-BAT6V1SET
Cooling fan exhaust
Intake
L-
L+
L21
L11
PE
Terminal
TE2-1
TE3
L-
L+
TE2-2 TE1 Screw size: M10 Tightening torque: 12.0 [Nm]
TE2-1 Screw size: M6 Tightening torque: 3.0 [Nm]
TE2-2 Screw size: M6 Tightening torque: 3.0 [Nm]
TE3 Screw size: M4 Tightening torque: 1.2 [Nm]
PE Screw size: M10 Tightening torque: 12.0 [Nm]
TE1
U V W
Mass: 21 [kg] Mounting screw
Screw size: M6 Tightening torque: 5.49 [Nm]
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(2) MR-J4-DU30KB4-RJ020/MR-J4-DU37KB4-RJ020
[Unit: mm]
180
100
3 6
0 1
0
60
CN40A
120
1 5
5
3 8
0
240
175.5
178.5
22.5 22
38
105.5
143 56
9 2
5 2
1 1
4 1
1 2
4 .5
2 4
200
1 9
5
60
1 0 6
10
TE2
TE1PE
TE3
1 7
0 .5
1 5
2 .5
28
28
2-6 mounting hole Cooling fan exhaust
Approx. 80
With MR-BAT6V1SET Intake
L-
L+
L21
L11
PE
Terminal
TE2 TE3 TE1 Screw size: M8 Tightening torque: 6.0 [Nm]
TE2 Screw size: M6 Tightening torque: 3.0 [Nm]
TE3 Screw size: M4 Tightening torque: 1.2 [Nm]
PE Screw size: M8 Tightening torque: 6.0 [Nm]
TE1
U V W
Mass: 16 [kg] Mounting screw
Screw size: M5 Tightening torque: 3.24 [Nm]
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14.8 Characteristics
The following items are the same as those of MR-J4-_B_-RJ020. Refer to each section of the detailed explanation field for details.
Item Detailed explanation
Cable bending life Section 10.4
14.8.1 Overload protection characteristics
(1) Converter unit An electronic thermal is built in the converter unit to protect the converter unit from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig. 14.1. [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 graph.
10000
1000
100
10
1 0 100 200 300
Operating
50 150 250
(Note) Load ratio [%]
O pe
ra tio
n tim
e [s
]
Note. Load ratio 100% indicates the rated output of the converter unit. Refer to section
1.2.1 for rated output.
Fig. 14.1 Electronic thermal protection characteristics
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(2) Drive unit
An electronic thermal is built in the drive unit to protect the servo motor, drive unit 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. 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. 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 lower of the motor's rated torque. The drive unit has the servo motor overload protective function. (The servo motor overload current (full load current) is set on the basis of 120% rated current of the drive unit.)
10000
1000
100
10
1 0 100 200 300
Operating
Servo-lock
50 150 250
(Note 1, 2) Load ratio [%]
O pe
ra tio
n tim
e [s
]
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 30 r/min or less low-speed operation status, the drive unit may malfunction
regardless of the electronic thermal protection.
2. Load ratio 100% indicates the rated output of the drive unit. Refer to section
14.1.3 (2) for rated output.
Fig. 14.2 Electronic thermal protection characteristics
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14.8.2 Power supply capacity and generated loss
(1) Generated heat of the converter unit/drive unit Table 14.1 indicates the generated loss and power supply capacity under rated load per combination of the converter unit and drive unit. When the servo motors are run at less than the rated speed, the power supply equipment capacity is lower than the value in the table but the heat generated does not change. Since the servo motor requires 2 times to 2.5 times greater instantaneous power for acceleration, use the power supply which ensures that the voltage lies within the permissible voltage fluctuation at the main circuit power supply terminals (L1/L2/L3) of the converter unit. The power supply equipment capacity changes with the power supply impedance. The actually generated heat falls within the ranges at rated output and at servo-off according to the frequencies of use during operation. When designing an enclosed cabinet, use the values in the table, considering the worst operating conditions. The generated heat in table 14.1 does not include heat produced during regeneration.
Table 14.1 Power supply capacity and generated heat per servo motor at rated output
Converter unit Drive unit Servo motor
Power supply capacity [kVA] (Note) Drive unit-generated heat [W]
Area required for heat
dissipation [m2]
Power factor improving DC reactor is not
used
Power factor improving DC reactor is used
At rated output
At rated output [Generated heat in the
cabinet when cooled outside
the cabinet]
With servo-off
MR-CR55K
MR-J4-DU30KB- RJ020
HG-JR30K1
HG-JR30K1M 48 40 1350 (900 + 450) 470 31.0
MR-J4-DU37KB- RJ020
HG-JR37K1
HG-JR37K1M 59 49 1550 (1000 + 550) 550 36.6
MR-J4- DU30KB4-RJ020
HG-JR30K14
HG-JR30K1M4 48 40 1070 (790 + 280) 390
60 (30 + 30)
25.8
MR-CR55K4
MR-J4- DU37KB4-RJ020
HG-JR37K14
HG-JR37K1M4 59 49 1252 (910 + 342) 470 30.8
MR-J4- DU45KB4-RJ020
HG-JR45K1M4 71 59 1580 (1110 + 470) 550 42.4
MR-J4- DU55KB4-RJ020
HG-JR55K1M4 87 72 1940 (1440 + 500) 650 43.0
Note. The heat generated by the drive unit is indicated in the left term within the parentheses, and the heat generated by the converter
unit in the right term.
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(2) Heat dissipation area for an enclosed type cabinet
The enclosed type cabinet (hereafter called the cabinet) which will contain the converter unit and drive unit 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 14.1.
A = K T
P (14.1)
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 14.1, assume that P is the sum of all losses generated in the cabinet. Refer to table 14.1 for the generated heat of the converter unit/drive unit. "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 14.1 lists the cabinet dissipation area (guideline) when the converter unit and drive unit are operated at the ambient temperature of 40 C under rated load.
(Outside the cabinet) (Inside the cabinet)
Air flow
Fig. 14.3 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.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.8.3 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 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.
When an HG series servo motor is used with the drive unit, use the external dynamic brake for MR-J4. The external dynamic brake for MR-J2S cannot be used.
(1) Dynamic brake operation
(a) Calculation of coasting distance Fig. 14.4 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 14.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to (b) of 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. 14.4 Dynamic brake operation diagram
Lmax = 60 V0 te + JM
1 + JL (14.2)
Lmax : Maximum coasting distance [mm] V0 : Machine's fast feed speed [mm/min] JM : Moment of inertia of the servo motor [ 10-4 kgm2] JL : Load moment of inertia converted into equivalent value on servo motor shaft [ 10-4 kgm2] : Dynamic brake time constant [s] te : Delay time of control section [s]
There is delay caused by magnetic contactor built into the external dynamic brake (about 50 ms) and delay caused by the external relay.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(b) Dynamic brake time constant
The following shows necessary dynamic brake time constant for equation 14.2.
HG-JR30K1
HG-JR37K1
0
10
20
30
40
50
60
0 500 1000 1500
Speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
HG-JR30K14
HG-JR37K14
0
5
10
15
20
25
30
35
40
45
50
0 500 1000 1500
Speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
HG-JR1000 r/min series
Speed [r/min]
0
5
10
15
20
25
30
35
40
45
50
0 500 1000 1500 2000 2500
HG-JR30K1M
HG-JR37K1M
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
Speed [r/min]
0 500 1000 1500 2000 2500
HG-JR37K1M4
HG-JR45K1M4
HG-JR55K1M4
HG-JR30K1M4
0
10
20
30
40
50
60
70
80
90
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
HG-JR1500 r/min series
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(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 dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office. The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor. The value in the parenthesis shows the value at the rated speed.
Servo motor Load to motor inertia ratio
[multiplier]
HG-JR30K1
HG-JR37K1
HG-JR30K14
HG-JR37K14 10
HG-JR30K1M
HG-JR37K1M
HG-JR30K1M4
HG-JR37K1M4
HG-JR45K1M4 8 (10)
HG-JR55K1M4 7 (10)
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.8.4 Inrush currents at power-on of main circuit/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, always use molded-case circuit breakers and magnetic contactors. (Refer to section 14.9.5.) When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used. (1) 200 V class
The following 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.
(a) Converter unit
Converter unit Inrush currents (A0-P)
Main circuit power supply (L1/L2/L3)
Control circuit power supply (L11/L21)
MR-CR55K 154 A
(Attenuated to approx. 20 A in 150 ms) 31 A
(attenuated to approx. 2 A in 60 ms)
(b) Drive unit
Drive unit Inrush currents (A0-P)
Control circuit power supply (L11/L21)
MR-J4-DU30KB- RJ020
31 A (attenuated to approx. 2 A in 60 ms) MR-J4-DU37KB- RJ020
(2) 400 V class
The following table indicates the inrush currents (reference data) that will flow when 480 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m.
(a) Converter unit
Converter unit Inrush currents (A0-P)
Main circuit power supply (L1/L2/L3)
Control circuit power supply (L11/L21)
MR-CR55K4 305 A
(attenuated to approx. 20 A in 70 ms) 27 A
(attenuated to approx. 2 A in 45 ms)
(b) Drive unit
Drive unit Inrush currents (A0-P)
Control circuit power supply (L11/L21)
MR-J4-DU30KB4- RJ020
MR-J4-DU37KB4- RJ020
27 A (attenuated to approx. 2 A in 45 ms) MR-J4-DU45KB4- RJ020
MR-J4-DU55KB4- RJ020
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14.9 Options and peripheral equipment
WARNING
Before connecting any option or peripheral equipment, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L+ and L- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm whether the charge lamp is off or not from the front of the converter unit.
CAUTION Use the specified peripheral equipment and options to prevent a malfunction or a fire.
POINT
We recommend using HIV wires to wire the converter units, drive units, options, and peripheral equipment. Therefore, the recommended wire sizes may different from those of the used wires for the previous converter units, drive units and others.
The following items are the same as those of MR-J4-_B_-RJ020. Refer to each section of the detailed explanation field for details.
Item Detailed explanation
SSCNET cable Section 11.1.2
RS-232C communication cable Section 11.1.3
Junction terminal block PS7DW-20V14B-F (recommended)
Section 11.6
MR Configurator Section 11.7
Battery Section 11.8
Relay (recommended) Section 11.13
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.9.1 Cable/connector sets
(1) Combinations of cable/connector sets Parts other than the following cable/connector sets are the same as those of MR-J4-_B_-RJ020. Refer to section 11.1.
Drive unitConverter unit
CNP1
CN40CN1
3)
4)
2)
1) CN40A
No. Product name Model Description Application
1) Protection coordination cable
MR-J3CDL05M (Refer to section 14.9.1 (2).)
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
Connector: PCR-S20FS+ Case: PCR-LS20LA1 (Honda Tsushin Kogyo)
2) Connector set MR-J2CN1-A (Refer to section 14.9.1 (2).)
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
Connector: PCR-S20FS+ Shell kit: PCR-LS20LA1 (Honda Tsushin Kogyo)
3) Magnetic contactor wiring connector
Converter unit side connector (Phoenix Contact) Socket: GFKC 2,5/ 2-STF-7,62
Supplied with converter unit 4) Digital I/O
connector Converter unit side connector
(DDK) Connector: 17JE23090-02(D8A)K11-CG
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(2) MR-J3CDL05M (0.5 m) protection coordination cable
CAUTION Wire protection coordination cables correctly if they are fabricated. Otherwise, it may cause an unexpected operation.
The cable is used to connect a converter unit to a drive unit.
(a) Internal wiring diagram
MR-J3CDL05M
1
11
2
12
3
13
4
14
5
15
6
16
7
17
8
18
9
19
10
20
Plate
1
11
2
12
3
13
4
14
5
15
6
16
Plate
7
17
8
18
9
19
10
20
ACD2
ACD2*
ACD3
ACD3*
PAL
PAL*
ACD1
ACD1*
LG
LG
GOF
GOF*
PMC
PMC*
PSD
PSD*
LG
LG
PRD
PRD*
SD
10120-3000PE (Connector) 10320-52F0-008 (Shell kit)
PCR-S20FS + (Connector) PCR-LS20LA1 (Case)
Drive unit sideConverter unit side
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(b) When fabricating a cable
Use MR-J2CN1-A connector set and the following recommended wire to fabricate a cable according to the wiring diagram in (a) in this section.
Model Length
[m]
Core size
[mm2]
Number of cores
Characteristics of one core
(Note 2) Cable
OD [mm] Wire model Structure
[Wires/mm]
Conductor resistance
[/km]
(Note 1) Insulat or OD d [mm]
MR-J3CDL05M 0.5 0.08 20
(10 pairs) 7/0.127
222 or less
0.38 6.1 UL 20276 AWG#28 10pair (cream)
Note 1. The following shows the detail of d.
InsulatorConductor
d
2. Standard OD. Maximum OD is about 10% greater.
14.9.2 Regenerative option
CAUTION Do not use the converter unit and drive unit with the regenerative options other than the combinations specified below. Otherwise, it may cause a fire.
(1) Combination and regenerative power
The regenerative power values in the table are the regenerative power of the resistor and are not the rated power.
Converter unit Drive unit
Regenerative power [W]
MR-RB139 (1.3 )
(Note 1) Three MR-RB137 (1.3 ) in parallel
MR-RB137-4 (4 )
(Note 2) Three MR-RB13V-4
(4 ) in parallel
MR-CR55K MR-J4-DU30KB-RJ020
1300 3900 MR-J4-DU37KB-RJ020
MR-CR55K4
MR-J4-DU30KB4-RJ020
1300 3900 MR-J4-DU37KB4-RJ020
MR-J4-DU45KB4-RJ020
MR-J4-DU55KB4-RJ020
Note 1. The resultant resistance of three options is 1.3 .
2. The resultant resistance of three options is 4 .
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(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.
(a) Regenerative energy calculation
M
Friction torque
U nb
al an
ce d
to rq
ue
TF
TU
S er
vo m
ot or
s pe
ed G
en er
at ed
to rq
ue
Time
Up V tf (1 cycle)
Down
(+)
(-)
(Power running)
(Regeneration)
tpsd2
t2 t3 t4t1
tpsa2tpsd1tpsa1
1)
2)
3)
4) 5)
6)
7)
8)
Formulas for calculating torque and energy in operation
Regenerative power
Torque applied to servo motor T [Nm] (Note)
Energy E [J]
1) T1 = (JL/ + JM) V
9.55 104 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
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(b) Regenerative loss of servo motor and drive unit
The following table lists the efficiencies and other data of the servo motor and drive unit in the regenerative mode.
Converter unit Drive unit Inverse
efficiency [%] Capacitor
charging [J]
MR-CR55K
MR-J4-DU30KB- RJ020
90 450
MR-J4-DU37KB- RJ020
MR-CR55K4
MR-J4-DU30KB4- RJ020
MR-J4-DU37KB4- RJ020
MR-J4-DU45KB4- RJ020
MR-J4-DU55KB4- RJ020
Inverse efficiency (): Efficiency including some efficiencies of the servo motor and drive unit when
rated (regenerative) torque is generated at rated speed. Efficiency varies with the speed and generated torque. Since the characteristics of the electrolytic capacitor change with time, allow for approximately 10% higher inverse efficiency.
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the converter unit
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J] = Es - Ec
Calculate the power consumption of the regenerative option on the basis of one-cycle operation period tf [s] to select the necessary regenerative option.
PR [W] = ER/tf
(3) Parameter setting
POINT
The regenerative option cannot be connected to the drive unit. Always set [Pr. 02] of the drive unit to "_ _ 0 0" (the regenerative option is not used).
Set [Pr. PA01] of the converter unit according to the option to be used.
Regenerative option selection 00: Regenerative option is not used. 01: MR-RB139 02: MR-RB137 (3 pcs.) 13: MR-RB137-4 14: MR-RB13V-4 (3 pcs.)
[Pr. PA01]
00
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(4) Connection of regenerative option
POINT
For the wire sizes used for wiring, refer to section 14.9.4.
Always supply the following power to a cooling fan.
Table 14.2 Cooling fan
Item 200 V class 400 V class
Model MR-RB137/MR-RB139 MR-RB137-4/MR-RB13V-4
Voltage/Frequency 1-phase 198 V AC to 242 V AC,
50 Hz/60 Hz 1-phase 380 V AC to 480 V AC,
50 Hz/60 Hz
Power consumption [W]
20 (50 Hz)/18 (60 Hz) 20 (50 Hz)/18 (60 Hz)
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. The G3 and G4 terminals act as a thermal protector. Between G3 and G4 is opened when the regenerative option overheats abnormally. Use twisted wires with a maximum length of 5 m for a connection with the converter unit.
(a) MR-RB139/MR-RB137-4
R1
Converter unit
P1
P2 (Note 1)
Power factor improving DC reactor (optional)
C
G4G3
P C
Regenerative option
Cooling fan
(Note 2)
5 m or less
(Note 3) Power supply
(Note 4) S1
24 V DC
RA P1
P2
Note 1. When using the power factor improving DC reactor, remove the short bar across
P1 and P2.
2. G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
3. For specifications of cooling fan power supply, refer to table 14.2.
4. For MR-RB137-4, "R1" is "R400" and "S1" is "S400".
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 87
(b) MR-RB137/MR-RB13V-4
POINT
Three of MR-RB137 or MR-RB13V-4 are required per converter unit. Please purchase three of MR-RB137 or MR-RB13V-4.
Converter unit
P1
P2 (Note 1)
C
G4G3
P C
G4G3
P C
G4G3
P C (Note 2)
5 m or less
R1 (Note 4)
S1R1 (Note 4)
S1R1 (Note 4)
S1
24 V DC
RA P1
P2
Power factor improving DC reactor (optional)
Regenerative option
Cooling fan
Regenerative option
Cooling fan
Regenerative option
Cooling fan
(Note 3) Power supply
Note 1. When using the power factor improving DC reactor, remove the short bar across
P1 and P2.
2. G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
3. For specifications of cooling fan power supply, refer to table 14.2.
4. For MR-RB13V-4, "R1" is "R400" and "S1" is "S400".
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(5) Dimensions
[Unit: mm]
48 0
10
260
230
2-10 mounting hole
10
50 0
10
15 15
Cooling fan (Note 1)
1523015
30 42
7 43
197
Intake
15
2.3
215
G4 G3 C P R1
(Note 2)
S1 (Note 2)
Mass [kg]
11
10
Terminal screw: M5 Tightening torque: 2.0 [Nm]
Terminal block signal layout TE1
Regenerative option
MR-RB139/MR-RB137-4
MR-RB137/MR-RB13V-4
Mounting screw Screw size: M8 Tightening torque: 13.2 [Nm]
Note 1. One cooling fan for MR-RB137-4/MR-RB13V-4.
2. For MR-RB137-4/MR-RB13V-4, "R1" is "R400" and "S1" is "S400".
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.9.3 External dynamic brake
CAUTION
Use an external dynamic brake for this drive unit. Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment.
POINT
Configure a sequence which switches off the magnetic contactor of the external dynamic brake after (or as soon as) servo-on command has been turned off at a power failure or a malfunction.
For the braking time taken when the external dynamic brake is operated, refer to section 14.8.3.
The external dynamic brake is rated for a short duration. Do not use it very frequently.
The specifications of the input power supply for external dynamic brake are the same as those of the converter unit control circuit power supply.
When an alarm, [AL. E6 Servo forced stop warning], or [AL. E7 Controller forced stop warning] occurs, or the power is turned off, the external dynamic brake will operate. Do not use external dynamic brake to stop in a normal operation as it is the function to stop in emergency.
For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the external dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 (Forced stop 1) frequently in other than emergency.
(1) Selection of external dynamic brake
The external dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated.
Converter unit Drive unit External
dynamic brake
Molded-case circuit breaker Fuse (Class T) Fuse (Class K5)
Frame, rated current Voltage
AC [V]
Current
[A]
Voltage
AC [V]
Current
[A]
Voltage
AC [V]
MR-CR55K MR-J4-DU30KB-RJ020
DBU-37K-R1 30 A frame 5 A 240 1 300 1 250 MR-J4-DU37KB-RJ020
MR-CR55K4
MR-J4-DU30KB4-RJ020
DBU-55K-4-R5 30 A frame 5 A 480 1 600 1 600 MR-J4-DU37KB4-RJ020
MR-J4-DU45KB4-RJ020
MR-J4-DU55KB4-RJ020
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(2) Connection example
Use the following wires to connect the dynamic brake.
Dynamic brake Wire [mm2] (Note)
Except U/V/W U/V/W
DBU-37K-R1 2 14
DBU-55K-4-R5
Note. Selection conditions of wire size are as follows. Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction condition: Single wire set in midair
RA3
(Note 4) Power supply
Drive unitConverter unit
L1
L2
L3
L11
L21
U
V
W
U
V
W
M
Servo motor
L+
L-
L+
L-
(Note 1)
1MC1
2MC2
CNP1
L11
L21
EM1
3
20
SDPlate
DICOM10
DB
DOCOM
5 DICOM
CN3
CN1
1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
RA2
External dynamic brake
13 W14 V U
a
bRA3
Dynamic brake interlock
MCMCCB
24 V DC
24 V DC
(Note 5)
(Note 6) Main circuit power supply
Operation ready
RA2 OFF/ON
Converter unit malfunction
Emergency stop switch
MC
SK
(Note 2)
(Note 7)
(Note 7)
15(Note 3)
RA1
(Note 8) Alarm
Note 1. Terminals 13 and 14 are normally open contact outputs. If the dynamic brake is seized, terminals 13 and 14 will open. Therefore, configure an external sequence to prevent servo-on.
2. Step-down transformer is required when coil voltage of the magnetic contactor is 200 V class, and the converter unit and the drive unit are 400 V class.
3. To enable DB (Dynamic brake interlock), set [Pr. 2] to "_ 1 _ _". 4. For power supply specifications, refer to section 14.1.3. 5. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
6. Turn off EM1 when the main circuit power supply is off. 7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 14.9.5 and (1) in this section.) 8. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(3) Timing chart
Servo motor speed
Coasting
Alarm
ON
OFF
Emergency stop switch
Absent
Disabled
Enabled
Short
Open
a. Timing chart at alarm occurrence b. Timing chart at emergency stop switch enabled
Dynamic brake
Base circuit
ON
OFF
Coasting
Dynamic brakeDynamic brake
Present
DB (Dynamic brake interlock)
OFF (Enabled)
(Note 1) 7 ms
Dynamic brake Coasting
Electromagnetic brake interlock
Electromagnetic brake operation delay time
MBR (Electromagnetic brake interlock)
Base circuit
Servo motor speed
Main circuit Control circuit
Power supply
Dynamic brake Disabled
Enabled
DB (Dynamic brake interlock)
10 ms
ON
ON
OFF
ON
OFF
ON
OFF
Note. When powering off, DB (Dynamic brake interlock) will be turned off, and the base
circuit is turned off earlier than usual before an output shortage occurs.
c. Timing chart when both of the main and control circuit power supply
are off
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(4) Dimensions
TE2
U V W
Screw size: M5 Tightening torque: 2.0 [Nm]
a b
Screw size: M3.5 Tightening torque: 0.8 [Nm]
13 14
TE
[Unit: mm]
Mass [kg]
11
8
External dynamic brake
DBU-37K-R1
DBU-55K-4-R5
39 0
37 0
10 10
260
230 1515
10
1515 230
30 33
0 30
220 15
235
2-10 mounting hole
2.3
TE2 TE1
Terminal block
Mounting screw Screw size: M8 Tightening torque: 13.2 [Nm]
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.9.4 Selection example of wires
POINT
To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 7 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 following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
Regenerative option
Converter unit Drive unit Servo motor
C
P1
P2
L1
L2
L3
L11
L21
V
U
W
V
U
W Motor
Encoder
L11
L21
2) Control circuit power supply lead
1) Main circuit power supply lead
4) Motor power supply lead
Encoder cable
3) Regenerative option lead
4)
Power factor improving DC reactor
Power supply
1)
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 94
(1) Example of selecting the wire sizes
Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following shows the wire size selection example.
Table 14.3 Wire size selection example (HIV wire)
Converter unit (Note 2)
Drive unit (Note 2)
Wire [mm2] (Note 1, 3)
1) L1/L2/L3/ 2) L11/L21 3) P2/C 4) U/V/W P1/P2/
MR-CR55K
MR-J4-DU30KB- RJ020
38 (AWG 2): c
1.25 to 2 (AWG 16 to 14): g (Note 4)
5.5 (AWG 10): a
60 (AWG 2/0): d
MR-J4-DU37KB- RJ020
60 (AWG 2/0): d 60 (AWG 2/0): d
MR-CR55K4
MR-J4-DU30KB4- RJ020
22 (AWG 4): e 22 (AWG 4): e
MR-J4-DU37KB4- RJ020
22 (AWG 4): e 38 (AWG 2): f
MR-J4-DU45KB4- RJ020
38 (AWG 2): c 38 (AWG 2): c
MR-J4-DU55KB4- RJ020
38 (AWG 2): c 38 (AWG 2): c
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2) in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.
3. Wires are selected based on the highest rated current among combining servo motors.
4. Be sure to use the size of 2 mm2 when corresponding to the IEC/EN/UL/CSA standard.
(2) Selection example of crimp terminals
The following shows the selection example of crimp terminals for terminal blocks of the drive unit and converter unit when you use wires mentioned in (1) in this section.
Symbol
Drive unit/converter unit-side crimp terminal
(Note 2) Crimp terminal
Applicable tool
Body Head Dice Manufacturer
a FVD5.5-10 YNT-1210S
JST
b FVD22-10 YF-1 E-4
YNE-38 DH-123 DH-113
(Note 1) c
R38-10
YPT-60-21 TD-124 TD-112
YF-1 E-4
YET-60-1
(Note 1) d
R60-10
YPT-60-21 TD-125 TD-113
YF-1 E-4
YET-60-1
e FVD22-8 YF-1 E-4
YNE-38 DH-123 DH-113
(Note 1) f
R38-8
YPT-60-21 TD-124 TD-112
YF-1 E-4
YET-60-1
g FVD2-4 YNT-1614
Note 1. Coat the crimping part with an insulation tube.
2. Some crimp terminals may not be mounted depending on their sizes. Make sure to use the
recommended ones or equivalent ones.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.9.5 Molded-case circuit breakers, fuses, magnetic contactors
CAUTION
To prevent the converter unit and the drive unit 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 converter unit.
(1) For main circuit power supply
When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.
Converter unit
Drive unit
Molded-case circuit breaker (Note 1, 3) Fuse
Magnetic contactor (Note 2)
Frame, rated current Voltage AC [V]
Class Current [A] Voltage AC [V]
Power factor improving DC
reactor is not used
Power factor improving DC reactor is used
MR-CR55K
MR-J4- DU30B- RJ020
225 A frame 175 A 225 A frame 150 A
240 T
300
300
S-N150
MR-J4- DU37B- RJ020
225 A frame 225 A 225 A frame 175 A 400 S-N180
MR-CR55K4
MR-J4- DU30KB4- RJ020
100 A frame 100 A 100 A frame 80 A
480 T
175
600
S-N65 S-T65
MR-J4- DU37KB4- RJ020
125 A frame 125 A 100 A frame 100 A 200 S-N80 S-T80
MR-J4- DU45KB4- RJ020
225 A frame 150 A 125 A frame 125 A 300 S-N95 S-T100
MR-J4- DU55KB4- RJ020
225 A frame 175 A 225 A frame 150 A 300 S-N150
Note 1. For compliance with the IEC/EN/UL/CSA standard, refer to app. 7.
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. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric
generalpurpose products.
(2) For control circuit power supply
Install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.
(a) Converter unit
Converter unit
Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-CR55K 30 A frame 5 A 240 1 300 1 250
MR-CR55K4 30 A frame 5 A 480 1 600 1 600 Note. When having the converter unit comply with the IEC/EN/UL/CSA standard, refer to app. 7.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(b) Drive unit
Drive unit
Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-DU30KB- RJ020
30 A frame 5 A 240 1 300 1 250 MR-J4-DU37KB- RJ020
MR-J4-DU30KB4- RJ020
MR-J4-DU37KB4- RJ020
30 A frame 5 A 480 1 600 1 600 MR-J4-DU45KB4- RJ020
MR-J4-DU55KB4- RJ020
Note. When having the drive unit comply with the IEC/EN/UL/CSA standard, refer to app. 7.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.9.6 Power factor improving DC reactor
The following shows the advantages of using power factor improving DC reactor.
It improves the power factor by increasing the form factor of the converter unit's input current.
It decreases the power supply capacity.
The input power factor is improved to about 95%. When connecting the power factor improving DC reactor to the converter unit, be sure to remove the short bar across P1 and P2. If it remains connected, the effect of the power factor improving DC reactor is not produced. When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10 cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.
Converter unit Drive unit Power factor
improving DC reactor Variable dimensions [mm] Terminal
screw Mass [kg] W D H W1 X
MR-CR55K
MR-J4-DU30KB- RJ020
MR-DCL30K
135
255 215 80 232 M12 9.5 MR-J4-DU37KB- RJ020
MR-DCL37K
MR-CR55K4
MR-J4-DU30KB4- RJ020
MR-DCL30K-4 205
200
75 175
M8
6.5
MR-J4-DU37KB4- RJ020
MR-DCL37K-4 225
80
197 7
MR-J4-DU45KB4- RJ020
MR-DCL45K-4 240 212 7.5
MR-J4-DU55KB4- RJ020
MR-DCL55K-4 260 215 232 9.5
[Unit: mm]
H o
r le
ss
X
D or less
Terminal cover Terminal screw
Terminal block (M3.5 screw) For thermal protector
P1 P2
Approx. W1
W or less Mounting hole for M8
+1.5 -1.5
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.9.7 Noise reduction techniques
Noises are classified into external noises which enter the converter unit and drive unit to cause them to malfunction and those radiated by the converter unit and drive unit to cause peripheral equipment to malfunction. Since the converter unit and drive unit are electronic devices which handle small signals, the following general noise reduction techniques are required. Also, the drive unit can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral equipment malfunctions due to noise generation, take noise suppression measures. The measures will vary slightly with the routes of noise transmission. (1) Noise reduction techniques
(a) General reduction techniques
Avoid bundling power lines (input/output) and signal cables of the converter unit/drive unit together or running them in parallel to each other. Separate the power lines from the signal cables.
Use a shielded twisted pair cable for connection with the encoder and for control signal transmission, and connect the external conductor of the cable to the SD terminal.
Ground the converter unit, drive unit and the servo motor, etc. together at one point. (Refer to section 3.7.)
(b) Reduction techniques for external noises that cause the converter unit/drive unit 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 converter unit and drive unit and the converter unit/drive unit may malfunction, the following countermeasures are required.
Provide surge killers 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 converter unit, to protect the converter unit, drive unit and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(c) Techniques for noises radiated by the converter unit/drive unit that cause peripheral equipment to
malfunction Noises produced by the converter unit and drive unit are classified into those radiated from the cables connected to the converter unit, drive unit and their main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral equipment located near the main circuit cables, and those transmitted through the power supply cables.
Noises produced by converter unit and drive unit
Noises transmitted in the air
Noise radiated directly from converter unit and drive unit
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)
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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7)
ReceiverInstrument
Sensor power supply
Converter unit +
Drive unit
1)
3)
2)
4)
7)
6)
2)
3)
8)
5)
Servo motor M
7)
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 converter unit and drive unit or run near the converter unit and drive unit, 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 converter unit/drive unit. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the
converter unit/drive unit. 3. Avoid wiring the power lines (input/output lines of the converter unit/drive unit) 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 converter unit/drive unit. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the
converter unit/drive unit. 3. Avoid wiring the power lines (input/output lines of the converter unit/drive unit) 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 equipment is connected to the power supply of the converter unit/drive unit systems, noises produced by the converter unit and drive unit may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required. 1. Install the radio noise filter (FR-BIF(-H)) on the power lines (Input lines) of the converter unit/drive
unit. 2. Install the line noise filter (FR-BSF01/FR-BLF) on the power lines of the converter unit/drive unit.
8) When the grounding wires of peripheral equipment are connected to the converter unit/drive unit to make a closed loop circuit, leakage current may flow to malfunction the peripheral equipment. If so, malfunction may be prevented by disconnecting the grounding cable of the peripheral device.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(2) Noise reduction techniques
The following explains how to use the line noise filter unique to the converter unit and drive unit. Other noise reduction techniques are the same as those of MR-J4-_B_-RJ020. Refer to section 11.14 (2).
(a) Line noise filter (FR-BLF)
This filter is effective in suppressing noises radiated from the power supply side and output side of the converter unit, drive unit and also in suppressing high-frequency leakage current (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band. The filters are used with the main circuit power supply of the converter unit (L1/L2/L3) and the power output of the drive unit (U/V/W).
1) Usage
Pass the 3-phase wires through four line noise filters. When you use the line noise filters with the power wires, passing the power wires together with the ground wire will reduce the filter effect. Run the ground wire separately from the power wires.
Use four FR-BLFs.
2) Dimensions
[Unit: mm]
160 180
130 85
80 2.
3 35
31 .5
7
7
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.9.8 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 drive unit, 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 {Igl + Ign + Iga + K (Ig2 + Igm)} [mA] (14.3)
Ign
Noise filter Wire
Ig1
NV
Converter unit
Drive unit
Wire
Iga 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
Igl: Leakage current on the electric channel from the earth-leakage current breaker to the input terminals
of the drive unit (found from Fig. 14.5.) Ig2: Leakage current on the electric channel from the output terminals of the drive unit to the servo motor
(found from Fig. 14.5.) Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF(-H)) Iga: Leakage current of the converter unit/drive unit (found from table 14.5.) Igm: Leakage current of the servo motor (found from table 14.4.)
Table 14.4 Servo motor leakage
current example (lgm)
Table 14.5 Converter unit/drive unit's leakage current example (Iga)
Servo motor output [kW]
Leakage current [mA] Converter unit
Drive unit Leakage current [mA]
30 to 55 2.5 All series 5
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
120
100
80
60
40
20
0 2
3.5 5.5
8 14
22 38
80 150
30 60
100
Le ak
ag e
cu rr
en t [
m A
]
Cable size [mm ]2
200 V class 400 V class
Fig. 14.5 Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 103
(2) Selection example
Indicated below is an example of selecting an earth-leakage current breaker under the following conditions.
22 mm2 5 m
M
NV
Ig1 Ig2 Igm
Converter unit
Drive unit Servo motor
30 mm2 5 m
Iga
Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find the terms of equation (14.3) from the diagram.
Igl = 95 5
1000 = 0.475 [mA]
Ig2 = 105 5
1000 = 0.525 [mA]
Ign = 0 (not used)
Iga = 5 [mA]
Igm = 2.5 [mA]
Insert these values in equation (14.3).
Ig 10 {0.475 + 0 + 5 + 1 (0.525 + 2.5)} 85 [mA]
According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity current (Ig) of 85 mA or more. Use an earth-leakage current breaker having Ig of 200 mA with the NV- SP/SW/CP/CW/HW series.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.9.9 EMC filter (recommended)
It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current. (1) Combinations of converter unit/drive unit
Converter unit Drive unit Recommended filter (Soshin Electric)
Mass [kg] Model
Rated current [A]
Rated voltage [VAC]
Leakage current [mA]
MR-CR55K MR-J4-DU30KB-RJ020 MR-J4-DU37KB-RJ020
(Note) HF3200A-UN
200 250 9 18
MR-CR55K4
MR-J4-DU30KB4-RJ020 MR-J4-DU37KB4-RJ020 MR-J4-DU45KB4-RJ020 MR-J4-DU55KB4-RJ020
TF3150C-TX 150 500 5.5 31
Note. A surge protector is separately required to use any of these EMC filters.
(2) Connection example
EMC filter
1
2
3
4
5
6
E
(Note 1) Power supply
L1
L2
L3
L11
L21
Converter unit
Drive unit
L11
L21
MCMCCB
(Note 2) Surge protector (RSPD-250-U4) (OKAYA Electric Industries Co., Ltd.)
1 2 3
Note 1. For the power supply specifications, refer to section 14.1.2.
2. The example is when a surge protector is connected.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 105
(3) Dimensions
(a) HF3200A-UN
[Unit: mm]
500 5
480 1
18 0
5
16 0
1
20 0
5
3-6.5 3-M10
M8
3-6.5 Length: 8
(b) TF3150C-TX
[Unit: mm]
150 1 150 1 150 1
27
1 27
1 23
1
452 5
500 3
20 0
2
22 5
1
24 5
2
25 8
3
3-M8 3-M8
M4
M8
M4
M4
8-R 4.25 Length: 12 (for M8)
110 2
210 2
Approx. 227
260 3
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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14.9.10 FR-BU2-(H) Brake Unit
POINT
Use a 200 V class brake unit and a resistor unit with a 200 V class converter unit, and a 400 V class brake unit and a resistor unit with a 400 V class converter unit. Combination of different voltage class units cannot be used.
When a brake unit and a resistor unit are installed horizontally or diagonally, the heat dissipation effect diminishes. Install them on a flat surface vertically.
The temperature of the resistor unit case will be higher than the ambient temperature by 100 C or over. Keep cables and flammable materials away from the case.
Ambient temperature condition of the brake unit is between -10 C and 50 C. Note that the condition is different from the ambient temperature condition of the converter unit (between 0 C and 55 C).
Configure the circuit to shut down the power-supply with the alarm output of the brake unit and the resistor unit under abnormal condition.
Use the brake unit with a combination indicated in section 14.9.10 (1).
Brake unit and regenerative options (Regenerative resistor) cannot be used simultaneously.
When using the brake unit, set the parameters as follows. Parameter Setting value
[Pr. PA01 Regenerative option] of the converter unit
_ _ 0 0 (initial value)
[Pr. 2 Regenerative resistor] of the drive unit _ _ 0 1
Connect the brake unit to the bus of the converter unit (L+ and L- of TE2-1) for use. As compared to the MR- RB regenerative option, the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient regenerative capability. When using the brake unit, always refer to "FR-BU2 Brake Unit Instruction Manual". (1) Selection
Use a combination of converter unit, brake unit and resistor unit listed below.
Brake unit Resistor unit Number of connected
units
Permissible continuous
power [kW]
Resultant resistance
[] Converter unit
200 V class
FR-BU2-55K FR-BR-55K 2 (parallel) 7.82 1
MR-CR55K MT-BR5-55K 2 (parallel) 11.0 1
400 V class
FR-BU2-H55K FR-BR-H55K 2 (parallel) 7.82 4 MR-CR55K4
FR-BU2-H75K MT-BR5-H75K 2 (parallel) 15.0 3.25
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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(2) Brake unit parameter setting
Normally, changing the FR-BU2-(H) parameter is not required. Whether a parameter can be changed or not is listed below.
Parameter Change
possible/ impossible
Remark No. Name
0 Brake mode switchover Impossible Do not change the parameter.
1 Monitor display data selection Possible Refer to "FR-BU2 Brake Unit Instruction Manual".
2 Input terminal function selection 1 Impossible Do not change the parameter.
3 Input terminal function selection 2
77 Parameter write selection
78 Cumulative energization time carrying-over times
CLr Parameter clear
ECL Alarm history clear
C1 For manufacturer setting
(3) Connection example
POINT
Connecting PR terminal of the brake unit to L+ terminal of the converter unit results in a brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit.
(a) Combination with FR-BR-(H) resistor unit
POINT
To use brake units with a parallel connection, use two sets of FR-BU2-(H) brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
Always connect the terminals for master/slave (MSG to MSG, SD to SD) between the two brake units.
Do not connect as follows.
N/-
P/+
Brake unit
Brake unitConverter unit
L+
L- N/-
P/+
Connecting two cables to L+ and L- terminals
N/- P/+
Brake unit
Brake unitConverter unit
L+
L- N/-
P/+
Passing wiring
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
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1) When magnetic contactor drive output is enabled
OFF/ON
Drive unitConverter unit
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L-
3
20
Plate
DOCOM
5 DICOM
CN3
CN1
1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1 EM1
SD9 DOCOM
L11
L21
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
B
B
C
(Note 2) MC
N/-
P/+
BUE
SD
PR
A SD
MSG
(Note 4)
(Note 7)
FR-BU2-(H)
FR-BR-(H)
P
PR TH2
TH1(Note 6)
Terminal block
(Note 12) (Note 11)
(Note 10)
N/-
P/+
BUE
SD
PR
C
A SD
MSG
(Note 4)
(Note 7)
FR-BU2-(H)
TH2
TH1(Note 6) FR-BR-(H)
P
PR
(Note 11)
(Note 10)
(Note 8)
MCCB
(Note 13) Main circuit power supply
Emergency stop switch
RA1 RA2
Converter unit malfunction
(Note 14) Alarm Operation ready
TE2-2
TE2-1
1MC1
2MC2
CNP1 (Note 5)
(Note 8) RA2
MC
SK
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 109
Note 1. For the power supply specifications, refer to section 14.1.3.
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. 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.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to section 14.9.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse or others) to protect the branch circuit. (Refer to
section 14.9.5.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
12. For connecting L+ and L- terminals of TE2-1 of the converter unit to the terminal block, use the cable indicated in (d) of this
section.
13. Configure a circuit to turn off EM1 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
14. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 110
2) When magnetic contactor drive output is disabled
Drive unitConverter unit
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L-
3
20
Plate
DOCOM
5 DICOM
CN3
CN1
1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1 EM1
SD9 DOCOM
L11
L21
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
B
B
C
(Note 2) MC
N/-
P/+
BUE
SD
PR
A SD
MSG
(Note 4)
(Note 7)
FR-BU2-(H)
FR-BR-(H)
P
PR TH2
TH1(Note 6)
Terminal block
(Note 12) (Note 11)
(Note 10)
N/-
P/+
BUE
SD
PR
C
A SD
MSG
(Note 4)
(Note 7)
FR-BU2-(H)
TH2
TH1(Note 6) FR-BR-(H)
P
PR
(Note 11)
(Note 10)
(Note 8)
MCCB
(Note 13) Main circuit power supply
Emergency stop switch
RA1 RA2
Converter unit malfunction
(Note 14) Alarm
Operation ready
TE2-2
TE2-1
(Note 5)
(Note 8)
RA21MC1
2MC2
CNP1
OFF ON MC
SKMC
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 111
Note 1. For the power supply specifications, refer to section 14.1.3.
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. 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.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to section 14.9.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse or others) to protect the branch circuit. (Refer to
section 14.9.5.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
12. For connecting L+ and L- terminals of TE2-1 of the converter unit to the terminal block, use the cable indicated in (d) of this
section.
13. Configure a circuit to turn off EM1 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
14. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 112
(b) Combination with MT-BR5-(H) resistor unit
1) When connecting a brake unit to a converter unit a) When magnetic contactor drive output is enabled
RA3
Drive unitConverter unit
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L-
3
20
Plate
DOCOM
5 DICOM
CN1
1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1 EM1
SD9 DOCOM
L11
L21
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
B
C
(Note 2) MC
N/-
P/+
BUE
SD
PR
A SD
MSG
(Note 4)
(Note 7)
FR-BU2-(H)
MT-BR5-(H)
P
PR TH2
TH1(Note 6)
(Note 10)
(Note 8)
MCCB
(Note 11) Main circuit power supply
Emergency stop switch
RA1 RA2
Converter unit malfunction
(Note 12) Alarm
TE2-1
1MC1
2MC2
CNP1 (Note 5)
(Note 8) RA2
MC
SK
RA3
SK
TE2-2
CN3
OFF/ON Operation ready
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 113
Note 1. For the power supply specifications, refer to section 14.1.3.
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. 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.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to section 14.9.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse or others) to protect the branch circuit. (Refer to
section 14.9.5.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Configure a circuit to turn off EM1 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
12. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 114
b) When magnetic contactor drive output is disabled
Operation ready
OFF ON
MC
Drive unitConverter unit
L1
L2
L3
(Note 1) Power supply
L+
L-
3
20
Plate
DOCOM
5 DICOM
DICOM
DOCOM
DICOM
ALM
EM1 EM1
SDDOCOM
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
(Note 2) MC
(Note 4)
(Note 7)
(Note 6)
(Note 10)
(Note 8)
MCCB
(Note 11) Main circuit power supply
Emergency stop switch
RA1 RA2
Converter unit malfunction
(Note 12) Alarm
TE2-1
(Note 5)
(Note 8)
TE2-2
CN3
L11
L21
L+
L-
1MC1
2MC2
CNP1
CN1
1
5
6
2
7
9
L11
L21
N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
FR-BU2-(H)
MT-BR5-(H)
P
PR
RA3
TH2
TH1
SK
RA2
SK
RA3 MC
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 115
Note 1. For the power supply specifications, refer to section 14.1.3.
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. 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.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to section 14.9.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse or others) to protect the branch circuit. (Refer to
section 14.9.5.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Configure a circuit to turn off EM1 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
12. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
2) When connecting two brake units to a converter unit
POINT
To use brake units with a parallel connection, use two sets of FR-BU2-(H) brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
Always connect the terminals for master/slave (MSG to MSG, SD to SD) between the two brake units.
Do not connect as follows.
N/-
P/+
Brake unit
Brake unitConverter unit
L+
L- N/-
P/+
Connecting two cables to L+ and L- terminals
N/- P/+
Brake unit
Brake unitConverter unit
L+
L- N/-
P/+
Passing wiring
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 116
a) When magnetic contactor drive output is enabled
Drive unitConverter unit
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L-
3
20
Plate
DOCOM
5 DICOM
CN1
1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1 EM1
SD9 DOCOM
L11
L21
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
(Note 2) MC
(Note 8)
MCCB
(Note 13) Main circuit power supply
Emergency stop switch
RA1 RA2
Converter unit malfunction
(Note 14) Alarm
TE2-1
1MC1
2MC2
CNP1(Note 5)
(Note 8)
TE2-2
CN3
OFF/ON Operation ready
(Note 4)
(Note 7)
(Note 6)
(Note 11)
(Note 10)
(Note 4)
(Note 7)
(Note 6)
(Note 11)
(Note 10)
Terminal block
(Note 12)
N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
FR-BU2-(H)
MT-BR5-(H)
P
PR
RA3
TH2
TH1
N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
FR-BU2-(H)
TH2
TH1 MT-BR5-(H)
P
PR
RA4
SK
SK
RA2
RA3 RA4 MC
SK
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 117
Note 1. For the power supply specifications, refer to section 14.1.3.
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. 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.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to section 14.9.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse or others) to protect the branch circuit. (Refer to
section 14.9.5.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
12. For connecting L+ and L- terminals of the converter unit to the terminal block, use the cable indicated in (d) in this section.
13. Configure a circuit to turn off EM1 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
14. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 118
b) When magnetic contactor drive output is disabled
Drive unitConverter unit
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L-
3
20
Plate
DOCOM
5 DICOM
1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1 EM1
SD9 DOCOM
L11
L21
(Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
(Note 2) MC
(Note 4)
(Note 7)
(Note 6)
Terminal block
(Note 12) (Note 11)
(Note 10)
(Note 4)
(Note 7)
(Note 6)
(Note 11)
(Note 10)
(Note 8)
MCCB
(Note 13) Main circuit power supply
Emergency stop switch
RA1 RA2
Converter unit malfunction
(Note 14) Alarm
Operation ready
(Note 5)
(Note 8)
1MC1
2MC2
CNP1
OFF ON
N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
FR-BU2-(H)
MT-BR5-(H)
P
PR
RA3
TH2
TH1
N/-
P/+
BUE
SD
PR
B
C
A SD
MSG
FR-BU2-(H)
TH2
TH1 MT-BR5-(H)
P
PR
RA4
SK
SK
CN3
CN1
P1
P2
RA2
SKMC
MC
RA3 RA4
TE2-2
TE2-1
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 119
Note 1. For the power supply specifications, refer to section 14.1.3.
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. 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.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to section 14.9.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse or others) to protect the branch circuit. (Refer to
section 14.9.5.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
12. For connecting L+ and L- terminals of the converter unit to the terminal block, use the cable indicated in (d) in this section.
13. Configure a circuit to turn off EM1 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
14. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 120
(c) Connection instructions
Keep the wires between the converter unit and the brake unit, and between the resistor unit and the brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter. The wires should not exceed 10 m even when the wires are twisted. If wires exceeding 5 m without twisted or exceeding 10 m with or without twisted are used, the brake unit may malfunction.
Converter unit
Brake unit
5 m or less 5 m or less
Converter unit
Brake unit
10 m or less 10 m or less
L+ L-
P/+ N/-
P PR
P PR
P/+ N/-
P PR
P PR
Twist Twist
Resistor unit Resistor unit
L+ L-
(d) Wires 1) Wires for the brake unit
For the brake unit, HIV wire (600 V Grade heat-resistant polyvinyl chloride insulated wire) is recommended.
a) Main circuit terminal
N/- P/+ PR
Terminal block
Brake unit
Main circuit
terminal screw size
Crimp terminal Tightening
torque [Nm]
Wire size
N/-, P/+, PR,
N/-, P/+, PR,
HIV wire [mm2]
AWG
200 V class
FR-BU2-55K M6 14-6 4.4 14 6
400 V class
FR-BU2-H55K M5 5.5-5 2.5 5.5 10
FR-BU2-H75K M6 14-6 4.4 14 6
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 121
b) Control circuit terminal
POINT
Under tightening can cause a cable disconnection or malfunction. Over tightening can cause a short circuit or malfunction due to damage to the screw or the brake unit.
A RESPC
B SDBUE
C MSGSD MSG SD SD
Jumper
Terminal block
Insulator Core
6 mm
Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it. Screw size: M3 Tightening torque: 0.5 Nm to 0.6 Nm Wire size: 0.3 mm2 to 0.75 mm2 Screw driver: Small flat-blade screwdriver
(Tip thickness: 0.4 mm/Tip width 2.5 mm)
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 122
2) Cables for connecting the converter unit and a distribution terminal block when connecting two
sets of the brake unit
Brake unit Wire size
HIV wire [mm2] AWG
200 V class
FR-BU2-55K 38 2
400 V class
FR-BU2-H55K 14 6
FR-BU2-H75K 38 2
(e) Crimp terminals for L+ and L- terminals of TE2-1 of converter unit
1) Recommended crimp terminals
POINT
Some crimp terminals may not be mounted depending on their sizes. Make sure to use the recommended ones or equivalent ones.
Converter unit Brake unit Number of connected
units Crimp terminal (Manufacturer)
(Note 1) Applicable
tool
200 V class
MR-CR55K FR-BU2-55K 2 38-S6 (JST) (Note 2) R38-6S (NICHIFU) (Note 2)
a
400 V class
MR-CR55K4 FR-BU2-H55K
2 FVD14-6 (JST)
b
FR-BU2-H75K
2 38-S6 (JST) (Note 2) R38-6S (NICHIFU) (Note 2)
a
Note 1. Symbols in the applicable tool field indicate applicable tools in (5) (b) in this section.
2. Coat the crimping part with an insulation tube.
2) Applicable tool
Symbol
Converter unit-side crimp terminal
Crimp terminal Applicable tool
Manufacturer Body Head Dice
a
38-S6
YPT-60-21 TD-124 TD-112
JST YF-1 E-4
YET-60-1
R38-6S NOP60 NOM60
NICHIFU
b FDV14-6 YF-1 E-4
YNE-38 DH-112 DH-122
JST
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 123
(4) Dimensions
(a) FR-BU2-(H) brake unit FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K
[Unit: mm]
18.5
Rating plate
52 72
5
142.5
12 8
11 8
5 5
5
61586 170
2-5 hole (Screw size: M4)
(b) FR-BR-(H) resistor unit
[Unit: mm]
H 3
1
H 1
3
A pp
ro x.
H 2
A pp
ro x.
40
33 A
pp ro
x. H
2
D 1
H
5
2-C
Control circuit terminal
Main circuit terminal
W1 1Approx. 35 Approx. 35
204 Eyebolt
C C
W 5
D
5 (Note)
(Note)
Two eyebolts are attached. (Refer to the following diagram.)
Note. Ventilation ports are provided on both sides and the top. The bottom is open.
Resistor unit W W1 H H1 H2 H3 D D1 C Approximate
mass [kg]
200 V class
FR-BR-55K 480 410 700 620 40 670 450 3.2 12 70
400 V class
FR-BR-H55K 480 410 700 620 20 670 450 3.2 12 70
14. MR-J4-DU_B_-RJ020 DRIVE UNIT/MR-CR55K_ CONVERTER UNIT
14 - 124
(c) MT-BR5-(H) resistor unit
[Unit: mm]
415 mounting hole
30075 75
4507.5 7.5
M6 M4
193 189
480 510
85
85 80
0
37 60 2110
40 30
NP
Resistor unit Resistance Approximate
mass [kg]
200 V class
MT-BR5-55K 2.0 50
400 V class
MT-BR5-H75K 6.5 70
15. FULLY CLOSED LOOP SYSTEM
15 - 1
15. FULLY CLOSED LOOP SYSTEM
POINT
The fully closed loop system is enabled only in J2S compatibility mode.
For the fully closed loop system, use the servo amplifier or the drive unit with following software version:
A4 or later for 7 kW or less
A6 or later for 11 kW or more
In the fully closed loop system, the following cable can be used for the servo motor encoder:
Two-wire type for software version A4 or later
Two-wire and four-wire types for software version A6 or later
When the fully closed loop system is used with this servo amplifier, "Linear Encoder Instruction Manual" is needed.
The fully closed loop system is available only in the position control mode.
When using the fully closed loop system, change the mode to "fully closed loop control mode" by using the application "MR-J4(W)-B mode selection" came with MR Configurator2.
15.1 Functions and configuration
15.1.1 Function block diagram
A fully closed loop control block diagram is shown below.
Control
Monitor
Servo motor
CMX 1
FCD FCM
FCM FCD
S Command pulse train electronic gear [Pr. 6]
Fully closed loop selection [Pr. 62] (Note 1, 2)
INP
OP9
FCT
Command pulse unit Servo motor-side pulse unit Load-side pulse unit
Fully closed loop dual feedback filter [Pr. 67] (Note 2)
Position deviation
Dual feedback position signal
Linear encoder
A/B/Z-phase pulse output selection [Pr. 68]
Fully closed loop control error detection function selection [Pr. 62], [Pr. 63], [Pr. 64]
Fully closed loop electronic gear [Pr. 65], [Pr. 66]
Droop pulses (MR Configurator (MRZJW3-SETUP161E) display, analog monitor)
Droop pulse unit selection [Pr. 68]
In-position judgment
+ -
+
+ +
+ -
+
-
1 CMX
Controller
Note 1. Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of [Pr. 62].
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. 62], dual feedback control in which the servo motor feedback signal and
load-side encoder feedback signal are combined by the fully closed loop dual feedback filter in ([Pr. 67]) 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 "1000" is set as the filter value of [Pr. 67 Fully closed
loop dual feedback filter], fully closed loop control is always performed.
15. FULLY CLOSED LOOP SYSTEM
15 - 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.
15. FULLY CLOSED LOOP SYSTEM
15 - 3
15.1.2 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. 62] settings.
Semi closed/fully closed switching command
(Refer to the controller user's manual.)
"1000"
"0"
Fully closed loop function selection
([Pr. 62])
Operation mode selection
"_ _ _ 0"
"_ _ _ 1"
Fully closed loop control
Semi closed loop control
Standard control mode
Servo amplifier Fully closed loop control mode
(Refer to section 15.3.1 (2) (a).)
Off
On
(Refer to section 15.3.1 (2) (b).) Dual feedback
control
Semi closed loop control
"1 to 999"
Fully closed loop system
Fully closed loop dual feedback filter
([Pr. 67])
Semi closed loop system
"_ _ _ 2"
(2) Dual feedback filter equivalent block diagram A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
Servo motor during a stop (0 to )
Fully closed loop control
In operation ( or more) Semi closed loop control
Semi closed loop control
Fully closed loop control
+
+
+
-
Dual feedback filter
Servo motor
Linear encoder
Position control unit
High-pass filter
Low-pass filter
(Note)
Frequency [rad/s]
Operation status Control status
Note. "" (a dual feedback filter band) is set by [Pr. 67].
15. FULLY CLOSED LOOP SYSTEM
15 - 4
15.1.3 System configuration
POINT
In the fully closed loop control mode, when an HG series servo motor is used for the load-side encoder, the resolution of the load-side encoder will be 131072 pulses/rev (17 bits), which is the same as that of the servo motor side.
(1) For a linear encoder
MR-J4-_B_-RJ020
CN2
SSCNET controller
SSCNET
Position command control signal
Table
(Note 1) Serial interface compatible linear encoder or A/B/Z-phase differential output type linear encoder
Servo motor encoder signal (Note 2)
Linear encoder head
Servo motor
CN2L Load-side encoder signal (Serial interface or A/B/Z-phase output)
To other axis
Note 1. Applicable for the absolute position detection system when an absolute position linear encoder is used. In that case, a battery is not required. When an A/B/Z-phase differential output type linear encoder is used, the linear encoder without Z-phase cannot be connected. Not applicable for the absolute position detection system.
2. In the fully closed loop system, the following cable can be used for the servo motor encoder: Two-wire type for software version A4 or later Two-wire and four-wire types for software version A6 or later
(2) For a rotary encoder
Servo motor
HG-KR, HG-MR servo motor (131072 pulses/rev) or A/B/Z-phase differential output type rotary encoder (Note 1)
Drive part
MR-J4-_B_-RJ020
CN2
SSCNET controller
SSCNET
Position command control signal
CN2L
Servo motor encoder signal (Note 2)
Load-side encoder signal (Serial interface or A/B/Z-phase output)
To other axis
Note 1. Not applicable for the absolute position detection system when an A/B/Z-phase differential output type rotary encoder is used. 2. In the fully closed loop system, the following cable can be used for the servo motor encoder:
Two-wire type for software version A4 or later Two-wire and four-wire types for software version A6 or later
15. FULLY CLOSED LOOP SYSTEM
15 - 5
15.2 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.
15. FULLY CLOSED LOOP SYSTEM
15 - 6
15.2.1 Linear encoder
The following table shows compatible linear encoders. Refer to "Linear Encoder Instruction Manual" for details of each linear encoder.
Linear encoder type Manufacturer Model Resolution Rated speed
(Note 1)
Effective measurement
length (maximum)
(Note 2)
Commu- nication method
Absolute position
detection system
Mitsubishi Electric
serial interface compatibility
Absolute position type
Magnescale SR77
0.05 m/ 0.01 m
3.3 m/s 2040 mm Two-
wire type
SR87 3040 mm
AT343A 0.05 m
2.0 m/s 3000 mm AT543A-SC 2.5 m/s 2200 mm
AT545A-SC 20 m/4096
(approx. 0.005 m)
2.5 m/s 2200 mm Two- wire type
Mitutoyo ST741A 0.5 m
ST742A ST743A 4.0 m/s 6000 mm ST744A 0.1 m ST748A
Renishaw RESOLUTE RL40M 1 nm/50 nm 4.0 m/s 10000 mm Two- wire type
Heidenhain
LC 493M 0.05 m/ 0.01 m
3.0 m/s 2040 mm Four-
wire type LC 193M 4240 mm
LIC 4193M
0.005 m/ 0.01 m
4.0 m/s
3040 mm Two- wire type/ Four- wire type
LIC 4195M 28440 mm LIC 4197M 6040 mm
LIC 4199M 1020 mm
Incremental type
Magnescale
SR75 0.05 m/ 0.01 m
3.3 m/s 2040 mm
Two- wire type
SR85 3040 mm
SL710 + PL101-RM/RHM
0.1 m 4.0 m/s 100000 mm
Heidenhain
LIDA 483 + EIB 392M (/16384)
20 m/16384 (approx. 1.22
nm) 4.0 m/s
3040 mm
Four- wire type
LIDA 485 + EIB 392M (/16384)
to 30040 mm
LIDA 487 + EIB 392M (/16384)
6040 mm
LIDA 489 + EIB 392M (/16384)
1020 mm
LIDA 287 + EIB 392M (/16384) 200 m/16384
(approx. 12.2 nm)
10000 mm LIDA 289 + EIB 392M
(/16384) LIF 481 + EIB 392M
(/4096) 4 m/4096 (approx. 0.977
nm) 1.2 m/s
1020 mm 1440 mm LIP 581 + EIB 392M
(/4096)
NIDEC SANKYO PSLH041 (Note 6) 0.1 m 5.0 m/s 2400 mm Two- wire type
A/B/Z-phase differential output type
Incremental type
Not specified 0.001 m to
5 m (Note 3)
Depends on the linear
encoder
Depends on the linear encoder
A/B/Z- phase differe-
ntial output method
Note 1. The indicated value is the rated speed of linear encoder when combined with MR-J4 servo amplifier. It may be different from
the specifications of each manufacturer.
2. The indicated value is the specification value of manufacturer. The encoder cable length between the linear encoder and the
servo amplifier is maximum 30 m.
3. Please select a linear encoder within the range.
15. FULLY CLOSED LOOP SYSTEM
15 - 7
15.2.2 Rotary encoder
When a rotary encoder is used for the load-side encoder, use HG-KR or HG-MR servo motor as an encoder. Two-wire type and four-wire type encoder cables can be used. 15.2.3 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
Servo amplifier
Linear encoder
CN2 Encoder of rotary servo motor
Encoder cable (Refer to "Linear Encoder Instruction Manual".)
Load-side encoder
CN2L
(2) Rotary encoder Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders.
Servo amplifier
Encoder of rotary servo motor
Encoder cable (Refer to "Servo Motor Instruction Manual (Vol. 3)".)
Load-side encoder
CN2
Servo motor HG-KR HG-MR
CN2L
15. FULLY CLOSED LOOP SYSTEM
15 - 8
15.3 Operation and functions
15.3.1 Startup
(1) Startup procedure Start up the fully closed loop system in the following procedure.
Positioning operation check using the controller (Refer to section 15.3.3.)
Positioning operation check using MR Configurator (MRZJW3-SETUP161E)
Gain adjustment
Completion of installation and wiring
Positioning operation check using MR Configurator (MRZJW3-SETUP161E)
Adjustment and operation check in semi closed loop system
Gain adjustment
Adjustment and operation check in fully closed loop system
Selection of fully closed loop system (Refer to (2) in this section.)
Selection of load-side encoder communication system (Refer to (3) in this section.)
Adjustment of dual feedback switching filter. (for dual feedback control) (Refer to (5) in this section.)
Setting of load-side encoder polarity (Refer to (4) in this section.)
Home position return operation (Refer to section 15.3.2.)
Positioning operation
Completion of fully closed loop system startup
Check that the servo equipment is normal. Do as necessary.
Setting of load-side encoder electronic gear (Refer to (5) in this section.)
Confirmation of load-side encoder position data (Refer to (6) in this section.)
15. FULLY CLOSED LOOP SYSTEM
15 - 9
(2) Selection of fully closed loop system
POINT
Changing operation mode initializes parameters. When operation mode is changed, make gain adjustment again.
To perform fully closed loop control, set [Pr. 62] besides operation mode selection.
When an incorrect value is set in "Encoder cable communication method selection" in [Pr. 23], [AL. 70] will occur at power on of the servo amplifier.
For models and specifications of the servo system controller capable of switching semi closed loop control/fully closed loop control, contact your local sales office.
(a) Operation mode switching
The following explains how to change the MR-J4-_B_-RJ020 mode to J2S compatibility and fully closed loop control mode. When you use an MR-J4-_B_-RJ020 servo amplifier in J2S compatibility and fully closed loop control mode, use the application software "MR-J4(W)-B mode selection" came with MR Configurator2 whose software version is A3 or later. The application software "MR-J4(W)-B mode selection" is designed for USB connection only.
1) Turn on the servo amplifier with MR-J4-T20 connected.
2) Start the application software "MR-J4(W)-B mode selection" and check that "J2S compatibility
mode" is displayed in the "Compatibility Mode". If not displayed, check (5) in this section to repeat the procedure.
3) After selecting "Change the mode", select "J2S compatibility mode".
Select "Fully closed loop control mode" for "Operation Mode".
15. FULLY CLOSED LOOP SYSTEM
15 - 10
4) Press "Write".
5) Cycling the power of the servo amplifier switches the mode to J2S compatibility and fully closed
loop control mode.
6) With the application "MR-J4(W)-B mode selection", check that "Compatibility Mode" and "Operation Mode" are displayed as follows. If not displayed, check (5) in this section to repeat the procedure.
Compatibility Mode "J2S compatibility mode"
Operation Mode "Fully closed loop control mode"
7) Differences in the initial value after the mode is changed to the fully closed loop control mode When the operation mode is changed to the fully closed loop control mode, the initial values of the following parameters will be changed.
No. Name Initial value
Standard control mode
Fully closed loop control mode
6 Feedback pulse number 0 7 kW or less: 0
11 kW or more: 255
62 Fully closed loop selection 0000 1300
64 Fully closed loop control error detection 2 100 10
67 Dual feedback filter 0 10
68 Fully closed loop selection 2 0 0000
(b) Parameter setting method
Semi closed loop control/fully closed loop control can be selected by the combination of [Pr. 62] and [Pr. 67] setting values. To change these setting values, set "000F" in [Pr. 40 Parameter writing inhibit]. [Pr. 62] setting will be enabled after the power is cycled.
[Pr. 62] setting value Fully closed loop function [Pr. 67] setting value Control mode
_ _ _ 0 Disabled Semi closed loop control
_ _ _ 1 Enabled 1 to 999
Dual feedback control (fully closed loop control)
1000 Fully closed loop control
The fully closed loop function can be switched (switching semi./full. using the servo system controller) by combining the settings as follows. At this time, the semi./full. switching signal is disabled and semi closed loop control is always performed in the test operation from MR Configurator (MRZJW3-SETUP161E).
[Pr. 62] setting value Semi closed loop
control/fully closed loop control switching signal
[Pr. 67] setting value Control method MR Configurator
(Test operation mode)
_ _ _ 2 Semi. selection Semi closed loop
control
Semi closed loop control
_ _ _ 2 Full. selection 1 to 999
Dual feedback control (fully closed loop
control)
1000 Fully closed loop
control
15. FULLY CLOSED LOOP SYSTEM
15 - 11
(c) Semi closed loop control/fully closed loop control selection
Select the semi closed loop control/fully closed loop control.
Fully closed loop function 0: Disabled (Semi closed loop control) 1: Always enabled 2: Switching using the control command of controller (switching semi./full.)
0 0
Selection using the control command of controller
Off
On
Semi closed loop control
Fully closed loop control
Control method
0 [Pr. 62]
(3) Selection of load-side encoder communication method
POINT
Incorrect setting will result in [AL. 16 Encoder error 1].
The communication method changes depending on the load-side encoder type. Refer to section 15.4.1 and "Linear Encoder Instruction Manual" for the communication method for each load-side encoder. Select the cable to be connected to CN2L connector in [Pr. 23].
00 0 [Pr. 23]
Encoder cable communication method selection
When this is set, [AL. 37 Parameter error] occurs.
Two-wire type
Setting value
0
1
When the fully closed loop function is disabled ([Pr. 62]: _ _ _ 0)
When the fully closed loop function is enabled ([Pr. 62]: _ _ _ 1 or _ _ _ 2)
2 Four-wire type
Two-wire type
CN2 side
Unavailable
Unavailable
Unavailable
CN2L side CN2 side CN2L side
Two-wire type
Unavailable (Note)
Two-wire type
Two-wire type/A/B/ Z-phase differential
output method
Four-wire type
3 Unavailable Unavailable Four-wire type Two-wire type/A/B/ Z-phase differential
output method
4 Unavailable Unavailable Four-wire type Four-wire type
15. FULLY CLOSED LOOP SYSTEM
15 - 12
(4) Setting of load-side encoder polarity
CAUTION
Do not set an incorrect direction to "Load-side encoder polarity" in [Pr. 62]. An abnormal operation and a machine collision may occur if an incorrect direction is set, which cause a fault and parts damaged. Also, it may cause [AL. 42] during the positioning operation.
POINT
Setting of load-side encoder polarity is irrelevant to [Pr. 7 Rotation direction selection]. Make sure to set it according to the relationships between servo motor and linear encoder or rotary encoder.
(a) Parameter setting method
Set the load-side encoder polarity to be connected to CN2L connector in order to match the CCW direction of servo motor and the increasing direction of load-side encoder feedback.
0 0 0 [Pr. 62]
Load-side encoder polarity 0: Address increasing direction in the motor CCW 1: Address increasing direction in the motor CW
1) Setting encoder address increasing direction (_ _ 0 _) in the servo motor CCW direction
Servo motor
Linear encoder
Servo motor CCW direction
Address increasing direction of linear encoder
2) Setting encoder address increasing direction (_ _ 1 _) in the servo motor CW direction
Servo motor
Linear encoder
Servo motor CCW direction
Address increasing direction of linear encoder
(b) How to confirm the load-side encoder feedback direction For the way of confirming the load-side encoder feedback direction, refer to (6) in this section.
15. FULLY CLOSED LOOP SYSTEM
15 - 13
(5) Setting of load-side encoder electronic gear
POINT
When an incorrect value is set in the linear encoder electronic gear ([Pr. 65], [Pr. 66]), normal operation may not be performed. Also, it may cause [AL. 42] during the positioning operation.
To change setting value, set "000F" in [Pr. 40 Parameter writing inhibit]. Cycling the power will enable the setting value.
Set the numerator ([Pr. 65]) and denominator ([Pr. 66]) 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. 66] Number of load-side encoder pulses per servo motor revolution
Number of servo motor encoder pulses per servo motor revolution =
[Pr. 65]
[Pr. 65]
[Pr. 66]
FCM
FCD
100
1 <
1
100
(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: 131072 pulses/rev Ball screw lead: 4 mm Linear encoder resolution: 0.05 m
Geared servo motor Table
Linear encoder
Linear encoder head
Calculate the number of linear encoder pulses per servo motor revolution.
Number of linear encoder pulses per servo motor revolution = Ball screw lead/linear encoder resolution = 4 mm/0.05 m = 80000 pulses
[Pr. 65]
[Pr. 66]
131072
80000
1024
625 = =
15. FULLY CLOSED LOOP SYSTEM
15 - 14
(b) Setting example when using the rotary encoder for the load-side encoder of roll feeder
Conditions Servo motor resolution: 131072 pulses/rev Pulley diameter on the servo motor side: 30 mm Pulley diameter on the rotary encoder side: 20 mm Rotary encoder resolution: 5000 pulses/rev
(after multiplication by 4: 20000 pulses/rev)
Servo motor
Rotary encoder 5000 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. For the rotary encoder, calculate using the number of pulses multiplied by 4.
131072 20
20000 30
8192
1875 = =
[Pr. 65]
[Pr. 66]
15. FULLY CLOSED LOOP SYSTEM
15 - 15
(6) Confirmation of load-side encoder position data
Check the load-side encoder mounting and parameter settings for any problems.
POINT
Depending on the check items, MR Configurator (MRZJW3-SETUP161E) may be used. Refer to section 15.3.9 for the data displayed on the MR Configurator.
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 pulse 2 (on load-side encoder) 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 within-full-one-revolution position (load-side encoder position within one-revolution) value 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 the feedback direction at the within-full-one-revolution position (load-side encoder position within one-revolution) by moving the device (load-side encoder) manually in a servo off state. When the servo motor and load-side encoder feedback directions match, rotating the servo motor in the CCW direction (counterclockwise as viewed from the shaft end) increases the position in load-side encoder 1-revolution, and rotating the servo motor in the CW direction (clockwise as viewed from the shaft end) decreases the position in load-side encoder 1- revolution. When the servo motor and load-side encoder directions do not match, operation is performed oppositely.
4 Fully closed loop electronic gear setting
When the servo motor and load-side encoders operate synchronously, the cumulative feedback pulse (on motor encoder) and cumulative feedback pulse 2 (on load-side encoder) values increase in accordance with the setting ratio of the fully closed loop electronic gear ([Pr. 65]/[Pr. 66]). Confirmation example When the servo motor is directly coupled with a ball screw and the linear encoder resolution is 1.0 m
Servo motor encoder resolution = 131072 pulses/rev Ball screw lead = 4.0 mm Linear encoder resolution = 1.0 m
When the movement is equivalent to one servo motor revolution (Load-side: 4.0 mm), cumulative feedback pulse 2 (on load-side encoder) = 4000 pulses.
15. FULLY CLOSED LOOP SYSTEM
15 - 16
(7) Dual feedback filter setting
With the initial value (setting = 10) set in [Pr. 67 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 Configurator (MRZJW3-SETUP161E), adjust the dual feedback filter.
The dual feedback filter operates as described below depending on the setting.
[Pr. 67] setting value Control mode Vibration Settling time
0 Semi closed loop
1 (initial value = 10) to
[Pr. 15] setting value/2 Dual feedback
Seldom occurs to
Frequently occurs
Long time to
Short time
1000 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 ([Pr. 15]) 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
15. FULLY CLOSED LOOP SYSTEM
15 - 17
15.3.2 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.
Compatible encoder types are omitted as follows. Serial interface: Mitsubishi Electric serial interface compatible encoder General pulse output: A/B/Z-phase differential output encoder Common to all load-side encoders: Load-side encoders compatible with this model (For details, refer to section 15.1.)
(2) Load-side encoder types and home position return methods (serial Interface)
(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
15. FULLY CLOSED LOOP SYSTEM
15 - 18
(b) About proximity dog type home position return using incremental linear encoder (serial
Interface/general pulse output) 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
15. FULLY CLOSED LOOP SYSTEM
15 - 19
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)
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
15. FULLY CLOSED LOOP SYSTEM
15 - 20
3) Instructions when the system uses the positioning module (QD75M) or VME bus Position Board
(MR-MC01) as a servo system controller.
POINT
The home position return retry function of the positioning module (QD75M) cannot be used.
The linear encoder home position (reference mark) has some width in the region where the signal turns on.
ON OFFHome position signal
Signal ON width (Note)
Note. The signal ON width changes depending on the used linear encoder. For details,
contact each linear encoder manufacturer.
The positioning module (QD75M) or VME bus Position Board (MR-MC01) determines the home position reference position when the linear encoder home position (reference mark) is passed through first after power-on of the servo amplifier. Therefore, a lag equivalent to the home position signal width is produced in the home position reference position depending on the direction in which the linear encoder home position (reference mark) is passed through.
ON
OFF Linear encoder home position signal
Home position reference position (Passed through in direction of)
Home position reference position (Passed through in direction of)
Lag equivalent to home position signal ON width is produced.
Signal ON width
One motor encoder revolution
One motor encoder revolution
When it is desired to always make a home position return to the same position without a lag equivalent to the home position signal width, a home position return must be performed so that the home position is always passed through in the same direction after power-on. The following indicates a home position return method in which a lag equivalent to the home position signal width is not produced in the positioning module (QD75M) or VME bus Position Board (MR-MC01).
a) Move it to the position where the stroke end signal on the side opposite to the home position
return direction turns on.
Machine position Home position Home positionStroke end
b) Perform the power-on reset of the servo amplifier or reset the controller.
15. FULLY CLOSED LOOP SYSTEM
15 - 21
c) After servo-on, make a home position return.
Stroke end Home position
Home position return speed
Creep speed
Home position return direction
ON OFF
Proximity dog signal
Home position Machine position
Servo motor speed
0 r/min
(c) About dog type home position return when using the rotary encoder of a serial communication servo motor (Serial interface/general-purpose pulse output) 1) 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 load-side revolution
15. FULLY CLOSED LOOP SYSTEM
15 - 22
2) Precautions for passage of Z-phase
The home position standard position is set relative to the Z-phase position of the load-side encoder that is passed through first after power-on of the servo amplifier. In Case A and Case B where the power-on position differs as shown below, the power-on position must be noted since the axis cannot stop at the same home position return position.
Home position
Home position return speed Creep speed
ON OFF
Proximity dog signal
Case A
Home position return speed Creep speed
Servo amplifier power-on position
Servo amplifier power-on position
ON OFF
Fully closed loop encoder Z-phase signal
Reference home position
Servo motor speed
0 r/min
Case B
Reference home position
Servo motor speed
0 r/min
One motor encoder revolution
One motor encoder revolution
Home position
3) Method for always making home position return to the same position a) Move it to the position where the stroke end signal on the side opposite to the home position
return direction turns on.
Machine position Home position Home positionStroke end
b) Perform the power-on reset of the servo amplifier or reset the controller. c) After servo-on, make a home position return.
Stroke end Home position
Home position return speed
Creep speed
Home position return direction
ON OFF
Proximity dog signal
Home position Machine position
Servo motor speed
0 r/min
15. FULLY CLOSED LOOP SYSTEM
15 - 23
(b) About data setting type/count type 2 (Common to all load-side encoders)
In the data setting type/count type 2 (QD75M) home position return method, a home position return can be normally made if the home position has been passed through (in either direction) before start of a home position return, since a linear encoder home position (reference mark) or the Z-phase signal of a rotary encoder is not required. 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 a linear encoder does not have a linear encoder home position (reference mark), or 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 "Home position setting condition selection" in [Pr. 33] if the home position is not yet passed through.
15. FULLY CLOSED LOOP SYSTEM
15 - 24
15.3.3 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 A17_SHCPU/A173UHCPU/ A273UHCPU(-S3)/Q17_CPU
Speed control (II) instructions (VVF and VVR) cannot be used.
Positioning module QD75M_ AD (A1SD) 75M cannot be used. Home position return must be made with care. (Refer to POINT in section 15.3.2 (2).)
Position board
MR-MC10 (PCI bus- compatible)
MR-MC30 (ISA bus- compatible)
MR-MC01 (VME bus- compatible)
Home position return must be made with care. (Refer to section 15.3.2 (2) (b) 3).)
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 a 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. After values of [Pr. 23], [Pr. 33], [Pr. 62], [Pr. 65], [Pr. 66], and [Pr. 68] are written to the servo amplifier, cycling the servo amplifier power supply enables the settings. For motion controller, resetting enables the servo amplifier setting.
Setting item
Setting
Motion controller A17_SH/A173UH/
A273UHQ17_
Positioning module QD75M
Command resolution Servo motor encoder resolution unit
Servo parameter
Servo amplifier setting MR-J2S-_B
Motor setting Automatic setting
Encoder cable communication method selection ([Pr. 23]) Setting is necessary only when a four-wire type linear encoder is
used.
Set with the sequence program.
Home position setting condition selection ([Pr. 33]) Set the items as required.
Fully closed loop selection ([Pr. 62]) Set with MR Configurator (MRZJW3-
SETUP161E).
Fully closed loop selection 2 ([Pr. 68])
Fully closed loop control error detection 1 ([Pr. 63])
Fully closed loop control error detection 2 ([Pr. 64])
Fully closed loop electronic gear numerator ([Pr. 65])
Fully closed loop electronic gear denominator ([Pr. 66])
Dual feedback filter ([Pr. 67])
Positioning control parameter
Unit setting mm/inch/degree/pulse
Travel distance per pulse (AP, AL, AM) Number of pulses per revolution (AP) Travel distance per revolution (AL) Unit multiplying factor (AM)
Set AP, AL and AM as usual with servo motor encoder resolution.
15. FULLY CLOSED LOOP SYSTEM
15 - 25
(3) Additional instructions
The positioning module (QD75M) controls the servo parameters [Pr. 0] to [Pr. 75]. Therefore, when setting any of the servo parameters up to [Pr. 75], change the buffer memory setting of the positioning module in a sequence program. If the settings of the parameters [Pr. 0] to [Pr. 75] are changed using MR Configurator, they are not reflected on the positioning module.
Reference sequence program Example of writing the servo parameters ([Pr. 62] to [Pr. 67]) of Axis No. 1 to a buffer memory
TOP H0 K30162 H1302 K1
TOP H0 K30163 K1000 K1
TOP H0 K30164 K50 K1
TOP H0 K30165 K20 K1
TOP H0 K30166 K1 K1
TOP H0 K30167 K10 K1
T30 K5
Y00
T30
Writing condition
[Pr. 62] setting
[Pr. 63] setting
[Pr. 64] setting
[Pr. 65] setting
[Pr. 66] setting
[Pr. 67] setting
Write waiting timer
Programmable controller ready signal
TOP H0 K1900 K1 K1 Writing to Flash-ROM
The number of write times to a Flash-ROM is limited. Therefore, when setting data using a sequence program every time, for example, do not write data to the Flash-ROM. When controlling multiple axes, write the parameters to all axes.
15. FULLY CLOSED LOOP SYSTEM
15 - 26
(4) Position board setting
Setting item
Setting
Position board
MR-MC01 MR-MC10/MR-MC30
Command resolution Servo motor encoder resolution unit
Servo parameter
Motor type ([Pr. 3]) 0080h (131072) (Add = 0603h)
0080h (Automatic setting) (Add = 0414h)
Encoder cable communication method selection ([Pr. 23])
Setting is necessary only when a four-wire type linear encoder is used.
Home position setting condition selection ([Pr. 33])
Set the items as required.
Fully closed loop selection ([Pr. 62]) Set with MR Configurator (MRZJW3-SETUP161E).
Fully closed loop control error detection 1 ([Pr. 63])
Fully closed loop control error detection 2 ([Pr. 64])
Fully closed loop electronic gear numerator ([Pr. 65])
Fully closed loop electronic gear denominator ([Pr. 66])
Dual feedback filter ([Pr. 67])
Fully closed loop selection 2 ([Pr. 68])
Control parameter
Home position return option (OPZ1) No setting 1_ _ _ h
Electronic gear setting (CMX, CDV) Set as usual with servo motor encoder resolution.
15. FULLY CLOSED LOOP SYSTEM
15 - 27
15.3.4 Fully closed loop control error detection functions
POINT
The speed deviation error detection and position deviation error detection are both enabled for the initial setting.
The detection level setting can be changed using [Pr. 63] and [Pr. 64]. To change these setting values, set "000F" in [Pr. 40 Parameter writing inhibit]. [Pr. 62] setting will be enabled after the power is cycled
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 "Fully closed loop control error detection function" (_ x _ _) in [Pr. 62 Fully closed loop selection]. (1) Parameter
Select the fully closed loop control error detection function.
Fully closed loop control error detection function 0: Disabled 1: Fully closed loop control error detection function 1 enabled 2: Fully closed loop control error detection function 2 enabled 3: Fully closed loop control error detection function 1 and 2 both enabled
[Pr. 62]
(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]
3) Load-side feedback speed [r/min] 4) Load-side feedback position [pulse]
(servo motor-side equivalent value)
(a) Speed deviation error detection (Fully closed loop control error detection function 1) Set [Pr. 62] to "_ 1 _ _" to enable the speed deviation error detection.
Speed deviation error detection (Fully closed loop control error detection function 1)
1
[Pr. 62]
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. 63 Fully closed loop control error detection 1], the function generates [AL. 42 Fully closed loop control error detection] and stops the motor. The initial value of [Pr. 63] is 400 r/min. Change the setting value as necessary.
15. FULLY CLOSED LOOP SYSTEM
15 - 28
(b) Position deviation error detection
Set [Pr. 62] to "_ 2 _ _" to enable the position deviation error detection.
Position deviation error detection (Fully closed loop control error detection function 2)
2
[Pr. 62]
The function compares the servo motor-side feedback position (2)) and load-side feedback position (4)). If the deviation is not less than the set value (0.1 rev to 200.0 rev) of [Pr. 64 Fully closed loop control error detection 2], the function generates [AL. 42 Fully closed loop control error detection] and stops the motor. The initial value of [Pr. 64] is 100 kpulses. Change the setting value as necessary.
(c) Detecting multiple deviation errors
When setting [Pr. PE03] as shown below, multiple deviation errors can be detected. For the error detection method, refer to (2) (a), (b) in this section.
[Pr. 62]
Setting value
Speed deviation error detection
Position deviation error detection
1
2 3
15.3.5 Auto tuning function
Refer to section 6.2 for the auto tuning function. 15.3.6 Machine analyzer function
The machine analyzer function of MR Configurator (MRZJW3-SETUP161E) is the same function as when the operation mode is in "standard control mode". It is performed by the feedback of the motor encoder. It is irrelevant to the load-side encoder. Refer to section 6.1.2 for details. 15.3.7 Test operation mode
Test operation mode is enabled by MR Configurator (MRZJW3-SETUP161E). Refer to section 4.5 for details.
Function Item Usability Remark
Test operation mode
JOG operation Performed by the feedback of the motor encoder. It is irrelevant to the load-side encoder.
Positioning operation In a semi closed loop control/fully closed loop control state, operation is performed in the control mode states as set in [Pr. 62], [Pr. 67]. When fully closed loop function switching is enabled (switching semi./full. using the servo system controller), semi closed loop control is always enabled.
Program operation
Output signal (DO) forced output The same function as when the operation mode is in "standard control mode".
Motor-less operation
15. FULLY CLOSED LOOP SYSTEM
15 - 29
15.3.8 Absolute position detection system under fully closed loop system
POINT
When configuring an absolute position detection system in the semi closed loop control, the encoder battery must be installed to the servo amplifier as in the case that the operation mode is in "standard control mode". Connect the encoder cable of the servo motor-side encoder directly to the servo amplifier.
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 a 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 "Absolute position detection system selection" (_ _ _ x) in [Pr. 1] 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 selection ([Pr. 62] = "_ _ _ 1"). (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]/[AL. 9F]/[AL. E3]) are not detected.
15. FULLY CLOSED LOOP SYSTEM
15 - 30
15.3.9 About MR Configurator
This section explains MR Configurator (MRZJW3-SETUP161E) during use of the fully closed loop system. Items not listed in this section are the same as those for when the operation mode is in "standard control mode". (1) MR Configurator (MRZJW3-SETUP161E)
Select "MR-J2S-B fully closed loop" in the system setting of MR Configurator.
(a) Batch monitor screen
a)
b)
c)
d)
e)
f)
g)
The following table indicates the display items that are related to the servo motor and load-side encoder.
Symbol Name Explanation
a) Cumulative feedback pulses
Feedback pulses from the motor-side encoder are counted and displayed. Click "Clear" to reset the value to 0.
b) Cumulative command pulses
Position command inputs from the command controller are counted and displayed. Click "Clear" to reset the value to 0.
c) Within one-revolution position
The position in motor-side encoder 1-revolution is displayed.
d) ABS counter Multi-revolution counter (rotation amount from home position) of the motor-side encoder is displayed. The value is incremented or decremented by 1 per servo motor revolution.
e) Cumulative feedback pulses 2
Feedback pulses from the load-side encoder are counted and displayed. It is displayed in closed loop encoder pulse unit. Click "Clear" to reset the value to 0.
f) Position at one full rotation
The position in load-side encoder 1-revolution is displayed. This indicates a Z-phase counter for the INC linear encoder. The value is counted up from 0 based on the home position (reference mark). It is displayed in load-side encoder pulse unit. In the case of an ABS linear encoder, the virtual within-one-revolution position (equivalent to lower 17 bits of the conversion result of 32-bit absolute position data into the motor-side unit, 0 to 131071) is displayed.
g) Full ABS counter Multi-revolution counter (rotation amount from home position) of the load-side encoder is displayed. In the case of an ABS linear encoder, the virtual multi-revolution counter (equivalent to upper 15 bits of the conversion result of 32-bit absolute position data into the motor- side unit, 0 to 32767) is displayed.
15. FULLY CLOSED LOOP SYSTEM
15 - 31
(b) Diagnosis - Fully closed loop diagnostic screen
The position-related monitor indications and parameters on the fully closed loop function are all displayed on a single screen. For the monitor display item, click "Monitor start" to read it continuously from the servo amplifier. Click "Monitor stop" to stop reading. For the parameter item, click "Parameter read" to read it from the servo amplifier, and click "Parameter write" to write.
i)
f)
e)
d)
h)
g)
b)
c)
a)
Symbol Name Explanation Unit
a) Cumu. com. pulses Commands from the servo system controller are counted and displayed. Click "Clear" to reset the value to 0.
pulse
b) Cumu. F/B pulses Feedback pulses from the motor-side encoder are counted and displayed. Click "Clear" to reset the value to 0.
pulse
c) Droop pulses When "0" (Disabled) is selected in "Fully closed loop function" (_ _ _ x) in [Pr. 62], a deviation from the command that uses the servo motor-side encoder as feedback is displayed. When "1" (Always enabled) or "2" (Switching enabled (switching semi./full. using the host controller)) is selected in "Fully closed loop function" (_ _ _ x), a deviation from the command that uses the load-side encoder as feedback is displayed.
pulse
d) Cumu. F/B pulses 2 Feedback pulses from the load-side encoder are counted and displayed. It is displayed in load-side encoder pulse unit. Click "Clear" to reset the value to 0.
pulse
e) 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 encoder is displayed. Data 1: For the incremental type, the counter from powering on is displayed.
For the absolute position type linear encoder, the absolute position data is displayed. For the absolute position type rotary encoder, the multi-revolution counter is displayed.
Data 2: For the incremental type, the distance (number of pulses) from the reference mark (Z-phase) is displayed. For the absolute position type linear encoder, "00000000" is displayed. For the absolute position type rotary encoder, a cycle counter is displayed.
15. FULLY CLOSED LOOP SYSTEM
15 - 32
Symbol Name Explanation Unit
f) Polarity A + or - sign is displayed according to the load-side encoder polarity specified in "Load-side encoder polarity" (_ _ x _) in [Pr. 62]. "+" is displayed when the setting is "0" (Address increasing direction in the motor CCW).
g) Z-phase pass status When "0" (Disabled) is selected in "Fully closed loop function" (_ _ _ x) in [Pr. 62], the Z-phase pass state of the servo motor encoder is displayed, and "1" (Always enabled) or "2" (Switching enabled (switching semi./full. using the host controller)) is selected, the Z-phase pass state of the load-side encoder is displayed.
h) Fully closed loop changing device
Displayed only when "2" (Switching enabled (switching semi./full. using the controller)) is selected in "Fully closed loop function" (_ _ _ x). The state of the switching device selection command and the internal state during selection are displayed.
i) Parameter The parameter related to the fully closed loop control is displayed. Its setting can be changed and the new value can be written to the servo amplifier. The related parameters are as follows.
Electronic gear: [Pr. 6 Number of feedback pulses] Dual feedback filter: [Pr. 67 Dual feedback filter] FCM: [Pr. 65 Fully closed loop electronic gear numerator] FCD: [Pr. 66 Fully closed loop electronic gear denominator] Fully closed loop selection: [Pr. 62 Fully closed loop selection], [Pr. 63 Fully closed loop control error detection 1], and [Pr. 64 Fully closed loop control error detection 2]
15. FULLY CLOSED LOOP SYSTEM
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15.4 Detailed list of parameters
This section explains parameters to be added or modified when the MR-J4-_B_-RJ020 operation mode is changed to "standard control mode". For other parameters, refer to chapter 5 as they are the same as those of "standard control mode".
POINT
Set a value to each "x" in the "Setting digit" columns.
15.4.1 Basic setting parameters
No. Symbol Name and function Initial value [unit]
Setting range
1 *AMS Amplifier setting Set this parameter when using the absolute position detection system.
Refer to the Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Absolute position detection system selection 0: Disabled (used in incremental system) 1: Enabled (used in absolute position detection system) The incremental type linear encoder is compatible with the incremental system only. It is also compatible with the incremental system only when "2: Switching enabled" is selected for the fully closed loop function. When absolute position detection enabled is selected in such cases, [AL. 37] occurs.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
6 *FBP Feedback pulse number Set the number of pulses per revolution of the servo motor in the controller side command unit. Information on the servo motor such as the cumulative feedback pulses, current position, droop pulses and within-one-revolution position are derived from the values converted into the number of pulses set here. If the number of pulses set exceeds the actual servo motor encoder resolution, the servo motor encoder resolution is automatically set.
7 kW or less: 0 11 or more: 255
Refer to Name and
function column.
Setting value Feedback pulse number
0 16384
1 8192
6 32768
7 131072
255 Depending on the number of servo motor encoder resolution pulses
15. FULLY CLOSED LOOP SYSTEM
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15.4.2 Adjustment parameters
No. Symbol Name and function Initial value [Unit]
Setting range
22 MOD Analog monitor output Select the signals for outputting to MO1 (analog monitor 1) and MO2 (analog monitor 2). Refer to app. 9 (3) for detection point of output selection.
Refer to the Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Analog monitor ch2 output selection Refer to table 15.1 for settings.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ Analog monitor ch1 output selection Refer to table 15.1 for settings.
0h
x _ _ _ For manufacturer setting 0h
Table 15.1 Analog monitor setting value
Setting value
Item
0 Servo motor speed (8 V/max. speed)
1 Torque (8 V/max. torque) (Note 1)
2 Servo motor speed (+8 V/max. speed)
3 Torque (+8 V/max. torque) (Note 1)
4 Current command (8 V/max. current command)
5 Speed command (8 V/max. speed)
6 Droop pulses (10 V/128 pulses) (Note 2)
7 Droop pulses (10 V/2048 pulses) (Note 2)
8 Droop pulses (10 V/8192 pulses) (Note 2)
9 Droop pulses (10 V/32768 pulses) (Note 2)
A Droop pulses (10 V/131072 pulses) (Note 2)
B Bus voltage (+8 V/400 V)
C Motor-side fully closed loop-side position deviation (10 V/131072 pulses)
Note 1. 8 V is outputted at the maximum torque.
2. Encoder pulse unit Droop pulses are in the pulse unit of the motor-side. The
difference between the position command and linear encoder is outputted. By
setting "Droop pulse unit selection" (_ _ x _) in [Pr. 68], droop pulses can be
outputted in the load-side pulse unit.
15. FULLY CLOSED LOOP SYSTEM
15 - 35
No. Symbol Name and function Initial value [Unit]
Setting range
23 *OP1 Option function 1 Select the servo forced stop and encoder cable communication method.
Refer to the Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Servo forced stop selection 0: Enabled (EM1 (forced stop) is used.) 1: Disabled (EM1 (forced stop) is not used.)
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ Encoder cable communication method selection Incorrect setting will result in [AL. 16 Encoder error 1].
0h
Setting value
When the fully closed loop function is disabled
([Pr. 62]: _ _ _ 0)
When the fully closed loop function is enabled
([Pr. 62]: _ _ _ 1 or _ _ _ 2)
CN2 side CN2L side CN2 side CN2L side
0 Two-wire
type Unavailable
Two-wire type
Two-wire type/A/B/Z-
phase differential
output method
1
Four-wire type
Unavailable Four-wire
type Unavailable
(Note)
2
Two-wire type
Unavailable Two-wire
type Four-wire
type
3 Unavailable Unavailable Four-wire
type
Two-wire type/A/B/Z-
phase differential
output method
4 Unavailable Unavailable
Four-wire type
Four-wire type
When this is set, [AL. 37 Parameter error] occurs.
x _ _ _ For manufacturer setting 0h
15. FULLY CLOSED LOOP SYSTEM
15 - 36
15.4.3 Extension parameters
No. Symbol Name and function Initial value [Unit]
Setting range
33 *OP6 Option function 6 This parameter is for serial communication, encoder output pulse, and home position setting.
Refer to the Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Serial communication baud rate selection 0: 9600 [bps] 1: 19200 [bps] 2: 38400 [bps]
0h
_ _ x _ Serial communication response delay time 0: Disabled 1: Enabled (responding after 800 s or longer delay time)
0h
_ x _ _ Encoder output pulse setting selection (Refer to [Pr. 38].) 0: Output pulse specification 1: Dividing ratio setting
0h
x _ _ _ Selection of home position setting condition Select the condition under which a home position setting is from the servo system controller. 0: Need to pass motor Z-phase after power on 1: Not need to pass motor Z-phase after power on
(Used in a data setting type home position return where the Z phase is not passed through.)
0h
38 *ENR Encoder output pulses Used to set the encoder pulses (A-phase and B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase and B-phase pulses. You can use [Pr. 33] to choose the output pulse setting or output division ratio setting. The number of A-phase and B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 1.3 Mpulses/s (after multiplication by 4). Use this parameter within this range. When the fully closed loop function is enabled in [Pr. 62] (FCT), and the A/B/Z-phase pulse output of the load-side encoder is selected in [Pr. 68] (FC2), consider it as "equivalent to one motor revolution" = "travel distance of the load-side encoder equivalent to one revolution of the semi closed-side motor". For example, when the linear encoder of 0.1 m resolution is installed as the load-side encoder to move 10 mm per servo motor revolution, 1. On the assumption that the parameter setting value is "20" for dividing ratio setting
Number of output pulses for 10 mm movement = 20
100000 (Equivalent to one motor revolution)
= 5000 2. On the assumption that the parameter setting value is "20" for output pulse setting Number of output pulses for 10 mm movement = 20
4000 [pulse/
rev]
0 to
65535
15. FULLY CLOSED LOOP SYSTEM
15 - 37
No. Symbol Name and function Initial value [Unit]
Setting range
60 *OPC Option function C Select the encoder output pulse setting.
Refer to the Name and function column.
Setting digit
Explanation Initial value
_ _ _ x For manufacturer setting 0h
_ _ x _ 0h
_ x _ _ Encoder output pulse phase selection 0: Increasing A-phase 90 in CCW 1: Increasing A-phase 90 in CW
0h
Setting value
Servo motor rotation direction
CCW CW
0
A-phase
B-phase A-phase
B-phase
1
A-phase
B-phase A-phase
B-phase
x _ _ _ For manufacturer setting 0h
62 *FCT Fully closed loop selection Select load-side encoder rotation direction, fully closed loop control error detection function 1, and fully closed loop control error detection function 2.
Refer to the Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Fully closed loop function 0: Disabled 1: Always enabled 2: Switching enabled (switching semi./full. using the controller)
0h
_ _ x _ Load-side encoder polarity 0: Address increasing direction in the motor CCW 1: Address increasing direction in the motor CW
0h
_ x _ _ Fully closed loop control error detection function 0: Disabled 1: Fully closed loop control error detection function 1 enabled 2: Fully closed loop control error detection function 2 enabled 3: Fully closed loop control error detection function 1 and 2 both
enabled
3h
x _ _ _ For manufacturer setting 1h
63 BC1 Fully closed loop control error detection 1 Set the speed deviation error detection level of the fully closed loop control error detection function 1. (Set in terms of the servo motor-side speed.) Enabled/disabled of this function can be selected in [Pr. 62] (_ x _ _).
400 [r/min]
1 to
Permis- sible
speed
64 BC2 Fully closed loop control error detection 2 Set the position deviation error detection level of the fully closed loop control error detection function 2. (Set in terms of the servo motor-side rotation amount.) Enabled/disabled of this function can be selected in [Pr. 62] (_ x _ _)
10 [0.1 rev]
1 to
2000
65 *FCM Fully closed loop electronic gear numerator Set the numerator of the electronic gear to the load-side encoder pulse.
1 1 to
65535
66 *FCD Fully closed loop electronic gear denominator Set the denominator of the electronic gear to the load-side encoder pulse.
1 1 to
65535
15. FULLY CLOSED LOOP SYSTEM
15 - 38
No. Symbol Name and function Initial value [Unit]
Setting range
67 DUF Dual feedback filter Set a dual feedback filter band. At 1000 rad/s setting, the fully closed loop control will always be enabled. At 0 rad/s setting, the fully closed loop control will be disabled. About half of [Pr. 15 Position loop gain 2] is the guideline of the upper setting limit.
10 [rad/s]
0 to
1000
68 *FC2 Fully closed loop selection 2 Select the functions related to fully closed loop control.
Refer to the Name and function column.
Setting digit
Explanation Initial value
_ _ _ x Pulse output setting 0: A/B/Z-phase pulse output of the load-side encoder 1: A/B/Z-phase pulse output of the motor-side encoder When the fully closed loop function is disabled (including when the semi closed loop control is selected at the time of the switching valid setting), A/B/Z-phase pulse output of the motor-side encoder is forcibly set.
0h
_ _ x _ Droop pulse unit selection 0: Motor-side encoder pulse unit 1: Load-side encoder pulse unit With this setting, the droop pulse unit of the MR Configurator batch monitor display, monitor graph data and analog monitor output can be selected. When the fully closed loop function is disabled (including when the semi closed loop control is selected at the time of the switching valid setting), the motor-side pulse unit is forcibly set.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
15. FULLY CLOSED LOOP SYSTEM
15 - 39
15.5 Troubleshooting
POINT
For lists and remedies for alarms/warnings of the fully closed loop system, refer to chapter 8.
15.6 Details on linear encoder errors ([AL. 2A]) for respective manufacturers
When the occurrence cause of [AL. 2A Fully closed loop encoder error 1] is unknown, check the detail information in the following table based on the alarm detailed information of MR Configurator, and contact the linear encoder manufacturer. Detail infor- mation
[AL. 2A Fully closed loop encoder error 1] details
Mitutoyo Magnescale Heidenhain Renishaw
8 Optical overspeed Overspeed error
7 ROM/RAM error Overspeed
6 EEPROM error Encoder alarm EEPROM error
5 CPU error CPU error
4 Capacitive error ABS data error
3 Photoelectric error INC data error
2 Photoelectric/capacitive data
mismatch Encoder warning
Scale level error INC/ABS data mismatch error
Level error
1 Initialization error Initialization error
The following shows an example of alarm history display for when [AL. 2A Fully closed loop encoder error 1] occurs in the linear encoder AT343A manufactured by Mitutoyo.
Alarm detail: 4h
Only the minimum value will be displayed in the alarm detailed information column. Note the information when contacting the linear encoder manufacturer. Example: When alarm detailed information "4" and "6" occur simultaneously, only "4" is displayed.
15. FULLY CLOSED LOOP SYSTEM
15 - 40
MEMO
APPENDIX
App. - 1
APPENDIX
App. 1 Using the HC series/HA series servo motor
POINT
When using HC series and HA series servo motors, refer to "Instructions and Cautions for Drive of HC/HA Series Servo Motor with MR-J4-(DU)_B_-RJ020" (SH(NA)030127).
When driving HC series and HA series servo motors with the MR-J4-_B_-RJ020 servo amplifier, refer to the following table for the combinations with servo amplifiers. (1) 200 V class
Servo amplifier Servo motor
HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS
MR-J4-10B-RJ020 053 13
053 13
13
MR-J4-20B-RJ020 23 23 23 MR-J4-40B-RJ020 43 43 43 MR-J4-60B-RJ020 52
53 52
MR-J4-70B-RJ020 46 410 73
73 (Note 2) 72 73
MR-J4-100B-RJ020 81 102 103
102
MR-J4-200B-RJ020 121 201 152 202 153 203
103 153
(Note 2) 152 152
MR-J4-350B-RJ020 301 352 353
203 (Note 2) 202 202
MR-J4-500B-RJ020 502 (Note 2) 353 503
(Note 2) 352 (Note 2) 502
502 302
MR-J4-700B-RJ020 702 (Note 1) 601 (Note 1) 701M
702
MR-J4-11KB-RJ020 (Note 1) 801 (Note 1) 11K1M
11K2 (Note 1) 12K1
MR-J4-15KB-RJ020 (Note 1) 15K1 (Note 1) 15K1M
15K2
MR-J4-22KB-RJ020 (Note 1) 20K1 (Note 1) 22K1M
22K2 (Note 1) 25K1
MR-J4-DU30KB-RJ020 (Note 1) 30K1 (Note 1) 30K1M
30K2
MR-J4-DU37KB-RJ020 (Note 1) 37K1 (Note 1) 37K1M
37K2
Note 1. When you use this servo motor, please contact your local sales office. 2. Used by servo amplifiers with software version A1 or later.
APPENDIX
App. - 2
(2) 400 V class
Servo amplifier Servo motor
HC-SFS HA-LFS
MR-J4-60B4-RJ020 524
MR-J4-100B4-RJ020 1024
MR-J4-200B4-RJ020 1524 2024
MR-J4-350B4-RJ020 3524
MR-J4-500B4-RJ020 5024
MR-J4-700B4-RJ020 7024 (Note) 6014 (Note) 701M4
MR-J4-11KB4-RJ020 (Note) 8014 (Note) 11K1M4 (Note) 11K24 (Note) 12K14
MR-J4-15KB4-RJ020 (Note) 15K14 (Note) 15K1M4 (Note) 15K24
MR-J4-22KB4-RJ020 (Note) 20K14 (Note) 22K1M4 (Note) 22K24
MR-J4-DU30KB4-RJ020 (Note) 25K14 (Note) 30K14
(Note) 30K1M4 30K24
MR-J4-DU37KB4-RJ020 (Note) 37K14 (Note) 37K1M4
37K24
MR-J4-DU45KB4-RJ020 (Note) 45K1M4 45K24
MR-J4-DU55KB4-RJ020 (Note) 50K1M4 55K24
Note. When you use this servo motor, please contact your local sales office.
(3) 100 V class
Servo amplifier Servo motor
HC-KFS HC-MFS
MR-J4-10B1-RJ020 053 13
053 13
MR-J4-20B1-RJ020 23 23
MR-J4-40B1-RJ020 43 43
APPENDIX
App. - 3
App. 2 Linear encoders compatible with MR-J2S
The following table shows compatible linear encoders. For details of each linear encoder, refer to chapter 2 of "MR-J2S-_BPY096 MR-J2S-_B-S096 (5.7 kW) Instruction Manual" (SH(NA)030035).
Linear encoder type Manufacturer Model Resolution Rated speed
(Note 1)
Effective measurement
length (maximum)
Communication method
Absolute position system
Mitsubishi Electric serial interface compatible
Absolute position
type
Mitutoyo AT343A
0.05 m 2.0 m/s 3,000 mm
Two-wire type AT543A 1,500 mm
Heidenhain LC491M 0.05 m 2.0 m/s 2,040 mm Four-wire
type
Incremental type
Magnescale
SL710
+ PL101R
+ MJ830
0.2 m (Note 2)
6.4 m/s 3,000 mm
Two-wire type
SH13
+ MJ830 0.005 m (Note 2)
1.4 m/s 1,240 mm
Renishaw
RGH26P 5.0 m 4.0 m/s
70,000 mm Two-wire type
RGH26Q 1.0 m 3.2 m/s
RGH26R 0.5 m 1.6 m/s
A/B/Z-phase differential output type
A/B/Z signal required (Note 3)
Incremental type
Not specified
(Note 3)
Depends on the linear encoder (Note 4)
Depends on the linear encoder
Depends on the linear encoder
A/B/Z-phase differential
output method
Note 1. The upper limit value of the linear servo motor speed is a lower one of the maximum speed of the linear servo motor and the
rated speed of the linear encoder.
2. Changes depending on the setting of the interpolator.
Set the resolution within a range of the minimum resolution to 5 m.
3. The phase difference between the A-phase pulse and B-phase pulse must be 500 ns or more, and the Z-phase pulse width
must be equivalent to one cycle of the A-phase pulse.
Also, the Z-phase must be synchronized with the A-phase/B-phase.
A-phase
Phase difference between A-phase and B-phase: 500 ns or more
One cycle of A-phase
B-phase
Z-phase
4. The tolerable resolution range is between 0.005 m and 5 m. Select a linear encoder within the range.
APPENDIX
App. - 4
App. 3 Peripheral equipment manufacturer (for reference)
Names given in the table are as of May 2017.
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
Toa Electric Industrial Toa Electric Industrial Co. Ltd.
Heidenhain Heidenhain Corporation
Hirose Electric Hirose Electric Co., Ltd.
Magnescale Magnescale Co., Ltd.
Mitutoyo Mitutoyo Corporation
Renishaw Renishaw Inc.
NIDEC SANKYO NIDEC SANKYO CORPORATION
Toho Technology Toho Technology Corp. Yoshida Terminal Block Division
App. 4 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. - 5
(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. - 6
(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. 1 Example of Mitsubishi label with battery
illustration
(Available until December 31, 2018)
Fig. 2 Example of Mitsubishi label with battery illustration
(Available from January 1, 2017)
The handling label shown in Fig. 1 has been changed to the one shown in Fig. 2 in accordance with the IATA Dangerous Goods Regulations 58th Edition (effective January 1, 2017). However, the label shown in Fig. 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 (figure) 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. - 7
App. 5 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: 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. - 8
App. 6 Compliance with global standards for servo amplifier
POINT
The content of the functional safety description applies to the MR-J4-_B_-RJ020 servo amplifier only when it is in the J4 mode.
App. 6.1 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. In addition, MR-J4-03A6 and MR-J4W2-0303B6 dont support this function. App. 6.2 About safety
This chapter explains safety of users and machine operators. Please read the section carefully before mounting the equipment. App. 6.2.1 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. 6.2.2 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 app. 6.8.1 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. However, some servo amplifiers cannot be used with MR-D30 or MR-J3-D05. For details, refer to each servo amplifier instruction manual. App. 6.2.3 Correct use
Use the MR-J4 servo amplifiers within specifications. Refer to each instruction manual for specifications such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation.
WARNING
If you need to get close to the moving parts of the machine for inspection or others, ensure safety by confirming the power off, etc. Otherwise, it may cause an accident.
It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and terminals immediately after power off.
APPENDIX
App. - 9
(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. - 10
(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 each servo amplifier instruction manual.
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. - 11
(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), and Low-voltage directive (2014/35/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, and 2014/35/ EU). For the copy of Declaration of Conformity, contact your local sales office.
APPENDIX
App. - 12
(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 each servo amplifier instruction manual.
(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. - 13
App. 6.2.4 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. 6.2.5 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. 6.2.6 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. 6.2.7 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. - 14
App. 6.3 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-J4-500GF(-RJ), maintain a minimum clearance of 25 mm on
the left side.
APPENDIX
App. - 15
App. 6.4 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. - 16
(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. - 17
App. 6.5 Signal
App. 6.5.1 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. 6.5.2 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. - 18
App. 6.6 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. 6.6.1 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. - 19
App. 6.6.2 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
normal air-conditioned environment (40 C surrounding air temperature 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. - 20
App. 6.7 Transportation and storage
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the limited number of product packages is not allowed.
Do not hold the front cover to transport the servo amplifier. Otherwise, it may drop.
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. - 21
App. 6.8 Technical data
App. 6.8.1 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. - 22
App. 6.8.2 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. - 23
App. 6.9 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. - 24
App. 7 Compliance with global standards for converter unit and drive unit
POINT
Descriptions of functional safety is applicable only when the MR-J4-DU_B_- RJ020 drive unit is used in the J4 mode.
Converter units and drive units are written as servo amplifiers in app. 7 under certain circumstances. App. 7.1 Terms related to safety
App. 7.1.1 IEC 61800-5-2 Stop function
STO function (Refer to IEC 61800-5-2: 2007 4.2.2.2 STO.) 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. App. 7.2 About safety
This chapter explains safety of users and machine operators. App. 7.2.1 Professional engineer
Only professional engineers should mount MR-J4 servo amplifiers. Here, professional engineers should meet the all conditions below. (1) Persons who took a proper 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. 7.2.2 Applications of the devices
MR-J4 servo amplifiers comply with the following standards. ISO/EN ISO 13849-1 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO), IEC/EN 61800-5- 1, IEC/EN 61800-3, IEC/EN 60204-1 MR-J4 servo amplifiers can be used with the MR-J3-D05 safety logic unit, or safety PLCs.
APPENDIX
App. - 25
App. 7.2.3 Correct use
Use the MR-J4 servo amplifiers within specifications. Refer to section 1.4 for specifications such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation.
WARNING
If you need to get close to the moving parts of the machine for inspection or others, ensure safety by confirming the power off, etc. Otherwise, it may cause an accident.
It takes 20 minutes maximum for capacitor discharging. Do not touch the unit and terminals immediately after power off.
(1) Selection of peripheral equipment and wire
The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 14.
(a) 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. 3 Recommended wire
Converter unit 75 C/60 C stranded wire [AWG] (Note 2)
L1/L2/L3 (Note 3) L11/L21 L+/L-
MR-CV11K (Note 1) 8: h/6: i
MR-CV18K (Note 1) 4: q/2: -
MR-CV30K (Note 1) 2: n/1/0: j
MR-CV37K (Note 1) 1/0: j/1/0: j
MR-CV45K (Note 1) 1/0: j/-: -
MR-CV55K (Note 1) 3/0: k/-: -
MR-CV11K4 (Note 1) 10: l/10: l
MR-CV18K4 (Note 1) 8: h/6: i 14: g/14: g Exclusive Bus Bar
MR-CV30K4 (Note 1) 6: m/4: e
MR-CV37K4 (Note 1) 4: e/2: n
MR-CV45K4 (Note 1) 4: e/2: n
MR-CV55K4 (Note 1) 2: n/1/0 :-
MR-CV75K4 (Note 1) 1/0: j/-: -
MR-CR55K (Note 1) 2 2/0: d (Note 4)/2 2/0: -
MR-CR55K4 (Note 1) 2: c/1/0: -
APPENDIX
App. - 26
Drive unit 75 C/60 C stranded wire [AWG] (Note 2)
L11/L21 L+/L- U/V/W/ (Note 3)
MR-J4-DU700 (Note 1) 8: o/6: m
MR-J4-DU900 (Note 1) 4: e/2: n
MR-J4-DU11K (Note 1) 4: e/2: n
MR-J4-DU15K (Note 1) 2: n/1/0: j
MR-J4-DU22K (Note 1) 1/0: j/-: -
MR-J4-DU30K (Note 1) 2/0: d/2/0: -
MR-J4-DU37K (Note 1) Exclusive Bus Bar
2 2/0: d (Note 4)/-: -
MR-J4-DU700_4 (Note 1) 14: g/14: g 10: p/10: p
MR-J4-DU900_4 (Note 1) 8: o/6: m
MR-J4-DU11K_4 (Note 1) 8: o/6: m
MR-J4-DU15K_4 (Note 1) 6: m/6: m
MR-J4-DU22K_4 (Note 1) 4: e/2: n
MR-J4-DU30K_4 (Note 1) 3: f/2: f
MR-J4-DU37K_4 (Note 1) 2: f/1: c
MR-J4-DU45K_4 (Note 1) 1/0: d/1/0: -
MR-J4-DU55K_4 (Note 1) 1/0: d/2/0: -
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. For crimp terminals and applicable tools, refer
to Table fig. 2.
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. When the rated current is less than 175 A, 2/0: d can also be used.
Table app. 4 Recommended crimp terminal
Symbol Servo amplifier-side crimp terminals
Manufacturer Crimp terminal (Note 2)
Applicable tool
a FVD5.5-10 YNT-1210S
JST (J.S.T. Mfg. Co., Ltd.)
b FVD22-10 YF-1/E-4
c (Note 1) R38-10 YPT-60-21
YF-1/E-4
d (Note 1) R60-10 YPT-60-21
YF-1/E-4
e FVD22-8 YF-1/E-4
f (Note 1) R38-8 YPT-60-21
YF-1/E-4
g FVD2-4 YNT-1614
h FVD8-5 YF-1/E-4
i FVD14-5 YF-1/E-4
j (Note 1) 60-S8 YF-1/E-4
k (Note 1) 80-10 YF-1/E-4
l FVD5.5-5 YNT-1210S
m FVD14-8 YF-1/E-4
n FVD38-8 YF-1/E-4
o FYD8-8 YF-1/E-4
p FVD5.5-8 YNT-1210S
q (Note 1) 22-S5 YF-1/E-4
Note 1. Coat the crimping part with an insulation tube.
2. Some crimp terminals may not be mounted depending on their sizes. Make sure
to use the recommended ones or equivalent ones.
APPENDIX
App. - 27
(b) Selection example of MCCB and fuse
Use a fuse (T class) or the molded-case circuit breaker (UL 489 Listed MCCB) indicated in the table below. 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, refer to section 1.4.
Converter unit Molded-case circuit breaker (240 V AC) Fuse (300 V)
MR-CV11K NF100-CVFU-60A (100 A frame 60 A) 80 A
MR-CV18K NF100-CVFU-100A (100 A frame 100 A) 150 A
MR-CV30K NF225-CVFU-150A (225 A frame 150 A) 225 A
MR-CV37K NF225-CVFU-200A (225 A frame 200 A) 300 A
MR-CV45K NF225-CWU-225A (225 A frame 225 A) 350 A
MR-CV55K NF400-SKW-300A (400 A frame 300 A) 400 A
MR-CR55K NF225-CWU-175A (225 A frame 175 A) 300 A
Converter unit Molded-case circuit breaker (480 V AC) Fuse (600 V)
MR-CV11K4 NF100-HRU-30A (100 A frame 30 A) 40 A
MR-CV18K4 NF100-HRU-50A (100 A frame 50 A) 80 A
MR-CV30K4 NF100-HRU-80A (100 A frame 80 A) 150 A
MR-CV37K4 NF100-HRU-100A (100 A frame 100 A) 150 A
MR-CV45K4 NF250-SVU-125A (250 A frame 125 A) 200 A
MR-CV55K4 NF250-SVU-150A (250 A frame 150 A) 225 A
MR-CV75K4 NF250-SVU-200A (250 A frame 200 A) 300 A
MR-CR55K4 NF125-SVU-125A (125 A frame 125 A) 200 A
(c) Power supply
This servo amplifier can be used on the condition of overvoltage category III 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.
(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. Where a residual current- operated protective (RCD: earth-leakage current breaker) device is used for protection in case of direct or indirect contact, only an RCD of Type B is allowed on the supply side of this product.
PE terminal PE terminal
APPENDIX
App. - 28
(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), and Low-voltage directive (2014/35/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 of the servo amplifier. In addition, use a line noise filter for outputs of the 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-BIF
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.
(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 and 2014/35/EU). For the copy of Declaration of Conformity, contact your local sales office.
(3) USA/Canada compliance
This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 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 a metal cabinet. Additionally, mount the servo amplifier on a cabinet that the protective earth based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should be used in open type (UL 50) and overvoltage category shown in table in app. 2.8. The servo amplifier needs to be installed at or below pollution degree 2. Use only copper wires or copper bus bars for wiring.
(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.
(c) Overload protection characteristics
The MR-J4 servo amplifiers have servo motor overload protective function. (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 chapter 4 for the proper connection.
APPENDIX
App. - 29
(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.
(3) South Korea compliance (MR-CR55K(4) and 30 kW or more of MR-J4-DU)
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.
App. 7.2.4 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 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. 7.2.5 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 adjust 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.
APPENDIX
App. - 30
App. 7.2.6 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. 7.2.7 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-BAT6V1, and MR-BAT6V1BJ) are assembled batteries from two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods (Class 9) of the UN Recommendations. App. 7.3 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 vertical direction to maintain pollution degree 2.
80 mm or more
SideFront
100 mm or more
120 mm or more
30 mm or more
30 mm or more
Top
Bottom
Converter unit Drive unit
Converter unit +
Drive unit
APPENDIX
App. - 31
App. 7.4 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
Securely connect the cables in the specified method and tighten them with the specified torque. Otherwise, the servo motor may operate unexpectedly.
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 of the wrong axis to U, V, W, or CN2_ of the servo amplifier may cause a malfunction.
APPENDIX
App. - 32
The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.
Connection with resistance regeneration converter unit
Drive unit
STO
Controller
Encoder cable Cabinet sides Machine side
CN8
CN1
CN2
U/V/W/PE
L+ L-
CN40A
PE
L11
L- P1 P2 C
CN40
L1L2L3
L21
L11 L21 PE
Resistance regeneration converter unit(3-Phase 240 V AC)
MCCB or
fuse
MCCB or
fuse
MCCB or
fuse
(3-Phase 400 V AC)
To protective equipment (Thermal signal) (Note)
Servo motor
Encoder
L+MC CNP1
Connection with power regeneration converter unit
Drive unit
STO
Controller
Encoder cable Cabinet sides Machine side
CN8
CN1
CN2
U/V/W/PE
L+ L-
CN40A
PE
L11
L- L1L2L3
L21
L11 L21 PE
(3-Phase 240 V AC)
MCCB or
fuse
MCCB or
fuse
MCCB or
fuse
(3-Phase 400 V AC)
To protective equipment (Thermal signal) (Note)
Servo motor
Encoder
L+MC
CN4
Power regeneration converter unit
MC1 MC2
AC reactor
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. - 33
App. 7.5 Signals
App. 7.5.1 Signal
The following shows MR-J4-DU30KB signals as a typical example.
CN3
1
2
3
5
4
6
7
9
8
10
11
12
13
14
15
16
17
18
19
20
DI1
MO1
DICOM
LG
DOCOM
DICOM
LZ
DI2
MO2
EM2
LG
MBR
LBR
LA
LB
LZR
LAR
ALM
DI3INP
TOFB2
STO2TOFB1
STO1 STOCOM
2
CN8
1
4 3
6 5
8 7
TOFCOM
STO I/O signal connector
App. 7.5.2 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. - 34
App. 7.6 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. 7.6.1 Inspection items
It is recommended that the following points periodically be checked. (1) Check for loose terminal block screws. Retighten any loose screws.
Drive unit/converter unit Tightening torque: [Nm]
L1 L2 L3 P1 P2 C L+ L- L11 L21 U V W PE
MR-J4-DU700_/MR-J4-DU900_/ MR-J4-DU11K_/MR-J4-DU15K_/ MR-J4-DU22K_/MR-J4-DU700_4/ MR-J4-DU900_4/MR-J4-DU11K_4/ MR-J4-DU15K_4/MR-J4-DU22K_4/ MR-J4-DU30K_4/MR-J4-DU37K_4
3.0 1.2
6.0
MR-J4-DU30K_/MR-J4-DU37K_/ MR-J4-DU45K_4/MR-J4-DU55K_4
12.0
MR-CV11K_/MR-CV18K_/MR-CV11K_4/ MR-CV18K_4
2.0
2.0
MR-CV30K_/MR-CV37K_/MR-CV45K_/ MR-CV30K_4/MR-CV37K_4/MR-CV45K_4/ MR-CV55K_4/MR-CV75K_4
6.0 6.0
MR-CV55K 12.0 12.0
MR-CR55K/MR-CR55K4 12.0
(2) Check 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. - 35
App. 7.6.2 Parts having service life
Service life of the following parts is listed below. However, the service life varies depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your 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: 100,000 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 servo amplifier with a rotary servo motor using MR-BAT6V1SET or MR-BAT6V1BJ. For details
and other battery backup time, refer to each servo amplifier instruction manual.
2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the
connection status.
3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation in
air-conditioned environment (ambient temperature of 40 C or less for use at the maximum 1000 m above sea level, 30 C or
less for over 1000 m to 2000 m).
App. 7.7 Transportation and storage
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the limited number of product packages is not allowed.
Do not hold the front cover to transport the servo amplifier. Otherwise, it may drop.
For detailed information on transportation and handling of the battery, refer to the servo amplifier instruction manual.
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. - 36
App. 7.8 Technical data
App. 7.8.1 Converter unit
Item
MR-_
CR_ CV_ CR_ CV_
55K 11K 18K 30K 37K 45K 55K 55K4 11K4 18K4 30K4 37K4 45K4 55K4 75K4
Output Rated voltage 270 V DC to 324 V DC 513 V DC to 648 V DC
Rated current [A] 215.9 41 76 144 164 198 238 113.8 21 38 72 82 99 119 150
Power supply
Main circuit (line voltage)
Voltage, Frequency
3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Current [A] 191.3 35 65 107 121 148 200 100.7 18 35 61 70 85 106 130
Control circuit (line voltage)
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz, 0.3 A
1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz, 0.2 A
Interface (SELV) 24 V DC 10% (required current capacity: MR-CR_, 150 mA; MR-CV_, 350 mA)
Pollution degree 2 (IEC/EN 60664-1)
Overvoltage category 3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1)
Protective class I (IEC/EN 61800-5-1)
Short-circuit current rating (SCCR) 100 kA
App. 7.8.2 Drive unit
Item MR-J4-DU_
700_ 900_ 11K_ 15K_ 22K_ 30K_ 37K_ 700_4 900_4 11K_4 15K_4 22K_4 30K_4 37K_4 45K_4 55K_4
Output Rated voltage 3-phase 170 V AC, 360 Hz 3-phase 323 V AC, 360 Hz
Rated current [A] 37 54 68 87 126 174 204 17 25 32 41 63 87 102 131 143
Power supply
Main circuit The main circuit power of the drive unit is supplied by the converter unit.
Control circuit (line voltage)
1-phase 200 V AC to 240 V AC,
50 Hz/60 Hz, 0.3 A 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz, 0.2 A
Interface (SELV) 24 V DC 10% (required current capacity: MR-J4-DU_A_, 500 mA; MR-J4-DU_B_, 300 mA)
Control method Sine-wave PWM control, current control method
Safety observation function (STO)
IEC/EN 61800-5-2 (Note) 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 3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1)
Protective class I (IEC/EN 61800-5-1)
Short-circuit current rating (SCCR) 100 kA Note. Servo amplifiers manufactured in August 2015 or later comply with SIL 3 requirements.
APPENDIX
App. - 37
App. 7.8.3 Dimensions/mounting hole process drawing
W D
H Front Side
Converter unit/drive unit Variable dimensions [mm]
Mass [kg] W H D
MR-CR55K/MR-CR55K4 300 380 300 22
MR-CV11K/MR-CV18K/ MR-CV11K4/MR-CV18K4
90 380 270 7.0
MR-CV30K/MR-CV37K/MR-CV45K/ MR-CV30K4/MR-CV37K4/MR-CV45K4
150 380 300 10.7
MR-CV55K/MR-CV55K4/MR-CV75K4 300 380 300 26.5
MR-J4-DU700_/MR-J4-DU900_/ MR-J4-DU11K_/MR-J4-DU700_4/ MR-J4-DU900_4/MR-J4-DU11K_4
150 380 300 9.9
MR-J4-DU15K_/MR-J4-DU22K_ MR-J4-DU15K_4_/MR-J4-DU22K_4
240 380 300 15.2
MR-J4-DU30K_/MR-J4-DU37K_ 300 380 300 21
MR-J4-DU30K_4/MR-J4-DU37K_4 240 380 300 16
MR-J4-DU45K_4/MR-J4-DU55K_4 300 380 300 19
Approx. W5 Approx. W3
1910 34
2 36
0 38
0
Approx. 10
36 0
34 2
1019
Converter unit/ Drive unit
Punched hole
4-A screw Approx. 19
Approx. 19 Approx. 10
W1 W4 W2
W5 W3
Converter unit/Drive unit Variable dimensions [mm]
Screw size
W1 W2 W3 W4 W5 A
MR-CR55K/MR-CR55K4/ MR-J4-DU30K_/MR-J4-DU37K_/ MR-J4-DU45K_4/MR-J4-DU55K_4
300 260 20 281 9.5 M6
MR-CV11K/MR-CV18K/MR-CV11K4/ MR-CV18K4
90 - 45 82 4 M5
MR-CV30K/MR-CV37K/MR-CV45K/ MR-CV30K4/MR-CV37K4/ MR-CV45K4/MR-J4-DU700_/ MR-J4-DU900_/MR-J4-DU11K_/ MR-J4-DU700_4/MR-J4-DU900_4/ MR-J4-DU11K_4
150 60 45 142 4 M5
MR-CV55K/MR-CV55K4/MR-CV75K4 300 180 60 282 9 M5
MR-J4-DU15K_/MR-J4-DU22K_/ MR-J4-DU15K_4/MR-J4-DU22K_4/ MR-J4-DU30K_4/MR-J4-DU37K_4
240 120 60 222 9 M5
App. 7.9 Check list for user documentation
MR-CV/MR-CR/MR-J4-DU 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. - 38
App. 8 Analog monitor
POINT
A voltage of analog monitor output may be irregular at power-on.
App. 6 explains when the MR-J4-_B_-RJ020 servo amplifier is in the J2S compatibility mode.
The servo status can be outputted to two channels in terms of voltage. App. 8.1 Setting
Change the following digits of [Pr. 22].
Analog monitor 2 output selection (the signal provided to the output across MO2 and LG)
[Pr. 22]
Analog monitor 1 output selection (the signal provided to the output across MO1 and LG)
[Pr. 27] and [Pr. 28] can be used to set the offset voltages to the analog output voltages. Setting value is -999 mV to 999 mV.
Parameter Description Setting range [mV]
27 This is used to set the offset voltage of MO1 (Analog monitor 1).
-999 to 999 28
This is used to set the offset voltage of MO2 (Analog monitor 2).
APPENDIX
App. - 39
App. 8.2 Setting
The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque to MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. 22] value. Refer to (3) for the detection point. Setting value
Output item Description Setting value
Output item Description
0 Servo motor speed
Maximum speed
CW direction
CCW direction
Maximum speed
0
8 [V]
-8 [V]
1 Torque (Note 1, 4)
Maximum torque
Power running in CW direction
Maximum torque
0
8 [V]
-8 [V]
Power running in CCW direction
2 Servo motor speed
Maximum speed
CW direction CCW direction
Maximum speed 0
8 [V]
3 Torque (Note 1, 4)
Maximum torque
Power running in CW direction
Power running in CCW direction
Maximum torque 0
8 [V]
4 Current command (Note 4)
Maximum current command (Maximum torque command)
CW direction
CCW direction
Maximum current command (Maximum torque command)
0
8 [V]
-8 [V]
5 Speed command
Maximum speed
CW direction
CCW direction
Maximum speed
0
8 [V]
-8 [V]
6 Droop pulses (Note 2) (10 V/1128 pulses)
1128 [pulse]
CW direction
CCW direction
1128 [pulse]
0
10 [V]
-10 [V]
7 Droop pulses (Note 2) (10 V/2048 pulses)
2048 [pulse]
CW direction
CCW direction
2048 [pulse]
0
10 [V]
-10 [V]
8 Droop pulses (Note 2) (10 V/8192 pulses)
8192 [pulse]
CW direction
CCW direction
8192 [pulse]
0
10 [V]
-10 [V]
9 Droop pulses (Note 2) (10 V/32768 pulses)
32768 [pulse]
CW direction
CCW direction
32768 [pulse]
0
10 [V]
-10 [V]
A Droop pulses (Note 2) (10 V/131072 pulses)
131072 [pulse]
CW direction
CCW direction
131072 [pulse]
0
10 [V]
-10 [V]
B Bus voltage (Note 3)
400 [V]0
8 [V]
Note 1. 8 V is outputted at the maximum torque.
2. Encoder pulse unit
3. For 400 V class servo amplifier, the bus voltage becomes +8 V/800 V.
4. For details on the value of the maximum current command (maximum torque) for 8 V, refer to app. 8.4.
APPENDIX
App. - 40
App. 8.3 Analog monitor block diagram
Droop pulsesSpeed command
Position control
Speed control PWMCurrent
control
Current command Bus voltage
Speed command
Current encoder
+ Servo motor
Encoder Current feedback
Position feedback
M
Position command received from a servo system controller
Differen- tiation
Differen- tiation
Servo motor speed Torque
+
+
--
+
-
APPENDIX
App. - 41
App. 8.4 Maximum current command (maximum torque) for analog monitor 8 V Values of the maximum current command (maximum torque) when the analog monitor is 8 V are listed.
The current command (torque) outputs the maximum current command (maximum torque) at 8 V. The maximum current command (maximum torque) may not match the rated current/maximum current ratio since it is created from the torque current in the servo amplifier. App. 8.4.1 Rotary servo motor
(1) 200 V/100 V class
Servo motor Servo amplifier/drive unit Maximum current
command (maximum torque) [%]
HG-KR series
HG-KR053 MR-J4-10B-RJ020/MR-J4-10B1-RJ020 370
HG-KR13 MR-J4-10B-RJ020/MR-J4-10B1-RJ020 373
HG-KR23 MR-J4-20B-RJ020/MR-J4-20B1-RJ020 387
HG-KR43 MR-J4-40B-RJ020/MR-J4-40B1-RJ020 383
HG-KR73 MR-J4-70B-RJ020 367
HG-MR series
HG-MR053 MR-J4-10B-RJ020/MR-J4-10B1-RJ020 342
HG-MR13 MR-J4-10B-RJ020/MR-J4-10B1-RJ020 336
HG-MR23 MR-J4-20B-RJ020/MR-J4-20B1-RJ020 396
HG-MR43 MR-J4-40B-RJ020/MR-J4-40B1-RJ020 361
HG-MR73 MR-J4-70B-RJ020 345
HG-SR 1000 r/min series
HG-SR51 MR-J4-60B-RJ020 311
HG-SR81 MR-J4-100B-RJ020 329
HG-SR121 MR-J4-200B-RJ020 353
HG-SR201 MR-J4-200B-RJ020 334
HG-SR301 MR-J4-350B-RJ020 366
HG-SR421 MR-J4-500B-RJ020 347
HG-SR 2000 r/min series
HG-SR52 MR-J4-60B-RJ020 302
HG-SR102 MR-J4-100B-RJ020 310
HG-SR152 MR-J4-200B-RJ020 320
HG-SR202 MR-J4-200B-RJ020 327
HG-SR352 MR-J4-350B-RJ020 332
HG-SR502 MR-J4-500B-RJ020 341
HG-SR702 MR-J4-700B-RJ020 336
HG-UR series
HG-UR72 MR-J4-70B-RJ020 355
HG-UR152 MR-J4-200B-RJ020 340
HG-UR202 MR-J4-350B-RJ020 350
HG-UR352 MR-J4-500B-RJ020 320
HG-UR502 MR-J4-500B-RJ020 330
HG-RR series
HG-RR103 MR-J4-200B-RJ020 300
HG-RR153 MR-J4-200B-RJ020 250
HG-RR203 MR-J4-350B-RJ020 290
HG-RR353 MR-J4-500B-RJ020 270
HG-RR503 MR-J4-500B-RJ020 270
HG-JR 1000 r/min series
HG-JR601 MR-J4-700B-RJ020 337
HG-JR801 MR-J4-11KB-RJ020 366
HG-JR12K1 MR-J4-11KB-RJ020 346
HG-JR15K1 MR-J4-15KB-RJ020 339
HG-JR20K1 MR-J4-22KB-RJ020 337
HG-JR25K1 MR-J4-22KB-RJ020 330
HG-JR30K1 MR-J4-DU30KB-RJ020 330
HG-JR37K1 MR-J4-DU37KB-RJ020 330
APPENDIX
App. - 42
Servo motor Servo amplifier/drive unit Maximum current
command (maximum torque) [%]
HG-JR 1500 r/min series
HG-JR701M MR-J4-700B-RJ020 326
HG-JR11K1M MR-J4-11KB-RJ020 335
HG-JR15K1M MR-J4-15KB-RJ020 334
HG-JR22K1M MR-J4-22KB-RJ020 317
HG-JR30K1M MR-J4-DU30KB-RJ020 342
HG-JR37K1M MR-J4-DU37KB-RJ020 365
HG-JR 3000 r/min series
HG-JR53 MR-J4-60B-RJ020 341
MR-J4-100B-RJ020 460
HG-JR73 MR-J4-70B-RJ020 331
MR-J4-200B-RJ020 460
HG-JR103 MR-J4-100B-RJ020 341
MR-J4-200B-RJ020 460
HG-JR153 MR-J4-200B-RJ020 320
MR-J4-350B-RJ020 460
HG-JR203 MR-J4-200B-RJ020 320
MR-J4-350B-RJ020 460
HG-JR353 MR-J4-350B-RJ020 307
MR-J4-500B-RJ020 464
HG-JR503 MR-J4-500B-RJ020 342
MR-J4-700B-RJ020 430
HG-JR703 MR-J4-700B-RJ020 341
HG-JR903 MR-J4-11KB-RJ020 352
APPENDIX
App. - 43
(2) 400 V class
Servo motor Servo amplifier/drive unit Maximum current
command (maximum torque) [%]
HG-SR 2000 r/min series
HG-SR524 MR-J4-60B4-RJ020 313
HG-SR1024 MR-J4-100B4-RJ020 322
HG-SR1524 MR-J4-200B4-RJ020 330
HG-SR2024 MR-J4-200B4-RJ020 327
HG-SR3524 MR-J4-350B4-RJ020 336
HG-SR5024 MR-J4-500B4-RJ020 336
HG-SR7024 MR-J4-700B4-RJ020 346
HG-JR 1000 r/min series
HG-JR6014 MR-J4-700B4-RJ020 337
HG-JR8014 MR-J4-11KB4-RJ020 336
HG-JR12K14 MR-J4-11KB4-RJ020 346
HG-JR15K14 MR-J4-15KB4-RJ020 335
HG-JR20K14 MR-J4-22KB4-RJ020 341
HG-JR25K14 MR-J4-22KB4-RJ020 337
HG-JR30K14 MR-J4-DU30KB4-RJ020 330
HG-JR37K14 MR-J4-DU37KB4-RJ020 330
HG-JR 1500 r/min series
HG-JR701M4 MR-J4-700B4-RJ020 329
HG-JR11K1M4 MR-J4-11KB4-RJ020 338
HG-JR15K1M4 MR-J4-15KB4-RJ020 338
HG-JR22K1M4 MR-J4-22KB4-RJ020 342
HG-JR30K1M4 MR-J4-DU30KB4-RJ020 335
HG-JR37K1M4 MR-J4-DU37KB4-RJ020 323
HG-JR45K1M4 MR-J4-DU45KB4-RJ020 344
HG-JR55K1M4 MR-J4-DU55KB4-RJ020 321
HG-JR 3000 r/min series
HG-JR534 MR-J4-60B4-RJ020 320
MR-J4-100B4-RJ020 460
HG-JR734 MR-J4-100B4-RJ020 320
MR-J4-200B4-RJ020 459
HG-JR1034 MR-J4-100B4-RJ020 320
MR-J4-200B4-RJ020 459
HG-JR1534 MR-J4-200B4-RJ020 320
MR-J4-350B4-RJ020 459
HG-JR2034 MR-J4-200B4-RJ020 320
MR-J4-350B4-RJ020 459
HG-JR3534 MR-J4-350B4-RJ020 320
MR-J4-500B4-RJ020 470
HG-JR5034 MR-J4-500B4-RJ020 320
MR-J4-700B4-RJ020 413
HG-JR7034 MR-J4-700B4-RJ020 337
HG-JR9034 MR-J4-11KB4-RJ020 336
APPENDIX
App. - 44
App. 8.4.2 HC series/HA series servo motor
(1) 200 V/100 V class
Servo motor Servo amplifier/drive unit Maximum current
command (maximum torque) [%]
HC-KFS series
HC-KFS053 MR-J4-10B-RJ020/MR-J4-10B1-RJ020 321
HC-KFS13 MR-J4-10B-RJ020/MR-J4-10B1-RJ020 320
HC-KFS23 MR-J4-20B-RJ020/MR-J4-20B1-RJ020 320
HC-KFS43 MR-J4-40B-RJ020/MR-J4-40B1-RJ020 320
HC-KFS73 MR-J4-70B-RJ020 320
HC-KFS46 MR-J4-70B-RJ020 480
HC-KFS410 MR-J4-70B-RJ020 530
HC-MFS series
HC-MFS053 MR-J4-10B-RJ020/MR-J4-10B1-RJ020 336
HC-MFS13 MR-J4-10B-RJ020/MR-J4-10B1-RJ020 331
HC-MFS23 MR-J4-20B-RJ020/MR-J4-20B1-RJ020 350
HC-MFS43 MR-J4-40B-RJ020/MR-J4-40B1-RJ020 340
HC-MFS73 MR-J4-70B-RJ020 350
HC-SFS 1000 r/min series
HC-SFS81 MR-J4-100B-RJ020 320
HC-SFS121 MR-J4-200B-RJ020 330
HC-SFS201 MR-J4-200B-RJ020 320
HC-SFS301 MR-J4-350B-RJ020 320
HC-SFS 2000 r/min series
HC-SFS52 MR-J4-60B-RJ020 300
HC-SFS102 MR-J4-100B-RJ020 300
HC-SFS152 MR-J4-200B-RJ020 300
HC-SFS202 MR-J4-200B-RJ020 300
HC-SFS352 MR-J4-350B-RJ020 300
HC-SFS502 MR-J4-500B-RJ020 320
HC-SFS702 MR-J4-700B-RJ020 320
HC-SFS 3000 r/min series
HC-SFS53 MR-J4-60B-RJ020 320
HC-SFS103 MR-J4-100B-RJ020 320
HC-SFS153 MR-J4-200B-RJ020 320
HC-SFS203 MR-J4-200B-RJ020 320
HC-SFS353 MR-J4-350B-RJ020 320
HC-RFS series
HC-RFS103 MR-J4-200B-RJ020 300
HC-RFS153 MR-J4-200B-RJ020 250
HC-RFS203 MR-J4-350B-RJ020 290
HC-RFS353 MR-J4-500B-RJ020 270
HC-RFS503 MR-J4-500B-RJ020 270
HC-UFS 2000 r/min series
HC-UFS72 MR-J4-70B-RJ020 355
HC-UFS152 MR-J4-200B-RJ020 340
HC-UFS202 MR-J4-350B-RJ020 350
HC-UFS352 MR-J4-500B-RJ020 320
HC-UFS502 MR-J4-500B-RJ020 330
HC-UFS 3000 r/min series
HC-UFS13 MR-J4-10B-RJ020 330
HC-UFS23 MR-J4-20B-RJ020 330
HC-UFS43 MR-J4-40B-RJ020 330
HC-UFS73 MR-J4-70B-RJ020 300
APPENDIX
App. - 45
Servo motor Servo amplifier/drive unit Maximum current
command (maximum torque) [%]
HA-LFS 1000 r/min series
HA-LFS601 MR-J4-700B-RJ020 (Note)
HA-LFS801 MR-J4-11KB-RJ020 (Note)
HA-LFS12K1 MR-J4-11KB-RJ020 (Note)
HA-LFS15K1 MR-J4-15KB-RJ020 (Note)
HA-LFS20K1 MR-J4-22KB-RJ020 (Note)
HA-LFS25K1 MR-J4-22KB-RJ020 (Note)
HA-LFS30K1 MR-J4-DU30KB-RJ020 (Note)
HA-LFS37K1 MR-J4-DU37KB-RJ020 (Note)
HA-LFS 1500 r/min series
HA-LFS701M MR-J4-700B-RJ020 (Note)
HA-LFS11K1M MR-J4-11KB-RJ020 (Note)
HA-LFS15K1M MR-J4-15KB-RJ020 (Note)
HA-LFS22K1M MR-J4-22KB-RJ020 (Note)
HA-LFS30K1M MR-J4-DU30KB-RJ020 (Note)
HA-LFS37K1M MR-J4-DU37KB-RJ020 (Note)
HA-LFS 2000 r/min series
HA-LFS502 MR-J4-500B-RJ020 348
HA-LFS702 MR-J4-700B-RJ020 326
HA-LFS11K2 MR-J4-11KB-RJ020 300
HA-LFS15K2 MR-J4-15KB-RJ020 320
HA-LFS22K2 MR-J4-22KB-RJ020 270
HA-LFS30K2 MR-J4-DU30KB-RJ020 280
HA-LFS37K2 MR-J4-DU37KB-RJ020 275
HC-LFS series
HC-LFS52 MR-J4-60B-RJ020 350
HC-LFS102 MR-J4-100B-RJ020 327
HC-LFS152 MR-J4-200B-RJ020 334
HC-LFS202 MR-J4-350B-RJ020 344
HC-LFS302 MR-J4-500B-RJ020 344 Note. When you use this servo motor, please contact your local sales office.
APPENDIX
App. - 46
(2) 400 V class
Servo motor Servo amplifier/drive unit Maximum current
command (maximum torque) [%]
HC-SFS series
HC-SFS524 MR-J4-60B4-RJ020 320
HC-SFS1024 MR-J4-100B4-RJ020 320
HC-SFS1524 MR-J4-200B4-RJ020 320
HC-SFS2024 MR-J4-200B4-RJ020 320
HC-SFS3524 MR-J4-350B4-RJ020 320
HC-SFS5024 MR-J4-500B4-RJ020 320
HC-SFS7024 MR-J4-700B4-RJ020 320
HA-LFS 1000 r/min series
HA-LFS6014 MR-J4-700B4-RJ020 (Note)
HA-LFS8014 MR-J4-11KB4-RJ020 (Note)
HA-LFS12K14 MR-J4-11KB4-RJ020 (Note)
HA-LFS15K14 MR-J4-15KB4-RJ020 (Note)
HA-LFS20K14 MR-J4-22KB4-RJ020 (Note)
HA-LFS25K14 MR-J4-22KB4-RJ020 (Note)
HA-LFS30K14 MR-J4-DU30KB4-RJ020 (Note)
HA-LFS37K14 MR-J4-DU37KB4-RJ020 (Note)
HA-LFS 1500 r/min series
HA-LFS701M4 MR-J4-700B4-RJ020 (Note)
HA-LFS11K1M4 MR-J4-11KB4-RJ020 (Note)
HA-LFS15K1M4 MR-J4-15KB4-RJ020 (Note)
HA-LFS22K1M4 MR-J4-22KB4-RJ020 (Note)
HA-LFS30K1M4 MR-J4-DU30KB4-RJ020 (Note)
HA-LFS37K1M4 MR-J4-DU37KB4-RJ020 (Note)
HA-LFS45K1M4 MR-J4-DU45KB4-RJ020 (Note)
HA-LFS50K1M4 MR-J4-DU55KB4-RJ020 (Note)
HA-LFS 2000 r/min series
HA-LFS11K24 MR-J4-11KB4-RJ020 (Note)
HA-LFS15K24 MR-J4-15KB4-RJ020 (Note)
HA-LFS22K24 MR-J4-22KB4-RJ020 (Note)
HA-LFS30K24 MR-J4-DU30KB4-RJ020 278
HA-LFS37K24 MR-J4-DU37KB4-RJ020 268
HA-LFS45K24 MR-J4-DU45KB4-RJ020 268
HA-LFS55K24 MR-J4-DU55KB4-RJ020 268 Note. When you use this servo motor, please contact your local sales office.
APPENDIX
App. - 47
App. 9 Special specification
App. 9.1 Amplifier without dynamic brake
App. 9.1.1 Summary
This section explains servo amplifiers without dynamic brakes. Items not given in this section will be the same as MR-J4-_B_-RJ020. App. 9.1.2 Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Series
Rated output
Symbol Rated output [kW]
10 0.1
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2 350 3.5
500 5
700 7
Power supply
Symbol Power supply
None 3-phase 200 V AC to 240 V AC
4 3-phase 380 V AC to 480 V AC
Special specifications
Symbol Special specifications
RU020 MR-J4-_B_-RJ020 without a dynamic brake
1 1-phase 100 V AC to 120 V AC
B 4- -M R J 4- 6 0 R U 20 0
App. 9.1.3 Specifications
The dynamic brake built-in the 7 kW or lower 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
APPENDIX
App. - 48
Setting the following parameter disables the electronic dynamic brake. (1) At J2S compatibility mode
Servo amplifier Parameter Setting value
MR-J4-_B_-RU020 [Pr. 56] 2 _ _ _
(2) At J4 mode
Servo amplifier Parameter Setting value
MR-J4-_B_-RU020 [Pr. PF06] _ _ _ 2
Additionally, when [Pr. PA04] is "2 _ _ _" (initial value) for an MR-J4-_B_-RU020 in J4 mode, an alarm may trigger the forced stop deceleration. Setting "0 _ _ _" in [Pr. PA04] disables the forced stop deceleration. App. 9.2 Without regenerative resistor
App. 9.2.1 Summary
This section explains servo amplifiers without regenerative resistors. Items not given in this section will be the same as MR-J4-_B_-RJ020. App. 9.2.2 Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Series
Rated output Symbol Rated output [kW]
11K 11
15K 15
22K 22
Power supply
Symbol Power supply
None 3-phase 200 V AC to 240 V AC 4 3-phase 380 V AC to 480 V AC
Special specifications
Symbol Special specifications MR-J4-_B_-RJ020 without regenerative resistor RZ020
B 4- -M R J 4- K1 1 R Z 20 0
App. 9.2.3 Specifications
These are servo amplifiers of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory. When using any of these servo amplifiers, always use the MR-RB5R, MR-RB9F, MR-RB9T, MR- RB5K-4 or MR-RB6K-4 regenerative option.
APPENDIX
App. - 49
App. 10 Setting of added parameters for MR-J4-_B_-RJ020 servo amplifier
The following explains the setting procedures of parameters added for the MR-J4-_B_-RJ020 servo amplifier (at J2S compatibility mode) using a motion controller. App. 10.1 Combination of target motion controllers and peripheral software
Series Motion controller model Peripheral software for motion controller
Q series Q172CPU(N) Q173CPU(N)
MELSOFT MT Works2 (SW1DNC-MTW2-E) MT Developer (SW6RNC-GSVE)
A series A171SHCPU(N) A172SHCPU(N) A173UHCPU A273UHCPU
SW3RNC-GSVE
App. 10.2 Parameter setting procedure
App. 10.2.1 MELSOFT MT Works2
(1) Open the "Servo Parameter" window.
APPENDIX
App. - 50
(2) To display the "Servo Special Parameter Setting" dialog box, double-click the "1 to 75" setting cell of
"Parameter No." of special parameter.
Double-click
(3) Change any setting values of parameters. To enable the settings, change relevant parameters and click "OK".
Click
The following shows changing examples of parameter settings.
(a) Change of [Pr. 2 Reg. Brake Resistor] (hexadecimal parameter) When changing the setting value to "0020", input "0020" directly.
(b) Change of [Pr. 12 Load Inertia Ratio] (decimal parameter)
When changing the setting value to "7.0", input "0046", the value "70" converted to hexadecimal.
(c) Change of [Pr. 39 Electronic dynamic brake operating time] (decimal parameter) When changing the setting value to "10000", input "2710", the value "10000" converted to hexadecimal.
APPENDIX
App. - 51
(4) Write the changed parameter with communication. Clicking "Execute" will start writing.
Click
APPENDIX
App. - 52
App. 10.2.2 MT Developer (software version 00K or later)
(1) Open the "Servo Data Setting" window.
(2) To display the "Servo Special Parameter Setting" dialog box, double-click the "1 to 75" setting cell of "Parameter No." of special parameter on the "Servo Param." tab.
Double-click
APPENDIX
App. - 53
(3) Change any set values of parameters.
To enable the settings, change relevant parameters and click "OK".
Click
The following shows changing examples of parameter settings.
(a) Change of [Pr. 2 Reg. Brake Resistor] (hexadecimal parameter) When changing the setting value to "0020", input "0020" directly.
(b) Change of [Pr. 12 Load Inertia Ratio] (decimal parameter)
When changing the setting value to "7.0", input "0046", the value "70" converted to hexadecimal.
(c) Change of [Pr. 39 Electronic dynamic brake operating time] (decimal parameter) When changing the setting value to "10000", input "2710", the value "10000" converted to hexadecimal.
(4) Write the changed parameter with communication. Clicking "Write" will start writing.
Click
APPENDIX
App. - 54
App. 10.2.3 MT Developer (software version 00H or earlier) or SW3RNC-GSVE
POINT
Set as follows when the servo system controller and servo amplifier are in communication.
(1) Setting procedure
(a) Open the monitor window. Set the monitor window to the monitor stop condition with the positioning monitor.
(b) To display the "Servo SP. Parameter Setting" dialog, use the shortcut key "Ctrl" + "Shift" + "Alt" + "0" on monitor window.
APPENDIX
App. - 55
(3) Change any set values of parameters.
After the setting of a relevant parameter, click "OK" to write the setting to the motion controller and servo amplifier.
Click
The following shows changing examples of parameter settings.
(a) Change of [Pr. 2 Reg. Brake Resistor] (hexadecimal parameter) When changing the setting value to "0020", input "0020" directly.
(b) Change of [Pr. 12 Load Inertia Ratio] (decimal parameter)
When changing the setting value to "7.0", input "0046", the value "70" converted to hexadecimal.
(c) Change of [Pr. 39 Electronic dynamic brake operating time] (decimal parameter) When changing the setting value to "10000", input "2710", the value "10000" converted to hexadecimal.
(4) The parameter value set in (3) will not be reflected in a project. Read the servo parameter with
communication and save it in the project.
Click
APPENDIX
App. - 56
App. 11 Driving on/off of main circuit power supply with DC power supply
App. 11.1 Connection example
The power circuit is common to the servo amplifier of 22 kW or less. For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3.
(Note 2) Forced stop
MC (Note 3)
24 V DC
24 V DC (Note 5, 6)
L1
L2
L3
Power supply (Note 1)
servo amplifier
(Note 4) Alarm RA1
OFF
MC
ON MC
Emergency stop switch
CN3
EM1
CN8 (Note 7) Short-circuit connector (packed with the servo amplifier)
(Note 3) Main circuit power supply
MCCB
SK
DOCOM
Note 1. For power supply specifications, refer to section 1.3 or 14.1.3.
2. This diagram shows sink input interface. For source input interface, refer to section 3.7.3.
3. Configure a circuit to turn off EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
4. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller
side.
5. Driving the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements.
6. 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.
7. The STO function cannot be used in J2S compatibility mode. When using it, always attach the short-circuit connector came
with the servo amplifier or drive unit.
App. 11.2 Magnetic contactor
Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
Servo amplifier Magnetic contactor
Servo amplifier Magnetic contactor
MR-J4-10B-RJ020 MR-J4-60B4-RJ020 SD-N11 SD-T12
MR-J4-20B-RJ020 MR-J4-100B4-RJ020 MR-J4-40B-RJ020 SD-N11
SD-T12 MR-J4-200B4-RJ020
MR-J4-60B-RJ020 MR-J4-350B4-RJ020 SD-N21 SD-T21
MR-J4-70B-RJ020 MR-J4-500B4-RJ020 MR-J4-100B-RJ020 MR-J4-700B4-RJ020 MR-J4-200B-RJ020 SD-N21
SD-T21 MR-J4-11KB4-RJ020 SD-N25
MR-J4-350B-RJ020 MR-J4-15KB4-RJ020 SD-N35 MR-J4-500B-RJ020 SD-N35 MR-J4-22KB4-RJ020 SD-N50 MR-J4-700B-RJ020
SD-N50 MR-J4-10B1-RJ020
MR-J4-11KB-RJ020 MR-J4-20B1-RJ020 SD-N11 MR-J4-15KB-RJ020 SD-N65 MR-J4-40B1-RJ020
MR-J4-22KB-RJ020 SD-N95
APPENDIX
App. - 57
App. 12 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. 5 is created based on the standard SJ/T11364.
Table app. 5 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. - 58
(3) Difference between the China RoHS directive and the EU RoHS directive
The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked " ") in the China RoHS directive. The following shows some restriction exemptions and their examples according to the EU RoHS directive.
Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to 0.35% lead by weight, lead as an alloying element in aluminum containing up to 0.4% lead by weight, and copper alloy containing up to 4% lead by weight, e.g. brass-made insert nuts
Lead in high melting temperature type solders (i.e. lead-based alloys containing 85% by weight or more lead)
Electrical and electronic components containing lead in a glass or ceramic other than dielectric ceramic in capacitors, e.g. piezoelectronic devices
Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip resistors
(4) Status of our products for compliance with the China RoHS directive (Chinese) The following shows table app. 5 in Chinese according to "Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products".
.6
(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
Jun. 2013 SH(NA)030125ENG-A First edition
Aug. 2013 SH(NA)030125ENG-B MR-J4-11KB(4)-RJ020 to MR-J4-22KB(4)-RJ020 are added. Safety Instructions (1)
Transportation and installation Section 1.1 Section 1.2 (3) Section 1.3.1 Section 1.4 Section 1.6 Section 1.7.1 (1) to (6) Section 1.7.1 (7), (8) Section 1.7.2 Section 1.7.3 Section 1.8 Section 1.8 (1) Section 1.8 (2) Section 1.8 (3) Section 1.9 (7), (8) Chapter 2 Section 2.1 (1) Section 3.1 (1) to (6) Section 3.1 (7), (8) Section 3.2.1 Section 3.2.2 Section 3.3.1 Section 3.3.2 Section 3.4 Section 3.5.2 Section 3.7.1 Section 4.3.1 Section 4.5.2 Section 5.1.1 Section 5.1.2 Section 5.1.3 Section 5.2.1 Section 5.2.2 Section 5.2.3 Section 7.2.3 Section 8.1 Section 8.2 Section 8.3 Section 8.4 Section 9.1 (9) Section 9.1 (12), (13) Section 10.1 Section 10.2 Section 10.3.1
Partially changed. Partially added. Newly added. Specifications of MR-J4-11KB(4)-RJ020 to MR-J4-22KB(4)- RJ020 are added. Servo motors for MR-J4-11KB(4)-RJ020 to MR-J4-22KB(4)- RJ020 are added. Partially added and partially changed. Partially changed. Newly added. Partially changed. Partially changed. CAUTION is partially changed. Partially added and partially changed in POINT. Partially changed. Newly added. Newly added. CAUTION is partially changed. POINT is partially changed. Partially added and partially changed. Partially changed. Newly added. Partially added and partially changed. Partially added and partially changed. Partially changed. CAUTION is added. POINT is partially deleted. CN3 connector 15 pin is changed to DB. DB (Dynamic brake interlock) is added. Circuit diagram of CN3 connector 15 pin (DB) is added. Partially changed. Partially changed. Partially added and partially changed. Partially added and partially changed. Partially added and partially changed. [Pr. 58] is added. [Pr. 2] setting is changed. Partially changed. Initial values (11 kW or more) are added to [Pr. 13] to [Pr. 17]. Partially changed. [Pr. 58] is added. Partially changed. Partially changed. Partially added and partially changed. Partially added and partially changed. Partially added and partially changed. Partially added and partially changed. Newly added. Characteristics for MR-J4-11KB(4)-RJ020 to MR-J4-22KB(4)- RJ020 are added. Characteristics for MR-J4-11KB(4)-RJ020 to MR-J4-22KB(4)- RJ020 are added. Characteristics for MR-J4-11KB(4)-RJ020 to MR-J4-22KB(4)- RJ020 are added.
Revision Date *Manual Number Revision
Aug. 2013 SH(NA)030125ENG-B Section 10.3.2 Section 10.5 Section 11.1.2 Section 11.2.1 (1), (2) Section 11.2.2 (2) Section 11.2.3 Section 11.2.4 Section 11.2.5 Section 11.3 Section 11.3.1 Section 11.3.3 Section 11.3.4 Section 11.4 Section 11.5 Section 11.6 (2) Section 11.7 Section 11.9 Section 11.10 Section 11.11 Section 11.12 Section 11.14 (2) (b) Section 11.15 Section 11.16 Section 11.17 Section 11.18 Chapter 12 Section 13.2.1 (2) Section 13.2.2 (1) Section 13.2.2 (2) Section 13.2.2 (4) Section 13.3.1 App. 1 App. 5
Characteristics for MR-J4-11KB(4)-RJ020 to MR-J4-22KB(4)- RJ020 are added. Characteristics for MR-J4-11KB(4)-RJ020 to MR-J4-22KB(4)- RJ020 are added. Partially changed. Regenerative options for MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. Characteristics for MR-J4-11KB(4)-RJ020 to MR-J4-22KB(4)- RJ020 are added. Partially added and partially changed. Partially added. Partially added. POINT is partially changed. Specifications for using MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. Specifications for using MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. Partially added. Specifications for using MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. Specifications for using MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. DB is added to 15 pin. Partially added and partially changed. Specifications for using MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. Specifications for using MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. Specifications for using MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. Specifications for using MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. Partially changed. Specifications for using MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. Specifications for using MR-J4-11KB(4)-RJ020 to MR-J4- 22KB(4)-RJ020 are added. Newly added. Newly added. POINT is partially changed. Partially changed. [Pr. PA02] setting is changed. Partially changed. Setting value "06: DB (Dynamic brake interlock)" is added to [Pr. PD07]. Partially changed. Partially added and partially changed. MR-J4-11KB(4)-RJ020 to MR-J4-22KB(4)-RJ020 are added.
Mar. 2014 SH(NA)030125ENG-C 100 V class MR-J4 series servo amplifiers are added. About the manual
Section 1.1 Section 1.2 (1) to (3) Section 1.2 (4) Section 1.3.1 (1), (2) Section 1.3.1 (3) Section 1.4 (3) Section 1.5 Section 1.6 Section 1.7.1 Section 1.7.2
Partially changed. Partially changed. Partially changed. Newly added. Partially added and partially changed. Newly added. Newly added. Partially added. Partially added and partially changed. Partially changed. Partially changed.
Revision Date *Manual Number Revision
Mar. 2014 SH(NA)030125ENG-C Section 1.7.3 Section 1.8 Section 1.9 (1) to (8) Section 1.9 (9) Chapter 2 Section 2.1 (1) Section 3.1 (1) to (8) Section 3.1 (9) Section 3.2.1 Section 3.3.1 Section 3.3.2 Section 3.3.3 Section 3.8.1 Section 3.8.2 Section 3.9 Section 4.1.1 Section 4.1.2 Section 4.2 Section 4.3.1 Section 5.1.1 Section 5.2.1 Section 5.2.2 Section 5.2.3 Section 8.2 Section 8.3 Section 9.1 (1) to (13) Section 9.1 (14), (15) Section 10.1 Section 10.2 Section 10.3.2 Section 10.5 Section 11.1.1 Section 11.2.1 (3) Section 11.2.2 (2) Section 11.2.3 Section 11.2.4 Section 11.2.5 Section 11.3.3 Section 11.5 Section 11.7 Section 11.8 Section 11.9 Section 11.10 Section 11.12 Section 11.13 Section 11.14 Section 11.15 Section 11.16 Section 11.17 Section 11.18
Partially changed. Partially changed. Partially changed. Newly added. POINT is partially changed. Partially added and partially changed. Partially changed. Newly added. Partially changed. Partially added and partially changed. Partially changed. Partially added and partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. Partially added and partially changed. Partially added and partially changed. Partially changed. Newly added. Partially changed. Characteristics for MR-J4-10B1-RJ020 to MR-J4-40B1-RJ020 are added. Partially changed. POINT is added. Characteristics for MR-J4-10B1-RJ020 to MR-J4-40B1-RJ020 are added. Partially added and partially changed. Regenerative options for MR-J4-10B1-RJ020 to MR-J4-40B1- RJ020 are added. Characteristics for MR-J4-10B1-RJ020 to MR-J4-40B1-RJ020 are added. Partially added. Partially changed. Partially changed. Partially changed. Partially changed. Partially changed. The MR-BAT6V1BJ battery for junction battery cable is added. Specifications for using MR-J4-10B1-RJ020 to MR-J4-40B1- RJ020 are added. Specifications for using MR-J4-10B1-RJ020 to MR-J4-40B1- RJ020 are added. Specifications for using MR-J4-10B1-RJ020 to MR-J4-40B1- RJ020 are added. Partially added. Partially changed. Specifications for using MR-J4-10B1-RJ020 to MR-J4-40B1- RJ020 are added. Specifications for using MR-J4-10B1-RJ020 to MR-J4-40B1- RJ020 are added. Partially added and partially changed. Partially changed.
Revision Date *Manual Number Revision
Mar. 2014 SH(NA)030125ENG-C Chapter 12
Chapter 13
Section 13.1.1
Section 13.1.2
Section 13.2
Section 13.2.2 (1) to (3), (5)
Section 13.2.2 (4)
Section 13.3.1
App. 1 (3)
App. 2
App. 3
App. 5
App. 6
App. 7
App. 8
Using MR-BAT6V1BJ battery for junction battery cable is
added.
Partially added and partially changed in POINT.
Partially changed.
Partially changed.
[Pr. PD11], [Pr. PD15] to [Pr. PD17], [Pr. PD20], [Pr. PD30] to
[Pr. PD32] are added.
Partially changed.
[Pr. PD11], [Pr. PD15] to [Pr. PD17], [Pr. PD20], [Pr. PD30] to
[Pr. PD32] are added.
[AL. 3D] and [AL. 82] are added.
Newly added.
Partially added.
Partially added and partially changed.
Contents of MR-J4-10B1-RJ020 to MR-J4-40B1-RJ020 are
added.
Partially changed.
Newly added.
Newly added.
Sep. 2015 SH(NA)030125ENG-D HG-JR servo motor, large capacities, and fully closed loop system (7 kW or less) are added.
Front cover
Safety Instructions
About the manuals
Chapter 1
Section 1.1
Section 1.3
Section 1.4
Section 1.5
Section 1.8
Section 3.1
Section 3.2.1
Section 3.3.3 (2)
Chapter 5
Section 5.1.4
Section 5.2
Chapter 8
Chapter 10
Section 10.3
Section 11.1.1
Section 11.2.4 (3)
Section 11.5.2 (3)
Section 11.8
Section 11.6
Section 11.10
Section 11.15
Chapter 12
Chapter 13
Chapter 14
Chapter 15
App. 2
App. 3
App. 4
The title is changed.
Partially added.
Partially added.
POINT is added.
Partially changed.
Partially added.
Partially added.
Functions are added.
Partially changed.
CAUTION is added.
Partially added.
Partially changed.
Added.
Added.
The description of the fully closed loop system is added.
The description of the fully closed loop system is added.
The description of large capacities (MR-J4-DU30KB(4)-RJ020
to MR-J4-DU55KB4-RJ020) is added.
HG-JR servo motor is partially added.
POINT is added.
Partially added.
CAUTION is changed.
Note is added.
Changed.
Partially changed.
The caution and the note are added.
Partially changed.
Changed.
The description of large capacities (MR-J4-DU30KB(4)-RJ020
to MR-J4-DU55KB4-RJ020) is added.
POINT is added.
Added.
Added.
Added.
Partially added.
Partially changed.
Revision Date *Manual Number Revision
Sep. 2015 SH(NA)030125ENG-D App. 6
App. 7
App. 10
App. 11
Partially changed.
Added.
Partially added.
Added.
Apr. 2016 SH(NA)030125ENG-E Software version A6 and fully closed loop control system (11 kW or more) are added
4. Additional instructions
About the manual
Section 1.1
Section 1.2
Section 1.3
Section 1.5
Section 1.6
Section 1.7
Section 2.5 (1)
Section 2.6
Section 3.3.3
Section 3.4
Section 5.1.1
Section 8.2
Section 10.2
Section 10.3.2
Section 11.1.1
Section 11.5.2 (6)
Section11.7
Section 11.8.3
Section 11.10
Section 11.16
Chapter 13
Section 13.2.2
Section 13.3
Chapter 14
Section 14.2.5
Section 14.9.9
Chapter 15
App. 3
App. 6
App. 7
App. 12
Partially changed.
Note is partially changed.
Partially changed.
Illustration is partially changed.
Partially added.
Partially added.
Partially added.
Partially changed.
Partially changed.
Added.
Open tool is added.
Partially added.
Note is added.
Partially added.
Partially changed.
Partially added.
Open tool is added.
Magnetic contactor is added.
Partially changed.
Partially changed.
Magnetic contactor is added.
Partially changed.
Partially changed.
Partially changed.
Partially changed.
Contents of fully closed loop system are added.
Added.
Partially changed.
Partially changed.
Partially changed.
Partially changed.
Partially changed.
Magnetic contactor is added.
May 2016 SH(NA)030125ENG-F Section 13.2.2
App. 6.2.3 (2)
App. 7.2.3 (2)
[Pr. PB52], [Pr. PB53], [Pr. PB54], and [Pr. PB55] are partially
changed.
Partially changed.
Partially changed.
May 2017 SH(NA)030125ENG-G Adaptive filter II is supported.
4. Additional instructions
(1) Transportation and
installation
The ambient humidity is changed.
(5) Corrective actions Partially added.
Section 1.3 Partially changed.
Section 1.5 Partially added.
Section 1.7 Partially changed.
Section 1.9 Partially changed.
Section 2.1 Partially changed.
Section 2.5 Partially changed.
Section 3.1 Partially changed.
Section 4.5.2 Partially changed.
Revision Date *Manual Number Revision
May 2017 SH(NA)030125ENG-G Chapter 5 CAUTION is changed.
Section 5.2.2 Partially added to [Pr. 25] and [Pr. 61].
Section 7.1.3 Newly added.
Section 9.1 (7) The diagrams are partially changed.
Section 10.5 POINT is partially changed.
Section 11.1.1 Partially added and partially changed.
Section 11.1.4 Newly added.
Section 11.2.2 Partially changed.
Section 11.2.4 (3) Partially added and partially changed.
Section 11.3.3 Partially changed.
Section 11.4 (2) Partially changed.
Section 11.5.2 (3) Partially changed.
Section 11.5.2 (6) Partially changed.
Section 11.8.3 Partially changed.
Section 11.8.5 Partially changed.
Section 11.10 Partially added and partially changed.
Section 11.14 (2) (b) Partially changed.
Section 11.17 Partially added and partially changed.
Section 13.2 CAUTION is changed.
Section 13.3.2 Partially changed.
Section 13.3.3 Partially changed.
Section 14.1.3 Partially changed.
Section 14.9.2 (2) Partially changed.
Section 14.9.3 Partially added and partially changed.
App. 4 Partially changed.
App. 6 Partially changed.
App. 7 Partially changed.
App. 13 Newly added.
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
2013 MITSUBISHI ELECTRIC CORPORATION
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.
Country/Region Sales office Tel/Fax USA Mitsubishi Electric Automation, Inc.
500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
Tel Fax
: +1-847-478-2100 : +1-847-478-2253
Mexico Mitsubishi Electric Automation, Inc. Mexico Branch Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo. Mexico, C.P.54030
Tel Fax
: +52-55-3067-7500 :
Brazil Mitsubishi Electric do Brasil Comercio e Servicos Ltda. Avenida Adelino Cardana, 293, 21 andar, Bethaville, CEP 06401-147, Barueri SP, Brazil
Tel Fax
: +55-11-4689-3000 : +55-11-4689-3016
Germany Mitsubishi Electric Europe B.V. German Branch Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany
Tel Fax
: +49-2102-486-0 : +49-2102-486-1120
UK Mitsubishi Electric Europe B.V. UK Branch Travellers Lane, UK-Hatfield, Hertfordshire, AL10 8XB, U.K.
Tel Fax
: +44-1707-28-8780 : +44-1707-27-8695
Italy Mitsubishi Electric Europe B.V. Italian Branch Centro Direzionale Colleoni - Palazzo Sirio, Viale Colleoni 7, 20864 Agrate Brianza (MB), Italy
Tel Fax
: +39-039-60531 : +39-039-6053-312
Spain Mitsubishi Electric Europe B.V. Spanish Branch Carretera de Rubi, 76-80-Apdo. 420, 08190 Sant Cugat del Valles (Barcelona), Spain
Tel Fax
: +34-935-65-3131 : +34-935-89-1579
France Mitsubishi Electric Europe B.V. French Branch 25, Boulevard des Bouvets, 92741 Nanterre Cedex, France
Tel Fax
: +33-1-55-68-55-68 : +33-1-55-68-57-57
Czech Republic Mitsubishi Electric Europe B.V. Czech Branch Avenir Business Park, Radlicka 751/113e, 158 00 Praha 5, Czech Republic
Tel Fax
: +420-251-551-470 : +420-251-551-471
Poland Mitsubishi Electric Europe B.V. Polish Branch ul. Krakowska 50, 32-083 Balice, Poland
Tel Fax
: +48-12-347-65-00 : +48-12-630-47-01
Russia Mitsubishi Electric (Russia) LLC St. Petersburg Branch Piskarevsky pr. 2, bld 2, lit Sch, BC Benua, office 720; 195027 St. Petersburg, Russia
Tel Fax
: +7-812-633-3497 : +7-812-633-3499
Sweden Mitsubishi Electric Europe B.V. (Scandinavia) Fjelievagen 8, SE-22736 Lund, Sweden
Tel Fax
: +46-8-625-10-00 : +46-46-39-70-18
Turkey Mitsubishi Electric Turkey A.S. Umraniye Branch Serifali Mahallesi Nutuk Sokak No:5, TR-34775 Umraniye / Istanbul, Turkey
Tel Fax
: +90-216-526-3990 : +90-216-526-3995
UAE Mitsubishi Electric Europe B.V. Dubai Branch Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E.
Tel Fax
: +971-4-3724716 : +971-4-3724721
South Africa Adroit Technologies 20 Waterford Office Park, 189 Witkoppen Road, Fourways, South Africa
Tel Fax
: +27-11-658-8100 : +27-11-658-8101
China Mitsubishi Electric Automation (China) Ltd. Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China
Tel Fax
: +86-21-2322-3030 : +86-21-2322-3000
Taiwan SETSUYO ENTERPRISE CO., LTD. 6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan
Tel Fax
: +886-2-2299-2499 : +886-2-2299-2509
Korea Mitsubishi Electric Automation Korea Co., Ltd. 7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 07528, Korea
Tel Fax
: +82-2-3660-9510 : +82-2-3664-8372/8335
Singapore Mitsubishi Electric Asia Pte. Ltd. 307 Alexandra Road, Mitsubishi Electric Building, Singapore 159943
Tel Fax
: +65-6473-2308 : +65-6476-7439
Thailand Mitsubishi Electric Factory Automation (Thailand) Co., Ltd. 12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand
Tel Fax
: +66-2682-6522 to 6531 : +66-2682-6020
Indonesia PT. Mitsubishi Electric Indonesia Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia
Tel Fax
: +62-21-3192-6461 : +62-21-3192-3942
Vietnam Mitsubishi Electric Vietnam Company Limited Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Vietnam
Tel Fax
: +84-8-3910-5945 : +84-8-3910-5947
India Mitsubishi Electric India Pvt. Ltd. Pune Branch Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune - 411026, Maharashtra, India
Tel Fax
: +91-20-2710-2000 : +91-20-2710-2100
Australia Mitsubishi Electric Australia Pty. Ltd. 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia
Tel Fax
: +61-2-9684-7777 : +61-2-9684-7245
Japan Mitsubishi Electric Corporation Tokyo Building, 2-7-3, Marunouchi, Chiyoda-ku, Tokyo 100-8310, Japan
Tel : +81-3-3218-2111
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)030125ENG-G
SH(NA)030125ENG-G(1705)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-J4-(DU)_B_-RJ020 M
R-CR55K_ M R-J4-T20 SERVO AM
PLIFIER INSTRUCTION M ANUAL
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SERVO AMPLIFIER INSTRUCTION MANUAL
Conversion Unit for SSCNET of MR-J2S-B Compatible AC Servo
1CW814
MR-J4-B-RJ020 MR-J4-T20 INSTRUCTION
MODEL (Servo Amplifier)
MR-J4-_B_-RJ020 MODEL (Drive Unit)
MR-J4-DU_B_-RJ020 MODEL (Converter Unit)<
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