Contents

Mitsubishi MR-J5-A Servo System User's Manual PDF

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Summary of Content for Mitsubishi MR-J5-A Servo System User's Manual PDF

MR-J5-A User's Manual (Introduction)

-MR-J5-_A_

Mitsubishi Electric AC Servo System

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 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 manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

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. Forbidden actions and required actions are indicated by the following diagrammatic symbols.

In this manual, precautions for hazards that can lead to property damage, instructions for other functions, and other information are shown separately in the "POINT" area. After reading this manual, keep it accessible to the operator.

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.

Indicates a forbidden action. For example, "No Fire" is indicated by .

Indicates a required action. For example, grounding is indicated by .

1

2

[Installation/wiring]

[Setting/adjustment]

[Operation]

[Maintenance]

DISPOSAL OF WASTE Please dispose of this product, battery (primary battery), and other options according to your local laws and regulations.

WARNING To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring

and/or inspection. To prevent an electric shock, ground the servo amplifier. To prevent an electric shock, any person who is involved in wiring should be fully competent to do the

work. To prevent an electric shock, mount the servo amplifier before wiring. To prevent an electric shock, connect the protective earth (PE) terminal of the servo amplifier to the

protective earth (PE) of the cabinet, then connect the grounding lead wire to the ground. To prevent an electric shock, do not touch the conductive parts.

WARNING To prevent an electric shock, do not operate the switches with wet hands.

WARNING To prevent an electric shock, do not operate the switches with wet hands.

WARNING To prevent an electric shock, any person who is involved in inspection should be fully competent to do

the work. To prevent an electric shock, do not operate the switches with wet hands.

ABOUT THE MANUAL

e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: Searching for desired information in multiple manuals at the same time (manual cross searching) Jumping from a link in a manual to another manual for reference Browsing for hardware specifications by scrolling over the components shown in product illustrations Bookmarking frequently referenced information Copying sample programs to engineering tools

If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely.

No. Manual name Manual No. (1) MR-J5-A User's Manual (Introduction) SH(NA)-030296ENG

(2) MR-J5 User's Manual (Hardware) SH(NA)-030298ENG

(3) Rotary Servo Motor User's Manual (For MR-J5) SH(NA)-030314ENG

(4) Linear Servo Motor User's Manual (LM-H3/LM-U2/LM-F/LM-K2 series) SH(NA)-030316ENG

Linear Servo Motor User's Manual (LM-AJ/LM-AU) IB(NA)-0300518ENG

(5) Direct Drive Motor User's Manual SH(NA)-030318ENG

(6) MR-J5 Partner's Encoder User's Manual SH(NA)-030320ENG

(7) MR-J5 User's Manual (Function) SH(NA)-030300ENG

(8) MR-J5 User's Manual (Adjustment) SH(NA)-030306ENG

(9) MR-J5 User's Manual (Troubleshooting) SH(NA)-030312ENG

(10) MR-J5-A User's Manual (Parameters) SH(NA)-030310ENG

(3) Rotary Servo Motor (4) Linear Servo Motor (5) Direct Drive Motor

This manual is necessary primarily for installing, wiring, and using options.

The manual is necessary for operation of servo amplifiers.

The manual is necessary for adjustment of operation status.

The manual is necessary for specifying the causes of alarms and warnings.

(6) Partner Encoder

(7) Function

(8) Adjustment

(9) Troubleshooting

(1) Introduction

(2) Hardware

(10) Parameters It describes the parameters of the servo amplifier.

For the usage of each function, refer to this manual.

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4

Interpreting servo parameter numbers For a servo parameter which uses one particular digit to select a function, the position of its digit indicates the detail number of the servo parameter, and the value in hexadecimal which is set to the digit indicates the selected function. For example, the detail number of the servo parameter in the last digit is expressed as [Pr. PA01.0]. In addition, a servo parameter which uses a combination of several digits to select a function, is expressed using "-" as seen in [Pr. PA01.0-1]. The following is an example of the servo parameter number PA01 with the setting values of "FEDCBA98" in hexadecimal. When setting a servo parameter with one particular digit

When setting a servo parameter using a combination of several digits

For example, if the servo parameter name is "Function selection A-1", the setting digit name is "Forced stop deceleration function selection", and the setting digit is the fourth last digit in PA04, the servo parameter is expressed as shown below. [Pr. PA04.3 Forced stop deceleration function selection]

U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Servo parameter

Symbol Name Description

PA04.3 *AOP Forced stop deceleration function selection

Set "Forced stop deceleration function" to enabled/disabled. Initial value: 1h (enabled)

Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [Nm] 141.6 [ozinch]

Moment of inertia 1 [( 10-4 kgm2)] 5.4675 [ozinch2]

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [C] 9/5 + 32 N [F]

[Pr. PA01] =

PA01.0 = "8" PA01.1 = "9" PA01.2 = "A" PA01.3 = "B" PA01.4 = "C" PA01.5 = "D"

CD BF AE 89

PA01.6 = "E" PA01.7 = "F"

Detail No.

[Pr. PA01] =

PA01.0-1 = "98"

PA01.2-4 = "CBA"

PA01.5 = "D"

CD BF AE 89

PA01.6 = "E" PA01.7 = "F"

Detail No.

C O

N TE

N TS

CONTENTS SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 DISPOSAL OF WASTE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

CHAPTER 1 SPECIFICATIONS 7 1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.2 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.3 Servo amplifier/motor combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.4 Servo amplifier standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

MR-J5-_A_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Functional safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.5 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.6 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.7 Special specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Servo amplifiers without the dynamic brake (-ED/-RU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

CHAPTER 2 FUNCTION 17 2.1 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2.2 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

CHAPTER 3 STRUCTURE 26 3.1 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 3.2 Switch setting and display of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Display sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Diagnostic mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Alarm mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Parameter mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 External I/O signal display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

CHAPTER 4 STARTUP 46 4.1 Turning on servo amplifier for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Test operation of the servo motor alone in test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Equipment configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Controller-related setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Operation by controller command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4.2 Instructions on startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.3 Troubleshooting at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.4 Duplicate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Duplication using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.5 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Execution method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Motor driving by test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Motor-less operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

5

6

Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 4.6 Servo amplifier setting initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Initialization procedure by MR Mode Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 67 5.1 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 5.2 Parts with a service life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 5.3 Replacing fan unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

CHAPTER 6 COMPLIANCE WITH GLOBAL STANDARDS 69 6.1 Compliance with global standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations

on the Transport of Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Target model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Handling during transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Package at our shipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Transportation precaution for customers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

6.3 Symbol for the new EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 6.4 Compliance with China Compulsory Certification (CCC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 6.5 Compliance with the China RoHS directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78

1

1 SPECIFICATIONS

1.1 Outline MR-J5-_A_ is a servo amplifier that is used with pulse train commands/analog voltage commands.

1.2 Model designation

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

Serial number

Model Capacity Applicable power supply Rated output Standard, manual number Ambient temperature IP rating KC number

Date of manufacture

Country of origin

1 SPECIFICATIONS 1.1 Outline 7

8

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

*1 : The corresponding item is included or supported. : The corresponding item is not included or not supported.

1.3 Servo amplifier/motor combinations Refer to "Servo amplifier/motor combinations" in the following manual. MR-J5 User's Manual (Hardware)

Item Special specifications *1 Detailed explanation

Not attached (standard model)

-RJ -ED -RU

CN2L connector Page 27 External encoder connectorLinear servo system Two-wire type

Four-wire type

A/B/Z-phase differential input

Fully closed loop system Scale measurement function

Two-wire type

Four-wire type

A/B/Z-phase differential input

Analog input 14 bits or its equivalent Refer to [Pr. PC60.1] in the following manual. MR-J5-A User's Manual (Parameters)

16 bits or its equivalent

Built-in dynamic brake 7 kW or less Page 16 Servo amplifiers without the dynamic brake (-ED/- RU)

10 0.1 20 0.2 40 0.4 60 0.6 70 0.75 100 1 200 2 350 3.5 500 5 700 7

M R - - 6 0 A J- RJ 5

-RJ -ED -RU

4

4

Special specificationSeries Symbol Special specification

Rated output None Standard Rated output [kW]Symbol Compatible with load-side encoder A/B/Z-phase input/high-resolution analog input

General-purpose interface

Standard model without the dynamic brake MR-J5-_A_-RJ without the dynamic brake

Symbol Power supply

Power supply

None 3-phase or 1-phase 200 V AC to 240 V AC 3-phase 380 V AC to 480 V AC

1 SPECIFICATIONS 1.3 Servo amplifier/motor combinations

1

1.4 Servo amplifier standard specifications MR-J5-_A_

200 V class Model: MR-J5- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A Output Voltage 3-phase 0 V AC to 240 V AC

Rated current [A] 1.3 1.8 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0

Main circuit power supply input

Voltage/ Frequency

At AC input

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

3-phase or 1- phase 200 V AC to 240 V AC, 50 Hz/ 60 Hz *4

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

At DC input

283 V DC to 340 V DC

Rated current [A] *3 0.9 1.5 2.6 3.2 3.8 5.0 10.5 16.0 21.7 28.9

Permissible voltage fluctuation

At AC input

3-phase or 1-phase 170 V AC to 264 V AC 3-phase or 1- phase 170 V AC to 264 V AC *4

3-phase 170 V AC to 264 V AC

At DC input

241 V DC to 374 V DC

Permissible frequency fluctuation

Within 5 %

Power supply capacity [kVA]

Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware)

Inrush current [A] Refer to "Inrush currents at power-on of main circuit and control circuit" in the following manual. MR-J5 User's Manual (Hardware)

Control circuit power supply input

Voltage/ Frequency

At AC input

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

At DC input

283 V DC to 340 V DC

Rated current [A] 0.2 0.3

Permissible voltage fluctuation

At AC input

1-phase 170 V AC to 264 V AC

At DC input

241 V DC to 374 V DC

Permissible frequency fluctuation

Within 5 %

Power consumption [W] 30

Inrush current [A] Refer to "Inrush currents at power-on of main circuit and control circuit" in the following manual. MR-J5 User's Manual (Hardware)

Interface power supply

Voltage 24 V DC 10 %

Current capacity [A] 0.5 (including CN8 connector signals) *1

Control method Sine-wave PWM control, current control method

Dynamic brake Built-in

Communication function

USB Connection to a personal computer or other devices (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. pulse frequency 4 Mpulses/s (for differential receiver) *5, 200 kpulses/s (for open collector)

Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 26 bits

Command pulse multiplying factor

Electronic gear A/B multiple, A:1 to 2147483647, B:1 to 2147483647, 1/10 < A/B < 64000

In-position range setting 0 pulses to 16777215 pulses (command pulse unit)

Excessive error 3 revolutions

Torque limit Set with servo parameter or external analog input (0 V DC to +10 V DC/maximum torque)

1 SPECIFICATIONS 1.4 Servo amplifier standard specifications 9

10

*1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. *2 If closely mounting the servo amplifiers, operate them at an ambient temperature of 0 C to 45 C or at 75 % or less of the effective load

ratio. *3 This current value is applicable when a 3-phase power supply is used. *4 If using 1-phase power supply in combination with the servo motor of 750 W or higher, operate the servo amplifier at 75 % or less of the

effective load ratio. *5 When the servo amplifier is set to the initial setting, commands up to 1 Mpulse/s can be input. When inputting commands exceeding 1

Mpulse/s and up to 4 Mpulses/s, change the setting in [Pr. PA13]. *6 This does not apply to connectors.

400 V class

Speed control mode

Speed control range Analog speed command 1: 2000, internal speed command 1: 5000

Analog speed command input

0 V DC 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 commands

Torque limit Set with servo 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 with servo parameter setting or external analog input (0 V DC to 10 V DC/rated speed)

Fully closed loop control Supported

Load-side encoder interface

MR-J5-_A Mitsubishi Electric high-speed serial communication

MR-J5-_A-RJ Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal

Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive error protection, magnetic pole detection protection, and linear servo control error protection

Satisfied standards

CE marking LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061

UKCA marking LVD: BS EN 61800-5-1, EMC: BS EN IEC 61800-3, MD: BS EN ISO 13849-1:2015, BS EN 61800-5-2, BS EN 62061

UL standard UL 61800-5-1

Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling, open (IP20) *6

Close mounting *2 3-phase power supply input Possible

1-phase power supply input Possible Impossible

Mass [kg] 0.8 1.0 1.4 2.2 3.7 6.2

Model: MR-J5- 60A4 100A4 200A4 350A4 Output Voltage 3-phase 0 V AC to 480 V AC

Rated current [A] 1.6 2.8 5.5 8.6

Main circuit power supply input

Voltage/ Frequency

At AC input

3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

Rated current [A] 1.4 2.5 5.1 7.9

Permissible voltage fluctuation

At AC input

3-phase 323 V AC to 528 V AC

Permissible frequency fluctuation

Within 5 %

Power supply capacity [kVA]

Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware)

Inrush current [A] Refer to "Inrush currents at power-on of main circuit and control circuit" in the following manual. MR-J5 User's Manual (Hardware)

Model: MR-J5- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A

1 SPECIFICATIONS 1.4 Servo amplifier standard specifications

1

*1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. *2 When the servo amplifier is set to the initial setting, commands up to 1 Mpulse/s can be input. When inputting commands exceeding 1

Mpulse/s and up to 4 Mpulses/s, change the setting in [Pr. PA13].

Control circuit power supply input

Voltage/ Frequency

At AC input

1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

Rated current [A] 0.1

Permissible voltage fluctuation

At AC input

1-phase 323 V AC to 528 V AC

Permissible frequency fluctuation

Within 5 %

Power consumption [W] 30

Inrush current [A] Refer to "Inrush currents at power-on of main circuit and control circuit" in the following manual. MR-J5 User's Manual (Hardware)

Interface power supply

Voltage 24 V DC 10 %

Current capacity [A] 0.5 (including CN8 connector signals) *1

Control method Sine-wave PWM control, current control method

Dynamic brake Built-in

Communication function

USB Connection to a personal computer or other devices (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. pulse frequency 4 Mpulses/s (for differential receiver) *2, 200 kpulses/s (for open collector)

Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 26 bits

Command pulse multiplying factor

Electronic gear A/B multiple, A:1 to 2147483647, B:1 to 2147483647, 1/10 < A/B < 64000

In-position range setting 0 pulses to 16777215 pulses (command pulse unit)

Excessive error 3 revolutions

Torque limit Set with servo 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 V DC 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 commands

Torque limit Set with servo 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 with servo parameter setting or external analog input (0 V DC to 10 V DC/rated speed)

Fully closed loop control Supported

Load-side encoder interface

MR-J5-_A4 Mitsubishi Electric high-speed serial communication

MR-J5-_A4-RJ Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal

Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, excessive error protection, magnetic pole detection protection, and linear servo control error protection

Satisfied standards

CE marking LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061

UKCA marking LVD: BS EN 61800-5-1, EMC: BS EN IEC 61800-3, MD: BS EN ISO 13849-1:2015, BS EN 61800-5-2, BS EN 62061

UL standard UL 61800-5-1

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

Close mounting Impossible

Mass [kg] 1.6 2.2 2.3

Model: MR-J5- 60A4 100A4 200A4 350A4

1 SPECIFICATIONS 1.4 Servo amplifier standard specifications 11

12

Functional safety

*1 A test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuits to perform self-diagnosis.

*2 Although the special proof tests within the mission time of the safety sub-function is not needed to be performed, the suggested diagnostic test interval in IEC 61800-5-2: 2016 is at least one test per three months for Category 3 PL e, SIL 3.

Environment

*1 Refer to "Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m" in the following manual for using the product at altitude exceeding 1000 m. MR-J5 User's Manual (Hardware)

Item Specifications Safety sub-function STO (IEC/EN 61800-5-2)

Safety performance

Satisfied standards EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2

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

Test pulse input (STO) *1 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)

PFH = 6.4 10-9 [1/h]

Mission time (TM) *2 TM = 20 [year]

Item Operation Transportation Storage Ambient temperature 0 C to 60 C (non-freezing)

Class 3K3 (IEC 60721-3-3) -25 C to 70 C (non-freezing) Class 2K12 (IEC 60721-3-2)

-25 C to 70 C (non-freezing) Class 1K4 (IEC 60721-3-1)

Ambient humidity 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing)

Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude/atmospheric pressure

Altitude: 2000 m or less *1 Transportation conditions: Must be transported by ground/sea, or air at an atmospheric pressure of 700 hPa or more.

Atmospheric pressure: 700 hPa to 1060 hPa (equivalent to the altitude of -400 m to 3000 m.)

Vibration resistance Under intermittent vibration: 10 Hz to 57 Hz, displacement amplitude 0.075 mm 57 Hz to 150 Hz, acceleration amplitude 9.8 m/s2

Class 3M1 (IEC 60721-3-3) Under continuous vibration (in each of the X, Y, and Z directions): 10 Hz to 55 Hz, acceleration amplitude 5.9 m/s2

2 Hz to 9 Hz, displacement amplitude (half amplitude) 7.5 mm 9 Hz to 200 Hz, acceleration amplitude 20 m/s2

Class 2M3 (IEC 60721-3-2)

2 Hz to 9 Hz, displacement amplitude (half amplitude) 1.5 mm 9 Hz to 200 Hz, acceleration amplitude 5 m/s2

Class 1M2 (IEC 60721-3-1)

Dielectric strength

200 V class

Between main circuit (power supply/power terminal) and PE: 1500 V AC, 1 minute, 50 Hz/60 Hz

400 V class

Between main circuit (power supply/power terminal) and PE: 2000 V AC, 1 minute, 50 Hz/60 Hz

Insulation resistance Between main circuit (power supply/power terminal) and PE: 0.5 M or more (with a 500 V DC megger)

1 SPECIFICATIONS 1.4 Servo amplifier standard specifications

1

1.5 Function block diagram The following shows the function block diagram of this servo amplifier.

200 V class

*1 The regenerative resistor is not built into the MR-J5-10A_. *2 Servo amplifiers with the rated output symbol of 70 (MR-J5-70A_) or greater have a cooling fan. *3 This is for the MR-J5-_A-RJ servo amplifier. The MR-J5-_A servo amplifier does not have a CN2L connector. *4 To configure an absolute position detection system by using a direct drive motor, the battery is required. To configure the absolute

position detection system by using the HK series servo motor, the battery is not required.

U U

U

L11

L21

N-C D

L3

L2

L1MCMCCB U

V

W

U

V

W

P3 P4 P+

+

+ B

RA B1

B2

C N

4

M

C N

2

C N

8

CN5 CN6 I/F

USB D/AA/D

USB

CN3

*1

C N

2L

*3

E

Power factor improving DC reactor

Regenerative option

Servo amplifier Servo motor

Diode stack

Dynamic brake circuitRelay

Current detectorPower

supply Regenerative TRCharge

light

Cooling fan *2

Electromagnetic brake

Control circuit power supply STO

circuit

STO switch

EncoderOvercurrent protection

Base amplifier

Voltage detection

Current detection

Step- down circuit

Control engine

Battery *4

External encoder

D I/O control Servo-on Command pulse train input Start Malfunction, or others

Analog (2 channels)

Personal computer Analog monitor

(2 channels)

24 V DC

1 SPECIFICATIONS 1.5 Function block diagram 13

14

400 V class

*1 Servo amplifiers with the rated output symbol of 200 (MR-J5-200A4_) or greater have a cooling fan. *2 This is for the MR-J5-_A4-RJ servo amplifier. The MR-J5-_A4 servo amplifier does not have a CN2L connector.

U U

U

L11

L21

N-C D

L3

L2

L1MCMCCB U

V

W

U

V

W

P3 P4 P+

+

+ B

RA B1

B2

C N

4

M

C N

2

C N

8

CN5 CN6 I/F

USB D/AA/D

USB

CN3 C

N 2L

*2

E

Power factor improving DC reactor

Regenerative option

Servo amplifier Servo motor

Diode stack

Dynamic brake circuitRelay

Current detectorPower

supply Regenerative TRCharge

light

Cooling fan *1

Electromagnetic brake

Control circuit power supply STO

circuit

STO switch

EncoderOvercurrent protection

Base amplifier

Voltage detection

Current detection

Step- down circuit

Control engine

External encoder

D I/O control Servo-on Command pulse train input Start Malfunction, or others

Analog (2 channels)

Personal computer Analog monitor

(2 channels)

24 V DC

1 SPECIFICATIONS 1.5 Function block diagram

1

1.6 Configuration including peripheral equipment Equipment other than the servo amplifier and servo motor is optional or a recommended product. The following is an example using MR-J5-20A-RJ.

*1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. *2 This is for the MR-J5-_A-RJ servo amplifier. The MR-J5-_A servo amplifier does not have a CN2L connector. If using the MR-J5-_A-RJ

servo amplifier in a linear servo system or a fully closed loop system, connect an external encoder to this connector. Refer to the following for the compatible external encoders. Page 26 Parts identification

CN5

P+

C

L11

L21

P3

P4

MR Configurator2

CN6

CN8

CN3

CN2

W

V

U L1 L2 L3

*1

(MC)

CN2L *2

R S T

C N 4

L2

L3

N-

P3

P4

P+

C

D

L11

L21

U

V

W

L1 C N 1

C N 5

C N 6

C N 8

C N 2

C N 3

C N 2 L

(FR-BSF01)

(FR-HEL)

(MCCB)

E

Power supply

Molded-case circuit breaker

Personal computer

Magnetic contactor

Analog monitor

Safety relay

Line noise filter

Junction terminal block

Power factor improving DC reactor

Servo motorRegenerative option

1 SPECIFICATIONS 1.6 Configuration including peripheral equipment 15

16

1.7 Special specifications Servo amplifiers without the dynamic brake (-ED/-RU)

Summary This section describes the servo amplifiers without the dynamic brake. Items not described in this section are the same as the MR-J5-_A(4)(-RJ).

Specifications The built-in dynamic brakes of the servo amplifiers with capacity of 7 kW or less are removed. Take safety measures such as providing an extra circuit in case of an emergency stop, alarm, and servo motor stop at power supply shut-off. When specific servo motors are being used, the electronic dynamic brake may be activated at an alarm occurrence. For the specific servo motors, refer to "Precautions relating to the dynamic brake characteristics" in the following manual. MR-J5 User's Manual (Hardware) Setting the following servo parameter disables the electronic dynamic brake.

When [Pr. PA04.3] is set to "2" (initial value), the forced stop deceleration function may be executed at an alarm occurrence. Setting [Pr. PA04.3] to "0" disables the forced stop deceleration function.

Servo amplifier Servo parameter Setting value MR-J5-_A(4)-ED MR-J5-_A(4)-RU

[Pr. PF09.0] 2

1 SPECIFICATIONS 1.7 Special specifications

2

2 FUNCTION

2.1 Function list The function list of this servo amplifier is shown in the following table. For details of the functions, refer to each section indicated in the detailed explanation field.

Control mode

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Drive motor

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Network

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Pulse/analog/DI command

Position control mode (P) (pulse train input)

This function operates the servo motor in the position control mode by the pulse train input.

A0 Refer to "CONTROL MODE" in the following manual. MR-J5 User's Manual (Function)

Speed control mode (S) (Internal speed command/analog speed command)

This function operates the servo motor in the speed control mode by the internal speed command or analog speed command.

A0

Torque control mode (T) (Analog torque command)

This function operates the servo motor in the torque control mode by the analog torque command.

A0

Test operation Test operation mode This function requires MR Configurator2 for JOG operation, positioning operation, motor- less operation, DO forced output, and program operation.

A0 Page 60 Test operation

Functions Detailed functions Description Ver. *1 Detailed explanation Servo motor Linear servo motor Using the linear servo motor and linear encoder

enables the linear servo system to be configured.

A0 Refer to "USING A LINEAR SERVO MOTOR" in the following manual. MR-J5 User's Manual (Hardware)

Direct drive motor Using this function enables the direct drive servo system to be configured to drive the direct drive motor.

A0 Refer to "USING A DIRECT DRIVE MOTOR" in the following manual. MR-J5 User's Manual (Hardware)

Encoder High-resolution encoder A 67108864 pulses/rev high-resolution encoder is used for the encoder of the rotary servo motor.

A0

Batteryless absolute position encoder

The rotation position of the servo motor can be backed up without the battery. Using the servo motor with this encoder enables an absolute value detection system to be configured without battery.

A0 Refer to "ABSOLUTE POSITION DETECTION SYSTEM" in the following manual. MR-J5 User's Manual (Hardware)

Functions Detailed functions Description Ver. *1 Detailed explanation Remote maintenance

Firmware update This function updates the firmware of the servo amplifier.

A0 Refer to "Firmware update" in the following manual. MR-J5 User's Manual (Function)

2 FUNCTION 2.1 Function list 17

18

Position detection

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Operation function

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Control method Semi closed loop system This function uses the servo motor encoder to

configure semi closed loop systems. A0

Fully closed loop system This function uses the load-side encoder to configure fully closed loop systems.

A5 Refer to "USING A FULLY CLOSED LOOP SYSTEM" in the following manual. MR-J5 User's Manual (Hardware)

Absolute position Absolute position detection system

This function performs homing once, and thereafter does not require homing at every power-on.

A0 Refer to "ABSOLUTE POSITION DETECTION SYSTEM" in the following manual. MR-J5 User's Manual (Hardware)

Functions Detailed functions Description Ver. *1 Detailed explanation Stop function Stroke limit function This function uses LSP (Forward rotation stroke

end) and LSN (Reverse rotation stroke end) to limit the travel interval of the servo motor.

A0 Refer to "Stroke limit function" in the following manual. MR-J5 User's Manual (Function)

Command generation

Command pulse selection The command pulse train form can be selected from among three different types.

A0 Refer to "Position control mode (P)" in the following manual. MR-J5 User's Manual (Function)

Rotation/travel direction selection This function sets the rotation direction of the servo motor without changing the command polarity.

A0 Refer to "Rotation/travel direction selection" in the following manual. MR-J5 User's Manual (Function)

Electronic gear This function performs positioning control with the value obtained by multiplying the position command from the upper controller by a set electronic gear ratio.

A0 Refer to "Electronic gear function" in the following manual. MR-J5 User's Manual (Function)

Acceleration/deceleration function This function sets the time constant of acceleration and deceleration.

A0 Refer to "Acceleration/ deceleration function" in the following manual. MR-J5 User's Manual (Function)

S-pattern acceleration/ deceleration time constant

This function performs smooth acceleration and deceleration.

A0 Refer to "S-pattern acceleration/deceleration time constant" in the following manual. MR-J5 User's Manual (Function)

Torque limit This function limits the servo motor torque. A0 Refer to "Torque limit" in the following manual. MR-J5 User's Manual (Function)

Speed limit This function limits the servo motor speed in the torque control mode.

A0 Refer to "Speed limit" in the following manual. MR-J5 User's Manual (Function)

2 FUNCTION 2.1 Function list

2

Control function

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Vibration suppression

Advanced vibration suppression control II

This function suppresses vibration and residual vibration at an arm end.

A0 Refer to "Advanced vibration suppression control II" in the following manual. MR-J5 User's Manual (Adjustment)

Machine resonance suppression filter

This function decreases the gain of the specific frequency to suppress the resonance of the mechanical system.

A0 Refer to "Machine resonance suppression filter" in the following manual. MR-J5 User's Manual (Adjustment)

Shaft resonance suppression filter When driving the servo motor with a load mounted to the servo motor shaft, resonance due to shaft torsion may generate high frequency mechanical vibration. The shaft resonance suppression filter suppresses this vibration.

A0 Refer to "Shaft resonance suppression filter" in the following manual. MR-J5 User's Manual (Adjustment)

Robust filter This function improves a disturbance response when a response performance cannot be increased because of a large load to motor inertia ratio, such as a roll feed axis.

A0 Refer to "Robust filter" in the following manual. MR-J5 User's Manual (Adjustment)

Slight vibration suppression control

This function suppresses vibration of 1 pulse generated at each servo motor stop.

A0 Refer to "SLIGHT VIBRATION SUPPRESSION CONTROL" in the following manual. MR-J5 User's Manual (Adjustment)

Tracking control Lost motion compensation function

This function reduces the response delay generated when the machine moving direction is reversed.

A0 Refer to "Lost motion compensation function" in the following manual. MR-J5 User's Manual (Adjustment)

Super trace control This function reduces the droop pulses at the rated speed and at the uniform acceleration/ deceleration to almost zero.

A5 Refer to "Super trace control" in the following manual. MR-J5 User's Manual (Adjustment)

Path tracking model adaptive control

This function reduces tracking errors in reciprocation.

A0 Refer to "Path tracking model adaptive control" in the following manual. MR-J5 User's Manual (Adjustment)

2 FUNCTION 2.1 Function list 19

20

Adjustment function

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Automatic adjustment

Quick tuning This function automatically adjusts the gain at servo-on in a short time without acceleration/ deceleration operation of the servo motor. Response without overshoot is possible, saving gain adjustment time.

A0 Refer to "Quick tuning" in the following manual. MR-J5 User's Manual (Adjustment)

Auto tuning This function automatically adjusts the gain to an optimum value even if the load applied to the servo motor shaft varies.

A0 Refer to "ADJUSTMENT FUNCTION TYPES" in the following manual. MR-J5 User's Manual (Adjustment)

One-touch tuning Gain adjustment is performed with this function just by pressing buttons on the servo amplifier or by clicking a button once on MR Configurator2.

A0 Refer to "One-touch tuning" in the following manual. MR-J5 User's Manual (Adjustment)

Custom adjustment Model adaptive control This function enables control according to the ideal model that is both stable and highly responsive. This is a two-degrees-of-freedom model and can adjust responses to commands and disturbances separately. This function can also be disabled.

A0 Refer to "MODEL ADAPTIVE CONTROL" in the following manual. MR-J5 User's Manual (Adjustment)

Gain switching function This function switches gains during rotation and during stop, and uses an input device to switch gains during operation. It supports the gain switching by rotation direction and the 3-step gain switching. Therefore, more detailed gain switching is available.

A0 Refer to "GAIN SWITCHING FUNCTION" in the following manual. MR-J5 User's Manual (Adjustment)

Adjustment support Machine analyzer This function analyzes the frequency characteristic of the mechanical system by simply connecting the servo amplifier with an MR Configurator2 installed personal computer.

A0 Refer to "Adjustment functions available in combination with MR Configurator2" in the following manual. MR-J5 User's Manual (Adjustment)

2 FUNCTION 2.1 Function list

2

I/O, monitor

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Option

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation DI/DO Input signal selection (device

selection) This function assigns input devices such as LSP (Forward rotation stroke end) to certain pins of the connector.

A0 Refer to "Assigning I/O devices" in the following manual. MR-J5 User's Manual (Function)

Output signal selection (device setting)

This function assigns output devices such as MBR (Electromagnetic brake interlock) to certain pins of the connector.

A0

Output signal (DO) forced output This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such as checking output signal wiring.

A0 Page 65 Output signal (DO) forced output

External I/O signal display This function shows the on/off status of external I/O signals on the display.

A0 Page 42 External I/O signal display

A/B/Z-phase output This function outputs the positions of the encoder and linear encoder in the A/B/Z-phase signal.

A0 Refer to "A/B/Z-phase pulse output function" in the following manual. MR-J5 User's Manual (Function)

LED Status display This function shows the servo status on the 7- segment LED display.

A0 Page 28 Switch setting and display of the servo amplifier

Analog input/output Analog command input automatic offset

Voltage is automatically offset to stop the servo motor if it does not come to a stop when an analog input such as VC (Analog speed command) or VLA (Analog speed limit) is 0 V.

A0 Page 37 Diagnostic mode

High-resolution analog input When using the MR-J5-_A-RJ, the analog input resolution is 16 bits.

A0

Analog monitor This function outputs the servo status in voltage in real time.

A0 Refer to "MONITORING" in the following manual. MR-J5 User's Manual (Function)

Monitor Power monitoring function This function calculates the running power and the regenerative power from the data in the servo amplifier such as speed and current. The power consumption and other values are displayed on MR Configurator2.

A0

Functions Detailed functions Description Ver. *1 Detailed explanation Regenerative capacity enhancement

Simple converter This function enables servo amplifiers to be used in a common DC bus connection. Utilizing the regenerative power contributes to energy- conservation. In addition, it decreases the number of molded case circuit breakers and magnetic contactors.

A0 Refer to "MR-CM simple converter" in the following manual. MR-J5 User's Manual (Hardware)

Regenerative option Use this function if the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capacity for the generated regenerative power.

A0 Refer to "Regenerative option" in the following manual. MR-J5 User's Manual (Hardware)

Multifunction regeneration converter

This function returns the regenerative energy generated at servo motor deceleration to the power supply. The bus voltage can be standardized among multiple servo amplifiers.

B0 Refer to "FR-XC-(H) multifunction regeneration converter" in the following manual. MR-J5 User's Manual (Hardware)

2 FUNCTION 2.1 Function list 21

22

Engineering tool

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Protective functions

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Setup software MR Configurator2 This function performs settings (such as servo

parameter settings), test operation, and monitoring with a personal computer.

A0 Page 46 STARTUP

Functions Detailed functions Description Ver. *1 Detailed explanation Alarm Alarm function This function displays an alarm or warning when

an error occurs during operation. When an alarm occurs, ALM (Malfunction) turns off and stops the servo motor. When a warning occurs, WNG (Warning) will turn on. The servo motor may stop or continue operation depending on the warning.

A0 Refer to "Alarm function" in the following manual. MR-J5 User's Manual (Function)

Alarm history clear This function clears alarm histories. A0 Refer to "Alarm history" in the following manual. MR-J5 User's Manual (Function)

Power error detection

Disconnection detection function This function detects a disconnection in the main circuit power supply input and the servo motor power supply output.

A0 Refer to "Disconnection/ incorrect wiring detection function" in the following manual. MR-J5 User's Manual (Function)

Coasting distance reduction

Forced stop deceleration function This function decelerates the servo motor to a stop at EM2 (Forced stop 2) off or when there is an alarm.

A0 Refer to "Forced stop deceleration function" in the following manual. MR-J5 User's Manual (Function)

Drop protection Electromagnetic brake interlock function

This function operates the electromagnetic brake at servo off and error occurrence, and prevents the vertical axis from dropping.

A0 Refer to "Electromagnetic brake interlock function" in the following manual. MR-J5 User's Manual (Function)

Vertical axis freefall prevention function

This function moves the axis up by the mechanical backlash amount of the electromagnetic brake to prevent damage to machines.

A0 Refer to "Vertical axis freefall prevention function" in the following manual. MR-J5 User's Manual (Function)

Braking protection Dynamic brake During the power shut-off and alarm occurrence, this function shorts between U, V, and W phases and operates the dynamic brake.

A0 Refer to "Dynamic brake characteristics" in the following manual. MR-J5 User's Manual (Hardware)

2 FUNCTION 2.1 Function list

2

Functional safety

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Instantaneous power failure measures

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Single servo amplifier function

STO function This servo amplifier supports the STO function for functional safety as per IEC/EN 61800-5-2. This allows a safety system to be easily configured for the equipment.

A0 Refer to "USING STO FUNCTION" in the following manual. MR-J5 User's Manual (Hardware)

Functions Detailed functions Description Ver. *1 Detailed explanation Tough drive SEMI-F47 function This function uses the electrical energy charged

in the capacitor to avoid triggering [AL. 010 Undervoltage] in case that an instantaneous power failure occurs during operation. Use a 3- phase power supply for the input power supply of the servo amplifier. Using a 1-phase 200 V AC for the input power supply will not comply with SEMI-F47 standard.

A0 Refer to "Compliance with SEMI-F47 standard" in the following manual. MR-J5 User's Manual (Function)

Tough drive function This function makes the equipment continue operating even under conditions where an alarm would normally occur. There are two types of tough drive function: the vibration tough drive and the instantaneous power failure tough drive.

A0 Refer to "Tough drive function" in the following manual. MR-J5 User's Manual (Function)

2 FUNCTION 2.1 Function list 23

24

Diagnostics

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

History

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated firmware version or later.

Functions Detailed functions Description Ver. *1 Detailed explanation Drive data diagnosis Drive recorder This function continuously monitors the servo

status and records the state transition before and after an alarm for a fixed period of time. The recorded data can be checked by the Waveform-Display button on the drive recorder window of MR Configurator2 being clicked.

A0 Refer to "Drive recorder" in the following manual. MR-J5 User's Manual (Function)

Graph function This function obtains the servo status in the graph.

A0 Refer to "Graph function" in the following manual. MR-J5 User's Manual (Function)

Failure diagnosis Encoder communication diagnosis function

This function diagnoses with MR Configurator2 whether the encoder communication error is caused by the circuit malfunction of the servo amplifier or by the malfunction of the cables/ encoder.

A0 Refer to "Encoder communication diagnosis function" in the following manual. MR-J5 User's Manual (Function)

Service life diagnosis

Servo amplifier life diagnosis function

This function enables checking of the cumulative energization time, the number of the inrush relay on/off times, and the number of dynamic brake usage times. It gives an indication of the replacement time for parts on the servo amplifier with a service life (such as the capacitor and the relay) before they malfunction. MR Configurator2 is required for this function.

A0 Refer to "Servo amplifier life diagnosis function" in the following manual. MR-J5 User's Manual (Function)

Motor life diagnosis function This function predicts failures of the equipment and the servo motor based on the machine total travel distance. It gives an indication of the replacement time for the servo motor.

A0

Machine diagnosis function This function uses the data in the servo amplifier to estimate the friction and vibrational component of the drive system in the equipment and to recognize an error in machine parts such as ball screws and bearings.

A0 Refer to "Machine diagnosis" in the following manual. MR-J5 User's Manual (Function)

This function automatically sets the threshold used for detecting the error of machine parts such as ball screws and bearings. It outputs the warning when the friction, vibrational component, and total revolution of the servo motor are out of the set threshold. The error in the machine parts such as ball screws and bearings can be detected automatically.

A0

This function estimates the friction of gears and loosening of belts (decrease in the belt tension), and detects errors in the gears and belts.

A0

System diagnosis System configuration information This function uses MR Configurator2 to monitor the servo amplifier model, connected servo motor, encoder, and other information.

A0 Refer to "System configuration display" in the following manual. MR-J5 User's Manual (Function)

Functions Detailed functions Description Ver. *1 Detailed explanation Alarm history This function saves information of the alarm that

occurred in the servo amplifier. The information is saved in chronological order and used for occasions such as analyzing the cause of the alarm.

A0 Refer to "Alarm history" in the following manual. MR-J5 User's Manual (Function)

2 FUNCTION 2.1 Function list

2

2.2 Security To completely prevent unauthorized access to the system from external devices, the user also must take safety measures. Mitsubishi Electric Corporation cannot be held responsible for any problems caused by unauthorized access.

2 FUNCTION 2.2 Security 25

26

3 STRUCTURE

3.1 Parts identification

MR-J5-_A_ The diagram shows MR-J5-10A-RJ.

No. Name Application Detailed explanation (1) Display section The 5-digit, 7-segment LED display shows the servo status and

alarm number. Page 28 Switch setting and display of the servo amplifier

(2) Operation section Used to perform status display, diagnostic, alarm, and servo parameter setting operations. Push the "MODE" and "SET" at the same time for 3 s or more to switch to the one-touch tuning mode.

Page 28 Switch setting and display of the servo amplifier

(3) USB communication connector (CN5) Connect with a personal computer.

(4) Ethernet cable connector (CN1) Connect with a personal computer.

(5) Analog monitor connector (CN6) Outputs the analog monitor. Refer to "Connectors and pin assignments" in the following manual. MR-J5 User's Manual (Hardware)

(6) Functional safety I/O signal connector (CN8)

Connect an external safety relay to use the STO function. Refer to "USING STO FUNCTION" in the following manual. MR-J5 User's Manual (Hardware)

SFTY

C N 4

L2

L3

N-

P3

P4

P+

C

D

L11

L21

U

V

W

L1 C N 1

C N 5

C N 6

C N 8

C N 2

C N 3

C N 2 L

(1)

(3)

(4)

(2)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(15)

(14)

(16)

(17)

Bottom

Side

Inside of the display cover

3 STRUCTURE 3.1 Parts identification

3

*1 This is for the MR-J5-_A-RJ servo amplifier. The MR-J5-_A servo amplifier does not have a CN2L connector. *2 For the terminal name/assignment, refer to "DIMENSIONS" in the following manual.

MR-J5 User's Manual (Hardware)

External encoder connector The external encoder of A/B/Z-phase differential output type can be connected using the CN2L connector. The following table shows the communication method of the external encoder compatible with the MR-J5-_A_ and MR-J5-_A_-RJ servo amplifiers.

*1 The MR-J4THCBL03M branch cable is required. *2 The MR-J4FCCBL03M branch cable is required. *3 If the external encoder communication method is the four-wire type, CN2 cannot be used. In that case, use the MR-J5-_A_-RJ. *4 Connect a thermistor to CN2. *5 Available on servo amplifiers with firmware version A5 or later.

(7) I/O signal connector (CN3) Connect the digital I/O signals. Refer to "Connectors and pin assignments" in the following manual. MR-J5 User's Manual (Hardware)

(8) Encoder connector (CN2) Connect a servo motor encoder or an external encoder. Page 27 External encoder connector

(9) *1 External encoder connector (CN2L) Connect the external encoder. Page 27 External encoder connector

(10) Battery connector (CN4) To use the direct drive motor, connect the battery for absolute position data backup.

Refer to "ABSOLUTE POSITION DETECTION SYSTEM" in the following manual. MR-J5 User's Manual (Hardware)

(11) Main circuit power connector (CNP1) *2 Connect the input power supply. Refer to "Explanation of power supply system" in the following manual. MR-J5 User's Manual (Hardware)

(12) Control circuit power connector (CNP2) *2 Connect the control circuit power supply and regenerative option.

(13) Servo motor power output connector (CNP3) *2

Connect the servo motor.

(14) Charge light When the main circuit is charged, this light is on. While the light is on, do not change the connections of the wires.

(15) Battery holder Install the battery for absolute position data backup. Refer to "DIMENSIONS" in the following manual. MR-J5 User's Manual (Hardware)

(16) Protective earth (PE) terminal Connect this terminal to the protective earth (PE) of the cabinet. Refer to "Explanation of power supply system" in the following manual. MR-J5 User's Manual (Hardware)

(17) Rating plate Indicates model, capacity, and other information. Page 7 Rating plate

Operation mode External encoder communication method

Connector

MR-J5-_A_ MR-J5-_A_-RJ Linear servo system Two-wire type CN2 *1 CN2 *1

Four-wire type

A/B/Z-phase differential input CN2L *4

Fully closed loop system *5 Two-wire type CN2 *2*3 CN2L

Four-wire type

A/B/Z-phase differential input

No. Name Application Detailed explanation

3 STRUCTURE 3.1 Parts identification 27

28

3.2 Switch setting and display of the servo amplifier

Outline The MR-J5-_A_ servo amplifier has the display section (5-digit, 7-segment LED) and operation section (4 push buttons) for servo amplifier status display, alarm display, servo parameter setting, etc. Push the "MODE" and "SET" buttons at the same time for 3 s or longer to switch to the one-touch tuning mode.

Display sequence Press the "MODE" button once to shift to the next display mode. Use the basic setting parameters [Pr. PA19 Parameter writing prohibited] to refer to and operate the gain/filter parameters, extension setting parameters, and I/O setting parameters.

Display mode transition Initial screen Functions Reference Status display The servo status is displayed. The display at

power-on differs depending on each operation mode.*1

Page 30 Status display

One-touch tuning Select this when performing the one-touch tuning. Refer to "One-touch tuning" in the following manual. MR-J5 User's Manual (Adjustment)

Diagnostics The status display of each servo amplifier such as sequence display and external I/O signal display and test operation are enabled.

Page 37 Diagnostic mode

Alarm The current alarm, alarm history, and servo parameter error No. are displayed.

Page 39 Alarm mode

SFTY

5-digit, 7-segment LED Displays the data.

Decimal LED Displays the decimal points, alarm presence/absence, and others.

Lit to indicate the decimal point.

Changes display mode Switches Low/High To switch to the one-touch tuning mode, this button is pushed together with the "SET" button for 3 s or more. Scrolls display/data (UP) Scrolls display/data (DOWN) Determines display/data Clears data To switch to the one-touch tuning mode, this button is pushed together with the "MODE" button for 3 s or more.

Decimal

Lit to indicate a negative when "-" (negative) cannot be displayed.

Blinks to indicate alarm occurrence.

Light off: Functional safety unavailable Light on: Functional safety available

Blinks to indicate the test operation mode.

MODE

SET

SFTY

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier

3

*1 When the axis name is set to the servo amplifier using MR Configurator2, the servo status is displayed after the axis name is displayed.

Basic setting servo parameters The basic setting parameters can be displayed and set.

Page 40 Parameter mode

Gain/filter servo parameters The gain/filter parameters can be displayed and set.

Extension setting servo parameters

The extension setting parameters can be displayed and set.

I/O setting servo parameters The I/O setting parameters can be displayed and set.

Extension setting 2 servo parameters

The extension setting 2 parameters can be displayed and set.

Extension setting 3 servo parameters

The extension setting 3 parameters can be displayed and set.

For manufacturer setting This is for manufacturer setting.

For manufacturer setting This is for manufacturer setting.

Motor extension setting parameters

The motor extension setting parameters can be displayed and set.

For manufacturer setting This is for manufacturer setting.

For manufacturer setting This is for manufacturer setting.

For manufacturer setting This is for manufacturer setting.

Display mode transition Initial screen Functions Reference

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier 29

30

Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press "UP" or "DOWN" to change display data as desired. When the servo status is selected, the corresponding symbol is displayed. Press "SET" to display its data. Only at power-on, the symbol of the status display selected with [Pr. PC36] is displayed for 2 s, and then the data is displayed.

Display transition After selecting the status display mode by pressing "MODE", pressing "UP" or "DOWN" button changes the display as follows. The status that can be displayed differs depending on the operation mode or control mode. Refer to the following for details. Page 31 Status display list

Display examples Item Status Display method Servo motor speed 2500 r/min in the forward rotation

3000 r/min in the reverse rotation

Load to motor inertia ratio 7.00 multiplier

ABS counter 11252 rev

-12566 rev

DOWN UP

DOWN UP

DOWN UP

DOWN UP

DOWN UP

Cumulative feedback pulses

Motor speed

Unit total power consumption 2 (increment of 100 kWh)

The negative 5-digit number is indicated by the lit decimal points of the upper four digits.

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier

3

Status display list Status display Symbol Unit Description Control

mode *1 Operation mode *2

P S T Semi closed

Fully closed

Cumulative feedback pulses

pulse The feedback pulses from a servo motor encoder are counted and displayed. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value because the servo amplifier display is five digits. Press the "SET" button to reset the display value to "0". The decimal points in the upper four digits are lit for a negative value.

Servo motor speed/ linear servo motor speed

r/min or mm/s

The servo motor speed is displayed. It is displayed rounding off 0.1 r/min (0.1 mm/s) unit.

Droop pulse pulse The number of droop pulses in the deviation counter is displayed. The decimal points in the upper four digits are lit for reverse rotation pulses. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value because the servo amplifier display is five digits. The number of pulses is displayed in the units of encoder pulses.

Cumulative command pulses

pulse Position command input pulses are counted and displayed. As the value before being multiplied by the electronic gear (CMX/CDV) is displayed, the value may not match the indicated cumulative feedback pulses. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value because the servo amplifier display is five digits. Press the "SET" button to reset the display value to "0". When the servo motor is rotating in the reverse direction, the decimal points in the upper four digits are lit.

Command pulse frequency

kpulse/s The frequency of the position command input pulses is displayed. The value before being multiplied by the electronic gear (CMX/CDV) is displayed.

Analog speed limit voltage

V The input voltage of VLA (Analog speed limit) is displayed.

Analog speed command voltage

The input voltage of VC (Analog speed command) is displayed.

Analog torque limit voltage

V The voltage of TLA (Analog torque limit) is displayed.

Analog torque command voltage

The voltage of TC (Analog torque command) is displayed.

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier 31

32

Regenerative load ratio

% The ratio of regenerative power to permissible regenerative power is displayed in %.

Effective load ratio % The continuous effective load current is displayed. The effective value in the past 15 s is displayed in relation to the rated current (= 100 %).

Peak load ratio % The maximum generated torque is displayed. The highest value in the past 15 s is displayed relative to the rated torque as 100 %.

Instantaneous torque

% The instantaneous torque is displayed. The rated torque is displayed as 100 %. The value of the generated torque is displayed in real time.

Position within one- revolution (1 pulse unit)

pulse The position within one-revolution is displayed in the encoder pulse unit. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value because the servo amplifier display is five digits. When the servo motor rotates in the CCW direction, the value is added.

Position within one- revolution (1000 pulses unit)

1000 pulses

The position within one-revolution is displayed by increments of 1000 pulses unit of the encoder. When the servo motor rotates in the CCW direction, the value is added.

ABS counter rev The travel distance from the home position is displayed as multi- revolution counter value of the absolution position encoder in the absolution position detection system.

Load to motor inertia ratio

Multiplier The estimated ratio of the load inertia moment to the servo motor inertia moment is displayed.

Bus voltage V The voltage of main circuit converter (between P+ and N-) is displayed.

Internal temperature of encoder

C The internal temperature detected by the encoder is displayed. If the internal temperature of encoder cannot be obtained, such case as the linear servo motor or others, "9999" is displayed.

Settling time ms The settling time is displayed. When the settling time exceeds 1000 ms, "1000" is displayed.

Oscillation detection frequency

Hz The frequency at the time of oscillation detection is displayed.

Status display Symbol Unit Description Control mode *1

Operation mode *2

P S T Semi closed

Fully closed

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier

3

Number of tough drive operations

times The number of times the tough drive function has activated is displayed.

Unit power consumption 1 (increment of 1 W)

W The unit power consumption by increment of 1 W is displayed. The positive value indicates power running, and negative value indicates regeneration. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value because the servo amplifier display is five digits.

Unit power consumption 2 (increment of 1 kW)

kW The unit power consumption by increment of 1 kW is displayed. The positive value indicates power running, and negative value indicates regeneration.

Unit total power consumption 1 (increment of 1 Wh)

Wh The unit total power consumption by increment of 1 Wh is displayed. The positive value is accumulated during power running, while negative value is accumulated during regeneration. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value because the servo amplifier display is five digits.

Unit total power consumption 2 (increment of 100 kWh)

100 kWh The unit total power consumption by increment of 100 kWh is displayed. The positive value is accumulated during power running, while negative value is accumulated during regeneration.

Cumulative feedback pulses from load-side encoder *3

pulse The feedback pulses from the load- side encoder are counted and displayed. The values in excess of 99999 can be counted. However, the counter shows only the lower five digits of the actual value because the servo amplifier display is five digits. Press the "SET" button to reset the display value to "0". The decimal points in the upper four digits are lit for a negative value.

Load-side encoder droop pulses *3

pulse Droop pulses in the deviation counter, which are the pulse differences between a load-side position and a command, are displayed. When the count exceeds 99999, it starts from 0. The decimal points in the upper four digits are lit for a negative value.

Status display Symbol Unit Description Control mode *1

Operation mode *2

P S T Semi closed

Fully closed

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier 33

34

Load-side encoder information 1 (1 pulse unit) *3

pulse The Z-phase counter of the load- side encoder is displayed in the encoder pulse unit. For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For absolute position linear encoder, the absolute position of encoder is displayed. When the count exceeds 99999, it starts from 0.

Load-side encoder information 1 (100000 pulses unit) *3

100000 pulses

The Z-phase counter of the load- side encoder is displayed in 100000 pulses unit. For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For absolute position linear encoder, the absolute position of encoder is displayed. When the count exceeds 99999, it starts from 0.

Load-side encoder information 2 *3

rev If an incremental linear encoder is used as the load-side encoder, "0" is displayed. If an absolute position linear encoder is used as the load-side encoder, "0" is displayed. If a rotary encoder is used as the load-side encoder, the multi- revolution counter value of the encoder is displayed.

Motor-side encoder information 1 (1 pulse unit) *3

pulse The position within one revolution of the motor-side encoder is displayed in the encoder pulse unit. For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For absolute position linear encoder, the absolute position of encoder is displayed. When the count exceeds 99999, it starts from 0.

Motor-side encoder information 1 (100000 pulses unit) *3

100000 pulses

The position within one revolution of the motor-side encoder is displayed in 100000 pulses unit. For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For absolute position linear encoder, the absolute position of encoder is displayed. When the count exceeds 99999, it starts from 0.

Status display Symbol Unit Description Control mode *1

Operation mode *2

P S T Semi closed

Fully closed

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier

3

*1 P: Position control mode S: Speed control mode T: Torque control mode

*2 Semi closed: Semi closed loop control mode Fully closed: Fully closed loop control mode

*3 Available on servo amplifiers with firmware version A5 or later.

Motor-side encoder information 2 *3

rev If an incremental linear encoder is used as the motor-side encoder, "0" is displayed. If an absolute position linear encoder is used as the motor-side encoder, "0" is displayed. If a rotary encoder is used as the motor-side encoder, the multi- revolution counter value of the encoder is displayed.

Z-phase counter low

pulse The Z-phase counter is displayed in the encoder pulse unit. For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For absolute position linear encoder, the absolute position of encoder is displayed. When the count exceeds 99999, it starts from 0. This is displayed only when the linear servo motor is used.

Z-phase counter high

100000 pulses

The Z-phase counter is displayed by increments of 100000 pulses of the encoder. For an incremental linear encoder, the Z-phase counter is displayed. The value is counted up from 0 based on the home position (reference mark). For absolute position linear encoder, the absolute position of encoder is displayed. When the count exceeds 99999, it starts from 0. This is displayed only when the linear servo motor is used.

Electrical angle low pulse The servo motor electrical angle is displayed. This is displayed only when the linear servo motor is used.

Electrical angle high 100000 pulses

The servo motor electrical angle is displayed by increments of 100000 pulses. This is displayed only when the linear servo motor is used.

Status display Symbol Unit Description Control mode *1

Operation mode *2

P S T Semi closed

Fully closed

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier 35

36

Changing the status display screen The status display on the servo amplifier at power-on can be changed with [Pr. PC36]. For each control mode, the status display in the initial status changes as follows.

Other status displays

Control mode Displayed items Position Cumulative feedback pulses

Position/speed Cumulative feedback pulses/servo motor speed

Speed Servo motor speed

Speed/torque Servo motor speed/analog torque command voltage

Torque Analog torque command voltage

Torque/position Analog torque command voltage/cumulative feedback pulses

Display Status Description Updating Indicates that a firmware update is in progress.

Initialization in progress Indicates that initialization of settings such as servo parameters is in progress.

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier

3

Diagnostic mode Name Display Description Sequence Not ready

Indicates that the servo amplifier is being initialized or an alarm has occurred.

Ready Indicates that initialization is completed, and the servo amplifier is in servo-on state and ready to operate.

Drive recorder enabled/disabled display

The drive recorder is enabled. When an alarm occurs in this state, the drive recorder operates, and records the status at the alarm occurrence.

The drive recorder is disabled. The drive recorder does not operate in the following conditions. The graph function of MR Configurator2 is being used. The machine analyzer function is being used. [Pr. PF21] is set to "-1".

External I/O signal display Page 42 External I/O signal display Indicates the on/off status of the external I/O signal. The upper segments correspond to the input signals, and the lower segments correspond to the output signals.

Output signal (DO) forced output Allows digital output signal to be switched on/off forcibly. Page 43 Output signal (DO) forced output

Test operation mode

JOG operation The JOG operation can be performed without commands from an external controller. Page 44 JOG operation

Positioning operation

The positioning operation can be performed without commands from an external controller. MR Configurator2 is required to perform the positioning operation. Page 45 Positioning operation

Motor-less operation

Without connecting the servo motor, output signals can be provided, and the status display can be monitored for the input devices as if the servo motor is actually running. Page 45 Motor-less operation

Machine analyzer operation

Merely connecting a servo amplifier allows the resonance point of the mechanical system to be measured. MR Configurator2 is required to perform the machine analyzer operation. For details, refer to Help of MR Configurator2.

For manufacturer adjustment

This is for manufacturer adjustment.

For manufacturer adjustment

This is for manufacturer adjustment.

Firmware version lower Indicates the version of the firmware.

Firmware version upper Indicates the system number of the firmware.

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier 37

38

Analog command input 1 automatic offset

The analog command input 1 offset voltage can be adjusted automatically. VC (Analog speed command)/VLA (Analog speed limit) is set as the initial value. Zero-adjustment of the offset voltage is performed automatically when the offset voltage of the internal and external analog circuits of the servo amplifier causes the servo motor to operate slowly, even though VC (Analog speed command) or VLA (Analog speed limit) is set to 0 V. When using this function, enable it in the following procedure. When it is enabled, the value of [Pr. PC37] changes to the automatically adjusted offset voltage.

1. Press "SET" once.

2. Set the number in the first digit to 1 with "UP"/"DOWN".

3. Press "SET". This function cannot be used if the input voltage of VC or VLA is -0.4 V or less, or +0.4 V or more. Even if the analog command input 1 automatic offset is performed and 0 V is inputted, the servo motor may not stop completely due to an internal error. To completely stop the servo motor, switch off ST1 or ST2 and stop.

Servo motor series ID Press the "SET" button to display the series ID of the servo motor currently connected. For the description of each display, refer to "Rotary servo motor ID codes" in the following manual. Rotary Servo Motor User's Manual (HK series)

Servo motor type ID Push "SET" to show the encoder ID of the servo motor currently connected. For the description of each display, refer to "Rotary servo motor ID codes" in the following manual. Rotary Servo Motor User's Manual (HK series)

Servo motor encoder ID Push "SET" to show the encoder ID of the servo motor currently connected. For the description of each display, refer to "Rotary servo motor ID codes" in the following manual. Rotary Servo Motor User's Manual (HK series)

For manufacturer adjustment This is for manufacturer adjustment.

For manufacturer adjustment This is for manufacturer adjustment.

Name Display Description

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier

3

Alarm mode The current alarm, past alarm history, and servo parameter error are displayed. The lower 3 digits on the display indicate the alarm No. that has occurred or the servo parameter No. in error.

Name Display Description Current alarm Indicates no occurrence of an alarm.

Indicates the occurrence of [AL. 033.1 Main circuit voltage error]. Blinks at alarm occurrence.

Alarm history Indicates that the last alarm is [AL. 050.1 Thermal overload error 1 during operation]. When an alarm is recorded to alarm history, the 2-digit decimal point is lit. Press "SET" to display the alarm No.

Indicates the second last alarm is [AL. 033.1 Main circuit voltage error]. When an alarm is recorded to alarm history, the 2-digit decimal point is lit. Press "SET" to display the alarm No.

... ...

Indicates that there is no sixteenth alarm in the past. When no alarm history exists, the display is as shown on the left column.

Servo parameter error No. Indicates no occurrence of [AL. 037 Parameter error].

The setting value of [Pr. PA12 Reverse rotation torque limit] is incorrect.

(Blinking)

"SET"

"SET"

"SET"

(The decimal point of the five digit blinks.)

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier 39

40

Functions at alarm occurrence The current alarm is displayed in any mode. 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 fifth digit remains blinking. Remove the cause of the alarm and clear the cause of the alarm in any of the following methods. Cycle the power. Press "SET" on the current alarm display. Turn on RES (Reset). Clear the alarm history with [Pr. PC18]. Press "UP" or "DOWN" to move to the next history.

Parameter mode

Parameter mode transition After selecting the corresponding servo parameter mode with "MODE" button, pressing "UP" or "DOWN" button changes the display as follows.

[Pr. PA01]

[Pr. PA02]

[Pr. PB01]

[Pr. PB02]

[Pr. PC01]

[Pr. PC02]

[Pr. PD01]

[Pr. PD02]

[Pr. PE01]

[Pr. PE02]

[Pr. PF01]

[Pr. PF02]

[Pr. Po01]

[Pr. Po02]

[Pr. PS01]

[Pr. PS02]

[Pr. PL01]

[Pr. PL02]

[Pr. PT01]

[Pr. PT02]

[Pr. PN01]

[Pr. PN02]

[Pr. PU01]

[Pr. PU02]

From alarm mode

Basic setting servo parameters

Gain/filter servo parameters

Extension setting servo parameters

I/O setting servo parameters

Extension setting 2 servo parameters

Extension setting 3 servo parameters

End End End End End End

Top Top Top Top Top Top

For manufacturer setting

For manufacturer setting

Motor extension setting servo parameters

EndEnd End

TopTop Top

For manufacturer setting

To state transition mode

For manufacturer setting

For manufacturer setting

EndEnd End

TopTop Top

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier

3

Operation method Servo parameter in hexadecimal The operation method example is shown below when [Pr. PD03 Input device selection 1L] is set to "00022002". Press "MODE" to switch to the basic setting parameter screen.

Servo parameter in decimal The following example gives the operation procedure to change [Pr. PA06 Electronic gear numerator] to "1234567890".

The servo parameter number is displayed. Press "UP" or "DOWN" to change the number.

Press the "MODE" button once.

Press the "SET" button once.

Setting of the first 4 digits Setting of the last 4 digits

Press the "SET" button once. Press the "SET" button once.

The screen blinks. The screen blinks.

Change the setting value using the "UP" or "DOWN" button.

Change the setting value using the "UP" or "DOWN" button.

Press the "SET" button once. Press the "SET" button once.

The setting value is determined. The setting value is determined.

Press the "MODE" button once.

The parameter number is displayed. Press "UP" or "DOWN" to change the number.

Press the "MODE" button once.Press the "MODE" button once.

Press the "SET" button once.

Setting of the first 4 digits Setting of the middle 4 digits

Setting of the last 4 digits

Press the "SET" button once. Press the "SET" button once. Press the "SET" button once.

The screen blinks. The screen blinks. The screen blinks.

Change the setting value using the "UP" or "DOWN" button.

Change the setting value using the "UP" or "DOWN" button.

Change the setting value using the "UP" or "DOWN" button.

Press the "SET" button once. Press the "SET" button once. Press the "SET" button once.

The setting value is determined.

The setting value is determined.

The setting value is determined.

Press the "MODE" button once. Press the "MODE" button once.

Press the "MODE" button once.

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier 41

42

When the value of the servo parameter is negative, a minus is displayed in the first digit. The example for in the case of "- 1234567890" is displayed.

External I/O signal display The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.

Operation The display screen after power-on is shown. Press "MODE" to display the diagnostic screen.

Display content The 7-segment LED segments and CN3 connector pins correspond as shown below. The CN3-13 pin and CN3-14 pin can be used on the MR-J5-_A-RJ servo amplifiers.

The LED segments corresponding to the pins are lit to indicate on, and are extinguished to indicate off. For pin signals in each control mode, refer to "Connectors and pin assignments" in the following manual. MR-J5 User's Manual (Hardware)

Press the "MODE" button once.

Press the "MODE" button once. Press the "MODE" button once.

Press the "UP" button twice.

External I/O signal display screen

CN3-16 CN3-41

CN3-22CN3-48

CN3-19 CN3-15 CN3-44 CN3-43

CN3-23CN3-25 CN3-49CN3-24

CN3-18 CN3-17

CN3-33

CN3-45 CN3-10/CN3-37 CN3-35/CN3-38

CN3-42

CN3-13CN3-14

Input signal

Always lit

Output signal

Light on: on Light off: off

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier

3

Output signal (DO) forced output This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such as checking output signal wiring. Execute this operation under the servo off status (SON (servo-on) has been turned off).

Precautions When the servo system is used with a vertical axis, turning on MBR (electromagnetic brake interlock) assigned to the CN3

connector pin releases the electromagnetic brake, causing the axis to drop. Take measures to prevent the axis from dropping on the machine side.

Operation The display screen after power-on is shown. Press "MODE" to display the diagnostic screen.

Test operation mode Precautions

The test operation mode is designed for checking servo operation. Do not use it for an actual operation. If the servo motor operates abnormally, stop the servo motor with EM2 (Forced stop 2). The test operation mode cannot be used in the absolute position detection system by DIO ([Pr. PA03.0 Absolute position

detection system selection] set to "1" (enabled (absolute position detection system by DIO))). To perform the test operation, select the incremental system in [Pr. PA03].

MR Configurator2 is required to perform the positioning operation. The test operation cannot be performed unless SON (servo-on) is turned off.

CN3-22CN3-48 CN3-23CN3-25 CN3-49CN3-24CN3-33CN3-13CN3-14

Press the "UP" button three times.

Press the "SET" button for 2 s or more.

The signal of the LED bar just below the lit LED bar can be switched on/off.

Always lit

Indicates on/off of an output signal. The details are the same as those for external output signals. (Light on: on, light off: off)

Press the "MODE" button once.

The lit LED bar moves to the LED bar just above CN3-24.

Press the "UP" button once.

CN3-24 is switched on. (Between CN3-24 and DOCOM are connected.)

Press the "DOWN" button once.

CN3-24 is switched off.

Press the "SET" button for 2 s or more.

Output signal (DO) forced output is finished.

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier 43

44

Mode switching The display screen after power-on is shown. Select JOG operation or motor-less operation in the following procedure. Press "MODE" to display the diagnostic screen.

JOG operation The JOG operation can be performed when there is no command from the controller. In the linear servo motor control mode, the JOG operation cannot be performed.

Precautions When performing the JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr.

PD01.2] to "C".

Operation/drive A servo motor operates while holding down "UP" or "DOWN". The servo motor stops operating by releasing the button. Operation conditions can be changed by using MR Configurator2. Use the JOG operation screen of MR Configurator2. Page 61 JOG operation When MR Configurator2 is not used to change operation conditions, operate a servo motor with on the following conditions.

Starting operation and stop of a servo motor can be done by the buttons. Operate it as follows.

Status display Press "MODE" in the JOG operation-ready status to call the status display screen. When the JOG operation is performed by pressing "UP" or "DOWN", the servo status during the JOG operation is displayed. Every time "MODE" is pressed, the next status display screen appears. When one cycle of the screen display is complete, it returns to the JOG operation-ready status screen. Refer to the following for details of status display. Page 30 Status display Note that the status display screen cannot be changed by "UP" or "DOWN" during the JOG operation.

Termination of JOG operation To end the JOG operation, shut the power off once, or press "MODE" to switch to the next screen, and then hold down "SET" for 2 s or longer.

Item Setting value Servo motor speed [r/min] 200

Acceleration/deceleration time constants [ms] 1000

Button Description UP Press to start CCW rotation. Release to stop.

DOWN Press to start CW rotation. Release to stop.

Press "UP" four times.

Press the "SET" button for 2 s or more.

When this screen appears, JOG operation can be performed. The decimal point of the last digit blinks.

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier

3

Positioning operation Positioning operation can be performed when there is no command from the controller. Operate the motor using the Positioning Mode screen of MR Configurator2. Refer to the following for details. Page 62 Positioning operation The status display can be checked in the display section during positioning operation. Press "MODE" in the positioning operation-ready status to call the status display screen.

Motor-less operation Without connecting a servo motor, output signals and the status display can be provided in response to the input devices as if the servo motor is actually running. This operation can be used to check the sequence of a controller or the like. Refer to the following for details. Page 64 Motor-less operation

3 STRUCTURE 3.2 Switch setting and display of the servo amplifier 45

46

4 STARTUP

MR-J5-_A_ servo amplifiers can be set with MR Configurator2 with software version 1.100E or later. This chapter explains how to start up the servo amplifier by using MR Configurator2 with software version

1.100E. Before starting operation, check each servo parameter. Depending on the machine, an unexpected

operation may occur.

When using a linear servo motor, the terms below have the following meanings. Load to motor inertia ratio Load to motor mass ratio Torque Thrust

Servo parameter setting method

The USB communication may be disconnected by operations such as servo parameter settings and drive recorder readout, depending on the load on the servo amplifier. If this is the case, remove the USB cable, then connect it again.

MR Configurator2 is the software used for purposes such as servo parameter settings, graph measurement/display, and test operation. This chapter describes the startup procedure of the servo amplifier when the servo amplifier is connected to a personal computer which has MR Configurator2 installed. To learn more about using MR Configurator2, refer to Help in MR Configurator2.

1. Connect the servo amplifier and the personal computer with a USB cable. Turn on the servo amplifier control circuit power supply.

CN5

Servo amplifier Personal computer

To USB connector

USB cable MR-J3USBCBL3M (option)

4 STARTUP

4

2. Start MR Configurator2 and create a new project. For the connection setting, select USB. Select a servo amplifier model and an operation mode.

3. Selecting "Parameter" from the project tree opens the "Parameter Setting" screen.

4 STARTUP 47

48

4. Select a group of servo parameters in the selection tree of the "Parameter Setting" window to display and configure the settings.

5. After changing the servo parameter, click "Selected Items Write" or "Axis Writing".

4 STARTUP

4

6. Abbreviated servo parameters prefixed with * and servo parameters marked with ** are enabled after the power is cycled or a software reset is performed. Click "Software Reset" in MR Configurator2 to perform the software reset.

4 STARTUP 49

50

4.1 Turning on servo amplifier for the first time

For the controller settings, refer to the relevant controller manual. For the gain adjustment, refer to the following manual. MR-J5 User's Manual (Adjustment)

When turning on the servo amplifier for the first time, follow the steps below.

Procedure Description Reference

1. Installation and wiring Install and wire the servo amplifier and servo motor. MR-J5 User's Manual (Hardware)

2. Test operation of the servo motor alone in test operation mode

With the servo motor disconnected from the machine, operate the servo motor at the lowest speed possible, and check whether the servo motor operates correctly.

Page 51 Test operation of the servo motor alone in test operation mode

3. Equipment configuration setting

Set each servo parameter according to the equipment configuration. Page 52 Equipment configuration setting

4. Controller-related setting Perform necessary settings according to commands from the controller. Page 52 Controller- related setting

5. Operation by controller command

Operate the servo motor at the lowest speed possible by giving commands to the servo amplifier from the controller, and check whether the servo motor operates correctly.

Page 53 Operation by controller command

6. Actual operation

4 STARTUP 4.1 Turning on servo amplifier for the first time

4

Test operation of the servo motor alone in test operation mode

If the servo motor operates in an unintended manner, stop the servo motor with EM2 (Forced stop 2).

Check that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor operates correctly. This section describes how to check the servo motor operation in the JOG operation. The test operation also includes the positioning operation and program operation. Page 60 Test operation In the linear servo motor control mode, the JOG operation cannot be performed. Check the linear servo motor operation status by using the positioning operation or by other means. Page 61 Motor driving by test operation

1. Turn off the power.

2. Open the "JOG Mode" screen of MR Configurator2.

3. To operate the servo motor, input the motor speed and acceleration/deceleration time constants, then click "Forward CCW" or "Reverse CW". The servo motor operates only while the button is being clicked. Give a low speed command at first and check the operation status.

4. After the test operation is completed, turn off the power.

4 STARTUP 4.1 Turning on servo amplifier for the first time 51

52

Equipment configuration setting Set the servo parameters for each function according to the equipment configuration. For details, refer to the following manual. MR-J5 User's Manual (Function)

Controller-related setting Set the servo parameters according to the control mode to be used from the controller. MR-J5 User's Manual (Function) Set each servo parameter that is necessary for the operation using controller commands.

Item Description Rotation/travel direction selection To change the rotation/travel direction (POL), change the servo parameter.

Stroke limit function Limit switches can be used to limit travel intervals of the servo motor. Configure the settings according to the connection method of the limit switch.

In-position setting Positioning completion status can be checked with in-position. Set this as necessary.

Forced stop deceleration function Stops the servo motor at EM2 (Forced stop 2) off. Perform settings such as the deceleration time constant.

Vertical axis freefall prevention function For vertical axes, this function pulls up the shaft slightly. When using a servo motor with an electromagnetic brake for a vertical axis, perform settings as required.

Item Description Reference Command unit selection function The unit of torque command can be selected from

the controller. Refer to "Command unit selection function" in the following manual. MR-J5 User's Manual (Function)

Electronic gear setting Perform the settings related to the controller command unit and amplifier command unit.

Refer to "Electronic gear function" in the following manual. MR-J5 User's Manual (Function)

4 STARTUP 4.1 Turning on servo amplifier for the first time

4

Operation by controller command Perform operation for each operation mode in accordance with the instructions shown in this chapter.

Position control mode Instructions for power-on Turn on the power using the following procedure. Always follow this procedure when turning on the power. Also refer to the following instructions on power-on. Page 57 Instructions for power-on

1. Turn off SON (Servo-on).

2. Make sure that a command pulse train is not inputted.

3. Turn on the main circuit power supply and control circuit power supply. Data is displayed 2 s after "C" (Cumulative feedback pulses) is displayed.

Operation by command 1. Turn on EM2 (Forced stop 2) and SON (Servo-on). When the servo amplifier is in servo-on status, RD (Ready) turns on.

2. Turn on LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end).

3. When a pulse train is inputted from the controller, the servo motor starts operating. Give a low speed command at first to check the servo motor operations such as the rotation direction. If the servo motor does not operate in the intended direction, review the input signal and rotation/travel direction selection (POL).

4. Check the operation status. Page 56 Checking the operation status

Instructions on power shut-off 1. Make sure that a command pulse train is not inputted.

2. Turn off SON (Servo-on).

3. Shut off the main circuit power supply and control circuit power supply.

4 STARTUP 4.1 Turning on servo amplifier for the first time 53

54

Speed control mode Instructions for power-on Turn on the power using the following procedure. Always follow this procedure when turning on the power. Also refer to the following instructions on power-on. Page 57 Instructions for power-on

1. Turn off SON (Servo-on).

2. Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) are off.

3. Turn on the main circuit power supply and control circuit power supply. Data is displayed 2 s after "r" (Servo motor speed) is displayed.

Operation by command 1. Turn on EM2 (Forced stop 2) and SON (Servo-on). When the servo amplifier is in servo-on status, RD (Ready) turns on.

2. Turn on LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end).

3. When VC (Analog speed command) is inputted from the controller and ST1 (Forward rotation start) or ST2 (Reverse rotation start) is turned on, the servo motor starts operating. Give a low speed command at first to check the servo motor operations such as the rotation direction. If the servo motor does not operate in the intended direction, check the input signal.

4. Check the operation status. Page 56 Checking the operation status

Instructions on power shut-off 1. Turn off ST1 (Forward rotation start) and ST2 (Reverse rotation start).

2. Turn off SON (Servo-on).

3. Shut off the main circuit power supply and control circuit power supply.

4 STARTUP 4.1 Turning on servo amplifier for the first time

4

Torque control mode Instructions for power-on Turn on the power using the following procedure. Always follow this procedure when turning on the power. Also refer to the following instructions on power-on. Page 57 Instructions for power-on

1. Turn off SON (Servo-on).

2. Make sure that RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off.

3. Turn on the main circuit power supply and control circuit power supply. Data is displayed 2 s after "U" (Analog torque command) is displayed.

Operation by command 1. Turn on SON (Servo-on). When the servo amplifier is in servo-on status, RD (Ready) turns on.

2. When TC (Analog speed command) is inputted from the controller and RS1 (Forward rotation start) or RS2 (Reverse rotation start) is turned on, the servo motor starts operating. Give a low torque command at first to check the servo motor operations such as the rotation direction. If the servo motor does not operate in the intended direction, check the input signal.

3. Check the operation status. Page 56 Checking the operation status

Instructions on power shut-off 1. Turn off RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).

2. Turn off SON (Servo-on).

3. Shut off the main circuit power supply and control circuit power supply.

4 STARTUP 4.1 Turning on servo amplifier for the first time 55

56

Checking the operation status After the operation by controller command, confirm that the servo motor can be operated properly in accordance with the following procedure.

1. Display the Display All window in MR Configurator2. Confirm that there is no error in the items such as servo motor speed and load ratio.

2. Display the I/O Monitor window. Confirm that there is no error in the I/O signal.

4 STARTUP 4.1 Turning on servo amplifier for the first time

4

4.2 Instructions on startup

Instructions for power-on When the absolute position detection system is used in a rotary servo motor, [AL. 025 Absolute position erased] occurs the

first time that the power is turned on and the servo motor cannot be changed to servo-on status. Shut off the power once, then cycle the power to deactivate the alarm.

If the power is turned on while the servo motor is being rotated by an external force, an alarm may occur. Make sure that the servo motor is not operating before turning on the power. In addition, refer to the manual for the servo motor or encoder being used.

Stop If any of the following situations occur, the servo amplifier suspends and stops the operation of the servo motor.

4.3 Troubleshooting at startup Problems that may occur at startup and the corresponding countermeasures are shown below.

Troubleshooting If an alarm has occurred, refer to the following and remove the cause. MR-J5 User's Manual (Troubleshooting) Additionally, investigate the cause by using MR Configurator2. Refer to the following for details. Page 59 Investigation by using MR Configurator2.

Operation/command Stopping condition Alarm occurrence The servo motor decelerates to a stop. There are also alarms that activate

and stop the dynamic brake. For details of alarms, refer to the following manual. MR-J5 User's Manual (Troubleshooting)

EM2 (Forced stop 2) off The servo motor decelerates to a stop. [AL. 0E6 Servo forced stop warning] occurs. In the torque mode, EM2 functions the same as EM1.

STO (STO1 and STO2) off The base circuit is shut off and the dynamic brake operates to stop the servo motor.

Limit switch off When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, the servo motor comes to a quick stop and activates the servo- lock. Operation in the opposite direction is possible.

No. Startup sequence Fault Investigation Possible cause Reference 1 Power-on 5-digit, 7-segment LED

is not lit. 5-digit, 7-segment LED blinks.

The problem is not solved even if the CN2 and CN3 connectors are disconnected.

1. Power supply voltage failure. 2. The servo amplifier is malfunctioning.

The problem is solved when the CN2 connector is disconnected.

1. The power supply of encoder cabling is shorted. 2. The encoder is malfunctioning.

The problem is solved when the CN3 connector is disconnected.

The power supply of the CN3 cabling is shorted.

2 SON (Servo-on) on The servo motor shaft is not servo-locked. (The servo motor shaft is free.)

1. Check the display to see if the servo amplifier is ready to operate. 2. Check the external I/O signal display to see if SON (Servo-on) is on.

1. SON (Servo-on) is not switched on. (The wiring is incorrect.) 2. 24 V DC power is not supplied to DICOM.

Page 42 External I/O signal display

4 STARTUP 4.2 Instructions on startup 57

58

3 Operation of the servo motor alone by command (Position control mode)

The servo motor does not operate.

Check the cumulative command pulses on the status display.

1. The wiring is incorrect. For the open collector pulse

train input, 24 V DC power is not supplied to OPC.

LSP and LSN are not on. 2. A pulse is not inputted from the controller.

Page 30 Status display

The setting in [Pr. PA13] is incorrect.

The servo motor operates in the opposite direction.

Check the cumulative command pulses on the status display.

1. The wiring to the controller is incorrect. 2. The setting in [Pr. PA14] is incorrect.

4 Operation of the servo motor alone by command (Speed control mode)

The servo motor does not operate.

Check the input voltage of VC (Analog speed command) on the status display.

The analog speed command is 0 V.

Check the on/off status of input signal with the external I/O signal display.

LSP, LSN, ST1, and ST2 are off. Page 42 External I/O signal display

Check [Pr. PC05 Internal speed 1] to [Pr. PC11 Internal speed 7].

The setting is "0". Refer to "Speed control mode (S)" in the following manual. MR-J5 User's Manual (Function)

Check [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit].

The torque limit level is too low against the load torque.

When TLA (Analog torque limit) is usable, check the input voltage on the status display.

The torque limit level is too low against the load torque.

5 Operation of the servo motor alone by command (Torque control mode)

The servo motor does not operate.

Check the input voltage of TC (Analog torque command) on the status display.

The analog torque command is 0 V.

Refer to "Torque control mode (T)" in the following manual. MR-J5 User's Manual (Function)

Check the on/off status of input signal with the external I/O signal display.

RS1 and RS2 are off.

Check [Pr. PC05 Internal speed 1] to [Pr. PC11 Internal speed 7].

The setting is "0".

Check the value of [Pr. PC13 Analog torque command maximum output]

The torque command level is too low against the load torque.

Check [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation torque limit].

The setting is "0".

6 Gain adjustment Ripples (speed fluctuations) are large at low speed.

Follow the procedure shown below when adjusting the gain. 1. Improve the auto tuning responsiveness. 2. Repeat acceleration/ deceleration three times or more to complete the auto tuning.

Faulty gain adjustment. MR-J5 User's Manual (Adjustment)

Large load inertia moment causes the servo motor shaft to oscillate side to side.

If the servo motor can be run safely, repeat acceleration/ deceleration three times or more to complete the auto tuning.

Faulty gain adjustment.

7 Actual operation Position mismatch occurs

Confirm the cumulative command pulses, cumulative feedback pulses, and actual servo motor position.

Pulses are miscounted due to noise and other factors.

Page 59 Investigating the cause of a position mismatch

No. Startup sequence Fault Investigation Possible cause Reference

4 STARTUP 4.3 Troubleshooting at startup

4

Investigating the cause of a position mismatch

If a position mismatch occurs, check (a) output pulse counter Q, (b) cumulative command pulse P, (c) cumulative feedback pulse C, and (d) machine stop position M in the above diagram. In addition, causes A, B, and C indicate the causes of the position mismatch. For example, Cause A indicates that noise had entered the wiring between the controller and servo amplifier, causing the command input pulses to be miscounted. In a normal status without the position mismatch, the following relationships are established. Q = P (Output counter = Cumulative command pulses) When [Pr. PA21.3] is set to "0"

When [Pr. PA21.3] is set to "1"

When [Pr. PA21.3] is set to "4"

C = M (Cumulative feedback pulses Travel distance per pulse = Machine position) Check the position mismatch in the following order. When Q P Noise entered the pulse train signal wiring between the controller and servo amplifier, causing command input pulses to be miscounted. (Cause A) Check the following items and take the following measures. Check how the shielding is done. Change the open collector type to the differential line driver type. Wire separately from the strong electric circuit. Install a data line filter. (MR-J5 User's Manual (Hardware)) Change the setting of [Pr. PA13 Command pulse input form].

During operation, SON (Servo-on), LSP (Forward rotation stroke end), or LSN (Reverse rotation stroke end) was switched off, or CR (Clear) or RES (Reset) was switched on. (Cause C) When C M Mechanical slippage occurred between the servo motor and machine. (Cause B)

Investigation by using MR Configurator2. The reason that the servo motor does not rotate can be investigated via MR Configurator2. The cause that the servo motor fails to rotate is acquired from the servo amplifier of the target axis, and displayed on "No Motor Rotation". The window will remain blank when no cause exists. "- - - -" is displayed when off-line or the cause cannot be acquired.

Q P

C

M L

[Pr. PA05], [Pr. PA06], [Pr. PA07], [Pr. PA21]

Controller Servo amplifier

Machine(a) Output pulse counter Servo motor

Electronic gear

(d) Machine stop position M

(b) Cumulative command pulses

Cause BCause A

SON (Servo-on) input LSP/LSN (Stroke end) input Encoder

Cause C (c) Cumulative feedback pulses

CMX [Pr. PA06] CDV [Pr. PA07]

P = C (Cumulative command pulses Electronic gear = Cumulative feedback pulses)

67108864 FBP [Pr. PA05]

P = C

CMX [Pr. PA06] CDV [Pr. PA07]

P 16 = C

CMX CDV

CWhen P

4 STARTUP 4.3 Troubleshooting at startup 59

60

4.4 Duplicate setting Servo amplifier parameters for which setting has been completed can be copied to another servo amplifier. Use this function when replacing the servo amplifier of equipment with another servo amplifier during operation, and when starting up multiple devices with the same configuration.

Restrictions The following data is not duplicated. Set them as required after the duplication.

The following data is not duplicated. Alarm history data Drive recorder data

Duplication using MR Configurator2 1. The data set in MR Configurator2 can be saved as a project.

2. To copy the project to a different servo amplifier, open the project and then connect the servo amplifier and a personal computer via a USB cable. Turn on the servo amplifier control circuit power supply.

3. Write the required data in MR Configurator2. After the writing is completed, cycle the power or reset the software as necessary.

4.5 Test operation Using the test operation function enables the machine operation to be checked before the actual operation. With a personal computer and MR Configurator2, operations such as the JOG operation, positioning operation, output signal forced output, and program operation can be performed.

Precautions The test operation mode is designed for checking servo operation. This mode is not for checking machine operation. Do not

use this mode with the machine. Use this mode only with the servo motor.

Execution method Test operation mode is enabled by MR Configurator2. To set to the normal operation mode again after executing the test operation mode, cycle the power or reset the software. The test operation mode cannot be used in the absolute position detection system by DIO ([Pr. PA03.0 Absolute position

detection system selection] set to "1" (enabled (absolute position detection system by DIO))). MR Configurator2 is required to perform the positioning operation. The test operation cannot be performed unless SON (servo-on) is turned off. Perform the test operation after the forced stop has been released. For details of the forced stop, refer to "Forced stop

deceleration function" in the following manual. MR-J5 User's Manual (Function)

Item Description Machine service life diagnosis Machine service life diagnosis information may not be duplicated. Refer to

"Machine diagnosis" in the following manual, and perform required settings. MR-J5 User's Manual (Function)

4 STARTUP 4.4 Duplicate setting

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Motor driving by test operation

JOG operation The JOG operation can be performed when there is no command from the controller. The motor can be operated at the specified speed. Operate the motor using the JOG Mode screen of MR Configurator2.

Motor operation setting (1) Set the motor speed and acceleration/deceleration time constants for JOG operation. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection].

Limit switch automatic ON (2) JOG operation can be performed when the limit switch is not connected. Be sure to avoid causing a collision while performing the operation.

Operation (3) The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Start" starts the operation. When "Rotation only while the CCW or CW button is being pushed" is selected, clicking "Forward CCW" or "Reverse CW" will perform operation until "Stop" or "Forced Stop" is clicked.

(1)

(2)

(3)

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Positioning operation Positioning operation can be performed without the controller. Operate the motor using the Positioning Mode screen of MR Configurator2.

Motor operation setting (1) Set the motor speed, acceleration/deceleration time constants, and travel distance in the positioning operation mode. When changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection].

Limit switch (2) Select "Limit switch automatic ON" to perform the positioning operation when the limit switch is not connected. Be sure to avoid causing a collision while performing the operation.

Move until Z-phase signal (3) When "Z-phase signal movement" is selected, the servo motor moves until the first Z-phase signal after positioning operation.

Operation (4) The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Operation Start" starts the operation in the specified operation condition.

Repeat operation (5) Selecting "Make the repeated operation valid" enables the repeat operation. Selecting "Make the aging function valid" enables the continuous operation until clicking "Stop" or "Forced Stop". Set the repeat pattern, the dwell time, and the number of operations.

Operation status (6) The operation status during the repeat operation and the number of operations are displayed.

(1)

(2)

(3)

(4)

(5)

(6)

4 STARTUP 4.5 Test operation

4

Program operation Positioning operation using multiple operation patterns can be performed without a controller. Operate the motor using the Program Operation screen of MR Configurator2. For details, refer to Help of MR Configurator2.

1. Open the Program Operation screen of MR Configurator2.

2. Clicking "Program Edit" in the program operation screen opens the Program Edit screen. Input the program and click "OK". For program commands, refer to Help of MR Configurator2.

No. Item Screen operation (1) Program display Displays the program. To edit the display item, click "Program Edit".

(2) Operation The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Operation Start" starts the operation.

(3) Repeat execution Displays the number of execution times. Selecting "Aging function" enables the repeated operation of the operation program.

(1)

(2)

(3)

4 STARTUP 4.5 Test operation 63

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Motor-less operation

The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode or direct drive motor control mode.

Without connecting a servo motor to the servo amplifier, output signals or status displays can be provided in response to the controller commands as if the servo motor is actually running. This operation can be used to check the sequence of a controller. Use this operation after the forced stop has been released. Use this operation with the servo amplifier connected to the controller. To perform the motor-less operation, set [Pr. PC60.0 Motor-less operation selection] to "1" (enabled). To terminate the motor- less operation, set [Pr. PC60.0] to "0" (disabled). To apply the motor-less operation settings, cycle the power or reset the software.

Load conditions The operation is performed in the following conditions. Note that the conditions may differ from those of actual machines.

Alarm In the motor-less operation, some alarms and warnings are not generated. The following are examples of alarms which do not occur. [AL. 016 Encoder initial communication error 1] [AL. 01E Encoder initial communication error 2] [AL. 01F Encoder initial communication error 3] [AL. 020 Encoder normal communication error 1] [AL. 021 Encoder normal communication error 2] [AL. 025 Absolute position erased] [AL. 092 Battery cable disconnection warning] [AL. 09F Battery warning]

Load item Condition Load torque 0

Load to motor inertia ratio [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]

4 STARTUP 4.5 Test operation

4

Output signal (DO) forced output This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such as checking output signal wiring. Operate this function on the DO Forced Output screen of MR Configurator2.

Each output signal can be turned on/off by clicking the ON/OFF button next to its name. After checking, click "Test Operation Mode Cancel" and terminate the output signal (DO) forced output.

4 STARTUP 4.5 Test operation 65

66

4.6 Servo amplifier setting initialization Servo amplifier settings can be initialized by using the engineering tool (MR Mode Change packed with MR Configurator2). However, information related to the servo amplifier, including power-on cumulative time and the number of relays on/off, is not initialized.

The storage area of the servo amplifier has a limit for the number of writings. Do not use this function frequently.

Execute the initialization with the servo amplifier disconnected from the network and directly connected to MR Mode Change via a USB cable.

Initialization procedure by MR Mode Change Open MR Mode Change and use a USB cable to connect the servo amplifier that will be initialized with a personal computer. Turn on the servo amplifier control circuit power supply.

Confirm that "Reset to factory settings" is selected, then click "Write". After the writing is completed, cycle the power or reset the software.

Cycling the power or resetting the software initializes the setting of the servo amplifier at startup. Confirm that the initialization has completed by reading the settings from the servo amplifier.

CN5

Servo amplifier Personal computer

To USB connector

USB cable MR-J3USBCBL3M (option)

4 STARTUP 4.6 Servo amplifier setting initialization

5

5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT

5.1 Inspection items Do not disassemble, repair, or modify the product. For repair and parts replacement, contact your local sales office. To prevent a malfunction, do not perform an insulation resistance test (megger test) on the servo amplifier.

Periodic inspection Perform the following inspections. Check for loose terminal block screws. Retighten any loose screws. Check the cables and the like for scratches or cracks. Inspect them periodically according to operating conditions

especially when the servo motor is movable. Check that the connector is securely connected to the servo amplifier. Check that the wires are not coming out from the connector. Check for dust accumulation on the servo amplifier. Check for unusual noise generated from the servo amplifier. 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.

5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 5.1 Inspection items 67

68

5.2 Parts with a service life The service life of the following parts is listed below. In addition, the service life varies depending on the operating methods and environment. If any fault is found in a part, it is necessary to replace it immediately regardless of its service life. For parts replacement, please contact your local sales office.

Smoothing capacitor The service life of the capacitor is 10 years (with a three-phase power supply input) under continuous operation in air- conditioned environments (ambient temperatures of 40 C or less at altitudes of up to 1000 m and 30 C or less at altitudes of over 1000 m and up to 2000 m). Ripple currents or other factors will deteriorate the characteristic of the smoothing capacitor. The service life of the capacitor greatly varies depending on ambient temperature and operating conditions.

Relays Contact faults occur due to contact wear arisen from switching currents. A relay will reach the end of its service life if the following actions are performed a total of 100,000 times: powering on the servo amplifier, inputting the dynamic brake stop, and inputting the forced stop.

Servo amplifier cooling fan The cooling fan bearings will reach the end of their service life in 50,000 hours to 70,000 hours. Therefore, the cooling fan must be replaced after seven to eight years of continuous operation as a guideline. If unusual noise or vibration is found during inspection, the cooling fan must also be replaced. The service life has been calculated in an environment which contains no corrosive gas, flammable gas, oil mist, or dust. The average annual ambient temperature was 40 C.

5.3 Replacing fan unit The internal circuits of the servo amplifier may be damaged by static electricity. Take the following precautions. Ensure that the work bench and your body are grounded. Do not directly touch conductive areas such as the connector pins and electrical parts. The fan unit is composed of a cooling fan and its cover.

List of applicable fan units

Replacement procedure For the replacement procedure of fan units, refer to "Fan unit replacement procedure" in the following manual. MR-J5 User's Manual (Hardware)

Part name Recommended service life Smoothing capacitor 10 years

Relay Total number of power-ons, stops by a dynamic brake, and forced stops: 100,000 times

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

Absolute position battery Refer to "ABSOLUTE POSITION DETECTION SYSTEM" in the following manual. MR-J5 User's Manual (Hardware)

Servo amplifier Fan units MR-J5-70A_/MR-J5-100A_ MR-J5-FAN1

MR-J5-200A_/MR-J5-350A_ MR-J5-FAN2

MR-J5-500A_ MR-J5-FAN3

MR-J5-700A_ MR-J5-FAN4

MR-J5-200A4_/MR-J5-350A4_ MR-J5-FAN2

5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 5.2 Parts with a service life

6

6 COMPLIANCE WITH GLOBAL STANDARDS This chapter provides information common among AC servo amplifiers. Information that is not applicable to MR-J5 servo amplifier/other equipment combinations is also included.

6.1 Compliance with global standards For compliance with the standards of Europe/UK, United States/Canada, and South Korea, refer to the following manual. Safety Instructions and Precautions for MR-J5 AC Servos (IB(NA)-0300391)

6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

To reflect the United Nations Recommendations on the Transport of Dangerous Goods (hereinafter Recommendations of the United Nations), we have modified the description on the package for AC servo amplifier batteries since January 2009. The description complies with transport regulations for lithium metal batteries in the Technical Instruction (ICAO-TI) by the International Civil Aviation Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the International Maritime Organization (IMO). The above change will not affect the function or performance of the product. This section describes the handling of lithium metal batteries in air transportation that has been changed in response to the IATA (International Air Transport Association) Dangerous Goods Regulations 63rd Edition issued on January 1, 2022, and the handling of lithium metal batteries in maritime transportation that has also been changed.

Target model

Battery (cell)

Battery unit (assembled)

Model Option model Type Lithium content Mass of battery Remark ER6 MR-J3BAT Cell 0.65 g 16 g Each battery (cell) contains more than 0.3 grams of

lithium content and must be handled as dangerous goods (Class 9) for certain packaging requirements.

MR-J3W03BATSET Cell 0.65 g 16 g

ER17330 MR-BAT Cell 0.48 g 13 g

A6BAT Cell 0.48 g 13 g

Model Option model Type Lithium content Mass of battery Remark ER6 MR-J2M-BT_ Assembled

battery (Seven cells)

4.55 g 112 g The assembled battery contains more than two grams of lithium content and must be handled as dangerous goods (Class 9) regardless of packaging requirements.

CR17335A MR-BAT6V1 Assembled battery (Two cells)

1.20 g 34 g Each battery (cell) contains more than 0.3 grams of lithium content and must be handled as dangerous goods (Class 9) for certain packaging requirements.

MR-BAT6V1SET_ Assembled battery (Two cells)

1.20 g 34 g

MR-BAT6V1BJ Assembled battery (Two cells)

1.20 g 34 g

6 COMPLIANCE WITH GLOBAL STANDARDS 6.1 Compliance with global standards 69

70

Purpose To enable safer transportation of lithium metal batteries.

Handling during transportation This section describes how to handle lithium metal batteries in transportation. The batteries alone transported by air are classified as UN3090, and the batteries packed with or contained in equipment transported by air are classified as UN3091. Lithium metal batteries are classified as SP188 when transported by sea as non-dangerous goods.

Air transportation of lithium metal batteries alone

Transportation of lithium metal batteries alone classified as UN3090 PI968 Section II must comply with Section IB. Transportation of lithium metal batteries alone as cargo on passenger aircraft has been prohibited since January 1, 2015. Lithium metal batteries can be transported by sea or cargo aircraft.

Air transportation of lithium metal batteries packed with or contained in equipment Lithium metal batteries packed with or contained in equipment can be transported as cargo on passenger aircraft.

For batteries packed with equipment, follow the requirements of UN3091 PI969. Batteries are classified into either Section II or Section I depending on the lithium content/packaging requirements.

For batteries contained in equipment, follow the requirements of UN3091 PI970. Batteries are classified into either Section II or Section I depending on the lithium content/packaging requirements. The special handling may be unnecessary depending on the number of batteries and gross mass per package.

Maritime transportation of lithium metal batteries

Packaging requirements Classification Main requirements Lithium content per cell 1 g Number of cells per package 8

UN3090 PI968 Section II Transitioned to Section IB on or after April 1, 2022

The package must pass a 1.2 m drop test, and a lithium battery mark (size: 100 100 mm) must be attached on the package. Refer to the requirements of Section IB on or after April 1, 2022.

Lithium content per battery 2 g Number of batteries per package 2

Lithium content per cell 1 g Number of cells per package > 8

UN3090 PI968 Section IB The total battery weight per package must be 10 kg or less. The package must pass a 1.2 m drop test, and a lithium battery mark (size: 100 100 mm) must be attached on the package. The batteries must be handled conforming to Class 9 Dangerous Goods Regulations (e.g.: displaying the lithium battery hazard label).

Lithium content per battery 2 g Number of batteries per package > 2

Lithium content per cell > 1 g UN3090 PI968 Section IA The total battery weight per package must be 35 kg or less. The package must comply with UN specification packing requirements and be handled complying with Class 9 Dangerous Goods Regulations (e.g.: displaying the lithium battery hazard label).

Lithium content per battery > 2 g

Packaging requirements Classification Main requirements Lithium content per cell 1 g SP188 For transportation of batteries alone, the total weight of the

package must be 30 kg or less. The package must pass a 1.2 m drop test, and the lithium battery mark (size: 100 100 mm) must be attached on the package. For transportation of batteries packed with or contained in equipment, the special handling may be unnecessary depending on the number of batteries per package.

Lithium content per battery 2 g

Lithium content per cell > 1 g The package must comply with UN specification packaging requirements and be handled complying with Class 9 Dangerous Goods Regulations (e.g.: displaying the lithium battery hazard label).

Lithium content per battery > 2 g

6 COMPLIANCE WITH GLOBAL STANDARDS 6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

6

Package at our shipment When the packages containing the target batteries are shipped overseas directly from us, the lithium battery mark (Figure 1) is displayed on the packages. If the packages are shipped domestically, the mark (Figure 1) is not displayed. Thus, when customers transport the domestic-bound packages overseas, the lithium battery mark (Figure 1) must be displayed on the packages by customers. The responsibility for the cargo lies with the customers. Please contact a transportation company for details on the lithium battery mark (Figure 1). For both domestic and overseas shipments, the target battery units which must be handled as Class 9 Dangerous Goods are packaged according to UN specification packaging requirements, and the packages bear the lithium battery hazard label (Figure 2).

Figure 1: Lithium battery mark example

* UN number(s) ** Telephone number for additional information

Figure 2: Lithium battery hazard label example

Transportation precaution for customers For maritime or air transportation, the lithium battery mark (Figure 1) is required also for the outer package containing several packages of Mitsubishi Electric cells or batteries. When the content of a package must be handled as dangerous goods (Class 9), the package must comply with UN specification packaging requirements. Please issue Shipper's Declaration for Dangerous Goods and an Air Waybill (AWB) and attach the lithium battery hazard label (Figure 2) to the packages for transportation. This section outlines the IATA Dangerous Goods Regulations 63rd Edition and the conditions of SP188 for non-dangerous goods transported by sea. The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually. When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the customers. Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations and International Maritime Dangerous Goods Code (IMDG Code).

6 COMPLIANCE WITH GLOBAL STANDARDS 6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods 71

72

6.3 Symbol for the new EU Battery Directive The symbol for the new EU Battery Directive (2006/66/EC) that is plastered to the AC servo battery is explained here.

This mark is valid only in EU.

This mark is in accordance with directive 2006/66/EC Article 20 "Information for end-users" and Annex . MITSUBISHI ELECTRIC products are designed and manufactured with high quality materials and components which can be recycled and/or reused. This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from household waste. If a chemical symbol is shown beneath the above symbol, a heavy metal of the corresponding chemical symbol is contained in the battery or the accumulator with the following standard concentration or more. This will be indicated as follows. Hg: mercury (0.0005 %), Cd: cadmium (0.002 %), Pb: lead (0.004 %) In the European Union, there are separate collection systems for used batteries and accumulators. Batteries and accumulators must be disposed of properly. Help us to conserve the environment we live in.

6 COMPLIANCE WITH GLOBAL STANDARDS 6.3 Symbol for the new EU Battery Directive

6

6.4 Compliance with China Compulsory Certification (CCC)

Introduction Some products are required to comply with China Compulsory Certification (hereinafter referred to as CCC) if exported, distributed, or sold to China. An outline of CCC is explained in this section. Mitsubishi Electric servo products are not subject to CCC.

Outline of CCC CCC is a system for product certification that has been in effect in China since August 2003, the purpose of which is to protect consumers and ensure safety domestically in China. The certification system currently has five types of certification: safety, electromagnetic compatibility (EMC), safety + EMC, fire-fighting equipment, and wireless LAN. Products subject to the certification are allowed to be exported, distributed, or sold to China only if they are certified by this system. Products that have received certification proving compliance with the relevant technical standards (or products declared by the manufacturer as being compliant) must carry the specified mark (CCC mark). Many of the technical standards to be applied are GB standards (Chinese national standards), which comply with global standards such as those set forth by the IEC (International Electrotechnical Commission) and CISPR (International Special Committee on Radio Interference). As part of the State Administration for Market Supervision and Administration Announcement No. 18 of 2020 ("Announcement on the Catalogue of Compulsory Product Certification" (April 21, 2020)), a revised list of products subject to CCC certification (2020 version) has been published. Simultaneously, CCC Product Certification List No. 45 of 2014 (CNCA Notice No. 45 of 2014) was repealed.

Judgment 17 product groups divided into 103 categories are specified as the subject products (announcement No. 18 of 2020). The following table shows the judgment rendered regarding the CCC compliance requirement for servo products.

*1 AC servo motors are included in the list of low-power motors (small motors 750 W or less) in the list of products subject to compulsory certification, but are not subject to certification requirements for the following reason. Explosion proof motors and controlled motors (servo motors, stepping motors, etc.) are excluded from the subject small capacity motors.

*2 Mitsubishi Electric option cables use the wires that is not classified into the cable category in the catalog.

Model Judgment AC servo amplifier Not subject

AC servo motor *1 Not subject

Options *2 Not subject

CCC mark

6 COMPLIANCE WITH GLOBAL STANDARDS 6.4 Compliance with China Compulsory Certification (CCC) 73

74

6.5 Compliance with the China RoHS directive

Outline 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 following hazardous substances: six hazardous substances (lead, mercury, cadmium, hexavalent chromium, polybrominated biphenyls (PBB), and polybrominated diphenyl ethers (PBDE)) which are also restricted by EU RoHS 2 (directive 2011/65/EU), and other hazardous substances specified by the State (currently no applicable substances).

Status of our products for compliance with the China RoHS directive The following table shows the logo types for the environmental protection use period, and whether the six hazardous substances are contained in our products or not. This table was created based on the standard SJ/T11364.

*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 products" [SJ/T11364- 2014]

Part name Hazardous substance (substance/threshold/standard) *1 Logo for environmental protection use period *2

Remark

Lead (Pb)

Mercury (Hg)

Cadmium (Cd)

Hexavalent chromium (Cr(VI))

PBB PBDE

Threshold: cadmium: 0.01 wt% (100 ppm), 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 Wire Including connector setConnector

Optional unit Mounting board

Resin cabinet

Plate and screw

Indicates that a certain hazardous substance is contained in the product manufactured or sold in China. Follow safety and usage precautions for the product, and use the product within a limited number of years from the production date. Doing so prevents any hazardous substances in the product from causing environmental pollution or seriously affecting human health or property.

Indicates that no certain hazardous substance is contained in the product.

6 COMPLIANCE WITH GLOBAL STANDARDS 6.5 Compliance with the China RoHS directive

6

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 (such as piezoelectric sensors) containing lead in glass or ceramic materials, but not

including the dielectric ceramics used in capacitors Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip resistors

Status of our products for compliance with the China RoHS directive (Chinese) The following table is given in Chinese according with a request by "Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products". Page 74 Status of our products for compliance with the China RoHS directive

(//)*1 *2

(Pb)

(Hg)

(Cd)

(Cr(VI))

PBB PBDE

: : 0.01wt% (100ppm): 0.1wt% (1000ppm)

*1 : GB/T26572

: GB/T26572

*2 [SJ/T11364-2014]

/

6 COMPLIANCE WITH GLOBAL STANDARDS 6.5 Compliance with the China RoHS directive 75

76

REVISIONS *The manual number is given on the bottom left of the back cover.

2019 MITSUBISHI ELECTRIC CORPORATION

Revision date *Manual number Description July 2019 SH(NA)-030296ENG-A First edition

January 2020 SH(NA)-030296ENG-B The following functions are added: Fully closed loop system, super trace control

July 2020 SH(NA)-030296ENG-C MR-J5-500A_, MR-J5-700G_, and models without the dynamic brake are added. The following functions are added: Multifunction regeneration converter Added: Section 1.3, Section 1.7, Section 6.4

November 2020 SH(NA)-030296ENG-D MR-J5-60A4_, MR-J5-100A4_, MR-J5-200A4_, and MR-J5-350A4_ are added. Added/edited: Section 1.2, Section 1.4, Section 1.5, Section 1.7, Chapter 2, Section 5.3

March 2021 SH(NA)-030296ENG-E Added/edited: Section 1.3, Section 1.4, Section 2.1, Section 4.1, Section 4.2, Section 5.2

June 2021 SH(NA)-030296ENG-F HK-MT series servo motors are added. Edited: Section 1.4, Section 1.7, Section 2.1

July 2022 SH(NA)-030296ENG-G Complied with UKCA Edited: Section 1.4, Section 1.7, Chapter 4, Chapter 6, Section 6.1, Section 6.2, Section 6.4

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.

77

WARRANTY Warranty 1. Warranty period and coverage

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced. [Term] For terms of warranty, please contact your original place of purchase. [Limitations] (1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases; 1. a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware

or software problem 2. a failure caused by any alteration, etc. to the Product made on your side without our approval 3. 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

4. a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

5. any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) 6. 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 7. 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 8. any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The

announcement of the stop of production for each model can be seen in our Sales and Service, etc. (2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to: (1) Damages caused by any cause found not to be the responsibility of Mitsubishi. (2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products. (3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for

damages to products other than Mitsubishi products. (4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product (1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or

malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any failure or malfunction occurs.

(2) Our AC Servo is designed and manufactured as a general purpose product for use at general industries. Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used. In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

(3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.

78

TRADEMARKS 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.

SH(NA)-030296ENG-G

SH(NA)-030296ENG-G(2207)MEE MODEL: MODEL CODE:

Specifications are subject to change without notice. Compliance with the indicated global standards and regulations is curren

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