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Mitsubishi MR-J4-DU-B-RJ Drive Unit Instruction Manual PDF
Summary of Content for Mitsubishi MR-J4-DU-B-RJ Drive Unit Instruction Manual PDF
General-Purpose AC Servo
Power Regeneration Converter Unit MODEL
MR-CV_ Resistance Regeneration Converter Unit MODEL
MR-CR55K_ SSCNET /H Interface Drive Unit MODEL
MR-J4-DU_B_(-RJ) General-Purpose Interface Drive Unit MODEL
MR-J4-DU_A_(-RJ) INSTRUCTION MANUAL
F
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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 depending on 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.
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1. To prevent electric shock, note the following
WARNING Before wiring, 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, when confirming whether the charge lamp is off or not, be sure to look at the lamp from the front of the converter unit. Ground the converter unit, drive unit, 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 converter unit, drive unit, 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 converter unit and the drive unit. Otherwise, it may cause an electric shock. Do not operate the converter unit and the drive unit with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock. Except for wiring or periodic inspection, do not remove the front cover of the converter unit and the drive unit even if the power is off. The converter unit and the drive unit are charged, and you may get an electric shock. To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the converter unit and the drive unit 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 converter unit, the drive unit, the servo motor, and the regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. Be sure to connect a 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 off the power supply by the magnetic contactor. If the magnetic contactor is not connected, a continuous flow of a large current may cause smoke or a fire when the converter unit or the drive unit malfunctions. Be sure to connect a magnetic contactor for each converter unit 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 off the power supply by the magnetic contactor. If a molded-case circuit breaker or fuse is not connected, a continuous flow of a large current may cause smoke or a fire when the converter unit malfunctions. When using the regenerative resistor, shut the power off with an 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 converter unit, the drive unit, and the servo motor.
3. To prevent injury, note the following
CAUTION Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc. Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur. The heat sink of the converter unit and drive unit, the regenerative resistor, the servo motor, etc. may be hot while 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.
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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. Use the eyebolts of the converter unit and of the drive unit only for transporting. Do not use the eyebolts for transporting with the converter unit and the drive unit mounted on a machine. Do not overtighten the eyebolts of the converter unit and of the drive unit. Tightening too hard may damage the tap. Stacking in excess of the specified number of product packages is not allowed. Do not hold the front cover, cables, or connectors when carrying the converter unit and drive unit. Otherwise, it may drop. 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 product. Otherwise, it may cause injury. The equipment must be installed in the specified direction. Maintain specified clearances between the converter unit/drive unit and the inner surfaces of a control cabinet or other equipment. Do not install or operate the converter unit, the drive unit, and the servo motor which have been damaged or have any parts missing. Do not block the intake and exhaust areas of the converter unit and the drive unit. Otherwise, it may cause a malfunction. Do not drop or apply heavy impact on the converter units, the drive units, and the servo motors. Otherwise, it may cause injury, malfunction, etc. Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc. When you keep or use the equipment, please fulfill the following environment.
Item Environment Ambient
temperature Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing) Ambient
humidity Operation
5 %RH to 90 %RH (non-condensing)
Storage Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.) Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (X, Y, Z axes)
When the product has been stored for an extended period of time, contact your local sales office. When handling the converter unit and the drive unit, be careful with the sharp edges of the converter unit and drive unit. The converter unit and the drive unit must be installed in a metal cabinet. When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products. To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.
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(2) Wiring
CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the drive unit output side. To avoid a malfunction of the servo motor, connect the wires to the correct phase terminals (U/V/W) of the drive unit and the servo motor. Connect the drive unit power outputs (U/V/W) to the servo motor power inputs (U/V/W) directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.
U Servo motor
MV
W
U
V
W
U
MV
W
U
V
W
Drive unit Servo motorDrive unit
The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated otherwise. Install the surge absorbing diode to the DC relay for control output signals in the converter unit and the drive unit in the specified direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.
DOCOM 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
When the wires are not tightened enough to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to tighten the wires with specified torque. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the drive unit may cause a malfunction. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off. To prevent malfunction, avoid bundling the power lines (input/output) of the converter unit and the signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.
(3) Test run and adjustment
CAUTION When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.
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CAUTION 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 For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision. Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury, etc. Disassembled, repaired, and/or modified products are not covered under warranty. Before resetting an alarm, make sure that the run signal of the drive unit is off to prevent a sudden restart. Otherwise, it may cause an accident. Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the converter unit and the drive unit. Do not burn or destroy the converter unit and the drive unit. Doing so may generate a toxic gas. Use the converter unit and the drive unit with the specified servo motor. Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, it may cause an electric shock, fire, injury, etc. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side. If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.
(5) Corrective actions
CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard. When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation. If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the converter unit and drive unit, and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters, ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before switching the power on.
A - 6
CAUTION Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened with the emergency stop switch.
Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.
24 V DC
(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 converter unit and the drive unit be replaced every 10 years when it is used in general environment. When using a converter unit or a drive unit whose power has not been turned on for a long 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.
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DISPOSAL OF WASTE Please dispose a servo amplifier 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 converter unit and the drive unit may malfunction when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes Home position setting in the absolute position detection system (MR-J4-DU_A_(-RJ))
STO function of the drive unit
When using the STO function of the drive unit, refer to chapter 13 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" or "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". For the MR-J3-D05 safety logic unit, refer to app. 5 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" or "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". Compliance with global standards
Refer to section 10.2 for the compliance with global standards.
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About the manual
You must have this Instruction Manual and the following manuals to use this servo. Be sure to prepare all the instruction manuals necessary to use the servo safely. Power resistance regeneration converter units and resistance regeneration converter units are written as converter units in this manual under certain circumstances, unless otherwise stated.
Relevant manuals
Manual name Manual No.
MELSERVO MR-J4-_A(-RJ) Servo Amplifier Instruction Manual (Note 1) SH(NA)030107ENG MELSERVO MR-J4-_B(-RJ) Servo Amplifier Instruction Manual (Note 2) SH(NA)030106ENG MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode) (Note 4) SH(NA)030143ENG MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Modbus RTU Protocol) (Note 5) SH(NA)030175ENG MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG MELSERVO Servo Motor Instruction Manual (Vol. 3) SH(NA)030113ENG MELSERVO Linear Servo Motor Instruction Manual (Note 6) SH(NA)030110ENG MELSERVO Linear Encoder Instruction Manual (Note 3) SH(NA)030111ENG MELSERVO EMC Installation Guidelines IB(NA)67310ENG MELSERVO MR-D30 Instruction Manual (Note 7) SH(NA)030132ENG
Note 1. It is necessary for using an MR-J4-DU_A_(-RJ) drive unit. 2. It is necessary for using an MR-J4-DU_B_(-RJ) drive unit. 3. It is necessary for using the fully closed loop system. 4. It is necessary for using an MR-J4-DU_A_-RJ drive unit in the positioning mode. 5. It is necessary for using the Modbus RTU communication function. 6. It is necessary for using a linear servo motor. 7. It is necessary for using an MR-D30 functional safety unit.
This Instruction Manual does not describe the following items. The following are the same as those for MR-J4-_(-RJ). For the details of the items, refer to each chapter/section indicated in the detailed explanation field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Model Item Detailed explanation
MR-J4-DU_B_(-RJ) NORMAL GAIN ADJUSTMENT MR-J4-_B_ chapter 6 SPECIAL ADJUSTMENT FUNCTIONS (Note) MR-J4-_B_ chapter 7 ABSOLUTE POSITION DETECTION
SYSTEM MR-J4-_B_ chapter 12
USING STO FUNCTION MR-J4-_B_ chapter 13 USING A LINEAR SERVO MOTOR MR-J4-_B_ chapter 14 FULLY CLOSED LOOP SYSTEM MR-J4-_B_ chapter 16 APPLICATION OF FUNCTIONS MR-J4-_B_ chapter 17 MR-J4-DU_A_(-RJ) NORMAL GAIN ADJUSTMENT MR-J4-_A_ chapter 6 SPECIAL ADJUSTMENT FUNCTIONS (Note) MR-J4-_A_ chapter 7 ABSOLUTE POSITION DETECTION
SYSTEM MR-J4-_A_ chapter 12
USING STO FUNCTION MR-J4-_A_ chapter 13 COMMUNICATION FUNCTION (MITSUBISHI
ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)
MR-J4-_A_ chapter 14
FULLY CLOSED LOOP SYSTEM MR-J4-_A_ chapter 17
Note. Refer to chapter 9 in this Instruction Manual for the compatibility with the SEMI-F47 standard.
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Cables used for wiring
Wires mentioned in this Instruction Manual are selected based on an ambient temperature of 40 C. Contents of the package
Unpack the converter unit and the drive unit, and check the rating plates to see if the units are as you ordered.
(1) Power regeneration converter unit
Contents Quantity
Power regeneration converter unit 1 Eyebolt (for 55 kW or more) 2 Magnetic contactor wiring connector 1 MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC Servos 1
(2) Resistance regeneration converter unit
Contents Quantity
Resistance regeneration converter unit 1 Eyebolt 2 Digital I/O connector 1 MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC Servos 1
(3) Drive unit
Contents Quantity
Drive unit 1 Bus bar (for 30 kW or more) 2 Eyebolt (for 30 kW or more) 2 MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC Servos 1
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MEMO
1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-28
1.1 Summary ........................................................................................................................................... 1- 1 1.2 Model designation ............................................................................................................................. 1- 2
1.2.1 MR-CV_ power regeneration converter unit .............................................................................. 1- 2 1.2.2 MR-CR_ resistance regeneration converter unit ........................................................................ 1- 3 1.2.3 Drive unit .................................................................................................................................... 1- 4
1.3 Combinations of converter units, drive units and servo motors ........................................................ 1- 5 1.3.1 Combinations of the power regeneration converter unit and drive unit ..................................... 1- 5 1.3.2 Combinations of the resistance regeneration converter unit and drive unit .............................. 1-11 1.3.3 Combinations of drive unit and servo motors .......................................................................... 1-12
1.4 Standard specifications .................................................................................................................... 1-13 1.4.1 MR-CV_ power regeneration converter unit ............................................................................. 1-13 1.4.2 MR-CR_ resistance regeneration converter unit ....................................................................... 1-15 1.4.3 Drive unit ................................................................................................................................... 1-16
1.5 Function list ...................................................................................................................................... 1-24 1.6 Configuration including peripheral equipment ................................................................................. 1-25
1.6.1 MR-CV_ power regeneration converter unit ............................................................................. 1-25 1.6.2 MR-CR_ resistance regeneration converter unit ....................................................................... 1-27
2. INSTALLATION 2- 1 to 2- 8
2.1 Installation direction and clearances ................................................................................................. 2- 2 2.1.1 When using MR-CV_ power regeneration converter unit .......................................................... 2- 2 2.1.2 When using MR-CR_ resistance regeneration converter unit ................................................... 2- 5
2.2 Keeping out of foreign materials ....................................................................................................... 2- 6 2.3 Inspection items ................................................................................................................................ 2- 6 2.4 Parts having service life .................................................................................................................... 2- 7 2.5 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m
above sea level ................................................................................................................................. 2- 8
3. MR-CV_ POWER REGENERATION CONVERTER UNIT 3- 1 to 3-82
3.1 Function block diagram ..................................................................................................................... 3- 2 3.2 Structure (parts identification) ........................................................................................................... 3- 4 3.3 Signals and wiring ............................................................................................................................. 3- 7
3.3.1 Connection example of power circuit ......................................................................................... 3- 8 3.3.2 Explanation of power supply system ......................................................................................... 3-34 3.3.3 Connectors and pin assignment ................................................................................................ 3-41 3.3.4 Signal (device) explanations ..................................................................................................... 3-45 3.3.5 Alarm occurrence timing chart .................................................................................................. 3-46 3.3.6 Forced stop in the power regeneration converter unit .............................................................. 3-55 3.3.7 Interfaces ................................................................................................................................... 3-59 3.3.8 Grounding .................................................................................................................................. 3-61
3.4 Startup.............................................................................................................................................. 3-62 3.4.1 Switching power on for the first time ......................................................................................... 3-63 3.4.2 Startup ....................................................................................................................................... 3-66 3.4.3 Switch setting and operation section of power regeneration converter unit ............................. 3-67
3.5 Characteristics ................................................................................................................................. 3-71
2
3.5.1 Overload protection characteristics ........................................................................................... 3-71 3.5.2 Power supply capacity and generated loss ............................................................................... 3-74 3.5.3 Inrush currents at power-on of the main circuit and control circuit power supplies .................. 3-77
3.6 Disabling the protection coordination mode (stand-alone drive) ..................................................... 3-78 3.6.1 200 V class ................................................................................................................................ 3-79 3.6.2 400 V class ................................................................................................................................ 3-81
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT 4- 1 to 4-66
4.1 Function block diagram ..................................................................................................................... 4- 2 4.2 Structure ........................................................................................................................................... 4- 6
4.2.1 Parts identification ...................................................................................................................... 4- 6 4.2.2 Opening and closing of the terminal block cover ....................................................................... 4- 7
4.3 Signals and wiring ............................................................................................................................ 4-11 4.3.1 Input power supply circuit .......................................................................................................... 4-12 4.3.2 Explanation of power supply system ......................................................................................... 4-23 4.3.3 Connectors and pin assignment ................................................................................................ 4-28 4.3.4 Signal (device) explanations ..................................................................................................... 4-29 4.3.5 Alarm occurrence timing chart .................................................................................................. 4-30 4.3.6 Forced stop in the resistance regeneration converter unit ........................................................ 4-38 4.3.7 Interfaces ................................................................................................................................... 4-42 4.3.8 Grounding .................................................................................................................................. 4-44
4.4 Startup.............................................................................................................................................. 4-45 4.4.1 Switching power on for the first time ......................................................................................... 4-46 4.4.2 Startup ....................................................................................................................................... 4-51 4.4.3 Display and operation section of the resistance regeneration converter unit ........................... 4-52
4.5 Parameters ...................................................................................................................................... 4-59 4.5.1 Parameter list ............................................................................................................................ 4-59 4.5.2 Detailed list of parameters ........................................................................................................ 4-60
4.6 Characteristics ................................................................................................................................. 4-62 4.6.1 Overload protection characteristics ........................................................................................... 4-62 4.6.2 Power supply capacity and generated loss ............................................................................... 4-63 4.6.3 Inrush currents at power-on of main circuit/control circuit......................................................... 4-65
5. MR-J4-DU_(-RJ) DRIVE UNIT 5- 1 to 5-44
5.1 Structure (Parts identification) .......................................................................................................... 5- 1 5.1.1 MR-J4-DU_B_(-RJ) .................................................................................................................... 5- 2 5.1.2 MR-J4-DU_A_(-RJ) .................................................................................................................... 5- 9
5.2 Signals and wiring ............................................................................................................................ 5-14 5.2.1 Signal explanations ................................................................................................................... 5-15 5.2.2 Connectors and pin assignment ................................................................................................ 5-16
5.3 Parameter ........................................................................................................................................ 5-18 5.3.1 MR-J4-DU_B_(-RJ) ................................................................................................................... 5-18 5.3.2 MR-J4-DU_A_(-RJ) ................................................................................................................... 5-23
5.4 Characteristics ................................................................................................................................. 5-24 5.4.1 Drive unit ................................................................................................................................... 5-24 5.4.2 Dynamic brake characteristics .................................................................................................. 5-27 5.4.3 Inrush currents at power-on of control circuit ............................................................................ 5-34
5.5 Mounting and removing MR-D30 ..................................................................................................... 5-35 5.5.1 MR-J4-DU900B-RJ to MR-J4-DU22KB-RJ/MR-J4-DU900B4-RJ to MR-J4-DU22KB4-RJ ...... 5-36
3
5.5.2 MR-J4-DU30K_-RJ to MR-J4-DU37K_-RJ/MR-J4-DU30K_4-RJ to MR-J4-DU55K_4-RJ ....... 5-40
6. TROUBLESHOOTING 6- 1 to 6-16
6.1 MR-CV_ Power regeneration converter unit ..................................................................................... 6- 1 6.1.1 Explanation for the lists .............................................................................................................. 6- 1 6.1.2 Alarm/warning list ....................................................................................................................... 6- 1
6.2 MR-CR_ Resistance regeneration converter unit ............................................................................. 6- 2 6.2.1 Explanation for the lists .............................................................................................................. 6- 2 6.2.2 Alarm/warning list ....................................................................................................................... 6- 2
6.3 Drive unit ........................................................................................................................................... 6- 3 6.3.1 Explanation for the lists .............................................................................................................. 6- 3 6.3.2 Alarm list ..................................................................................................................................... 6- 4 6.3.3 Warning list ................................................................................................................................ 6-14
7. DIMENSIONS 7- 1 to 7-12
7.1 MR-CV_ Power regeneration converter unit ..................................................................................... 7- 1 7.1.1 MR-CV11K(4)/MR-CV18K(4) ..................................................................................................... 7- 1 7.1.2 MR-CV30K(4)/MR-CV37K(4)/MR-CV45K(4) ............................................................................. 7- 2 7.1.3 MR-CV55K ................................................................................................................................. 7- 3 7.1.4 MR-CV55K4/MR-CV75K4 .......................................................................................................... 7- 4
7.2 MR-CR55K(4) Resistance regeneration converter unit .................................................................... 7- 5 7.3 Drive unit ........................................................................................................................................... 7- 6
7.3.1 MR-J4-DU_B_(-RJ) .................................................................................................................... 7- 6 7.3.2 MR-J4-DU_A_(-RJ) ................................................................................................................... 7-10
8. OPTIONS AND PERIPHERAL EQUIPMENT 8- 1 to 8-70
8.1 Cable/connector sets ........................................................................................................................ 8- 2 8.1.1 Combinations of cable/connector sets ....................................................................................... 8- 2 8.1.2 Protection coordination cable ..................................................................................................... 8- 4
8.2 Regenerative option .......................................................................................................................... 8- 6 8.2.1 Combination and regenerative power ........................................................................................ 8- 6 8.2.2 Selection of regenerative option ................................................................................................. 8- 7 8.2.3 Parameter setting ....................................................................................................................... 8- 9 8.2.4 Connection of regenerative option ............................................................................................ 8-10 8.2.5 Dimensions ................................................................................................................................ 8-12
8.3 External dynamic brake ................................................................................................................... 8-13 8.3.1 Selection of external dynamic brake ......................................................................................... 8-14 8.3.2 Connection example ................................................................................................................. 8-14 8.3.3 Timing chart ............................................................................................................................... 8-18 8.3.4 Dimensions ................................................................................................................................ 8-19
8.4 Selection example of wires .............................................................................................................. 8-22 8.4.1 Connection of converter unit and drive unit .............................................................................. 8-22 8.4.2 Connection of power regeneration converter unit and servo amplifier ..................................... 8-26
8.5 Molded-case circuit breakers, fuses, magnetic contactors .............................................................. 8-28 8.5.1 For main circuit power supply ................................................................................................... 8-28 8.5.2 For control circuit power supply ................................................................................................ 8-29
8.6 Power factor improving DC reactor .................................................................................................. 8-32 8.7 AC reactor ........................................................................................................................................ 8-33
4
8.8 Noise reduction techniques.............................................................................................................. 8-34 8.8.1 Noise reduction techniques ....................................................................................................... 8-34 8.8.2 Noise reduction techniques ....................................................................................................... 8-37
8.9 Earth-leakage current breaker ......................................................................................................... 8-38 8.9.1 Selection method....................................................................................................................... 8-38 8.9.2 Selection example ..................................................................................................................... 8-40
8.10 EMC filter (recommended) ............................................................................................................. 8-41 8.10.1 Combinations with the converter unit ...................................................................................... 8-41 8.10.2 Connection example ............................................................................................................... 8-42 8.10.3 Dimensions .............................................................................................................................. 8-43
8.11 FR-BU2-(H) brake unit ................................................................................................................... 8-48 8.11.1 Selection .................................................................................................................................. 8-48 8.11.2 Brake unit parameter setting ................................................................................................... 8-49 8.11.3 Connection example of combination with FR-BR-(H) resistor unit ......................................... 8-49 8.11.4 Combination with MT-BR5-(H) resistor unit ............................................................................ 8-54 8.11.5 Connection instructions ........................................................................................................... 8-62 8.11.6 Wires ....................................................................................................................................... 8-63 8.11.7 Crimp terminals for L+ and L- terminals of TE2-1 of
resistance regeneration converter unit .................................................................................... 8-64 8.11.8 Dimensions .............................................................................................................................. 8-65
8.12 MR-DCBAR_ bus bar .................................................................................................................... 8-67 8.12.1 Bus bar .................................................................................................................................... 8-67 8.12.2 Adjustment bar ........................................................................................................................ 8-69
9. COMPLIANCE WITH SEMI-F47 STANDARD 9- 1 to 9- 4
9.1 Parameter setting .............................................................................................................................. 9- 2 9.2 Requirement of SEMI-F47 standard ................................................................................................. 9- 3 9.3 Calculation of tolerance against instantaneous power failure .......................................................... 9- 3
9.3.1 Delta connection ......................................................................................................................... 9- 3 9.3.2 Star connection .......................................................................................................................... 9- 3
10. APPENDIX 10- 1 to 10-18
10.1 Peripheral equipment manufacturer (for reference) ..................................................................... 10- 1 10.2 Compliance with global standards ................................................................................................ 10- 1
10.2.1 Terms related to safety .......................................................................................................... 10- 1 10.2.2 About safety ........................................................................................................................... 10- 1 10.2.3 Installation direction and clearances ...................................................................................... 10- 7 10.2.4 Electrical Installation and configuration diagram .................................................................... 10- 8 10.2.5 Signals ................................................................................................................................... 10-10 10.2.6 Maintenance and service ...................................................................................................... 10-11 10.2.7 Transportation and storage ................................................................................................... 10-12 10.2.8 Technical data ....................................................................................................................... 10-13 10.2.9 Check list for user documentation ......................................................................................... 10-14
10.3 Special coating-specification product (IEC 60721-3-3 Class 3C2) .............................................. 10-15 10.3.1 Summary ............................................................................................................................... 10-15 10.3.2 Specifications ........................................................................................................................ 10-15
10.4 EC declaration of conformity ........................................................................................................ 10-16 10.5 Status of general-purpose AC servo products for compliance with the China RoHS directive ... 10-17
10.5.1 Summary ............................................................................................................................... 10-17
5
10.5.2 Status of our products for compliance with the China RoHS directive ................................. 10-17 10.5.3 Difference between the China RoHS directive and the EU RoHS directive ......................... 10-18 10.5.4 Status of our products for compliance with the China RoHS directive (Chinese) ................. 10-18
6
MEMO
1. FUNCTIONS AND CONFIGURATION
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
POINT MR-CV_ power regeneration converter unit is used in a combination with MR-J4- DU_B_(-RJ) drive units and MR-J4-_B_(-RJ) servo amplifiers. MR-CV_ cannot be used with MR-J4-DU_A_(-RJ) drive units and MR-J4-_A_(-RJ) servo amplifiers. For summary, also refer to section 1.1 of each servo amplifier instruction manual.
In MELSERVO-J4 series, drive units with the CN2L connector are also available as MR-J4-DU_A_-RJ and MR-J4-DU_B_-RJ. An A/B/Z-phase differential output type external encoder can be connected through the CN2L connector. In a fully closed loop system or a linear servo motor system, a four-wire type external encoder is connectable as well. The following table indicates the communication method and the connector of external encoders compatible with the drive unit.
Operation mode
External encoder communication
method
Connector
MR-J4-DU_A_ MR-J4-DU_A_-RJ MR-J4-DU_B_ MR-J4-DU_B_-RJ
Fully closed loop system
Two-wire type CN2 (Note 1, 2)
CN2L
CN2 (Note 1, 2)
CN2L Four-wire type
A/B/Z-phase differential output
method
Scale measurement function
Two-wire type
CN2 (Note 1, 2)
CN2L Four-wire type
A/B/Z-phase differential output
method
Linear servo motor system
Two-wire type
CN2 (Note 1) CN2 (Note 1) Four-wire type A/B/Z-phase
differential output method
CN2L (Note 3)
Note 1. The MR-J4FCCBL03M branch cable is necessary. 2. When the communication method of the servo motor encoder is four-wire type, MR-J4-DU_A_ and MR-J4-
DU_B_ cannot be used. Use an MR-J4-DU_A_-RJ or MR-J4-DU_B_-RJ. 3. Connect a thermistor to CN2.
MR-CV_ power regeneration converter unit enables regenerative power generated during deceleration of the servo motor to be returned back to the power supply. MR-CV_ power regeneration converter unit connects with multiple MR-J4-DU_B_(-RJ) drive units and MR-J4-_B_(-RJ) servo amplifiers by sharing the bus voltage, enabling energy-conservation, less wiring, and space-saving. MR-CV_ power regeneration converter unit is compatible with drive units with software version C5 or later. MR-CR_ resistance regeneration converter unit enables regenerative power generated during deceleration of the servo motor to be consumed by a regenerative resistor.
1. FUNCTIONS AND CONFIGURATION
1 - 2
1.2 Model designation
1.2.1 MR-CV_ power regeneration converter unit
(1) Rating plate The following shows an example of the rating plate for explanation of each item.
Serial number
TOKYO 100-8310, JAPAN MADE IN JAPAN
DATE: 2016-3
MR-CV55K SER. A33001001
AC SERVO
CAPACITY INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300228 Max. Surrounding Air Temp.: 55C IP20 (Terminal block IP00)
: 55kW : 3AC200-240V 200.0A 50Hz/60Hz : DC270-324V 238.0A
MSIP-REI-MEK- TC300A911G51
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
(2) Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
Series
Capacity 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
37K
Symbol Capacity [kW]
30K 37
45K 45 55K 55 75K 75
30 18K 18 11K 11
M R - C V 7 5 K 4
1. FUNCTIONS AND CONFIGURATION
1 - 3
1.2.2 MR-CR_ resistance regeneration converter unit
(1) Rating plate The following shows an example of the rating plate for explanation of each item.
Serial number
TOKYO 100-8310, JAPAN MADE IN JAPAN
DATE: 2016-3
MR-CR55K SER. A33001001
AC SERVO
POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300228 Max. Surrounding Air Temp.: 55C IP20 (Terminal block IP00)
: 55kW : 3AC200-240V 191.3A 50Hz/60Hz : DC270-324V 215.9A
MSIP-REI-MEK- TC300A911G51
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
(2) Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
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
Symbol Special specifications None Standard -EB MR-CR_ with a special coating specification (3C2) (Note)
Special specifications
M R - C R 5 5 K 4 - E B
Power supply
Note. Type with a specially-coated resistance regeneration converter unit board (IEC 60721-3-3 Class 3C2). Refer to section 10.3 for details.
1. FUNCTIONS AND CONFIGURATION
1 - 4
1.2.3 Drive unit
(1) Rating plate The following shows an example of the rating plate for explanation of each item.
Serial number
TOKYO 100-8310, JAPAN MADE IN JAPAN
DATE: 2016-3
MR-J4-DU30KB SER. A33001001
AC SERVO
POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300228 Max. Surrounding Air Temp.: 55C IP20 (Terminal block IP00)
: 30kW : DC270-324V 117.7A : 3PH170V 0-360Hz 174.0A
MSIP-REI-MEK- TC300A916G51
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
(2) Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
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
Interface
45K 45 55K 55
30
11K 900
11 15K 15 22K 22
9
Indicates drive unit
B
Symbol Interface A
SSCNET III/H General-purpose interface
Symbol Special specifications None
-RJ
-EB
-KS
Fully closed loop control four-wire type/load-side encoder A/B/Z-phase input compatible Positioning mode compatible (Note 1) Compatible with MR-D30 functional safety unit (Note 2)
Special specifications
Standard
MR-J4-DU_ with a special coating specification (3C2) (Note 3) MR-J4-DU_-RJ with a special coating specification (3C2) (Note 3)
-M R - J 4 3 0D U K B 4 - R J
Note 1. The positioning mode is available only with MR-J4-DU_A_-RJ. 2. MR-D30 functional safety unit is compatible with drive units with software version B5 or later. 3. Type with a specially-coated drive unit board (IEC 60721-3-3 Class 3C2). This type is available with the drive unit of 30
kW or more. Refer to section 10.3 for details.
1. FUNCTIONS AND CONFIGURATION
1 - 5
1.3 Combinations of converter units, drive units and servo motors
1.3.1 Combinations of the power regeneration converter unit and drive unit
(1) Connecting one drive unit to one power regeneration converter unit The drive units are driven at the rated output with the following combinations: When operating drive units at a load ratio lower than the rated, and having met the selection conditions of (2) in this section, you can select drive units with capacity larger than those of the combinations in the following table.
(a) 200 V class
Power regeneration
converter unit Drive unit
MR-CV18K MR-J4-DU900B(-RJ) MR-J4-DU11KB(-RJ)
MR-CV30K MR-J4-DU15KB(-RJ) MR-CV37K MR-J4-DU22KB(-RJ)
MR-CV55K MR-J4-DU30KB(-RJ) MR-J4-DU37KB(-RJ)
(b) 400 V class
Power regeneration
converter unit Drive unit
MR-CV18K4 MR-J4-DU900B4(-RJ) MR-J4-DU11KB4(-RJ)
MR-CV30K4 MR-J4-DU15KB4(-RJ) MR-CV37K4 MR-J4-DU22KB4(-RJ)
MR-CV55K4
MR-J4-DU30KB4(-RJ) MR-J4-DU37KB4(-RJ) MR-J4-DU45KB4(-RJ) MR-J4-DU55KB4(-RJ)
1. FUNCTIONS AND CONFIGURATION
1 - 6
(2) Connecting multiple drive units to one power regeneration converter unit
(a) Selection method Select a power regeneration converter unit which meets the following conditions. When all the conditions are fulfilled, multiple drive units can be connected to one power regeneration converter unit. When connecting the multiple drive units, mount the drive units in descending order of capacity, from the right side of the power regeneration converter unit.
1) Maximum capacity of MR-J4-DU_ connected to MR-CV_ [kW] Maximum capacity of MR-J4-
DU_ drivable with MR-CV_ [kW]
2) Effective value of total output power of servo motors [kW] Continuous rating of MR-CV_ [kW]
3) Maximum value of total output power of servo motors [kW] 1.2 Instantaneous maximum rating of MR-CV_ [kW]
4) Total widths of MR-J4-DU_ 800 mm
MR-CV_ (200 V class) MR-CV_ (400 V class) 11K 18K 30K 37K 45K 55K 11K4 18K4 30K4 37K4 45K4 55K4 75K4
Maximum capacity of MR-J4-DU_ drivable with MR-CV_
[kW] 11 15 30 37 37 37 11 15 30 37 45 55 55
Continuous rating [kW] 7.5 11 20 22 22 37 7.5 11 20 25 25 55 55 Instantaneous maximum rating [kW] 39 60 92 101 125 175 39 60 92 101 125 175 180 Total widths of MR-J4-DU_ 800 mm or less
MR-J4-DU-_ (200 V class) MR-J4-DU-_ (400 V class)
900B 11KB 15KB 22KB 30KB 37KB 900B4 11KB4 15KB4 22KB4 30KB4 37KB4 45KB4 55KB4 Unit width [mm] 150 240 300 150 240 300
1. FUNCTIONS AND CONFIGURATION
1 - 7
(b) Selection example of power regeneration converter unit
Select a power regeneration converter unit for the following drive units: Drive unit MR-J4-DU900B/servo motor HG-SR702 Drive unit MR-J4-DU11KB/servo motor HG-JR11K1M Drive unit MR-J4-DU22KB/servo motor HG-JR22K1M
Calculate running power and regenerative power from the servo motor speed and torque as follows:
For rotary servo motor Running power and regenerative power [W] = Servo motor speed [r/min] Torque [Nm]/9.55
For linear servo motor Running power and regenerative power [W] = Servo motor speed [m/s] Thrust [N]
(Running power with a positive sign, and regenerative power with a negative sign)
Calculate the total output power of the servo motors from the running power and regenerative power of each servo motor.
-15 kW
-15 kW-15 kW
0.1 s
One cycle time: 1.2 s
0.1 s 10 kW
0.1 s
30 kW
0.5 s
0.7 s
0.6 s
0.2 s0.3 s
0.2 s
0.1 s 0.2 s
0.1 s
0.1 s
0.1 s
0.1 s
0.1 s 0.1 s
5 kW
20 kW
20 kW
15 kW
-5 kW
10 kW 0.1 s 0.1 s
0.1 s
-5 kW
10 kW
15 kW
10 kW
Regenerative power
Power running energy
Power running energy
Regenerative power
Power running energy
Regenerative power
Power running energyMR-J4-DU900B/
HG-SR702
MR-J4-DU11KB/ HG-JR11K1M
MR-J4-DU22KB/ HG-JR22K1M
Total output power of servo motors
Total output power of servo motors
Regenerative power
0.1 s
0.1 s
0.6 s
1. FUNCTIONS AND CONFIGURATION
1 - 8
1) Maximum capacity of the drive unit [kW] = 22 kW
MR-CV30K or more
2) Effective value of total output power of servo motors [kW] = (102 0.2 + 52 0.1 + 202 0.5 + 302 0.1 + 102 0.1 + (-15)2 0.1)/1.2 = 17 kW MR-CV30K or more
3) Maximum value of total output power of servo motors [kW] 1.2 = 30 kW 1.2 = 36 kW
MR-CV11K or more
4) Total widths of drive units = 240 mm (MR-J4-DU22KB) + 150 mm (MR-J4-DU11KB) + 150 mm (MR-J4-DU11KB) = 540 mm 800 mm
From the calculation, MR-CV30K is selected for the power regeneration converter unit.
Mount the MR-J4-DU_B_(-RJ) drive units in descending order of capacity, from the right side of the MR-CV_ as follows. Refer to section 2.1 for installation.
MR-CV30K MR-J4-DU22KB MR-J4-DU11KB MR-J4-DU900B
1. FUNCTIONS AND CONFIGURATION
1 - 9
(3) Connecting multiple drive units and servo amplifiers to one power regeneration converter unit
(a) Selection method Select a power regeneration converter unit which meets the following conditions. When all the conditions are fulfilled, multiple drive units and servo amplifiers can be connected to one power regeneration converter unit. When connecting the multiple drive units, mount the drive units in descending order of capacity, from the right side of the power regeneration converter unit.
1) Maximum capacity [kW] of MR-J4-DU_ connected to MR-CV_ Maximum capacity [kW] of MR-
J4-DU_ drivable with MR-CV_
2) Total capacity of servo amplifiers [kW] Total capacity of servo amplifiers drivable with MR-CV_ [kW]
3) Number servo amplifiers connected to one MR-CV_ 6
4) Effective value of total output power of servo motors [kW] Continuous rating of MR-CV_ [kW]
5) Maximum value of total output power of servo motors [kW] 1.2 Instantaneous maximum rating
of MR-CV_ [kW]
6) Total widths of MR-J4-DU_ 800 mm
MR-CV_ (200 V class) MR-CV_ (400 V class)
11K 18K 30K 37K 45K 55K 11K4 18K4 30K4 37K4 45K4 55K4 75K4 Maximum capacity of MR-J4-DU_ drivable with MR-CV_
[kW] 11 15 30 37 37 37 11 15 30 37 45 55 55
Total capacity of drivable servo amplifiers [kW] 7.5 5 15 11 11 27.5 7.5 5 15 11 11 27.5 27.5
Continuous rating [kW] 7.5 11 20 22 22 37 7.5 11 20 25 25 55 55 Instantaneous maximum rating [kW] 39 60 92 101 125 175 39 60 92 101 125 175 180 Maximum number of connectable servo amplifiers
6
Total widths of MR-J4-DU_ 800 mm or less
MR-J4-DU-_ (200 V class) MR-J4-DU-_ (400 V class)
900B 11KB 15KB 22KB 30KB 37KB 900B4 11KB4 15KB4 22KB4 30KB4 37KB4 45KB4 55KB4 Unit width [mm] 150 240 300 150 240 300
(b) Selection example of power regeneration converter unit
Select a power regeneration converter unit for the following drive units and servo amplifiers: Servo amplifier MR-J4-500B/servo motor HG-SR502 Servo amplifier MR-J4-500B/servo motor HG-SR502 Drive unit MR-J4-DU11KB/servo motor HG-JR11K1M Drive unit MR-J4-DU22KB/servo motor HG-JR22K1M
Calculate running power and regenerative power from the servo motor speed and torque as follows:
For rotary servo motor Running power and regenerative power [W] = Servo motor speed [r/min] Torque [Nm]/9.55
For linear servo motor Running power and regenerative power [W] = Servo motor speed [m/s] Thrust [N]
(Running power with a positive sign, and regenerative power with a negative sign)
1. FUNCTIONS AND CONFIGURATION
1 - 10
Calculate the total output power of the servo motors from the running power and regenerative power of each servo motor.
-15 kW
-15 kW-15 kW
0.1 s
One cycle time: 1.2 s
0.1 s
5 kW 0.1 s
40 kW
0.5 s
0.7 s
0.6 s
0.2 s0.3 s
0.1 s
0.1 s 0.2 s
0.1 s
0.1 s
0.1 s
0.1 s
0.1 s 0.1 s
5 kW
20 kW
20 kW
15 kW
-5 kW
10 kW 0.1 s 0.1 s
0.1 s
-5 kW
10 kW
15 kW
20 kW
MR-J4-500B/ HG-SR502
MR-J4-11KB/ HG-JR11K1M
MR-J4-DU22KB/ HG-JR22K1M
Total output power of servo motors
0.2 s
0.1 s
0.6 s
0.1 s 0.1 s
0.1 s-5 kW
10 kW 0.1 s 0.1 s
-5 kW
10 kW MR-J4-500B/ HG-SR502
0.1 s
0.6 s Power running energy
Regenerative power
Power running energy
Regenerative power
Power running energy
Regenerative power
Power running energy
Regenerative power
Power running energy
Regenerative power
Total output power of servo motors
1) Maximum capacity of the drive unit [kW] = 22 kW MR-CV30K or more
2) Total of servo amplifier capacities [kW] = 5 kW + 5 kW = 10 kW
MR-CV30K or more
3) Effective value of total output power of servo motors [kW] = (202 0.1 + 52 0.2 + 202 0.5 + 402 0.1 + 52 0.1 + (-15)2 0.1)/1.2 = 18.93 kW MR-CV30K or more
4) Maximum value of total output power of servo motors [kW] 1.2 = 40 kW 1.2 = 48 kW
MR-CV18K or more
5) Number of servo amplifiers: 2 6
6) Total width of drive units = 240 mm (MR-J4-DU22KB) + 150 mm (MR-J4-DU11KB) = 390 mm 800 mm
1. FUNCTIONS AND CONFIGURATION
1 - 11
From the calculation, MR-CV30K is selected for the power regeneration converter unit. Mount the MR-J4-DU_B_(-RJ) drive units in descending order of capacity, from the right side of the MR-CV_ as follows. Refer to section 2.1 for installation.
MR-CV30K MR-J4-DU22KB MR-J4-DU11KB
MR-J4-500B MR-J4-500B
1.3.2 Combinations of the resistance regeneration converter unit and drive unit
(1) 200 V class
Resistance regeneration converter unit Drive unit
MR-CR55K
MR-J4-DU30KB(-RJ) MR-J4-DU30KA(-RJ) MR-J4-DU37KB(-RJ) MR-J4-DU37KA(-RJ)
(2) 400 V class
Resistance regeneration converter unit Drive unit
MR-CR55K4
MR-J4-DU30KB4(-RJ) MR-J4-DU30KA4(-RJ) MR-J4-DU37KB4(-RJ) MR-J4-DU37KA4(-RJ) MR-J4-DU45KB4(-RJ) MR-J4-DU45KA4(-RJ) MR-J4-DU55KB4(-RJ) MR-J4-DU55KA4(-RJ)
1. FUNCTIONS AND CONFIGURATION
1 - 12
1.3.3 Combinations of drive unit and servo motors
(1) 200 V class
Drive unit Rotary servo motor Linear servo motor
(primary side) HG-SR HG-JR MR-J4-DU900B(-RJ)
702 (Note 2)
601 801
701M (Note 2) 503 (Note 1) 703 (Note 2)
903
LM-FP2F-18M-1SS0 LM-FP4D-24M-1SS0
MR-J4-DU11KB(-RJ)
12K1 11K1M
LM-FP4F-36M-1SS0
MR-J4-DU15KB(-RJ)
15K1 15K1M
LM-FP4H-48M-1SS0
MR-J4-DU22KB(-RJ)
20K1 25K1
22K1M
MR-J4-DU30KB(-RJ) MR-J4-DU30KA(-RJ)
30K1
30K1M
MR-J4-DU37KB(-RJ) MR-J4-DU37KA(-RJ)
37K1
37K1M
Note 1. The maximum torque can be increased to 400% of the rated torque. 2. By enabling the maximally increased torque function when drive unit is connected with
[Pr. PC23], the maximum torque can be increased. (Refer to section 5.3.1.)
(2) 400 V class
Drive unit Rotary servo motor Linear servo motor
(primary side) HG-SR HG-JR MR-J4-DU900B4(-RJ)
7024 (Note 2)
6014 8014
701M4 (Note 2) 5034 (Note 1) 7034 (Note 2)
9034
MR-J4-DU11KB4(-RJ)
12K14 11K1M4
MR-J4-DU15KB4(-RJ)
15K14 15K1M4
MR-J4-DU22KB4(-RJ)
20K14 22K1M4 25K14
LM-FP5H-60M-1SS0
MR-J4-DU30KB4(-RJ) MR-J4-DU30KA4(-RJ)
30K14
30K1M4
MR-J4-DU37KB4(-RJ) MR-J4-DU37KA4(-RJ)
37K14
37K1M4
MR-J4-DU45KB4(-RJ) MR-J4-DU45KA4(-RJ)
45K1M4
MR-J4-DU55KB4(-RJ) MR-J4-DU55KA4(-RJ)
55K1M4
Note 1. The maximum torque can be increased to 400% of the rated torque. 2. By enabling the maximally increased torque function when drive unit is connected with
[Pr. PC23], the maximum torque can be increased. (Refer to section 5.3.1.)
1. FUNCTIONS AND CONFIGURATION
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1.4 Standard specifications
1.4.1 MR-CV_ power regeneration converter unit
(1) 200 V class Model: MR-CV_ 11K 18K 30K 37K 45K 55K
Output Rated voltage 270 V DC to 324 V DC Rated current [A] 41 76 144 164 198 238
Main circuit power supply input
Voltage/Frequency 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz Rated current [A] 35 65 107 121 148 200 Permissible voltage fluctuation 3-phase 170 V AC to 264 V AC
Permissible frequency fluctuation Within 3%
Power supply capacity [kVA] Refer to section 3.5.2.
Inrush current [A] Refer to section 3.5.3.
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 Permissible voltage fluctuation 1-phase 170 V AC to 264 V AC
Permissible frequency fluctuation Within 3%
Power consumption [W] 30
Inrush current [A] Refer to section 3.5.3. Interface power supply
Voltage 24 V DC 10% Current capacity [A] 0.35 (Note 1)
Capacity [kW] 11 18 30 37 45 55
Protective functions Undervoltage protection, regenerative error protection, regenerative overvoltage shut-off,
MC drive circuit error, open-phase detection, inrush current suppression circuit error, main circuit device overheat, cooling fan error, and overload shut-off (electronic thermal)
Main circuit type Converter with power regeneration function Continuous rating [kW] 7.5 11 20 22 22 37 Instantaneous maximum rating [kW] 39 60 92 101 125 175
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 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, at 10 Hz to 55 Hz (X, Y, Z axes)
Mass [kg] 6.1 12.1 25.0 Note 1. 0.35 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. Except for the terminal block. 3. Follow the restrictions in section 2.5 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 14
(2) 400 V class Model: MR-CV_ 11K4 18K4 30K4 37K4 45K4 55K4 75K4
Output Rated voltage 513 V DC to 648 V DC Rated current [A] 21 38 72 82 99 119 150
Main circuit power supply input
Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current [A] 18 35 61 70 85 106 130 Permissible voltage fluctuation 3-phase 323 V AC to 528 V AC
Permissible frequency fluctuation Within 3%
Power supply capacity [kVA] Refer to section 3.5.2.
Inrush current [A] Refer to section 3.5.3.
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 Permissible voltage fluctuation 1-phase 323 V AC to 528 V AC
Permissible frequency fluctuation Within 3%
Power consumption [W] 30
Inrush current [A] Refer to section 3.5.3. Interface power supply
Voltage 24 V DC 10% Current capacity [A] 0.35 (Note 1)
Capacity [kW] 11 18 30 37 45 55 75
Protective functions Undervoltage protection, regenerative error protection, regenerative overvoltage shut-off,
MC drive circuit error, open-phase detection, inrush current suppression circuit error, main circuit device overheat, cooling fan error, and overload shut-off (electronic thermal)
Main circuit type Converter with power regeneration function Continuous rating [kW] 7.5 11 20 25 25 55 55 Instantaneous maximum rating [kW] 39 60 92 101 125 175 180
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 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, at 10 Hz to 55 Hz (X, Y, Z axes)
Mass [kg] 6.1 12.1 25.0 Note 1. 0.35 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. Except for the terminal block. 3. Follow the restrictions in section 2.5 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 15
1.4.2 MR-CR_ resistance regeneration converter unit
Model: MR-CR_ 55 K 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 4.6.2. Inrush current [A] Refer to section 4.6.3.
Control circuit power supply input
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 4.6.3.
Interface power supply
Voltage 24 V DC 10% Current capacity [A] 0.15 (Note 1)
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, at 10 Hz to 55 Hz (X, Y, Z axes)
Mass [kg] 22 Note 1. 0.15 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. Except for the terminal block. 3. Follow the restrictions in section 2.5 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 16
1.4.3 Drive unit
(1) MR-J4-DU_B_(-RJ) (a) 200 V class
Model MR-J4-DU_(-RJ) 900B 11KB 15KB 22KB 30KB 37KB
Output Rated voltage 3-phase 170 V AC Rated current [A] 54 68 87 126 174 204
Main circuit power supply input The main circuit power of the drive unit is supplied by the converter unit.
Control circuit power supply input
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 5.4.3. Interface power supply
Voltage 24 V DC 10% Current capacity [A] 0.3 (including CN8 connector signals) (Note 1)
Control method Sine-wave PWM control, current control method Dynamic brake External option (Note 6, 7) SSCNET III/H communication cycle (Note 5) 0.222 ms, 0.444 ms, 0.888 ms Fully closed loop control Compatible Scale measurement function Compatible Load-side encoder interface (Note 4) Mitsubishi Electric high-speed serial communication Communication function USB: connection to a personal computer or others (MR Configurator2-compatible) 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, error excessive protection, magnetic pole
detection protection, and linear servo control fault protection Functional safety STO (IEC/EN 61800-5-2)
Safety performance
Standards certified by CB (Note 8) EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2
Response performance 8 ms or less (STO input off energy shut off) Test pulse input (STO) (Note 2)
Test pulse interval: 1 Hz to 25 Hz Test pulse off time: Up to 1 ms
Mean time to dangerous failure (MTTFd) MTTFd 100 [years] (314a)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Probability of dangerous Failure per Hour (PFH) 6.4 10-9 [1/h]
Compliance with global standards
CE marking LVD: EN 61800-5-1 EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061 UL standard UL 508C
Structure (IP rating) Force cooling, open (IP20) (Note 3)
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing) Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude 2000 m or less above sea level (Note 9) Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (X, Y, Z axes)
Mass [kg] 9.9 15.2 21
1. FUNCTIONS AND CONFIGURATION
1 - 17
Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. Test pulse is a signal which instantaneously turns off a signal to the drive unit at a constant period for external circuit to self-
diagnose. 3. Except for the terminal block. 4. The MR-J4-DU_B drive unit is compatible only with the two-wire type. The MR-J4-DU_B-RJ drive unit is compatible with the
two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to section 1.1 for details. 5. The communication cycle depends on the controller specifications and the number of axes connected. 6. 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 emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic brake, refer to section 8.3.
7. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) with [Pr. PD07] to [Pr. PD09]. Doing so will cause the drive unit to become servo-off when an instantaneous power failure occurs.
8. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6 of "MR- J4-_B_(-RJ) Servo Amplifier Instruction Manual".
9. Follow the restrictions in section 2.5 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 18
(b) 400 V class
Model MR-J4-DU_(-RJ) 900B4 11KB4 15KB4 22KB4 30KB4 37KB4 45KB4 55KB4
Output Rated voltage 3-phase 323 V AC Rated current [A] 25 32 41 63 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 input
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 5.4.3. Interface power supply
Voltage 24 V DC 10% Current capacity [A] 0.3 (including CN8 connector signals) (Note 1)
Control method Sine-wave PWM control, current control method Dynamic brake External option (Note 6, 7) SSCNET III/H communication cycle (Note 5) 0.222 ms, 0.444 ms, 0.888 ms Fully closed loop control Compatible Scale measurement function Compatible Load-side encoder interface (Note 4) Mitsubishi Electric high-speed serial communication Communication function USB: connection to a personal computer or others (MR Configurator2-compatible) 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,error excessive protection, magnetic pole
detection protection, and linear servo control fault protection Functional safety STO (IEC/EN 61800-5-2)
Safety performance
Standards certified by CB (Note 8) EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2
Response performance 8 ms or less (STO input off energy shut off) Test pulse input (STO) (Note 2)
Test pulse interval: 1 Hz to 25 Hz Test pulse off time: Up to 1 ms
Mean time to dangerous failure (MTTFd) MTTFd 100 [years] (314a)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Probability of dangerous Failure per Hour (PFH) 6.4 10-9 [1/h]
Compliance with global standards
CE marking LVD: EN 61800-5-1 EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061 UL standard UL 508C
Structure (IP rating) Force cooling, open (IP20) (Note 3)
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing) Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude 2000 m or less above sea level (Note 9) Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (X, Y, Z axes)
Mass [kg] 9.9 15.2 16 21
1. FUNCTIONS AND CONFIGURATION
1 - 19
Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. Test pulse is a signal which instantaneously turns off a signal to the drive unit at a constant period for external circuit to self-
diagnose. 3. Except for the terminal block. 4. The MR-J4-DU_B drive unit is compatible only with the two-wire type. The MR-J4-DU_B-RJ drive unit is compatible with the
two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to section 1.1 for details. 5. The communication cycle depends on the controller specifications and the number of axes connected. 6. 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 emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic brake, refer to section 8.3.
7. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) with [Pr. PD07] to [Pr. PD09]. Doing so will cause the drive unit to become servo-off when an instantaneous power failure occurs.
8. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6 of "MR- J4-_B_(-RJ) Servo Amplifier Instruction Manual".
9. Follow the restrictions in section 2.5 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 20
(2) MR-J4-DU_A_(-RJ)
(a) 200 V class Model MR-J4-DU_(-RJ) 30KA 37KA
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 input
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 5.4.3. Interface power supply
Voltage 24 V DC 10% Current capacity [A] 0.5 (including CN8 connector signals) (Note 1)
Control method Sine-wave PWM control, current control method Dynamic brake External option (Note 5, 7) Fully closed loop control Compatible Load-side encoder interface (Note 6) Mitsubishi Electric high-speed serial communication
Communication function USB: connection to a personal computer or others (MR Configurator2-compatible)
RS-422/RS-485: 1 : n communication (up to 32 axes) Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels
Position control mode
Max. input pulse frequency 4 Mpulses/s (for differential receiver) (Note 4), 200 kpulses/s (for open collector)
Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 22 bits
Command pulse multiplying factor Electronic gear A/B multiple, A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
In-position range setting 0 pulse to 65535 pulses (command pulse unit) Error excessive 3 revolutions Torque limit Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control mode
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000 Analog speed command input 0 to 10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed fluctuation ratio 0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation 10%), 0.2% or less (ambient temperature 25 C 10 C) when using analog speed command
Torque limit Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)
Torque control mode
Analog torque command input 0 V DC to 8 V DC/maximum torque (input impedance 10 k to 12 k)
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
Positioning mode Refer to section 1.1 of "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning
Mode)" The positioning mode is available with MR-J4-DU_A_-RJ drive units with software version B3 or later.
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 STO (IEC/EN 61800-5-2)
1. FUNCTIONS AND CONFIGURATION
1 - 21
Model MR-J4-DU_(-RJ) 30KA 37KA
Standards certified by CB (Note 9) EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2
Response performance 8 ms or less (STO input off energy shut off)
Safety performance
Test pulse input (STO) (Note 3)
Test pulse interval: 1 Hz to 25 Hz Test pulse off time: Up to 1 ms
Mean time to dangerous failure (MTTFd) MTTFd 100 [years] (314a)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Probability of dangerous Failure per Hour (PFH) 6.4 10-9 [1/h]
Compliance with global standards
CE marking LVD: EN 61800-5-1 EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061 UL standard UL 508C
Structure (IP rating) Force cooling, open (IP20) (Note 3)
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing) Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude 2000 m or less above sea level (Note 10) Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (X, Y, Z axes)
Mass [kg] 21 Note 1. 0.5 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. Test pulse is a signal which instantaneously turns off a signal to the drive unit at a constant period for external circuit to self-
diagnose. 3. Except for the terminal block. 4. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands between over 1 Mpulse/s and 4
Mpulses/s, change the setting in [Pr. PA13]. 5. 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 emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic brake, refer to section 8.3.
6. The MR-J4-DU_A drive unit is compatible only with the two-wire type. The MR-J4-DU_A-RJ drive unit is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to section 1.1 for details.
7. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) with [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Doing so will cause the drive unit to become servo-off when an instantaneous power failure occurs.
8. RS-485 communication is available with drive units manufactured in January 2015 or later. 9. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6 of "MR- J4-_A_(-RJ) Servo Amplifier Instruction Manual".
10. Follow the restrictions in section 2.5 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 22
(b) 400 V class
Model MR-J4-DU_(-RJ) 30KA4 37KA4 45KA4 55KA4
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. Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current [A] 0.2
Control circuit power supply input
Permissible voltage fluctuation 1-phase 323 V AC to 528 V AC
Permissible frequency fluctuation Within 5%
Power consumption [W] 45
Inrush current [A] Refer to section 5.4.3. Interface power supply
Voltage 24 V DC 10% Current capacity [A] 0.5 (including CN8 connector signals) (Note 1)
Control method Sine-wave PWM control, current control method Dynamic brake External option (Note 5, 7) Fully closed loop control Compatible Load-side encoder interface (Note 6) Mitsubishi Electric high-speed serial communication
Communication function USB: connection to a personal computer or others (MR Configurator2-compatible)
RS-422/RS-485: 1 : n communication (up to 32 axes) Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels
Position control mode
Max. input pulse frequency 4 Mpulses/s (for differential receiver) (Note 4), 200 kpulses/s (for open collector)
Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 22 bits
Command pulse multiplying factor Electronic gear A/B multiple, A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
In-position range setting 0 pulse to 65535 pulses (command pulse unit) Error excessive 3 revolutions Torque limit Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control mode
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000 Analog speed command input 0 to 10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed fluctuation ratio 0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation 10%), 0.2% or less (ambient temperature 25 C 10 C) when using analog speed command
Torque limit Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)
Torque control mode
Analog torque command input 0 V DC to 8 V DC/maximum torque (input impedance 10 k to 12 k)
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
Positioning mode Refer to section 1.1 of "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning
Mode)" The positioning mode is available with MR-J4-DU_A_-RJ drive units with software version B3 or later.
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 STO (IEC/EN 61800-5-2)
1. FUNCTIONS AND CONFIGURATION
1 - 23
Model MR-J4-DU_(-RJ) 30KA4 37KA4 45KA4 55KA4
Safety performance
Standards certified by CB (Note 9) EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2
Response performance 8 ms or less (STO input off energy shut off) Test pulse input (STO) (Note 3)
Test pulse interval: 1 Hz to 25 Hz Test pulse off time: Up to 1 ms
Mean time to dangerous failure (MTTFd) MTTFd 100 [years] (314a)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Probability of dangerous Failure per Hour (PFH) 6.4 10-9 [1/h]
Compliance with global standards
CE marking LVD: EN 61800-5-1 EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061 UL standard UL 508C
Structure (IP rating) Force cooling, open (IP20) (Note 3)
Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing) Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude 2000 m or less above sea level (Note 10) Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (X, Y, Z axes)
Mass [kg] 16 21 Note 1. 0.5 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points. 2. Test pulse is a signal which instantaneously turns off a signal to the drive unit at a constant period for external circuit to self-
diagnose. 3. Except for the terminal block. 4. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands between over 1 Mpulse/s and 4
Mpulses/s, change the setting in [Pr. PA13]. 5. 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 emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic brake, refer to section 8.3.
6. The MR-J4-DU_A drive unit is compatible only with the two-wire type. The MR-J4-DU_A-RJ drive unit is compatible with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to section 1.1 for details.
7. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) with [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. Doing so will cause the drive unit to become servo-off when an instantaneous power failure occurs.
8. RS-485 communication is available with drive units manufactured in January 2015 or later. 9. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6 of "MR- J4-_A_(-RJ) Servo Amplifier Instruction Manual".
10. Follow the restrictions in section 2.5 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
1. FUNCTIONS AND CONFIGURATION
1 - 24
1.5 Function list
For the drive unit functions not mentioned in this section, refer to section 1.5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" for MR-J4-DU_B_(-RJ) drive unit and "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for MR-J4-DU_A_(-RJ) drive unit.
Function Description Supported model
MR-J4- DU_A_(-RJ)
MR-J4- DU_B_(-RJ)
MR-J4- _A_(-RJ)
MR-J4- _B_(-RJ)
Power monitoring function
This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. MR Configurator2 is necessary for this function. In principal, when the drive unit and servo amplifier are used with the converter unit, an error of approximately 15% may occur between the calculated value and the value measured by your power measuring instrument.
MR-CV_ power regeneration converter unit
MR-CV_ power regeneration converter unit returns regenerative power generated during deceleration of the servo motor back to the power supply, and share a common bus voltage with multiple MR-J4- DU_B_(-RJ) drive units and MR-J4-_B_(-RJ) servo amplifiers. MR-CV_ is compatible with MR-J4-DU_B_(-RJ) drive units and MR-J4-_B_(-RJ) servo amplifiers with software version C5 or later. Check the software version with MR Configurator2.
MR-CR_ resistance regeneration converter unit
MR-CR_ resistance regeneration converter unit consumes regenerative power generated during deceleration of the servo motor with the regenerative resistor.
1. FUNCTIONS AND CONFIGURATION
1 - 25
1.6 Configuration including peripheral equipment
1.6.1 MR-CV_ power regeneration converter unit
The diagram shows MR-J4-DU30KB4 and MR-J4-DU37KB4. The interface connection of the drive unit is the same as that of 22 kW or less servo amplifier. Refer to each servo amplifier instruction manual.
(Note 6) AC reactor (MR-AL-_K)
+
R S T
L1 L2
L11 L21
L3
L11 L21
L-
Protection coordination cable
USB cable
Drive unit
MR Configurator2
BU BV BW E U V W
L+ L-
Power regeneration converter unit
L+
(Note 3) Servo motor cooling fan power supply
R S T
L+ L-
Drive unit
Encoder cable
BU BV BW E U V W
R S T
Molded-case circuit breaker (MCCB)
L11 L21
(Note 2) Power supply
Line noise filter (FR-BLF)
(Note 4) Magnetic contactor (MC)
(Note 7) Magnetic contactor operation coil (I/O signal)
Molded-case circuit breaker (MCCB)
Molded-case circuit breaker (MCCB)
Personal computer
Servo motor
Servo motor
(Note 1)
(Note 8)
(Note 9)
(Note 9)
(Note 9)
1. FUNCTIONS AND CONFIGURATION
1 - 26
Note 1. In the actual connection, the power regeneration converter unit is closely mounted to the drive unit. 2. For the power supply specifications, refer to section 1.4. 3. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". 4. An bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration
during a forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
5. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 8.5.)
6. Be sure to install an MR-AL-_AC reactor. 7. For the driving output of the magnetic contactor, refer to section 3.2. 8. When using the same power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-
CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor. Connect them closer to the power supply side than the broken line area.
9. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the selection of the overcurrent protection device.
1. FUNCTIONS AND CONFIGURATION
1 - 27
1.6.2 MR-CR_ resistance regeneration converter unit
The diagram shows MR-J4-DU30KB4 and MR-J4-DU37KB4. The interface connection of MR-J4-DU_(-RJ) is the same as that of MR-J4-_(-RJ). Refer to each servo amplifier instruction manual.
BV BWBU
L11 L21
L11
Line noise filter (FR-BLF)
R S T
+
MR Configurator2
L+
L-
(Note 1)
Resistance regeneration converter unit
VUE W
P2
P1
L1 L2 L3
P
C
S
R
L21
L-
R S T
L+
L11
L21
P1P2C
(Note 5)
(Note 2) Power supply
Personal computer
USB cable
Molded-case circuit breaker (MCCB)
(Note 4) Magnetic contactor (MC)
(Note 3) Servo motor cooling fan power supply
Magnetic contactor operation coil (I/O signal)
Molded-case circuit breaker (MCCB)
Encoder cable
Servo motor
Drive unit
Protection coordination cable
Regenerative option
Power factor improving DC reactor
(Note 6)
(Note 6)
1. FUNCTIONS AND CONFIGURATION
1 - 28
Note 1. The bus bars on L+ and L- for connecting the resistance regeneration converter unit to the drive unit are standard accessories.
In the actual connection, the resistance regeneration converter unit is closely mounted to the drive unit. 2. For the power supply specifications, refer to section 1.4. 3. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". 4. An bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration
during a forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
5. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 8.5.)
6. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the selection of the overcurrent protection device.
2. INSTALLATION
2 - 1
2. INSTALLATION
WARNING To prevent electric shock, ground each equipment securely.
CAUTION
Stacking in excess of the specified number of product packages is not allowed. Do not hold the front cover, cables, or connectors when carrying the converter unit and drive unit. Otherwise, it may drop. 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 1.4. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the converter unit and the drive unit. Do not block the intake and exhaust areas of the converter unit and the drive unit. Otherwise, it may cause a malfunction. Do not drop or apply heavy impact on the converter units, the drive units, and the servo motors. Otherwise, it may cause injury, malfunction, etc. Do not install or operate the converter unit and the drive unit 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 converter unit and the drive unit, be careful with the sharp edges of the converter unit and drive unit. The converter unit and the drive unit must be installed in a metal cabinet. When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products.
The following items are the same as those for MR-J4-_(-RJ). For the details of the items, refer to each chapter/section indicated in the detailed explanation field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Model Item Detailed explanation MR-J4-DU_B_(-RJ) Encoder cable stress MR-J4-_B_ section 2.3 SSCNET III cable laying MR-J4-_B_ section 2.4 MR-J4-DU_A_(-RJ) Encoder cable stress MR-J4-_A_ Section 2.3
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. Maintain specified clearances between the converter unit/drive unit and the inner surfaces of a control cabinet or other equipment. Otherwise, it may cause a malfunction.
2.1.1 When using MR-CV_ power regeneration converter unit
POINT Make sure to connect a drive unit to the right side of a power regeneration converter unit as shown in the diagram.
(1) Installation
(a) MR-CV_ power regeneration converter unit/MR-J4-DU_B_ drive unit
Drive unit 1 Drive unit 2Converter unit 30 mm or more
30 mm or more
80 mm or more
Side
100 mm or more
120 mm or more
Top
Bottom
2. INSTALLATION
2 - 3
(b) MR-CV_ power regeneration converter unit/MR-J4-DU_B_drive unit/MR-J4-_B_ servo amplifier
Keep the wiring length between L+/L- of the power regeneration converter unit and P4/N- of the servo amplifier 1.5 m or longer, and total wiring length 5 m or shorter.
Servo amplifier 1
Servo amplifier 2
Servo amplifier 3
Servo amplifier 4
10 mm or more
Terminal block
Converter unit
30 mm or more
30 mm or more
80 mm or more
100 mm or more
120 mm or more
Top
BottomTerminal block
Terminal block
Terminal block
Side
2. INSTALLATION
2 - 4
(2) Mounting hole process drawing
Power regeneration converter unit
Punched hole
Drive unit
Punched hole
38 0
36 0
0.
5 10
(1 0)
34 2
19 (1
9)
W6
W8 W7 W9 (W10)
(W8) W10
36 0
0.
5 10
(1 0)
34 2
19 (1
9)
W1
W3 W2 W4 (W5)
(W3) W5
4-A screw 4-B screw
38 0
36 0
0.
5 10
(1 0)
34 2
19 (1
9)
W6
W8 W7 W9 (W10)
(W8) W10
(W3)
36 0
0.
5 10
(1 0)
34 2
19 (1
9)
W1
W3 W4 (W5)W5
Power regeneration converter unit
Punched hole
Drive unit
Punched hole
2-A screw 2-B screw
For MR-CV_ 30 kW or more For MR-CV_ 18 kW or less
Drive unit Variable dimensions [mm] Screw size
W1 W2 W3 W4 W5 W6 W7 W8 W9 W10 A B 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
150 60 0.5 45 142 4 M5
MR-CV55K MR-CV55K4 MR-CV75K4
300 180 0.5 60 282 9 M5
MR-J4-DU30KB(-RJ) MR-J4-DU37KB(-RJ) MR-J4-DU45KB4(-RJ) MR-J4-DU55KB4(-RJ)
300 260 0.5 20 281 9.5 M6
MR-J4-DU900B(-RJ) MR-J4-DU11KB(-RJ) MR-J4-DU900B4(-RJ) MR-J4-DU11KB4(-RJ)
150 60 0.5 45 142 4 M5
MR-J4-DU15KB(-RJ) MR-J4-DU22KB(-RJ) MR-J4-DU15KB4(-RJ) MR-J4-DU22KB4(-RJ) MR-J4-DU30KB4(-RJ) MR-J4-DU37KB4(-RJ)
240 120 0.5 60 222 9 M5
2. INSTALLATION
2 - 5
2.1.2 When using MR-CR_ resistance regeneration converter unit
(1) Installation
POINT Make sure to connect a drive unit to the right side of a resistance regeneration converter unit as shown in the diagram.
Drive unit Resistance regeneration
converter unit 30 mm or more30 mm
or more
80 mm or more
100 mm or more
120 mm or more
Top
Bottom
SideFront
(2) Mounting hole process drawing
9.5
38 0
300
36 0
0.
5 10
20 260 0.5
(1 0)
281
34 2
19 (1
9)
(9.5) (20)
W1
W3 W2 W4 (W5)
(W3) W5
36 0
0.
5 10
(1 0)
34 2
19 (1
9)
Resistance regeneration converter unit
Punched hole
Drive unit
Punched hole
4-M6 screw 4-A screw
Resistance regeneration converter unit
Drive unit
Variable dimensions [mm] Screw
size
W1 W2 W3 W4 W5 A
MR-J4-DU30K_(-RJ) MR-J4-DU37K_(-RJ) MR-J4-DU45K_4(-RJ) MR-J4-DU55K_4(-RJ)
300 260 0.5 20 281 9.5 M6
MR-J4-DU30K_4(-RJ) MR-J4-DU37K_4(-RJ)
240 120 0.5 60 222 9 M5
(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.
2. INSTALLATION
2 - 6
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 (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 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 and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, be sure to look at the lamp 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 and the drive unit. (4) Check that the wires are not coming off from the connector. (5) Check for dust accumulation on the converter unit and the drive unit. (6) Check for unusual noise generated from the converter unit and the drive unit. (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 - 7
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 each servo amplifier instruction manual.
(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. 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 - 8
2.5 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 ra
tio Ef
fe ct
iv e
lo ad
ra tio
[%]
[m]
(2) Input voltage Generally, a withstand voltage decreases as the altitude increases; however, there is no restriction on the withstand voltage. Use in the same manner as in 1000 m or less. (Refer to section 1.4.)
(3) Parts having service life
(a) Smoothing capacitor The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 30 C or less).
(b) Relay
There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.4.)
(c) Cooling fan of the converter unit/drive unit There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.4.)
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 1
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
POINT MR-CV_ power regeneration converter unit can be used in a combination with MR-J4-DU_B_(-RJ) drive units and MR-J4-_B_(-RJ) servo amplifiers.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 2
3.1 Function block diagram
The function block diagram of this servo is shown below.
POINT The diagram shows the combination of the MR-J4-DU_B_-RJ drive unit and power regeneration converter unit as an example. The MR-J4-DU_B_ drive unit does not have the CN2L connector.
AC reactor
+
MC Thyristor
Control circuit power supply
L11
L21
L1
L2
L3
I/F
Charge lamp
Power regeneration converter unit
Power supply
Cooling fan
CPU
Malfunction, forced stop
Power regeneration converter unit Protection coordination
To CN40A of drive unit
To L11 of drive unit
To L21 of drive unit
To L+ of drive unitL+
To L- of drive unitL-
MC drive
Current detection
Voltage detection
MCCB
+
MCCB
MCCB
U
Base amplifier
CN23 CN24 CN25 CN4
Alarm output
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 3
External dynamic brake
(optional)
(Note 3)
From CN4 of power regeneration converter unit
Model position control
Model speed control
Position command
input
Model position
Actual position control
Actual speed control
Current control
Model speed Model torque
Virtual motor
Virtual encoder
C N
40 A
CN5
USB
USB
Personal computer
Controller or
drive unit
I/F Control
Drive unit or cap
CN1A CN1B CN3
D/A
Analog monitor (2 channels)
Digital I/O control
BU BV BW
Base amplifier
L11
L21
Drive unit
Current detection
Current detector
C N
2
U
V
W
U
V
W M
From MCCB
Overcurrent protection
Control circuit power supply
(Note 1) Power supply
From L+ of power regeneration converter unit
L+
From L- of power regeneration converter unit
L-
Battery (for absolute position detection system)
C N
4
Cooling fan
MCCB
+
C N
2L
C N
8STO Switch
STO Control circuit
External encoder
(Note 2)
Step- down circuit
Servo motor
Encoder
Cooling fan (Note 4)
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". 2. This is for the MR-J4-DU_B_-RJ drive unit. The MR-J4-DU_B_ drive unit does not have the CN2L connector. 3. 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. For wiring of the external dynamic brake, refer to section 8.3. For alarms in which the servo motor does not decelerate to stop, refer to chapter 6.
4. When using the same power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR- CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 4
3.2 Structure (parts identification)
(1) MR-CV18K(4) or less
POINT The unit is shown with the terminal cover open. For opening or closing of the terminal cover, refer to section 4.2.2.
(1) (2)
(12)
(5)
(4)
(14)
(11)
(7)
(10)
(13)
(9)
(8)
(6)
(3)
No. Name/Application Detailed explanation
(1) Display The 1-digit, 7-segment LED display shows the power regeneration converter unit status and the alarm number.
Section 3.4.3
(2) Converter setting rotary switch (SW1) Set the function of the power regeneration converter unit.
Section 3.4.3
(3) Protection coordination connector (CN4) Connect to CN40A of the drive unit.
Section 3.3.1
(4)
Manufacturer setting connector (CN9) This is for manufacturer setting. Although the shape is similar to the protection coordination connector (CN4), do not connect anything including the protection coordination cable.
(5)
Manufacturer setting connector (CN41) This is for manufacturer setting. Although the shape is similar to the protection coordination connector (CN4), do not connect anything including the protection coordination cable.
(6) I/O signal connector (CN24) Used to connect digital I/O signals.
Section 3.3.4
(7)
Magnetic contactor control connector (CNP23) Connect to the coil of the magnetic contactor.
Section 3.3.1
Section 3.3.3
(8) Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the wires.
(9) L+/L- terminal (TE2) Connect to a drive unit with a bus bar.
Section 3.3.1
(10) Control circuit terminal L11/L21 (TE3) Connect to the control circuit power supply.
Section 3.3.1
(11)
Alarm output connector (CN25) This connector, having a form C contact, outputs an alarm when the protective function of the power regeneration converter unit is activated and the power output to the drive unit is stopped.
Section 3.3.4
(12) Main circuit terminal block (TE1) Connect to the input power supply.
Section 3.3.1
(13) Protective earth (PE) terminal Section 3.3.8
(14) Rating plate Section 1.2
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 5
(2) MR-CV30K(4)/MR-CV37K(4)/MR-CV45K(4)
(1) (2)
(12)
(5)
(4)
(14)
(11)
(7)
(10)
(13)
(9)
(8)
(6)
(3)
No. Name/Application Detailed explanation
(1) Display The 1-digit, 7-segment LED display shows the power regeneration converter unit status and the alarm number.
Section 3.4.3
(2) Converter setting rotary switch (SW1) Set the function of the power regeneration converter unit.
Section 3.4.3
3 Protection coordination connector (CN4) Connect to CN40A of the drive unit.
Section 3.3.1
(4)
Manufacturer setting connector (CN9) This is for manufacturer setting. Although the shape is similar to the protection coordination connector (CN4), do not connect anything including the protection coordination cable.
(5)
Manufacturer setting connector (CN41) This is for manufacturer setting. Although the shape is similar to the protection coordination connector (CN4), do not connect anything including the protection coordination cable.
(6) I/O signal connector (CN24) Used to connect digital I/O signals.
Section 3.3.4
(7)
Magnetic contactor control connector (CNP23) Connect to the coil of the magnetic contactor.
Section 3.3.1
Section 3.3.3
(8) Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the wires.
(9) L+/L- terminal (TE2) Connect to a drive unit with a bus bar.
Section 3.3.1
(10) Control circuit terminal L11/L21 (TE3) Connect to the control circuit power supply.
Section 3.3.1
(11)
Alarm output connector (CN25) This connector, having a form C contact, outputs an alarm when the protective function of the power regeneration converter unit is activated and the power output to the drive unit is stopped.
Section 3.3.4
(12) Main circuit terminal block (TE1) Connect to the input power supply.
Section 3.3.1
(13) Protective earth (PE) terminal Section 3.3.8
(14) Rating plate Section 1.2
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 6
(3) MR-CV55K(4)/MR-CV75K4/MR-CV55K
The diagram shows MR-CV55K4.
(13) (10)(14)(11)
(1)
(12)
(8)
(2) (6) (15)
(7)
(9)
(4)
(3)
(5)
No. Name/Application Detailed explanation
(1) Display The 1-digit, 7-segment LED display shows the power regeneration converter unit status and the alarm number.
Section 3.4.3
(2) Converter setting rotary switch (SW1) Set the function of the power regeneration converter unit.
Section 3.4.3
(3) Protection coordination connector (CN4) Connect to CN40A of the drive unit.
Section 3.3.1
(4)
Manufacturer setting connector (CN9) This is for manufacturer setting. Although the shape is similar to the protection coordination connector (CN4), do not connect anything including the protection coordination cable.
(5)
Manufacturer setting connector (CN41) This is for manufacturer setting. Although the shape is similar to the protection coordination connector (CN4), do not connect anything including the protection coordination cable.
(6) I/O signal connector (CN24) Used to connect digital I/O signals.
Section 3.3.4
(7)
Magnetic contactor control connector (CNP23) Connect to the coil of the magnetic contactor.
Section 3.3.1
Section 3.3.3
(8) Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the wires.
(9) Manufacturer setting terminal (TE2-1) This is for manufacturer setting. Leave this open.
to 10 L+/L- terminal (TE2-2) Connect to a drive unit with a bus bar.
Section 3.3.1
(11) Control circuit terminal L11/L21 (TE3) Connect to the control circuit power supply.
Section 3.3.1
(12)
Alarm output connector (CN25) This connector, having a form C contact, outputs an alarm when the protective function of the power regeneration converter unit is activated and the power output to the drive unit is stopped.
Section 3.3.4
(13) Main circuit terminal block (TE1) Connect to the input power supply.
Section 3.3.1
(14) Protective earth (PE) terminal Section 3.3.8
(15) Rating plate Section 1.2
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 7
3.3 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 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, when confirming whether the charge lamp is off or not, be sure to look at the lamp from the front of the power regeneration converter unit. Ground the power regeneration converter unit, drive unit, and servo motor securely. Do not attempt to wire the power regeneration converter unit, drive unit, 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 servo amplifier will malfunction and will not output signals, disabling the emergency stop and other protective circuits.
DOCOM
RA
24 V DC
Power regeneration converter unit
For sink output interface
Control output signal
DOCOM
Power regeneration converter unit
RAControl output signal
24 V DC
For source output interface
Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the power regeneration converter unit and the drive unit. Do not modify the equipment.
The following items are the same as those for MR-J4-_(-RJ). For the details of the items, refer to each chapter/section indicated in the detailed explanation field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
Model Item Detailed explanation
MR-J4-DU_B_(-RJ) I/O signal connection example MR-J4-_B_ section 3.2 Forced stop deceleration function MR-J4-_B_ section 3.6 SSCNET III cable connection MR-J4-_B_ section 3.9
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 8
3.3.1 Connection example of power circuit
WARNING Insulate the connections of the power supply terminals. Otherwise, an electric shock may occur.
CAUTION
Be sure to connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the power regeneration converter unit, in order to configure a circuit that shuts off the power supply by the magnetic contactor. If the magnetic contactor is not connected, a large current keeps flowing and may cause a fire when the power regeneration converter unit or the drive unit malfunctions. Use ALM (Malfunction) to shut the power off. Not doing so may cause a fire when the power regeneration converter unit malfunctions and causes the AC reactor to overheat. The power regeneration 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 the input power supply. Check the power regeneration converter unit model, and then input proper voltage to the power regeneration converter unit power supply. If input voltage exceeds the upper limit, the power regeneration converter unit and the drive unit will break down.
POINT
For drive units, EM2 has the same function as EM1 in the torque control mode. For the MR-J4-DU_B_(-RJ) drive units, do not shut off the control circuit power supply even if an alarm occurs. When the control circuit power supply is shut off, an optical module does not operate, and optical transmission of SSCNET III/H communication is interrupted. Therefore, the next servo amplifiers and drive units show "AA" on the display and shut off the base circuit, stopping the servo motors with the dynamic brake.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 9
(1) Magnetic contactor control connector (CNP23)
By enabling magnetic contactor drive output, the main circuit power supply can be shut off automatically when an alarm occurs in the power regeneration converter unit or the drive unit. To enable magnetic contactor drive output, set the converter setting rotary switch (SW1) of the power regeneration converter unit to "0" or "4".
(a) When magnetic contactor drive output is enabled
Connecting the magnetic contactor control connector (CNP23) to the operating coil of the magnetic contactor enables to control the magnetic contactor.
MCCB
Power regeneration converter unit
1MC1
3MC2
CN23
L1
L2
L3
(Note 2) MC
L11
L21
RA2 MC
SK (Note 1)
RA1 (Note 1)
AC reactor
(Note 3)
Drive unit malfunction
Drive unit malfunction Emergency stop
switch Operation ready OFF/ON
3-phase 200 to 240 V AC, 50/60 Hz
Note 1. When multiple drive units are connected to a converter unit, configure a circuit that the forced stop of the servo system controller is inputted by an alarm signal of each drive unit, and create a sequence in which the states of all drive units will be ready-off if an alarm occurs in one of the drive units. When the state of the drive unit and servo amplifier is ready-off (forced stop state by the controller), the servo motor coasts. Set a dynamic brake to stop the servo motor.
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. When one drive unit is connected, and the forced stop deceleration is enabled, a bus voltage may drop, depending on the main circuit voltage and operation pattern, causing dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
3. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others). (Refer to section 8.5.)
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 10
When the power regeneration converter unit receives a start command from the drive unit, CNP23-1 pin (MC1) and CN23-3 pin (MC2) which are connected to the AC power supply will be shorted to supply a power to the control circuit of the magnetic contactor. When the control circuit power is supplied, the magnetic contactor turns on, and the main circuit power will be supplied to the power regeneration converter unit. In the following cases, CN23-1 (MC1) and CN23-1 pin (MC2) in the power regeneration converter unit will be opened, and the main circuit power supply will be automatically shut off.
1) An alarm has occurred in the power regeneration converter unit.
2) An alarm has occurred in the drive unit.
3) The EM1 (forced stop) of the power regeneration converter unit was turned off.
4) [AL. 95 STO warning] has occurred in the drive unit.
(b) When magnetic contactor drive output is disabled
The main circuit power supply does not shut off automatically even when an alarm occurs in the power regeneration converter unit or the drive unit. Therefore, configure an external circuit to shut off the main circuit power supply when an alarm is detected.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 11
(2) Wiring
(a) Connecting one drive unit to one power regeneration converter unit 1) When magnetic contactor drive output is enabled (factory setting)
POINT
The power regeneration converter unit controls the magnetic contactor. Connect the power regeneration converter unit and the adjacent drive unit with MR-CUL06M protection coordination cable. Be sure to simultaneously turn on and off the control circuit power supplies of the power regeneration converter unit and the drive unit.
a) 200 V class
Drive unit
L+
L-
L+ L-
L11
L21
TE3
CN3
EM2
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
(Note 3) Main circuit power supply
CN40A
CN1A CN1B
CN2 CN2
Dynamic brake
Servo system controller
BV
M
(Note 1) Power supply
BW
BU
(Note 4)
To drive unit or servo amplifier in other power supply system
V
U
W
V
U
W
Protection coordination
cable
Dedicated bus bar
CN4
(Note 5)
(Note 6)
SSCNET III cableSSCNET III cable
Short-circuit connector (packed with the drive unit)
MCCB
1MC1
3MC2
CN23
L1
L2
L3
(Note 2) MC
L11
L21
RA1 (Note 5)
SK
L+
L-
(Note 7, 8)
(Note 7, 8)
MC
RA1
Drive unit malfunction Emergency stop
switch Operation ready
OFF/ON
3-phase 200 to 240 V AC, 50/60 Hz
AC reactor
Power regeneration converter unit
Plate
Cooling fan
Servo motor
Encoder
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 12
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same
power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. Configure a sequence that will shut off the main circuit power when an alarm occurs. 6. When EM2 is used to decelerate the servo motor to a stop, the converter unit shuts off the main circuit power supply with the
protection coordination after the servo motor has stopped. 7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 8.5.) 8. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 13
b) 400 V class
L+
L-
L+ L-
L11
L21
TE3
CN3
EM2
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
CN8
CN2 CN2
BV
M
BW
BU
(Note 4)
V
U
W
V
U
W
CN4
(Note 5)
(Note 6)
MCCB
1MC1
3MC2
CN23
L1
L2
L3
(Note 2) MC
3-phase 380 to 480 V AC, 50/60 Hz
L11
L21
L+
L-
(Note 7, 9)
(Note 7, 9)
(Note 8) Step-down transformer
RA1
SK
MC
CN40A
CN1A CN1B
RA1 (Note 5)
Drive unit malfunction Emergency stop
switch Operation ready
OFF/ON
AC reactor Drive unit
Power regeneration converter unit
Dedicated bus bar
Protection coordination
cable
Servo system controller
SSCNET III cable SSCNET III cable
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
Plate
To drive unit or servo amplifier in other power supply system
Dynamic brake
Cooling fan
Servo motor
Encoder
(Note 1) Power supply
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 14
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same
power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. Configure a sequence that will shut off the main circuit power when an alarm occurs. 6. When EM2 is used to decelerate the servo motor to a stop, the converter unit shuts off the main circuit power supply with the
protection coordination after the servo motor has stopped. 7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 8.5.) 8. A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class. 9. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 15
2) When magnetic contactor drive output is disabled
POINT
The power regeneration converter unit controls the magnetic contactor. Connect the power regeneration converter unit and the adjacent drive unit with MR-CUL06M protection coordination cable. Be sure to simultaneously turn on and off the control circuit power supplies of the power regeneration converter unit and the drive unit.
a) 200 V class
RA1
L+
L-
L+ L-
L11
L21
TE3
CN3
EM2
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM
CN8
CN2 CN2
BV
M
BW
BU
(Note 4)
V
U
W
V
U
W
CN4
(Note 5)
MCCB
BB
CC
(Note 7) CN25
L1
L2
L3
L11
L21
Converter unit malfunction
RA2 (Note 5)
SK
L+
L-
(Note 6, 8)
(Note 6, 8)
RA2
24 V DC
MC
CN40A
CN1A CN1B
RA1 (Note 5)
Drive unit malfunction Emergency stop
switch Operation ready
OFF/ON
(Note 2) MC
AC reactor
3-phase 200 to 240 V AC, 50/60 Hz
Dedicated bus bar
Protection coordination
cable
Servo system controller
SSCNET III cable
Drive unit Power regeneration
converter unit
24 V DC
Plate
SSCNET III cable
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
Dynamic brake
Cooling fan
Servo motor
Encoder
(Note 1) Power supply
To drive unit or servo amplifier in other power supply system
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 16
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same
power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. Configure a sequence that will shut off the main circuit power when an alarm occurs. 6. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 8.5.) 7. Connect to an error output (A/B/C) via a relay coil, etc. 8. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 17
b) 400 V class
RA1
L+
L-
L+ L-
L11
L21
TE3
CN3
EM2
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
CN8
CN2 CN2
BV
M
BW
BU
V
U
W
V
U
W
CN4
(Note 5)
MCCB
BB
CC
(Note 8) CN25
L1
L2
L3
L11
L21
SK
L+
L-
(Note 6, 9)
(Note 6, 9)
RA2
24 V DC
MC
(Note 7) Step-down transformer
CN40A
CN1A CN1B
(Note 1) Power supply
Cooling fan
Servo motor
Encoder
(Note 4)
To drive unit or servo amplifier in other power supply system
Dynamic brake
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
SSCNET III cable SSCNET III cable
Plate
Dedicated bus bar
Protection coordination
cable
Servo system controller
Drive unit Power regeneration
converter unit (Note 2)
MC AC reactor
Converter unit malfunction
RA2 (Note 5) Emergency stop
switch Operation ready
OFF/ON
3-phase 380 to 480 V AC, 50/60 Hz
Drive unit malfunction
RA1 (Note 5)
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 18
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same
power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. Configure a sequence that will shut off the main circuit power when an alarm occurs. 6. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 8.5.) 7. A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class. 8. Connect to an error output (A/B/C) via a relay coil, etc. 9. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 19
(b) Connecting multiple drive units to one power regeneration converter unit
1) When magnetic contactor drive output is enabled (factory setting)
POINT The power regeneration converter unit controls the magnetic contactor. Connect the power regeneration converter unit and the adjacent drive unit with MR-CUL06M protection coordination cable. When multiple drive units are connected to one power regeneration converter unit, use EM1 for the emergency stop of the drive unit, and stop the servo motor with the dynamic brake if an error occurs. Set [Pr. PA04] to "0000" to enable EM1. Set [Pr. PA02] to "4700" and [Pr. PF03] to "0100" for the drive unit to which the protection coordination cable is not connected. Be sure to simultaneously turn on and off the control circuit power supplies of the power regeneration converter unit and the drive unit.
a) 200 V class
L+
L-
L+ L-
L11
L21
TE3
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
CN8
CN2 CN2
BV
M
BW
BU
(Note 4) (Note 4)
V
U
W
V
U
W
CN2 CN2
BV
M
BW
BU
V
U
W
V
U
W
CN4
L+
L-
L11
L21
TE3
(Note 5)
(Note 6)
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
(Note 5)
(Note 6)
24 V DC
Forced stop (Note 6)
CN8
MCCB
1MC1
3MC2
CN23
L1
L2
L3
3-phase 200 to 240 V AC, 50/60 Hz
L11
L21
SK
L+
L-
(Note 7, 8)
(Note 7, 8)
(Note 7, 8)
MC
RA1 RA2
CN40A
CN1A CN1B
Drive unit malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch
Drive unit malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch
Operation ready OFF/ON
(Note 2) MC
AC reactor Drive unit Drive unit
Power regeneration converter unit
Dedicated bus bar
Dedicated bus bar
Protection coordination
cable
SSCNET III cable SSCNET III cableServo system controller
(Note 1) Power supply
(Note 1) Power supply
Plate Plate
Cooling fan Cooling fan
Servo motor Servo motor
Encoder Encoder
Dynamic brake
Dynamic brake
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 20
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same
power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. 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.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. When connecting multiple drive units, configure a sequence that will shut off the main circuit power if an alarm occurs even in one axis.
6. Configure a sequence in which the servo system controller will stop all the drive units if an alarm occurs even in one drive unit. 7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 8.5.) 8. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 21
b) 400 V class
L+
L-
L+ L-
L11
L21
TE3
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
CN8
CN2 CN2
BV
M
BW
BU
(Note 4) (Note 4)
V
U
W
V
U
W
CN2 CN2
BV
M
BW
BU
V
U
W
V
U
W
CN4
L+
L-
L11
L21
TE3
(Note 5)
(Note 6)
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
(Note 5)
(Note 6)
24 V DC
CN8
MCCB
1MC1
3MC2
CN23
L1
L2
L3
(Note 8) Step-down transformer
L11
L21
SK
L+
L-
(Note 7, 9)
(Note 7, 9)
(Note 7, 9)
MC
RA1 RA2
CN40A
CN1A CN1B
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
Cooling fan
Servo motor
Encoder
Dynamic brake
Cooling fan
Servo motor
Encoder
Dynamic brake
(Note 1) Power supply
(Note 1) Power supply
Plate Plate
SSCNET III cable SSCNET III cable
Drive unit Drive unit
Dedicated bus bar
Dedicated bus bar
Protection coordination
cable
Power regeneration converter unit
Servo system controller
Forced stop (Note 6)
Drive unit malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch
(Note 2) MC
AC reactor
Drive unit malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch Operation ready
OFF/ON
3-phase 380 to 480 V AC, 50/60 Hz
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. 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.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. When connecting multiple drive units, configure a sequence that will shut off the main circuit power if an alarm occurs even in one axis.
6. Configure a sequence in which the servo system controller will stop all the drive units if an alarm occurs even in one drive unit. 7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 8.5.) 8. A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class. 9. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 22
2) When magnetic contactor drive output is disabled
a) 200 V class
L+
L-
L+ L-
L11
L21
TE3
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
CN8
CN2 CN2
BV
M
BW
BU
(Note 4) (Note 4)
V
U
W
V
U
W
CN2 CN2
BV
M
BW
BU
V
U
W
V
U
W
CN4
L+
L-
L11
L21
TE3
(Note 5)
(Note 6)
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
(Note 5)
(Note 6)
24 V DC
CN8
MCCB L1
L2
L3
L11
L21
SK
L+
L-
(Note 7, 9)
(Note 7, 9)
(Note 7, 9)
MC
RA1 RA2
BB
CC
(Note 8) CN25
RA3
24 V DC
CN40A
CN1A CN1B
Drive unit malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch Operation ready
OFF/ON
Converter unit malfunction
RA3 (Note 5)
Drive unit malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch
Forced stop (Note 6)
Servo system controller
SSCNET III cable SSCNET III cable
Dynamic brake
Dynamic brake
Dedicated bus bar
Dedicated bus bar
Protection coordination
cable
(Note 2) MC
AC reactor Drive unit Drive unit
Power regeneration converter unit
3-phase 200 to 240 V AC, 50/60 Hz
Plate Plate
(Note 1) Power supply
(Note 1) Power supply
Cooling fan
Servo motor
Encoder
Cooling fan
Servo motor
Encoder
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 23
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same
power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. 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.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. When connecting multiple drive units, configure a sequence that will shut off the main circuit power if an alarm occurs even in one axis.
6. Configure a sequence in which the servo system controller will stop all the drive units if an alarm occurs even in one drive unit. 7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 8.5.) 8. Connect to an error output (A/B/C) via a relay coil, etc. 9. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 24
b) 400 V class
L+
L-
L+ L-
L11
L21
TE3
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
CN8
CN2 CN2
BV
M
BW
BU
(Note 4) (Note 4)
V
U
W
V
U
W
CN2 CN2
BV
M
BW
BU
V
U
W
V
U
W
CN4
L+
L-
L11
L21
TE3
(Note 5)
(Note 6)
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
(Note 5)
(Note 6)
24 V DC
CN8
MCCB L1
L2
L3
L11
L21
SK
L+
L-
(Note 7, 10)
(Note 7, 10)
(Note 7, 10)
MC
RA1 RA2
BB
CC
(Note 8) CN25
RA3
24 V DC
CN40A
CN1A CN1B
Drive unit malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch Operation ready
OFF/ON
Converter unit malfunction
RA3 (Note 5)
Drive unit Drive unit
Dedicated bus bar
Dedicated bus bar
Power regeneration converter unit
(Note 2) MC
AC reactor
3-phase 380 to 480 V AC, 50/60 Hz
(Note 9) Step-down transformer
Protection coordination
cable
Servo system controller
Forced stop (Note 6)
Drive unit malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch
SSCNET III cable SSCNET III cable
Plate Plate
Cooling fan
Servo motor
Encoder
Dynamic brake
Cooling fan
Servo motor
Encoder
Dynamic brake
(Note 1) Power supply
(Note 1) Power supply
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. 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.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. When connecting multiple drive units, configure a sequence that will shut off the main circuit power if an alarm occurs even in one axis.
6. Configure a sequence in which the servo system controller will stop all the drive units if an alarm occurs even in one drive unit. 7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 8.5.) 8. Connect to an error output (A/B/C) via a relay coil, etc. 9. A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class. 10. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 25
(c) Connecting multiple drive units and servo amplifiers to one power regeneration converter unit
1) When magnetic contactor drive output is enabled (factory setting)
POINT The power regeneration converter unit controls the magnetic contactor. Connect the power regeneration converter unit and the adjacent drive unit with MR-CUL06M protection coordination cable. When multiple drive units and servo amplifiers are connected to one power regeneration converter unit, use EM1 for the emergency stop of the drive units and servo amplifiers, and stop the servo motors with the dynamic brake if an error occurs. Set [Pr. PA04] to "0000" to enable EM1. Set [Pr. PA02] to "4700" and [Pr. PF03] to "0100" for the drive unit to which the protection coordination cable is not connected. Be sure to simultaneously turn on and off the control circuit power supplies of the power regeneration converter unit, drive unit, and servo amplifier.
a) 200 V class
L+
L-
L+ L-
L11
L21
TE3
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
CN8
CN2 CN2
BV
M
BW
BU
(Note 4)
V
U
W
V
U
W
CN2 CN2
BV
M
BW
BU
V
U
W
V
U
W
CN4
Servo amplifier
To the next servo amplifier
P4 (Note 8)
N-
L11
L21
TE3
(Note 5)
(Note 9)
(Note 6)
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
(Note 5)
(Note 6)
24 V DC
CN8
MCCB
1MC1
3MC2
CN23
L1
L2
L3
L11
L21
SK
L+
L-
(Note 7, 12)
(Note 7)
(Note 7, 12)
MC
RA1 RA2
(Note 10, 11)
CN40A
CN1A CN1B
Servo amplifier malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch
Servo amplifier malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch
Operation ready OFF/ON
3-phase 200 to 240 V AC, 50/60 Hz
(Note 2) MC
AC reactor
Power regeneration converter unit Drive unit
Dedicated bus bar
Protection coordination
cable
SSCNET III cable SSCNET III cable
Plate Plate
Forced stop (Note 6)
Servo system controller
(Note 1) Power supply
(Note 1) Power supply
Cooling fan
Servo motor
Encoder
Cooling fan
Servo motor
Encoder
Dynamic brake
(Note 3) Main circuit power supply
Short-circuit connector (Packed with the servo amplifier)
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 26
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same
power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. To prevent an unexpected restart of the drive unit and servo amplifier, configure a circuit to turn off EM1 in the drive unit and servo amplifier when the main circuit power is turned off.
4 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. When connecting multiple drive units and servo amplifiers, configure a sequence that will shut off the main circuit power if an alarm occurs even in one axis.
6. Configure a sequence in which the servo system controller will stop all the drive units (servo amplifiers) if an alarm occurs even in one drive unit (servo amplifier).
7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 8.5.)
8. For the terminal block and connector, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". 9. Connect the main circuit power supply of the servo amplifier via a terminal block, and keep the wiring length of 1.5 m or longer. 10. Be sure to disconnect between P3 and P4. 11. When using the servo amplifier of 7 kW or less, make sure to connect the built-in regenerative resistor. (factory-wired) (5 kW
or less: P+ and D, 7 kW or less: P+ and C) 12. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 27
b) 400 V class
L+
L-
L+ L-
L11
L21
TE3
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
CN8
CN2 CN2
BV
M
BW
BU
V
U
W
V
U
W
CN2 CN2
BV
M
BW
BU
V
U
W
V
U
W
CN4
P4 (Note 9)
N-
L11
L21
TE3
(Note 10)
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
24 V DC
CN8
MCCB
1MC1
3MC2
CN23
L1
L2
L3
L11
L21
SK
L+
L-
(Note 7, 13)
(Note 7)
(Note 7, 13)
MC
RA1 RA2
CN40A
CN1A CN1B
Servo amplifier malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch Operation ready
OFF/ON
(Note 2) MC
AC reactor
Dedicated bus bar
Power regeneration converter unit Drive unit
Protection coordination
cable
SSCNET III cable SSCNET III cableServo system controller
Servo amplifier malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch
Forced stop (Note 6)
(Note 1) Power supply
(Note 1) Power supply
Cooling fan
Servo motor
Cooling fan
Servo motor
Encoder Encoder
(Note 4)Dynamic brake
Plate Plate (Note 3) Main circuit power supply
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
Short-circuit connector (Packed with the servo amplifier)
(Note 5)
(Note 6)
(Note 5)
(Note 6)
(Note 11, 12)Servo amplifier
To the next servo amplifier
3-phase 380 to 480 V AC, 50/60 Hz
(Note 8) Step-down transformer
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 28
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same
power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. To prevent an unexpected restart of the drive unit and servo amplifier, configure a circuit to turn off EM1 in the drive unit and servo amplifier when the main circuit power is turned off.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. When connecting multiple drive units and servo amplifiers, configure a sequence that will shut off the main circuit power if an alarm occurs even in one axis.
6. Configure a sequence in which the servo system controller will stop all the drive units (servo amplifiers) if an alarm occurs even in one drive unit (servo amplifier).
7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 8.5.)
8. A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class. 9. For the terminal block and connector, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". 10. Connect the main circuit power supply of the servo amplifier via a terminal block, and keep the wiring length of 1.5 m or longer. 11. Be sure to disconnect between P3 and P4. 12. When using the servo amplifier of 7 kW or less, make sure to connect the built-in regenerative resistor. (factory-wired) (5 kW
or less: P+ and D, 7 kW or less: P+ and C) 13. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 29
2) When magnetic contactor drive output is disabled
a) 200 V class
L+
L-
L+ L-
L11
L21
TE3
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
CN8
CN2 CN2
BV
M
BW
BU
(Note 4)
V
U
W
V
U
W
CN2 CN2
BV
M
BW
BU
V
U
W
V
U
W
CN4
P4 (Note 8)
N-
L11
L21
TE3
(Note 5)
(Note 9)
(Note 6)
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
(Note 5)
(Note 6)
24 V DC
CN8
MCCB L1
L2
L3
L11
L21
SK
L+
L-
(Note 7, 13)
(Note 7)
(Note 7, 13)
MC
RA1 RA2
(Note 11, 12)
BB
CC
(Note 10) CN25
RA3
24 V DC
CN40A
CN1A CN1B
3-phase 200 to 240 V AC, 50/60 Hz
Servo amplifier malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch Operation ready
OFF/ON
Converter unit malfunction
RA3 (Note 5)
(Note 2) MC
AC reactor
Dedicated bus bar
Servo amplifier Power regeneration
converter unit Drive unit
To the next servo amplifier
Protection coordination
cable
SSCNET III cable SSCNET III cableServo system controller
Forced stop (Note 6)
Servo amplifier malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch
Plate Plate
(Note 1) Power supply
(Note 1) Power supply
Cooling fan
Servo motor
Encoder
Cooling fan
Servo motor
Encoder
Dynamic brake
(Note 3) Main circuit power supply
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
Short-circuit connector (Packed with the servo amplifier)
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 30
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same
power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. To prevent an unexpected restart of the drive unit and servo amplifier, configure a circuit to turn off EM1 in the drive unit and servo amplifier when the main circuit power is turned off.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. When connecting multiple drive units and servo amplifiers, configure a sequence that will shut off the main circuit power if an alarm occurs even in one axis.
6. Configure a sequence in which the servo system controller will stop all the drive units (servo amplifiers) if an alarm occurs even in one drive unit (servo amplifier).
7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 8.5.)
8. For the terminal block and connector, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". 9. Connect the main circuit power supply of the servo amplifier via a terminal block, and keep the wiring length of 1.5 m or longer. 10. Connect to an error output (A/B/C) via a relay coil, etc. 11. Be sure to disconnect between P3 and P4. 12. When using the servo amplifier of 7 kW or less, make sure to connect the built-in regenerative resistor. (factory-wired) (5 kW
or less: P+ and D, 7 kW or less: P+ and C) 13. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 31
b) 400 V class
L+
L-
L+ L-
L11
L21
TE3
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
CN8
CN2 CN2
BV
M
BW
BU
(Note 4)
V
U
W
V
U
W
CN2 CN2
BV
M
BW
BU
V
U
W
V
U
W
CN4
P4 (Note 9)
N-
L11
L21
TE3
(Note 5)
(Note 10)
(Note 6)
CN3
EM1
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM 24 V DC
(Note 5)
(Note 6)
24 V DC
CN8
MCCB L1
L2
L3
L11
L21
SK
L+
L-
(Note 7, 14)
(Note 7)
(Note 7, 14)
MC
RA1 RA2
(Note 12, 13)
BB
CC
(Note 11) CN25
RA3
24 V DC
CN40A
CN1A CN1B
Servo amplifier malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch Operation ready
OFF/ON
Converter unit malfunction
RA3 (Note 5)
3-phase 380 to 480 V AC, 50/60 Hz
(Note 8) Step-down transformer
(Note 2) MC
AC reactor Servo amplifier
Power regeneration converter unit Drive unit
To the next servo amplifier
Dedicated bus bar
Protection coordination
cable Plate Plate
SSCNET III cable SSCNET III cableServo system controller
Forced stop (Note 6)
Servo amplifier malfunction
RA2 (Note 5)
Drive unit malfunction
RA1 (Note 5) Emergency stop
switch
Cooling fan
Servo motor
Encoder
Dynamic brake
Cooling fan
Servo motor
Encoder
(Note 1) Power supply
(Note 1) Power supply
(Note 3) Main circuit power supply
(Note 3) Main circuit power supply
Short-circuit connector (packed with the drive unit)
Short-circuit connector (Packed with the servo amplifier)
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 32
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". When using the same
power supply for the main circuit and cooling fan for MR-CV_, do not supply power between the MR-CV_ and AC reactor or to the inductive load from the secondary side of the magnetic contactor.
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. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
3. To prevent an unexpected restart of the drive unit and servo amplifier, configure a circuit to turn off EM1 in the drive unit and servo amplifier when the main circuit power is turned off.
4. 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3. When using the external dynamic brake, assign DB (Dynamic brake interlock) to the CN3 connector pin with [Pr. PD07] to [Pr. PD09].
5. When connecting multiple drive units and servo amplifiers, configure a sequence that will shut off the main circuit power if an alarm occurs even in one axis.
6. Configure a sequence in which the servo system controller will stop all the drive units (servo amplifiers) if an alarm occurs even in one drive unit (servo amplifier).
7. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to section 8.5.)
8. A step-down transformer is required when the coil voltage of the magnetic contactor is 200 V class. 9. For the terminal block and connector, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". 10. Connect the main circuit power supply of the servo amplifier via a terminal block, and keep the wiring length of 1.5 m or longer. 11. Connect to an error output (A/B/C) via a relay coil, etc. 12. Be sure to disconnect between P3 and P4. 13. When using the servo amplifier of 7 kW or less, make sure to connect the built-in regenerative resistor. (factory-wired) (5 kW
or less: P+ and D, 7 kW or less: P+ and C) 14. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 33
(3) How to use the bus bars
POINT The bus bars attached to the drive unit are only for the connection with the MR- CR_ resistance regeneration converter unit. The bus bars attached to the drive unit of 30 kW or more may not be usable. Refer to section 8.12 for the combinations of the bus bars. When mounting a drive unit in the right side of MR-J4-DU900B(4)(-RJ) or MR- J4-DU11KB(4)(-RJ), place the bus bars on top of each other on the TE2 terminal block of MR-J4-DU900B(4)(-RJ) or MR-J4-DU11KB(4)(-RJ), and screw them together. When the total number of MR-J4-DU900B(4)(-RJ) and MR-J4- DU11KB(4)(-RJ) drive units connected to the power regeneration convert unit is even, there is a gap of bar thickness between the bus bar and TE2 terminal block of the final drive unit. Place adjustment bars in the gap and screw them together. Please purchase the adjustment bars separately. (Refer to section 8.12.2.)
Connect L+ and L- of the power regeneration converter unit and those of drive unit as follows with the dedicated bus bars. The units are shown with the terminal cover open. When connecting the multiple drive units to one power regeneration converter unit, mount the drive units in descending order of capacity, from the right side of the power regeneration converter unit.
L+
L-
MR-J4-DU22KB4 MR-J4-DU11KB4 MR-J4-DU900B4MR-CV55K4
Bus bar 1 Bus bar 2 Bus bar 3
Adjustment bar
Screw the bus bars 2 and 3 together by placing one over the other.
When a space is found between the bus bar 3 and the TE2 terminal block of the drive unit, place adjustment bars between, and screw them together.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 34
3.3.2 Explanation of power supply system
(1) Signal explanations
POINT For the location of the terminal block, refer to chapter 7 DIMENSIONS.
Connection target
(application) Symbol Terminal block
Description MR-CV11K to MR-CV55K MR-CV11K4 to MR-CV75K4
Main circuit power supply L1/L2/L3 TE1 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.
Drive unit L+/L- TE2 Connect the L+ and L- of the drive unit to these terminals. Use bus bars for the connection.
Protective earth (PE) PE Connect this terminal to the protective earth (PE) of the cabinet.
(2) Power-on sequence
(a) Power-on procedure 1) Be sure to use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown
in above section 3.3.1 (2). Configure a circuit to switch off the magnetic contactor by an external sequence as soon as an alarm occurs.
2) Turn on the control circuit power supplies (L11/L21) of the power regeneration converter unit and
drive unit simultaneously with or before the main circuit power supply. A warning appears on the display if the main circuit power supply is not turned on. When it is turned on, the warning disappears, and the operation starts normally.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 35
(b) Timing chart
1) Connecting one drive unit to one power regeneration converter unit a) When magnetic contactor drive output is enabled and the status remains at ready-on
The main circuit power does not shut off with servo-off.
OFF
ON
OFF
Servo-on command (from servo system controller)
(95 ms)
ON
OFF
(3 s) (Note 4)
Tb
ON
OFF
ON
ON
OFF
Power regeneration Converter unit control circuit power supply
ON
OFF
0 r/minServo motor speed
0 r/min
(Note 2)
Drive unit Control circuit power supply
Main circuit power supply
Base circuit
MBR (Electromagnetic brake interlock) (Note 1)
Position command (Note 3)
Note 1. When an electromagnetic brake is installed externally, configure a sequence which operates the electromagnetic brake with MBR as follows. 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. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR off to base circuit shut-
off at servo-off.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 36
b) When magnetic contactor drive output is enabled and the status returns to ready-off
The magnetic contactor of the converter unit turns off with ready-off, and the main circuit power supply shuts off.
OFF
ON
OFF
(3 s)
(3 s)
ON
OFF
ON
OFF
ON
OFF
ON
ON
OFF
0 r/min
0 r/min
(Note 2)
Servo-on command (from servo system controller)
Power regeneration Converter unit control circuit power supply
Servo motor speed
Drive unit Control circuit power supply
Main circuit power supply
Base circuit
MBR (Electromagnetic brake interlock) (Note 1)
Position command (Note 3)
Note 1. When an electromagnetic brake is installed externally, configure a sequence which operates the electromagnetic brake with MBR as follows. 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.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 37
c) 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.
(95 ms)
(3 s)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0 r/min
0 r/min
(Note 2)
Servo-on command (from servo system controller)
Power regeneration Converter unit control circuit power supply
Servo motor speed
Drive unit Control circuit power supply
Main circuit power supply
Base circuit
MBR (Electromagnetic brake interlock) (Note 1)
Position command (Note 3)
(Note 4, 5) Tb
Note 1. When an electromagnetic brake is installed externally, configure a sequence which operates the electromagnetic brake with MBR as follows. 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. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR off to base circuit shut-off
at 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)
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 38
2) Connecting multiple drive units and servo amplifiers to one power regeneration converter unit
a) When magnetic contactor drive output is enabled and the status remains at ready-on
(95 ms)
Drive unit (axis the protection coordination cable is connected) Base circuit
(3 s)
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Control circuit power supply
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Drive unit (axis the protection coordination cable is connected) Control circuit power supply
Power regeneration converter unit Control circuit power supply
Drive unit (axis the protection coordination cable is connected) MBR (Electromagnetic brake interlock) (Note 1)
0 r/min Drive unit (axis the protection coordination cable is not connected) or servo amplifier Servo motor speed
0 r/min Drive unit (axis the protection coordination cable is connected) Servo motor speed
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Base circuit
(3 s) Tb
Drive unit (axis the protection coordination cable is not connected) or servo amplifier MBR (Electromagnetic brake interlock) (Note 1)
0 r/min Drive unit (axis the protection coordination cable is connected) Position command (Note 3)
(Note 2)
(Note 2)
0 r/min Drive unit (axis the protection coordination cable is not connected) or servo amplifier Position command (Note 3)
(Note 5)
(Note 4) Tb
Main circuit power supply
Servo-on command (from servo system controller)
Note 1. When an electromagnetic brake is installed externally, configure a sequence which operates the electromagnetic brake with MBR as follows. 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. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR off to base circuit shut-off at
servo-off. 5. The main circuit power does not shut off with servo-off.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
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b) When magnetic contactor drive output is enabled and the status returns to ready-off
When the axis, which the protection coordination cable is connected to, turns to servo-off, the magnetic contactor of the power regeneration converter unit turns off, and the main circuit power supply shuts off. Even when an axis other than the cable connected turns to servo-off, the main circuit power supply will not shut off.
(3 s)
(3 s)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0 r/min
0 r/min
(3 s)
0 r/min
0 r/min
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Control circuit power supply
Drive unit (axis the protection coordination cable is connected) Control circuit power supply
Power regeneration converter unit Control circuit power supply
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Servo motor speed
Drive unit (axis the protection coordination cable is connected) Servo motor speed
Main circuit power supply
Drive unit (axis the protection coordination cable is connected) Base circuit
Drive unit (axis the protection coordination cable is connected) MBR (Electromagnetic brake interlock) (Note 1)
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Base circuit Drive unit (axis the protection coordination cable is not connected) or servo amplifier MBR (Electromagnetic brake interlock) (Note 1)
Servo-on command (from servo system controller)
Drive unit (axis the protection coordination cable is connected) Position command (Note 3)
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Position command (Note 3)
(Note 2)
(Note 2)
Note 1. When an electromagnetic brake is installed externally, configure a sequence which operates the electromagnetic brake with MBR as follows. 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.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
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c) 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.
(95 ms)
(3 s)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0 r/min
0 r/min
(3 s) Tb
0 r/min
0 r/min
Drive unit (axis the protection coordination cable is connected) Base circuit
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Control circuit power supply
Drive unit (axis the protection coordination cable is connected) Control circuit power supply
Power regeneration converter unit Control circuit power supply
Drive unit (axis the protection coordination cable is connected) MBR (Electromagnetic brake interlock) (Note 1)
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Servo motor speed
Drive unit (axis the protection coordination cable is connected) Servo motor speed
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Base circuit Drive unit (axis the protection coordination cable is not connected) or servo amplifier MBR (Electromagnetic brake interlock) (Note 1)
Drive unit (axis the protection coordination cable is connected) Position command (Note 3)
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Position command (Note 3)
Main circuit power supply
Servo-on command (from servo system controller)
(Note 2)
(Note 2)
(Note 4, 5) Tb
Note 1. When an electromagnetic brake is installed externally, configure a sequence which operates the electromagnetic brake with MBR as follows. 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. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR off to base circuit shut-off at
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)
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3.3.3 Connectors and pin assignment
POINT The pin assignment of the connectors is as viewed from the cable connector wiring section. When using the CN24 connector, MR-CVCN24S connector set and a crimping tool are necessary.
(1) Connectors and pin assignment of MR-CV_ power regeneration converter unit
CN41 Leave this open.
CN9 Leave this open.
CN25 Connect to an error output signal.
CN4 Used to connect CN40A of the drive unit.
CN23 Connect to the operation coil of the magnetic contactor. (Note)
CN24 Used to connect digital I/O signals.
CN4
CN24
CN25 A
B
8
4
5
1
20
11
10
1
C
3
2
1
CN23
Note. The connector for CN23 and an open tool are supplied with the power regeneration converter unit.
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(2) Connecting wire to CN25
POINT When stripping wire, be careful not to damage the conductor. Using this equipment with the conductor damaged may cause an insulation failure, loose connection, or wire breakage. After connecting wire, pull each wire lightly to confirm that the wire does not easily come out. Using this equipment without connecting the wire properly may cause a loose connection and wire breakage. After connecting wire, be careful that the tension (torsional force) of the wire is not directly applied to the part where the closed part of the terminal block and the wire are connected. Applying the torsional force may cause a loose connection or wire breakage. When opening the spring, do not apply an extreme force. Otherwise, the housing may break.
(a) Fabrication on cable insulator
Stripped length of the wire insulator should be approx. 5 to 6 mm. The appropriate stripped length of wire depends on the wire type, etc. Set the length considering their status. Stranded wire or solid wire of AWG 28 to 14 can be connected to CN25. Any wire whose insulator is too thick to be inserted to the insertion hole of CN25 cannot be used.
Insulator Core
5 mm to 6 mm
Twist strands lightly and straighten them as follows.
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(b) Inserting wire
Insert only one wire in each wire insertion hole of CN25 (the round hole).
1) Insert a driver diagonally in the square hole.
2) Stand the driver up pressing to the end. If inserted properly, the driver keeps standing with hands off.
3) Insert the properly-stripped wire in the wire insertion hole.
4) Once the wire is pressed to the end, pull out the driver holding the wire.
5) Pull the wire lightly to confirm that the wire does not come out. Do not pull the wire too hard. In addition, make sure that no conductor wire sticks out of the connector. You can remove the wire with the driver inserted in the square hole.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
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(c) Drivers to be used
For mounting wire, dedicated drivers shown in the following are recommended.
Model number
Type Brand
210-720 Standard type (Made in Europe) 210-120J Standard type (Made in Japan) WAGO 210-657J Mini type (Made in Japan)
When using general drivers, the width must be 3.5 mm. Those drivers, which are too large to be inserted in the driver slot, or are unable to open the springs properly, cannot be used.
3.5 mm
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3.3.4 Signal (device) explanations
The following table lists signals (devices) of the power regeneration converter unit. For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.3.7. (1) I/O signal connector (CN24)
Signal (device) Symbol Connector pin No. Function and application I/O
division Forced stop EM1 CN24-1 To enable EM1, set the converter setting rotary switch (SW1) of the power
regeneration converter unit to "4". When EM1 is turned off, the converter unit will be in a forced stop state. In this state, the magnetic contactor turns off, [AL. E9 Main circuit off warning] occurs in the drive unit, and the servo-on turns off. The forced stop state will be reset when EM1 is turned on.
DI
Reset RES CN24-2 This signal is used for resetting alarms. Turn RES off after it has been on for 100 ms or longer. Some alarms cannot be rest by RES. Refer to chapter 6 for the alarms that can be reset. If RES is turned on while no alarm is occurring, the state will be ready-off. Do not turn this device on during an operation as it is not for stopping the operation.
DI
Alarm ALM CN24-3 When an alarm occurs, ALM turns off. DO Digital I/F power supply input
DICOM CN24-4 Input 24 V DC (24 V DC 10% 500 mA) for I/O interface. The power supply capacity varies, depending on the number of I/O interface points to be used. For sink interface, connect + of the 24 V DC external power supply. For source interface, connect - of the 24 V DC external power supply.
Ready RDYA CN24-5 RDYA turns on when the power regeneration converter unit is ready. It is a reverse logic to RDYB. RDYA remains off until the unit turns on after the power is turned on.
DO
Operation permission RDYB CN24-6 RDYB turns on when an error occurs in the power regeneration converter unit and when the reset is inputted. It is a reverse logic to RDYA. RDYB remains off until the unit turns off after the power is turned on.
DO
Converter reset RSO CN24-7 RSO turns on when RES is inputted to the power regeneration converter unit. DO Digital I/F common DOCOM CN24-8 This is a common terminal for input signal. This is separated from LG.
For sink interface, connect - of the 24 V DC external power supply. For source interface, connect + of the 24 V DC external power supply.
(2) Alarm output connector (CN25)
Signal (device) Symbol Connector pin No. Function and application I/O
division Alarm output A
B C
CN25-1 CN25-2 CN25-3
This connector, having a form C contact, outputs an alarm when the protective function of the power regeneration converter unit is activated and the power output to the drive unit is stopped. Abnormal: B and C are not conducted. (A and C are conducted.) Normal: B and C are conducted. (A and C are not conducted.)
DO
(3) Magnetic contactor control connector (CNP23)
Signal (device) Symbol Connector pin No. Function and application I/O
division Magnetic contactor
drive output MC1 CN23-1 Connect this device to the operation coil of the magnetic contactor and the
power supply for controlling the magnetic contactor. When the power regeneration converter unit receives a start command from the drive unit, MC1 (CNP23-1 pin) and MC2 (CN23-3 pin) will be shorted. When not executing control using the connector for controlling magnetic contactor, set the converter setting rotary switch (SW1) of the power regeneration converter unit to "1". (Refer to section 3.4.3.)
MC2 CN23-3
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
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3.3.5 Alarm occurrence timing chart
CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being inputted, ensure safety, and reset the alarm before restarting operation.
(1) Connecting one drive unit to one power regeneration converter unit
(a) When magnetic contactor drive output is enabled 1) Power regeneration converter unit
When an alarm occurs in the power regeneration converter unit, the magnetic contactor turns off and the main circuit magnetic contactor shuts 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.
2)Power regeneration converter unit Control circuit power supply
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF Servo-on command (from servo system controller)
Power regeneration converter unit Alarm
(3 s) (3 s)
1) 4) 3)
ON
OFF Reset command (from servo system controller)
1.5 s
Main circuit power supply
Drive unit Control circuit power supply
Base circuit
Drive unit Alarm
No alarm Alarm
No alarm
No alarm
No alarm
Alarm
Alarm
Alarm occurrence Alarm occurrence
No alarm
1) in figure Even if an alarm occurs in the power regeneration converter unit when the drive unit is at servo-off, the alarm is not detected.
2) and 3) in figure To deactivate the alarm of the power regeneration converter unit, cycle the power of the
power regeneration converter unit (2)), or turn on the servo-on command (3)). Refer to section 6.1 for the alarms that can be reset with the servo-on command on.
4) in figure If an alarm occurs in the power regeneration 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.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
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2) Drive unit
When an alarm occurs in the drive unit, the base circuit shuts off and the servo motor coasts. When an external dynamic brake 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.
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
(3 s) (3 s)
ON
OFF
1) 1)
1.5 s Alarm occurrence
Power regeneration converter unit Control circuit power supply
Servo-on command (from servo system controller)
Power regeneration converter unit Alarm
Reset command (from servo system controller)
Main circuit power supply
Drive unit Control circuit power supply
Base circuit
Drive unit Alarm Alarm No alarmNo alarm
No alarm
1) in figure After the drive unit has started, and when the drive unit and power regeneration converter unit have no alarms, the main circuit power is supplied.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
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(b) When magnetic contactor drive output is disabled
1) Power regeneration converter unit When an alarm is occurs in the power regeneration converter unit, servo-off occurs. However, the main circuit power supply does not shut off; therefore, shut off the main circuit power supply with the external sequence. When the alarm is deactivated in the power regeneration converter unit, (and in the drive unit if an alarm has also occurred in the drive unit), turn on the error reset command from the servo system controller to resume the operation.
2) ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
(3 s) (3 s)
1) 4) 3)
ON
OFF
5)
1.5 s
Power regeneration converter unit Control circuit power supply
Servo-on command (from servo system controller)
Power regeneration converter unit Alarm
Reset command (from servo system controller)
Main circuit power supply
Drive unit Control circuit power supply
Base circuit
Drive unit Alarm Alarm
Alarm Alarm
No alarm
No alarm
No alarm
No alarm
Alarm occurrenceAlarm occurrence
No alarm
1) in figure Even if an alarm occurs in the power regeneration converter unit when the drive unit is at servo-off, the alarm is not detected.
2) and 3) in figure To deactivate the alarm of the power regeneration converter unit, cycle the power of the
power regeneration converter unit (2)), or turn on the servo-on command (3)). Refer to section 6.1 for the alarms that can be reset with the servo-on command on.
4) in figure If an alarm occurs in the power regeneration 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. 5) in figure Shut off the main circuit power supply with the external sequence at the same time with
the alarm occurrence.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
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2) Drive unit
When an alarm occurs in the drive unit, servo-off occurs. However, the main circuit power supply does not shut off; therefore, shut off the main circuit power supply with the external sequence. After the alarm is deactivated in the drive unit, turn on the error reset command from the servo system controller to resume the operation.
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
(3 s) (3 s)
ON
OFF
2)1)
1.5 s
Power regeneration converter unit Control circuit power supply
Servo-on command (from servo system controller)
Power regeneration converter unit Alarm
Reset command (from servo system controller)
Main circuit power supply
Drive unit Control circuit power supply
Base circuit
Drive unit Alarm No alarm
No alarm
No alarmAlarm
Alarm occurrence
1) in figure When an alarm occurs in the drive unit, shut off the main circuit power supply with the external sequence.
2) in figure Turn on the main circuit power supply after the alarm in the drive unit is deactivated.
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(2) Connecting multiple drive units and servo amplifiers to one power regeneration converter unit
(a) When magnetic contactor drive output is enabled 1) Power regeneration converter unit
When an alarm occurs in the power regeneration converter unit, the magnetic contactor turns off and the main circuit magnetic contactor shuts off. Make all the axes servo-off by inputting the forced stop signal from the servo system controller to the drive unit or servo amplifier in operation. To deactivate the alarm, cycle the control circuit power or request the operation from the axis which the protection coordination cable is connected to. However, the alarm cannot be deactivated unless its cause is removed.
2) ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
(3 s) (3 s)
1) 4)
5)
3)
ON
OFF
ON
OFF
ON
OFF
1.5 s
Drive unit (axis the protection coordination cable is connected) Control circuit power supply
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Control circuit power supply
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Base circuit
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Alarm
Main circuit power supply
Power regeneration converter unit Alarm
Power regeneration converter unit Control circuit power supply
Drive unit (axis the protection coordination cable is connected) Base circuit
Drive unit (axis the protection coordination cable is connected) Alarm
Servo-on command (from servo system controller)
Reset command (from servo system controller)
No alarm
No alarm
No alarm
No alarm
Alarm
Alarm
No alarm No alarmAlarm
Alarm occurrence Alarm occurrence
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1) in figure Even if an alarm occurs in the power regeneration converter unit when the drive unit is at
servo-off, the alarm is not detected. 2) and 3) in figure To deactivate the alarm of the power regeneration converter unit, cycle the power of the
power regeneration converter unit (2)), or turn on the servo-on command (3)). Refer to section 6.1 for the alarms that can be reset with the servo-on command on.
4) in figure If an alarm occurs in the power regeneration converter unit when the drive unit is at
servo-on, the alarm also occurs in the axis which the protection coordination cable is connected to, and the drive unit becomes servo-off.
5) in figure When an alarm occurs in the power regeneration converter unit, make all the axes servo-
off by inputting the forced stop signal from the servo system controller.
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2) Drive unit
When an alarm occurs in the drive unit which the protection coordination cable is connected to, the base circuit shuts off and the servo motor coasts. When an alarm occurs in the servo amplifier or drive unit which the protection coordination cable is not connected to, shut off the main circuit power supply by turning off the magnetic contactor with the external sequence. When an external dynamic brake is used, the external dynamic brake is activated to stop the servo motor. When an alarm occurs in any axis, make all the axes servo-off by inputting the forced stop signal from the servo system controller. 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.
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
(3 s) (3 s)
ON
OFF
1) 1)
ON
OFF
ON
OFF
1.5 s
2)
Drive unit (axis the protection coordination cable is connected) Control circuit power supply
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Control circuit power supply
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Base circuit
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Alarm
Main circuit power supply
Power regeneration converter unit Alarm
Power regeneration converter unit Control circuit power supply
Drive unit (axis the protection coordination cable is connected) Base circuit
Drive unit (axis the protection coordination cable is connected) Alarm
Servo-on command (from servo system controller)
Reset command (from servo system controller)
No alarm
No alarm
No alarm
No alarmAlarm
Alarm occurrence
1) in figure After the drive unit has started, and when the drive unit and power regeneration converter unit have no alarms, the main circuit power is supplied.
2) in figure When an alarm occurs in any axis, make all the axes servo-off by inputting the forced
stop signal from the servo system controller.
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(b) When magnetic contactor drive output is disabled
1) Power regeneration converter unit When an alarm is occurs in the power regeneration converter unit, servo-off occurs. However, the main circuit power supply does not shut off; therefore, shut off the main circuit power supply with the external sequence. Make all the axes servo-off by inputting the forced stop signal from the servo system controller to the drive unit or servo amplifier in operation. When the alarm is deactivated in the power regeneration converter unit, (and in the drive unit or servo amplifier if an alarm has also occurred in the drive unit or servo amplifier), turn on the error reset command from the servo system controller to resume the operation.
2) ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
(3 s) (3 s)
1) 4) 3)
ON
OFF
5)
5)
ON
OFF
ON
OFF
1.5 s
Drive unit (axis the protection coordination cable is connected) Control circuit power supply
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Control circuit power supply
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Base circuit
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Alarm
Main circuit power supply
Power regeneration converter unit Alarm
Power regeneration converter unit Control circuit power supply
Drive unit (axis the protection coordination cable is connected) Base circuit
Drive unit (axis the protection coordination cable is connected) Alarm
Servo-on command (from servo system controller)
Reset command (from servo system controller)
No alarm Alarm No alarm
No alarm Alarm No alarm
No alarm
No alarmAlarm
Alarm occurrenceAlarm occurrence
1) in figure Even if an alarm occurs in the power regeneration converter unit when the drive unit is at servo-off, the alarm is not detected.
2) and 3) in figure To deactivate the alarm of the power regeneration converter unit, cycle the power of the
power regeneration converter unit (2)), or turn on the servo-on command (3)). Refer to section 6.1 for the alarms that can be reset with the servo-on command on.
4) in figure If an alarm occurs in the power regeneration 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. 5) in figure When an alarm occurs in the power regeneration converter unit, make all the axes servo-
off by inputting the forced stop signal from the servo system controller.
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2) To drive unit or servo amplifier
When an alarm occurs in the drive unit or servo amplifier, servo-off occurs. However, the main circuit power supply does not shut off; therefore, shut off the main circuit power supply with the external sequence. Make all the axes servo-off by inputting the forced stop signal from the servo system controller to the drive unit or servo amplifier in operation. After the alarm is deactivated in the drive unit or servo amplifier, turn on the error reset command from the servo system controller to resume the operation.
3)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
(3 s) (3 s)
ON
OFF
2)1)
ON
OFF
ON
OFF
1.5 s
Drive unit (axis the protection coordination cable is connected) Control circuit power supply
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Control circuit power supply
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Base circuit
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Alarm
Main circuit power supply
Power regeneration converter unit Alarm
Power regeneration converter unit Control circuit power supply
Drive unit (axis the protection coordination cable is connected) Base circuit
Drive unit (axis the protection coordination cable is connected) Alarm
Servo-on command (from servo system controller)
Reset command (from servo system controller)
No alarm
No alarm
No alarm
Alarm No alarm
Alarm occurrence
1) in figure When an alarm occurs in the drive unit, shut off the main circuit power supply with the external sequence.
2) in figure Turn on the main circuit power supply after the alarm in the drive unit is deactivated. 3) in figure When an alarm occurs in any axis, make all the axes servo-off by inputting the forced
stop signal from the servo system controller.
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3.3.6 Forced stop in the power regeneration converter unit
(1) Connecting one drive unit to one power regeneration converter unit (a) When magnetic contactor drive output is enabled
When EM1 (Forced stop) is disabled in the power regeneration converter unit, the magnetic contactor turns off and the main circuit power supply shuts off. The base circuit of the drive unit in operation shuts off, and [AL. E9 Main circuit off warning] appears on the drive unit. When EM1 is enabled in the power regeneration converter unit, the magnetic contactor turns on, the main circuit power is supplied, and then the drive unit automatically resumes the operation.
(50 ms)
Alarm
No alarm
ON
OFF
ON
(3 s)
(3 s)
2)
2)
1)
ON
OFF
OFF
Dynamic brake
MBR (Electromagnetic brake interlock)
Base circuit
Servo motor speed
Converter main circuit warning
Main circuit power supply
EM1 (Forced stop)
(Note 1) ON
OFF (Enabled)
(Note 2)
Note 1. When an electromagnetic brake is installed externally, configure a sequence which operates the electromagnetic brake with MBR as follows. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated.
2. There are delays caused by a magnetic contactor built into the external dynamic brake (about 50 ms) and by external relays.
1) in figure When EM1 is enabled in the power regeneration converter unit, the main circuit power is
supplied. 2) in figure When the capacitor in the main circuit is fully charged, the base circuit and MBR turn on.
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(b) When magnetic contactor drive output is disabled
When EM1 (Forced stop) is disabled in the power regeneration 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 is enabled in the power regeneration converter unit, the drive unit automatically resumes the operation.
(50 ms)
OFF
ON
OFF
ON
OFF
ON
(3 s)
(3 s)
1)Alarm
No alarm
MBR (Electromagnetic brake interlock)
Base circuit
Servo motor speed
Converter main circuit warning
Main circuit power supply
EM1 (Forced stop)
(Note 1) ON
OFF (Enabled)
Dynamic brake
(Note 2)
Note 1. When an electromagnetic brake is installed externally, configure a sequence which operates the electromagnetic brake with MBR as follows. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated.
2. There are delays caused by a magnetic contactor built into the external dynamic brake (about 50 ms) and by external relays.
1) in figure When EM1 is enabled, the converter main circuit off warning is released.
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(2) Connecting multiple drive units and servo amplifiers to one power regeneration converter unit
POINT The EM1 (forced stop) of the power regeneration converter unit and drive units should be turned off simultaneously.
(a) When magnetic contactor drive output is enabled
When EM1 (Forced stop) is disabled in the power regeneration converter unit, the magnetic contactor turns off and the main circuit power supply shuts off. The base circuit of the drive unit in operation shuts off, and [AL. E9 Main circuit off warning] appears on the drive unit. When EM1 is enabled in the power regeneration converter unit, the magnetic contactor turns on, the main circuit power is supplied, and then the drive unit automatically resumes the operation.
Drive unit (axis the protection coordination cable is connected) MBR (Electromagnetic brake interlock) (Note 1)
(50 ms)
ON
OFF
Drive unit (axis the protection coordination cable is connected) Base circuit
ON
OFF
Drive unit (axis the protection coordination cable is connected) Servo motor speed
Drive unit (axis the protection coordination cable is connected) Converter main circuit warning
ON
OFF
ON
(3 s)
(3 s)
2)
2)
1)
Drive unit (axis the protection coordination cable is not connected) or servo amplifier MBR (Electromagnetic brake interlock) (Note 1)
(50 ms)
ON
OFF
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Base circuit
ON
OFF
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Servo motor speed
(3 s)
(3 s)
2)
2)
Main circuit power supply
EM1 (Forced stop) (Note 3)
Dynamic brake
(Note 2)
Dynamic brake
(Note 2)
Alarm
No alarm
OFF (Enabled)
Note 1. When an electromagnetic brake is installed externally, configure a sequence which operates the electromagnetic brake with MBR as follows. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated.
2. There are delays caused by a magnetic contactor built into the external dynamic brake (about 50 ms) and by external relays.
3. The EM1 (forced stop) of the power regeneration converter unit and drive units should be turned off simultaneously.
1) in figure When EM1 is enabled in the power regeneration converter unit, the main circuit power is
supplied. 2) in figure When the capacitor in the main circuit is fully charged, the base circuit and MBR turn on.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
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(b) When magnetic contactor drive output is disabled
When EM1 (Forced stop) is disabled in the power regeneration 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 is enabled in the power regeneration converter unit, the magnetic contactor turns on, the main circuit power is supplied, and then the drive unit automatically resumes the operation.
(50 ms)
ON
OFF
ON
OFF
ON
OFF
ON
(3 s)
(3 s)
1)
(50 ms)
ON
OFF
ON
OFF
(3 s)
(3 s)
Drive unit (axis the protection coordination cable is connected) MBR (Electromagnetic brake interlock) (Note 1)
Drive unit (axis the protection coordination cable is connected) Base circuit
Drive unit (axis the protection coordination cable is connected) Servo motor speed
Drive unit (axis the protection coordination cable is connected) Converter main circuit warning
Drive unit (axis the protection coordination cable is not connected) or servo amplifier MBR (Electromagnetic brake interlock) (Note 1)
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Base circuit
Drive unit (axis the protection coordination cable is not connected) or servo amplifier Servo motor speed
Main circuit power supply
EM1 (Forced stop) (Note 3) OFF (Enabled)
Alarm
No alarm
Dynamic brake
Dynamic brake
(Note 2)
(Note 2)
Note 1. When an electromagnetic brake is installed externally, configure a sequence which operates the electromagnetic brake with MBR as follows. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated.
2. There are delays caused by a magnetic contactor built into the external dynamic brake (about 50 ms) and by external relays.
3. The EM1 (forced stop) of the power regeneration converter unit and drive units should be turned off simultaneously.
1) in figure When EM1 is enabled, the converter main circuit off warning is released.
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3.3.7 Interfaces
(1) Sink I/O interface (a) Digital input interface DI
This is an input circuit in which photocoupler cathode side is the input terminal. Transmit signals from sink (open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink input. Refer to (2) in this section for source input.
10%
Approx. 4.1 k
Approx. 5 mA
VCES 1.0 V ICEO 100 A
TR
24 V DC 350 mA
Switch
For transistor EM1 etc.
Power regeneration 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 power regeneration converter unit. The following shows a connection diagram for sink output. Refer to (2) in this section for source output.
24 V DC 10% 350 mA
Power regeneration converter unit
ALM, etc.
Load
(Note)
DOCOM
If polarity of diode is reversed, the power regeneration converter unit will malfunction.
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply a high voltage (maximum of 26.4 V) from an external source.
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(2) Source I/O interface
In this power regeneration 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.
10% VCES 1.0 V ICEO 100 A
24 V DC 350 mA
EM1 etc.
DICOM
TR
For transistor
Approx. 5 mA
Switch Approx. 4.1 k
Power regeneration converter unit
(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 power regeneration converter unit.
ALM,
DOCOM
24 V DC 10% 350 mA
Power regeneration converter unit
etc. Load
If polarity of diode is reversed, the power regeneration converter unit will malfunction.
(Note)
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply a high voltage (maximum of 26.4 V) from an external source.
(3) Alarm output
B and C are conducted in normal operation of the power regeneration converter unit. When an alarm occurs, A and C are conducted. Connect to an error output (A/B/C) via a relay coil, etc.
Permissible load: 230 V AC 0.3 A, 30 V DC 0.3 A (Note) A
B
C
Power regeneration converter unit
Note. To comply with the IEC/EN/UL/CSA standard, keep it 30 V DC or lower.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
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3.3.8 Grounding
WARNING
Ground the power regeneration converter unit, drive unit, and servo motor securely. To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the power regeneration converter unit and the 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. Be sure to ground to prevent such a fault by referring to the following diagram. To conform to the EMC Directive, refer to "EMC Installation Guidelines".
V
U
Servo motor
Servo motor
M U V WW
Drive unit
Drive unit
(Note 2)
(Note 2)
Cabinet
L1
L2
L3
Outer box
MCCB Line filter AC reactor (Note 3)
Protective earth (PE)
Power regeneration converter unit
L+L-
L+L-
V
U M
U V WW
Controller
L+L-
L+L-
MC (Note 1) Power supply
Note 1. For the power supply specifications, refer to section 1.4. 2. Be sure to connect the grounding terminal of the servo motor to the PE terminal of the drive unit. Do not connect the wire
directly to the protective earth of the cabinet. 3. Be sure to install an MR-AL-_AC reactor.
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3.4 Startup
WARNING When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. Do not operate 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 power regeneration converter unit and drive unit, and the servo motor, etc. may be hot while power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables. During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury. Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.
The following items are the same as those for MR-J4-_(-RJ). Refer to the section of the detailed explanation field for details. Read the corresponding section by replacing "servo amplifier" to "drive unit". "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
Model Item Detailed explanation MR-J4-DU_B_(-RJ) Switch setting and display of the servo
amplifier MR-J4-_B_ section 4.3
Test operation MR-J4-_B_ section 4.4 Test operation mode MR-J4-_B_ section 4.5
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3.4.1 Switching power on for the first time
When switching the power on for the first time, follow this section to startup. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
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
Description Reference Check whether the power regeneration converter unit, the drive unit, and the servo motor are wired correctly by visual inspection, DO forced output function, etc.
(2) in this section
Check the surrounding environment of the power regeneration converter unit, the drive unit and the servo motor.
MR-J4-_B_ Section 4.1.3
Confirm that the control axis No. set with the auxiliary axis number setting switches (SW2-3 and SW2-4) and with the converter setting rotary switch (SW1) match the control axis No. set with the servo system controller.
MR-J4-_B_ Section 4.3.1
(3) Section 3.4.3
Set the parameters as necessary for the operation mode, etc.
Section 5.3
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.
MR-J4-_B_ Section 4.5
For the test operation, give commands to the drive unit with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly.
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. MR-J4-_B_ Chapter 6
Stop giving commands and stop operation.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
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(2) Wiring check
(a) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items.
1) Power supply system wiring
a) The power supplied to the power input terminals (L1/L2/L3/L11/L21) of the power regeneration converter unit and the power input terminals (L11/L21) of the drive unit should satisfy the defined specifications. (Refer to section 1.4.)
b) When magnetic contactor drive output is enabled, the magnetic contactor control connector
(CN23) should be connected to the coil of the magnetic contactor.
2) Connection of drive unit and servo motor a) The power outputs (U/V/W) of the drive unit should match in phase with the power inputs
(U/V/W) or the servo motor. Drive unit Servo motor
M
U
V
W
U
V
W
b) The power supplied to the power regeneration converter unit should not be connected to the power outputs (U/V/W) of the drive unit. Otherwise, the drive unit and servo motor will fail.
M
U
V
W
U
V
W
Drive unit Servo motor
c) The grounding terminal of the servo motor is connected to the PE terminal of the drive unit.
M
Drive unit Servo motor
4) The CN2 connector of the drive unit should be connected to the encoder of the servo motor securely using the encoder cable.
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(b) I/O signal wiring
1) Power regeneration converter unit a) A voltage exceeding 24 V DC should not be applied to the pins of the CN24 connector.
b) The wire between the plate and DOCOM of the CN24 connector should not be shorted.
Power regeneration converter un
DOCOM
Plate
CN24
2) MR-J4-DU_B_(-RJ) 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 this function to check the wiring. In this case, turn on the control circuit power supply only. For details of I/O signal connection, refer to section 3.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". For details of DO forced output, refer to section 4.5.1 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
b) A voltage exceeding 24 V DC should not be applied to the pins of the CN3 connector.
c) The plate and DOCOM of the CN3 connector should not be shorted.
Drive unit
DOCOM
CN3
Plate
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3.4.2 Startup
(1) Power on
POINT Set [Pr. PA02] to "_7 _ _" for the drive unit which is connected to the power regeneration converter unit with the protection coordination cable. Set [Pr. PA02] to "4_ _ _" and [Pr. PF03] to "_1 _ _" for the drive unit which is not connected to the power regeneration converter unit with the protection coordination cable. Set [Pr. PF07] to "_1 _ _" to keep the main circuit power supply on at STO (when [AL. 95 occurs]). Set [Pr. PF07] "1_ _ _" to keep the main circuit power supply on when the forced stop is inputted (when [AL. E6 occurs]). For the drive unit which is not connected to the power regeneration converter unit with the protection coordination cable, make sure that the power regeneration converter unit is in ready-on state, and then turn on the servo-on with a command from the controller.
Startup of the MR-J4-DU_B_(-RJ) is the same as that of the MR-J4-_B_(-RJ). For details, refer to section 4.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". The power regeneration converter unit shows "C" (ready-off) on the display at power-on. When an error occurs or EM1 (Forced stop) is disabled in the power regeneration converter unit, the operation will stop.
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3.4.3 Switch setting and operation section of power regeneration converter unit
Forced stop, protection coordination, and magnetic contactor drive output can be set with the switch on the power regeneration converter unit. The 1-digit, 7-segment LED display shows the power regeneration converter unit status and the alarm number. (1) Switches
WARNING Use an insulated screw driver for the converter setting rotary switch (SW1). Do not use a metal screw driver. Touching patterns on electronic boards, lead of electronic parts, etc. may cause an electric shock.
POINT
Do not set any values other than described to the converter setting rotary switch (SW1). The setting of the switch will be enabled after the main circuit power supply and control circuit power supply are cycled.
Set the converter setting rotary switch to enable/disable the forced stop, protection coordination, and magnetic contactor drive output. The following shows the setting of the converter setting rotary switch and a combination of enabling/disabling each function.
Power regeneration
converter unit Rotary switch for
setting converter (SW1)
No. Forced stop
Protection coordination Magnetic contactor drive
output Protection
coordination Stand-alone
drive 0 (initial value) Disabled Enabled Disabled Enabled
1 Disabled Enabled Disabled Disabled 4 Enabled Enabled Disabled Enabled 8 Disabled Disabled Enabled Disabled
Other than above Not used
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(2) Scrolling display
(a) Normal display When the control section of the power regeneration converter unit is turned on, the 1-digit, 7- segment LED display shows the progress of the initial setting. In normal operation, the 1-digit, 7- segment LED is always on.
Initialization completed (Ready-off)
During ready-on Contactor on (Charging)
During servo-on (Charging completed)
Drive unit Forced stop
Initializing
(b) Alarm display When an alarm or warning occurs, each digit of the corresponding number is alternately displayed by blinking.
1) Displaying 2-digit number
Each of the two digits of the alarm or warning No. and blank are repeatedly displayed. The following shows when [AL. 61] is occurring as an example.
Displays blank Displays "6" of [AL. 61]
Displays "1" of [AL. 61]
After 1.5 s
After 1.5 s
After 1 s
2) Displaying 3-digit number Each of the three digits of the alarm or warning No. and blank are repeatedly displayed. The following shows when [AL. 6E.1] is occurring as an example.
Displays "6" of [AL. 6E.1]
Displays "1" of [AL. 6E.1]
Displays "E" of [AL. 6E.1] Displays blank
After 1 s
After 1 s
After 1 s
After 1 s
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(3) Display sequence
Initializing
Ready-off (charging)
Ready-on (charging completed)
Forced stop
When an alarm occurs, its alarm code appears.
Blinking
Blinking
Blinking
Blinking
Blinking
Example: When [AL 61] has occurred
Example: When [AL 6E.1] has occurred
Alarm reset or warning cleared
When an alarm No. or warning No. is displayed
1.5 s 1 s
1.5 s 1 s
1 s
1 s
1 s Displays blank
Displays blank
Initialization completed
(4) Display transition of the power regeneration converter unit/MR-J4-DU_B_(-RJ) drive unit The following shows the display transition of the power regeneration converter unit in which a protection coordination is enabled and MR-J4-DU_B_(-RJ) drive unit.
Initialization completed
Power regeneration converter unit Display
MR-J4-DU_B_(-RJ) drive unit Display (Note)
Ready-on
Ordinary operation Ordinary operation
Servo-on
Ready-off (charging)
Ready-on (charging completed)
Ready-off, Servo-off
Ready-on, Servo-off
Ready-on, Servo-on
Magnetic contactor on
Charging completed
Note. For the detailed display transition of the drive unit, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
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(5) Status display list
The following table lists the power regeneration converter unit statuses.
Display Status Description
Initializing Displays during initialization.
Initialization completed Displays when initialization is complete, or during ready-off or servo-off.
Ready-off (charging) Displays in servo-off.
Ready-on (charging completed) Displays in servo-off.
(Note) Alarm and warning The alarm No. and the warning No. that occurred are displayed.
Note. "*" indicates the alarm No. and the warning No.
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3.5 Characteristics
3.5.1 Overload protection characteristics
An electronic thermal is built in the power regeneration converter unit to protect the unit from overloads. [AL. 7E Overload 1] occurs if overload operation above the electronic thermal protection curve shown in this section is performed. [AL. 7F Overload 2] occurs if the operation is continued exceeding the rated speed and rated torque. Use the unit on the left-side area of the graph. The following table shows combinations of each power regeneration converter unit and graph of overload protection characteristics.
Power regeneration converter unit
Graph of overload protection characteristics
MR-CV11K MR-CV30K MR-CV37K MR-CV45K
MR-CV11K4 MR-CV30K4 MR-CV37K4 MR-CV45K4
Characteristics A
MR-CV18K MR-CV18K4
Characteristics B
MR-CV55K Characteristics C MR-CV55K4 MR-CV75K4
Characteristics D
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(1) Characteristics A
0.1
1
0 100 200 300 400 500 600
10000
1000
100
10 O
pe ra
tio n
tim e
[s ]
(Note) Load ratio [%]
Note. Load ratio 100% indicates the continuous rating of the converter unit.
(2) Characteristics B
0.1
1
0 100 200 300 400 500 600
10000
1000
100
10
O pe
ra tio
n tim
e [s
]
(Note) Load ratio [%]
Note. Load ratio 100% indicates the continuous rating of the converter unit.
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(3) Characteristics C
0.1
1
0 100 200 300 400 500
10000
1000
100
10 O
pe ra
tio n
tim e
[s ]
(Note) Load ratio [%]
Note. Load ratio 100% indicates the continuous rating of the converter unit.
(4) Characteristics D
0.1
1
0 100 200 300 400
10000
1000
100
10
O pe
ra tio
n tim
e [s
]
(Note) Load ratio [%]
Note. Load ratio 100% indicates the continuous rating of the converter unit.
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3.5.2 Power supply capacity and generated loss
(1) Generated heat of the power regeneration converter unit and drive unit The following tables indicate the generated loss under rated load and the power supply capacity per combination of the power regeneration converter unit and drive unit.
Power regeneration converter
unit
Power supply capacity [kVA]
Generated heat of power regeneration converter unit [W]
Area required for heat
dissipation [m2] At rated output
At rated output (Generated heat in the
cabinet when cooled outside
the cabinet)
With servo-off
MR-CV11K 16 124 25 25 2.5 MR-CV18K 27 193 32 25 3.9 MR-CV30K 43 317 45 25 6.4 MR-CV37K 53 396 53 25 8.0 MR-CV45K 64 496 104 25 10.0 MR-CV55K 78 595 164 30 12.0 MR-CV11K4 16 124 25 25 2.5 MR-CV18K4 27 193 32 25 3.9 MR-CV30K4 43 317 45 25 6.4 MR-CV37K4 53 402 53 25 8.1 MR-CV45K4 64 496 104 25 10.0 MR-CV55K4 78 596 164 30 12.0 MR-CV75K4 107 842 228 30 16.9
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Drive unit
Generated heart of drive unit [W]
Area required for heat dissipation [m2] At rated output
At rated output (Generated heat in the cabinet when
cooled outside the cabinet)
With servo-off
MR-J4-DU900B(-RJ) 366 81 30 7.4 MR-J4-DU11KB(-RJ) 409 81 30 8.2 MR-J4-DU15KB(-RJ) 566 105 30 11.4 MR-J4-DU22KB(-RJ) 755 105 30 15.1 MR-J4-DU30KB(-RJ) 900 132 30 18.0 MR-J4-DU37KB(-RJ) 1000 132 30 20.0 MR-J4-DU900B4(-RJ) 366 81 30 7.4 MR-J4-DU11KB4(-RJ) 409 81 30 8.2 MR-J4-DU15KB4(-RJ) 566 105 30 11.4 MR-J4-DU22KB4(-RJ) 755 105 30 15.1 MR-J4-DU30KB4(-RJ) 790 132 30 15.8 MR-J4-DU37KB4(-RJ) 910 132 30 18.2 MR-J4-DU45KB4(-RJ) 1110 216 30 22.2 MR-J4-DU55KB4(-RJ) 1440 216 30 28.8
Even when multiple drive units and servo amplifiers are connected to one power regeneration converter unit, calculate the power supply capacity from the power regeneration converter unit capacity. The power supply capacity will be lower than the listed values when the total output wattage of the servo motors driven by the drive units and servo amplifiers connected to the power regeneration converter unit is lower than the converter capacity. The servo motor requires 2 times to 2.5 times greater instantaneous power for acceleration, and therefore, 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 power regeneration converter unit. The power supply capacity will vary according to the power supply impedance. The actual 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.
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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 power regeneration 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. (allowing a margin of approximately 5 C for the ambient temperature of 55 C maximum) The necessary cabinet heat dissipation area can be calculated by next equation.
A = K T
P
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 the equation, assume that P is the sum of all losses generated in the cabinet. Refer to (1) in this section for the generated heat of the power regeneration converter unit and 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. The above (1) in this section lists the cabinet dissipation area (guideline) when this unit and drive unit are operated at the ambient temperature of 40 C under rated load. 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.
(Outside the cabinet) (Inside the cabinet)
Air flow
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3.5.3 Inrush currents at power-on of the main circuit and control circuit power supplies
Since large inrush currents flow in the power supplies, be sure to use molded-case circuit breakers and magnetic contactors. (Refer to section 8.5.) 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.
Power regeneration converter unit Inrush currents (A0-P)
Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21) MR-CV11K 38 A (attenuated to approx. 10 A in 45 ms)
23 A (attenuated to approx. 2 A in 5 ms)
MR-CV18K 38 A (attenuated to approx. 10 A in 70 ms) MR-CV30K 81 A (attenuated to approx. 20 A in 65 ms) MR-CV37K MR-CV45K
81 A (attenuated to approx. 20 A in 86 ms)
MR-CV55K 57 A (attenuated to approx. 20 A in 137 ms)
(2) 400 V class
The following table indicates the inrush currents (reference data) that will flow when 480 V AC is applied.
Power regeneration converter unit Inrush currents (A0-P)
Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21) MR-CV11K4 24 A (attenuated to approx. 10 A in 22 ms)
15 A (attenuated to approx. 2 A in 5 ms) MR-CV18K4 24 A (attenuated to approx. 10 A in 35 ms) MR-CV30K4 48 A (attenuated to approx. 20 A in 35 ms) MR-CV37K4 MR-CV45K4
48 A (attenuated to approx. 20 A in 45 ms)
MR-CV55K4 MR-CV75K4
42 A (attenuated to approx. 20 A in 66 ms) 15 A (attenuated to approx. 2 A in 7 ms)
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3.6 Disabling the protection coordination mode (stand-alone drive)
CAUTION
Do not supply power to the main circuit power supply terminals (L1/L2/L3) of the servo amplifier. Otherwise, the servo amplifier and MR-CV_ power regeneration converter unit will malfunction. Connect the DC power supply between the MR-CV_ and servo amplifier with correct polarity. If incorrectly connected, the MR-CV_ and servo amplifier will malfunction.
POINT
When using the servo amplifier (not the drive unit) with the MR-CV_, set the converter setting rotary switch (SW1) of the MR-CV_ to "8" to disable the protection coordination mode. Two or more MR-CV_ power regeneration converter units cannot be installed to improve regeneration capability. Do not connect multiple MR-CV_s in a same DC power supply line. When using the servo amplifier with MR-CV_, set [Pr. PA04] of the servo amplifier to "0 0 _ _" to enable EM1 (Forced stop 1). In this configuration, only the STO function is supported. The forced stop deceleration function is not available. When using the power regeneration converter unit, set [Pr. PA02] to "0001".
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3.6.1 200 V class
CN2
V
U
W
V
U
W
CN3
EM1
3
20
SD
DICOM 10
ALM 15
DOCOM
5DICOM
RA2
24 V DC
RESET
Servo amplifier (Note 9) Servo amplifier (Note 9)
P4
N-
L11
L21
CN8
CN2
M V
U
W
V
U
W
P4
N-
L11
L21
CN3
EM1
3
20
SD
DICOM 10
ALM 15
DOCOM
5DICOM
RA1
24 V DC
Main circuit power supply
Main circuit power supply
CN8
MCCB L1
L2
L3
MC
L11
L21
DOCOM
DICOM A
B
C
DICOM
MC
SK
L+
L-
(Note 7)
(Note 7)
(Note 7)
RES
RDYB
RDYA
RSO
DOCOM
RA3
(Note 1)
(Note 2)
(Note 3)
(Note 4)
(Note 1)
(Note 8)(Note 8) (Note 4)
24 V DC
24 V DC
M
(Note 10) (Note 10)
(Note 5)
Terminal block
CN1A CN1B CN1A
(Note 5)
Servo amplifier malfunction
RA1 (Note 1)
Servo amplifier malfunction
RA1
Servo amplifier malfunction
RA2
Servo amplifier malfunction
RA2 (Note 1)
Converter unit malfunction
RA3 (Note 1)
Converter unit malfunction
RA3
Emergency stop
switch
Emergency stop switch
Operation ready OFF/ON
Power regeneration converter unit
AC reactor
Servo system controller
Forced stop (Note 4)
SSCNET III cable SSCNET III cable
Servo motor Servo motor
PlatePlate
EncoderEncoder
Short-circuit connector (Packed with the servo amplifier)
Short-circuit connector (Packed with the servo amplifier)
3-phase 200 to 240 V AC, 50/60 Hz
(Note 6) (Note 6)
(Note 8)
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 80
Note 1. Configure a sequence that will shut off the main circuit power when:
An alarm has occurred at FR-CV or servo amplifier. EM1 (Forced stop 1) is enabled.
After MR-CV_ is in ready-on state, if the main circuit power supply for MR-CV_ is shut-off, alarms monitoring the power supply ([AL. 62 Frequency error], [AL. 67 open-phase], or [AL. 71 Undervoltage]) will occur. Remove what cause the main circuit power supply of MR-CV_ to shut off and cycle the power.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the MR-CV_ is ready. 3. The RSO signal turns off when the reset signal is inputted and MR-CV_ is ready for operation. Configure a sequence that will
make the servo inoperative when the RSO signal is on. 4. Configure a sequence that will stop the MR-CV_ with the emergency stop input from the servo system controller if an alarm
occurs in the MR-CV_. 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.
5. When using MR-CV_, be sure to disconnect wiring between P3 and P4 terminals. 6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). 7. Use a molded-case circuit breaker to L11 and L21. 8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 9. When using the servo amplifier of 7 kW or less, make sure to connect the built-in regenerative resistor. (factory-wired) (5 kW
or less: P+ and D, 7 kW or less: P+ and C) 10. Twist or bundle the wires between L+/L- of the power regeneration converter unit and P4/N- of the servo amplifier with cable
ties to keep the two wires close to each other. Keep the wiring length between L+/L- of the power regeneration converter unit and P4/N- of the servo amplifier 1.5 m or longer, and total wiring length 5 m or shorter.
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 81
3.6.2 400 V class
CN2
V
U
W
V
U
W
CN3
EM1
3
20
SD
DICOM 10
ALM 15
DOCOM
5DICOM
RA2
24 V DC
RESET
P4
N-
L11
L21
CN8
CN2
M V
U
W
V
U
W
P4
N-
L11
L21
CN3
EM1
3
20
SD
DICOM 10
ALM 15
DOCOM
5DICOM
RA1
24 V DC
CN8
MCCB L1
L2
L3
MC
L11
L21
DOCOM
DICOM A
B
C
DICOM
MC
SK
L+
L-
(Note 7)
(Note 7)
(Note 7)
RES
RDYB
RDYA
RSO
DOCOM
RA3
(Note 2)
(Note 3)
24 V DC
24 V DC
Step-down transformer
M
(Note 10) (Note 10)
(Note 5)
CN1A CN1B CN1A
(Note 5)
(Note 1)
(Note 4)
(Note 1)
(Note 8)(Note 8)
(Note 8)
(Note 4)
3-phase 380 to 480 V AC, 50/60 Hz
Terminal blockAC reactor
Servo system controller
Forced stop (Note 4)
SSCNET III cable SSCNET III cable
Servo motor Servo motor
Encoder Encoder
Plate Plate
Servo amplifier malfunction
RA1 (Note 1)
Servo amplifier malfunction
RA2 (Note 1)
Converter unit malfunction
RA3 (Note 1)
Servo amplifier malfunction
RA1
Servo amplifier malfunction
RA2
Converter unit malfunction
RA3
Emergency stop switch
Operation ready OFF/ON
Short-circuit connector (Packed with the servo amplifier)
Short-circuit connector (Packed with the servo amplifier)
Main circuit power supply
Main circuit power supply
(Note 6) (Note 6)
Emergency stop
switch
Servo amplifier (Note 9) Servo amplifier (Note 9)
Power regeneration converter unit
3. MR-CV_ POWER REGENERATION CONVERTER UNIT
3 - 82
Note 1. Configure a sequence that will shut off the main circuit power when:
An alarm has occurred at FR-CV or servo amplifier. EM1 (Forced stop 1) is enabled.
After MR-CV_ is in ready-on state, if the main circuit power supply for MR-CV_ is shut-off, alarms monitoring the power supply ([AL. 62 Frequency error], [AL. 67 open-phase], or [AL. 71 Undervoltage]) will occur. Remove what cause the main circuit power supply of MR-CV_ to shut off and cycle the power.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the MR-CV_ is ready. 3. The RSO signal turns off when the reset signal is inputted and MR-CV_ is ready for operation. Configure a sequence that will
make the servo inoperative when the RSO signal is on. 4. Configure a sequence that will stop the MR-CV_ with the emergency stop input from the servo system controller if an alarm
occurs in the MR-CV_. 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.
5. When using MR-CV_, be sure to disconnect wiring between P3 and P4 terminals. 6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). 7. Use a molded-case circuit breaker to L11 and L21. 8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one. 9. When using the servo amplifier of 7 kW or less, make sure to connect the built-in regenerative resistor. (factory-wired) (3.5
kW or less: P+ and D, 7 kW or less: P+ and C) 10. Twist or bundle the wires between L+/L- of the power regeneration converter unit and P4/N- of the servo amplifier with cable
ties to keep the two wires close to each other. Keep the wiring length between L+/L- of the power regeneration converter unit and P4/N- of the servo amplifier 1.5 m or longer, and total wiring length 5 m or shorter.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 1
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
POINT MR-CR_ resistance regeneration converter unit can be used in a combination with MR-J4-DU_(-RJ) drive units of 30 kW or more.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 2
4.1 Function block diagram
(1) MR-J4-DU_B_(-RJ) The function block diagram of this servo is shown below.
POINT
The diagram shows the combination of the MR-J4-DU_B_-RJ drive unit and resistance regeneration converter unit as an example. The MR-J4-DU_B_ drive unit does not have the CN2L connector.
+
MC Thyristor
Power supply
Control circuit power supply
L11
L21
L1
L2
L3
CN1 I/F
CHARGE lamp
Regenerative option
Resistance regeneration converter unit
Diode stack
P1 P2
Cooling fan
C
CPU
Malfunction, warning, forced stop
CN40
Resistance regeneration converter unit protection coordination
To CN40A of drive unit
To L11 of drive unit
To L21 of drive unit
To L+ of drive unitL+
To L- of drive unitL-
Regene- rative TR
Power factor improving DC reactor
CNP1
MC drive
Current detection
Voltage detection
Base amplifier
MCCB
+ U U
U
MCCB
MCCB
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 3
From CN40 of resistance regeneration converter unit C
N 40
A
CN5
USB
USB
Personal computer
Controller or
drive unit
I/F Control
Drive unit or cap
CN1A CN1B CN3
D/A
Analog monitor (2 channels)
Digital I/O control
BU BV BW
L11
L21
C N
2
U
V
W
U
V
W M
From MCCB
From L+ of resistance regeneration converter unit
L+
From L- of resistance regeneration converter unit
L-
C N
4
MCCB
+
C N
2L
C N
8
External dynamic brake
(optional)
(Note 3)
Model position control
Model speed control
Position command
input
Virtual motor
Virtual encoder
Base amplifier
Encoder
Servo motorDrive unit
Current detection
Overcurrent protection
Control circuit power supply
Current detector
(Note 1) Power supply
Cooling fan
Cooling fan
STO switch
STO control circuit
External encoder
(Note 2)
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. This is for the MR-J4-DU_B_-RJ drive unit. The MR-J4-DU_B_ drive unit does not have the CN2L connector. 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 an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For wiring of the external dynamic brake, refer to section 8.3. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 4
(2) MR-J4-DU_A_(-RJ)
The function block diagram of this servo is shown below.
POINT The diagram shows the combination of the MR-J4-DU_A_-RJ drive unit and resistance regeneration converter unit as an example. The MR-J4-DU_A_ drive unit does not have the CN2L connector.
+
MC Thyristor
Power supply
Control circuit power supply
L11
L21
L1
L2
L3
CN1 I/F
CHARGE lamp
Regenerative option
Diode stack
P1 P2
Cooling fan
C
CPU
Malfunction, warning, forced stop
CN40
Resistance regeneration converter unit protection coordination
To CN40A of drive unit
To L11 of drive unit
To L21 of drive unit
To L+ of drive unitL+
To L- of drive unitL-
Regene- rative TR
Power factor improving DC reactor
CNP1
MC drive
Current detection
Voltage detection
Base amplifier
MCCB
+ U U
U
MCCB
MCCB
Resistance regeneration converter unit
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 5
CN5 CN3 CN6
Analog monitor (2 channels)
I/F
USB RS-422/ RS-485
RS-422/ RS-485
D/AA/D
USB
ControllerPersonal computer
Analog (2 channels)
D I/O control
CN1
External dynamic brake
(optional)
(Note 3)
Model position control
Model speed control
Position command
input
Virtual motor
Virtual encoder
C N
40 A
BU BV BW
Base amplifier
Encoder
Servo motor
L11
L21
Drive unit
Current detection C
N 2
U
V
W
U
V
W M
Overcurrent protection
Control circuit power supply
Current detector
(Note 1) Power supply
L+
L-
C N
4
Cooling fan
Cooling fan
MCCB
+
C N
2L
C N
8STO switch
STO control circuit
External encoder
(Note 2)
step- down circuit
Model position Model speed Model torque
Current control
Actual position control
Actual speed control
Battery (for absolute position detection system)
Servo-on Input command pulse Start Malfunction, etc.
From CN40 of resistance regeneration converter unit
From MCCB
From L+ of resistance regeneration converter unit
From L- of resistance regeneration converter unit
Note 1. For specifications of the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)". 2. This is for the MR-J4-DU_A_-RJ drive unit. The MR-J4-DU_A_ drive unit does not have the CN2L connector. 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 an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For wiring of the external dynamic brake, refer to section 8.3. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 6
4.2 Structure
4.2.1 Parts identification
POINT
The resistance regeneration converter unit is shown with the terminal cover open. For opening or closing of the terminal cover, refer to section 4.2.2.
(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 4.3.3 (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 resistance regeneration converter unit status and the alarm number.
Section 4.4.3
(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 4.3.1
(8)
Manufacturer setting connector (CN3) This is for manufacturer setting. Although the shape is similar to the RS-422/RS-485 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 4.3.1 Section 4.3.2
(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 Grounding 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 8.11
(15) Rating plate Section 1.2
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 7
4.2.2 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 resistance regeneration converter unit.
The following shows how to open and close the terminal block cover using illustrations of resistance regeneration converter unit 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. (1) Upper terminal block cover
(a) How to open
A)
A)
1) Pull up the cover using point A) as a support.
2) The cover is fixed when pulled up to the position as shown in the illustration.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 8
(b) How to close
A)
A)
Setting tab
1) Close the cover using point A) as a support.
Setting tab
2) Press the cover against the terminal box until the installing knobs click.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 9
(2) Lower terminal block cover
(a) How to open
1) Hold the bottom of the terminal block cover with both hands.
B)
B)
2) Pull up the cover using point B) as a support.
3) The cover is fixed when pulled up to the top.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 10
(b) How to close
Setting tab
Setting tab
1) Hold the bottom of the terminal block cover with both hands.
B)
B)
2) Close the cover using point B) as a support.
Setting tab
3) Press the cover against the terminal box until the installing knobs click.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 11
4.3 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 resistance regeneration converter unit. Ground the resistance regeneration converter unit, the drive unit and the servo motor securely. Do not attempt to wire the resistance regeneration 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
Resistance regeneration converter unit
RA
For sink output interface
Control output signal
DOCOM
Control output signal
24 V DC
RA
For source output interface
Resistance regeneration converter unit
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the resistance regeneration converter unit and the drive unit. 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.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 12
The following items are the same as those of MR-J4-_(-RJ). For details of the items, refer to each chapter/section indicated in the detailed explanation field. "MR-J4-_B" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Model Item Detailed explanation
MR-J4-DU_B_(-RJ) I/O signal connection example MR-J4-_B_ section 3.2 Forced stop deceleration function MR-J4-_B_ section 3.6 SSCNET III cable connection MR-J4-_B_ section 3.9
MR-J4-DU_A_(-RJ) I/O signal connection example MR-J4-_A_ section 3.2 Forced stop deceleration function MR-J4-_A_ section 3.7
4.3.1 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 resistance regeneration 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 resistance regeneration converter unit, in order to configure a circuit that shuts down the power supply on the side of the resistance regeneration converter unit power supply. If the magnetic contactor is not connected, a large current keeps flowing and may cause a fire when the resistance regeneration converter unit or the drive unit malfunctions. Use ALM (Malfunction) to switch power off. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor. The resistance regeneration 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. Check the resistance regeneration converter unit model, and then input proper voltage to the resistance regeneration converter unit power supply. If input voltage exceeds the upper limit, the resistance regeneration converter unit and the drive unit will break down.
POINT
For drive units, EM2 has the same function as EM1 in the torque control mode. For the MR-J4-DU_B_(-RJ) drive units, do not switch off the control circuit power supply even though an alarm occurs. When the control circuit power supply is switched off, optical module does not operate, and optical transmission of SSCNET III/H communication is interrupted. Therefore, the next axis servo amplifier and the drive unit display "AA" at the indicator and turn into base circuit shut-off. The dynamic brake operates, bringing the servo motor to a stop.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 13
(1) Magnetic contactor control connector (CNP1)
CAUTION Always connect the magnetic contactor wiring connector to the resistance regeneration 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 resistance regeneration converter unit or the drive unit. To enable magnetic contactor drive output, set [Pr. PA02] of the resistance regeneration converter unit to "_ _ _ 1" (initial value).
Magnetic contactor drive output selection 0: Disabled 1: Enabled
1 [Pr. PA02]
0 0 0
(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
Resistance regeneration converter unit
L11
L21
Power supply
1MC1
2MC2
CNP1
RA1 RA2
Resistance regeneration converter unit malfunction Operation ready
OFF/ON
Drive unit malfunction Emergency stop
switch
L1
L2
L3
(Note 1)
MC
SK
(Note 2, 3) MC
Note 1. A step-down transformer is required when coil voltage of the magnetic contactor is 200 V class, and the resistance regeneration converter unit and the drive unit are 400 V class.
2. The bus voltage decreases depending on the main circuit voltage and operation pattern, which 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. When the voltage between L11 and L21 drops due to an instantaneous power failure and others, the magnetic contactor is turned off.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 14
When the resistance regeneration 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 resistance regeneration converter unit. In the following cases, CNP1-2 and L21 in the resistance regeneration converter unit are opened, and the main circuit power supply is automatically shut off.
1) An alarm occurred in the resistance regeneration converter unit.
2) An alarm occurred in the drive unit.
3) The forced stop (EM1) of the resistance regeneration converter unit was disabled.
4) [AL. 95 STO 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 resistance regeneration converter unit or the drive unit. Therefore, configure an external circuit to shut off the main circuit power supply when detecting an alarm.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 15
(2) Wiring diagram
(a) When magnetic contactor drive output is enabled (factory setting)
POINT The resistance regeneration converter unit controls the magnetic contactor. Connect the resistance regeneration converter unit and the drive unit with MR- J3CDL05M protection coordination cable. Always turn on or off the control circuit power supplies of the resistance regeneration converter unit and the drive unit simultaneously.
1) 200 V class
RA3RA1 RA2
Optional thermal Operation ready
OFF/ON
Drive unit malfunction Emergency stop
switch MC
SK
RA1
MC (Note 4)
MCCB
RA2
(Note 1) Regenerative
option
L+
L-
MR-J3CDL05M cable
Drive unit
L1
L2
L3
L11
L21
3-phase 200 V AC to 240 V AC
1MC1
2MC2 CN40 CN40A
(Note 11) CN2
External dynamic brake
(optional)
BV
M
Encoder
V
U
W
V
U
W
Servo motor
(Note 3) Power supply
TE2-2 L+
L-
TE2-1
C
P1
P2
Power factor improving DC reactor (optional)
(Note 2)
L11
L21
G4G3
P C
G4G3
P C
S1R1
G4G3
P C
Cooling fan
(Note 1) Regenerative
option Cooling fan
(Note 1) Regenerative
option Cooling fan
S1R1 S1R1
CNP1
CN1
1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
CN3
EM2
3
20
SDPlate
DICOM10
ALM15
DOCOM
5 DICOM
(Note 7) Encoder cable
24 V DC
24 V DC
MCCB
BW
BU
Cooling fan
(Note 5) Main circuit power supply
(Note 6, 14)
RA3
24 V DC
(Note 10) Short-circuit connector (packed with the drive unit)
CN8
(Note 11)
(Note 8)
(Note 12)
(Note 9, 15)
(Note 13)
Resistance regeneration converter unit
Resistance regeneration converter unit malfunction
(Note 9, 15)
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 16
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 8.6 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. The bus voltage decreases depending on the main circuit voltage and operation pattern, which 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.
5. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 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 an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3.
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 4.3.6 (2). 9. Install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit. (Refer to section
8.5.) 10. When not using the STO function, attach the short-circuit connector supplied with the drive unit. 11. Do not connect a servo motor of the 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. The wiring is for MR-J4-DU_B_(-RJ). The connections to the interfaces of MR-J4-DU_(-RJ) are the same as in the case of
MR-J4-_(-RJ). Refer to each servo amplifier instruction manual. 14. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB. Failure to do so will
cause the drive unit to become servo-off when an instantaneous power failure occurs. 15. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 17
2) 400 V class
RA1
MCMCCB
RA2
L+
L-
L1
L2
L3
L11
L21
CN40 CN40A
M V
U
W
V
U
W
TE2-2 L+
L-
TE2-1 (Note 15)
C
P1
P2
L11
L21
G4G3 P C
G4G3
P C
S400R400
G4G3
P C
S400R400 S400R400
CN1 1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
CN3
EM2
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM
BW
BV
BU MCCB
RA3RA1 RA2 MC
SK
1MC1
2MC2
CNP1
(Note 3) Step-down transformer
RA3
CN8
Optional thermal Operation ready
OFF/ON
Drive unit malfunction Emergency stop
switch
(Note 5)
(Note 1) Regenerative
option
MR-J3CDL05M cable
Drive unit
3-phase 380 V AC to 480 V AC
(Note 12) CN2
External dynamic brake
(optional)
Encoder
Servo motor
(Note 4) Power supply
Power factor improving DC reactor (optional)
(Note 2)
Cooling fan
(Note 1) Regenerative
option Cooling fan
(Note 1) Regenerative
option Cooling fan
Plate
(Note 8) Encoder cable
24 V DC
24 V DC
Cooling fan
(Note 6) Main circuit power supply
(Note 7, 16)
24 V DC
(Note 11) Short-circuit connector (packed with the drive unit)
(Note 12)
(Note 9)
(Note 13)
(Note 10, 17)
(Note 14)
Resistance regeneration converter unit
Resistance regeneration converter unit malfunction
(Note 10, 17)
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 18
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 8.6 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. The bus voltage decreases depending on the main circuit voltage and operation pattern, which 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.
6. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 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 an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3.
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 4.3.6 (2). 10. Install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit. (Refer to section
8.5.) 11. When not using the STO function, attach the short-circuit connector supplied 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. The wiring is for MR-J4-DU_B_(-RJ). The connections to the interfaces of MR-J4-DU_(-RJ) are the same as in the case of
MR-J4-_(-RJ). Refer to each servo amplifier instruction manual. 15. For the MR-J4-DU30K_4(-RJ) and MR-J4-DU37K_4(-RJ), the terminal block is TE2. 16. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB. Failure to do so will
cause the drive unit to become servo-off when an instantaneous power failure occurs. 17. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 19
(b) When magnetic contactor drive output is disabled
POINT
Connect the resistance regeneration converter unit and the drive unit with MR- J3CDL05M protection coordination cable. Always turn on or off the control circuit power supplies of the resistance regeneration converter unit and the drive unit simultaneously.
1) 200 V class
RA1
MC (Note 5)
RA2
L+
L-
MR-J3CDL05M cable
Drive unit
L1
L2
L3
L11
L21
MCCB
CN40A
(Note 12) CN2
External dynamic brake
(optional)
M V
U
W
V
U
W
Servo motor
TE2-2 L+
L-
TE2-1
C
P1
P2
Power factor improving DC reactor (optional)
(Note 2)
L11
L21
G4G3
P C
G4G3
P C
S1R1
G4G3
P C
S1R1 S1R1
CN1 1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
CN3
EM2
3
20
SDPlate
DICOM10
ALM15
DOCOM
5 DICOM
(Note 8) Encoder cable
24 V DC
24 V DC
BW
BV
BU Encoder (Note 4) Power supply
MCCB
Cooling fan
(Note 6) Main circuit power supply
(Note 7, 15)
RA3RA1 RA2
MC
MC
SK
CN40
1MC1
2MC2
CNP1
RA3
24 V DC
(Note 10, 16)
(Note 14)
(Note 11) Short-circuit connector (packed with the drive unit)
CN8
(Note 9)
(Note 13)
(Note 3)
(Note 12)
(Note 10, 16)
Optional thermal
Operation readyDrive unit malfunction 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
ONOFF
Resistance regeneration converter unit
Resistance regeneration converter unit malfunction
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 20
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 8.6 for details. 3. Always connect the magnetic contactor wiring connector to CNP1 of the resistance regeneration converter unit. If the
connector is not connected, an electric shock may occur. 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. The bus voltage decreases depending on the main circuit voltage and operation pattern, which 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.
6. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 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 an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3.
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 4.3.6 (2). 10. Install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit. (Refer to section
8.5.) 11. When not using the STO function, attach the short-circuit connector supplied 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. The wiring is for MR-J4-DU_B_(-RJ). The connections to the interfaces of MR-J4-DU_(-RJ) are the same as in the case of
MR-J4-_(-RJ). Refer to each servo amplifier instruction manual. 15. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB. Failure to do so will
cause the drive unit to become servo-off when an instantaneous power failure occurs. 16. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 21
2) 400 V class
BW
BV
BU (Note 5) Power supply
MCCB
Cooling fan
(Note 7) Main circuit power supply
RA1
MC (Note 6)
RA2
L+
L-
MR-J3CDL05M cable
Drive unit
L1
L2
L3
L11
L21
MCCB
CN40A
(Note 13) CN2
External dynamic brake
(optional)
M
Encoder
V
U
W
V
U
W
Servo motor
TE2-2 L+
L-
TE2-1 (Note 16)
C
P1
P2
Power factor improving DC reactor (optional)
(Note 2)
L11
L21
G4G3
P C
G4G3
P C
S400R400
G4G3
P C
S400R400 S400R400
CN1 1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
CN3
EM2
3
20
SD
DICOM10
ALM15
DOCOM
5 DICOM
(Note 9) Encoder cable
24 V DC
24 V DC
(Note 8, 17)
CN40
1MC1
2MC2
CNP1
RA3RA1 RA2
MC
MC
SK
RA3
24 V DC
(Note 11, 18) (Note 13)
(Note 12) Short-circuit connector (packed with the drive unit)
CN8
(Note 10)
(Note 4)
(Note 15)
(Note 14)
(Note 11, 18)
(Note 3) Step-down transformer
Optional thermal
Drive unit malfunction Emergency stop
switch
(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
Plate
Operation ready
ONOFF
Resistance regeneration converter unit
Resistance regeneration converter unit malfunction
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 22
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 8.6 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 resistance regeneration converter unit. If the
connector is not connected, an electric shock may occur. 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. The bus voltage decreases depending on the main circuit voltage and operation pattern, which may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
7. To prevent an unexpected restart of the drive unit, configure a circuit to turn off EM2 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 an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. For wiring of the external dynamic brake, refer to section 8.3.
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 4.3.6 (2). 11. Install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit. (Refer to section
8.5.) 12. When not using the STO function, attach the short-circuit connector supplied 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. The wiring is for MR-J4-DU_B_(-RJ). The connections to the interfaces of MR-J4-DU_(-RJ) are the same as in the case of
MR-J4-_(-RJ). Refer to each servo amplifier instruction manual. 16. For the MR-J4-DU30K_4(-RJ) and MR-J4-DU37K_4(-RJ), the terminal block is TE2. 17. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB. Failure to do so will
cause the drive unit to become servo-off when an instantaneous power failure occurs. 18. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 23
(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 resistance regeneration 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.
Bus bar
L+
L-
L+
L-
Drive unit Resistance regeneration
converter unit
4.3.2 Explanation of power supply system
(1) Signal explanations
POINT For the layout of the terminal block, refer to chapter 7 DIMENSIONS.
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.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 24
(2) Power-on sequence
(a) MR-J4-DU_B_(-RJ) 1) Power-on procedure
a) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown in above section 4.3.1 (2). Configure an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
b) Turn on the control circuit power supplies (L11/L21) of the resistance regeneration 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.
2) Timing chart
a) 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/minServo motor speed
0 r/min Position command (Note 3)
(Note 2)
Resistance regeneration 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. 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. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR off to base circuit
shut-off at a servo-off.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 25
b) When magnetic contactor drive output is enabled and the status returns to ready-off
The magnetic contactor of the resistance regeneration converter unit is turned off with ready- 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/minServo motor speed
0 r/min Position command (Note 3)
(Note 2)
Drive unit Control circuit power supply Resistance regeneration converter 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. 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. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 26
c) 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
ON
OFF
Drive unit Control circuit power supply
(Note 1) ON
OFF
MBR (Electromagnetic brake interlock)
0 r/minServo motor speed
0 r/min Position command (Note 3)
(Note 2)
Resistance regeneration converter 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. 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. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR 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)
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 27
(b) MR-J4-DU_A_(-RJ)
1) Power-on procedure a) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown
in above section 4.3.1 (2). Configure an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
b) When enabling magnetic contactor drive output, turn on the control circuit power supplies
(L11/L21) of the resistance regeneration converter unit and the drive unit simultaneously. The main circuit power supply is automatically turned on after the resistance regeneration converter unit and drive unit are started. When using an external sequence to control the magnetic contactor, turn on the control circuit power supplies (L11/ L21) of the resistance regeneration 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.
2) Timing chart
ON
OFF Main circuit power supply
ON
OFF SON (servo-on)
(95 ms)
ON
OFF Base circuit
(3 s) (Note 4)
Tb
ON
OFF
ON
OFF
MBR (Electromagnetic brake interlock)
0 r/minServo motor speed
0 r/minPosition command (Note 3)
(Note 2)
ON
OFF
(Note 1)
Drive unit Control circuit power supply Resistance regeneration converter 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. 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. PC16 Electromagnetic brake sequence output], set a delay time (Tb) from MBR off to base circuit
shut-off at a servo-off.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 28
4.3.3 Connectors and pin assignment
POINT The pin assignment of the connectors is as viewed from the cable connector wiring section.
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
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 29
4.3.4 Signal (device) explanations
The following table lists the resistance regeneration converter unit signals (devices). For the I/O interfaces (symbols in I/O division column in the table), refer to section 4.3.6 (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-DU_(-RJ), EM1 is not used. Connect between EM1 and DOCOM externally. Turn EM1 off to bring the resistance regeneration 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 resistance regeneration 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 resistance regeneration 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 resistance regeneration converter unit.
WARNING
Always connect the magnetic contactor wiring connector to CNP1 of the resistance regeneration converter unit. Disconnected state may cause an electric shock.
MC2 CNP1-2 Connect it to the coil of the magnetic contactor. When the resistance
regeneration 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 4.3.1 (1).)
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 30
4.3.5 Alarm occurrence timing chart
CAUTION
When an alarm has occurred, remove its cause, make sure that the operation signal is not begin inputted, 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) MR-J4-DU_B_(-RJ)
(a) When magnetic contactor drive output is enabled 1) Resistance regeneration converter unit
When an alarm occurs in the resistance regeneration 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.
2)
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
Resistance regeneration converter unit Alarm
No alarmNo alarm Alarm No alarm
(3 s) (3 s)
1) 4)
Alarm occurrence
Alarm
Alarm occurrence
3)
Resistance regeneration converter unit Control circuit power supply
1) in figure When the drive unit is at servo-off, even if an alarm occurs in the resistance regeneration converter unit, the drive unit does not detect the alarm.
2) and 3) in figure To deactivate the alarm of the resistance regeneration converter unit, cycle the power
of the resistance regeneration converter unit (2)), or turn on the servo-on command (3)). Refer to section 6.1 for the alarms that can be reset with the servo-on command on.
4) in figure If an alarm occurs in the resistance regeneration 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.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 31
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 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
Resistance regeneration converter unit Alarm
No alarm
(3 s) (3 s)
Alarm occurrence
1) 1)
Resistance regeneration converter unit Control circuit power supply
1) in figure After the start-up of the drive unit is completed, the main circuit power is supplied while the drive unit and the resistance regeneration converter unit have no alarm.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 32
(b) When magnetic contactor drive output is disabled
1) Resistance regeneration converter unit When an alarm occurs in the resistance regeneration converter unit, the resistance regeneration 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 resistance regeneration 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.
2)
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
Resistance regeneration converter unit Alarm
No alarmNo alarm Alarm No alarm
(3 s) (3 s)
1) 4)
Alarm occurrence
Alarm
Alarm occurrence
3)
5)
Resistance regeneration converter unit Control circuit power supply
1) in figure When the drive unit is at servo-off, even if an alarm occurs in the resistance regeneration converter unit, the drive unit does not detect the alarm.
2) and 3) in figure To deactivate the alarm of the resistance regeneration converter unit, cycle the power
of the resistance regeneration converter unit (2)), or turn on the servo-on command (3)). Refer to section 6.1 for the alarms that can be reset with the servo-on command on.
4) in figure If an alarm occurs in the resistance regeneration 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.
5) in figure Shut off the main circuit power supply using the external sequence as soon as an
alarm occurs.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 33
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
Resistance regeneration converter unit Alarm
No alarm
(3 s) (3 s)
Alarm occurrence
1) 2)
Resistance regeneration converter unit Control circuit power supply
1) in figure When an alarm occurs in the drive unit, shut off the main circuit power supply using the external sequence.
2) in figure Turn on the main circuit power supply while an alarm in the drive unit is cancelled.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(2) MR-J4-DU_A_(-RJ)
(a) When magnetic contactor drive output is enabled 1) Resistance regeneration converter unit
When an alarm occurs in the resistance regeneration 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. 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
SON (servo-on)
Drive unit Alarm
RES (reset)
Base circuit
No alarmAlarmNo alarm 1.5 s
50 ms or more
Resistance regeneration converter unit Alarm
No alarmNo alarm Alarm No alarm
(3 s)
Alarm occurrence
Alarm
2)
3)1)
Alarm occurrence
4)
Resistance regeneration converter unit Control circuit power supply
1) in figure When the drive unit is at servo-off, even if an alarm occurs in the resistance regeneration converter unit, the drive unit does not detect the alarm.
2) in figure To deactivate the alarm of the resistance regeneration converter unit, cycle the power
of the resistance regeneration converter unit. 3) in figure If an alarm occurs in the resistance regeneration 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.
4) in figure When alarms occur in both the resistance regeneration converter unit and the drive
unit, cancelling the alarm in the drive unit will also cancel the alarm in the resistance regeneration converter unit.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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2) Drive unit
When an alarm occurs in 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 an alarm, cycle the control circuit power, click "SET" in the current alarm window, or cycle the RES (Reset). 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
SON (servo-on)
Drive unit Alarm
RES (reset)
Base circuit
No alarmAlarmNo alarm 1.5 s
50 ms or more
Resistance regeneration converter unit Alarm
No alarm
(95 ms) (3 s)
Alarm occurrence
1) 1)
Resistance regeneration converter unit Control circuit power supply
1) in figure After the start-up of the drive unit is completed, the main circuit power is supplied while the drive unit and the resistance regeneration converter unit have no alarm.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(b) When magnetic contactor drive output is disabled
1) Resistance regeneration converter unit When an alarm occurs in the resistance regeneration converter unit, the resistance regeneration 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 resistance regeneration converter unit. If an alarm also occurs in the drive unit, cancel the alarm in the drive unit as well. Then, turn on the RES (Reset) 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
SON (servo-on)
Drive unit Alarm
RES (reset)
Base circuit
No alarmAlarmNo alarm 1.5 s
50 ms or more
Resistance regeneration converter unit Alarm
No alarmNo alarm Alarm No alarm
(3 s)
Alarm occurrence
Alarm
Alarm occurrence
4)
1)
3)
2) 1)
5) 6)
2)
Resistance regeneration converter unit Control circuit power supply
1) in figure When an alarm occurs in the resistance regeneration converter unit, shut off the main circuit power supply using the external sequence.
2) in figure Turn on the main circuit power supply while an alarm in the drive unit is cancelled. 3) in figure When the drive unit is at servo-off, even if an alarm occurs in the resistance
regeneration converter unit, the drive unit does not detect the alarm. 4) in figure To deactivate the alarm of the resistance regeneration converter unit, cycle the power
of the resistance regeneration converter unit. 5) in figure If an alarm occurs in the resistance regeneration 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.
6) in figure When alarms occur in both the resistance regeneration converter unit and the drive
unit, cancelling the alarm in the drive unit will also cancel the alarm in the resistance regeneration converter unit.
4. MR-CR_ RESISTANCE REGENERATION 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 RES (Reset) 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
SON (servo-on)
Drive unit Alarm
RES (reset)
Base circuit
No alarmAlarmNo alarm 1.5 s
50 ms or more
Resistance regeneration converter unit Alarm
No alarm
(95 ms) (3 s)
Alarm occurrence
1) 2)
Resistance regeneration converter unit Control circuit power supply
1) in figure When an alarm occurs in the drive unit, shut off the main circuit power supply using the external sequence.
2) in figure Turn on the main circuit power supply while an alarm in the drive unit is cancelled.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.3.6 Forced stop in the resistance regeneration converter unit
(1) MR-J4-DU_B_(-RJ) (a) When magnetic contactor drive output is enabled
When EM1 (Forced stop) is disabled in the resistance regeneration converter unit, the magnetic contactor turns off and the main circuit power supply shuts off. The drive unit in operation stops, and [AL. E9 Main circuit off warning] appears. When EM1 is enabled in the resistance regeneration converter unit, the magnetic contactor turns 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. 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 is enabled in the resistance regeneration 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.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(b) When magnetic contactor drive output is disabled
When EM1 (Forced stop) is disabled in the resistance regeneration 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 is enabled in the resistance regeneration 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. 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 is enabled, the converter main circuit off warning is released.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(2) MR-J4-DU_A_(-RJ)
(a) When magnetic contactor drive output is enabled When EM1 (Forced stop) is disabled in the resistance regeneration converter unit, the magnetic contactor turns off and the main circuit power supply shuts off. The drive unit in operation stops, and [AL. E9 Main circuit off warning] appears. When EM1 is enabled in the resistance regeneration converter unit, the magnetic contactor turns 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 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)
(Note 2)
2)
2)
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. 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 is enabled in the resistance regeneration 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.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(b) When magnetic contactor drive output is disabled
When EM1 (Forced stop) is disabled in the resistance regeneration 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 is enabled in the resistance regeneration converter unit, the drive unit automatically resumes the operation.
MBR (Electromagnetic brake interlock)
(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)
(50 ms) (3 s)
(3 s)
Dynamic brake
(Note 2)
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. 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 is enabled, the converter main circuit off warning is released.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.3.7 Interfaces
(1) 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 4.3.4. 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 (2) in this section for source input.
10%
Approx. 6.2 k
Approx. 5 mA
VCES 1.0 V ICEO 100 A
TR
24 V DC 150 mA
Switch
For transistor EM1 etc.
DICOM
Resistance regeneration converter unit
(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 resistance regeneration converter unit. The following shows a connection diagram for sink output. Refer to (2) in this section for source output.
(Note) 24 V DC 10% 150 mA
If polarity of diode is reversed, resistance regeneration converter unit will malfunction.ALM,
etc. Load
DOCOM
Resistance regeneration converter unit
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.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(2) Source I/O interfaces
In this resistance regeneration 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. 6.2 k
10% VCES 1.0 V ICEO 100 A
24 V DC 150 mA
Approx. 5 mA
Switch
DICOM
TR
For transistor
EM1 etc.
Resistance regeneration converter unit
(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 resistance regeneration converter unit.
ALM, etc.
DOCOM
Load
(Note) 24 V DC 10% 150 mA
If polarity of diode is reversed, resistance regeneration converter unit will malfunction.
Resistance regeneration converter unit
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.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.3.8 Grounding
WARNING
Ground the resistance regeneration 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 resistance regeneration 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 "EMC Directive, refer to the EMC Installation Guidelines".
Ensure to connect it to 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) 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
Resistance regeneration converter unit
L+
L- CN40 CN40A
L11
L21
L+
L- C
on tro
lle r
Note. Refer to section 1.4 for the power supply specifications.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.4 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 heat sink of the resistance regeneration converter unit and the drive unit, the regenerative resistor, the servo motor, etc. may become hot while power is on or 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.
The following items are the same as those of the MR-J4-_(-RJ). For details of the items, refer to each chapter/section of the detailed explanation field. Read the corresponding section or chapter by replacing "servo amplifier" to "drive unit". "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Model Item Detailed explanation MR-J4-DU_B_(-RJ) Switch setting and display of the servo amplifier MR-J4-_B_ section 4.3 Test operation MR-J4-_B_ section 4.4 Test operation mode MR-J4-_B_ section 4.5 MR-J4-DU_A_(-RJ) Display and operation section MR-J4-_A_ section 4.5
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.4.1 Switching power on for the first time
When switching the power on for the first time, follow this section to startup. (1) Startup procedure
(a) MR-J4-DU_B_(-RJ) "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
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 resistance regeneration converter unit, the drive unit, and the servo motor are wired correctly using visual inspection, DO forced output function, etc.
(2) in this section
Check the surrounding environment of the resistance regeneration converter unit, the drive unit and the servo motor.
MR-J4-_B_ Section 4.1.3
Confirm that the control axis No. set with the auxiliary axis number setting switches (SW2-3 and SW2-4) and with the axis selection rotary switch (SW1) match the control axis No. set with the servo system controller.
MR-J4-_B_ Section 4.3.1
(3)
Set the parameters as necessary, such as the used operation mode and regenerative option selection.
Section 4.5 Section 5.3
For the test operation, disconnect the servo motor from the machine, and check whether the servo motor rotates correctly at the slowest speed.
MR-J4-_B_ 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. MR-J4-_B_ Chapter 6
Stop giving commands and stop operation.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(b) MR-J4-DU_A_(-RJ)
"MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Wiring check
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
Surrounding environment check
Description Reference Check whether the resistance regeneration converter unit, the drive unit, and the servo motor are wired correctly using visual inspection, DO forced output function, etc.
(2) in this section
Check the surrounding environment of the resistance regeneration converter unit, the drive unit and the servo motor.
MR-J4-_A_ Section 4.1.3
Set the parameters as necessary, such as the used operation mode and regenerative option selection.
Section 4.5
For the test operation, disconnect the servo motor from the machine, and check whether the servo motor rotates correctly at the slowest speed.
MR-J4-_A_ Section 4.2.3 Section 4.3.3 Section 4.4.3
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 controller.
Make gain adjustment to optimize the machine motions. MR-J4-_A_ Chapter 6
Stop giving commands and stop operation.
4. MR-CR_ RESISTANCE REGENERATION 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 resistance regeneration 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 1.4.)
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 resistance regeneration converter unit should be connected.
P1
P2
Resistance regeneration converter unit
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 resistance regeneration 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.
4. MR-CR_ RESISTANCE REGENERATION 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 resistance regeneration converter unit. A twisted wire should be used. (Refer to section 8.2.4.)
b) When using a brake unit
The brake unit should be connected to L+ and L- terminals of TE2-1 of the resistance regeneration converter unit. (Refer to section 8.11.3.) 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 8.11.3.)
c) The power factor improving DC reactor should be connected between P1 and P2 of the
resistance regeneration converter unit. (Refer to section 8.6.)
(Note)
Power factor improving DC
reactor P1
P2
Resistance regeneration converter unit
Note. Always disconnect wiring between P1 and P2.
(b) I/O signal wiring
1) Resistance regeneration 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. You can use this function to check the wiring. In this case, turn on the control circuit power supply only. For details of I/O signal connection, refer to section 4.3.1 (2). For details of DO forced output, refer to section 4.4.3 (4) (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.
DOCOM
Plate
CN1
Resistance regeneration converter unit
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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2) Drive unit
a) MR-J4-DU_A_(-RJ) The I/O signals should be connected correctly. Use DO forced output to forcibly turn on/off the pins of the CN1 connector. You can use this function to check the wiring. In this case, turn on the control circuit power supply only. For details of I/O signal connection, refer to section 3.2 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". For details of DO forced output, refer to section 4.5.8 of "MR-J4-_A_(- RJ) Servo Amplifier Instruction Manual".
A voltage exceeding 24 V DC is not applied to the pins of the CN1 connector.
Between plate and DOCOM of the CN1 connector should not be shorted.
Drive unit
DOCOM
Plate
CN1
b) MR-J4-DU_B_(-RJ) The I/O signals should be connected correctly. Use DO forced output to forcibly turn on/off the pins of the CN3 connector. You can use this function to check the wiring. In this case, turn on the control circuit power supply only. For details of I/O signal connection, refer to section 3.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". For details of DO forced output, refer to section 4.5.1 of "MR-J4-_B_(- RJ) Servo Amplifier Instruction Manual".
A voltage exceeding 24 V DC is not applied to the pins of the CN3 connector.
Between plate and DOCOM of the CN3 connector should not be shorted.
Drive unit
DOCOM
Plate
CN3
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.4.2 Startup
(1) MR-J4-DU_A_(-RJ) Startup of the MR-J4-DU_A_(-RJ) is the same as that of the MR-J4-_A_(-RJ). For details, refer to section 4.2 to 4.4 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". The resistance regeneration converter unit display shows "ron" (ready-on) at power-on. When an error occurs or EM1 (Forced stop) is disabled in the resistance regeneration converter unit, the operation will stop.
(2) MR-J4-DU_B_(-RJ)
Startup of the MR-J4-DU_B_(-RJ) is the same as that of the MR-J4-_B_(-RJ). For details, refer to section 4.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". The resistance regeneration converter unit display shows "roF" (ready-off) at power-on. When an error occurs or EM1 (Forced stop) is disabled in the resistance regeneration converter unit, the operation will stop.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.4.3 Display and operation section of the resistance regeneration converter unit
(1) Display flowchart The resistance regeneration converter unit has the display (3-digit, 7-segment LED) and the operation section (4 pushbuttons) for resistance regeneration 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 (6) in this section for details.
2. The unit of unit power consumption 1 can be changed with [Pr. PA15].
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(2) Display transition of the resistance regeneration converter unit/MR-J4-DU_B_(-RJ) drive unit
The following shows the display transition of the resistance regeneration converter unit in which the protection coordination is enabled and MR-J4-DU_B_(-RJ) drive unit.
Ready-off
Ready-on
Ready-on
Ready-on, Servo-off
Resistance regeneration converter unit Display
MR-J4-DU_B_(-RJ) drive unit Display (Note)
Ready-off, Servo-off
Ready-on, Servo-on
Ordinary operation Ordinary operation
Magnetic contactor on
Charging completed
Servo-on
Note. For the detailed display transition of the drive unit, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(3) Status display mode
The resistance regeneration 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 resistance regeneration 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 resistance regeneration 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].
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(4) 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 (3) (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 (3) (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 resistance regeneration 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
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
4 - 56
(c) Output signal (DO) forced output
Output signals can be forcibly switched on/off independently of the resistance regeneration 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.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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(5) 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.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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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.
(6) Parameter mode
POINT The display of the resistance regeneration 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.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.5 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 resistance regeneration converter unit.
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.
4.5.1 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
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.5.2 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
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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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
The [Pr. PA17 SEMI-F47 function selection] and [Pr. PA18 SEMI-F47 function - Instantaneous power failure detection time] settings of the resistance regeneration 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] 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 resistance regeneration 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]
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.6 Characteristics
4.6.1 Overload protection characteristics
(1) Converter unit An electronic thermal is built in the resistance regeneration converter unit to protect the resistance regeneration converter unit from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in the following figure. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. [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 resistance regeneration converter unit. Refer to section 1.4.2 for rated output.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.6.2 Power supply capacity and generated loss
(1) Generated heat of the resistance regeneration converter unit/drive unit The following table indicates the generated loss under rated load and the power supply capacity per combination of the resistance regeneration converter unit and drive unit.
Resistance regeneration converter unit
Drive unit
Power supply capacity [kVA] Drive unit-generated heat [W] (Note) 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-DU30K_(-RJ) 48 40 1350 (900 + 450) 470 27.0 MR-J4-DU37K_(-RJ) 59 49 1550 (1000 + 550) 550 31.0
MR-J4-DU30K_4(-RJ) 48 40 1070 (790 + 280) 390 60 (30 + 30)
21.4
MR-CR55K4 MR-J4-DU37K_4(-RJ) 59 49 1252 (910 + 342) 470 25.1 MR-J4-DU45K_4(-RJ) 71 59 1580 (1110 + 470) 550 31.6
MR-J4-DU55K_4(-RJ) 87 72 1940 (1440 + 500) 650 38.8
Note. The heat generated by the drive unit is indicated in the left term within the parentheses, and the heat generated by the resistance regeneration converter unit in the right term.
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 resistance regeneration 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 this table does not include heat produced during regeneration.
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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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 resistance regeneration 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 next equation.
A = K T P
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 the equation, assume that P is the sum of all losses generated in the cabinet. Refer to (1) in this section for the generated heat of the resistance regeneration 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. The above (1) in this section lists the cabinet dissipation area (guideline) when this unit and drive unit are operated at the ambient temperature of 40 C under rated load. 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.
(Outside the cabinet) (Inside the cabinet)
Air flow
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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4.6.3 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 8.5.) When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used. When the converter unit and drive unit are connected by passing wiring, the total inrush current of them flow. (1) 200 V class
The following table indicates the inrush currents (reference data) that will flow when 240 V AC is applied.
Resistance regeneration 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)
(2) 400 V class
The following table indicates the inrush currents (reference data) that will flow when 480 V AC is applied.
Resistance regeneration 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)
4. MR-CR_ RESISTANCE REGENERATION CONVERTER UNIT
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MEMO
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 1
5. MR-J4-DU_(-RJ) DRIVE UNIT
5.1 Structure (Parts identification)
POINT The drive unit is shown with the terminal cover open. For opening or closing of the terminal cover, refer to section 4.2.2.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 2
5.1.1 MR-J4-DU_B_(-RJ)
"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". (1) 200 V class
(a) MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ)
(1)(17) (2) (3) (4)
(19)
(12) (16) (12)
(20) (5)
(6) (7) (11) (8) (9) (18) (10)
(14)
(13)
(15)
No. Name/Application Detailed explanation
(1) Display The 3-digit, 7-segment LED display shows the drive unit status and the alarm number.
MR-J4-_B_ Section 4.3 (2) Axis selection rotary switch (SW1)
Set the axis No. of the drive unit.
(3) Control axis setting switch (SW2) The test operation switch, the disabling control axis switch, and the auxiliary axis number setting switch are available.
(4) USB communication connector (CN5) Connect with the personal computer.
MR-J4-_B_ Section 11.7
(5) I/O signal connector (CN3) Connect digital I/O signals.
MR-J4-_B_ Section 3.2 Section 3.4
(6) STO input signal connector (CN8) Connect the MR-J3-D05 safety logic unit and external safety relay.
MR-J4-_B_ Chapter 13
App. 5
(7) SSCNET III cable connector (CN1A) Connect a servo system controller or the previous axis servo amplifier (drive unit). MR-J4-_B_
Section 3.2 Section 3.4 (8)
SSCNET III cable connector (CN1B) Connect the next axis servo amplifier (drive unit). For the final axis, put a cap.
(9) (Note
2)
Encoder connector (CN2) Connect the servo motor encoder or external encoder.
MR-J4-_B_ Section 3.4 "Servo Motor Instruction Manual (Vol. 3)" Section 1.1
(10) Battery connector (CN4) Connect the battery for absolute position data backup.
MR-J4-_B_ Chapter 12
(11) Battery holder Install the battery for absolute position data backup.
MR-J4-_B_ Section 12.2
(12) Protective earth (PE) terminal
Section 5.2.1 (13)
L+/L- terminal (TE2-1) Connect with the L+ and L- terminals of the converter unit or another drive unit by bus bars.
(14) Rating plate Section 1.2
(15) Control circuit terminal L11/L21 (TE3) Connect to the control circuit power supply.
Section 5.2.1 (16) Servo motor power output terminal (TE1)
Connect the servo motor.
(17)
Protection coordination connector (CN40A) For the drive unit adjacent to the converter unit, connect with the CN4 of the power regeneration converter unit or the CN40 of the resistance regeneration converter unit.
(18) (Note
1)
External encoder connector (CN2L) (Note 2) Connect the external encoder.
Section 5.2.2 "Linear Encoder Instruction Manual" Section 1.1
(19)
Optional unit connector (CN7) This connector is attached on the MR-J4-DU_B_-RJ drive unit. Connect an optional unit. The MR-J4-DU_B_ drive unit does not have this connector.
(20)
Optional unit connector (CN9) This connector is attached on the MR-J4-DU_B_-RJ drive unit. Connect an optional unit. The MR-J4-DU_B_ drive unit does not have this connector.
Note 1. This is for the MR-J4-DU_B_-RJ drive unit. The MR-J4-DU_B_ drive unit does not have the CN2L connector. 2. "External encoder" is a term for the linear encoder used in the linear servo system, the load-side encoder used in the fully
closed loop system, and the scale measurement encoder used with the scale measurement function in this manual.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 3
(b) MR-J4-DU15KB(-RJ)/MR-J4-DU22KB(-RJ)
(3)
(4)
(1)
(5)
The broken line area is the same as MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ).
(2)
No. Name/Application Detailed explanation
(1) Control circuit terminal L11/L21 (TE3) Connect to the control circuit power supply.
Section 5.2.1 (2) Servo motor power output terminal (TE1)
Connect the servo motor. (3) Rating plate Section 1.2
(4) L+/L- terminal (TE2-1) Connect with the L+ and L- terminals of the converter unit or another drive unit by bus bars.
Section 5.2.1
(5) Protective earth (PE) terminal Section 5.2.1
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 4
(c) MR-J4-DU30KB(-RJ)/MR-J4-DU37KB(-RJ)
(14) (17)
(16)(12)(13)
(1)
(2) (3) (4) (20) (5) (19) (6) (7) (11) (Note 3) (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.
MR-J4-_B_ 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) The test operation switch, the disabling control axis switch, and the auxiliary axis number setting switch are available.
(4) USB communication connector (CN5) Used to connect the personal computer.
MR-J4-_B_ Section 11.7
(5) I/O signal connector (CN3) Used to connect digital I/O signals.
MR-J4-_B_ Section 3.2 Section 3.4
(6) STO input signal connector (CN8) Used to connect the MR-J3-D05 safety logic unit and external safety relay.
MR-J4-_B_ Chapter 13
App. 5
(7) SSCNET III cable connector (CN1A) Used to connect the servo system controller or the previous axis servo amplifier (drive unit). MR-J4-_B_
Section 3.2 Section 3.4 (8)
SSCNET III cable connector (CN1B) Used to connect the next axis servo amplifier (drive unit). For the final axis, put a cap.
(9) (Note
2)
Encoder connector (CN2) Used to connect the servo motor encoder or external encoder.
MR-J4-_B_ Section 3.4 "Servo Motor Instruction Manual (Vol. 3)" Section 1.1
(10) Battery connector (CN4) Used to connect the battery for absolute position data backup.
MR-J4-_B_ Chapter 12
(11) Battery holder Used to house the battery for absolute position data backup.
MR-J4-_B_ Section 12.2
(12) Protective earth (PE) terminal Grounding terminal
Section 5.2.1 (13)
L+/L- terminal (TE2-1) Connect with the L+ and L- terminals of the converter unit or another drive unit by bus bars.
(14) Rating plate Section 1.2 (15) Control circuit terminal L11/L21 (TE3)
Used to connect the control circuit power supply.
Section 5.2.1 (16) Servo motor power output terminal (TE1)
Used to connect the servo motor.
(17)
Protection coordination connector (CN40A) For the drive unit adjacent to the converter unit, connect with the CN4 of the power regeneration converter unit or the CN40 of the resistance regeneration converter unit.
(18)
(Note 1)
External encoder connector (CN2L) (Note 2) Used to connect the external encoder.
Section 5.2.2 "Linear Encoder Instruction Manual" Section 1.1
(19)
Optional unit connector (CN7) This connector is attached on the MR-J4-DU_B_-RJ drive unit. Connect an optional unit. The MR-J4-DU_B_ drive unit does not have this connector.
(20)
Optional unit connector (CN9) This connector is attached on the MR-J4-DU_B_-RJ drive unit. Connect an optional unit. The MR-J4-DU_B_ drive unit does not have this connector.
(21)
L+/L- terminal (TE2-2) Connect with the L+ and L- terminals of another drive unit by bus bars.
Section 5.2.1
Note 1. This is for the MR-J4-DU_B_-RJ drive unit. The MR-J4-DU_B_ drive unit does not have the CN2L connector. 2. "External encoder" is a term for the load-side encoder used in the fully closed loop system and the scale measurement
encoder used with the scale measurement function in this manual. 3. Lines for slots around the battery holder are omitted from the illustration.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 5
(2) 400 V class
(a) MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ)
(19)
(12) (16) (12)
(20) (5)
(6) (7) (11) (8) (9) (18) (10)
(14)
(13)
(15)
(1)(17) (2) (3) (4)
No. Name/Application Detailed explanation
(1) Display The 3-digit, 7-segment LED display shows the drive unit status and the alarm number.
MR-J4-_B_ Section 4.3 (2) Axis selection rotary switch (SW1)
Set the axis No. of the drive unit.
(3) Control axis setting switch (SW2) The test operation switch, the disabling control axis switch, and the auxiliary axis number setting switch are available.
(4) USB communication connector (CN5) Connect with the personal computer.
MR-J4-_B_ Section 11.7
(5) I/O signal connector (CN3) Connect digital I/O signals.
MR-J4-_B_ Section 3.2 Section 3.4
(6) STO input signal connector (CN8) Connect the MR-J3-D05 safety logic unit and external safety relay.
MR-J4-_B_ Chapter 13
App. 5
(7) SSCNET III cable connector (CN1A) Connect a servo system controller or the previous axis servo amplifier (drive unit). MR-J4-_B_
Section 3.2 Section 3.4 (8)
SSCNET III cable connector (CN1B) Connect the next axis servo amplifier (drive unit). For the final axis, put a cap.
(9) (Note
2)
Encoder connector (CN2) Connect the servo motor encoder or external encoder.
MR-J4-_B_ Section 3.4 "Servo Motor Instruction Manual (Vol. 3)" Section 1.1
(10) Battery connector (CN4) Connect the battery for absolute position data backup.
MR-J4-_B_ Chapter 12
(11) Battery holder Install the battery for absolute position data backup.
MR-J4-_B_ Section 12.2
(12) Protective earth (PE) terminal
Section 5.2.1 (13)
L+/L- terminal (TE2-1) Connect with the L+ and L- terminals of the converter unit or another drive unit by bus bars.
(14) Rating plate Section 1.2
(15) Control circuit terminal L11/L21 (TE3) Connect to the control circuit power supply.
Section 5.2.1 (16) Servo motor power output terminal (TE1)
Connect the servo motor.
(17)
Protection coordination connector (CN40A) For the drive unit adjacent to the converter unit, connect with the CN4 of the power regeneration converter unit or the CN40 of the resistance regeneration converter unit.
(18) (Note
1)
External encoder connector (CN2L) (Note 2) Connect the external encoder.
Section 5.2.2 "Linear Encoder Instruction Manual" Section 1.1
(19)
Optional unit connector (CN7) This connector is attached on the MR-J4-DU_B4-RJ drive unit. Connect an optional unit. The MR-J4-DU_B4 drive unit does not have this connector.
(20)
Optional unit connector (CN9) This connector is attached on the MR-J4-DU_B4-RJ drive unit. Connect an optional unit. The MR-J4-DU_B4 drive unit does not have this connector.
Note 1. This is for the MR-J4-DU_B4-RJ drive unit. The MR-J4-DU_B4 drive unit does not have the CN2L connector. 2. "External encoder" is a term for the load-side encoder used in the fully closed loop system and the scale measurement
encoder used with the scale measurement function in this manual.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 6
(b) MR-J4-DU15KB4(-RJ)/MR-J4-DU22KB4(-RJ)
(3)
(4)
(1)
(5)
The broken line area is the same as MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ).
(2)
No. Name/Application Detailed explanation
(1) Control circuit terminal L11/L21 (TE3) Connect to the control circuit power supply.
Section 5.2.1 (2) Servo motor power output terminal (TE1)
Connect the servo motor. (3) Rating plate Section 1.2
(4) L+/L- terminal (TE2-1) Connect with the L+ and L- terminals of the converter unit or another drive unit by bus bars.
Section 5.2.1
(5) Protective earth (PE) terminal Section 5.2.1
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 7
(c) MR-J4-DU30KB4(-RJ)/MR-J4-DU37KB4(-RJ)
(14) (17)
(16)(12)(13)
(1)
(2) (3) (4) (20) (5) (19) (6) (7) (11) (Note 3) (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.
MR-J4-_B_ 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) The test operation switch, the disabling control axis switch, and the auxiliary axis number setting switch are available.
(4) USB communication connector (CN5) Used to connect the personal computer.
MR-J4-_B_ Section 11.7
(5) I/O signal connector (CN3) Used to connect digital I/O signals.
MR-J4-_B_ Section 3.2 Section 3.4
(6) STO input signal connector (CN8) Used to connect the MR-J3-D05 safety logic unit and external safety relay.
MR-J4-_B_ Chapter 13
App. 5
(7) SSCNET III cable connector (CN1A) Used to connect the servo system controller or the previous axis servo amplifier (drive unit). MR-J4-_B_
Section 3.2 Section 3.4 (8)
SSCNET III cable connector (CN1B) Used to connect the next axis servo amplifier (drive unit). For the final axis, put a cap.
(9) (Note
2)
Encoder connector (CN2) Used to connect the servo motor encoder or external encoder.
MR-J4-_B_ Section 3.4 "Servo Motor Instruction Manual (Vol. 3)" Section 1.1
(10) Battery connector (CN4) Used to connect the battery for absolute position data backup.
MR-J4-_B_ Chapter 12
(11) Battery holder Used to house the battery for absolute position data backup.
MR-J4-_B_ Section 12.4
(12) Protective earth (PE) terminal Grounding terminal
Section 5.2.1 (13)
L+/L- terminal (TE2-1) Connect with the L+ and L- terminals of the converter unit or another drive unit by bus bars.
(14) Rating plate Section 1.2 (15) Control circuit terminal L11/L21 (TE3)
Used to connect the control circuit power supply.
Section 5.2.1 (16) Servo motor power output terminal (TE1)
Used to connect the servo motor.
(17)
Protection coordination connector (CN40A) For the drive unit adjacent to the converter unit, connect with the CN4 of the power regeneration converter unit or the CN40 of the resistance regeneration converter unit.
(18)
(Note 1)
External encoder connector (CN2L) (Note 2) Used to connect the external encoder.
Section 5.2.2 "Linear Encoder Instruction Manual" Section 1.1
(19)
Optional unit connector (CN7) This connector is attached on the MR-J4-DU_B_-RJ drive unit. Connect an optional unit. The MR-J4-DU_B_ drive unit does not have this connector.
(20)
Optional unit connector (CN9) This connector is attached on the MR-J4-DU_B_-RJ drive unit. Connect an optional unit. The MR-J4-DU_B_ drive unit does not have this connector.
Note 1. This is for the MR-J4-DU_B-RJ drive unit. The MR-J4-DU_B drive unit does not have the CN2L connector. 2. "External encoder" is a term for the load-side encoder used in the fully closed loop system and the scale measurement
encoder used with the scale measurement function in this manual. 3. Lines for slots around the battery holder are omitted from the illustration.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 8
(d) MR-J4-DU45KB4(-RJ)/MR-J4-DU55KB4(-RJ)
(5)
(1)
(2)(6)(4)
(3) The broken line area is the same as MR- J4-DU30KB4(-RJ)/MRJ4-DU37KB4(-RJ).
No. Name/Application Detailed explanation
(1) Control circuit terminal L11/L21 (TE3) Used to connect the control circuit power supply.
Section 5.2.1 (2) Servo motor power output terminal (TE1)
Used to connect the servo motor. (3) Rating plate Section 1.2
(4) L+/L- terminal (TE2-1) Connect with the L+ and L- terminals of the converter unit or another drive unit by bus bars.
Section 5.2.1
(5) Manufacturer setting terminal (TE2-2) This is for manufacturer setting. Leave this open.
(6) Protective earth (PE) terminal Grounding terminal Section 5.2.1
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 9
5.1.2 MR-J4-DU_A_(-RJ)
"MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 10
(1) 200 V class
(a) MR-J4-DU30KA(-RJ)/MR-J4-DU37KA(-RJ)
(15)(11)(12)
(13) (16) (1)
(2) (3) (4) (5) (18) (6) (10) (Note 3) (7) (8) (17) (9)
(19)
(14)
No. Name/Application Detailed explanation
(1) Display The 5-digit, 7-segment LED display shows the drive unit status and the alarm number.
MR-J4-_A_ Section 4.5
(2)
Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations.
Used to set data. Push this button together with the "MODE" button for 3 s or more to switch to the one-touch tuning mode.
MODE UP DOWN SET
Used to change the display or data in each mode. Used to change the mode. Push this button together with the "SET" button for 3 s or more to switch to the one-touch tuning mode.
MR-J4-_A_ Section 4.5
(3) USB communication connector (CN5) Used to connect the personal computer.
MR-J4-_A_ Section 11.7
(4) Analog monitor connector (CN6) Used to output the analog monitor.
MR-J4-_A_ Section 3.2
(5) RS-422/RS-485 communication connector (CN3) Used to connect the personal computer, etc.
MR-J4-_A_ Chapter 14
(6) STO input signal connector (CN8) Used to connect the MR-J3-D05 safety logic unit and external safety relay.
MR-J4-_A_ Chapter 13
App. 5
(7) I/O signal connector (CN1) Used to connect digital I/O signals.
MR-J4-_A_ Section 3.2 Section 3.4
(8) (Note
2)
Encoder connector (CN2) Used to connect the servo motor encoder or external encoder.
MR-J4-_A_ Section 3.4 "Servo Motor Instruction Manual (Vol. 3)" Section 1.1
(9)
Battery connector (CN4) Used to connect the battery for absolute position data backup.
MR-J4-_A_ Chapter 12
(10) Battery holder Used to house the battery for absolute position data backup.
MR-J4-_A_ Section 12.2
(11) Protective earth (PE) terminal Grounding terminal
Section 5.2.1 (12)
L+/L- terminal (TE2-1) Used to connect the L+ and L- terminals of the resistance regeneration converter unit using the bus bars.
(13) Rating plate Section 1.2 (14) Control circuit terminal L11/L21 (TE3)
Used to connect the control circuit power supply.
Section 5.2.1 (15) Servo motor power output terminal (TE1)
Used to connect the servo motor.
(16) Protection coordination connector (CN40A) Used to connect CN40 of the resistance regeneration converter unit.
(17)
(Note 1)
External encoder connector (CN2L) (Note 2) Used to connect the external encoder.
Section 5.2.2 "Linear Encoder Instruction Manual" Section 1.1
(18)
Optional unit connector (CN7) This connector is attached on the MR-J4-DU_A_-RJ drive unit. Connect an optional unit. The MR-J4-DU_A_ drive unit does not have this connector.
(19)
Optional unit connector (CN9) This connector is attached on the MR-J4-DU_A_-RJ drive unit. Connect an optional unit. The MR-J4-DU_A_ drive unit does not have this connector.
(20) Manufacturer setting terminal (TE2-2) This is for manufacturer setting. Leave this open.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 11
Note 1. This is for the MR-J4-DU_A_-RJ drive unit. The MR-J4-DU_A_ drive unit does not have the CN2L connector. 2. "External encoder" is a term for the load-side encoder used in the fully closed loop system and the scale measurement
encoder used with the scale measurement function in this manual. 3. Lines for slots around the battery holder are omitted from the illustration.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 12
(2) 400 V class
(a) MR-J4-DU30KA4(-RJ)/MR-J4-DU37KA4(-RJ)
(15)(11)(12)
(13) (16) (1)
(2) (3) (4) (5) (18) (6) (10) (Note 3) (7) (8) (17) (9)
(14)
No. Name/Application Detailed explanation
(1) Display The 5-digit, 7-segment LED display shows the drive unit status and the alarm number.
MR-J4-_A_ Section 4.5
(2)
Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations.
Used to set data. Push this button together with the "MODE" button for 3 s or more to switch to the one-touch tuning mode.
MODE UP DOWN SET
Used to change the display or data in each mode. Used to change the mode. Push this button together with the "SET" button for 3 s or more to switch to the one-touch tuning mode.
MR-J4-_A_ Section 4.5
(3) USB communication connector (CN5) Used to connect the personal computer.
MR-J4-_A_ Section 11.7
(4) Analog monitor connector (CN6) Used to output the analog monitor.
MR-J4-_A_ Section 3.2
(5) RS-422/RS-485 communication connector (CN3) Used to connect the personal computer, etc.
MR-J4-_A_ Chapter 14
(6) STO input signal connector (CN8) Used to connect the MR-J3-D05 safety logic unit and external safety relay.
MR-J4-_A_ Chapter 13
App. 5
(7) I/O signal connector (CN1) Used to connect digital I/O signals.
MR-J4-_A_ Section 3.2 Section 3.4
(8) (Note
2)
Encoder connector (CN2) Used to connect the servo motor encoder or external encoder.
MR-J4-_A_ Section 3.4 "Servo Motor Instruction Manual (Vol. 3)" Section 1.1
(9)
Battery connector (CN4) Used to connect the battery for absolute position data backup.
MR-J4-_A_ Chapter 12
(10) Battery holder Used to house the battery for absolute position data backup.
MR-J4-_A_ Section 12.2
(11) Protective earth (PE) terminal Grounding terminal
Section 5.2.1 (12)
L+/L- terminal (TE2-1) Used to connect the L+ and L- terminals of the resistance regeneration converter unit using the bus bars.
(13) Rating plate Section 1.2 (14) Control circuit terminal L11/L21 (TE3)
Used to connect the control circuit power supply.
Section 5.2.1 (15) Servo motor power output terminal (TE1)
Used to connect the servo motor.
(16) Protection coordination connector (CN40A) Used to connect CN40 of the resistance regeneration converter unit.
(17)
(Note 1)
External encoder connector (CN2L) (Note 2) Used to connect the external encoder.
Section 5.2.2 "Linear Encoder Instruction Manual" Section 1.1
(18)
Optional unit connector (CN7) This connector is attached on the MR-J4-DU_A_-RJ drive unit. Connect an optional unit. The MR-J4-DU_A_ drive unit does not have this connector.
(19)
Optional unit connector (CN9) This connector is attached on the MR-J4-DU_A_-RJ drive unit. Connect an optional unit. The MR-J4-DU_A_ drive unit does not have this connector.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 13
Note 1. This is for the MR-J4-DU_A_-RJ drive unit. The MR-J4-DU_A_ drive unit does not have the CN2L connector. 2. "External encoder" is a term for the load-side encoder used in the fully closed loop system and the scale measurement
encoder used with the scale measurement function in this manual. 3. Lines for slots around the battery holder are omitted from the illustration.
(b) MR-J4-DU45KA4(-RJ)/MR-J4-DU55KA4(-RJ)
(5)
(1)
(2)(6)(4)
(3) The broken line area is the same as MR- J4-DU30KA4(-RJ)/MRJ4-DU37KA4(-RJ).
No. Name/Application Detailed explanation
(1) Control circuit terminal L11/L21 (TE3) Used to connect the control circuit power supply.
Section 5.2.1 (2) Servo motor power output terminal (TE1)
Used to connect the servo motor. (3) Rating plate Section 1.2
(4) L+/L- terminal (TE2-1) Used to connect the L+ and L- terminals of the resistance regeneration converter unit using the bus bars.
Section 5.2.1
(5) Manufacturer setting terminal (TE2-2) This is for manufacturer setting. Leave this open.
(6) Protective earth (PE) terminal Grounding terminal Section 5.2.1
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 14
5.2 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 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. 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
Drive unit
RA
For sink output interface
Control output signal
DOCOM
Control output signal
24 V DC 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.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 15
CAUTION
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. Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.
The following items are the same as those of MR-J4-_(-RJ). For details of the items, refer to each chapter/section indicated in the detailed explanation field. "MR-J4-_B" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Model Item Detailed explanation
MR-J4-DU_B_(-RJ) I/O signal connection example MR-J4-_B_ section 3.2 Forced stop deceleration function MR-J4-_B_ section 3.6 SSCNET III cable connection MR-J4-_B_ section 3.9
MR-J4-DU_A_(-RJ) I/O signal connection example MR-J4-_A_ section 3.2 Forced stop deceleration function MR-J4-_A_ section 3.7
5.2.1 Signal explanations
POINT For the layout of the terminal block, refer to chapter 7 DIMENSIONS.
Connection target (application) Symbol
(Note 1) Terminal
block
Description
MR-J4-DU900B(-RJ) MR-J4-DU11KB(-RJ) MR-J4-DU15KB(-RJ) MR-J4-DU22KB(-RJ) MR-J4-DU30KB(-RJ) MR-J4-DU37KB(-RJ) MR-J4-DU30KA(-RJ) MR-J4-DU37KA(-RJ)
MR-J4-DU900B4(-RJ) MR-J4-DU11KB4(-RJ) MR-J4-DU15KB4(-RJ) MR-J4-DU22KB4(-RJ) MR-J4-DU30KB4(-RJ) MR-J4-DU37KB4(-RJ) MR-J4-DU45KB4(-RJ) MR-J4-DU55KB4(-RJ) MR-J4-DU30KA4(-RJ) MR-J4-DU37KA4(-RJ) MR-J4-DU45KA4(-RJ) MR-J4-DU55KA4(-RJ)
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 to connect.
Servo motor power input 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-DU30K_4(-RJ) and MR-J4-DU7K_4(-RJ).
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 16
5.2.2 Connectors and pin assignment
POINT The pin assignment of the connectors is as viewed from the cable connector wiring section.
(1) MR-J4-DU_B_(-RJ)
The following shows the front view of MR-J4-DU30KB4-RJ and MR-J4-DU37KB4-RJ drive units. For other views of drive units, connector arrangements, and details, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
The frames of the CN2 and CN3 connectors are connected to the protective earth terminal in the drive unit.
CN1A (Connector for SSCNET III cable for previous servo amplifier axis) Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 3.4. CN1B (Connector for SSCNET III cable for next servo amplifier axis) Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 3.4.
CN3 (I/O signal connector) Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 3.4.
CN5 (USB connector) Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 11.7.
CN2 (Encoder connector) Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 3.4.
CN8 (STO I/O signal connector) Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 13.2.
CN2L (Load-side encoder connector) Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 3.4. CN4 (Battery connector) Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" section 11.8.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 17
(2) MR-J4-DU_A_(-RJ)
The following shows the front view of MR-J4-DU30KA4-RJ and MR-J4-DU37KA4-RJ drive units. For other views of drive units, connector arrangements, and details, refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
The frames of the CN2 and CN3 connectors are connected to the protective earth terminal in the drive unit.
CN6 (Analog monitor connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 3.4.
CN1 (I/O signal connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 3.4.
CN3 (RS-422/RS-485 connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" chapter 14.
CN5 (USB connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 11.7.
CN2 (Encoder connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 3.4.
CN8 (STO I/O signal connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 13.2.
CN2L (Load-side encoder connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 3.4.
CN4 (Battery connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 11.8.
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 18
5.3 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 drive unit.
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
5.3.1 MR-J4-DU_B_(-RJ)
CAUTION When you write parameters with the controller, make sure that the control axis No. of the drive unit is set correctly. Otherwise, the parameter settings of another axis may be written, possibly causing the drive unit 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, drive unit software version, and MR Configurator2 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_(-RJ). Refer to chapter 5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 19
No. Symbol Name and function Initial value [unit]
Setting range
PA02 **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. When using the drive unit with the resistance regeneration converter unit, set this value regardless of whether or not the regenerative option and brake unit are used.)
00h
_ x _ _ Converter unit selection 0: MR-CR_ 7: MR-CV_ Setting a value other than "0" or "7" will trigger [AL. 37].
0h
x _ _ _ Enable or disable the protection coordination mode. 0: Protection coordination mode enabled 4: Protection coordination mode disabled (stand-alone drive) Set "4" for the drive unit which is not connected to the MR-CV_ with the protection coordination cable. To disable the protection coordination mode, set "Protection coordination mode function between converter and drive unit selection" of [Pr. PF03] to "Enabled (_ 1 _ _)", and then this parameter to "Protection coordination mode disabled (4 _ _ _)".
0h
5. MR-J4-DU_(-RJ) DRIVE UNIT
5 - 20
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 the "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 exceeds 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 SEMI-F47 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
5. MR-J4-DU_(-RJ) DRIVE UNIT
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No. Symbol Name and function Initial value [unit]
Setting range
PC23 **COP7A Function selection C-7A This parameter setting is available with servo amplifiers with software version D0 or later. When maximum torque increase by compatible servo motors listed on the following table, select the maximally increased torque function when those drive units are connected.
Refer to the "Name and function" column.
Drive unit Servo motor
Maximum torque in percentage to rated
torque
MR-J4-DU900B
HG-SR702 400% HG-JR703 350% HG-JR701M 350%
MR-J4-DU900B4 HG-SR7024 400%
HG-JR7034 350% HG-JR701M4 350% Setting digit Explanation Initial
value
_ _ _ x For manufacturer setting 0h _ _ x _ Maximally increased torque function selection when drive unit is
connected A servo motor's maximum torque can be increased by selecting "1" when using a servo motor which supports maximally increased torque. 0: Disabled 1: Enabled When using a servo motor which does not support maximally increased torque, setting "1" will trigger [AL. 37 Parameter error].
0h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
5. MR-J4-DU_(-RJ) DRIVE UNIT
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No. Symbol Name and function Initial value [unit]
Setting range
PF03 *FOP5 Function selection F-5 Refer to the Name and function column.
Setting digit Explanation Initial
value
_ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ Protection coordination mode function between converter and drive
unit selection 0: Disabled 1: Enabled When "Enabled (_ 1 _ _ )" is selected in this parameter, the setting value in "Protection coordination mode selection between converter and drive unit" of [Pr. PA02] is enabled.
0h
x _ _ _ For manufacturer setting 0h
PF07 *FOP6 Function selection F-6 Refer to the Name and function column.
Setting digit Explanation Initial
value
_ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ Magnetic contactor shut-off selection at STO input
Select whether turning the magnetic contactor off when STO is inputted ([when AL. 95 has occurred]). Selecting "_ 1 _ _" keeps the main circuit power supply on when STO is inputted. 0: Turns the magnetic contactor off when STO is inputted ([when
AL. 95 has occurred]). 1: Keeps the magnetic contactor on when STO is inputted ([when
AL. 95 has occurred]).
0h
x _ _ _ Magnetic contactor shut-off selection at forced stop input Select whether turning the magnetic contactor off when the forced stop is inputted ([when AL. E6 has occurred]). Selecting "_ 1 _ _" keeps the main circuit power supply on when the forced stop is inputted. 0: Turns the magnetic contactor off when the forced stop is
inputted ([when AL. E6 has occurred]). 1: Keeps the magnetic contactor on when the forced stop is
inputted ([when AL. E6 has occurred]). This parameter is enabled only when the power regeneration converter unit is selected ([Pr. PA02]: _ 7 _ _). If MR-CR_ resistance regeneration converter unit is selected ([Pr. PA02]: _ 0 _ _), the magnetic contactor will be kept on when the forced stop is inputted ([when AL. E6 has occurred]) regardless the setting.
0h
PF25 CVAT 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 SEMI-F47 function - Instantaneous power failure detection time] settings of the converter unit. 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]. To disable the parameter setting value, select "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr. PA20].
200 [ms]
30 to
200
5. MR-J4-DU_(-RJ) DRIVE UNIT
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5.3.2 MR-J4-DU_A_(-RJ)
POINT To enable a parameter whose symbol is preceded by *, cycle the power after setting it. 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-_A_(-RJ). Refer to chapter 5 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
No./symbol/ name
Setting digit Function
Initial value [unit]
PA02 *REG Regenerative option
_ _ x x 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]. 00: Regenerative option is not used, or when you use a regenerative option, set the regenerative
option with the converter unit. When using the drive unit with the resistance regeneration converter unit, set this value regardless of whether or not the regenerative option and brake unit are used.)
00h
_ x _ _ For manufacturer setting 0h x _ _ _ 0h
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 CN1-22 to CN1-25, CN1-49, CN1-13, and CN1-14 with [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47]. _ _ _ x For manufacturer setting 0h _ _ x _ Vibration tough drive selection
0: Disabled 1: Enabled Selecting "1" enables to suppress vibrations by automatically changing setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] in case that the vibration exceeds the value of the oscillation level set in [Pr. PF23]. To output the oscillation detection alarm as a warning, set [Pr. PF24 Vibration tough drive function selection]. For details, refer to section 7.3 of "MR-J4-_A_(-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 SEMI-F47 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 PF25 CVAT SEMI-F47 function - Instanta- neous power failure detection time
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 SEMI-F47 function - Instantaneous power failure detection time] settings of the converter unit.
Set the time until the occurrence of [AL. 10.1 Voltage drop in the control circuit power]. To disable the parameter setting value, select "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr. PA20]. Setting range: 30 to 200
200 [ms]
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5.4 Characteristics
The following items are the same as those of MR-J4-_(-RJ). For details of the items, refer to each chapter/section of the detailed explanation field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Model Item Detailed explanation MR-J4-DU_B_(-RJ) Cable bending life MR-J4-_B_ section 10.4 MR-J4-DU_A_(-RJ) Cable bending life MR-J4-_A_ section 10.4
5.4.1 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 the following figure. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. [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.)
5. MR-J4-DU_(-RJ) DRIVE UNIT
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The following table shows combinations of each servo motor and graph of overload protection characteristics.
Rotary servo motor Graph
HG-SR HG-JR 702 7024
503 703 701M 5034 7034
Characteristics A
11K1M 903 9034 12K14 11K1M4 15K1M4 37K14 12K1 37K1 15K1M 801 15K1 20K1 25K1 30K1 22K1M 30K1M 37K1M 8014 15K14 20K14 25K14 30K14 22K1M4 30K1M4 37K1M4 45K1M4
Characteristics B
601 6014 701M4
Characteristics A
55K1M4 Characteristics B
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(1) Characteristics A
4000
1000
50 100 (Note 2)
150 200 250 300 350 1
100
10
Servo-lock
(Note 1, 3) Load ratio [%]
O pe
ra tio
n tim
e [s
] Operating
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 1.4.3 for rated output.
3. The operation time at the load ratio of 300% to 400% applies when the maximum torque is increased to 400% of rated torque.
(2) Characteristics B
10000
1000
100
10
1 30050 100
(Note 2) 150 200 2500
O pe
ra tio
n tim
e [s
]
Servo-lock
(Note 1) Load ratio [%]
Operating
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 1.4.3 for rated output.
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5.4.2 Dynamic brake characteristics
CAUTION
The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance. If an enough braking distance is not provided, a moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes. Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 frequently in other than emergency. Servo motors for MR-J4 may have the different coasting distance from that of the previous model.
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(1) Calculation of coasting distance
The following figure shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.
V0
OFF
ON
Machine speed
te Time
EM1 (Forced stop 1)
Dynamic brake time constant
Use the following equation to calculate an approximate coasting distance to a stop.
Lmax = 60 V0 te + JM
1 + JL
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.
The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to (2) in this section.) A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a maximum coasting distance calculated with the following equation.
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(2) Dynamic brake time constant
(a) 200 V class HG-SR2000 r/min series
0 500 1000 1500 2000 2500 3000 D
yn am
ic b
ra ke
ti m
e co
ns ta
nt [m
s] Speed [r/min]
0
100 50
200 150
250 300 350
702
(b) 200 V class HG-JR1000 r/min series
0
20 10
30 40 50 60 70 80 90
100
0 500 1000 1500 2000
15K1 25K1
20K1
801 60112K1D
yn am
ic b
ra ke
ti m
e co
ns ta
nt [m
s]
Speed [r/min]
(c) 200 V class HG-JR1500 r/min series
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
80
0
70 60 50 40 30 20 10
500 1000 1500 2000 2500 30000
15K1M
11K1M
22K1M
701M
Speed [r/min]
(d) 200 V class HG-JR3000 r/min series
503
260
0
220
180
140
100
60
20 1000 2000 3000 4000 5000 60000
703
903
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
Speed [r/min]
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(e) 200 V class HG-JR1000 r/min series
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]
(f) 200 V class HG-JR1500 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]
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(g) 400 V class HG-SR series
0 500 1000 1500 2000 2500 3000
100
80
60
40
20
0 7024
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
Speed [r/min]
(h) 400 V class HG-JR1000 r/min series
0
10
20
30
40
50
60
0 500 1000 1500 2000 6014
8014
25K14
12K14 20K14
15K14
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
Speed [r/min]
(i) 400 V class HG-JR1500 r/min series
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]
(j) 400 V class HG-JR3000 r/min series
0 1000 2000 3000 4000 5000 6000
5034
120
100
80
60
40
20
0
9034
7034
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m s]
Speed [r/min]
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(k) 400 V class HG-JR1000 r/min series
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]
(l) 400 V class HG-JR1500 r/min series
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]
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(3) 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-JR703 21 (30) HG-JR601 30 HG-JR701M 14 (30) HG-SR702 18 (30) HG-JR903 18 (30) HG-JR801 30 HG-JR12K1 20 (30) HG-JR11K1M 10 (30) HG-JR15K1 17 (30) HG-JR15K1M 10 (30) HG-JR20K1 26 (30) HG-JR22K1M 20 (30) HG-JR25K1 21 (30) HG-JR7034 21 (30) HG-JR6014 30 HG-JR701M4 14 (30) HG-SR7024 18 (30) HG-JR9034 18 (30) HG-JR8014 30 HG-JR12K14 20 (30) HG-JR11K1M4 10 (30) HG-JR15K14 30 (30) HG-JR15K1M4 10 (30) HG-JR20K14 26 (30) HG-JR22K1M4 20 (30) HG-JR25K14 21 (30) HG-JR30K1
10
HG-JR37K1 HG-JR30K14 HG-JR37K14 HG-JR30K1M HG-JR37K1M HG-JR30K1M4 HG-JR37K1M4 HG-JR45K1M4 8 (10) HG-JR55K1M4 7 (10)
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5.4.3 Inrush currents at power-on of control circuit
Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and magnetic contactors. (Refer to section 8.5.) 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.
Drive unit Inrush currents (A0-P)
Control circuit power supply (L11/L21)
MR-J4-DU900B(-RJ)
23 A (attenuated to approx. 2 A in 8 ms) MR-J4-DU11KB(-RJ) MR-J4-DU15KB(-RJ) MR-J4-DU22KB(-RJ) MR-J4-DU30K_(-RJ)
31 A (attenuated to approx. 2 A in 60 ms) MR-J4-DU37K_(-RJ)
(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.
Drive unit Inrush currents (A0-P)
Control circuit power supply (L11/L21)
MR-J4-DU900B4(-RJ)
15 A (attenuated to approx. 2 A in 9 ms) MR-J4-DU11KB4(-RJ) MR-J4-DU15KB4(-RJ) MR-J4-DU22KB4(-RJ) MR-J4-DU30K_4(-RJ) MR-J4-DU37K_4(-RJ)
27 A (attenuated to approx. 2 A in 45 ms) MR-J4-DU45K_4(-RJ) MR-J4-DU55K_4(-RJ)
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5.5 Mounting and removing MR-D30
WARNING Before mounting and removing MR-D30, turn off the power and wait for 20 minutes or more until the charge lamp turns off. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the converter unit.
CAUTION
Do not mount and remove MR-D30 frequently. Otherwise, a contact failure may be caused in the connector. To protect the connectors from dusts and dirt, unpack MR-D30 only when it is ready to be attached. When storing MR-D30, be sure to cover the unit with a packing bag in which the unit had been covered prior to shipping. Do not use MR-D30 if its fixing hook or clips are broken. Otherwise, a contact failure may be caused in the connector. When mounting and removing the MR-D30, do not drop the mounting screws to the inside of the drive unit. Otherwise, the drive unit may malfunction. When mounting the MR-D30, be careful not to damage the control board in the drive unit by the fixing plate. Otherwise, the drive unit may malfunction. Be sure to use the enclosed mounting screws for fixing the MR-D30.
POINT
The internal circuits of the drive unit and MR-D30 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.
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5.5.1 MR-J4-DU900B-RJ to MR-J4-DU22KB-RJ/MR-J4-DU900B4-RJ to MR-J4-DU22KB4-RJ
(1) Mounting the MR-D30
1)
1)
a)
b)
2)
1) Remove the mounting screw. 2) Fit your fingers in a) and b) to pull the control interface off the drive unit in the arrow direction. Do
not pull without removing the mounting screws.
3)
4)
e)
d)
f)
c)
3) Remove the mounting screw. 4) While pushing the clips (c), d), e), f)), pull out the case in the arrow direction. Do not pull the case
without removing the mounting screws.
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5)
Guide hole MR-D30
Guide pin
5)
5) Insert the guide pins of the MR-D30 in the guide holes located on the side of the control interface.
6)
7)
Knob
6) Push the four corners of the side of the MR-D01 simultaneously to the control interface until the four clips click so that the CN7 and CN9 connectors are connected straight.
7) Fix with the screws which have been removed in 3).
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8)
9) h)
g)
8) Install the control interface on the drive unit along the guide lines (g), h)). Confirm that the model name and the serial numbers on the plate of the drive unit correspond, and that those of the control interface correspond. If the model names and the serial numbers do not correspond, alarms or malfunction may occur.
9) Fix with the screws which have been removed in 1). (2) Removing the MR-D30
1)
1)
a)
b)
2)
1) Remove the mounting screw. 2) Fit your fingers in a) and b) to pull the control interface off the drive unit in the arrow direction. Do
not pull without removing the mounting screws.
5. MR-J4-DU_(-RJ) DRIVE UNIT
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3)
4)
e)
d)
f)
c)
3) Remove the mounting screw. 4) While pushing the clips (c), d), e), f)), pull out the MR-D30 in the arrow direction. Do not pull the
MR-D30 without removing the mounting screws.
6)
5)
Knob
5) Push the four corners of the case simultaneously to the control interface until the four clips click. 6) Fix with the screws which have been removed in 3).
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7)
g)
8) h)
7) Install the control interface on the drive unit along the guide lines (g), h)). Confirm that the model name and the serial numbers on the plate of the drive unit correspond, and that those of the control interface correspond. If the model names and the serial numbers do not correspond, alarms or malfunction may occur.
8) Fix with the screws which have been removed in 1). 5.5.2 MR-J4-DU30K_-RJ to MR-J4-DU37K_-RJ/MR-J4-DU30K_4-RJ to MR-J4-DU55K_4-RJ
CAUTION Avoid touching burr remained after the part a) being cut off from the case c) shown in the figure below. Otherwise, it may cause injury.
(1) Mounting the MR-D30
1)
a)
b)
1) While pushing the clips ( a) , b)), and pull out the side cover in the arrow direction.
5. MR-J4-DU_(-RJ) DRIVE UNIT
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c)
2) When mounting the MR-D30 for the first time, cut off the part a) from the case after removing the side cover. When cutting off the part c), be careful not to damage the case of the drive unit. After the part a) is cut off, inside of the drive unit will be exposed even after the side cover or the MR- D30 is attached. Prevent foreign materials from entering through the opened area into the drive unit.
3) Insert the guide pins of the MR-D30 in the guide holes located on the side of the drive unit.
5. MR-J4-DU_(-RJ) DRIVE UNIT
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Knob
4) 5)
4) Push the four corners of the side of the MR-D01 simultaneously to the control interface until the four clips click so that the CN7 and CN9 connectors are connected straight.
5) Fix the unit on the MR-D30 with the enclosed mounting screws (M4). (2) Removing the MR-D30
2)
c)
d)
a)
b)
1)
1) Remove the mounting screw. 2) While pushing the clips (a), b), c), d)), pull out the MR-D30 in the arrow direction. Do not pull the
MR-D30 without removing the mounting screws.
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e)
3)
3)
Side cover Setting clip
3) Insert the side cover setting clips into the recesses e) of the drive unit.
4)
Knob
4) Push against the drive unit at the supporting point e) shown in procedure 1) until the clips clip into place.
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MEMO
6. TROUBLESHOOTING
6 - 1
6. TROUBLESHOOTING
6.1 MR-CV_ Power regeneration converter unit
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. 6.1.1 Explanation for the lists
(1) No./Name Indicates each No./Name of alarms or warnings.
(2) Alarm deactivation
After its cause 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 by alarm reset, CPU reset, or power cycling.
Alarm deactivation Explanation
Alarm reset 1. Turn on RES (Reset) with an input device. (Note 1) 2. Input the servo-on command for the drive unit connected with the protection
coordination cable. CPU reset Reset the controller itself. (Note 2) Cycling the power Turning the power off and then turning it on again.
Note 1. Deactivate the alarm in servo-off status. If the alarm is deactivated in servo-on status, [AL. 1B Converter error]
occurs. 2. When it is not connected by a protection coordination cable, alarms cannot be deactivated by CPU reset.
6.1.2 Alarm/warning list
Display Name Alarm deactivation Display Name
Alarm reset CPU reset Cycling the power
W ar
ni ng
E9 Instantaneous power failure warning
Al ar
m 61 Overcurrent EA Converter forced stop warning
62 Frequency error EB Excessive regeneration warning 66 Process error EC Overload warning 67 Open phase
EE Cooling fan speed reduction warning 68 Watchdog
69 Ground fault 6A MC drive circuit error
6B Inrush current suppression circuit error
6C Main circuit error 6E_
(Note 1) Board error
70 Converter forced stop error 71 Undervoltage 72 Cooling fan error 73 Regenerative error (Note 2) (Note 2) (Note 2) 75 Overvoltage 76 Switch setting error 77 Main circuit device overheat (Note 2) (Note 2) 7E Overload 1 (Note 2) (Note 2) (Note 2) 7F Overload 2 (Note 2) (Note 2) (Note 2)
Note 1. The third digit may be displayed. Remedies for the alarm is the same as those for [AL. 6E]. 2. After resolving the source of trouble, cool the equipment for approximately 30 minutes.
6. TROUBLESHOOTING
6 - 2
6.2 MR-CR_ Resistance regeneration converter unit
POINT [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. 6.2.1 Explanation for the lists
(1) No./Name Indicates each No./Name of alarms or warnings.
(2) Alarm deactivation
After its cause 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 "SET" on the current alarm screen of the display. Cycling the power Turning the power off and then turning it on again.
6.2.2 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
Al ar
m 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.
6. TROUBLESHOOTING
6 - 3
6.3 Drive unit
POINT As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm or warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM (Malfunction) will turn off. 6.3.1 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" is written in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.
(3) Alarm deactivation
After its cause 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.
(a) MR-J4-DU_A_(-RJ)/MR-J4-DU_A_(-RJ)
Alarm deactivation Explanation
Alarm reset 1. Turning on RES (Reset) with input device 2. Pushing the "SET" button while the display of the drive unit is the current alarm
display status 3. Click "Occurring Alarm Reset" in the "Alarm Display" window of MR
Configurator2 Cycling the power Turning the power off and then turning it on again.
(b) MR-J4-_B_(-RJ010)/MR-J4W_-_B_/MR-J4-DU_B_(-RJ)/MR-J4-_GF_(-RJ)
Alarm deactivation Explanation
Alarm reset 1. Error reset command from controller 2. Click "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.
(4) Alarm code (Only MR-J4-DU_A_(-RJ))
Alarm codes are outputted only from MR-J4-DU_A_(-RJ). To output alarm codes, set [Pr. PD34] to "_ _ _ 1" when using a MR-J4-DU_A_(-RJ). Alarm codes are outputted by on/off of bit 0 to bit 2. Warnings ([AL. 90] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be outputted when they occur. The alarm codes will not be outputted in normal condition.
6. TROUBLESHOOTING
6 - 4
6.3.2 Alarm list
No. Name Detail No. Detail name
Stop method (Note 2, 3)
Alarm deactivation Process- ing
system (Note 9)
Stop system (Note 9)
Alarm code (Note 8)
Alarm reset
CPU reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
10 Undervoltage 10.1 Voltage drop in the control
circuit power DB Common All axes 0 0 1 0
10.2 Voltage drop in the main circuit power SD Common All axes
11 Switch setting error
11.1 Axis number setting error/ Station number setting error DB Common All axes
11.2 Disabling control axis setting error DB Common All axes
12.1 RAM error 1 DB Common All axes 12.2 RAM error 2 DB Common All axes
12 Memory error 1 (RAM)
12.3 RAM error 3 DB Common All axes 0 0 0 0 12.4 RAM error 4 DB Common All axes 12.5 RAM error 5 DB Common All axes 12.6 RAM error 6 DB
13 Clock error 13.1 Clock error 1 DB Common All axes
0 0 0 0 13.2 Clock error 2 DB Common All axes 14.1 Control process error 1 DB Common All axes
14.2 Control process error 2 DB Common All axes 14.3 Control process error 3 DB Common All axes 14.4 Control process error 4 DB Common All axes
Control process error
14.5 Control process error 5 DB Common All axes 0 0 0 0
14 14.6 Control process error 6 DB Common All axes 14.7 Control process error 7 DB Common All axes 14.8 Control process error 8 DB Common All axes 14.9 Control process error 9 DB Common All axes 14.A Control process error 10 DB Common All axes 14.B Control process error 11 DB
15 Memory error 2
(EEP-ROM)
15.1 EEP-ROM error at power on DB Common All axes
0 0 0 0 15.2 EEP-ROM error during
operation DB Common All axes
15.4 Home position information read error DB
16.1 Encoder initial communication - Receive data error 1 DB
Each axis
Each axis
16.2 Encoder initial communication - Receive data error 2 DB
Each axis
Each axis
16.3 Encoder initial communication - Receive data error 3 DB
Each axis
Each axis
16.5 Encoder initial communication - Transmission data error 1 DB
Each axis
Each axis
16.6 Encoder initial communication - Transmission data error 2 DB
Each axis
Each axis
16 Encoder initial communication
error 1
16.7 Encoder initial communication - Transmission data error 3 DB
Each axis
Each axis
0 1 1 0 16.A Encoder initial communication -
Process error 1 DB Each axis
Each axis
16.B Encoder initial communication - Process error 2 DB
Each axis
Each axis
16.C Encoder initial communication - Process error 3 DB
Each axis
Each axis
16.D Encoder initial communication - Process error 4 DB
Each axis
Each axis
16.E Encoder initial communication - Process error 5 DB
Each axis
Each axis
16.F Encoder initial communication - Process error 6 DB
Each axis
Each axis
6. TROUBLESHOOTING
6 - 5
No. Name Detail No. Detail name
Stop method (Note 2, 3)
Alarm deactivation Process- ing
system (Note 9)
Stop system (Note 9)
Alarm code (Note 8)
Alarm reset
CPU reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m 17.1 Board error 1 DB Common All axes
17.3 Board error 2 DB Common All axes 17.4 Board error 3 DB Common All axes
17 Board error
17.5 Board error 4 DB Common All axes 0 0 0 0 17.6 Board error 5 DB Common All axes 17.7 Board error 7 DB 17.8 Board error 6 (Note 6) DB Common All axes 17.9 Board error 8 DB
Memory error 3 (Flash-ROM)
19.1 Flash-ROM error 1 DB Common All axes 0 0 0 0
19 19.2 Flash-ROM error 2 DB Common All axes 19.3 Flash-ROM error 3 DB 1A.1 Servo motor combination error
1 DB Each axis
Each axis
1A Servo motor combination error 1A.2 Servo motor control mode
combination error DB Each axis
Each axis 0 1 1 0
1A.4 Servo motor combination error 2 DB
Each axis
Each axis
1B Converter error 1B.1 Converter unit error DB 0 0 1 0
1E Encoder initial communication
error 2
1E.1 Encoder malfunction DB Each axis
Each axis
0 1 1 0 1E.2 Load-side encoder malfunction DB
Each axis
Each axis
1F Encoder initial communication
error 3
1F.1 Incompatible encoder DB Each axis
Each axis
0 1 1 0 1F.2 Incompatible load-side encoder DB
Each axis
Each axis
20.1 Encoder normal communication - Receive data error 1 DB
Each axis
Each axis
20.2 Encoder normal communication - Receive data error 2 DB
Each axis
Each axis
20.3 Encoder normal communication - Receive data error 3 DB
Each axis
Each axis
20 Encoder normal communication
error 1
20.5 Encoder normal communication - Transmission data error 1 DB
Each axis
Each axis
0 1 1 0 20.6 Encoder normal communication
- Transmission data error 2 DB Each axis
Each axis
20.7 Encoder normal communication - Transmission data error 3 DB
Each axis
Each axis
20.9 Encoder normal communication - Receive data error 4 DB
Each axis
Each axis
20.A Encoder normal communication - Receive data error 5 DB
Each axis
Each axis
21.1 Encoder data error 1 DB Each axis
Each axis
21.2 Encoder data update error DB Each axis
Each axis
Encoder normal communication
error 2
21.3 Encoder data waveform error DB Each axis
Each axis
21 21.4 Encoder non-signal error DB Each axis
Each axis 0 1 1 0
21.5 Encoder hardware error 1 DB Each axis
Each axis
21.6 Encoder hardware error 2 DB Each axis
Each axis
21.9 Encoder data error 2 DB Each axis
Each axis
6. TROUBLESHOOTING
6 - 6
No. Name Detail No. Detail name
Stop method (Note 2, 3)
Alarm deactivation Process- ing
system (Note 9)
Stop system (Note 9)
Alarm code (Note 8)
Alarm reset
CPU reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
24 Main circuit error 24.1 Ground fault detected by
hardware detection circuit DB Each axis All axes
1 1 0 0 24.2 Ground fault detected by
software detection function DB Each axis All axes
25 Absolute position erased
25.1 Servo motor encoder - Absolute position erased DB
Each axis
Each axis
1 1 1 0 25.2 Scale measurement encoder -
Absolute position erased DB Each axis
Each axis
27.1 Initial magnetic pole detection - Abnormal termination DB
Each axis
Each axis
27.2 Initial magnetic pole detection - Time out error DB
Each axis
Each axis
27.3 Initial magnetic pole detection - Limit switch error DB
Each axis
Each axis
27 Initial magnetic pole detection error 27.4 Initial magnetic pole detection -
Estimated error DB Each axis
Each axis 1 1 1 0
27.5 Initial magnetic pole detection - Position deviation error DB
Each axis
Each axis
27.6 Initial magnetic pole detection - Speed deviation error DB
Each axis
Each axis
27.7 Initial magnetic pole detection - Current error DB
Each axis
Each axis
28 Linear encoder error 2 28.1 Linear encoder - Environment
error DB Each axis
Each axis 0 1 1 0
2A.1 Linear encoder error 1-1 DB Each axis
Each axis
2A.2 Linear encoder error 1-2 DB Each axis
Each axis
2A.3 Linear encoder error 1-3 DB Each axis
Each axis
2A Linear encoder error 1
2A.4 Linear encoder error 1-4 DB Each axis
Each axis
0 1 1 0 2A.5 Linear encoder error 1-5 DB
Each axis
Each axis
2A.6 Linear encoder error 1-6 DB Each axis
Each axis
2A.7 Linear encoder error 1-7 DB Each axis
Each axis
2A.8 Linear encoder error 1-8 DB Each axis
Each axis
2B Encoder counter error
2B.1 Encoder counter error 1 DB Each axis
Each axis
1 1 1 0 2B.2 Encoder counter error 2 DB
Each axis
Each axis
30.1 Regeneration heat error DB (Note 1)
(Note 1)
(Note 1) Common All axes
30 Regenerative error 30.2 Regeneration signal error DB (Note 1)
(Note 1)
(Note 1) Common All axes 0 0 0 1
30.3 Regeneration feedback signal error DB
(Note 1)
(Note 1)
(Note 1) Common All axes
31 Overspeed 31.1 Abnormal motor speed SD Each axis
Each axis 0 1 0 1
32.1
Overcurrent detected at hardware detection circuit (during operation)
DB Each axis All axes
32 Overcurrent
32.2 Overcurrent detected at software detection function (during operation)
DB Each axis All axes
0 1 0 0
32.3 Overcurrent detected at hardware detection circuit (during a stop)
DB Each axis All axes
32.4
Overcurrent detected at software detection function (during a stop)
DB Each axis All axes
33 Overvoltage 33.1 Main circuit voltage error DB Common All axes 1 0 0 1
6. TROUBLESHOOTING
6 - 7
No. Name Detail No. Detail name
Stop method (Note 2, 3)
Alarm deactivation Process- ing
system (Note 9)
Stop system (Note 9)
Alarm code (Note 8)
Alarm reset
CPU reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
34 SSCNET receive error 1
34.1 SSCNET receive data error SD (Note 5) Common All axes
34.2 SSCNET connector connection error SD Common All axes
34.3 SSCNET communication data error SD
Each axis
Each axis
34.4 Hardware error signal detection SD Common All axes 34.5 SSCNET receive data error
(safety observation function) SD
34.6
SSCNET communication data error (safety observation function)
SD
35 Command frequency error 35.1 Command frequency error SD
Each axis
Each axis 1 1 0 1
36 SSCNET receive error 2
36.1 Continuous communication data error SD
Each axis
Each axis
36.2
Continuous communication data error (safety observation function)
SD
37 Parameter error
37.1 Parameter setting range error DB Each axis
Each axis
1 0 0 0 37.2 Parameter combination error DB Each axis
Each axis
37.3 Point table setting error DB
39 Program error
39.1 Program error DB
0 0 0 0
39.2 Instruction argument external error DB
39.3 Register No. error DB 39.4 Non-correspondence instruction
error DB
3A
Inrush current suppression circuit
error 3A.1 Inrush current suppression
circuit error DB Common All axes 0 0 0 0
3D Parameter setting
error for driver communication
3D.1 Parameter combination error for driver communication on slave
DB
3D.2
Parameter combination error for driver communication on master
DB
3E Operation mode
error 3E.1 Operation mode error DB
Each axis
Each axis
3E.6 Operation mode switch error DB 1 0 0 0
42
Servo control error (for linear servo motor and direct
drive motor)
42.1 Servo control error by position deviation DB (Note 4) (Note 4)
Each axis
Each axis
0 1 1 0
42.2 Servo control error by speed deviation DB (Note 4) (Note 4)
Each axis
Each axis
42.3 Servo control error by torque/thrust deviation DB (Note 4) (Note 4)
Each axis
Each axis
Fully closed loop control error
(for fully closed loop control)
42.8 Fully closed loop control error by position deviation DB (Note 4) (Note 4)
Each axis
Each axis
42.9 Fully closed loop control error by speed deviation DB (Note 4) (Note 4)
Each axis
Each axis
42.A
Fully closed loop control error by position deviation during command stop
DB (Note 4) (Note 4) Each axis
Each axis
45 Main circuit device overheat
45.1 Main circuit device overheat error 1 SD
(Note 1)
(Note 1)
(Note 1) Common All axes 0 0 1 1
45.2 Main circuit device overheat error 2 SD
(Note 1)
(Note 1)
(Note 1) Common All axes
6. TROUBLESHOOTING
6 - 8
No. Name Detail No. Detail name
Stop method (Note 2, 3)
Alarm deactivation Process- ing
system (Note 9)
Stop system (Note 9)
Alarm code (Note 8)
Alarm reset
CPU reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
46.1 Abnormal temperature of servo motor 1 SD
(Note 1)
(Note 1)
(Note 1) Each axis
Each axis
46.2 Abnormal temperature of servo motor 2 SD
(Note 1)
(Note 1)
(Note 1) Each axis
Each axis
46 Servo motor
overheat
46.3 Thermistor disconnected error SD (Note 1)
(Note 1)
(Note 1)
Each axis
Each axis
0 0 1 1 46.4 Thermistor circuit error SD
(Note 1)
(Note 1)
(Note 1) Each axis
Each axis
46.5 Abnormal temperature of servo motor 3 DB
(Note 1)
(Note 1)
(Note 1) Each axis
Each axis
46.6 Abnormal temperature of servo motor 4 DB
(Note 1)
(Note 1)
(Note 1) Each axis
Each axis
47 Cooling fan error
47.1 Cooling fan stop error SD Common All axes 0 0 1 1
47.2 Cooling fan speed reduction error SD Common All axes
50.1 Thermal overload error 1 during operation SD
(Note 1)
(Note 1)
(Note 1) Each axis
Each axis
50.2 Thermal overload error 2 during operation SD
(Note 1)
(Note 1)
(Note 1) Each axis
Each axis
50 Overload 1
50.3 Thermal overload error 4 during operation SD
(Note 1)
(Note 1)
(Note 1) Each axis
Each axis
0 0 1 1 50.4 Thermal overload error 1 during
a stop SD (Note 1)
(Note 1)
(Note 1)
Each axis
Each axis
50.5 Thermal overload error 2 during a stop SD
(Note 1)
(Note 1)
(Note 1) Each axis
Each axis
50.6 Thermal overload error 4 during a stop SD
(Note 1)
(Note 1)
(Note 1) Each axis
Each axis
51 Overload 2 51.1 Thermal overload error 3 during
operation DB (Note 1)
(Note 1)
(Note 1)
Each axis
Each axis
0 0 1 1 51.2 Thermal overload error 3 during
a stop DB (Note 1)
(Note 1)
(Note 1)
Each axis
Each axis
52.1 Excess droop pulse 1 SD Each axis
Each axis
52 Error excessive
52.3 Excess droop pulse 2 SD Each axis
Each axis
0 1 0 1 52.4 Error excessive during 0 torque
limit SD Each axis
Each axis
52.5 Excess droop pulse 3 DB Each axis
Each axis
54 Oscillation detection 54.1 Oscillation detection error DB
Each axis
Each axis 0 0 1 1
56 Forced stop error
56.2 Over speed during forced stop DB Each axis
Each axis
0 1 1 0 56.3 Estimated distance over during
forced stop DB Each axis
Each axis
61 Operation error 61.1 Point table setting range error DB 0 1 0 1 63.1 STO1 off DB Common All axes 63 STO timing error 63.2 STO2 off DB Common All axes 0 1 1 0 63.5 STO by functional safety unit DB 64.1 STO input error DB
64 Functional safety unit setting error 64.2 Compatibility mode setting
error DB 1 0 0 0
64.3 Operation mode setting error DB
6. TROUBLESHOOTING
6 - 9
No. Name Detail No. Detail name
Stop method (Note 2, 3)
Alarm deactivation Process- ing
system (Note 9)
Stop system (Note 9)
Alarm code (Note 8)
Alarm reset
CPU reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
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 0 0 0 0
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 0 1 1 0
66.7 Encoder initial communication - Transmission data error 1 (safety observation function)
DB
66.9 Encoder initial communication - Process error 1 (safety observation function)
DB
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 0 1 1 0
67.4 Encoder normal communication - Receive data error 4 (safety observation function)
DB
67.7 Encoder normal communication - Transmission data error 1 (safety observation function)
DB
68 STO diagnosis error 68.1 Mismatched STO signal error DB Common Common 0 0 0 0
69 Command error
69.1 Forward rotation-side software limit detection - Command excess error
SD
69.2 Reverse rotation-side software limit detection - Command excess error
SD
69.3 Forward rotation stroke end detection - Command excess error
SD
69.4 Reverse rotation stroke end detection - Command excess error
SD
69.5 Upper stroke limit detection - Command excess error SD
69.6 Lower stroke limit detection - Command excess error SD
6. TROUBLESHOOTING
6 - 10
No. Name Detail No. Detail name
Stop method (Note 2, 3)
Alarm deactivation Process- ing
system (Note 9)
Stop system (Note 9)
Alarm code (Note 8)
Alarm reset
CPU reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
70.1 Load-side encoder initial communication - Receive data error 1
DB Each axis
Each axis
70.2 Load-side encoder initial communication - Receive data error 2
DB Each axis
Each axis
70.3 Load-side encoder initial communication - Receive data error 3
DB Each axis
Each axis
70.5 Load-side encoder initial communication - Transmission data error 1
DB Each axis
Each axis
70.6 Load-side encoder initial communication - Transmission data error 2
DB Each axis
Each axis
70
Load-side encoder initial
communication error 1
70.7 Load-side encoder initial communication - Transmission data error 3
DB Each axis
Each axis
0 1 1 0
70.A Load-side encoder initial communication - Process error 1
DB Each axis
Each axis
70.B Load-side encoder initial communication - Process error 2
DB Each axis
Each axis
70.C Load-side encoder initial communication - Process error 3
DB Each axis
Each axis
70.D Load-side encoder initial communication - Process error 4
DB Each axis
Each axis
70.E Load-side encoder initial communication - Process error 5
DB Each axis
Each axis
70.F Load-side encoder initial communication - Process error 6
DB Each axis
Each axis
71.1
Load-side encoder normal communication - Receive data error 1
DB Each axis
Each axis
71.2
Load-side encoder normal communication - Receive data error 2
DB Each axis
Each axis
71.3
Load-side encoder normal communication - Receive data error 3
DB Each axis
Each axis
71
Load-side encoder normal
communication error 1
71.5 Load-side encoder normal communication - Transmission data error 1
DB Each axis
Each axis
0 1 1 0
71.6 Load-side encoder normal communication - Transmission data error 2
DB Each axis
Each axis
71.7
Load-side encoder normal communication - Transmission data error 3
DB Each axis
Each axis
71.9
Load-side encoder normal communication - Receive data error 4
DB Each axis
Each axis
71.A
Load-side encoder normal communication - Receive data error 5
DB Each axis
Each axis
6. TROUBLESHOOTING
6 - 11
No. Name Detail No. Detail name
Stop method (Note 2, 3)
Alarm deactivation Process- ing
system (Note 9)
Stop system (Note 9)
Alarm code (Note 8)
Alarm reset
CPU reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
72.1 Load-side encoder data error 1 DB Each axis
Each axis
72.2 Load-side encoder data update error DB
Each axis
Each axis
Load-side encoder
normal communication
error 2
72.3 Load-side encoder data waveform error DB
Each axis
Each axis
72 72.4 Load-side encoder non-signal error DB
Each axis
Each axis 0 1 1 0
72.5 Load-side encoder hardware error 1 DB
Each axis
Each axis
72.6 Load-side encoder hardware error 2 DB
Each axis
Each axis
72.9 Load-side encoder data error 2 DB Each axis
Each axis
74.1 Option card error 1 DB 74.2 Option card error 2 DB 74 Option card error 1 74.3 Option card error 3 DB 74.4 Option card error 4 DB 74.5 Option card error 5 DB
75 Option card error 2 75.3 Option card connection error DB
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)
1 1 1 1
79.4 Servo amplifier error SD 79.5 Input device error SD 79.6 Output device error SD 79.7 Mismatched input signal error SD 79.8 Position feedback fixing error DB
7A
Parameter setting error
(safety observation function)
7A.1 Parameter verification error (safety observation function) DB
1 0 0 0
7A.2 Parameter setting range error (safety observation function) DB
7A.3 Parameter combination error (safety observation function) DB
7A.4 Functional safety unit combination error (safety observation function)
DB
7B.1 Encoder diagnosis error 1 (safety observation function) DB
7B
Encoder diagnosis error
(safety observation function)
7B.2 Encoder diagnosis error 2 (safety observation function) DB
0 1 1 0 7B.3 Encoder diagnosis error 3
(safety observation function) DB
7B.4 Encoder diagnosis error 4 (safety observation function) DB
7C
Functional safety unit communication
diagnosis error (safety observation
function)
7C.1 Functional safety unit communication setting error (safety observation function)
SD (Note 7)
0 0 0 0
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)
1 1 1 1
7D.2 Speed observation error DB (Note 7)
82 Master-slave operation error 1 82.1 Master-slave operation error 1 DB
6. TROUBLESHOOTING
6 - 12
No. Name Detail No. Detail name
Stop method (Note 2, 3)
Alarm deactivation Process- ing
system (Note 9)
Stop system (Note 9)
Alarm code (Note 8)
Alarm reset
CPU reset
Cycling the
power
ACD3 (Bit 3)
ACD2 (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
Al ar
m
84 Network module initialization error
84.1 Network module undetected error DB
84.2 Network module initialization error 1 DB
84.3 Network module initialization error 2 DB
85 Network module error
85.1 Network module error 1 SD 85.2 Network module error 2 SD 85.3 Network module error 3 SD
86 Network
communication error
86.1 Network communication error 1 SD 86.2 Network communication error 2 SD 86.3 Network communication error 3 SD
8A
USB communication
time-out error/serial communication
time-out error/Modbus RTU
communication time-out error
8A.1 USB communication time-out error/serial communication time-out error
SD Common All axes
0 0 0 0
8A.2 Modbus RTU communication time-out error SD
8D.1 CC-Link IE communication error 1 SD
8D.2 CC-Link IE communication error 2 SD
CC-Link IE communication
error
8D.3 Master station setting error 1 DB 8D.5 Master station setting error 2 DB
8D 8D.6 CC-Link IE communication error 3 SD
8D.7 CC-Link IE communication error 4 SD
8D.8 CC-Link IE communication error 5 SD
8D.9 Synchronization error 1 SD 8D.A Synchronization error 2 SD
8E.1 USB communication receive error/serial communication receive error
SD Common All axes
8E.2
USB communication checksum error/serial communication checksum error
SD Common All axes
8E
USB communication
error/serial communication
error/Modbus RTU communication
error
8E.3 USB communication character error/serial communication character error
SD Common All axes
0 0 0 0
8E.4
USB communication command error/serial communication command error
SD Common All axes
8E.5
USB communication data number error/serial communication data number error
SD Common All axes
8E.6 Modbus RTU communication receive error SD
8E.7 Modbus RTU communication message frame error SD
8E.8 Modbus RTU communication CRC error SD
88888 Watchdog 8888._ Watchdog DB Common All axes
6. TROUBLESHOOTING
6 - 13
Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes. 2. The following shows three stop methods of DB, and SD.
DB: Stops with 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]
SD: Forced stop deceleration 3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04]. 4. The alarm can be canceled by setting as follows:
For the fully closed loop control: set [Pr. PE03] to "1 _ _ _". When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _".
5. In some controller communication status, the alarm factor may not be removed. 6. This alarm will occur only in the J3 compatibility mode. 7. Reset this while all the safety observation functions are stopped. 8. Alarm codes are outputted only from MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ).
6. TROUBLESHOOTING
6 - 14
6.3.3 Warning list
No. Name Detail No. Detail name
Stop method (Note 2,
3)
Process- ing
system (Note 5)
Stop system (Note 5)
W
ar ni
ng
Home position return incomplete
warning
90.1 Home position return incomplete
90 90.2 Home position return abnormal termination
90.5 Z-phase unpassed
91 Servo amplifier
overheat warning (Note 1)
91.1 Main circuit device overheat warning Common
92
Battery cable disconnection
warning
92.1 Encoder battery cable disconnection warning Each
axis
92.3 Battery degradation Each axis
93 ABS data transfer warning 93.1
ABS data transfer requirement warning during magnetic pole detection
95.1 STO1 off detection DB Common All axes 95.2 STO2 off detection DB Common All axes
95 STO warning
95.3 STO warning 1 (safety observation function) DB
95.4 STO warning 2 (safety observation function) DB
95.5 STO warning 3 (safety observation function) DB
96.1 In-position warning at home positioning Each
axis
96 Home position
setting warning
96.2 Command input warning at home positioning Each
axis
96.3 Servo off warning at home positioning
96.4 Home positioning warning during magnetic pole detection
97
Positioning specification
warning
97.1 Program operation disabled warning
97.2 Next station position warning
98 Software limit
warning
98.1 Forward rotation-side software stroke limit reached
98.2 Reverse rotation-side software stroke limit reached
99.1 Forward rotation stroke end off (Note 4, 7)
99 Stroke limit warning
99.2 Reverse rotation stroke end off (Note 4, 7)
99.4 Upper stroke limit off (Note 7) Each axis
99.5 Lower stroke limit off (Note 7) Each axis
9A Optional unit input
data error warning 9A.1 Optional unit input data sign error
9A.2 Optional unit BCD input data error
9B Error excessive warning
9B.1 Excess droop pulse 1 warning Each axis
9B.3 Excess droop pulse 2 warning Each axis
9B.4 Error excessive warning during 0 torque limit Each
axis
9C Converter error 9C.1 Converter unit error
9D.1 Station number switch change warning
9D CC-Link IE warning
1 9D.2 Master station setting warning
9D.3 Overlapping station number warning 9D.4 Mismatched station number warning
6. TROUBLESHOOTING
6 - 15
No. Name Detail No. Detail name
Stop method (Note 2,
3)
Process- ing
system (Note 5)
Stop system (Note 5)
W ar
ni ng
9E CC-Link IE warning
2 9E.1 CC-Link IE communication warning
9F Battery warning 9F.1 Low battery Each
axis
9F.2 Battery degradation warning Each axis
E0 Excessive
regeneration warning
E0.1 Excessive regeneration warning Common
E1.1 Thermal overload warning 1 during operation Each
axis
E1.2 Thermal overload warning 2 during operation Each
axis
E1.3 Thermal overload warning 3 during operation Each
axis
E1 Overload warning 1
E1.4 Thermal overload warning 4 during operation Each
axis
E1.5 Thermal overload error 1 during a stop Each
axis
E1.6 Thermal overload error 2 during a stop Each
axis
E1.7 Thermal overload error 3 during a stop Each
axis
E1.8 Thermal overload error 4 during a stop Each
axis
E2 Servo motor overheat warning E2.1 Servo motor temperature warning Each
axis
E3.1 Multi-revolution counter travel distance excess warning
E3 Absolute position
counter warning
E3.2 Absolute position counter warning Each axis
E3.4 Absolute positioning counter EEP- ROM writing frequency warning
E3.5 Encoder absolute positioning counter warning Each
axis
E4 Parameter warning E4.1 Parameter setting range error warning Each
axis
E5 ABS time-out
warning
E5.1 Time-out during ABS data transfer E5.2 ABSM off during ABS data transfer E5.3 SON off during ABS data transfer
E6 Servo forced stop warning
E6.1 Forced stop warning SD Common All axes
E6.2 SS1 forced stop warning 1 (safety observation function) SD
E6.3 SS1 forced stop warning 2 (safety observation function) SD
E7 Controller forced stop warning E7.1 Controller forced stop warning SD Common All axes
E8 Cooling fan speed
reduction warning E8.1 Decreased cooling fan speed
warning Common
E8.2 Cooling fan stop Common
E9 Main circuit off warning
E9.1 Servo-on signal on during main circuit off DB Common All axes
E9.2 Bus voltage drop during low speed operation DB Common All axes
E9.3 Ready-on signal on during main circuit off DB Common All axes
E9.4 Converter unit forced stop DB
EA ABS servo-on
warning EA.1 ABS servo-on warning
EB The other axis error warning EB.1 The other axis error warning DB Each
axis (Note 6)
EC Overload warning 2 EC.1 Overload warning 2 Each axis
6. TROUBLESHOOTING
6 - 16
No. Name Detail No. Detail name
Stop method (Note 2,
3)
Process- ing
system (Note 5)
Stop system (Note 5)
W ar
ni ng
ED Output watt excess
warning ED.1 Output watt excess warning Each axis
F0 Tough drive warning F0.1 Instantaneous power failure tough
drive warning Each axis
F0.3 Vibration tough drive warning Each axis
F2 Drive recorder - Miswriting warning
F2.1 Drive recorder - Area writing time- out warning Common
F2.2 Drive recorder - Data miswriting warning Common
F3 Oscillation detection warning F3.1 Oscillation detection warning Each
axis
F4 Positioning warning
F4.4 Target position setting range error warning
F4.6 Acceleration time constant setting range error warning
F4.7 Deceleration time constant setting range error warning
F4.9 Home position return type error warning
F5
Simple cam function - Cam data miswriting warning
F5.1 Cam data - Area writing time-out warning
F5.2 Cam data - Area miswriting warning F5.3 Cam data checksum error
F6.1 Cam axis one cycle current value restoration failed
F6
Simple cam function - Cam control warning
F6.2 Cam axis feed current value restoration failed
F6.3 Cam unregistered error F6.4 Cam control data setting range error F6.5 Cam No. external error F6.6 Cam control inactive
F7 Machine diagnosis warning
F7.1 Vibration failure prediction warning Each axis
F7.2 Friction failure prediction warning Each axis
F7.3 Total travel distance failure prediction warning Each
axis
Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes. 2. The following shows two stop methods of DB and SD.
DB: Stops with dynamic brake. Coasts for 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 (drive unit), quick stop or slow stop can be selected using [Pr. PD30].
7. DIMENSIONS
7 - 1
7. DIMENSIONS
POINT Refer to section 2.1 for the mounting hole process drawing.
7.1 MR-CV_ Power regeneration converter unit
7.1.1 MR-CV11K(4)/MR-CV18K(4)
[Unit: mm]
90
38 0
36 0
17 6.
6
13 6
10 6
15 5
19 5
Approx. 80 200
180
6
TE1
PE
TE2
TE3
92
39 .4
12 4.
5
11
24
70
178.5
175.5 16.2
25.6 32.4
72.8 68
73.5
10
6 mounting hole Cooling fan exhaust
Intake
Mass: 6.1 [kg]
L21
L11
PE
Terminal
TE3 L- L+
TE2
TE1 L1 L2 L3
TE1 Screw size: M5 Tightening torque: 2.0 [Nm]
TE2 Screw size: M6 Tightening torque: 3.0 [Nm]
TE3 Screw size: M4 Tightening torque: 1.2 [Nm]
PE Screw size: M5 Tightening torque: 2.0 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
7. DIMENSIONS
7 - 2
7.1.2 MR-CV30K(4)/MR-CV37K(4)/MR-CV45K(4)
[Unit: mm]
45 45
38 0
36 0
17 8
13 2
10 10
66
15 5
19 5
Approx. 80 200 180
6
TE1
PE
TE2
TE3
92
37 .5
1. 5
12 4.
5
11
24
100
178.5
175.5 26
108
88
113.5
60
150
49 52
150
2-6 mounting hole Cooling fan exhaust
Intake
Mass: 12.1 [kg]
L21
L11
PE
Terminal
TE3 L- L+
TE2
TE1 L1 L2 L3
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]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
7. DIMENSIONS
7 - 3
7.1.3 MR-CV55K
[Unit: mm]
36 0
10
38 0
300
30 240
For eyebolts
6 6
6018060
15 5
19 5
Approx. 80
10
200
180
100
113 74
37
236 3847
12 4.
5 24
12 4.
5 24
11 92
TE3
TE2-2
TE1
TE2-1
223.5
22 22
22256
PE
17 0.
5
15 8.
5
10 42
178.5 175.5
2-6 mounting hole
Cooling fan exhaust
Intake
Mass: 25.0 [kg]
L21
L11
PE
Terminal
TE3 L- L+
TE2-2
L- L+
TE2-1
TE1 L1 L2 L3
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]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
7. DIMENSIONS
7 - 4
7.1.4 MR-CV55K4/MR-CV75K4
[Unit: mm]
60 60
38 0
36 0
16 1.
5 10
42 10 66
15 5
19 5
Approx. 80 200 180
10
TE2-1 TE2-2
PE
TE1
TE3
12 4.
5 40 .5
24
100
178.5 175.5
2222
180 300
24030
124 52
256
For eyebolts
236
223.5
24
22
26
15 8.
5
92
38
12 4.
5
11
Cooling fan exhaust
2-6 mounting hole
Intake
Mass: 25.0 [kg]
L21
L11
PE
Terminal
TE3 L- L+
TE2-2
L- L+
TE2-1
TE1 L1 L2 L3
TE1 Screw size: M8 Tightening torque: 6.0 [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: M8 Tightening torque: 6.0 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
7. DIMENSIONS
7 - 5
7.2 MR-CR55K(4) Resistance regeneration converter unit
[Unit: mm]
300
21045
20 260 20
38 0
36 0
10 37
.3 10
7
100
180
19 5
15 5
200
175.5
178.5 15.5
32
63
2 31 = 62
33
2 31 = 62
230
4159
24 12
4. 5
92 11
192
98 .6
13 0.
3 16
2. 5
22 22 22.522.5
2.3
TE2-1 TE2-2
PE
TE3
PETE1-1 TE1-2
For eyebolts
2-7 mounting hole Cooling fan exhaust
Intake
Mass: 22 [kg]
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
Mounting screw Screw size: M6 Tightening torque: 5.49 [Nm]
7. DIMENSIONS
7 - 6
7.3 Drive unit
7.3.1 MR-J4-DU_B_(-RJ)
POINT Only MR-J4-DU_B_-RJ is shown for dimensions. MR-J4-DU_B_ does not have CN2L connector. The dimensions of MR-J4-DU_B_ are the same as those of MR-J4-DU_B_-RJ except CN2L connector.
(1) MR-J4-DU900B(4)(-RJ)/MR-J4-DU11KB(4)(-RJ)
[Unit: mm] 150
6045 45
38 0
36 0
10 10 6 6
Rating plate
17 0.
5
13 7
15 5
19 5
Approx. 80
Approx. 28
200 180
10
42 .5
TE1
36 26
52 97.9 103.4
105.9
PE
TE2
TE3
92 12 4.
5
11
24
100
175.5
178.5
22
PE
1
2-6 mounting hole
With MR-BAT6V1SET
Cooling fan exhaust
Intake
Mass: 9.9 [kg]
L21
L11
PE
Terminal
TE3 L- L+
TE2 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 PE
U V W
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
7. DIMENSIONS
7 - 7
(2) MR-J4-DU15KB(4)(-RJ)/MR-J4-DU22KB(4)(-RJ)
[Unit: mm]
240 12060 60
38 0
36 0
10 10
6 6
Rating plate
15 9.
5
14 5.
5
15 5
19 5
Approx. 80
Approx. 28
200
180
10
52
TE1 57
28
56
174
196
224.5
25
22
PE
TE2
TE3
38
92 12 4.
5
11
24
100
175.5 178.5
2-6 mounting hole
With MR-BAT6V1SET
Cooling fan exhaust
Intake
Mass: 15.2 [kg]
L21
L11
PE
Terminal
TE3 L- L+
TE2 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 PE
U V W
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
7. DIMENSIONS
7 - 8
(3) MR-J4-DU30KB(-RJ)/MR-J4-DU37KB(-RJ)/MR-J4-DU45KB4(-RJ)/MR-J4-DU55KB4(-RJ)
[Unit: mm]
300
21045
38 0
36 0
16 2.
5
13 0.
1 10
37 .3
20 260
7
20
10
For eyebolts
100 180
15 5
200
175.5 10
178.5
19 5
Approx. 80
Approx. 28
22.5 22 32
118 62 15.5
92 11
4159 12
4. 5
24
TE2-1 TE2-2
TE1
PE
TE3
3128
2-7 mounting hole
With MR-BAT6V1SET
Cooling fan exhaust
Intake
Mass: 21 [kg]
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
Mounting screw Screw size: M6 Tightening torque: 5.49 [Nm]
7. DIMENSIONS
7 - 9
(4) MR-J4-DU30KB4(-RJ)/MR-J4-DU37KB4(-RJ)
[Unit: mm]
17 0.
5
15 2.
5 36
0 10
37 .3
60 120
38 0
240
18030
60
10
6
180 100
15 5
175.5 178.5
200 19
5
10
Approx. 80
Approx. 28
22.5 22 38
105.5
143 56
92 52
11
41
12 4.
5 24
TE2
TE1PE
TE3
28
28
For eyebolts
2-6 mounting hole Cooling fan exhaust
With MR-BAT6V1SET Intake
Mass: 16 [kg]
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
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
7. DIMENSIONS
7 - 10
7.3.2 MR-J4-DU_A_(-RJ)
POINT Only MR-J4-DU_A_-RJ is shown for dimensions. MR-J4-DU_A_ does not have CN2L connector. The dimensions of MR-J4-DU_A are the same as those of MR- J4-DU_A_-RJ except CN2L connector.
(1) MR-J4-DU30KA(-RJ)/MR-J4-DU37KA(-RJ)/MR-J4-DU45KA4(-RJ)/MR-J4-DU55KA4(-RJ)
[Unit: mm] 16
2. 5
13 0.
1
7
20
10
300
21045
38 0
36 0
10 37
.3
20 260 100
180
15 5
200
175.5 178.5
10
19 5
Approx. 80 Approx. 28
31
22.5 22 32
118 62
15.5
92 11
4159 12
4. 5
24
TE2-1 TE2-2
TE1
PE
TE3
28
For eyebolts
2-7 mounting hole
With MR-BAT6V1SET
Cooling fan exhaust
Intake
Mass: 21 [kg]
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
Mounting screw Screw size: M6 Tightening torque: 5.49 [Nm]
7. DIMENSIONS
7 - 11
(2) MR-J4-DU30KA4(-RJ)/MR-J4-DU37KA4(-RJ)
[Unit: mm]
17 0.
5
15 2.
5 36
0 10
37 .3
60 120
38 0
240
18030
60
10
6
200 100 15
5
175.5 178.5
180
19 5
10
Approx. 80 Approx. 28
22.5 22 38 28
143 105.5
56
92 52
11
41 12
4. 5
24
28
TE2
TE1PE
TE3
For eyebolts
2-6 mounting hole Cooling fan exhaust
With MR-BAT6V1SET Intake
Mass: 16 [kg]
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
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
7. DIMENSIONS
7 - 12
MEMO
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 1
8. 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-_(-RJ). For details of the items, refer to each chapter/section of the detailed explanation field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Model Item Detailed explanation
MR-J4-DU_B_(-RJ)
Junction terminal block PS7DW-20V14B-F (recommended)
MR-J4-_B_ section 11.6
MR Configurator2 MR-J4-_B_ section 11.7 Battery MR-J4-_B_ section 11.8 Relay (recommended) MR-J4-_B_ section 11.13
MR-J4-DU_A_(-RJ)
Junction terminal block MR-TB50 MR-J4-_A_ section 11.6 MR Configurator2 MR-J4-_A_ section 11.7 Battery MR-J4-_A_ section 11.8 Relay (recommended) MR-J4-_A_ section 11.13
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 2
8.1 Cable/connector sets
POINT Refer to section 8.13 for the bus bars.
8.1.1 Combinations of cable/connector sets
Parts other than the following cable/connector sets are the same as those of MR-J4-_(-RJ). When you use MR-J4-DU_A_(-RJ), refer to section 11.1 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". When you use MR-J4-DU_B_(-RJ), refer to section 11.1 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
Drive unit MR-CV_ power regeneration
converter unit CN4
CN24
3)
1) CN40A
6)
7)
CN23
Drive unit MR-CR_ resistance regeneration
converter unit CNP1
CN40CN1
4)
5) 3)
CN40A 2)
1)
No. Product name Model Description Application 1) Protection
coordination cable
MR-CUL06M (Refer to section 9.1.2.)
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
Connector: PCR-S20FS+ Case: PCR-LS20LA1 (Honda Tsushin Kogyo)
2) Protection coordination cable
MR-J3CDL05M (Refer to section 9.1.2.)
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
Connector: PCR-S20FS+ Case: PCR-LS20LA1 (Honda Tsushin Kogyo)
3) Connector set MR-J2CN1-A (Refer to section 9.1.2.)
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
Connector: PCR-S20FS+ Case: PCR-LS20LA1 (Honda Tsushin Kogyo)
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 3
No. Product name Model Description Application 4) Magnetic
contactor wiring connector
MR-CR_ side connector (Phoenix Contact) Socket: GFKC 2,5/ 2-STF-7,62
Supplied with resistance regeneration converter unit
5) Digital I/O connector
MR-CR_ side connector (DDK) Connector: 17JE23090-02(D8A)K11-CG
6) Magnetic contactor wiring connector
MR-CV_ side connector Connector: 03JFAT-SAXGSA-L (JST) Open tool J-FAT-OT-EXL (JST)
Supplied with power regeneration converter unit
7) Connector set MR-CVCN24S MR-CV_ side connector Connector: DK-2100D-08R Contact: DK-2RECSLP1-100 (DDK) (Note)
Note. The crimping tool (357J-22733) (DDK) is required.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 4
8.1.2 Protection coordination cable
CAUTION Wire protection coordination cables correctly if they are fabricated. Otherwise, it may cause an unexpected operation.
POINT
MR-J3CDL05M is for the MR-CR_ resistance regeneration converter unit. MR-J3CDL05M cannot be used with the MR-CV_ power regeneration converter unit.
(1) Applications of the protection coordination cable
The cable is used to connect a converter unit to a drive unit.
Protection coordination cable Length [m] Usable converter unit Feature
MR-CUL06M 0.6 MR-CV_/MR-CR_ With ferrite core MR-J3CDL05M 0.5 MR-CR_
(2) Internal wiring diagram
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
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 5
(3) When fabricating a cable
Prepare MR-J2CN1-A connector set, the recommended wires, and ferrite cores (only for MR-CUL06M), and fabricate the cable according to the wiring diagram in (1) in this section.
Model Length [m]
Core size
[mm2]
Number of cores
Characteristics of one core (Note 2) Cable
OD [mm]
Wire model Ferrite core Structure [Wires/mm]
Conductor resistance
[/km]
(Note 1) Insulator
OD d [mm]
MR-CUL06M 0.6 0.08
20 (10
pairs) 7/0.127 222 or
less 0.38 6.1
UL 20276 AWG#28 10pair (black)
ZCAT1518-0730-BK (TDK)
MR-J3CDL05M 0.5 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. When fabricating a cable equivalent to MR-CUL06M, attach the ferrite cores as follows.
[Unit: mm]
70
600
Cable ties
Converter unit side Drive unit side
Ferrite core ZCAT1518-0730-BK (TDK)
70
Ferrite core ZCAT1518-0730-BK (TDK)
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 6
8.2 Regenerative option
CAUTION Do not use the resistance regeneration converter unit and drive unit with the regenerative options other than the combinations specified below. Otherwise, it may cause a fire.
POINT
MR-RB_ regenerative option is for the MR-CR_ resistance regeneration converter unit. MR-RB_ cannot be used with the MR-CV_ power regeneration converter unit.
8.2.1 Combination and regenerative power
The regenerative power values in the table are the regenerative power of the resistor and are not the rated power.
Resistance regeneration 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(-RJ) MR-J4-DU30KA(-RJ) MR-J4-DU37KB(-RJ) MR-J4-DU37KA(-RJ)
1300 3900
MR-CR55K4
MR-J4-DU30KB4(-RJ) MR-J4-DU30KA4(-RJ) MR-J4-DU37KB4(-RJ) MR-J4-DU37KA4(-RJ) MR-J4-DU45KB4(-RJ) MR-J4-DU45KA4(-RJ) MR-J4-DU55KB4(-RJ) MR-J4-DU55KA4(-RJ)
1300 3900
Note 1. The resultant resistance of three options is 1.3 . 2. The resultant resistance of three options is 4 .
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 7
8.2.2 Selection of regenerative option
A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section. To select a regenerative option precisely, use the capacity selection software. (1) Rotary servo motor
(a) Regenerative energy calculation Servo motor
Moving part
N V
WL
FC
2)
1) V
3)
4) Forward rotation
6)
5) 7)
Reverse rotation
8) Time
Feed speed of moving part
tpsa1 t1 tpsd1 t2 tpsa2 t3 t4tpsd2
V: Feed speed of moving part [mm/min] N: Servo motor speed (N = V/S) [r/min] S: Travel distance per servo motor
revolution (S = PB) [mm/rev]
PB: Ball screw lead [mm] LB: Ball screw length [mm] DB: Ball screw diameter [mm] WL: Moving part mass [kg] FC: Load antidrag setting [N] TL: Load torque converted into equivalent
value on servo motor shaft [Nm] [Nm]
: Drive system efficiency : Friction coefficient JL: Load moment of inertia converted into
equivalent value on servo motor shaft [kgcm2]
JM: Moment of inertia of the servo motor [kgcm2] : Pi constant g: Gravitational acceleration [m/s2]
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 8
Formulas for calculating torque and energy in operation
Regenerative power
Torque applied to servo motor [Nm] (Note 1, 2) Energy E [J]
1) T1 = 9.55 104 (JL/+ JM) N
tpsa1
1 + TL E1 = 2
0.1047 N T1 tpsa1
2) T2 = TL E2 = 0.1047 N T2 t1
3) T3 = 9.55 104 -(JL + JM) N
tpsd1
1 + TL E3 = 2
0.1047 N T3 tpsd1
4), 8) T4, T8 = 0 E4, E8 = 0 (No regeneration)
5) T5 = 9.55 104
(JL/+ JM) N tpsa2
1 + TL E5 = 2
0.1047 N T5 tpsa2
6) T6 = TL E6 = 0.1047 N T6 t3
7) T7 = 9.55 104 -(JL + JM) N
tpsd2
1 + TL E7 = 2
0.1047 N T7 tpsd2
Note 1. Load torque converted into equivalent value on servo motor shaft TL can be calculated
with the following expression. TL = {(FC + ( WL g)) S}/(2000 )
2. Load moment of inertia converted into equivalent value on servo motor shaft JL can be calculated with the following expression. JL = JL1 + JL2 + JL3
JL1 is the load moment of inertia of the moving part, JL2 is the load moment of inertia of the ball screw, and JL3 is the load moment of inertia of the coupling. JL1 and JL2 can be calculated with the following expressions. JL1 = WL (S/(20 ))2 JL2 = {( 0.0078 (LB/10))/32} (DB/10)4
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 9
(2) 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.
Resistance
regeneration converter unit
Drive unit Inverse efficiency [%]
Capacitor charging [J]
MR-CR55K
MR-J4-DU30KB(-RJ) MR-J4-DU30KA(-RJ) MR-J4-DU37KB(-RJ) MR-J4-DU37KA(-RJ)
90 450
MR-CR55K4
MR-J4-DU30KB4(-RJ) MR-J4-DU30KA4(-RJ) MR-J4-DU37KB4(-RJ) MR-J4-DU37KA4(-RJ) MR-J4-DU45KB4(-RJ) MR-J4-DU45KA4(-RJ) MR-J4-DU55KB4(-RJ) MR-J4-DU55KA4(-RJ)
Inverse efficiency (m): 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 resistance regeneration 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] = 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
8.2.3 Parameter setting
POINT The regenerative option cannot be connected to the drive unit. Always set [Pr. PA02] of the drive unit to "_ _ 0 0" (the regenerative option is not used).
Set [Pr. PA01] of the resistance regeneration 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
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 10
8.2.4 Connection of regenerative option
POINT For the wire sizes used for wiring, refer to section 8.4.
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. Always use twisted cables of max. 5 m length for connection with the resistance regeneration converter unit. (1) Cooling fan
Always supply the following power to a 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)
(2) MR-RB139/MR-RB137-4
R1
Resistance regeneration 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 (1) in this section. 4. For MR-RB137-4, "R1" is "R400" and "S1" is "S400".
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 11
(3) MR-RB137/MR-RB13V-4
POINT Three of MR-RB137 or MR-RB13V-4 are required per resistance regeneration converter unit. Please purchase three of MR-RB137 or MR-RB13V-4.
Resistance regeneration
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 (1) in this section. 4. For MR-RB13V-4, "R1" is "R400" and "S1" is "S400".
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 12
8.2.5 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 PR1 (Note 2)
S1 (Note 2)
Mass [kg]
11
10
Mounting 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".
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 13
8.3 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. For alarms for which the servo motor does not decelerate to stop, refer to chapter 6. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB. Doing so will cause the drive unit to become servo- off when an instantaneous power failure occurs.
POINT
For drive units, EM2 has the same function as EM1 in the torque control mode. Configure a sequence which switches off the magnetic contactor of the external dynamic brake after (or as soon as) SON (Servo-on) has been turned off at a power failure or a malfunction. For the external braking time taken when the dynamic brake is operated, refer to section 5.4.2. The external dynamic brake is rated for a short duration. Do not use it very frequently. When the 400 V class external dynamic brake is used, the power supply voltage is restricted to 1-phase 380 V AC to 463 V AC (50 Hz/60 Hz). The specifications of the input power supply for external dynamic brake used for drive units of 30 kW or more 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 frequently in other than emergency.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 14
8.3.1 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. For MR-J4-DU_A_(-RJ) drive unit, assign DB to any of CN1-22 to CN1-25, CN1-49, CN1-13 and CN1-14 pins in [Pr. PD23] to [Pr. PD26], [Pr. PD28] and [Pr. PD47]. For MR- J4-DU_B_(-RJ) drive unit, assign DB to any of CN3-9, CN3-13, and CN3-15 pins in [Pr. PD07] to [Pr. PD09].
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-J4-DU900B(-RJ) DBU-7K-R6
DBU-11K (Note 1)
30 A frame 5 A 240 1 300 1 250
MR-J4-DU11KB(-RJ) DBU-11K MR-J4-DU15KB(-RJ) DBU-15K MR-J4-DU22KB(-RJ) DBU-22K-R1 MR-J4-DU30KB(-RJ) MR-J4-DU30KA(-RJ)
DBU-37K-R1 MR-J4-DU37KB(-RJ) MR-J4-DU37KA(-RJ)
MR-J4-DU900B4(-RJ) DBU-7K-4-2R0
DBU-11K-4 (Note 2)
30 A frame 5 A 480 1 600 1 600
MR-J4-DU11KB4(-RJ) DBU-11K-4 MR-J4-DU15KB4(-RJ) MR-J4-DU22KB4(-RJ)
DBU-22K-4
MR-J4-DU30KB4(-RJ) MR-J4-DU30KA4(-RJ)
DBU-55K-4-R5
MR-J4-DU37KB4(-RJ) MR-J4-DU37KA4(-RJ) MR-J4-DU45KB4(-RJ) MR-J4-DU45KA4(-RJ) MR-J4-DU55KB4(-RJ) MR-J4-DU55KA4(-RJ)
Note 1. When HG-JR801 or HG-JR903 is used. 2. When HG-JR8014 or HG-JR9034 is used.
8.3.2 Connection example
(1) For MR-CV_ power regeneration converter unit Use the following wires to connect the dynamic brake.
External dynamic brake
Wire [mm2] (Note) U/V/W Except U/V/W
DBU-7K-R6 3.5 (AWG 12)
2 (AWG 14)
DBU-11K DBU-15K
DBU-22K-R1 5.5 (AWG 10)
DBU-37K-R1 14 (AWG 6) DBU-7K-4-2R0 3.5 (AWG 12)
DBU-11K-4 DBU-22K-4
5.5 (AWG 10)
DBU-55K-4-R5 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
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 15
RA1
RA3
Drive unit 1 Power regeneration
converter unit
L1
L2
L3
L11
L21
U
V
W
U
V
W
M
Servo motor
L+
L-
L+
L-
(Note 1)
1MC1
3MC2
CN23
L11
L21
EM2
3
20
SDPlate
DICOM10
DB(Note 3)
(Note 7)
DOCOM
5 DICOM
ALM15
External dynamic brake
13 W14 V U a
bRA3
Dynamic brake interlock
MC
24 V DC
(Note 5)
(Note 6) Main circuit power supply
Operation ready OFF/ONRA1
Drive unit malfunction Emergency stop
switch MC
SK
(Note 2)
(Note 8, 9)
L22
L32
L21
L31
AC reactor L12L11
(Note 4) Power supply
MCCB
(Note 8, 9)
(Note 8) (Note 10)
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 power regeneration converter unit and the drive unit are 400 V class.
3. Assign DB (Dynamic brake interlock) with the parameter. 4. For the power supply specifications, refer to section 1.4. 5. A bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration
during a forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
6. Turn off EM2 when the main power circuit power supply is off. 7. The wiring is for MR-J4-DU_B_(-RJ). 8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 8.5 and section 8.3.1.) 9. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device. 10. The power supply voltage of the inside magnet contactor for 400 V class external dynamic brake DBU-7K-4-2R0, DBU-11K-4,
and DBU-22K-4 is restricted to 1-phase 380 V AC to 463 V AC (50 Hz/60 Hz). When these external dynamic brakes are used, use them within the range of the power supply.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 16
(2) MR-CR_ resistance regeneration converter unit
Use the following wires to connect the dynamic brake.
Dynamic brake Wire [mm2] (Note)
Except U/V/W U/V/W DBU-37K-R1
14 (AWG 6) 2 (AWG 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
Resistance
regeneration converter unit malfunction
RA1
RA3
(Note 4) Power supply
Drive unit Resistance regeneration
converter 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
EM2
3
20
SDPlate
DICOM10
DB(Note 3, 9)
DOCOM
5 DICOM
ALM15
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
RA1
Drive unit malfunction
MC
SK
(Note 7)
(Note 2)
(Note 8, 10)
(Note 8, 10)
(Note 8)
RA2 Operation ready
OFF/ON
Emergency stop switch
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 17
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 resistance regeneration
converter unit and the drive unit are 400 V class. 3. Assign DB (Dynamic brake interlock) with the parameter. 4. For the power supply specifications, refer to section 1.4. 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, slow the time to turn off the magnetic contactor.
6. Turn off EM2 when the main power circuit power supply is off. 7. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual. 8. Install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit. (Refer to section 8.5
and section 8.3.1.) 9. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB. Doing so will cause
the drive unit to become servo-off when an instantaneous power failure occurs. 10. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 6.8 for the wire size and the
selection of the overcurrent protection device.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 18
8.3.3 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)
(Note 2) 15 ms to 60 ms
(Note 1) 7 ms
10 ms
Dynamic brake Coasting
Electro magnetic brake interlock
Electro magnetic brake operation delay time
MBR (Electromagnetic brake interlock)
Base circuit ON
OFF
Servo motor speed
ALM (Malfunction)
Main circuit Control circuit
ON
OFF Power
Dynamic brake
ON
OFF
ON OFF (Valid)
ON
OFF
Disabled Enabled
DB (Dynamic brake interlock)
Note 1. When powering off, DB will be turned off, and the base circuit is turned off earlier than usual before an output shortage occurs. (only when DB is assigned as an output signal)
2. Variable according to the operation status.
c. Timing chart when both of the main and control circuit power supply are off
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 19
8.3.4 Dimensions
(1) DBU-7K-R6/DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm]
C D 100 D
5 E E
B A
5
F 2.3G
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 A B C D E F G Mass [kg]
DBU-7K-R6 DBU-11K
200 190 140 20 5 170 163.5 2
DBU-15K DBU-22K-R1
250 238 150 25 6 235 228 6
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 20
(2) DBU-7K-4-2R0/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]
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 21
(3) DBU-37K-R1/DBU-55K-4-R5
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]
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 22
8.4 Selection example of wires
POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in section 10.2 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: 50 m or less
8.4.1 Connection of converter unit and drive unit
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)
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 23
(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.
Converter unit
(Note 2) Drive unit (Note 2)
Wire [mm2] (Note 1, 3) 1)
L1/L2/L3/ 2)
L11/L21 3)
P2/C 4)
P1/P2 MR-CV11K
8 (AWG 8): h
1.25 to 2 (AWG 16 to 14): g (Note 4)
MR-CV18K 22 (AWG 4): q MR-CV30K 38 (AWG 2): n MR-CV37K 60 (AWG 2/0): j MR-CV45K 60 (AWG 2/0): j MR-CV55K 80 (AWG 3/0): k MR-CV11K4 5.5 (AWG 10): l MR-CV18K4 8 (AWG 8): h MR-CV30K4 14 (AWG 6): m MR-CV37K4 22 (AWG 4): e MR-CV45K4 22 (AWG 4): e MR-CV55K4 38 (AWG 2): n MR-CV75K4 60 (AWG 2/0): j
MR-CR55K MR-J4-DU30K_(-RJ) 38 (AWG 2): c
5.5 (AWG 10): a
60 (AWG 2/0): d MR-J4-DU37K_(-RJ) 60 (AWG 2/0): d 60 (AWG 2/0): d
MR-CR55K4
MR-J4-DU30K_4(-RJ) 22 (AWG 4): b 22(AWG 4): b MR-J4-DU37K_4(-RJ) 22 (AWG 4): b 38 (AWG 2): c MR-J4-DU45K_4(-RJ) 38 (AWG 2): c 38 (AWG 2): c MR-J4-DU55K_4(-RJ) 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.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 24
Drive unit (Note 2)
Wire [mm2] (Note 1, 3) 5)
U/V/W/ 2)
L11/L21 MR-J4-DU900B(-RJ) 14 (AWG 6): m
1.25 to 2 (AWG 16 to 14): g (Note 4)
MR-J4-DU11KB(-RJ) 14 (AWG 6): m MR-J4-DU15KB(-RJ) 22 (AWG 4): e MR-J4-DU22KB(-RJ) 38 (AWG 2): n MR-J4-DU30KB(-RJ) MR-J4-DU30KA(-RJ)
60 (AWG 2/0): d
MR-J4-DU37KB(-RJ) MR-J4-DU37KA(-RJ)
60 (AWG 2/0): d
MR-J4-DU900B4(-RJ) 8 (AWG 8): o MR-J4-DU11KB4(-RJ) 8 (AWG 8): o MR-J4-DU15KB4(-RJ) 8 (AWG 8): o MR-J4-DU22KB4(-RJ) 14 (AWG 6): m MR-J4-DU30KB4(-RJ) MR-J4-DU30KA4(-RJ)
22 (AWG 4): e
MR-J4-DU37KB4(-RJ) MR-J4-DU37KA4(-RJ)
22 (AWG 4): e
MR-J4-DU45KB4(-RJ) MR-J4-DU45KA4(-RJ)
38 (AWG 2): c
MR-J4-DU55KB4(-RJ) MR-J4-DU55KA4(-RJ)
38 (AWG 2): c
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable
tools, refer to 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.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 25
(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
Crimp terminal (Note 2)
Applicable tool Manufacturer
Body Head Dice a FVD5.5-10 YNT-1210S
JST
b FVD22-10 YF-1 E-4
YNE-38 DH-123 DH-113
c (Note 1)
R38-10 YPT-60-21
TD-124 TD-112 YF-1
E-4 YET-60-1
d (Note 1)
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
g FVD2-4 YNT-1614
h FVD8-5 YF-1 E-4
YNE-38 DH-121 DH-111
j (Noe 1)
60-S8 YPT-60N
TD-125 TD-113 YF-1
E-4 YET-60-1
k (Note 1)
80-10 YPT-150-1
TD-227 TD-214 YF-1
E-4 YET-150-1
l FVD5.5-5 YNT-1210S
m FVD14-8 YF-1 E-4
YNE-38 DH-122 DH-112
n FVD38-8 YF-1 E-4
YNE-38 DH-124 DH-114
o FVD8-8 YF-1 E-4
YNE-38 DH-121 DH-111
p FVD5.5-8 YNT-1210S
q (Note 1)
22-S5 YPT-60N
DH-123 DH-112 YF-1
E-4 YET-60-1
Note 1. Coat the crimping part with an insulation tube. 2. Some crimp terminals may not be mounted.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 26
8.4.2 Connection of power regeneration converter unit and servo amplifier
POINT When fuse is interposed in the wiring for the DC power supply between the converter unit and servo amplifier, use the wire whose size enable the protection coordination of the wire and fuse.
The following shows the wires used for wiring. Use the wires given in this section or equivalent wires.
L+
L-
P4
N-
P4
N-
Servo amplifier 1 Servo amplifier 2 Power regeneration
converter unit Junction terminals
DC power lead 1
To the next servo amplifier
DC power lead 1
DC power lead 2
DC power lead 2
(1) Wire size The following table indicates the connection wire sizes of the DC power supply (L+/P4 and L-/N-) between the MR-CV and servo amplifier. Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring.
(a) 200 V
DC power supply lead 1 Total of servo amplifier
capacities [kW]
DC power supply lead 2 Servo amplifier capacity Wire[mm2]
1.9 or less 100 W/200 W/400 W/ 600 W/750 W/1 kW 2 (AWG 14)
From over 1.9 to 3.1 2 kW 3.5 (AWG 12) From over 3.1 to 5.2 3.5 kW/5 kW 5.5 (AWG 10) From over 5.2 to 8.0 7 kW 8 (AWG 8)
From over 8.0 to 11.3 11 kW 14 (AWG 6) From over 11.3 to 15.4 15 kW 22 (AWG 4) From over 15.4 to 20.1 38 (AWG 2) From over 20.1 to 26.2 22 kW 50 (AWG 1/0) (Note) From over 26.2 to 27.5 60 (AWG 2/0) (Note)
Note. 50 mm2 and 60 mm2 wires cannot be installed to L + / L- of MR-CV_. Connect two
wires whose total cross-sectional area of the conductor is equal to or larger than the cross-sectional area shown in this table or connect the wires one by one from TE2-1 or TE2-2.
(b) 400 V
DC power supply lead 1 Total of servo amplifier
capacities [kW]
DC power supply lead 2 Servo amplifier capacity Wire [mm2]
4.4 or less 600 W/1 kW/2 kW/3.5 kW 2 (AWG 14) From over 4.4 to 6.6 5 kW 3.5 (AWG 12) From over 6.6 to 9.9 7 kW 5.5 (AWG 10)
From over 9.9 to 15.2 11 kW/15 kW 8 (AWG 8) From over 15.2 to 22.1 22 kW 14 (AWG 6) From over 22.1 to 27.5 22 (AWG 4)
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 27
(c) Wire size selection example
When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P4 and N-. Also, connect the servo amplifiers in the order of larger to smaller capacities.
L+
L-
P4
N-
Servo amplifier (15 kW)60 mm2
Overall wiring length 5 m or less
First unit: 60 mm2 assuming that the total of servo amplifier capacities is 27.5 kW since 15 kW + 7 kW + 3.5 kW + 2.0 kW = 27.5 kW.
P4
N-
P4
N-
P4
N-
22 mm2
8 mm2
Junction terminals
22 mm2
8 mm2
5.5 mm2
3.5 mm2
Second unit: 22 mm2 assuming that the total of servo amplifier capacities is 15 kW since 7 kW + 3.5 kW + 2.0 kW = 12.5 kW.
Third unit: 8 mm2 assuming that the total of servo amplifier capacities is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW.
MR-CV55K
Servo amplifier (7 kW)
Servo amplifier (3.5 kW)
Servo amplifier (2 kW)
Wire as short as possible.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 28
8.5 Molded-case circuit breakers, fuses, magnetic contactors
8.5.1 For main circuit power supply
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.
When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.
Power regeneration converter 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]
MR-CV11K 50 A frame 50 A
240
T
100
300
S-T35 MR-CV18K 100 A frame 100 A 175 S-T65 MR-CV30K 225 A frame 150 A 300 S-N125 MR-CV37K 225 A frame 175 A 350 S-N125 MR-CV45K 225 A frame 225 A 400 S-N150 MR-CV55K 400 A frame 300 A 600 S-N220 MR-CV11K4 30 A frame 30 A
480
50
600
S-T21 MR-CV18K4 50 A frame 50 A 100 S-T35 MR-CV30K4 100 A frame 80 A 175 S-T65 MR-CV37K4 100 A frame 100 A 200 S-T80 MR-CV45K4 125 A frame 125 A 250 S-T100 MR-CV55K4 225 A frame 150 A 300 S-N125 MR-CV75K4 225 A frame 200 A 350 S-N150
Note 1. For compliance with the IEC/EN/UL/CSA standard, refer to section 10.2. 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 general-
purpose products.
Resistance regeneration 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- DU30K_(-RJ) 225 A frame 175 A 225 A frame 150 A
240 T 300
300 S-N150
MR-J4- DU37K_(-RJ) 225 A frame 225 A 225 A frame 175 A 400 S-N180
MR-CR55K4
MR-J4- DU30K_4(-RJ) 100 A frame 100 A 100 A frame 80 A
480 T
175
600
S-N65 S-T65
MR-J4- DU37K_4(-RJ) 125 A frame 125 A 100 A frame 100 A 200
S-N80 S-T80
MR-J4- DU45K_4(-RJ) 225 A frame 150 A 125 A frame 125 A 300
S-N95 S-T100
MR-J4- DU55K_4(-RJ) 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 section 10.2. 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 general-
purpose products.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 29
8.5.2 For control circuit power supply
Install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit. (1) 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 MR-CV11K MR-CV18K MR-CV30K MR-CV37K MR-CV45K
30 A frame 5 A 240 1 300 1 250
MR-CR55K4 MR-CV11K4 MR-CV18K4 MR-CV30K4 MR-CV37K4 MR-CV45K4 MR-CV55K4 MR-CV75K4
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 section 10.2.
(2) 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-DU900B(-RJ) MR-J4-DU11KB(-RJ) MR-J4-DU15KB(-RJ) MR-J4-DU22KB(-RJ) MR-J4-DU30KB(-RJ) MR-J4-DU30KA(-RJ) MR-J4-DU37KB(-RJ) MR-J4-DU37KA(-RJ)
30 A frame 5 A 240 1 300 1 250
MR-J4-DU900B4(-RJ) MR-J4-DU11KB4(-RJ) MR-J4-DU15KB4(-RJ) MR-J4-DU22KB4(-RJ) MR-J4-DU30KB4(-RJ) MR-J4-DU30KA4(-RJ) MR-J4-DU37KB4(-RJ) MR-J4-DU37KA4(-RJ) MR-J4-DU45KB4(-RJ) MR-J4-DU45KA4(-RJ) MR-J4-DU55KB4(-RJ) MR-J4-DU55KA4(-RJ)
30 A frame 5 A 480 1 600 1 600
Note. When having the drive unit comply with the IEC/EN/UL/CSA standard, refer to section 10.2.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 30
(3) Passing wiring of the control circuit power supply
When the control circuit power supply is connected by passing wiring, wire L11 and L21 as follows. Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) of 2 mm2 (AWG 14) for wiring. The units are shown with the terminal cover open.
Molded-case circuit breaker (MCCB) (Note)
MR-CV55K4 MR-J4-DU55KB4 MR-J4-DU22KB4 MR-J4-DU11KB4 Power supply
R S
Note. Install a molded-case circuit breaker dedicated to the control circuit power supply. Do not use a molded-case circuit breaker for the main circuit power supply.
(a) Molded-case circuit breaker
Use AWG 14 wire for wiring. Use a molded-case circuit breaker having the operation characteristics not activated with a inrush current.
Model
Number of drive units Voltage AC [V] 1 2 3 4 5
MR-CR55K 30 A frame 10 A
240
MR-CV11K 30 A frame 5 A 30 A frame 10 A
30 A frame 15 A
MR-CV18K MR-CV30K
30 A frame 10 A 30 A frame 15 A MR-CV37K MR-CV45K MR-CV55K MR-CR55K4 30 A frame 10 A
480
MR-CV11K4 30 A frame 5 A 30 A frame 10 A
30 A frame 10 A
MR-CV18K4 MR-CV30K4
30 A frame 10 A 30 A frame 15 A MR-CV37K4 MR-CV45K4 MR-CV55K4 MR-CV75K4
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 31
(b) Fuse
Use AWG 14 wire for wiring. Use a fuse having the fusing characteristics not blown with repeated inrush currents.
Model
Number of drive units Voltage AC [V] 1 2 3 4 5
MR-CR55K 30 A frame 3 A
250
MR-CV11K 30 A frame 2 A 30 A frame 2 A 30 A frame 3 A 30 A frame 3 A 30 A frame 4 A
MR-CV18K MR-CV30K
30 A frame 2 A 30 A frame 3 A 30 A frame 3 A 30 A frame 3 A 30 A frame 4 A MR-CV37K MR-CV45K MR-CV55K MR-CR55K4 30 A frame 5 A
600
MR-CV11K4 30 A frame 5 A 30 A frame 5 A 30 A frame 5 A 30 A frame 5 A 30 A frame 5 A
MR-CV18K4 MR-CV30K4
30 A frame 5 A 30 A frame 5 A 30 A frame 15 A 30 A frame 15 A 30 A frame 5 A MR-CV37K4 MR-CV45K4 MR-CV55K4 MR-CV75K4
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 32
8.6 Power factor improving DC reactor
POINT MR-DCL_ power factor improving DC reactor is for the MR-CR_ resistance regeneration converter unit. MR-DCL_ cannot be used with the MR-CV_ power regeneration converter unit.
The following shows the advantages of using power factor improving DC reactor.
It improves the power factor by increasing the form factor of the resistance regeneration 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 resistance regeneration 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.
Resistance regeneration 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-DU30K_(-RJ) MR-DCL30K
135
255 215 80 232 M12 9.5 MR-J4-DU37K_(-RJ) MR-DCL37K
MR-CR55K4
MR-J4-DU30K_4(-RJ) MR-DCL30K-4 205 200
75 175
M8
6.5 MR-J4-DU37K_4(-RJ) MR-DCL37K-4 225
80 197 7
MR-J4-DU45K_4(-RJ) MR-DCL45K-4 240 212 7.5 MR-J4-DU55K_4(-RJ) MR-DCL55K-4 260 215 232 9.5
[Unit: mm]
H o
r l es
s
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
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 33
8.7 AC reactor
POINT MR-AL_ AC reactor is for the MR-CV_ power regeneration converter unit. MR- AL_ cannot be used with the MR-CR_ resistance regeneration converter unit.
Power regeneration
converter unit AC reactor Variable dimensions [mm] Terminal
screw Mass [kg] W D H W1 X d
MR-CV11K MR-AL-11K 145 175 155 75 55 M6 M5 3.7 MR-CV18K MR-AL-18K 145 175 155 105 55 M6 M6 5.3 MR-CV30K MR-AL-30K 145 175 155 110 55 M6 M6 6.1 MR-CV37K MR-AL-37K 150 215 175 110 70 M6 M6 8.6 MR-CV45K MR-AL-45K 160 215 175 120 70 M6 M6 9.7 MR-CV55K MR-AL-55K 230 220 192 120 200 M8 M10 11.5 MR-CV11K4 MR-AL-11K4 145 175 155 75 55 M6 M5 3.7 MR-CV18K4 MR-AL-18K4 145 175 155 105 55 M6 M6 5.3 MR-CV30K4 MR-AL-30K4 145 175 155 110 55 M6 M6 6.0 MR-CV37K4 MR-AL-37K4 150 215 175 110 70 M6 M6 8.5 MR-CV45K4 MR-AL-45K4 160 215 175 120 70 M6 M6 9.8 MR-CV55K4 MR-AL-55K4 230 220 210 120 200 M8 M6 10.5 MR-CV75K4 MR-AL-75K4 230 250 215 143 230 M8 M6 13.0
20
4-d mounting hole
L22L12 L32
L31L21L11
Grounding terminal
X
H
W1
WD
Plate
Terminal plate
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 34
8.8 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. 8.8.1 Noise reduction techniques
(1) 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 3.4.8 and section 4.3.8.)
(2) 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.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 35
(3) 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)
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 36
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-BLF) on the power lines of the converter unit/drive unit.
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.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 37
8.8.2 Noise reduction techniques
This section explains how to use the line noise filter unique to the converter unit and drive unit. Other noise reduction products are the same as those for MR-J4-_(-RJ). When you use MR-J4-DU_A_(-RJ), refer to section 11.14 (2) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". When you use MR-J4-DU_B_(- RJ), refer to section 11.14 (2) of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". (1) 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).
(a) 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.
(b) Dimensions
[Unit: mm]
160 180
130 85
80 2.
3 35
31 .5
7
7
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 38
8.9 Earth-leakage current breaker
8.9.1 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 converter unit, 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]
Ign
Noise filter Wire
Ig1
NV Converter
unit Drive unit
Wire
Iga Ig2 Igm
M
Earth-leakage current breaker K
Type Mitsubishi products
Models provided with harmonic and surge reduction techniques
NV-SV NV-SVF NV-SW NV-CV
NV-CVF NV-CW NV-HV
1
General models BV-C1 3
Igl: Leakage current on the electric channel from the earth-leakage current breaker to the input terminals of the drive unit (found from (1) in this section.) Ig2: Leakage current on the electric channel from the output terminals of the drive unit to the servo motor (found from (1) in this section.) 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 (2) in this section.) Igm: Leakage current of the servo motor (found from (3) in this section.)
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 39
(1) Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit
(a) 200 V class
Le ak
ag e
cu rre
nt [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
(b) 400 V class 120 100
80 60 40 20
0 2 3.5
5.5 8 14
22 38
80 150
30 60
100
Le ak
ag e
cu rre
nt [m
A]
Cable size [mm ]2
(2) Converter unit/drive unit's leakage current example (Iga)
Converter unit Drive unit Leakage current [mA]
All series 5
(3) Servo motor leakage current example (lgm)
Servo motor output [kW] Leakage current [mA] 6 to 55 2.5
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 40
8.9.2 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. Calculate the terms of equation in section 8.9.1 from the figure.
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]
Substitute these values in the equation in section 8.9.1.
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- SV/NV-SVF/NV-SW/NV-CV/NV-CVF/NV-CW/NV-HV series.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 41
8.10 EMC filter (recommended)
POINT When connecting multiple converter units 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 a large leakage current. 8.10.1 Combinations with the converter unit
Converter unit
Recommended filter (Soshin Electric) Mass [kg] Model
Rated current [A]
Rated voltage [VAC]
Leakage current [mA]
MR-CV11K MR-CV18K
HF3100A-UN (Note) 100
250
6.5 12
MR-CV30K MR-CV37K MR-CV45K MR-CV55K MR-CR55K
HF3200A-UN (Note) 200 9 18
MR-CV11K4 TF3030C-TX 30
500 5.5
7.5 MR-CV18K4 TF3060C-TX 60 12.5 MR-CV30K4 MR-CV37K4 MR-CV45K4 MR-CV55K4 MR-CV75K4 MR-CR55K4
TF3150C-TX 150 31
Note. A surge protector is separately required to use any of these EMC filters.
Converter unit
Recommended filter (COSEL) Mass [kg] Model
Rated current [A]
Rated voltage [VAC]
Leakage current [mA]
MR-CV11K MR-CV18K
FTB-100-355-L (Note) 100 500 40 5.3
MR-CV11K4 MR-CV18K4
FTB-80-355-L (Note) 80 500 80 5.3
MR-CV30K4 MR-CV37K4 MR-CV45K4 MR-CV55K4 MR-CV75K4 MR-CR55K4
FTB-150-355-L (Note) 150 500 80 7.8
Note. A surge protector is separately required to use any of these EMC filters.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 42
8.10.2 Connection example
(1) For MR-CV_ power regeneration converter unit Power regeneration
converter unit
MC L1
L2
L3
L11
L21
EMC filter
1
2
3
4
5
6
E
(Note 1) Power supply
Drive unit
L11
L21
MCCB
Surge protector RSPD-250-U4 (Okaya Electric Industries) RSPD-500-U4 (Okaya Electric Industries)
(Note 2) 1 2 3
L22
L32
L21
L31
AC reactor L12L11
Note 1. For the power supply specifications, refer to section 1.4. 2. The example is when a surge protector is connected.
(2) MR-CR_ resistance regeneration converter unit
EMC filter
(Note 1) Power supply
MCCB
Surge protector RSPD-250-U4 (Okaya Electric Industries) RSPD-500-U4 (Okaya Electric Industries)
(Note 2)
1
2
3
4
5
6
E
L1
L2
L3
L11
L21
Resistance regeneration converter unit
Drive unit
L11
L21
MC
1 2 3
Note 1. For the power supply specifications, refer to section 1.4. 2. The example is when a surge protector is connected.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 43
8.10.3 Dimensions
(1) EMC filter (a) HF3100A-UN
[Unit: mm]
2-6.5 8
M8
2-6.5
14 5
1
16 5
3
M6380 1 400 5
16 0
3
M8
(b) 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
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 44
(c) TF3030C-TX
[Unit: mm]
290 2
100 1 100 1
308 5
332 5
(1 2.
2)
3-M4
16 16
6-R3.25 length: 8 M4 M4
12 5
2
3-M4
14 0
1
15 5
2
IN
150 2
(67.5) 3
(160)
170 5
M4
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 45
(d) TF3060C-TX
[Unit: mm]
180 2
(91.5)
(190)
200 5
M6
390 2
100 1
412 5
438 5
(1 7)
3-M6
22 2
2
8-R3.25 length: 8 (for M6) M4 M4
14 5
2
3-M6
16 0
1
17 5
2
IN
100 1 100 1
(e) 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 (227)
260 3
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 46
(f) FTB-80-355-L/FTB-100-355-L/FTB-150-355-L
The values in brackets are only for FTB-150-355-L.
[Unit: mm]
309 (359)
350 (400)
335 0.5 (385 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
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
Model plate
(Note)
Protective earth (PE)
M6 (option-S: hexagon socket head cap screw)
Note. No heat radiation holes on the opposite side.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 47
(2) Surge protector (RSPD-250-U4/RSPD-500-U4)
41 1
28 .5
1
2 8
1
4.2 0.5 5. 5
1
11
1 +3
0 0
20 0
4. 5
0.
51 32
Lead
Case
Resin
[Unit: mm]
1 2 3
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 48
8.11 FR-BU2-(H) brake unit
POINT FR-BU2_ brake unit is for the MR-CR_ resistance regeneration converter unit. FR-BU2_ cannot be used with the MR-CV_ power regeneration converter unit. EM2 of the drive unit is the signal having the same contents as EM1 of the drive unit in torque control mode. Use a 200 V class brake unit and a resistor unit with a 200 V class resistance regeneration converter unit, and a 400 V class brake unit and a resistor unit with a 400 V class resistance regeneration 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 resistance regeneration 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 8.11.1. 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] of the resistance regeneration converter unit _ _ 0 0
(Initial value)
[Pr. PA02] of the drive unit _ _ 0 1
Connect the brake unit to the bus of the resistance regeneration 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". 8.11.1 Selection
Use a combination of resistance regeneration converter unit, brake unit and resistor unit listed below.
Brake unit Resistor unit Number of connected
units
Permissible continuous
power [kW]
Resultant resistance
[]
Resistance regeneration 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
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 49
8.11.2 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
8.11.3 Connection example of combination with FR-BR-(H) resistor unit
POINT Connecting PR terminal of the brake unit to L+ terminal of the resistance regeneration 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. 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 unit Resistance regeneration
converter unit
L+ L- N/-
P/+
Connecting two cables to L+ and L- terminals
N/- P/+
Brake unit
L+ L- N/-
P/+
Brake unit Resistance regeneration
converter unit
Passing wiring
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 50
(1) When magnetic contactor drive output is enabled
Drive unit Resistance regeneration
converter unit
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L-
EM2
3
20
SDPlate
DICOM10
DOCOM
5 DICOM
ALM15
CN3
CN1 1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
L11
L21
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
B
B C
(Note 2) MC
RA2
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
RA1
(Note 13) Main circuit power supply
RA1
Drive unit malfunction Operation ready
OFF/ON MC
SK
TE2-2
TE2-1
1MC1
2MC2
CNP1 (Note 5)
(Note 14)
(Note 8)
Resistance regeneration converter unit malfunction
RA2 Emergency stop
switch
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 51
Note 1. For the power supply specifications, refer to section 1.4. 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. 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 8.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the resistance regeneration 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 or fuse) to protect the branch circuit. (Refer to section
8.5.) 9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the resistance regeneration 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
resistance regeneration converter unit and brake unit malfunction. 12. For connecting L+ and L- terminals of TE2-1 of the resistance regeneration converter unit to the terminal block, use the cable
indicated in (4) in this section. 13. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit. 14. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 52
(2) When magnetic contactor drive output is disabled
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L-
1MC1
2MC2
CNP1
EM2
3
20
SDPlate
DICOM10
DOCOM
5 DICOM
ALM15
CN3
CN1 1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
L11
L21
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
B
B C
(Note 2) MC
RA2
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)
MCCB
RA1
(Note 13) Main circuit power supply
(Note 14)
TE2-2
TE2-1
(Note 8)
(Note 5)
(Note 8)
Resistance regeneration converter unit
Resistance regeneration converter unit malfunction
RA2 Emergency stop
switch
Drive unit
RA1
Drive unit malfunction
SK
OFF
MC
ON MC
Operation ready
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 53
Note 1. For the power supply specifications, refer to section 1.4. 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. 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 8.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the resistance regeneration 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 or fuse) to protect the branch circuit. (Refer to section
8.5.) 9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the resistance regeneration 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
resistance regeneration converter unit and brake unit malfunction. 12. For connecting L+ and L- terminals of TE2-1 of the resistance regeneration converter unit to the terminal block, use the cable
indicated in (4) in this section. 13. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit. 14. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 54
8.11.4 Combination with MT-BR5-(H) resistor unit
POINT Connecting PR terminal of the brake unit to L+ terminal of the resistance regeneration 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.
(1) When connecting a brake unit to a resistance regeneration converter unit
(a) When magnetic contactor drive output is enabled
Resistance regeneration converter unit
Operation ready OFF/ON
Resistance regeneration converter unit malfunction
RA2 Emergency stop
switch
Drive unit
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L- 1MC1
2MC2
CNP1
EM2
3
20
SDPlate
DICOM10
DOCOM
5 DICOM
ALM15
CN3
CN1 1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
L11
L21
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
N/- P/+
BUE SD
PR
B C
A SD
MSG
(Note 4)
(Note 7)
FR-BU2-(H)
MT-BR5-(H)
P PR
(Note 6)
(Note 10)
RA3
TH2 TH1
SK
(Note 2) MC
RA2
MCCB
RA1
(Note 11) Main circuit power supply
(Note 8)
TE2-2
TE2-1
(Note 12)
MC
RA3
SK
RA1
Drive unit malfunction
(Note 5)
(Note 8)
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 55
Note 1. For the power supply specifications, refer to section 1.4. 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. 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 8.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the resistance regeneration 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 or fuse) to protect the branch circuit. (Refer to section
8.5.) 9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the resistance regeneration converter unit. 10. Always connect BUE and SD terminals. (factory-wired) 11. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit. 12. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 56
(b) When magnetic contactor drive output is disabled
Drive unit
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L-
1MC1
2MC2
CNP1
EM2
3
20
SDPlate
DICOM10
DOCOM
5 DICOM
ALM15
CN3
CN1 1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
L11
L21
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
N/- P/+
BUE SD
PR
B C
A SD
MSG
(Note 4)
(Note 7)
FR-BU2-(H)
MT-BR5-(H)
P PR
(Note 6)
(Note 10)
RA3
TH2 TH1
SK
(Note 2) MC
RA2
MCCB
RA1
(Note 11) Main circuit power supply
(Note 5) TE2-2
TE2-1
(Note 12)
SK
OFF
MC
ON MC
RA1
Drive unit malfunction
RA3
Operation ready
(Note 8) (Note 8)
Resistance regeneration converter unit
Resistance regeneration converter unit malfunction
RA2 Emergency stop
switch
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 57
Note 1. For the power supply specifications, refer to section 1.4. 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. 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 8.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the resistance regeneration 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 or fuse) to protect the branch circuit. (Refer to section
8.5.) 9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the resistance regeneration converter unit. 10. Always connect BUE and SD terminals. (factory-wired) 11. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit. 12. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 58
(2) When connecting two brake units to a resistance regeneration 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 unit Resistance regeneration
converter unit
L+ L- N/-
P/+
Connecting two cables to L+ and L- terminals
N/- P/+
Brake unit
Brake unit Resistance regeneration
converter unit
L+ L- N/-
P/+
Passing wiring
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 59
(a) When magnetic contactor drive output is enabled
Resistance regeneration converter unit
Operation ready OFF/ON
Resistance regeneration converter unit malfunction
RA2 Emergency stop
switch
N/- P/+
BUE SD
PR
B C
A SD
MSG
(Note 4)
(Note 7)
FR-BU2-(H)
MT-BR5-(H)
P PR
(Note 6)
(Note 10)
RA3
TH2 TH1
(Note 11)(Note 12)
Terminal block
(Note 7)
N/- P/+
BUE SD
PR
B C
A SD
MSG
(Note 4)
FR-BU2-(H)
TH2 TH1(Note 6)
MT-BR5-(H)
P PR
(Note 11)
(Note 10)
RA4
SK
SK
Drive unit
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L- 1MC1
2MC2
CNP1
EM2
3
20
SDPlate
DICOM10
DOCOM
5 DICOM
ALM15
CN3
CN1 1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
L11
L21
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
(Note 2) MC
RA2
MCCB
RA1
(Note 13) Main circuit power supply
TE2-2
TE2-1
(Note 14)
RA3 RA4RA1
Drive unit malfunction
MC
SK
(Note 5)
(Note 8) (Note 8)
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 60
Note 1. For the power supply specifications, refer to section 1.4. 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. 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 8.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the resistance regeneration 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 or fuse) to protect the branch circuit. (Refer to section
8.5.) 9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the resistance regeneration 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
resistance regeneration converter unit and brake unit malfunction. 12. For connecting L+ and L- terminals of the resistance regeneration converter unit to the terminal block, use the cable indicated
in (4) in this section. 13. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit. 14. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 61
(b) When magnetic contactor drive output is disabled
Resistance regeneration converter unit
Resistance regeneration converter unit malfunction
RA2 Emergency stop
switch
N/- P/+
BUE SD
PR
B C
A SD
MSG
(Note 4)
(Note 7)
FR-BU2-(H)
MT-BR5-(H)
P PR
(Note 6)
(Note 10)
RA3
TH2 TH1
(Note 11) (Note 12)
Terminal block
(Note 7)
N/- P/+
BUE SD
PR
B C
A SD
MSG
(Note 4)
FR-BU2-(H)
TH2 TH1(Note 6)
MT-BR5-(H)
P PR
(Note 11)
(Note 10)
RA4
SK
SK
Drive unit
L1
L2
L3
L11
L21
(Note 1) Power supply
L+
L-
L+
L-
1MC1
2MC2
CNP1
EM2
3
20
SDPlate
DICOM10
DOCOM
5 DICOM
ALM15
CN3
CN1 1 DICOM
5 DOCOM
6 DICOM
2 ALM
7 EM1
9 DOCOM
L11
L21
P1
P2 (Note 3)
L+
L- (Note 9)
24 V DC
24 V DC
(Note 2) MC
RA2
MCCB
RA1
(Note 13) Main circuit power supply
SK
OFF
MC
ON MC
RA1
Drive unit malfunction
RA3 RA4
(Note 5) TE2-2
TE2-1
(Note 14)
Operation ready
(Note 8) (Note 8)
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 62
Note 1. For the power supply specifications, refer to section 1.4. 2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. 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 8.6 for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the resistance regeneration 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 or fuse) to protect the branch circuit. (Refer to section
8.5.) 9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the resistance regeneration 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
resistance regeneration converter unit and brake unit malfunction. 12. For connecting L+ and L- terminals of the resistance regeneration converter unit to the terminal block, use the cable indicated
in (4) in this section. 13. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit. 14. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.
8.11.5 Connection instructions
Keep the wires between the resistance regeneration 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.
Resistance regeneration converter unit
Brake unit
5 m or less 5 m or less
Resistance regeneration 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-
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 63
8.11.6 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
(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
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) (2) Cables for connecting the resistance regeneration 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
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 64
8.11.7 Crimp terminals for L+ and L- terminals of TE2-1 of resistance regeneration 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.
Resistance regeneration 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 Resistance regeneration 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
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 65
8.11.8 Dimensions
(1) 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)
(2) FR-BR-(H) resistor unit
[Unit: mm]
H 3
1
H 1
3
Ap pr
ox .
H 2
Ap pr
ox .
40
33 Ap
pr ox
. 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
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 66
(3) MT-BR5-(H) resistor unit
[Unit: mm]
415 mounting hole 30075 75 4507.5 7.5
M6 M4
193 189
480 510
85
85 80
0
37 60 2110
40 30
NP
Resistor unit Resistance Approximate mass [kg]
200 V class
MT-BR5-55K 2.0 50
400 V class MT-BR5-H75K 6.5 70
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 67
8.12 MR-DCBAR_ bus bar
When one drive unit is connected to one power regeneration converter unit, the drive unit is driven at the rated output with the following combinations. Use the bus bars for the connection of the L+/L- terminals between the converter unit and the drive unit, and between the drive units. The bus bars vary depending on the units to be connected. Be sure to use the bus bars listed in this section. 8.12.1 Bus bar
(1) 200 V class
Unit mounted on the left side (Note 1) Unit mounted on the right side (Note 1) Bus bar model
Number contained
in a set MR-CR55K MR-J4-DU30K_(-RJ)/MR-J4-DU37K_(-RJ) MR-DCBAR106-C04 (Note 2) 2
MR-CV11K MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ) MR-DCBAR137-B52 1 (assembled)
MR-CV18K MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ) MR-DCBAR137-B52 1
(assembled)
MR-J4-DU15KB(-RJ) MR-DCBAR235-B52 1 (assembled)
MR-CV30K
MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ) MR-DCBAR159-B52 1 (assembled)
MR-J4-DU15KB(-RJ)/MR-J4-DU22KB(-RJ) MR-DCBAR255-B52 1 (assembled)
MR-J4-DU30KB(-RJ) MR-DCBAR105-C03 2
MR-CV37K MR-CV45K
MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ) MR-DCBAR159-B52 1 (assembled)
MR-J4-DU15KB(-RJ)/MR-J4-DU22KB(-RJ) MR-DCBAR255-B52 1 (assembled)
MR-J4-DU30KB(-RJ)/MR-J4-DU37KB(-RJ) MR-DCBAR105-C03 2
MR-CV55K
MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ) MR-DCBAR159-B53 1 (assembled)
MR-J4-DU15KB(-RJ)/MR-J4-DU22KB(-RJ) MR-DCBAR257-B53 1 (assembled)
MR-J4-DU30KB(-RJ)/MR-J4-DU37KB(-RJ) MR-DCBAR106-C04 (Note 2) 2
MR-J4-DU900B MR-J4-DU900B(-RJ) MR-DCBAR170-B52 1 (assembled)
MR-J4-DU11KB MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ) MR-DCBAR170-B52 1 (assembled)
MR-J4-DU15KB MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ) MR-DCBAR137-B52 1
(assembled)
MR-J4-DU15KB(-RJ) MR-DCBAR235-B52 1 (assembled)
MR-J4-DU22KB MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ) MR-DCBAR137-B52 1
(assembled)
MR-J4-DU15KB(-RJ)/MR-J4-DU22KB(-RJ) MR-DCBAR235-B52 1 (assembled)
MR-J4-DU30KB
MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ) MR-DCBAR159-B53 1 (assembled)
MR-J4-DU15KB(-RJ)/MR-J4-DU22KB(-RJ) MR-DCBAR257-B53 1 (assembled)
MR-J4-DU30KB(-RJ) MR-DCBAR106-C04 (Note 2) 2
MR-J4-DU37KB
MR-J4-DU900B(-RJ)/MR-J4-DU11KB(-RJ) MR-DCBAR159-B53 1 (assembled)
MR-J4-DU15KB(-RJ)/MR-J4-DU22KB(-RJ) MR-DCBAR257-B53 1 (assembled)
MR-J4-DU30KB(-RJ)/MR-J4-DU37KB(-RJ) MR-DCBAR106-C04 (Note 2) 2 Note 1. "Unit mounted on the left side" and "Unit mounted on the right side" indicate the position when the units are seen from the
front. Install the power regeneration converter unit on the left side of the drive unit. 2. This is supplied with the drive unit.
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 68
(2) 400 V class
Unit mounted on the left side (Note 1) Unit mounted on the right side (Note 1) Bus bar model
Number contained
in a set
MR-CR55K4 MR-J4-DU30K_4(-RJ)/MR-J4-DU37K_4(-RJ) MR-DCBAR085-C03 (Note 2) 2 MR-J4-DU45K_4(-RJ)/MR-J4-DU55K_4(-RJ) MR-DCBAR106-C04 (Note 2) 2
MR-CV11K4 MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR137-B52 1 (assembled)
MR-CV18K4 MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR137-B52 1
(assembled)
Model MR-J4-DU_(-RJ) MR-DCBAR235-B52 1 (assembled)
MR-CV30K4
MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR159-B52 1 (assembled)
MR-J4-DU15KB4(-RJ)/MR-J4-DU22KB4(-RJ) MR-DCBAR255-B52 1 (assembled)
MR-J4-DU30KB4(-RJ) MR-DCBAR082-C02 2
MR-CV37K4
MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR159-B52 1 (assembled)
MR-J4-DU15KB4(-RJ)/MR-J4-DU22KB4(-RJ) MR-DCBAR255-B52 1 (assembled)
MR-J4-DU30KB4(-RJ)/MR-J4-DU37KB4(-RJ) MR-DCBAR082-C02 2
MR-CV45K4
MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR159-B52 1 (assembled)
MR-J4-DU15KB4(-RJ)/MR-J4-DU22KB4(-RJ) MR-DCBAR255-B52 1 (assembled)
MR-J4-DU30KB4(-RJ)/MR-J4-DU37KB4(-RJ) MR-DCBAR082-C02 2 MR-J4-DU45KB4(-RJ) MR-DCBAR105-C03 2
MR-CV55K4 MR-CV75K4
MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR159-B53 1 (assembled)
MR-J4-DU15KB4(-RJ)/MR-J4-DU22KB4(-RJ) MR-DCBAR257-B53 1 (assembled)
MR-J4-DU30KB4(-RJ)/MR-J4-DU37KB4(-RJ) MR-DCBAR085-C03 (Note 2) 2 MR-J4-DU45KB4(-RJ)/MR-J4-DU55KB4(-RJ) MR-DCBAR106-C04 (Note 2) 2
MR-J4-DU900B4 MR-J4-DU900B4(-RJ) MR-DCBAR170-B52 1 (assembled)
MR-J4-DU11KB4 MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR170-B52 1 (assembled)
MR-J4-DU15KB4 MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR137-B52 1
(assembled)
MR-J4-DU15KB4(-RJ) MR-DCBAR235-B52 1 (assembled)
MR-J4-DU22KB4 MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR137-B52 1
(assembled)
MR-J4-DU15KB4(-RJ)/MR-J4-DU22KB4(-RJ) MR-DCBAR235-B52 1 (assembled)
MR-J4-DU30KB4
MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR310-B52 1 (assembled)
MR-J4-DU15KB4(-RJ)/MR-J4-DU22KB4(-RJ) MR-DCBAR409-B52 1 (assembled)
MR-J4-DU30KB4(-RJ) MR-DCBAR235-B52 1 (assembled)
MR-J4-DU37KB4
MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR310-B52 1 (assembled)
MR-J4-DU15KB4(-RJ)/MR-J4-DU22KB4(-RJ) MR-DCBAR409-B52 1 (assembled)
MR-J4-DU30KB4(-RJ)/MR-J4-DU37KB4(-RJ) MR-DCBAR235-B52 1 (assembled)
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 69
Unit mounted on the left side
(Note 1) Unit mounted on the right side (Note 1) Bus bar model Number
contained in a set
MR-J4-DU45KB4
MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR159-B53 1 (assembled)
MR-J4-DU15KB4(-RJ)/MR-J4-DU22KB4(-RJ) MR-DCBAR257-B53 1 (assembled)
MR-J4-DU30KB4(-RJ)/MR-J4-DU37KB4(-RJ) MR-DCBAR085-C03 (Note 2) 2 MR-J4-DU45KB4(-RJ) MR-DCBAR106-C04 (Note 2) 2
MR-J4-DU55KB4
MR-J4-DU900B4(-RJ)/MR-J4-DU11KB4(-RJ) MR-DCBAR159-B53 1 (assembled)
MR-J4-DU15KB4(-RJ)/MR-J4-DU22KB4(-RJ) MR-DCBAR257-B53 1 (assembled)
MR-J4-DU30KB4(-RJ)/MR-J4-DU37KB4(-RJ) MR-DCBAR085-C03 (Note 2) 2 MR-J4-DU45KB4(-RJ)/MR-J4-DU55KB4(-RJ) MR-DCBAR106-C04 (Note 2) 2
Note 1. "Unit mounted on the left side" and "Unit mounted on the right side" indicate the position when the units are seen from the
front. Install the power regeneration converter unit on the left side of the drive unit. 2. This is supplied with the drive unit.
8.12.2 Adjustment bar
When the total number of MR-J4-DU900(4)(-RJ) and MR-J4- DU11KB(4)(-RJ) drive units connected to the power regeneration convert unit is even, there is a gap of bar thickness between the bus bar and TE2 terminal block of the final drive unit (right end). Place adjustment bars in the gap and screw them together. (Refer to section 3.3.1 (3).)
Bus bar Number contained MR-DCBAR035-B05 2
8. OPTIONS AND PERIPHERAL EQUIPMENT
8 - 70
MEMO
9. COMPLIANCE WITH SEMI-F47 STANDARD
9 - 1
9. COMPLIANCE WITH SEMI-F47 STANDARD
POINT A combination of the MR-CV_ power regeneration converter unit and drive unit does not comply with SEMI-F47 standard. The control circuit power supply of the resistance regeneration converter unit and drive unit can comply with SEMI-F47 standard. However, a back-up capacitor may be necessary for instantaneous power failure in the main circuit power supply depending on the power impedance and operating situation. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock). Doing so will cause the drive unit to become servo-off when an instantaneous power failure occurs. Be sure to perform actual machine tests and detail checks for power supply instantaneous power failure of SEMI-F47 standard with your equipment.
The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag immunity test" of MR-J4 series. This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation.
9. COMPLIANCE WITH SEMI-F47 STANDARD
9 - 2
9.1 Parameter setting
Setting parameters of the drive unit and resistance regeneration converter unit as follows will enable SEMI- F47 function.
Parameter Setting value Description [Pr. PA20] of the drive unit _ 1 _ _ SEMI-F47 function selection [Pr. PF25] of the drive unit 200 Set the time [ms] until the occurrence of [AL. 10.1 Voltage drop in the control
circuit power]. [Pr. PA17] of the resistance regeneration converter unit
_ _ 1 _ SEMI-F47 function selection
[Pr. PA18] of the resistance regeneration converter unit
200 Set the time [ms] until the occurrence of [AL. 10 Undervoltage].
Enabling SEMI-F47 function will change operation as follows. (1) The voltage will drop in the control circuit power at "Rated voltage 50% or less". After 200 ms, [AL.
10.1 Voltage drop in the control circuit power] will occur. (2) [AL. 10.2 Voltage drop in the main circuit power] will occur when bus voltage is as follows.
Voltages which trigger [AL. 10.2 Voltage drop in the main circuit power] Drive unit Bus voltage which triggers alarm
MR-J4-DU30KB(-RJ) MR-J4-DU30KA(-RJ) MR-J4-DU37KB(-RJ) MR-J4-DU37KA(-RJ)
200 V DC
MR-J4-DU30KB4(-RJ) MR-J4-DU30KA4(-RJ) MR-J4-DU37KB4(-RJ) MR-J4-DU37KA4(-RJ) MR-J4-DU45KB4(-RJ) MR-J4-DU45KA4(-RJ) MR-J4-DU55KB4(-RJ) MR-J4-DU55KA4(-RJ)
380 V DC
(3) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit
power] occurs.
9. COMPLIANCE WITH SEMI-F47 STANDARD
9 - 3
9.2 Requirement of SEMI-F47 standard
The following shows the permissible time of instantaneous power failure for instantaneous power failure voltage of SEMI-F47 standard.
Requirement of SEMI-F47 standard
Instantaneous power failure voltage
Permissible time of instantaneous power
failure [s] Rated voltage 80% 1 Rated voltage 70% 0.5 Rated voltage 50% 0.2
9.3 Calculation of tolerance against instantaneous power failure
The following shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage 50%" and instantaneous power failure time is 200 ms.
Tolerance against instantaneous power failure (instantaneous power failure voltage = rated voltage 50%, instantaneous power failure time = 200 ms)
Drive unit model Instantaneous maximum output [W]
Tolerance against instantaneous power failure [W]
(voltage drop between lines) MR-J4-DU30K_ 79000 7500 MR-J4-DU37K_ 103000 10000
MR-J4-DU30K_4 79000 7500 MR-J4-DU37K_4 103000 7500 MR-J4-DU45K_4 110000 7500 MR-J4-DU55K_4 135000 7500
Instantaneous maximum output means power which drive unit can output in maximum torque at rated speed. You can examine margins to compare the values of following conditions and instantaneous maximum output. Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the maximum output. This can be handled as a margin. The following shows the conditions of tolerance against instantaneous power failure. 9.3.1 Delta connection
For the 3-phase (L1/L2/L3) delta connection, an instantaneous power failure occurs in the voltage between a pair of lines (e.g. between L1 and L2) among voltages between three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1). 9.3.2 Star connection
For the 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure occurs in the voltage between a pair of lines (e.g. between L1 and N) among voltages at six locations, between three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1) and between one of the lines and the neutral point (between L1 and N, L2 and N, or L3 and N).
9. COMPLIANCE WITH SEMI-F47 STANDARD
9 - 4
MEMO
10. APPENDIX
10 - 1
10. APPENDIX
10.1 Peripheral equipment manufacturer (for reference)
Names given in the table are as of Jun. 2018.
Manufacturer Contact information DDK DDK Ltd. Phoenix Contact Phoenix Contact GmbH & Co. KG JST J.S.T. Mfg. Co., Ltd. Honda Tsushin Kogyo HONDA TSUSHIN KOGYO CO., LTD. 3M 3M NICHIFU NICHIFU CO., LTD. Soshin Electric Soshin Electric Co., Ltd. Okaya Electric Industries OKAYA ELECTRIC INDUSTRIES CO., LTD.
10.2 Compliance with global standards
Converter units and drive units are written as servo amplifiers in app. 2 under certain circumstances. 10.2.1 Terms related to safety
(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.
10.2.2 About safety
This chapter explains safety of users and machine operators. (1) Professional engineer
Only professional engineers should mount MR-J4 servo amplifiers. Here, professional engineers should meet all the conditions below.
(a) Persons who took a proper training of related work of electrical equipment or persons who can avoid
risk based on past experience.
(b) 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.
(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.
10. APPENDIX
10 - 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.
(a) 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.
1) Local wiring The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at 75 C/60 C.
Table App. 1 Recommended 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: -
10. APPENDIX
10 - 3
Drive unit 75 C/60 C stranded wire [AWG] (Note 2)
L11/L21 L+/L- U/V/W/ (Note 3) MR-J4-DU700 (Noe 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 (3) (a) 3) in this section. 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.
2) Crimping tool
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.
10. APPENDIX
10 - 4
3) 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
4) 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.
5) 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
10. APPENDIX
10 - 5
(b) EU compliance
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. The CE marking proves the compliance of the manufacturer with the EC directives, and this marking also applies to machines and equipment incorporating servos.
1) 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.
2) For Declaration of Conformity (DoC)
Hereby, MITSUBISHI ELECTRIC EUROPE B.V. declares that the optional unit is in compliance with EC directives (EMC directive (2014/30/EU) and RoHS directive (2011/65/EU)). For the copy of Declaration of Conformity, contact your local sales office.
(c) USA/Canada compliance
This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 14.
1) 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 section 10.2.8. The servo amplifier needs to be installed at or below pollution degree 2. Use only copper wires or copper bus bars for wiring.
2) 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.
3) 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.)
4) 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 section 10.2.8. for the proper connection.
10. APPENDIX
10 - 6
5) 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.
(d) 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.
(4) General cautions for safety protection and protective measures
Observe the following items to ensure proper use of the MR-J4 servo amplifiers.
(a) For safety components and installing systems, only qualified personnel and professional engineers should perform.
(b) When mounting, installing, and using the MR-J4 servo amplifier, always observe standards and
directives applicable in the country.
(c) The item about noises of the test notices in the manuals should be observed. (5) Residual risk
(a) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
(b) Perform all risk assessments and safety level certification to the machine or the system as a whole.
(c) 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.
(d) 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)
(e) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1 Table F.1
No. 1)
(f) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).
(g) Keep the required clearance/creepage distance depending on voltage you use.
10. APPENDIX
10 - 7
(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)
(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.
10.2.3 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
10. APPENDIX
10 - 8
10.2.4 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.
10. APPENDIX
10 - 9
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.
HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA)
10. APPENDIX
10 - 10
10.2.5 Signals
(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
(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
10. APPENDIX
10 - 11
10.2.6 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.
(1) Inspection items
It is recommended that the following points periodically be checked.
(a) 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
(b) Check servo motor bearings, brake section, etc. for unusual noise.
(c) Check the cables and the like for scratches or cracks. Perform periodic inspection according to
operating conditions.
(d) Check that the connectors are securely connected to the servo motor.
(e) Check that the wires are not coming out from the connector.
(f) Check for dust accumulation on the servo amplifier.
(g) Check for unusual noise generated from the servo amplifier.
(h) Check the servo motor shaft and coupling for connection.
(i) 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.
10. APPENDIX
10 - 12
(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 10 years (Note 3)
Relay Number of power-on, forced stop and controller forced stop times: 100,000 times
Number of on and off for STO: 100,000 times Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years)
Battery backup time (Note 1) Approximately 20,000 hours
(equipment power supply: off, ambient temperature: 20 C) Battery life (Note 2) 5 years from date of manufacture
Note 1. The time is for using MR-J4 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).
10.2.7 Transportation and storage
CAUTION
Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. For detailed information on transportation and handling of the battery, refer to 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. Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop.
When you keep or use it, please fulfill the following environment.
Item Environment
Ambient temperature
Operation [C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3) Transportation (Note) [C] -20 to 65 Class 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
10. APPENDIX
10 - 13
10.2.8 Technical data
(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
(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 [%]
Probability of dangerous Failure 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.
10. APPENDIX
10 - 14
(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
Opening
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
10.2.9 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.
10. APPENDIX
10 - 15
10.3 Special coating-specification product (IEC 60721-3-3 Class 3C2)
10.3.1 Summary
This section explains servo amplifiers with a special coating specification. 10.3.2 Specifications
(1) Special coating Using the MR-J4 series in an atmosphere containing a corrosive gas may cause its corrosion with time, resulting in a malfunction. For the printed circuit board of the servo amplifiers with a special coating specification, a urethane coating agent is applied to some parts capable of being coated technically (except LEDs, connectors, terminal blocks, etc.) to improve the resistance to corrosive gases. Use a servo amplifier with a special coating specification specifically for applications susceptible to corrosive gases, including tire manufacturing and water treatment. Although the special coating-specification products have the improved resistance to corrosive gases, proper operations in environments mentioned above are not guaranteed. Therefore, perform periodic inspections for any abnormality.
(2) Standard for corrosive gases
In IEC 60721-3-3, corrosive gases refer to sea salt, sulfur dioxide, hydrogen sulfide, chlorine, hydrogen chloride, hydrogen fluoride, ammonia, ozone, and nitrogen oxides shown in the environmental parameter column of the table below. The table also shows the corrosive gas concentrations defined in IEC 60721-3-3, Class 3C2.
Environmental parameter Unit
3C2 Mean value Maximum value
a) Sea salt None Salt mist b) Sulfur dioxide cm3/m3 0.11 0.37 c) Hydrogen sulfide cm3/m3 0.071 0.36 d) Chlorine cm3/m3 0.034 0.1 e) Hydrogen chloride cm3/m3 0.066 0.33 f) Hydrogen fluoride cm3/m3 0.012 0.036 g) Ammonia cm3/m3 1.4 4.2 h) Ozone cm3/m3 0.025 0.05 i) Nitrogen oxides cm3/m3 0.26 0.52
The special coating-specification products have the improved corrosion resistance in environments with corrosive gas concentrations conforming to IEC 60721-3-3, Class 3C2. We tested typical models and confirmed that their corrosive gas resistance was improved, compared with the standard models.
10. APPENDIX
10 - 16
10.4 EC declaration of conformity
The MR-J4-_DU series drive units comply with the safety component laid down in the Machinery directive.
10. APPENDIX
10 - 17
10.5 Status of general-purpose AC servo products for compliance with the China RoHS directive
10.5.1 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. 10.5.2 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. This table is created based on the standard SJ/T11364.
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.
10. APPENDIX
10 - 18
10.5.3 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
10.5.4 Status of our products for compliance with the China RoHS directive (Chinese)
The following shows the table in Chinese according to "Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products".
(1)
(2)
(Pb)
(Hg)
(Cd)
(Cr(VI)) PBB PBDE
0.01wt%(100ppm)
0.1wt%(1000ppm)
1. : GB/T26572
: GB/T26572
2. [SJ/T11364-2014]
/
REVISION
*The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Jan. 2015 SH(NA)030153ENG-A First edition Aug. 2015 SH(NA)030153ENG-B Altitude of 2000 m above sea level is disclosed.
Safety Instructions 4. Additional instructions Relevant manuals Section 1.1.1 Section 1.1 Section 1.2.1 Section 1.2.2 (1) (a) Section 1.2.2 (1) (b) Section 1.2.2 (2) (a) Section 1.2.2 (2) (b) Section 1.4 (2) (b) Section 1.5.1 (1) Section 1.5.1 (2) (a) 1) a) Section 1.5.1 (2) (a) 2) a) Section 1.6 Section 2.5 Section 3.1.2 (1) (a) Section 3.1.2 (1) (b) Section 3.1.2 (2) (a) Section 3.1.2 (2) (b) Section 3.3.2 (1) Section 6.2 Section 6.2.1 (2) Section 6.2.2 Section 6.2.3 Section 9.3.2 Section 9.5 (1) Section 9.5 (2) Section 9.10.3 (1) (a) Section 9.10.3 (1) (b) Section 9.10.3 (2) (a) 1) Section 9.10.3 (2) (a) 2) Section 9.10.3 (2) (b) 1) Section 9.10.3 (2) (b) 2) Section 9.10.3 (3) App. 2
The environment is changed. The part of table is changed. The diagram is partially changed. The note is partially changed. The part of table is changed. The table and the note are partially changed. The table and the note are partially changed. The table and the note are partially changed. The table and the note are partially changed. The diagram is changed. The part of table is changed. The part of table is changed. The part of table is changed. The note is changed. Added. The note is partially changed. The note is partially changed. The note is partially changed. The note is partially changed. The diagram is partially changed. The sentences are partially changed. The sentences are partially changed. The table and the note are partially changed. The part of table is changed. The note is partially changed. The caution and the note are added. The sentences are changed. The note is partially changed. The note is partially changed. The note is partially changed. The note is partially changed. The note is partially changed. The note is partially changed. The diagram is partially changed. Partially changed.
Feb. 2017 SH(NA)030153ENG-C MR-CV_ is added. MR-J4-DU900B_ to MR-J4-DU22KB_ are added. MR-D30 is supported. MR-CR55_ and MR-J4-DU_ with a special coating specification are added.
Safety Instructions 4. Additional instructions The environment is changed. Relevant manuals The part of table is changed. Chapter 1 to Chapter 9 The contents are entirely changed. App. 3 Added. App. 4 Added. App. 5 Added.
May 2017 SH(NA)030153ENG-D Maximally increased torque function for MR-J4-DU900B is added. 4. Additional instructions (3) Sentences in test run and adjustment are changed. Section 1.1 The part of table is changed.
Print Data *Manual Number Revision May 2017 SH(NA)030153ENG-D Section 1.3.3 The part of table is changed.
Section 1.4.1 (2) The part of table is changed. Section 1.4.3 (1) The part of table is changed. Section 1.6.1 Note 8 is added. Section 3.1 Note 4 is added. Section 3.3.1 (2) Note 1 is changed. Section 3.3.4 (1) Sentences in RDYB (Operation permission) are changed. Section 3.6 Note 1 is changed. Section 5.1 (1) (a) Note 2 is changed. Section 5.3.1 PC23 is added. Section 5.4.1 Note 3 is changed. Section 6.1.1 (2) The sentences and table are changed. Section 6.1.2 (2) Note 2 is changed. Section 6.2.1 (2) The sentences and table are changed. Section 6.2.2 (2) Note 2 is changed. Section 6.3.1 (2) The sentences and table are changed. Section 8.3.1 The table is changed. Section 8.3.2 Note 8 is added and changed. Section 8.5 (1) Changed note 3 for the table of MR-CR_. App.2.3 The item name is changed.
Jun. 2018 SH(NA)030153ENG-E The passing wiring of the control circuit power supply is added. 3. To prevent injury, note
the following The sentences are added.
4. Additional instructions The sentences are added and changed. Section 1.6 Note is added. 2. INSTALLATION CAUTION is added. Section 3.3.1 (2) Note is added. Section 3.3.3 (2) Added. Section 3.4 Caution and Note are added. Section 4.3.1 (2) Note is added. Section 5.1.1 (1) (a) The sentences in the table are partially deleted. Section 5.1.1 (1) (c) The sentences in the table are partially deleted. Section 5.1.1 (2) (a) The sentences in the table are partially deleted. Section 5.1.1 (2) (c) The sentences in the table are partially deleted. Section 5.1.2 (1) (a) The sentences in the table are partially deleted. Section 5.1.2 (2) (a) The sentences in the table are partially deleted. Section 5.1.1 (2) (c) The sentences in the table are partially deleted. Section 5.2 CAUTION is added. Section 5.4.2 CAUTION is added. Section 5.4.3 (1) The sentences are changed. Section 5.4.3 (2) The sentences are changed. Section 5.5 Added. Section 8.2.2 (1) The contents are entirely changed. Section 8.3 POINT is changed. Section 8.3.2 Note is added. Section 8.4.2 Added. Section 8.5.2 (3) Added. Section 8.11.3 POINT is added. Section 8.11.4 POINT is added. Section 10.2.2 (1) (b) The sentences are changed. Section 10.2.7 CAUTION is added.
Print Data *Manual Number Revision Nov. 2020 SH(NA)030153ENG-F The dimensions are changed.
Section 7.1 The diagrams are changed. Section 7.2 The diagrams are changed. Section 7.3 The diagrams are changed.
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
2015 MITSUBISHI ELECTRIC CORPORATION
MEMO
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.
Warranty 1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.
[Term] For terms of warranty, please contact your local FA center.
[Limitations] (1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product (1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or
malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any failure or malfunction occurs.
(2) Our AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for cons
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