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Mitsubishi MR-J5 MR-J5-G-N1 Servo System User's Manual PDF
Summary of Content for Mitsubishi MR-J5 MR-J5-G-N1 Servo System User's Manual PDF
MR-J5 User's Manual (Hardware)
-MR-J5-_G_ -MR-J5W_-_G_ -MR-J5-_G_-_N1 -MR-J5W_-_G-_N1 -MR-J5-_B_ -MR-J5W_-_B_ -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]
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. For the related manuals, refer to the User's Manual (Introduction).
This manual covers the following servo amplifiers. MR-J5-_G_/MR-J5W_-_G_/MR-J5-_B_/MR-J5W_-_B_/MR-J5-_A_ In this manual, the servo amplifier names are abbreviated as shown below.
Symbol Servo amplifier [G] MR-J5-_G_/MR-J5W_-_G_
[B] MR-J5-_B_/MR-J5W_-_B_
[A] MR-J5-_A_
Rotary Servo Motor Linear Servo Motor 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 using communication functions.
The manual is necessary for specifying the causes of alarms and warnings.
Partner Encoder
Function
Adjustment
Object Dictionary
Troubleshooting
Introduction
Hardware
Communication Function
Parameters It describes the parameters of the servo amplifier.
It describes the objects for the servo amplifier.
For the usage of each function, refer to this manual.
3
4
CABLES USED FOR WIRING Cables mentioned in this manual are selected based on an ambient temperature of 40 C.
U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [Nm] 141.6 [ozinch]
Moment of inertia 1 [( 10-4 kgm2)] 5.4675 [ozinch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [C] 9/5 + 32 N [F]
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CONTENTS SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 CABLES USED FOR WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
CHAPTER 1 INTRODUCTION 12 1.1 Wiring procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.2 Servo amplifier/motor combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Rotary servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Linear servo motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Direct drive motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.3 Wiring check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Power supply system wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 I/O signal wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.4 Surrounding environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
CHAPTER 2 INSTALLATION 30 2.1 Mounting direction and clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 2.2 Keeping out foreign materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 2.3 Cable stress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 2.4 SSCNET III cable laying [B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 2.5 Fan unit replacement procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
List of applicable fan units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Fan unit removal procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Fan unit installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.6 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m . . . . . . . . . . . . 40
CHAPTER 3 SIGNALS AND WIRING 41 3.1 Example power circuit connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
200 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 400 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Using servo amplifier with DC power supply input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.2 Example I/O signal connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 MR-J5-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 MR-J5W_-_G_. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 MR-J5-_B_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 MR-J5W_-_B_. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 MR-J5-_A_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.3 Explanation of power supply system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Explanation of signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Power-on procedure [G] [B]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Power-on procedure [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Wiring CNP1, CNP2, and CNP3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
3.4 Connectors and pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Connectors and pin assignments [G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Connectors and pin assignments [B]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Connectors and pin assignments [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
5
6
3.5 Signal (device) explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Output device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 Input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
3.6 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Internal connection diagram [G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Internal connection diagram [B]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Internal connection diagram [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Detailed explanation of interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Source I/O interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
3.7 Servo motor with an electromagnetic brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
3.8 SSCNET III cable connection [B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 3.9 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
CHAPTER 4 DIMENSIONS 128 4.1 MR-J5-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
200 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 400 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
4.2 MR-J5W_-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 4.3 MR-J5-_B_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
200 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 400 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
4.4 MR-J5W_-_B_. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 4.5 MR-J5-_A_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
200 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 400 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
4.6 Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 MR-J5_-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 MR-J5_-_B_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 MR-J5-_A_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
CHAPTER 5 CHARACTERISTICS 149 5.1 Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 5.2 Power supply capacity and generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Power supply capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 Generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 Using servo amplifier with DC power supply input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
5.3 Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 Dynamic brake operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
5.4 Cable flex life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 5.5 Inrush currents at power-on of main circuit and control circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
CHAPTER 6 OPTIONS AND PERIPHERAL EQUIPMENT 226 6.1 Cables/connector sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Combinations of cables/connector sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 MR-D05UDL3M-B STO cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 Ethernet cable [G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
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N TS
SSCNET III cable [B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238 6.2 Regenerative option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Combination and regenerative power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 Selection of the regenerative option (1-axis servo amplifier). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241 Selection of the regenerative option (multi-axis servo amplifier) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244 Servo parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248 Connection of regenerative option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248 Mounting direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
6.3 MR-CM simple converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 Combination of simple converter and servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 Servo amplifier setting when using a simple converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 Simple converter standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 External interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 Signals and wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 Peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263 Mounting direction and clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
6.4 Multifunction regeneration converter (FR-XC-(H)) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265 Servo amplifier settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265 Capacity selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265 Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268 Wiring and peripheral options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
6.5 PS7DW-20V14B-F junction terminal block (recommended) (1-axis servo amplifier) [G] [B] . . . . . . . . . . 273 6.6 MR-TB26A junction terminal block (multi-axis servo amplifier) [G] [B] . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 6.7 MR-TB50 junction terminal block [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277 6.8 MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Engineering tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279 Precautions for using USB communication function and Ethernet communication function . . . . . . . . . . . . . . . 279
6.9 Selection example of wires. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280 6.10 Molded-case circuit breakers, fuses, magnetic contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Selection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283 Main circuit wiring (connecting multiple servo amplifiers to one molded-case circuit breaker) . . . . . . . . . . . . . 289 Example settings that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274 . . . . . . . . . . . . . . . . . . . . . 292
6.11 Power factor improving DC reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295 6.12 Power factor improving AC reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301 6.13 Relay (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304 6.14 Noise reduction techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Noise reduction techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304 Noise reduction products. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
6.15 Earth-leakage current breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312 Selection method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312 Selection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
6.16 EMC filter (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316 6.17 MR-J3-D05 safety logic unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Contents of the package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322 Terms related to safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323 Residual risks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323 Block diagram and timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
7
8
Maintenance and disposal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325 Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328 LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335 Rotary switch settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 Combinations of cables and connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
6.18 J5-CHP07-10P cabinet-mounting attachment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340 Compatible models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340 View when installed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340 Fitting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342 Installation dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
6.19 J5-CHP08 grounding terminal attachment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347 Compatible models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347 Appearance and dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348 View when installed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350 Installation dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
6.20 Cables manufactured by Mitsubishi Electric System & Service Co., Ltd. . . . . . . . . . . . . . . . . . . . . . . . . . 355 SSCNET III cable [B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
CHAPTER 7 ABSOLUTE POSITION DETECTION SYSTEM 356 7.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356 Restrictions [G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356 Restrictions [B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356 Restrictions [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356 Precautions [G] [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357 Precautions [B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357 System architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358 Servo parameter setting [G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358 Servo parameter setting [B]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358 Servo parameter setting [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358 Homing [G] [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359 Homing [B]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359 Checking the detected absolute position data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359 Procedure of replacing a servo motor with battery-less absolute position encoder . . . . . . . . . . . . . . . . . . . . . 361 Procedure of replacing a servo amplifier without losing the absolute position data [B]. . . . . . . . . . . . . . . . . . . 362
7.2 Configuration and specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363 Connecting the battery-less encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363 Connecting the battery backup type absolute position encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
7.3 Absolute position detection system by DIO [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369 Standard connection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369 Signal explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370 Startup procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
C O
N TE
N TS
Absolute position data transfer protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372 Absolute position data transfer errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
7.4 Absolute position detection system via communication [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387 Serial communication command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387 Absolute position data transfer protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
CHAPTER 8 USING STO FUNCTION 392 8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392 Terms related to safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392 Residual risks of the STO function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
8.2 Functional safety I/O signal connector (CN8) and pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395 Signal (device) explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395 How to pull out the STO cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
8.3 Connection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397 Precautions for compliance with stop category 1 (IEC/EN 60204-1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397 Precautions for compliance with stop category 0 (IEC/EN 60204-1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397 Connection example for CN8 connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398 External I/O signal connection example using the MR-J3-D05 safety logic unit . . . . . . . . . . . . . . . . . . . . . . . . 398 External I/O signal connection example using an external safety relay unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
8.4 Detailed explanation of interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403 Sink I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403 Source I/O interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
CHAPTER 9 USING FUNCTIONAL SAFETY [G] 406 9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406 9.2 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
Safety sub-function control by input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407 Safety sub-function control by network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408
9.3 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409 Safety sub-function control by input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409 Safety sub-function control by network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
9.4 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 9.5 Connectors and pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 9.6 Example I/O signal connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
Input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412 Output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
9.7 Connecting I/O interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 Source input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 Sink input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
9.8 Wiring the SBC output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415 9.9 Noise reduction techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416 9.10 Example of connection with other devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
Safety sub-function control by input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417 Safety sub-function control by network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
9
10
CHAPTER 10 USING A LINEAR SERVO MOTOR 419 10.1 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
10.2 Startup [G] [B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422 Startup procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422 Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423 Magnetic pole detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425 How to replace servo amplifier without magnetic pole detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
10.3 Startup [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435 Startup procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435 Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436 Magnetic pole detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438 How to replace servo amplifier without magnetic pole detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
10.4 Basic functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446 Operation from controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446 Homing [G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446 Homing [B]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451 Homing [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456 Linear servo control error detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461 About MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
10.5 Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465 Auto tuning function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465 Machine analyzer function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
10.6 Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466 Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466 Power supply capacity and generated loss (1-axis servo amplifier) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470 Power supply capacity and generated loss (multi-axis servo amplifier) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471 Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474 Permissible load to motor mass ratio when the dynamic brake is used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .476
10.7 Absolute position detection system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477
CHAPTER 11 USING A DIRECT DRIVE MOTOR 478 11.1 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
11.2 Startup [G] [B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480 Startup procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481 Magnetic pole detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482
11.3 Startup [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489 Startup procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490 Magnetic pole detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
11.4 Basic functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499 Operation from controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499 Servo control error detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
11.5 Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502 Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502 Power supply capacity and generated loss (1-axis servo amplifier) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504 Power supply capacity and generated loss (multi-axis servo amplifier) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505 Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
C O
N TE
N TS
Permissible load to motor inertia ratio when the dynamic brake is used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509 11.6 Absolute position detection system [G] [B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509 11.7 Absolute position detection system [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510 11.8 Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
Selection of battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512 MR-BAT6V1SET battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512 MR-BAT6V1SET-A battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516 MR-BT6VCASE battery case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519 MR-BAT6V1 battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525 Battery cable and junction battery cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
CHAPTER 12 USING A FULLY CLOSED LOOP SYSTEM 527 12.1 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527 12.2 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529 Operation mode and load-side encoder combinations [G] [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531 Operation mode and load-side encoder combinations [B]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531 System architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532
12.3 Signals and wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534 Encoder cable configuration diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
12.4 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536 Servo parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536 Checking position data of the load-side encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
12.5 Basic functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545 Homing [G] [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545 Homing [B]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549 Operation from controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 552 Fully closed loop control error detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 552 About MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
12.6 Options and peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556 MR-J4FCCBL03M branch cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556
12.7 Absolute position detection system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557 REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .558 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .559 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .560
11
12
1 INTRODUCTION
1.1 Wiring procedure Procedure Description Reference
1. Installation Install a servo amplifier. Page 30 INSTALLATION
2. Connecting the power circuit Connect the power circuit. Page 42 Example power circuit connections
3. Connecting I/O signals Connect I/O signals. Page 51 Example I/O signal connections
4. Connecting to the servo motor
Connect the servo amplifier to a servo motor. If using a linear servo motor, connect the servo amplifier to a linear encoder. If using the servo amplifier in a fully closed loop system, connect the servo amplifier to a linear encoder or a rotary encoder.
Rotary Servo Motor User's Manual (For MR-J5) Page 419 USING A LINEAR SERVO MOTOR Page 478 USING A DIRECT DRIVE MOTOR Page 527 USING A FULLY CLOSED LOOP SYSTEM
5. Connecting options Connect options. Page 226 OPTIONS AND PERIPHERAL EQUIPMENT
6. Other precautions If using the absolute position detection system and functional safety, perform wiring and settings as necessary.
Page 356 ABSOLUTE POSITION DETECTION SYSTEM Page 392 USING STO FUNCTION Page 406 USING FUNCTIONAL SAFETY [G]
7. Wiring check Check that the servo amplifier and the servo motor are wired correctly by visually inspecting them or by using a method such as the DO forced output function.
Page 25 Wiring check
8. Checking the surrounding environment
Check the environment surrounding the servo amplifier and servo motor. Page 29 Surrounding environment
1 INTRODUCTION 1.1 Wiring procedure
1
Rotary servo motor
HK-KT series The combinations of geared servo motors and servo amplifiers are the same as those listed in the following tables. However, for geared servo motors, the maximum torque does not increase even when they are combined with a servo amplifier whose combination allows for increased torque as specified in the following tables.
200 V class servo amplifier 1-axis servo amplifier : Standard torque : Torque increased
Rotary servo motor Servo amplifier MR-J5-_
10_ 20_ 40_ 60_ 70_ 100_ 200_ 350_ HK-KT_W 40 HK-KT053W
HK-KT13W
HK-KT1M3W
60 HK-KT13UW
HK-KT23W
HK-KT43W
HK-KT63W
80 HK-KT23UW
HK-KT43UW
HK-KT7M3W
HK-KT103W
90 HK-KT63UW
HK-KT7M3UW
HK-KT103UW
HK-KT153W
HK-KT203W
HK-KT202W
HK-KT_4_W 60 HK-KT434W
HK-KT634W
80 HK-KT7M34W
HK-KT1034W
90 HK-KT1534W
HK-KT2034W
HK-KT2024W
1 INTRODUCTION 1.2 Servo amplifier/motor combinations 13
14
Multi-axis servo amplifier
As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.
: Standard torque : Torque increased
400 V class servo amplifier 1-axis servo amplifier : Standard torque : Torque increased
*1 Use rotary servo motors manufactured in September 2020 or later. Otherwise, an alarm occurs.
Rotary servo motor Servo amplifier MR-J5W2-_ Servo amplifier MR-J5W3-_
22_ 44_ 77_ 1010_ 222_ 444_ HK-KT_W 40 HK-KT053W
HK-KT13W
HK-KT1M3W
60 HK-KT13UW
HK-KT23W
HK-KT43W
HK-KT63W
80 HK-KT23UW
HK-KT43UW
HK-KT7M3W
HK-KT103W
90 HK-KT63UW
HK-KT7M3UW
HK-KT103UW
HK-KT_4_W 60 HK-KT434W
HK-KT634W
80 HK-KT7M34W
HK-KT1034W
90 HK-KT1534W
HK-KT2034W
HK-KT2024W
Rotary servo motor Servo amplifier MR-J5-_
60_4_ 100_4_ 200_4_ 350_4_ HK-KT_W 40 HK-KT053W *1
HK-KT13W *1
HK-KT1M3W *1
HK-KT_4_W 60 HK-KT434W *1
HK-KT634W *1
80 HK-KT7M34W *1
HK-KT1034W *1
90 HK-KT634UW
HK-KT1034UW
HK-KT1534W *1
HK-KT2034W *1
HK-KT2024W *1
1 INTRODUCTION 1.2 Servo amplifier/motor combinations
1
200 V class servo amplifier 1-axis servo amplifier : Standard torque : Torque increased
Multi-axis servo amplifier
As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.
: Standard torque : Torque increased
Rotary servo motor Servo amplifier MR-J5-_
10_ 20_ 40_ 60_ 70_ 100_ 200_ 350_ HK-MT_W 40 HK-MT053W
HK-MT13W
HK-MT1M3W
60 HK-MT23W
HK-MT43W
HK-MT63W
80 HK-MT7M3W
HK-MT103W
HK-MT_VW 40 HK-MT053VW
HK-MT13VW
HK-MT1M3VW
60 HK-MT23VW
HK-MT43VW
HK-MT63VW
80 HK-MT7M3VW
HK-MT103VW
Rotary servo motor Servo amplifier MR-J5W2-_ Servo amplifier MR-J5W3-_
22_ 44_ 77_ 1010_ 222_ 444_ HK-MT_W 40 HK-MT053W
HK-MT13W
HK-MT1M3W
60 HK-MT23W
HK-MT43W
HK-MT63W
80 HK-MT7M3W
HK-MT103W
HK-MT_VW 40 HK-MT053VW
HK-MT13VW
HK-MT1M3VW
60 HK-MT23VW
HK-MT43VW
HK-MT63VW
80 HK-MT7M3VW
1 INTRODUCTION 1.2 Servo amplifier/motor combinations 15
16
HK-ST series
The HK-ST7M2UW_ and HK-ST172UW_ will be available in the future.
The combinations of geared servo motors and servo amplifiers are the same as those listed in the following tables. However, for geared servo motors, the maximum torque does not increase even when they are combined with a servo amplifier whose combination allows for increased torque as specified in the following tables.
200 V class servo amplifier 1-axis servo amplifier : Standard torque : Torque increased
*1 The combinations with servo amplifiers for the HK-ST152(4)_G_ are the same as those for the HK-ST172(4)W. *2 Use rotary servo motors manufactured in December 2020 or later. Otherwise, an alarm occurs.
Multi-axis servo amplifier
As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.
: Standard torque : Torque increased
Rotary servo motor Servo amplifier MR-J5-_
40_ 60_ 70_ 100_ 200_ 350_ 500_ 700_ HK-ST_W *1 130 HK-ST52W
HK-ST102W
HK-ST172W
HK-ST202AW
HK-ST302W *2
HK-ST353W
HK-ST503W
176 HK-ST7M2UW
HK-ST172UW
HK-ST202W
HK-ST352W *2
HK-ST502W
HK-ST702W
HK-ST_4_W *1
130 HK-ST524W
HK-ST1024W
HK-ST1724W
HK-ST2024AW
HK-ST3024W
176 HK-ST2024W
HK-ST3524W
HK-ST5024W *2
HK-ST7024W
Rotary servo motor Servo amplifier MR-J5W2-_ Servo amplifier MR- J5W3-_
44_ 77_ 1010_ 444_ HK-ST_W 130 HK-ST52W
HK-ST102W
176 HK-ST7M2UW
HK-ST_4_W 130 HK-ST524W
HK-ST1024W
HK-ST1724W
HK-ST2024AW
1 INTRODUCTION 1.2 Servo amplifier/motor combinations
1
*1 The combinations with servo amplifiers for the HK-ST1524_G_ are the same as those for the HK-ST1724W. *2 Use rotary servo motors manufactured in December 2020 or later. Otherwise, an alarm occurs.
HK-RT series 200 V class servo amplifier : Standard torque : Torque increased
*1 The HK-RT153W cannot be driven with the MR-J5-350_. *2 The dynamic brake time constant is longer than when the HG-RR103 and MR-J4-200_ are used in combination. To obtain the dynamic
brake time constant equivalent to the combination of the HG-RR103 and MR-J4-200_, use the HK-RT103W and MR-J5-200_ in combination. For how to calculate the coasting distance, refer to the following page. Page 165 Dynamic brake characteristics
400 V class servo amplifier : Standard torque : Torque increased
Rotary servo motor Servo amplifier MR-J5-_
60_4_ 100_4_ 200_4_ 350_4_ HK-ST_4_W *1
130 HK-ST524W *2
HK-ST1024W *2
HK-ST1724W *2
HK-ST2024AW *2
HK-ST3024W *2
HK-ST3534W
176 HK-ST2024W *2
HK-ST3524W *2
Rotary servo motor Servo amplifier MR-J5-_ Servo amplifier MR- J5W2-_
100_ 200_ 350_ 500_ 700_ 1010G HK-RT_W 90 HK-RT103W *2
HK-RT153W *1
HK-RT203W
130 HK-RT353W
HK-RT503W
HK-RT703W
Rotary servo motor Servo amplifier MR-J5-_
100_4_ 200_4_ 350_4_ HK-RT_4W 90 HK-RT1034W
HK-RT1534W
HK-RT2034W
130 HK-RT3534W
1 INTRODUCTION 1.2 Servo amplifier/motor combinations 17
18
Linear servo motor Set [Pr. PA17] and [Pr. PA18.0-3] according to the linear servo motor to be used. Linear servo motors cannot be used with 400 V class servo amplifiers.
LM-H3 series 1-axis servo amplifier
Multi-axis servo amplifier
As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.
Linear servo motor Servo amplifier MR-J5-_
Primary side (coil) Secondary side (magnet)
40_ 70_ 200_ 350_
LM-H3P2A-07P-BSS0 LM-H3S20-288-BSS0 LM-H3S20-384-BSS0 LM-H3S20-480-BSS0 LM-H3S20-768-BSS0
LM-H3P3A-12P-CSS0 LM-H3S30-288-CSS0 LM-H3S30-384-CSS0 LM-H3S30-480-CSS0 LM-H3S30-768-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P3D-48P-CSS0
LM-H3P7A-24P-ASS0 LM-H3S70-288-ASS0 LM-H3S70-384-ASS0 LM-H3S70-480-ASS0 LM-H3S70-768-ASS0
LM-H3P7B-48P-ASS0
LM-H3P7C-72P-ASS0
LM-H3P7D-96P-ASS0
Linear servo motor Servo amplifier MR-J5W2-_ Servo amplifier MR-J5W3-_
Primary side (coil) Secondary side (magnet)
44_ 77_ 1010_ 444_
LM-H3P2A-07P-BSS0 LM-H3S20-288-BSS0 LM-H3S20-384-BSS0 LM-H3S20-480-BSS0 LM-H3S20-768-BSS0
LM-H3P3A-12P-CSS0 LM-H3S30-288-CSS0 LM-H3S30-384-CSS0 LM-H3S30-480-CSS0 LM-H3S30-768-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P3D-48P-CSS0
LM-H3P7A-24P-ASS0 LM-H3S70-288-ASS0 LM-H3S70-384-ASS0 LM-H3S70-480-ASS0 LM-H3S70-768-ASS0
1 INTRODUCTION 1.2 Servo amplifier/motor combinations
1
Multi-axis servo amplifier
As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.
Linear servo motor Servo amplifier MR-J5-_
Primary side (coil) Secondary side (magnet)
20_ 40_ 60_ 70_ 200_ 350_ 500_
LM-U2PAB-05M-0SS0 LM-U2SA0-240-0SS0 LM-U2SA0-300-0SS0 LM-U2SA0-420-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0 LM-U2SB0-240-1SS1 LM-U2SB0-300-1SS1 LM-U2SB0-420-1SS1
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
LM-U2P2B-40M-2SS0 LM-U2S20-300-2SS1 LM-U2S20-480-2SS1
LM-U2P2C-60M-2SS0
LM-U2P2D-80M-2SS0
Linear servo motor Servo amplifier MR-J5W2-_ Servo amplifier MR-J5W3-_
Primary side (coil) Secondary side (magnet)
22_ 44_ 77_ 1010_ 222_ 444_
LM-U2PAB-05M-0SS0 LM-U2SA0-240-0SS0 LM-U2SA0-300-0SS0 LM-U2SA0-420-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0 LM-U2SB0-240-1SS1 LM-U2SB0-300-1SS1 LM-U2SB0-420-1SS1
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
1 INTRODUCTION 1.2 Servo amplifier/motor combinations 19
20
LM-F series 1-axis servo amplifier
LM-K2 series 1-axis servo amplifier
Multi-axis servo amplifier
As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.
Linear servo motor Servo amplifier MR-J5-_
Primary side (coil) Secondary side (magnet)
10_ 20_ 40_ 60_ 70_ 100_ 200_ 350_ 500_ 700_
LM-FP2B-06M-1SS0 LM-FS20-480-1SS0 LM-FS20-576-1SS0
LM-FP2D-12M-1SS0
LM-FP2F-18M-1SS0
LM-FP4B-12M-1SS0 LM-FS40-480-1SS0 LM-FS40-576-1SS0
LM-FP4D-24M-1SS0
Linear servo motor Servo amplifier MR-J5-_
Primary side (coil) Secondary side (magnet)
40_ 70_ 200_ 350_ 500_
LM-K2P1A-01M-2SS1 LM-K2S10-288-2SS1 LM-K2S10-384-2SS1 LM-K2S10-480-2SS1 LM-K2S10-768-2SS1
LM-K2P1C-03M-2SS1
LM-K2P2A-02M-1SS1 LM-K2S20-288-1SS1 LM-K2S20-384-1SS1 LM-K2S20-480-1SS1 LM-K2S20-768-1SS1
LM-K2P2C-07M-1SS1
LM-K2P2E-12M-1SS1
LM-K2P3C-14M-1SS1 LM-K2S30-288-1SS1 LM-K2S30-384-1SS1 LM-K2S30-480-1SS1 LM-K2S30-768-1SS1
LM-K2P3E-24M-1SS1
Linear servo motor Servo amplifier MR-J5W2-_ Servo amplifier MR-J5W3-_
Primary side (coil) Secondary side (magnet)
44_ 77_ 1010_ 444_
LM-K2P1A-01M-2SS1 LM-K2S10-288-2SS1 LM-K2S10-384-2SS1 LM-K2S10-480-2SS1 LM-K2S10-768-2SS1
LM-K2P2A-02M-1SS1 LM-K2S20-288-1SS1 LM-K2S20-384-1SS1
1 INTRODUCTION 1.2 Servo amplifier/motor combinations
1
The LM-AJ series linear servo motor cannot be used with the MR-J5_-_B_ servo amplifier.
1-axis servo amplifier
Multi-axis servo amplifier
As long as the linear servo motor is compatible with the servo amplifier, any combination of the following is possible: linear servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.
Linear servo motor Servo amplifier MR-J5-_
Primary side (coil) Secondary side (magnet)
40_ 70_
LM-AJP1B-07K-JSS0 LM-AJS10-080-JSS0 LM-AJS10-200-JSS0 LM-AJS10-400-JSS0
LM-AJP1D-14K-JSS0
LM-AJP2B-12S-JSS0 LM-AJS20-080-JSS0 LM-AJS20-200-JSS0 LM-AJS20-400-JSS0
LM-AJP2D-23T-JSS0
LM-AJP3B-17N-JSS0 LM-AJS30-080-JSS0 LM-AJS30-200-JSS0 LM-AJS30-400-JSS0
LM-AJP3D-35R-JSS0
LM-AJP4B-22M-JSS0 LM-AJS40-080-JSS0 LM-AJS40-200-JSS0 LM-AJS40-400-JSS0
LM-AJP4D-45N-JSS0
Linear servo motor Servo amplifier MR-J5W2-_ Servo amplifier MR-J5W3-_
Primary side (coil) Secondary side (magnet)
44G 77G 1010G 444G
LM-AJP1B-07K-JSS0 LM-AJS10-080-JSS0 LM-AJS10-200-JSS0 LM-AJS10-400-JSS0
LM-AJP1D-14K-JSS0
LM-AJP2B-12S-JSS0 LM-AJS20-080-JSS0 LM-AJS20-200-JSS0 LM-AJS20-400-JSS0
LM-AJP2D-23T-JSS0
LM-AJP3B-17N-JSS0 LM-AJS30-080-JSS0 LM-AJS30-200-JSS0 LM-AJS30-400-JSS0
LM-AJP3D-35R-JSS0
LM-AJP4B-22M-JSS0 LM-AJS40-080-JSS0 LM-AJS40-200-JSS0 LM-AJS40-400-JSS0
LM-AJP4D-45N-JSS0
1 INTRODUCTION 1.2 Servo amplifier/motor combinations 21
22
LM-AU series
The LM-AU series linear servo motor cannot be used with the MR-J5_-_B_ servo amplifier.
Use servo amplifiers with firmware version D0 or later. Otherwise, [AL. 01A Servo motor combination error] occurs.
1-axis servo amplifier
Multi-axis servo amplifier
As long as the linear servo motor is compatible with the servo amplifier, any combination of the following is possible: linear servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.
Linear servo motor Servo amplifier MR-J5-_
Primary side (coil) Secondary side (magnet)
40_ 70_ 200_
LM-AUP3A-03V-JSS0 LM-AUS30-120-JSS0 LM-AUS30-180-JSS0 LM-AUS30-240-JSS0 LM-AUS30-300-JSS0 LM-AUS30-600-JSS0
LM-AUP3B-06V-JSS0
LM-AUP3C-09V-JSS0
LM-AUP3D-11R-JSS0
LM-AUP4A-04R-JSS0 LM-AUS40-120-JSS0 LM-AUS40-180-JSS0 LM-AUS40-240-JSS0 LM-AUS40-300-JSS0 LM-AUS40-600-JSS0
LM-AUP4B-09R-JSS0
LM-AUP4C-13P-JSS0
LM-AUP4D-18M-JSS0
LM-AUP4F-26P-JSS0
LM-AUP4H-35M-JSS0
Linear servo motor Servo amplifier MR-J5W2-_ Servo amplifier MR-J5W3-_
Primary side (coil) Secondary side (magnet)
44G 77G 1010G 444G
LM-AUP3A-03V-JSS0 LM-AUS30-120-JSS0 LM-AUS30-180-JSS0 LM-AUS30-240-JSS0 LM-AUS30-300-JSS0 LM-AUS30-600-JSS0
LM-AUP3B-06V-JSS0
LM-AUP3C-09V-JSS0
LM-AUP3D-11R-JSS0
LM-AUP4A-04R-JSS0 LM-AUS40-120-JSS0 LM-AUS40-180-JSS0 LM-AUS40-240-JSS0 LM-AUS40-300-JSS0 LM-AUS40-600-JSS0
LM-AUP4B-09R-JSS0
LM-AUP4C-13P-JSS0
LM-AUP4D-18M-JSS0
1 INTRODUCTION 1.2 Servo amplifier/motor combinations
1
TM-RFM series 1-axis servo amplifier : Standard torque
Multi-axis servo amplifier
As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.
: Standard torque
Direct drive motor Servo amplifier MR-J5-_
20_ 40_ 60_ 70_ 100_ 350_ 500_ TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM018E20
TM-RFM012G20
TM-RFM048G20
TM-RFM072G20
TM-RFM040J10
TM-RFM120J10
TM-RFM240J10
Direct drive motor Servo amplifier MR-J5W2-_ Servo amplifier MR-J5W3-_
22_ 44_ 77_ 1010_ 222_ 444_ TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM018E20
TM-RFM012G20
TM-RFM040J10
1 INTRODUCTION 1.2 Servo amplifier/motor combinations 23
24
TM-RG2M series/TM-RU2M series 1-axis servo amplifier : Standard torque : Torque increased
Multi-axis servo amplifier
As long as the servo motor is compatible with the servo amplifier, any combination of the following is possible: servo motor series, capacity, rotary servo motor, linear servo motor, and direct drive motor.
: Standard torque : Torque increased
Direct drive motor Servo amplifier MR-J5-_
20_ 40_ TM-RG2M002C30 TM-RU2M002C30
TM-RG2M004E30 TM-RU2M004E30
TM-RG2M009G30 TM-RU2M009G30
Direct drive motor Servo amplifier MR-J5W2- Servo amplifier MR-J5W3-
22_ 44_ 77_ 1010_ 222_ 444_ TM-RG2M002C30 TM-RU2M002C30
TM-RG2M004E30 TM-RU2M004E30
TM-RG2M009G30 TM-RU2M009G30
1 INTRODUCTION 1.2 Servo amplifier/motor combinations
1
Power supply system wiring
Power supply system wiring Check that the power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier satisfies the defined
specifications. For the power supply specifications, refer to "Servo amplifier standard specifications" in User's Manual (Introduction).
If the power factor improving DC reactor is not used, check that P3 and P4 are connected.
P3
P4
Servo amplifier
1 INTRODUCTION 1.3 Wiring check 25
26
Connecting the servo amplifier to the servo motor MR-J5-_G_/MR-J5-_B_/MR-J5-_A_ Check that the phases (U/V/W) of the servo amplifier power outputs and the phases (U/V/W) of the servo motor power inputs match with each other.
MR-J5W_-_G_/MR-J5W-_B_ Check that each connector and servo motors are connected as follows: the CNP3A connector and the A-axis servo motor, the CNP3B connector and the B-axis servo motor, and the CNP3C connector and the C-axis servo motor. Also, check that the phases (U/V/W) of the servo amplifier power outputs and the phases (U/V/W) of the servo motor power inputs match with each other.
*1 This is for the MR-J5W3-_ servo amplifier.
U
MV
W
U
V
W
Servo amplifier Servo motor
CNP3A
CNP3B
CNP3C *1
U
V
W M
U
V
W M
U
V
E
E
E
W M
U
V
W
U
V
W
U
V
W
Servo amplifier A-axis servo motor
B-axis servo motor
C-axis servo motor *1
1 INTRODUCTION 1.3 Wiring check
1
Check that the power to be supplied to the servo amplifier is not connected to the power outputs (U/V/W).
For 1-axis servo amplifiers, check that the grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier. For multi-axis servo amplifiers, check that the grounding terminal of the servo motor is connected to the grounding terminal of the CNP3A/CNP3B/CNP3C connectors.
Check that the CN2 connector of the 1-axis servo amplifier is securely connected to the encoder of the servo motor using a motor cable or encoder cable. Check that the CN2A/CN2B/CN2C connectors of the multi-axis servo amplifier are securely connected to the encoder of the servo motor using a motor cable or encoder cable.
M
U
V
W
U
V
W
L1
L2
L3
Servo amplifier Servo motor
M E
Servo amplifier Servo motor
1 INTRODUCTION 1.3 Wiring check 27
28
Using options or peripheral equipment Regenerative option Check that the lead wire between terminal P+ and terminal D has been removed. Check that the wire of the regenerative option is connected to terminal P+ and terminal C. Check that twisted wires have been used for connecting the regenerative option to the servo amplifier. Page 248 Connection of regenerative option
Simple converter Page 257 Example of configuration including peripheral equipment
Multifunction regeneration converter Page 265 Multifunction regeneration converter (FR-XC-(H))
Power factor improving DC reactor Check that a power factor improving DC reactor is connected between P3 and P4. Page 295 Power factor improving DC reactor
*1 Remove the wire between P3 and P4.
I/O signal wiring Check that I/O signals are connected correctly. If the DO forced output mode is used, the pins of the CN3 connector can be forcibly switched on/off. This mode is used to check the wiring. In this case, switch on the control circuit power supply only. Refer to the following page for information on connecting I/O signals. Page 51 Example I/O signal connections Check that a voltage exceeding 24 V DC has not been applied to the pins of the CN3 connector. Check that the plate and DOCOM of the CN3 connector have not been shorted.
*1 P3
P4
Servo amplifierPower factor improving DC reactor
DOCOM CN3
Servo amplifier
Plate
1 INTRODUCTION 1.3 Wiring check
1
Handling cables Check that the wiring cables have not been stressed. Check that the encoder cable has been used within its flex life. Page 224 Cable flex life Check that the connector of the servo motor has not been stressed.
Environment Check that signal cables and power cables have not been shorted primarily by wire offcuts and metallic dust.
1 INTRODUCTION 1.4 Surrounding environment 29
30
2 INSTALLATION Precautions
Install the servo amplifier and regenerative resistor on incombustible material. Installing them either directly on or near combustibles may lead to smoke or a fire. In addition, the servo amplifier must be installed in a metal cabinet.
Provide an adequate protection to prevent the following matter from entering the servo amplifier: conductive matter such as screws and metal fragments, and combustible matter such as oil.
Devices such as the servo amplifier regenerative resistor and servo motor may become hot. Take safety measures such as providing covers.
Do not stack in excess of the specified number of product packages. Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Doing so may cause the servo
amplifier to drop. To prevent a malfunction, do not drop the servo amplifier or servo motor or subject them to impacts. Install the servo amplifier and servo motor in a place that can support their weight as stated in the user's manual. Do not get on the equipment or put a heavy load on it. Do not install or operate a servo amplifier that is missing parts or is damaged. To prevent a malfunction, do not block the intake and exhaust areas of the servo amplifier. Do not subject connectors to impacts. Doing so may cause a connection failure, malfunction, or other failures. Use the product within the specified environment. For the environment, refer to "Servo amplifier standard specifications" in
the User's Manual (Introduction). To prevent a fire or injury from occurring in the event of an earthquake or other natural disaster, securely install, mount, and
wire the servo amplifier as stated in the user's manual. When the product has been stored for an extended period of time, contact your local sales office. When handling the servo amplifier, be careful with the edges of the servo amplifier. Fumigants that are used to disinfect and protect wooden packaging from insects contain halogens (such as fluorine,
chlorine, bromine, and iodine) cause damage if they enter our products. Please take necessary precautions to ensure that any residual materials from fumigants do not enter our products, or perform disinfection and pest control using a method other than fumigation, such as heat treatment. Perform disinfection and pest control on the wooden packaging materials before packing the products.
Provide an external emergency stop circuit to stop the operation and shut-off the power immediately. For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to
the end of the moving part. Do not use the servo amplifier in environments where it is exposed to strong magnetic fields, electric fields, or radiation.
Doing so may cause operation failure or malfunction.
2 INSTALLATION
2
2.1 Mounting direction and clearances Precautions
The servo amplifier must be installed in the specified direction. To prevent a malfunction, maintain the specified clearances between the servo amplifier and cabinet walls or other
equipment. Circulate air so that the air at the top and bottom of the servo amplifier does not stagnate.
Availability of close mounting Refer to the following table for availability of close mounting.
Installation clearances for the servo amplifier (1-axis servo amplifier) Installation of one servo amplifier
Servo amplifier When 3-phase power supply is input When 1-phase power supply is input MR-J5-10_ to MR-J5-70_ Possible Possible
MR-J5-100_ to MR-J5-200_ Impossible
MR-J5-350_ to MR-J5-700_
MR-J5W2-22_ to MR-J5W2-77_ Possible Possible
MR-J5W2-1010_
MR-J5W3-222_ to MR-J5W3-444_ Possible Possible
MR-J5-60_4_ to MR-J5-350_4_ Impossible
Cabinet Cabinet
40 mm or moreWiring allowance
Servo amplifier 80 mm or more
10 mm or more
10 mm or more Top
Bottom
40 mm or more
2 INSTALLATION 2.1 Mounting direction and clearances 31
32
Installation of two or more servo amplifiers Maintain a large clearance above the servo amplifiers and install a cooling fan to prevent the temperature inside the cabinet from exceeding the temperature specified in the environmental conditions. When closely mounting the servo amplifiers, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. When mounting servo amplifiers in this manner, keep the ambient temperature within 0 C to 45 C, or use the servo amplifiers with 75 % or less of the effective load ratio.
Precautions When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the
left. Otherwise, the CNP1, CNP2, and CNP3 connectors cannot be removed.
*1 Leave a clearance of 100 mm or more above the fan units.
1 mm 1 mm
Cabinet Cabinet
100 mm or more *1 100 mm or more *1
10 mm or more
30 mm or more
30 mm or more
30 mm or more
Top
Bottom
40 mm or more 40 mm or more
Leaving clearance Mounting closely
2 INSTALLATION 2.1 Mounting direction and clearances
2
Installation clearances for the servo amplifier (multi-axis servo amplifier) Installation of one servo amplifier
Installation of two or more servo amplifiers Maintain a large clearance above the servo amplifiers and install a cooling fan to prevent the temperature inside the cabinet from exceeding the temperature specified in the environmental conditions. When closely mounting the servo amplifiers, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. When mounting servo amplifiers in this manner, keep the ambient temperature within 0 C to 45 C, or use the servo amplifiers with 75 % or less of the effective load ratio.
*1 Leave a clearance of 100 mm or more above the fan units.
Other precautions When using heat generating equipment such as the regenerative option, install it with full consideration of heat generation so that the servo amplifier is not affected. Mount the servo amplifier on a perpendicular wall in the correct vertical direction.
Cabinet Cabinet
40 mm or moreWiring allowanceServo amplifier
80 mm or more
10 mm or more
10 mm or more
40 mm or more
Top
Bottom
1 mm 1 mm
Cabinet Cabinet
100 mm or more *1 100 mm or more *1
10 mm or more
Top
30 mm or more
30 mm or more
30 mm or more
Bottom
40 mm or more 40 mm or more
Leaving clearance Mounting closely
2 INSTALLATION 2.1 Mounting direction and clearances 33
34
2.2 Keeping out foreign materials When drilling the cabinet for assembly, prevent drill chips and wire fragments from entering the servo amplifier. Prevent foreign matter such as oil, water, and metallic dust from entering the servo amplifier through cooling fans installed in openings in the cabinet or on the ceiling. When installing the cabinet in a place where toxic gas, dirt, and dust exist, conduct an air purge (force clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the cabinet.
2.3 Cable stress The method used to clamp the cable must be fully examined so that bending stress and cable's own weight stress are not
applied to the cable connection. When used for applications where the servo motor moves, fix the cable (encoder, power supply, brake) with gentle slack
from the connecting part of the connector to prevent stress from being applied to the connecting part of the servo motor connector. Use the optional motor cable/encoder cable within the flex life range.
Prevent the cable insulator from being cut by sharp chips or from touching and rubbing against the machine corners. Prevent the cables from getting stepped on by workers or run over by vehicles. If installing the servo motor that moves on a machine, make the bend radius as large as possible. Refer to the following for
the flex life. Page 224 Cable flex life
Precautions The cables should not be damaged, stressed, loaded, or pinched.
2 INSTALLATION 2.2 Keeping out foreign materials
2
2.4 SSCNET III cable laying [B] The SSCNET III cable is made from optical fiber. If a force such as a major shock, lateral pressure, haul, sudden bending or twist is applied to optical fiber, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for the MR-J3BUS_M and MR-J3BUS_M-A is made of synthetic resin, it melts if exposed to fire or high temperature. Therefore, prevent it from being in contact with parts that can become hot such as the heat sink or regenerative option of the servo amplifier. Read the descriptions in this section carefully and handle the cable with caution.
Minimum bend radius Lay the cable with a greater radius than the minimum bend radius. Prevent the cable from being pressed against edges or other sharp parts of equipment. For the SSCNET III cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of the servo amplifier so that the cable is laid with a greater radius than the minimum bending radius. When closing the door of cabinet, pay careful attention for avoiding the case that the SSCNET III cable is held down by the door and the cable bend becomes smaller than the minimum bend radius. For the minimum bend radius, refer to the following. Page 238 SSCNET III cable [B]
Prohibition of using vinyl tape Migrating plasticizers are used for vinyl tape. Keep the MR-J3BUS_M and MR-J3BUS_M-A cables away from vinyl tape because the optical characteristics may be affected.
: Phthalate ester plasticizers such as DBP and DOP may affect the optical characteristics of the cable. : The cord and cable are not affected by plasticizers.
Precautions for materials containing migrating plasticizers Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating plasticizers and they do not affect the optical characteristics of the SSCNET III cable. However, some wire sheaths and cable ties containing migrating plasticizers (phthalate ester) may affect the MR-J3BUS_M and MR-J3BUS_M-A cables (made of plastic). Note that the MR-J3BUS_M-B cable (made of silica glass) is not affected by plasticizers. A chemical substances may affect its optical characteristics. Therefore, check that the cable is not affected by the operating environment in advance.
SSCNET III cable Cord Cable MR-J3BUS_M
MR-J3BUS_M-A
MR-J3BUS_M-B
CableOptical cord
2 INSTALLATION 2.4 SSCNET III cable laying [B] 35
36
Fixing bundled cables Fix the cables at the closest part to the connector with a bundling material in order to prevent the SSCNET III cable from putting its own weight on the CN1A and CN1B connectors of the servo amplifier. Give a loose slack to the optical cord to allow a radius greater than the minimum bending radius. Do not twist the optical cord. When bundling the cables, fix and hold them in position by using a cushioning material such as sponge or rubber which does not contain migrating plasticizers. If adhesive tape is to be used to bundle the cables, the flame-retardant acetate cloth adhesive tape 570F (TERAOKA SEISAKUSHO CO., LTD.) is recommended.
Tension If tension is applied to the optical fiber, transmission loss increases because of an external force which concentrates on the fixing part of the optical fiber or the connecting part of the optical connector. This may cause the breakage of the optical fiber or damage of the optical connector. Be careful not to apply excessive tension when laying the cable. For the tension strength, refer to the following. Page 238 SSCNET III cable [B]
Lateral pressure Applying lateral pressure to the optical cable distorts the optical cable itself and stresses the internal optical fiber, increasing transmission loss. This may cause the breakage of the optical cable. As the same condition occurs when the cables are bundled, do not tighten the optical cable with a nylon band (cable tie) or a similar material. Do not step on it or get it caught in any parts such as the door of the cabinet.
Connector
Optical cord Loose slack
Bundle material Recommended product: NK clamp SP type (NIX, INC)
Cable
2 INSTALLATION 2.4 SSCNET III cable laying [B]
2
2.5 Fan unit replacement procedure The fan unit is composed of a cooling fan and its cover. If replacing the cooling fan, replace the entire fan unit. Shut off the power supply before replacing the fan unit.
List of applicable fan units Servo amplifier Model of fan unit to be replaced MR-J5-70_ MR-J5-100_
MR-J5-FAN1
MR-J5-200_ MR-J5-350_
MR-J5-FAN2
MR-J5-500_ MR-J5-FAN3
MR-J5-700_ MR-J5-FAN4
MR-J5W2-44_ MR-J5W-FAN1
MR-J5W2-77_ MR-J5W2-1010_
MR-J5W-FAN3
MR-J5W3-222_ MR-J5W3-444_
MR-J5W-FAN2
MR-J5-200_4_ MR-J5-350_4_
MR-J5-FAN2
2 INSTALLATION 2.5 Fan unit replacement procedure 37
38
Fan unit removal procedure The following illustrates an example where the MR-J5-FAN1 is removed from the MR-J5-70G.
1. Remove the screws that fixed the fan unit. Keep the removed screws for installation of the new fan unit.
2. Pull up the cover of the fan unit using a precision screwdriver.
3. Pull out the fan unit vertically.
2 INSTALLATION 2.5 Fan unit replacement procedure
2
Fan unit installation procedure The following illustrates an example where the MR-J5-FAN1 is installed to the MR-J5-70G. Insert the positioning part of the fan unit vertically, align it to the positioning part of the main unit case, and tighten with screws. Use the same screws as those used for the fan unit before replacement.
2 INSTALLATION 2.5 Fan unit replacement procedure 39
40
2.6 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m
Altitude and ambient temperature As heat dissipation effects decrease in proportion to the decrease in air density (5 C per 1000 m), use the product within the ambient temperature range shown in the following figure.
When mounting servo amplifiers close together while using them in environments comparable to those within the diagonal lines in the figure above, use them at an effective load ratio of 75 % or less.
Input voltage Generally, withstand voltage decreases as altitude increases; however, there is no restriction on the withstand voltage.
Parts with a service life Smoothing capacitor The capacitor will reach the end of its service life in 10 years of continuous operation in an air-conditioned environment (with an ambient temperature of 30 C or less).
Relays There is no restriction.
Servo amplifier cooling fan There is no restriction.
0 20001000 0
[m]
40
55 60 70
[C] Not mounting closely
Am bi
en t t
em pe
ra tu
re
Mounting closely
Altitude
2 INSTALLATION 2.6 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m
3
3 SIGNALS AND WIRING Precautions
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 Insulate the conductive parts of the terminals. Turn off the power and wait for 15 minutes or more until the charge light of the servo amplifier turns off. Checking the
voltage between P+ and N- using the tester, etc. is recommended. If using a regenerative resistor, configure a circuit that shuts off the main circuit power supply with an alarm signal because
abnormal overheating of the regenerative resistor may cause smoke and fire. To prevent failure and malfunction, only the power supply/signal specified in the user's manual should be connected to a
corresponding terminal. To prevent unexpected operation of the servo motor, wire the equipment correctly and securely. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Failing to do so
may cause the cables and connectors to disconnect during operation. Unless stated otherwise, all connection diagrams in this user's manual are sink interface diagrams. Install a surge absorbing diode in the correct direction. Failing to do so may cause the amplifier to malfunction and not to
output signals, disabling protective circuits such as the emergency stop.
If the wires are not properly secured to the terminal block, the poor contact may cause the wires and terminal block to generate heat. Be sure to secure the wires with the specified torque.
Connecting the servo motor for an incorrect axis to the power outputs (U/V/W) or CN2/CN2A/CN2B/CN2C of the servo amplifier may cause a malfunction.
Make sure that no operation signal is being input to the servo amplifier before resetting an alarm or releasing the emergency stop. Failing to do so may cause an unexpected operation.
If the power supply is shut off by a molded-case circuit breaker or a fuse, remove the cause and secure safety before switching the power on.
Install the servo amplifier according to the EMC guidelines because electromagnetic interference may affect the electronic equipment used near the servo amplifier.
To prevent an electric shock or a fire, do not disassemble, repair, or modify the product. Disassembled, repaired, and/or modified products are not covered under warranty.
Eliminate static electricity before performing actions such as wiring or operating a switch.
DOCOM
RA
DOCOM
RA
Servo amplifierServo amplifier 24 V DC 24 V DC
Control output signal
Control output signal
For sink output interface For source output interface
3 SIGNALS AND WIRING 41
42
3.1 Example power circuit connections Precautions
Connect a magnetic contactor between a power supply and the main circuit power supply (L1/L2/L3) of a servo amplifier to configure a circuit that shuts off the power supply on the servo amplifier side because failure of the servo amplifier may cause smoke and fire if a magnetic contactor is not connected.
Use a configuration that shuts off the main circuit power supply with ALM (Malfunction). Check the servo amplifier model and use the correct power supply voltage. Exogenous noise or lightning surges may degrade the characteristics of the surge absorber (varistor) built into the servo
amplifier and damage it. Do not shut off the control circuit power supply even if an alarm occurs. If the control circuit power supply is shut off,
network communication will be interrupted. In the torque mode, EM2 functions the same as EM1. If using the MR-J5 servo amplifier with the DC power supply input, refer to the following. Page 49 Using servo amplifier with DC power supply input To prevent malfunction, avoid bundling the servo amplifier's power lines (input/output) and signal cables together or running
them parallel to each other. Separate the power lines from the signal cables. Provide adequate protection to prevent an unexpected restart after an instantaneous power failure. Configure wiring so that the main circuit power supply is shut off and the servo-on command is turned off after deceleration
to a stop due to an alarm occurrence, an enabled servo forced stop, or a quick stop command from the controller. Use a molded-case circuit breaker (MCCB) with the input cables of the main circuit power supply.
When insulating the main circuit power supply (L1/L2/L3) and the control circuit power supply (L11/L21) of the servo amplifier using an isolation transformer, etc., connect between L1 and L11 and between L2 and L21 at equipotential.
3 SIGNALS AND WIRING 3.1 Example power circuit connections
3
200 V class
For 3-phase 200 V AC to 240 V AC power supply (1-axis servo amplifier)
MC *6 L1
L2
L3
P3
P4
P+
L11
L21
N-
D
C
U
V
W
CNP1 *12
CNP3 *8
CNP2
U
V
E
W
CN2 *8
MC
MCCB
MC
SK
M
RA1 RA2
*5 *3
*7
*2
*13
*1
*10
Malfunction *4 OFF ON
Emergency stop switch
Servo amplifier Servo motor
3-phase 200 V AC to 240 V AC *9
Motor
Encoder
Servo motor overheat protection *11
3 SIGNALS AND WIRING 3.1 Example power circuit connections 43
44
*1 P3 and P4 are connected from the factory. If using a power factor improving DC reactor, remove the short-circuit bar between P3 and P4, then connect the power factor improving DC reactor. Additionally, the power factor improving DC reactor and a power factor improving AC reactor cannot be used together. Page 295 Power factor improving DC reactor
*2 Connect P+ and D terminals. P+ and D are connected from the factory. If using a regenerative option, refer to the following. Page 240 Regenerative option
*3 Option cables are recommended for servo motor power cables and encoder cables. For selecting cables, refer to "Cables/connector sets" in the following manual. Rotary Servo Motor User's Manual (For MR-J5)
*4 If ALM (Malfunction) output is disabled with a servo parameter, configure a power circuit which switches off a magnetic contactor after detection of an alarm occurrence on the controller side.
*5 For connecting servo motor power wires, refer to "CONNECTION OF SERVO AMPLIFIER AND ROTARY SERVO MOTOR" in the following manual. Rotary Servo Motor User's Manual (For MR-J5)
*6 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. The bus voltage may drop depending on the main circuit power supply voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration. If dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
*7 If wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. Page 283 Molded-case circuit breakers, fuses, magnetic contactors
*8 Connecting the servo motor for an incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. *9 For 1-phase 200 V AC to 240 V AC power supply, connect the power supply to L1 and L3. Leave L2 open. *10 If operating the on switch and off switch of the main circuit power supply with a DC power supply, do not share the 24 V DC power
supply for interface with the magnetic contactor. Use the power supply designed exclusively for the magnetic contactor. Refer to the following for the magnetic contactors that can be used. Page 288 Driving on/off of main circuit power supply with DC power supply (1-axis servo amplifier) Operating the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements. Also, change the configuration of the part inside the dotted line as follows.
*11 When connecting a linear servo motor that has a thermal protector, add a contact that interlocks with the thermal protector output of the linear servo motor.
*12 For MR-J5-500_ and MR-J5-700_ servo amplifiers, the CNP1 connector is divided into two: CNP1A connector (L1/L2/L3) and CNP1B connector (N1/P3/P4).
*13 Even if the control circuit power supply is separated from the main circuit power supply using an uninterruptible power supply (UPS) or insulation transformer, do not ground L11 and L21.
MC
MC
SK
RA1 RA2
24 V DC
Malfunction OFF ON
Emergency stop switch
Servo motor overheat protection
3 SIGNALS AND WIRING 3.1 Example power circuit connections
3
For 3-phase 200 V AC to 240 V AC power supply (multi-axis servo amplifier)
MC *5 L1
L2
L3
/
P4
P+
L11
L21
D
C
U
V
W
CNP1
CNP3A *9
CNP2
U
V
W
CN2A
MC
MCCB
MC
SK
M N-
RA1
*4
*7
U
V
W
CNP3B *9
U
V
W
CN2B
M
*4
U
V
W
CNP3C *9
U
V
E
E
E
W
CN2C
M
*4
PE ( ) *1
*12
*2
*2
*2
*10
RA2
AND malfunction *3 OFF
ON
Emergency stop switch
Servo amplifier A-axis servo motor
Power supply *6 Motor
Encoder
B-axis servo motor
Motor
Encoder
C-axis servo motor *8
Motor
Encoder
Servo motor overheat protection *11
3 SIGNALS AND WIRING 3.1 Example power circuit connections 45
46
*1 The servo amplifier is shipped from the factory with P+ and D already connected. If using a regenerative option, refer to the following. Page 240 Regenerative option
*2 Option cables are recommended for servo motor power cables and encoder cables. For selecting cables, refer to "Cables/connector sets" in the following manual. Rotary Servo Motor User's Manual (For MR-J5)
*3 This circuit is a connection example of stopping all axes when an alarm occurs. If CALM (AND malfunction) output is disabled with a servo parameter, configure a power circuit which switches off a magnetic contactor after detection of alarm occurrence on the controller side.
*4 For connecting servo motor power wires, refer to "CONNECTION OF SERVO AMPLIFIER AND ROTARY SERVO MOTOR" in the following manual. Rotary Servo Motor User's Manual (For MR-J5)
*5 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. The bus voltage may drop depending on the main circuit power supply voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration. If dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
*6 For 1-phase 200 V AC to 240 V AC power supply, connect the power supply to L1 and L3. Leave L2 open. *7 If wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
Page 283 Molded-case circuit breakers, fuses, magnetic contactors *8 This is for the MR-J5W3-_G_ servo amplifier. *9 Connecting a servo motor of the incorrect axis to the CNP3A, CNP3B, or CNP3C connector may cause a malfunction. *10 If operating the on switch and off switch of the main circuit power supply with a DC power supply, do not share the 24 V DC power
supply for interface with the magnetic contactor. Use the power supply designed exclusively for the magnetic contactor. Refer to the following for the magnetic contactors that can be used. Page 288 Driving on/off of main circuit power supply with DC power supply (multi-axis servo amplifier) Operating the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements. Also, change the configuration of the part inside the dotted line as follows.
*11 When connecting a linear servo motor that has a thermal protector, add a contact that interlocks with the thermal protector output of the linear servo motor.
*12 Even if the control circuit power supply is separated from the main circuit power supply using an uninterruptible power supply (UPS) or insulation transformer, do not ground L11 and L21.
MC
MC
SK
RA1 RA2
24 V DC
AND malfunction OFF ON
Emergency stop switch
Servo motor overheat protection
3 SIGNALS AND WIRING 3.1 Example power circuit connections
3
400 V class
For 3-phase 380 V AC to 480 V AC power supply (1-axis servo amplifier)
P3
P4
P+
L11
L21
L1
L2
L3
N-
D
C
U
V
W
CNP1
CNP3 *8
CNP2
U
V
E
W
CN2 *8
MC
MCCB MC *6
MC
SK
M
RA1
*5 *3
*7
*2
*10
*1
*9
Malfunction *4 OFF ON
Emergency stop switch
Servo amplifier Servo motor
3-phase 380 V AC to 480 V AC
Motor
Encoder
3 SIGNALS AND WIRING 3.1 Example power circuit connections 47
48
*1 P3 and P4 are connected from the factory. If using a power factor improving DC reactor, remove the short-circuit bar between P3 and P4, then connect the power factor improving DC reactor. Additionally, the power factor improving DC reactor and a power factor improving AC reactor cannot be used together. Page 295 Power factor improving DC reactor
*2 Connect P+ and D terminals. P+ and D are connected from the factory. If using a regenerative option, refer to the following. Page 240 Regenerative option
*3 Option cables are recommended for servo motor power cables and encoder cables. For selecting cables, refer to "Cables/connector sets" in the following manual. Rotary Servo Motor User's Manual (For MR-J5)
*4 If ALM (Malfunction) output is disabled with a servo parameter, configure a power circuit which switches off a magnetic contactor after detection of an alarm occurrence on the controller side.
*5 For connecting servo motor power wires, refer to "CONNECTION OF SERVO AMPLIFIER AND ROTARY SERVO MOTOR" in the following manual. Rotary Servo Motor User's Manual (For MR-J5)
*6 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. The bus voltage may drop depending on the main circuit power supply voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration. If dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
*7 If wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. Page 283 Molded-case circuit breakers, fuses, magnetic contactors
*8 Connecting the servo motor for an incorrect axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. *9 If operating the on switch and off switch of the main circuit power supply with a DC power supply, do not share the 24 V DC power
supply for interface with the magnetic contactor. Use the power supply designed exclusively for the magnetic contactor. Refer to the following for the magnetic contactors that can be used. Page 288 Driving on/off of main circuit power supply with DC power supply (1-axis servo amplifier) Operating the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements. Also, change the configuration of the part inside the dotted line as follows.
*10 Even if the control circuit power supply is separated from the main circuit power supply using an uninterruptible power supply (UPS) or insulation transformer, do not ground L11 and L21.
MC
MC
SK
RA1
24 V DC
Malfunction OFF ON
Emergency stop switch
3 SIGNALS AND WIRING 3.1 Example power circuit connections
3
Using servo amplifier with DC power supply input
Connection example Refer to the following for the signals and wiring not described in this section. Page 43 200 V class
MR-J5-10_ to MR-J5-100_/MR-J5W2-22_/MR-J5W2-44_/MR-J5W3-222_
*1 For the power supply specifications, refer to "Servo amplifier standard specifications" in User's Manual (Introduction). *2 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of
80 ms or less. The bus voltage may drop depending on the main circuit power supply voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration. If dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
*3 Operating the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements. *4 Do not share the 24 V DC power supply for interface with a magnetic contactor. Use the power supply designed exclusively for the
magnetic contactor. *5 If wires used for L11 and L21 are thinner than wires used for L1 and L3, use a fuse.
Page 287 Using servo amplifier with DC power supply input *6 When connecting a linear servo motor that has a thermal protector, add a contact that interlocks with the thermal protector output of the
linear servo motor. *7 Even if the control circuit power supply is separated from the main circuit power supply using an uninterruptible power supply (UPS) or
insulation transformer, do not ground L11 and L21.
MC *2 L1
L2
L3
L11
L21
MC
MC
MCCB
SK
*5
+
-
*1
*7
RA1
AC/DC
RA2
24 V DC *3*4
200 V AC to 240 V AC
(283 V DC to 340 V DC)
Servo amplifier
3-phase or 1-phase
Malfunction OFF ON
converter
Emergency stop switch
Servo motor overheat protection *6
3 SIGNALS AND WIRING 3.1 Example power circuit connections 49
50
MR-J5-200_/MR-J5-350_/MR-J5-500_/MR-J5-700_/MR-J5W2-77_/MR-J5W2-1010_/MR-J5W3- 444_
*1 For the power supply specifications, refer to "Servo amplifier standard specifications" in User's Manual (Introduction). *2 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of
80 ms or less (160 ms or less for 5 kW or more). The bus voltage may drop depending on the main circuit power supply voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration. If dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.
*3 Operating the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements. *4 Do not share the 24 V DC power supply for interface with a magnetic contactor. Use the power supply designed exclusively for the
magnetic contactor. *5 If wires used for L11 and L21 are thinner than wires used for L1, L2, L3, and N-, use a fuse.
Page 287 Using servo amplifier with DC power supply input *6 When connecting a linear servo motor that has a thermal protector, add a contact that interlocks with the thermal protector output of the
linear servo motor. *7 Even if the control circuit power supply is separated from the main circuit power supply using an uninterruptible power supply (UPS) or
insulation transformer, do not ground L11 and L21.
MC *2 L1
L2
L3
L11
L21
MC
MC
MCCB
SK
*5
+
-
*1
*7
RA1
N-
AC/DC
RA2
24 V DC *3*4
200 V AC to 240 V AC
(283 V DC to 340 V DC)
Servo amplifier
3-phase or 1-phase
OFF ON
Emergency stop switch
converter
Malfunction
Servo motor overheat protection *6
3 SIGNALS AND WIRING 3.1 Example power circuit connections
3
3.2 Example I/O signal connections Precautions
Do not connect CN1A and CN1B connectors to a network other than the network used by this servo amplifier. Doing so may cause a malfunction.
In the torque mode, EM2 functions the same as EM1.
MR-J5-_G_
Sink I/O interface
20EM2
2
19
12
LSP
DOG
LSN
CN3 *11
*4
*12
CN3 *11
13 MBR
9 INP
15 ALM
6 LA 16 LAR 7 LB 17 LBR 8 LZ 18 LZR 11 LG
DOCOM3
CN5 MO1
MO2
3 LG1
2
SD
*2
*6
TPR1 10 *17
1 *17TPR2
DICOM 5
CN1A CN1B
RA1
RA2
RA3
CN8
MR-J3USBCBL3M
*1
CN6MR Configurator2 *5
+
Servo amplifier 10 m or less
10 m or less
24 V DC *9 Main circuit power supply *7
Forced stop 2 *3*18
Forward rotation stroke end Electromagnetic brake interlock *13
Reverse rotation stroke end In-position
Proximity dog *16
Malfunction *10
24 V DC *9
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Encoder Z-phase pulse (differential line driver)
Control common Plate
USB cable
Analog monitor 1(option)
Analog monitor 2 2 m or less
Short-circuit connector *8
(Packed with the servo amplifier)
Personal computer
Network Network
Touch probe1 *15
Touch probe2 *15
10 V DC 10 V DC
3 SIGNALS AND WIRING 3.2 Example I/O signal connections 51
52
*1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
*2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
*3 If the controller does not have the forced stop function, install a forced stop 2 switch (normally closed contact). *4 When starting operation, turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end)
(normally closed contact). If FLS (Upper stroke limit) and RLS (Lower stroke limit) are used via a controller, wiring LSP and LSN is unnecessary. In that case, set [Pr. PD41].
*5 Use SW1DNC-MRC2-_. *6 The devices of these pins can be changed with servo parameters ([Pr. PD03] to [Pr. PD05]). *7 To prevent an unexpected restart of the servo amplifier, configure a circuit that turns off EM2 when the main circuit power supply is
turned off. *8 If not using the STO function, attach the short-circuit connector that came with the servo amplifier. *9 Supply 24 V DC 10 % to interfaces from outside. The total current capacity of these power supplies is 300 mA maximum. The
amperage will not exceed 300 mA when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. For the amperage required for interfaces, refer to the following. Page 117 Digital input interface DI-1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
*10 If no alarm is occurring, ALM (Malfunction) is on (normally closed contact). *11 The pins with the same signal name are connected in the servo amplifier. *12 The devices of these pins can be changed with servo parameters ([Pr. PD07] to [Pr. PD09]). *13 If installing an external brake mechanism for a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock). *14 For source interfaces, the positive and negative outputs of the power supply are reversed as compared with sink interfaces. *15 Some device functions are limited by the firmware version and the date of manufacture of the servo amplifier being used.
Refer to the following for details. Page 92 Input device explanation [G]
*16 If using the MR-J5-_G_-RJ_, this device can be changed to TPR3 (touch probe 3) by servo parameter settings. To set the device to TPR3, the wiring must be the same as TPR1 and TPR2.
*17 Some pin functions are limited by the date of manufacture of the servo amplifier being used. Refer to the following for details. Page 87 Input device pin [G]
*18 This device is used for forced stop of the servo amplifier. Perform an emergency stop of the whole system on the controller side.
3 SIGNALS AND WIRING 3.2 Example I/O signal connections
3
Source I/O interface
Precautions For notes, refer to the notes in the following section. Page 51 Sink I/O interface
20EM2
2
19
12
LSP
DOG
LSN
CN3 *11
*4
CN3 *11
13 MBR
9 INP
15 ALM
6 LA 16 LAR 7 LB 17 LBR 8 LZ 18 LZR 11 LG
DOCOM3
CN5 MO1
MO2
3 LG1
2
SD
*2
*6
TPR1 10 *17
1 *17TPR2
DICOM 5
CN1A CN1B
RA1
RA2
RA3
CN8
MR-J3USBCBL3M CN6MR Configurator2 *5
+
*12
*1
Servo amplifier 10 m or less
24 V DC *9*14Main circuit power supply *7
Forced stop 2 *3*18
Forward rotation stroke end
Reverse rotation stroke end In-position
Proximity dog *16
Malfunction *10
24 V DC *9*14
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Encoder Z-phase pulse (differential line driver)
Control common
Personal computer
Plate
USB cable
(option) Analog monitor 1
Short-circuit connector *8 (Packed with the servo amplifier)
Analog monitor 2 2 m or less
Network Network
Touch probe1 *15
Touch probe2 *15
10 V DC 10 V DC
10 m or less
Electromagnetic brake interlock *13
3 SIGNALS AND WIRING 3.2 Example I/O signal connections 53
54
MR-J5W_-_G_ Precautions
Do not connect CN1A and CN1B connectors to a network other than the network used by this servo amplifier. Doing so may cause a malfunction. In the torque control mode, EM2 functions the same as EM1.
Sink I/O interface
1LSP-C DOG-B
SD
23 10
CN3
19
*2
LBR-B
14 LG
11 CALM
12
25 MBR-B
13 MBR-C
3 LA-A 16 LAR-A
4 LB-A 17 LBR-A
5 LA-B 18 LAR-B
CN3
6 LB-B
*16
*10
DICOM
EM2 7LSP-A 8LSN-A 9DOG-A
20LSP-B 21LSN-B 22
MBR-A
RA1
RA2
RA3
RA4
RA5
2LSN-C 15DOG-C
*14
24 *8
*9
26 DOCOM
CN6 CN5 MO1
MO2
3 LG1
2
CN1A CN1B
CN8
MR-J3USBCBL3M
*1
MR Configurator2 *5
+
10 m or less
Main circuit power supply *11 Servo amplifier
24 V DC *6 24 V DC *6
Forced stop 2 *3*4*17
AND malfunction *7 Forward rotation stroke end for A-axis Electromagnetic brake
interlock for A-axisReverse rotation stroke end for A-axis
Proximity dog for A-axis Electromagnetic brake interlock for B-axis
Forward rotation stroke end for B-axis Electromagnetic brake interlock for C-axis *13Reverse rotation stroke end for B-axis
Proximity dog for B-axis
Forward rotation stroke end for C-axis
Reverse rotation stroke end for C-axis
Proximity dog for C-axis Encoder A-phase pulse for A-axis (differential line driver) *15
Encoder B-phase pulse for A-axis (differential line driver) *15
Encoder A-phase pulse for B-axis (differential line driver) *15
Encoder B-phase pulse for B-axis (differential line driver) *15
Control common
USB cable
(option) Analog monitor 1
Analog monitor 2 2 m or less
Short-circuit connector *12 (Packed with the servo amplifier)
Personal computer Plate
Network Network
10 V DC 10 V DC
10 m or less
3 SIGNALS AND WIRING 3.2 Example I/O signal connections
3
*1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
*2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
*3 If the controller does not have the forced stop function, install a forced stop 2 switch (normally closed contact). *4 When starting operation, turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end)
(normally closed contact). If FLS (Upper stroke limit) and RLS (Lower stroke limit) are used via a controller, wiring LSP and LSN is unnecessary. In that case, set [Pr. PD41].
*5 Use SW1DNC-MRC2-_. *6 Supply 24 V DC 10 % to interfaces from outside. The total current capacity of these power supplies is 350 mA maximum for the MR-
J5W2-_G_ and 450 mA maximum for the MR-J5W3-_G_. The amperage will not exceed 350 mA (MR-J5W2-_G_) and 450 mA (MR-J5W3-_G_) when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. For the amperage required for interfaces, refer to the following. Page 117 Digital input interface DI-1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
*7 If no alarm is occurring, CALM (AND malfunction) is on (normally closed contact). *8 In the initial setting, CINP (AND in-position) is assigned to this pin. The device of the pin can be changed with [Pr. PD08]. *9 The devices of these pins can be changed with servo parameters ([Pr. PD07] and [Pr. PD09]). *10 The devices of these pins can be changed with servo parameters ([Pr. PD03] to [Pr. PD05]). *11 To prevent an unexpected restart of the servo amplifier, configure a circuit that turns off EM2 when the main circuit power supply is
turned off. *12 If not using the STO function, attach the short-circuit connector that came with the servo amplifier. *13 This pin cannot be used on 2-axis servo amplifiers. *14 The diagram is for 3-axis servo amplifiers. *15 For the availability and restrictions of encoder output pulse, refer to "Servo amplifier standard specifications" and "Restrictions on MR-
J5_-_G_" in the User's Manual (Introduction). *16 If installing an external brake mechanism for a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock). *17 This device is used for forced stop of the servo amplifier (common to all axes). Perform an emergency stop of the whole system on the
controller side.
3 SIGNALS AND WIRING 3.2 Example I/O signal connections 55
56
Source I/O interface
Precautions For notes, refer to the notes in the following section. Page 54 Sink I/O interface
1LSP-C DOG-B
SD
23 10
CN3
19
*2
LBR-B
14 LG
11 CALM
12
25 MBR-B
13 MBR-C
3 LA-A 16 LAR-A
4 LB-A 17 LBR-A
5 LA-B 18 LAR-B
CN3
6 LB-B
*10
DICOM
EM2 7LSP-A 8LSN-A 9DOG-A 20LSP-B 21LSN-B 22
MBR-A
RA1
RA2
RA3
RA4
RA5
2LSN-C 15DOG-C
*14
24 *8
26 DOCOM
CN6 CN5 MO1
MO2
3 LG1
2
CN1A CN1B
CN8
MR-J3USBCBL3M
*1
MR Configurator2 *5
+
*16 *9
10 m or less
Main circuit power supply *11 Servo amplifier
24 V DC *6 24 V DC *6
Forced stop 2 *3*4*17
Forward rotation stroke end for A-axis
Reverse rotation stroke end for A-axis
Proximity dog for A-axis
Forward rotation stroke end for B-axis
Reverse rotation stroke end for B-axis
Proximity dog for B-axis
Forward rotation stroke end for C-axis
Reverse rotation stroke end for C-axis
Proximity dog for C-axis Encoder A-phase pulse for A-axis (differential line driver) *15
Encoder B-phase pulse for A-axis (differential line driver) *15
Encoder A-phase pulse for B-axis (differential line driver) *15
Encoder B-phase pulse for B-axis (differential line driver) *15
Control common
Personal computer Plate USB cable
(option) Analog monitor 1
Analog monitor 2
Short-circuit connector *12 (Packed with the servo amplifier)
2 m or less
Network Network
10 V DC 10 V DC
AND malfunction *7 Electromagnetic brake interlock for A-axis
Electromagnetic brake interlock for B-axis
Electromagnetic brake interlock for C-axis *13
10 m or less
3 SIGNALS AND WIRING 3.2 Example I/O signal connections
3
MR-J5-_B_
Sink I/O interface
Precautions Do not connect CN1A and CN1B connectors to a network other than the network used by this servo amplifier. Doing so
may cause a malfunction. In the torque mode, EM2 functions the same as EM1.
20EM2
2
19
12
DI1
DI3
DI2
CN3 *11
*6 *12
CN3 *11
13 MBR
9 INP
15 ALM
6 LA 16 LAR 7 LB 17 LBR 8 LZ
18 LZR 11 LG
DOCOM3
CN5
MO1
MO2
4 LG1
14
SD
*2
DICOM 10
DICOM 5
CN1A CN1B
RA1
RA2
RA3
CN8
MR-J3USBCBK3M
*1
MR Configurator2 *5
+
FLS
RLS
DOG
CN1A
CN1B
CN1A
CN1B
*3
Servo amplifier 10 m or less
10 m or less
24 V DC *9 Main circuit power supply *7
Forced stop 2 *4*17
Electromagnetic brake interlock *13
In-position
Malfunction *10
24 V DC
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Encoder Z-phase pulse (differential line driver)
Control common
Plate
USB cable
Analog monitor 1
(option) Analog monitor 2
2 m or less
Short-circuit connector *8
(Packed with the servo amplifier)
Personal computer
10 V DC
10 V DC
SSCNET III cable *14
(option)
Servo system controller Servo amplifier *15
SSCNET III cable (option)
The last servo amplifier *15*16
3 SIGNALS AND WIRING 3.2 Example I/O signal connections 57
58
*1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
*2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM1 (Forced stop 1).
*3 If the controller does not have the forced stop function, install a forced stop switch (normally closed contact). *4 When starting operation, always turn on EM2 (Forced stop 2) (normally closed contact). *5 Use SW1DNC-MRC2-_. *6 Devices can be assigned to these pins with the controller setting. For the setting method, refer to each controller manual. Devices
assigned to the pins in this example are for the Q17_DSCPU and the QD77MS_. FLS: Upper stroke limit RLS: Lower stroke limit DOG: Proximity dog
*7 To prevent an unexpected restart of the servo amplifier, configure a circuit that turns off EM2 when the main circuit power supply is turned off.
*8 If not using the STO function, attach the short-circuit connector that came with the servo amplifier. *9 Supply 24 V DC 10 % to interfaces from outside. The total current capacity of these power supplies is 300 mA maximum. The
amperage will not exceed 300 mA when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. For the amperage required for interfaces, refer to the following. Page 117 Digital input interface DI-1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
*10 If no alarm is occurring, ALM (Malfunction) is on (normally closed contact). *11 The pins with the same signal name are connected in the servo amplifier. *12 The devices of these pins can be changed with servo parameters ([Pr. PD07] to [Pr. PD09]). *13 If installing an external brake mechanism for a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock). *14 Use SSCNET III cables listed in the following table.
*15 The wiring after the second servo amplifier is omitted. *16 Up to 64 axes of servo amplifiers can be connected. The number of connectable axes depends on the specifications of the controller
being used. For the axis selection setting, refer to "Switch setting and display of the servo amplifier" in the User's Manual (Introduction). *17 This device is used for forced stop of the servo amplifier. Perform an emergency stop of the whole system on the controller side.
Cable Cable model Cable length Standard cord inside cabinet MR-J3BUS_M 0.15 m to 3 m
Standard cable outside cabinet MR-J3BUS_M-A 5 m to 20 m
Long distance cable MR-J3BUS_M-B 30 m to 50 m
3 SIGNALS AND WIRING 3.2 Example I/O signal connections
3
Source I/O interface
Precautions For notes, refer to the notes in the following section. Page 57 Sink I/O interface
20EM2
2
19
12
DI1
DI3
DI2
CN3 *11
*6 *12
CN3 *11
13 MBR
9 INP
15 ALM
6 LA 16 LAR 7 LB 17 LBR 8 LZ
18 LZR 11 LG
DOCOM3
CN5
MO1
MO2
4 LG1
14
SD
*2
DICOM 10
DICOM 5
CN1A CN1B
RA1
RA2
RA3
CN8
MR-J3USBCBK3M
*1
MR Configurator2 *5
+
FLS
RLS
DOG
CN1A
CN1B
CN1A
CN1B
*3
Servo amplifier 10 m or less
10 m or less
24 V DC *9 Main circuit power supply *7
Forced stop 2 *4*17
Electromagnetic brake interlock *13
In-position
Malfunction *10
24 V DC
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)
Encoder Z-phase pulse (differential line driver)
Control common
Plate
USB cable
Analog monitor 1
(option) Analog monitor 2
2 m or less
Short-circuit connector *8
(Packed with the servo amplifier)
Personal computer
10 V DC
10 V DC
SSCNET III cable *14
(option)
Servo system controller Servo amplifier *15
SSCNET III cable (option)
The last servo amplifier *15*16
3 SIGNALS AND WIRING 3.2 Example I/O signal connections 59
60
MR-J5W_-_B_
Sink I/O interface
Precautions Do not connect CN1A and CN1B connectors to a network other than the network used by this servo amplifier. Doing so
may cause a malfunction. In the torque mode, EM2 functions the same as EM1.
1DI1-C DI3-B
SD
23 10
CN3
19
*2
LBR-B
14 LG
11 CALM
12
25 MBR-B
13 MBR-C
3 LA-A 16 LAR-A
4 LB-A 17 LBR-A
5 LA-B 18 LAR-B
CN3
6 LB-B
*19
DICOM
EM2 7DI1-A 8DI2-A 9DI3-A 20DI1-B 21DI2-B 22
MBR-A
RA1
RA2
RA3
RA4
2DI2-C 15DI3-C
24 *11
*12
26 DOCOM
CN5
CN1A CN1B
CN8
MR-J3USBCBK3M
*1
MR Configurator2 *5
+
*3
CN1A
CN1B
CN1A
CN1B
10 m or less
Main circuit power supply *14 Servo amplifier
24 V DC *9 24 V DC *9
Forced stop 2 *4*20
AND malfunction *10 Forward rotation stroke end for A-axis Electromagnetic brake
interlock for A-axisReverse rotation stroke end for A-axis Proximity dog for A-axis Electromagnetic brake
interlock for B-axis Forward rotation stroke end for B-axis Electromagnetic brake
interlock for C-axis *16
Proximity dog for B-axis
Forward rotation stroke end for C-axis Reverse rotation stroke end for C-axis Proximity dog for C-axis Encoder A-phase pulse for A-axis
(differential line driver) *18
Encoder B-phase pulse for A-axis (differential line driver) *18
Encoder A-phase pulse for B-axis (differential line driver) *18
Encoder B-phase pulse for B-axis (differential line driver) *18
Control common
USB cable
(option)
Short-circuit connector *15 (Packed with the servo amplifier)
Personal computer Plate
10 m or less
Reverse rotation stroke end for B-axis
DOG for A-axis
Servo amplifier *7
The last servo amplifier *7*8
SSCNET III cable (option)
Servo system controller
SSCNET III cable *6 (option)
*13
*17
3 SIGNALS AND WIRING 3.2 Example I/O signal connections
3
*1 To prevent an electric shock, be sure to connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
*2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
*3 If the controller does not have the forced stop function, install a forced stop switch (normally closed contact). *4 When starting operation, always turn on EM2 (Forced stop 2) (normally closed contact). *5 Use SW1DNC-MRC2-_. *6 Use SSCNET III cables listed in the following table.
*7 The wiring after the second servo amplifier is omitted. *8 Up to 64 axes of servo amplifiers can be connected. The number of connectable axes depends on the specifications of the controller
being used. For the axis selection setting, refer to "Switch setting and display of the servo amplifier" in the User's Manual (Introduction). *9 Supply 24 V DC 10 % to interfaces from an external source. The total current capacity of these power supplies is 350 mA maximum for
the MR-J5W2-_B and 450 mA maximum for the MRJ5W3-_B. The amperage will not exceed 350 mA (MR-J5W2-_G_) and 450 mA (MR-J5W3-_G_) when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. For the amperage required for interfaces, refer to the following. Page 117 Digital input interface DI-1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
*10 CALM (AND malfunction) turns on in a normal state where no alarms have occurred (normally closed contact). *11 In the initial setting, CINP (AND in-position) is assigned to this pin. The device of the pin can be changed with [Pr. PD08]. *12 The devices of these pins can be changed with [Pr. PD07] and [Pr. PD09]. *13 Devices can be assigned to these pins with the controller setting. For the setting method, refer to each controller manual. *14 To prevent an unexpected restart of the servo amplifier, configure a circuit that turns off EM2 when the main circuit power supply is
turned off. *15 If not using the STO function, attach the short-circuit connector that came with the servo amplifier. *16 This pin cannot be used on MR-J5 2-axis servo amplifiers. *17 For the MR-J5 3-axis servo amplifier *18 This signal cannot be used for the MR-J5W3-_B. *19 When using a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock) for the external brake mechanism. *20 This device is used for forced stop of the servo amplifier (common to all axes). Perform an emergency stop of the whole system on the
controller side.
Cable Cable model Cable length Standard cord inside cabinet MR-J3BUS_M 0.15 m to 3 m
Standard cable outside cabinet MR-J3BUS_M-A 5 m to 20 m
Long distance cable MR-J3BUS_M-B 30 m to 50 m
3 SIGNALS AND WIRING 3.2 Example I/O signal connections 61
62
Source I/O interface
Precautions For notes, refer to the notes in the following section. Page 60 Sink I/O interface
1DI1-C DI3-B
SD
23 10
CN3
19
*2
LBR-B
14 LG
11 CALM
12
25 MBR-B
13 MBR-C
3 LA-A 16 LAR-A
4 LB-A 17 LBR-A
5 LA-B 18 LAR-B
CN3
6 LB-B
*19
DICOM
EM2 7DI1-A 8DI2-A 9DI3-A 20DI1-B 21DI2-B 22
MBR-A
RA1
RA2
RA3
RA4
2DI2-C 15DI3-C
24 *11
*12
26 DOCOM
CN5
CN1A CN1B
CN8
MR-J3USBCBK3M
*1
MR Configurator2 *5
+
*3
CN1A
CN1B
CN1A
CN1B
10 m or less
Main circuit power supply *14 Servo amplifier
24 V DC *9 24 V DC *9
Forced stop 2 *4*20
AND malfunction *10 Forward rotation stroke end for A-axis Electromagnetic brake
interlock for A-axisReverse rotation stroke end for A-axis Proximity dog for A-axis Electromagnetic brake
interlock for B-axis Forward rotation stroke end for B-axis Electromagnetic brake
interlock for C-axis *16
Proximity dog for B-axis
Forward rotation stroke end for C-axis Reverse rotation stroke end for C-axis Proximity dog for C-axis Encoder A-phase pulse for A-axis
(differential line driver) *18
Encoder B-phase pulse for A-axis (differential line driver) *18
Encoder A-phase pulse for B-axis (differential line driver) *18
Encoder B-phase pulse for B-axis (differential line driver) *18
Control common
USB cable
(option)
Short-circuit connector *15 (Packed with the servo amplifier)
Personal computer Plate
10 m or less
Reverse rotation stroke end for B-axis
Servo amplifier *7
The last servo amplifier *7*8
SSCNET III cable (option)
Servo system controller
SSCNET III cable *6 (option)
*13
*17
3 SIGNALS AND WIRING 3.2 Example I/O signal connections
3
MR-J5-_A_
Position control mode Sink I/O interface
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 INP
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
CN3 *7
LG
DICOM
41
20 46
49 10 11 35
9 3
36
CLEARCOM
12
15 16
14 13
11
CLEAR RDYCOM READY
PULSE F+ PULSE F-
PG0 PG0 COM
PULSE R+ PULSE R- 18
10
17
9
DOCOM
CR
RD PP PG NP NG LZ
LZR 8
*10
CN3 *7
SD
42 15 19 17 18 43 44 21
EM2 SON RES PC TL
LSP LSN
DICOM
CN3 *7
CN3 *7
*13
1 27
SD
P15R TLA LG 28
CN5
MR Configurator2 *9
+
CN1
CN8 *1
MO1
MO2
3 LG1
2
CN6
*2
RA2
RA3
RA4
RA1
*5
RD75D/LD75D/QD75D
Servo amplifier*424 V DC Positioning module
24 V DC *4
Malfunction *6
Zero speed detection
Limiting torque
In-position
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)Plate
Control common
10 m or less *8 Control common Encoder Z-phase pulse (open collector)
Plate 2 m or lessUpper limit setting
Analog torque limit +10 V/maximum torque
Plate 2 m or less
10 m or less
Main circuit power supply *12
Forced stop 2 *3*5
Servo-on Reset
Proportional control Analog monitor 1 External torque limit selection
Forward rotation stroke end Analog monitor 2 2 m or lessReverse rotation stroke end
24 V DC *4
USB cable (option)
Short-circuit connector *11 (Packed with the servo amplifier)
Personal computer
Personal computer
Ethernet cable
10 V DC 10 V DC
10 m or less
3 SIGNALS AND WIRING 3.2 Example I/O signal connections 63
64
*1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
*2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
*3 Install a forced stop switch (normally closed contact). *4 Supply 24 V DC 10 % to interfaces from outside. The total current capacity of these power supplies is 500 mA maximum. The
amperage will not exceed 500 mA when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. For the amperage required for interfaces, refer to the following. Page 117 Digital input interface DI-1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
*5 When starting operation, turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end) (normally closed contact).
*6 If no alarm is occurring, ALM (Malfunction) is on (normally closed contact). If an alarm occurs, stop programmable controller's signals with a sequence program.
*7 The pins with the same signal name are connected in the servo amplifier. *8 This length applies when the command pulse train input is the differential line driver type. In the case of the open-collector type, connect
them within 2 m. *9 Use SW1DNC-MRC2-_. *10 This connection is not required when the positioning module is RD75D, LD75D, or QD75D. However, to enhance noise tolerance, it is
recommended to connect LG of the servo amplifier and control common. *11 If not using the STO function, attach the short-circuit connector that came with the servo amplifier. *12 To prevent an unexpected restart of the servo amplifier, configure a circuit that turns off EM2 when the main circuit power supply is
turned off. *13 Noise or disconnection of the command cable connected to the controller may cause a position mismatch. To avoid the position
mismatch, check the encoder A-phase pulse and encoder B-phase pulse on the controller side. *14 For source interfaces, the positive and negative outputs of the power supply are reversed as compared with sink interfaces. *15 For source interfaces, CLEAR and CLEARCOM are reversed as compared with sink interfaces.
3 SIGNALS AND WIRING 3.2 Example I/O signal connections
3
Source I/O interface
Precautions For notes, refer to the notes in the following section. Page 63 Sink I/O interface
47 DOCOM
48 ALM
23 ZSP
25 TLC
24 INP
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
CN3 *7
LG
DICOM
41
20 46
49 10 11 35
9 3
36
CLEARCOM
12
15 16
13 14
11
CLEAR
RDYCOM READY
PULSE F+ PULSE F-
PG0 PG0 COM
PULSE R+ PULSE R- 18
10
17
9
DOCOM
CR
RD PP PG NP NG LZ
LZR 8
*10
CN3 *7
SD
42 15 19 17 18 43 44 21
EM2 SON RES PC TL
LSP LSN
DICOM
CN3 *7
CN3 *7
*13
1 27
SD
P15R TLA LG 28
MO1
MO2
3 LG1
2
CN6
*2
RA2
RA3
RA4
RA1
*5
RD75D/LD75D/QD75D
*15
CN5+
CN1
CN8 *1
MR Configurator2 *9
Servo amplifier 24 V DC *4*14
Positioning module 24 V DC *4*14
Malfunction *6
Zero speed detection
Limiting torque
In-position
Encoder A-phase pulse (differential line driver)
Encoder B-phase pulse (differential line driver)Plate
Control common
10 m or less *8 Control common Encoder Z-phase pulse (open collector)
Plate 2 m or lessUpper limit setting
Analog torque limit +10 V/maximum torque
Plate 2 m or less
10 m or less Main circuit power supply *12
Forced stop 2 *3*5
Servo-on Reset
Proportional control Analog monitor 1 External torque limit selection
Forward rotation stroke end Analog monitor 2 2 m or lessReverse rotation stroke end
24 V DC *4*14
USB cable
Short-circuit connector *11 (Packed with the servo amplifier)
Personal computer
Personal computer
Ethernet cable
(option)
10 V DC 10 V DC
10 m or less
3 SIGNALS AND WIRING 3.2 Example I/O signal connections 65
66
Speed control mode Sink I/O interface
46 DOCOM
48 ALM
23 ZSP
25 TLC
24 SA
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
CN3 *7
42 15 19
17 18 43 44
21
EM2 SON RES
ST1 ST2 LSP LSN
DICOM
CN3 *7
CN3 *7
1 2
SD
P15R VC LG 28
CN8 *1
MO1
MO2
3 LG1
2
CN6
*2
RA2
RA3
RA4
RA1
47 DOCOM
49 RD
8 LZ 9 LZR
41SP1 16SP2
20DICOM
*5
TLA 27
RA5
CN5
CN1
MR Configurator2 *9
+
Servo amplifier 10 m or less
Main circuit power supply *11 24 V DC *4
Forced stop 2 *3*5
Servo-on Reset
Speed selection 1 Malfunction *6 Speed selection 2
Zero speed detectionForward rotation start Reverse rotation start Limiting torque
Forward rotation stroke end Speed reachedReverse rotation stroke end
Ready
10 m or less 24 V DC *4
Upper limit setting Encoder Z-phase pulse (differential line driver)Analog speed command
10 V/rated speed Encoder A-phase pulse (differential line driver)Upper limit setting
Analog torque limit *8 +10 V/maximum torque
Encoder B-phase pulse (differential line driver)
Plate Control common
2 m or less
Encoder Z-phase pulse (open collector) Plate
2 m or less
Analog monitor 1
Analog monitor 2 2 m or less
Short-circuit connector *10 (Packed with the servo amplifier)
USB cable
Personal computer
Personal computer
Ethernet cable
(option) 10 V DC 10 V DC
3 SIGNALS AND WIRING 3.2 Example I/O signal connections
3
*1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
*2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
*3 Install a forced stop switch (normally closed contact). *4 Supply 24 V DC 10 % to interfaces from outside. The total current capacity of these power supplies is 500 mA maximum. The
amperage will not exceed 500 mA when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. For the amperage required for interfaces, refer to the following. Page 117 Digital input interface DI-1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
*5 When starting operation, turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end) (normally closed contact).
*6 If no alarm is occurring, ALM (Malfunction) is on (normally closed contact). *7 The pins with the same signal name are connected in the servo amplifier. *8 TLA will be available when TL (External torque limit selection) is enabled with servo parameters ([Pr. PD03] to [Pr. PD22]).
MR-J5 User's Manual (Function) *9 Use SW1DNC-MRC2-_. *10 If not using the STO function, attach the short-circuit connector that came with the servo amplifier. *11 To prevent an unexpected restart of the servo amplifier, configure a circuit that turns off EM2 when the main circuit power supply is
turned off. *12 For source interfaces, the positive and negative outputs of the power supply are reversed as compared with sink interfaces.
3 SIGNALS AND WIRING 3.2 Example I/O signal connections 67
68
Source I/O interface
Precautions For notes, refer to the notes in the following section. Page 66 Sink I/O interface
46 DOCOM
48 ALM
23 ZSP
25 TLC
24 SA
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
CN3 *7
42 15 19
17 18 43 44
21
EM2 SON RES
ST1 ST2 LSP LSN
DICOM
CN3 *7
CN3 *7
1 2
SD
P15R VC LG 28
CN8 *1
MO1
MO2
3 LG1
2
CN6
*2
RA2
RA3
RA4
RA1
47 DOCOM
49 RD
8 LZ 9 LZR
41SP1 16SP2
20DICOM
*5
TLA 27
RA5
CN5
CN1
MR Configurator2 *9
+
Servo amplifier 10 m or less
Main circuit power supply *11 24 V DC *4*12
Forced stop 2 *3*5
Servo-on Reset
Speed selection 1 Malfunction *6 Speed selection 2
Zero speed detectionForward rotation start Reverse rotation start Limiting torque
Forward rotation stroke end Speed reachedReverse rotation stroke end
Ready 24 V DC *4*12
Upper limit setting Encoder Z-phase pulse (differential line driver)Analog speed command
10 V/rated speed Encoder A-phase pulse (differential line driver)Upper limit setting
Analog torque limit *8 +10 V/maximum torque
Encoder B-phase pulse (differential line driver)
Plate Control common
2 m or less
Encoder Z-phase pulse (open collector) Plate
2 m or less
Analog monitor 1
Analog monitor 2 2 m or less
Short-circuit connector *10
(Packed with the servo amplifier)
USB cable
Personal computer
Personal computer
Ethernet cable
(option) 10 V DC 10 V DC
10 m or less
3 SIGNALS AND WIRING 3.2 Example I/O signal connections
3
Torque control mode Sink I/O interface
*1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
*2 Connect the diode in the correct direction. If it is connected reversely, the servo amplifier may malfunction and not output signals, disabling protective circuits such as EM2 (Forced stop 2).
*3 Install a forced stop switch (normally closed contact). *4 Supply 24 V DC 10 % to interfaces from outside. The total current capacity of these power supplies is 500 mA maximum. The
amperage will not exceed 500 mA when all I/O signals are used. Reducing the number of I/O points decreases the current capacity. For the amperage required for interfaces, refer to the following. Page 117 Digital input interface DI-1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
*5 If no alarm is occurring, ALM (Malfunction) is on (normally closed contact). *6 The pins with the same signal name are connected in the servo amplifier. *7 Use SW1DNC-MRC2-_. *8 If not using the STO function, attach the short-circuit connector that came with the servo amplifier. *9 To prevent an unexpected restart of the servo amplifier, configure a circuit that turns off EM2 when the main circuit power supply is
turned off. *10 For source interfaces, the positive and negative outputs of the power supply are reversed as compared with sink interfaces.
46 DOCOM
48 ALM
23 ZSP
25 VLC
49 RD
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
CN3 *6
42 15 19
18 17
21
EM2 SON RES
RS1 RS2
DICOM
CN3 *6
CN3 *6
1 27
SD
P15R TC LG 28
CN8 *1
MO1
MO2
3 LG1
2
CN6
*2
RA2
RA3
RA4
RA1
47 DOCOM
8 LZ 9 LZR
41SP1 16SP2
20DICOM
VLA 2
CN5
CN1
MR Configurator2 *7
+
Servo amplifier 10 m or less
Main circuit power supply *9 24 V DC *4 Forced stop 2 *3
Servo-on Reset
Speed selection 1 Malfunction *5 Speed selection 2
Zero speed detectionForward rotation selection Reverse rotation selection Limiting speed
Ready24 V DC *4
Upper limit setting Encoder Z-phase pulse (differential line driver)Analog torque command
+8 V/maximum torque Encoder A-phase pulse (differential line driver)Upper limit setting
Analog speed limit 0 V to 10 V/rated speed
Encoder B-phase pulse (differential line driver)
Plate Control common
2 m or less
Encoder Z-phase pulse (open collector) Plate
2 m or less
Analog monitor 1
Analog monitor 2 2 m or less
Short-circuit connector *8 (Packed with the servo amplifier)
USB cable
Personal computer
Personal computer
Ethernet cable
(option) 10 V DC 10 V DC
10 m or less
3 SIGNALS AND WIRING 3.2 Example I/O signal connections 69
70
Source I/O interface
Precautions For notes, refer to the notes in the following section. Page 69 Sink I/O interface
46 DOCOM
48 ALM
23 ZSP
25 VLC
49 RD
4 LA 5 LAR 6 LB 7 LBR
34 LG 33 OP
SD
CN3 *6
42 15 19
18 17
21
EM2 SON RES
RS1 RS2
DICOM
CN3 *6
CN3 *6
1 27
SD
P15R TC LG 28
CN8 *1
MO1
MO2
3 LG1
2
CN6
*2
RA2
RA3
RA4
RA1
47 DOCOM
8 LZ 9 LZR
41SP1 16SP2
20DICOM
VLA 2
CN5
CN1
MR Configurator2 *7
+
Servo amplifier 10 m or less
Main circuit power supply *9 24 V DC *4*10
Forced stop 2 *3
Servo-on Reset
Speed selection 1 Malfunction *5 Speed selection 2
Zero speed detectionForward rotation selection Reverse rotation selection Limiting speed
Ready24 V DC *4*10
Upper limit setting Encoder Z-phase pulse (differential line driver)Analog torque command
+8 V/maximum torque Encoder A-phase pulse (differential line driver)Upper limit setting
Analog speed limit 0 V to 10 V/rated speed
Encoder B-phase pulse (differential line driver)
Plate Control common
2 m or less
Encoder Z-phase pulse (open collector) Plate
2 m or less
Analog monitor 1
Analog monitor 2 2 m or less
Short-circuit connector *8 (Packed with the servo amplifier)
USB cable
Personal computer
Personal computer
Ethernet cable
(option) 10 V DC 10 V DC
10 m or less
3 SIGNALS AND WIRING 3.2 Example I/O signal connections
3
3.3 Explanation of power supply system Explanation of signals
For the layout of connectors and terminal blocks, refer to the following. Page 128 DIMENSIONS If using the MR-J5 servo amplifier with the DC power supply input, refer to the following. Page 49 Using servo amplifier with DC power supply input
L1/L2/L3 (Connection destination: Main circuit power supply) Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC power supply, connect the power supply to L1 and L3. Leave L2 open.
P3/P4 (Connection destination: Power factor improving DC reactor) If not using the power factor improving DC reactor, connect P3 and P4. For the MR-J5-_G_ and MR-J5-_A_ servo amplifiers, P3 and P4 are connected from the factory. If using the power factor improving DC reactor, disconnect P3 and P4, and connect the power factor improving DC reactor between P3 and P4.
P+/C/D (Connection destination: Regenerative option) If using a servo amplifier built-in regenerative resistor, connect P+ and D. P+ and D are connected from the factory. If using a regenerative option, disconnect P+ and D, and connect the regenerative option between P+ and C.
L11/L21 (Connection destination: Control circuit power supply) Supply the following power to L11 and L21.
Power supply Servo amplifier
MR-J5-10_ to MR- J5-200_
MR-J5-350_ to MR- J5-700_
MR-J5W2-22_ to MR-J5W2-77_/ MR-J5W3-222_ to MR-J5W3-444_
MR-J5W2-1010_ MR-J5-60_4_ to MR-J5-350_4_
3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
L1/L2/L3
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
L1/L3 L1/L3
3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
L1/L2/L3
Power supply Servo amplifier
MR-J5-10_ to MR-J5-700_/ MR-J5W2-22_ to MR-J5W2-1010_/ MR-J5W3-222_ to MR-J5W3-444_
MR-J5-60_4_ to MR-J5-350_4_
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz L11/L21
1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz L11/L21
3 SIGNALS AND WIRING 3.3 Explanation of power supply system 71
72
U/V/W (Connection destination: Servo motor power supply) Connect the servo motor power supply inputs (U/V/W) directly to the motor. Do not connect devices such as magnetic contactors between the motor and servo amplifier as this will lead to abnormal operation or malfunction.
N- (Connects to: Simple converters and multifunction regeneration converters) This terminal is used to connect a simple converter or a multifunction regeneration converter. Page 255 MR-CM simple converter Page 265 Multifunction regeneration converter (FR-XC-(H))
(Connection destination: Protective earth (PE)) Connect a servo amplifier to the grounding terminal of a servo motor and to the protective earth (PE) of a cabinet.
3 SIGNALS AND WIRING 3.3 Explanation of power supply system
3
Power-on procedure [G] [B]
Signals such as output signals may be unstable at power-on.
Power-on procedure 1. Wire the power supply using a magnetic contactor between the power supply and the main circuit power supply (L1/L2/
L3) of a servo amplifier by referring to the following section. Switch off the magnetic contactor as soon as an alarm occurs.
Page 42 Example power circuit connections
2. Switch on the control circuit power supply (L11 and L21) simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the control circuit power supply is turned on and the servo-on command is transmitted while the main circuit power supply is off, [AL. 0E9 Main circuit off warning] will occur. Turning on the main circuit power supply stops the warning and starts the operation properly.
3. When the main circuit power supply is switched on, the servo amplifier will receive the servo-on command after startup and initial network communication.
The startup time for 1-axis servo amplifiers is 2.5 s to 3.5 s, and the startup time for multi-axis servo amplifiers is 3.5 s to 4.0 s.
Timing chart
*1 For a linear servo system and a fully closed loop system, this time is 2 s longer. *2 The time will be longer in the magnetic pole detection of a linear servo motor and direct drive motor.
ON OFF
ON OFF
ON OFF
ON OFF
100 ms *2
5 ms
100 ms *2
5 ms
10 ms
Servo-on command accepted (Startup time + network initial
communication time) *1
Main/control circuit power supply
Base circuit
Servo-on command (from controller)
Servo-on (RD: Ready)
No alarm (ON)ALM (Malfunction) Alarm (OFF)
3 SIGNALS AND WIRING 3.3 Explanation of power supply system 73
74
Power-on procedure [A]
The voltage of analog monitor output, the output signal, or others may be unstable at power-on.
Power-on procedure 1. Wire the power supply using a magnetic contactor between the power supply and the main circuit power supply (L1/L2/
L3) of a servo amplifier by referring to the following section. Switch off the magnetic contactor as soon as an alarm occurs.
Page 42 Example power circuit connections
2. Switch on the control circuit power supply (L11 and L21) simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, the warning will disappear and the servo amplifier will operate properly if the main circuit is powered on.
3. The servo amplifier receives the SON (Servo-on) 2.5 s to 3.5 s after the main circuit power supply is powered on.
4. Once RES (Reset) is turned on, the base circuit is shut off and the servo motor shaft coasts.
Timing chart
*1 For a linear servo system and a fully closed loop system, this time is "4.5 s to 5.5 s". *2 The time will be longer in the magnetic pole detection of a linear servo motor and direct drive motor.
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
5 ms 10 ms 5 ms 10 ms
10 ms
5 ms 10 ms
100 ms *2 100 ms *2
100 ms *210 ms
Servo-on command accepted
(2.5 s to 3.5 s) *1
Main/control circuit power supply
Base circuit
SON (Servo-on command)
RES (Servo-on command)
RD (Ready)
No alarm (ON)ALM (Malfunction) Alarm (OFF)
(2.5 s to 3.5 s)
3 SIGNALS AND WIRING 3.3 Explanation of power supply system
3
Wiring CNP1, CNP2, and CNP3
For the wire sizes, refer to the following. Page 280 Selection example of wires When wiring, remove the power connectors from the servo amplifier. Insert only one wire or ferrule into each wire insertion hole on each power connector.
To wire to CNP1, CNP2 and CNP3, use the servo amplifier power connectors that came with the amplifier.
Connector MR-J5-10_ to MR-J5-100_
MR-J5-200_/MR-J5-350_
Connector Receptacle assembly Applicable wire Stripped length [mm]
Open tool Manufac turerSize Insulator OD
CNP1 06JFAT-SAXGDK-K7.5 (LA) AWG 18 to 14 3.9 mm or less 9 J-FAT-OT-K JST
CNP2 05JFAT-SAXGDK-K5.0 (LA)
CNP3 03JFAT-SAXGDK-K7.5 (LA)
Connector Receptacle assembly Applicable wire Stripped length [mm]
Open tool Manufac turerSize Insulator OD
CNP1 06JFAT-SAXGFK-XL (LA) AWG 16 to 10 4.7 mm or less 11.5 J-FAT-OT-EXL JST
CNP2 05JFAT-SAXGDK-H5.0 (LA) AWG 18 to 14 3.9 mm or less 9
CNP3 03JFAT-SAXGFK-XL (LA) AWG 16 to 10 4.7 mm or less 11.5
CNP2
CNP1
CNP3
CNP2
CNP1
CNP3
3 SIGNALS AND WIRING 3.3 Explanation of power supply system 75
76
MR-J5-500_/MR-J5-700_
MR-J5W2-22_ to MR-J5W2-1010_ and MR-J5W3-222_ to MR-J5W3-444_
*1 This is for the MR-J5W3-_G_ servo amplifier.
Connector Receptacle assembly Applicable wire Stripped length [mm]
Open tool Manufac turerSize Insulator OD
CNP1A 03JFAT-SAXGDK-P15 (LA) AWG 18 to 8 7.6 mm or less 12 J-FAT-OT-P JST
CNP1B 03JFAT-SAYGDK-P15 (LB)
CNP2 05JFAT-SAXGDK-H5.0 (LA) AWG 18 to 14 3.9 mm or less 9 J-FAT-OT (N)
CNP3 03JFAT-SAZGDK-P15 (LC) AWG 18 to 8 7.6 mm or less 12 J-FAT-OT-P
Connector Receptacle assembly Applicable wire Stripped length [mm]
Open tool Manufac turerSize Insulator OD
CNP1 06JFAT-SAXGDK-K7.5 (LB) AWG 18 to 14 3.9 mm or less 9 J-FAT-OT-K JST
CNP2 05JFAT-SAXGDK-K5.0 (LA)
CNP3A 04JFAT-SAGG-G-KK AWG 18 to 14
CNP3B
CNP3C
CNP2
CNP1B
CNP3
CNP1A
CNP1
CNP2
CNP3A
CNP3B
CNP3C *1
3 SIGNALS AND WIRING 3.3 Explanation of power supply system
3
MR-J5W2-77_/MR-J5W2-1010_
MR-J5-60_4_ to MR-J5-350_4_
Connector Receptacle assembly Applicable wire Stripped length [mm]
Open tool Manufac turerSize Insulator OD
CNP1 06JFAT-SAXGFK-XL (LB) AWG 16 to 10 4.7 mm or less 11.5 J-FAT-OT-EXL JST
CNP2 05JFAT-SAXGDK-H5.0 (LA) AWG 18 to 14 3.9 mm or less 9
CNP3A CNP3B
04JFAT-SAGG-G-KK AWG 18 to 14 3.9 mm or less 9
Connector Receptacle assembly Applicable wire Stripped length [mm]
Open tool Manufac turerSize Insulator OD
CNP1 06JFAT-SAXGDK-HT10.5 (LA) AWG 18 to 14 3.9 mm or less 9 J-FAT-OT-XL JST
CNP2 05JFAT-SAXGDK-HT7.5 (LA)
CNP3 03JFAT-SAXGDK-HT10.5 (LA)
CNP1
CNP2
CNP3A
CNP3B
CNP2
CNP1
CNP3
3 SIGNALS AND WIRING 3.3 Explanation of power supply system 77
78
Connecting wires Fabricating the wire insulator Refer to the following for the stripped length of the wire insulator. Set the appropriate length based on the wire type and fabrication condition. Page 75 Connector
Twist the core wires lightly and straighten them as follows.
A ferrule can also be used when connecting to the connectors. If using a ferrule, choose from one of the ferrules and the crimping tools shown below.
Inserting wire Insert only one wire or ferrule into each wire insertion hole on each power connector. Insert the open tool as follows and push it down to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the wire insertion depth so that the wire insulator is not caught by the spring and that the conductive part of the stripped wire is not exposed. Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. In addition, confirm that the ends of the core wires do not stick out of the connector.
Servo amplifier Wire size Ferrule model (Phoenix Contact) Crimping tool (Phoenix Contact)For one wire For two wires
MR-J5-10_ to MR-J5-100_ MR-J5W2-_ MR-J5W3-_
AWG 16 AI 1,5 -10 BK AI-TWIN 2X 1,5 -10 BK CRIMPFOX-ZA3
AWG 14 AI 2,5 -10 BU
MR-J5-200_ to MR-J5-350_
AWG 16 AI 1,5 -10 BK AI-TWIN 2X 1,5 -10 BK
AWG 14 AI 2,5 -10 BU AI-TWIN 2X 2,5 -10 BU
AWG 12 AI 4 -10 GY
MR-J5-500_ AWG 10 Al6-12 YE
MR-J5-700_ AWG 8 Al10-12 RD CRIMPFOX-25R
MR-J5-60_4_ to MR-J5-350_4_
AWG 16 AI 1,5 -10 BK AI-TWIN 2X 1,5 -10 BK CRIMPFOX-ZA3
AWG 14 AI 2,5 -10 BU
Insulator Core
Stripped length
Twist and straighten the strands.Loose and bent strands
(1) Push down the open tool.
(3) Release the open tool to fix the wire.
(2) Insert the wire.
3 SIGNALS AND WIRING 3.3 Explanation of power supply system
3
3.4 Connectors and pin assignments Precautions The pin assignments of the connectors are as viewed from the cable connector wiring section. For information on the functional safety I/O signal connector (CN8), refer to the following page: Page 392 USING STO FUNCTION For wiring to the I/O signal connector (CN3), securely connect the external conductor of the shielded cable to the ground
plate and fix it to the connector shell.
Screw
Cable
Screw
Ground plate
3 SIGNALS AND WIRING 3.4 Connectors and pin assignments 79
80
Connectors and pin assignments [G]
1-axis servo amplifier The front view of the servo amplifier shown below is of MR-J5-60G-RJ_ servo amplifiers with a rated capacity symbol of 60 or less. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 128 DIMENSIONS The frames of the CN2 connector, CN2L connector, and CN3 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
*1 This is an example of when the servo amplifier has a CN2L connector. *2 Refer to the following for CN8.
Page 395 Functional safety I/O signal connector (CN8) and pin assignments
CN3
1 2
3
5
4
6
7
9
8
10
11 12
13 14
15 16
17 18
19 20
LSP
ADIN0
DOCOM
DICOM
LZ
LSN
ADIN1
EM2TPR1
LGTPR2
MBR
LBR
LA
LB LZR
LAR ALM
DOGINP
4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
BAT
MXR
MX
4 MRR2
2 LG 8
6
1 P5
5
10
3 MR2
7 9
MXR2
MX2
CN2L *1
4 PAR
2 LG 8
6
1 P5
5
10
3 PA
7 9
PB
PZR
PZ
PBR PSEL
CN2L *1
THM2
THM1
CN2
BAT
2
LG
3
MO2
1
MO1
CN6
CN8 *2
(using serial encoder) (using A/B/Z-phase pulse encoder)
3 SIGNALS AND WIRING 3.4 Connectors and pin assignments
3
Multi-axis servo amplifier The front view of the servo amplifier shown below is of MR-J5W3-_G_ servo amplifiers with a rated capacity symbol of 222. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 128 DIMENSIONS The frames of the CN2A connector, CN2B connector, CN2C connector, and CN3 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
*1 This is for the MR-J5W3-_G_ servo amplifier. *2 Refer to the following for CN8.
Page 395 Functional safety I/O signal connector (CN8) and pin assignments
14
LG
LA-A
1 152
163 174
185 196
207 218
229 2310
2411 2512
2613
LBR-A
LAR-A
LB-A
LA-B LBR-B
LAR-B
LB-B
DI1-A DI2-B
DI1-B DI2-A
DI3-A DICOM
DI3-B EM2
CALM
MBR-B
CINP MBR-A
DOCOM
2 LG 4
MRR
3 MR
1 P5
6 THM2 8
MXR
7 MX
5 THM1
THM2
THM1
10
9 BAT
2 LG 4
MRR
3 MR
1 P5
6 8
MXR
7 MX
5
10
9 BAT
THM2
THM1
2 LG 4
MRR
3 MR
1 P5
6 8
MXR
7 MX
5
10
9 BAT
CN2A CN3
CN2B
CN2C *1
DI2-C DI1-C
DI3-C
MBR-C
2
LG
3
MO2
1
MO1
CN6
CN8 *2
This is a connector of 3M.
3 SIGNALS AND WIRING 3.4 Connectors and pin assignments 81
82
Connectors and pin assignments [B]
1-axis servo amplifier The front view of the servo amplifier shown below is of MR-J5-10B-RJ_ servo amplifiers with a rated capacity symbol of 10 or less. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 128 DIMENSIONS The frames of the CN2 connector, CN2L connector, and CN3 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
*1 This is an example of when the servo amplifier has a CN2L connector. *2 Refer to the following for CN8.
Page 395 Functional safety I/O signal connector (CN8) and pin assignments
CN3
1 2
3
5
4
6
7
9
8
10
11 12
13 14
15 16
17 18
19 20
DI1
MO1
DOCOM
DICOM
LZ
DI2
MO2
EM2DICOM
LGLG
MBR
LBR
LA
LB LZR
LAR ALM
DI3INP
4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
BAT
MXR
MX
4 MRR2
2 LG 8
6
1 P5
5
10
3 MR2
7 9
MXR2
MX2
CN2L *1
4 PAR
2 LG 8
6
1 P5
5
10
3 PA
7 9
PB
PZR
PZ
PBR PSEL
CN2L *1
THM2
THM1
CN2
BAT
CN8 *2
() (ABZ)
3 SIGNALS AND WIRING 3.4 Connectors and pin assignments
3
Multi-axis servo amplifier The front view of the servo amplifier shown below is of MR-J5W3-222B_ servo amplifiers with a rated capacity symbol of 222. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 128 DIMENSIONS The frames of the CN2A connector, CN2B connector, CN2C connector, and CN3 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
*1 This is for the MR-J5W3-_B_ servo amplifier. *2 Refer to the following for CN8.
Page 395 Functional safety I/O signal connector (CN8) and pin assignments
14
LG
LA-A
1 152
163 174
185 196
207 218
229 2310
2411 2512
2613
LBR-A
LAR-A
LB-A
LA-B LBR-B
LAR-B
LB-B
DI1-A DI2-B
DI1-B DI2-A
DI3-A DICOM
DI3-B EM2
CALM
MBR-B
CINP MBR-A
DOCOM
2 LG 4
MRR
3 MR
1 P5
6 THM2 8
MXR
7 MX
5 THM1
THM2
THM1
10
9 BAT
2 LG 4
MRR
3 MR
1 P5
6 8
MXR
7 MX
5
10
9 BAT
THM2
THM1
2 LG 4
MRR
3 MR
1 P5
6 8
MXR
7 MX
5
10
9 BAT
CN2A CN3
CN2B
CN2C *1
DI2-C DI1-C
DI3-C
MBR-C
CN8 *2
3M
3 SIGNALS AND WIRING 3.4 Connectors and pin assignments 83
84
Connectors and pin assignments [A] The front view of the servo amplifier shown below is of MR-J5-60A-RJ_ servo amplifiers with a rated capacity symbol of 60 or less. Refer to the following for the appearance and connector layout of the other servo amplifiers. Page 128 DIMENSIONS The frames of the CN2 connector, CN2L connector, and CN3 connector are connected to the protective earth (grounding) terminal in the servo amplifier.
*1 The MR-J5-_A_ servo amplifier does not have the CN2L connector. *2 Refer to the following for CN8.
Page 395 Functional safety I/O signal connector (CN8) and pin assignments The device assignment of the CN3 connector pins changes depending on the control mode. The device of each pin which has servo parameters stated in the related servo parameter column can be changed using the stated servo parameters.
2
LG
3
MO2
1
MO1
CN6
CN3
4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
BAT
CN2
MXR
MX
2
4
6
8
10
12
14
16
18
20
22
24
1
3
5
7
9
11
13
15
17
19
21
23
27
29
31
33
35
37
39
41
43
45
47
49
26
28
30
32
34
36
38
40
42
44
46
48
25 50
CN8 *2
4 MRR2
2 LG 8
6
1 P5
5
10
3 MR2
7 9
MXR2
THM2
THM1
MX2 BAT
4 PAR
2 LG 8
6
1 P5
PBR PSEL
PB 5
10
3 PA
7 9
PZR
PZ
CN2L *1
CN2L *1
This is a connector of 3M.
(using serial encoder)
(using A/B/Z-phase pulse encoder)
3 SIGNALS AND WIRING 3.4 Connectors and pin assignments
3
Initial assignment of CN3 connector pins Pin No. I/O *1 I/O signal in each control mode *2 Related servo
parameterP P/S S S/T T T/P 1 P15R P15R P15R P15R P15R P15R
2 I -/VC VC VC/VLA VLA VLA/-
3 LG LG LG LG LG LG
4 O LA LA LA LA LA LA
5 O LAR LAR LAR LAR LAR LAR
6 O LB LB LB LB LB LB
7 O LBR LBR LBR LBR LBR LBR
8 O LZ LZ LZ LZ LZ LZ
9 O LZR LZR LZR LZR LZR LZR
10 I PP PP/- *4 *4 *4 -/PP
11 I PG PG/- -/PG
12 OPC OPC/- -/OPC
13 O *3 *3 *3 *3 *3 *3
14 O *3 *3 *3 *3 *3 *3
15 I SON SON SON SON SON SON [Pr. PD03]/[Pr. PD04]
16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- [Pr. PD05]/[Pr. PD06]
17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC [Pr. PD07]/[Pr. PD08]
18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL [Pr. PD09]/[Pr. PD10]
19 I RES RES RES RES RES RES [Pr. PD11]/[Pr. PD12]
20 DICOM DICOM DICOM DICOM DICOM DICOM
21 DICOM DICOM DICOM DICOM DICOM DICOM
22 O INP INP/SA SA SA/- -/INP [Pr. PD23]
23 O ZSP ZSP ZSP ZSP ZSP ZSP [Pr. PD24]
24 O INP INP/SA SA SA/- -/INP [Pr. PD25]
25 O TLC TLC TLC TLC/VLC VLC VLC/TLC [Pr. PD26]
26
27 I TLA TLA TLA TLA/TC TC TC/TLA
28 LG LG LG LG LG LG
29 *6 O SDP SDP SDP SDP SDP SDP
30 LG LG LG LG LG LG
31 *6 I TRE TRE TRE TRE TRE TRE
32 *6 O SDN SDN SDN SDN SDN SDN
33 O OP OP OP OP OP OP
34 LG LG LG LG LG LG
35 I NP NP/- *4 *4 *4 -/NP
36 I NG NG/- -/NG
37 I PP2 PP2/- *5 *5 *5 -/PP2
38 I NP2 NP2/- *5 *5 *5 -/NP2
39 *6 I RDP RDP RDP RDP RDP RDP
40 *6 I RDN RDN RDN RDN RDN RDN
41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR [Pr. PD13]/[Pr. PD14]
42 I EM2 EM2 EM2 EM2 EM2 EM2 [Pr. PD15]/[Pr. PD16]
43 I LSP LSP LSP LSP/- -/LSP [Pr. PD17]/[Pr. PD18]
44 I LSN LSN LSN LSN/- -/LSN [Pr. PD19]/[Pr. PD20]
45 I LOP LOP LOP LOP LOP LOP [Pr. PD21]/[Pr. PD22]
46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
47 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
48 O ALM ALM ALM ALM ALM ALM
49 O RD RD RD RD RD RD [Pr. PD49]
50
3 SIGNALS AND WIRING 3.4 Connectors and pin assignments 85
86
*1 I: input signal, O: output signal *2 P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control switching mode, S/T: Speed/
torque control switching mode, T/P: Torque/position control switching mode *3 Output devices are not assigned by default. Assign the output devices with [Pr. PD47] as necessary. This pin can be used only on the
MR-J5-_A_-RJ_. *4 This is available as an input device of a sink interface. If using it, assign the input device with [Pr. PD43] to [Pr. PD46] as necessary. In
addition, supply + of 24 V DC to the CN3-12 pin. *5 This is available as an input device of a source interface. If using it, assign the input device with [Pr. PD43] to [Pr. PD46] as necessary. *6 This pin is available on servo amplifiers with firmware version B6 or later.
3 SIGNALS AND WIRING 3.4 Connectors and pin assignments
3
3.5 Signal (device) explanation For the I/O interfaces (symbols in the column "I/O signal interface type" in the table), refer to the following. Page 117 Detailed explanation of interfaces The pin numbers in the connector pin No. column are default numbers. and in the table show the following. : Devices that can be used in factory settings : Devices which become available by servo parameter settings MR-J5-G/MR-J5W-G User's Manual (Parameters) MR-J5-B/MR-J5W-B User's Manual (Parameters) MR-J5-A User's Manual (Parameters)
Input device
Input device pin [G] The following shows input device pins and the servo parameters used for setting devices.
MR-J5-_G_
*1 Available on servo amplifiers with firmware version C0 or later and manufactured in June 2021 or later.
MR-J5-_G_-RJ_
MR-J5W2-_G_
Connector pin No. Servo parameter Initially assigned device TPR assignment I/O signal interface type
CN3-1 *1 [Pr. PD39] TPR2 Possible DI-1
CN3-2 [Pr. PD03] LSP Impossible
CN3-10 *1 [Pr. PD38] TPR1 Possible
CN3-12 [Pr. PD04] LSN Impossible
CN3-19 [Pr. PD05] DOG
CN3-20 EM2
Connector pin No. Servo parameter Initially assigned device TPR assignment I/O signal interface type
CN3-1 [Pr. PD39] TPR2 Possible DI-1
CN3-2 [Pr. PD03] LSP Impossible
CN3-10 [Pr. PD38] TPR1 Possible
CN3-12 [Pr. PD04] LSN Impossible
CN3-19 [Pr. PD05] DOG Possible
CN3-20 EM2 Impossible
Connector pin No. Servo parameter Initially assigned device TPR assignment I/O signal interface type
CN3-7 [Pr. PD03] (A-axis) LSP-A Impossible DI-1
CN3-8 [Pr. PD04] (A-axis) LSN-A
CN3-9 [Pr. PD05] (A-axis) DOG-A Possible
CN3-10 EM2 Impossible
CN3-15 [Pr. PD51] (common to all axes) Possible
CN3-20 [Pr. PD03] (B-axis) LSP-B Impossible
CN3-21 [Pr. PD04] (B-axis) LSN-B
CN3-22 [Pr. PD05] (B-axis) DOG-B Possible
3 SIGNALS AND WIRING 3.5 Signal (device) explanation 87
88
MR-J5W3-_G_
Input device pin [B] The following shows input device pins and the servo parameters used for setting devices.
MR-J5-_B_
*1 Devices can be assigned to this pin with the controller setting. For the setting method, refer to each controller manual.
MR-J5W2-_B_
*1 Devices can be assigned to this pin with the controller setting. For the setting method, refer to each controller manual.
MR-J5W3-_B_
*1 Devices can be assigned to this pin with the controller setting. For the setting method, refer to each controller manual.
Connector pin No. Servo parameter Initially assigned device TPR assignment I/O signal interface type
CN3-1 [Pr. PD03] (C-axis) LSP-C Impossible DI-1
CN3-2 [Pr. PD04] (C-axis) LSN-C
CN3-7 [Pr. PD03] (A-axis) LSP-A
CN3-8 [Pr. PD04] (A-axis) LSN-A
CN3-9 [Pr. PD05] (A-axis) DOG-A Possible
CN3-10 EM2 Impossible
CN3-15 [Pr. PD05] (C-axis) DOG-C Possible
CN3-20 [Pr. PD03] (B-axis) LSP-B Impossible
CN3-21 [Pr. PD04] (B-axis) LSN-B
CN3-22 [Pr. PD05] (B-axis) DOG-B Possible
Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-2 DI1 *1 DI-1
CN3-12 DI2 *1
CN3-19 DI3 *1
CN3-20 EM2
Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-7 DI1-A *1 DI-1
CN3-8 DI2-A *1
CN3-9 DI3-A *1
CN3-10 EM2 *1
CN3-20 DI1-B *1
CN3-21 DI2-B *1
CN3-22 DI3-B *1
Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-1 DI1-C *1 DI-1
CN3-2 DI2-C *1
CN3-7 DI1-A *1
CN3-8 DI2-A *1
CN3-9 DI3-A *1
CN3-10 EM2 *1
CN3-15 DI3-C *1
CN3-20 DI1-B *1
CN3-21 DI2-B *1
CN3-22 DI3-B *1
3 SIGNALS AND WIRING 3.5 Signal (device) explanation
3
Input device pin [A] For input device pins and servo parameters for setting devices, refer to the following. Page 84 Connectors and pin assignments [A]
Input devices and in the table show the following. : Devices that can be used in factory settings : Devices which become available by servo parameter settings
*1 The device is available depending on the servo amplifier. Refer to each section indicated in the detailed explanation column. *2 P: Position control mode, S: Speed control mode, T: Torque control mode
Device name Symbol Model I/O signal interface type
Detailed explanation
[G] [B] [A] *2
P S T Forced stop 2 EM2 DI-1 Page 90 EM2 (Forced stop 2)
Forced stop 1 EM1 DI-1 Page 90 EM1 (Forced stop 1)
Forward rotation stroke end LSP DI-1 Page 90 LSP (Forward rotation stroke end)/LSN (Reverse rotation stroke end)Reverse rotation stroke end LSN DI-1
DI1 DI-1 Devices can be assigned to this pin with the controller setting. For the setting method, refer to each controller manual.
DI2 DI-1
DI3 DI-1
Proportional control PC DI-1 Page 91 PC (Proportional control)
Gain switching CDP DI-1 Page 91 CDP (Gain switching)
Gain switching 2 CDP2 DI-1 Page 91 CDP2 (Gain switching 2)
Fully closed loop selection CLD DI-1 Page 91 CLD (Fully closed loop selection)
Proximity dog DOG DI-1 Page 92 DOG (Proximity dog)
Touch probe 1 TPR1 *1 DI-1 Page 92 TPR1 (Touch probe 1)/TPR2 (Touch probe 2)/TPR3 (Touch probe 3)Touch probe 2 TPR2 *1 DI-1
Touch probe 3 TPR3 *1 DI-1
Servo-on SON DI-1 Page 93 SON (Servo-on)
Reset RES DI-1 Page 93 RES (Reset)
External torque limit selection TL DI-1 Page 93 TL (External torque limit selection)
Internal torque limit selection TL1 DI-1 Page 93 TL1 (Internal torque limit selection)
Forward rotation start ST1 DI-1 Page 93 ST1 (Forward rotation start)/ST2 (Reverse rotation start)Reverse rotation start ST2 DI-1
Forward rotation selection RS1 DI-1 Page 93 RS1 (Forward rotation selection)/RS2 (Reverse rotation selection)Reverse rotation selection RS2 DI-1
Speed selection 1 SP1 DI-1 Page 94 SP1 (Speed selection 1)/SP2 (Speed selection 2)/SP3 (Speed selection 3)Speed selection 2 SP2 DI-1
Speed selection 3 SP3 DI-1
Clear CR DI-1 Page 94 CR (Clear)
Electronic gear selection 1 CM1 DI-1 Page 94 CM1 (Electronic gear selection 1)/CM2 (Electronic gear selection 2)Electronic gear selection 2 CM2 DI-1
Control switching LOP DI-1 Page 95 LOP (Control switching)
Second acceleration/ deceleration selection
STAB2 DI-1 Page 95 STAB2 (Second acceleration/ deceleration selection)
ABS transfer mode ABSM DI-1 Page 95 ABSM (ABS transfer mode)
ABS request ABSR DI-1 Page 95 ABSR (ABS request)
Command input permission signal
PEN DI-1 Page 95 PEN (Command input permission signal)
Motor-side/load-side deviation counter clear
MECR DI-1 Page 95 MECR (Motor-side/load-side deviation counter clear)
3 SIGNALS AND WIRING 3.5 Signal (device) explanation 89
90
Input device explanation EM2 (Forced stop 2) When EM2 is turned off (open between commons), the base circuit shuts off, and the dynamic brake operates to decelerate the servo motor to a stop. The forced stop will be deactivated if EM2 is turned on (short between commons) while in the forced stop state. EM2 and EM1 are mutually exclusive. When the MR-J5-_G_ or MR-J5W_-_G is used in the torque mode, EM2 functions the same as EM1. For details, refer to "Forced stop deceleration function" in the following manual. MR-J5 User's Manual (Function)
*1 For the MR-J5-_A_ servo amplifier, the setting value of this servo parameter is fixed to "0". To disable forced stop, change the setting value of [Pr. PD01.3].
EM1 (Forced stop 1) When EM1 is turned off (open between commons), the base circuit shuts off, and the dynamic brake operates to decelerate the servo motor to a stop. The forced stop will be deactivated if EM1 is turned on (short between commons) while in the forced stop state.
LSP (Forward rotation stroke end)/LSN (Reverse rotation stroke end) To operate a servo motor, turn on LSP/LSN. Turn LSP/LSN off to bring the servo motor to a stop and switch it to the servo-lock state. For information about areas such as the supported control modes, automatic on, and restrictions, refer to "Stroke limit function" in the following user's manual. MR-J5 User's Manual (Function)
Setting value EM2/EM1 Deceleration method
[Pr. PA04.3] [Pr. PA04.2] *1 EM2 or EM1 is off Alarm occurrence 0 0 EM1 MBR (Electromagnetic brake interlock)
turns off without the forced stop deceleration.
MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.
2 0 EM2 MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.
MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.
0 1 Neither EM2 nor EM1 is used.
MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.
2 1 Neither EM2 nor EM1 is used.
MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.
Input device Operation
LSP LSN CCW direction (positive direction)
CW direction (negative direction)
1 (on) 1 (on)
0 (off) 1 (on)
1 (on) 0 (off)
0 (off) 0 (off)
3 SIGNALS AND WIRING 3.5 Signal (device) explanation
3
PC (Proportional control) Turn PC on to switch the speed amplifier from the proportional integral type to the proportional type. If a servo motor is rotated even for a pulse due to any external factor while it is at a stop, it generates torque to compensate for a position mismatch. If locking the servo motor shaft mechanically after positioning completes, turn on PC (Proportional control) upon completion of positioning to suppress the unnecessary torque generated for compensation of a position mismatch. If locking the shaft for a long period of time, set the torque value to be the rated torque or less. Do not use PC in the torque mode. If PC is used in the torque mode, the servo motor may operate at a speed exceeding the speed limit value.
CDP (Gain switching) Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to motor inertia ratio and individual gain values. When both CDP and CDP2 are on, the setting of CDP2 is prioritized. For details, refer to "GAIN SWITCHING FUNCTION" in the following manual. MR-J5 User's Manual (Adjustment)
CDP2 (Gain switching 2) Turn on CDP2 to use the values of [Pr. PB67] to [Pr. PB70] as the load to motor inertia ratio and individual gain values. When both CDP and CDP2 are on, the setting of CDP2 is prioritized. For details, refer to "GAIN SWITCHING FUNCTION" in the following manual. MR-J5 User's Manual (Adjustment)
CLD (Fully closed loop selection) This device can be used when the semi closed/fully closed loop control switching is enabled by [Pr. PE01]. The semi closed loop control is selected when CLD is turned off, and fully closed loop control is selected when CLD is turned on. The input device is available on servo amplifiers with firmware version A5 or later. Page 527 USING A FULLY CLOSED LOOP SYSTEM
3 SIGNALS AND WIRING 3.5 Signal (device) explanation 91
92
Input device explanation [G] DOG (Proximity dog) Turning off DOG will detect a proximity dog. The polarity for the proximity dog can be changed with [Pr. PT29.0].
TPR1 (Touch probe 1)/TPR2 (Touch probe 2)/TPR3 (Touch probe 3) Refer to the following table for servo amplifiers on which TPR1 to TPR3 are available. and in the table show the following. : Devices that can be used in factory settings : Devices which become available by servo parameter settings
*1 Available on servo amplifiers with firmware version C0 or later and manufactured in June 2021 or later. *2 Available on servo amplifiers with firmware version A5 or later.
These devices enable the touch probe function, which latches the current position with sensor input or by other means. Turning on this device latches the current position. For details, refer to "Touch probe" in the following manual. MR-J5 User's Manual (Function)
[Pr. PT29.0] Polarity for proximity dog detection 0 Dog detection with off
1 Dog detection with on
Servo amplifier TPR1 TPR2 TPR3 MR-J5-_G *1
MR-J5-_G_-RJ_ *2
MR-J5W2-_G_ *2
MR-J5W3-_G_ *2
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Input device explanation [A] SON (Servo-on) If SON is turned on, the base circuit will be powered on and the servo amplifier will become in the operation-ready state (servo-on state). Once SON is turned off, the base circuit is shut off and the servo motor shaft coasts. To change SON to "Automatic on" (always on) in the servo amplifier, set [Pr. PD01.0] to "4".
RES (Reset) Turn on RES for 50 ms or more to reset the alarm. Some alarms cannot be deactivated by RES. For these alarms, refer to "Handling methods for alarms/warnings" in the following manual. MR-J5 User's Manual (Troubleshooting) Turning RES on in an alarm-free state shuts off the base circuit. If [Pr. PD30.1] is set to "1", the base circuit will not shut off. This device is not designed to make a stop. Do not turn it on during operation.
TL (External torque limit selection) When TL is off, [Pr. PA11] and [Pr. PA12] are enabled. When TL is on, TLA (Analog torque limit) is enabled. For details, refer to "Torque limit" in the following manual. MR-J5 User's Manual (Function)
TL1 (Internal torque limit selection) When TL1 is on, [Pr. PC35] is enabled. When TL1 is off, the TL condition is enabled. For details, refer to "Torque limit" in the following manual. MR-J5 User's Manual (Function)
ST1 (Forward rotation start)/ST2 (Reverse rotation start) This is used to start the servo motor. The following shows the rotation directions.
If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the setting value of [Pr. PC02] and will be locked. If [Pr. PC23.0] is set to "1", the servo motor will not be locked after deceleration to a stop. For details, refer to "Speed control mode (S)" in the following manual. MR-J5 User's Manual (Function)
RS1 (Forward rotation selection)/RS2 (Reverse rotation selection) Select a servo motor torque generation direction. The following shows the torque generation directions.
For details, refer to "Torque control mode (T)" in the following manual. MR-J5 User's Manual (Function)
Input device Servo motor starting direction
ST2 ST1 0 (off) 0 (off) Stop (servo-lock)
0 (off) 1 (on) CCW
1 (on) 0 (off) CW
1 (on) 1 (on) Stop (servo-lock)
Input device Torque generation direction
RS2 RS1 0 (off) 0 (off) Torque is not generated.
0 (off) 1 (on) Forward rotation in power running mode/reverse rotation in regenerative mode
1 (on) 0 (off) Reverse rotation in power running mode/forward rotation in regenerative mode
1 (on) 1 (on) Torque is not generated.
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SP1 (Speed selection 1)/SP2 (Speed selection 2)/SP3 (Speed selection 3) For speed control mode Select the command speed for operation. The selection contents are as follows.
For details, refer to "Speed control mode (S)" in the following manual. MR-J5 User's Manual (Function) For torque control mode Select the speed limit for operation. The selection contents are as follows.
For details, refer to "Torque control mode (T)" in the following manual. MR-J5 User's Manual (Function)
CR (Clear) Turning on CR clears the droop pulses in the position control counter at the rising edge. The ON width of CR should be 10 ms or longer. If [Pr. PD32.0] is set to "1 ", the droop pulses will be always cleared while the CR is on. Moreover, the delay time set in [Pr. PB03] will also be cleared.
CM1 (Electronic gear selection 1)/CM2 (Electronic gear selection 2) The combination of CM1 and CM2 enables to select four different electronic gear numerators set in the parameters. CM1 and CM2 cannot be used in the absolute position detection system.
For details, refer to "Electronic gear function" in the following manual. MR-J5 User's Manual (Function)
Input device Speed command
SP3 SP2 SP1 0 (off) 0 (off) 0 (off) VC (Analog speed command)
0 (off) 0 (off) 1 (on) [Pr. PC05]
0 (off) 1 (on) 0 (off) [Pr. PC06]
0 (off) 1 (on) 1 (on) [Pr. PC07]
1 (on) 0 (off) 0 (off) [Pr. PC08]
1 (on) 0 (off) 1 (on) [Pr. PC09]
1 (on) 1 (on) 0 (off) [Pr. PC10]
1 (on) 1 (on) 1 (on) [Pr. PC11]
Input device Speed limit
SP3 SP2 SP1 0 (off) 0 (off) 0 (off) VLA (Analog speed limit)
0 (off) 0 (off) 1 (on) [Pr. PC05]
0 (off) 1 (on) 0 (off) [Pr. PC06]
0 (off) 1 (on) 1 (on) [Pr. PC07]
1 (on) 0 (off) 0 (off) [Pr. PC08]
1 (on) 0 (off) 1 (on) [Pr. PC09]
1 (on) 1 (on) 0 (off) [Pr. PC10]
1 (on) 1 (on) 1 (on) [Pr. PC11]
Input device Electronic gear numerator
CM2 CM1 0 (off) 0 (off) [Pr. PA06]
0 (off) 1 (on) [Pr. PC32]
1 (on) 0 (off) [Pr. PC33]
1 (on) 1 (on) [Pr. PC34]
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LOP (Control switching) Position/speed control switching mode This is used to select the position control mode or the speed control mode in the position/speed control switching mode.
Speed/torque control switching mode This is used to select the speed control mode or the torque control mode in the speed/torque control switching mode.
Torque/position control switching mode This is used to select the position control mode or the speed control mode in the torque/position control switching mode.
For details, refer to "Control switching" in the following manual. MR-J5 User's Manual (Function)
STAB2 (Second acceleration/deceleration selection) This is used to select the acceleration/deceleration time constants while the servo motor rotates in the speed control mode or torque control mode. The S-pattern acceleration/deceleration time constants are always uniform.
For details, refer to "Acceleration/deceleration function" in the following manual. MR-J5 User's Manual (Function)
ABSM (ABS transfer mode) This is an ABS transfer mode request device. If [Pr. PA03.0] is set to "1" and an absolute position detection system by DIO is selected, ABSM will be assigned to the CN3-17 pin. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
ABSR (ABS request) This is an ABS request device. If [Pr. PA03.0] is set to "1" and the absolute position detection system by DIO is selected, ABSR will be assigned to the CN3-18 pin. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
PEN (Command input permission signal) If PEN is selected as an input device, command pulse trains are accepted while PEN is on. The input device is available on servo amplifiers with firmware version A5 or later. For details, refer to "Command pulse train monitoring function" in the following manual. MR-J5 User's Manual (Function)
MECR (Motor-side/load-side deviation counter clear) Turning on MECR clears the values of the motor-side/load-side position deviation counter at the signal rising edge. This device can be used in the fully closed loop control mode. The droop pulses in the position control will not be affected. The operation will not be affected even if this device is turned on while the semi closed loop control is in progress. The operation will not be affected even if this device is turned on while the fully closed loop control error detection function
is disabled in [Pr. PE03]. The input device is available on servo amplifiers with firmware version A5 or later.
LOP Control mode 0 (off) Position control mode
1 (on) Speed control mode
LOP Control mode 0 (off) Speed control mode
1 (on) Torque control mode
LOP Control mode 0 (off) Torque control mode
1 (on) Position control mode
STAB2 Acceleration/deceleration time constants 0 (off) [Pr. PC01]/[Pr. PC02]
1 (on) [Pr. PC30]/[Pr. PC31]
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Output device
Output device pins The following shows the output device pins and the servo parameters used for assigning devices.
MR-J5-_G_
MR-J5W2-_G_
MR-J5W3-_G_
MR-J5-_B_
MR-J5W2-_B_
MR-J5W3-_B_
MR-J5-_A_ For the output device pins and the servo parameters for setting the devices, refer to the following. Page 84 Connectors and pin assignments [A]
Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-13 [Pr. PD07] MBR DO-1
CN3-9 [Pr. PD08] INP
CN3-15 [Pr. PD09] ALM
Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-12 [Pr. PD07] (A-axis) MBR-A DO-1
CN3-25 [Pr. PD07] (B-axis) MBR-B
CN3-24 [Pr. PD08] (common) CINP
CN3-11 [Pr. PD09] (common) CALM
Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-12 [Pr. PD07] (A-axis) MBR-A DO-1
CN3-25 [Pr. PD07] (B-axis) MBR-B
CN3-13 [Pr. PD07] (C-axis) MBR-C
CN3-24 [Pr. PD08] (common) CINP
CN3-11 [Pr. PD09] (common) CALM
Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-13 [Pr. PD07] MBR DO-1
CN3-9 [Pr. PD08] INP
CN3-15 [Pr. PD09] ALM
Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-12 [Pr. PD07] (A-axis) MBR-A DO-1
CN3-25 [Pr. PD07] (B-axis) MBR-B
CN3-24 [Pr. PD08] (common) CINP
CN3-11 [Pr. PD09] (common) CALM
Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-12 [Pr. PD07] (A-axis) MBR-A DO-1
CN3-25 [Pr. PD07] (B-axis) MBR-B
CN3-13 [Pr. PD07] (C-axis) MBR-C
CN3-24 [Pr. PD08] (common) CINP
CN3-11 [Pr. PD09] (common) CALM
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Output devices and in the table show the following. : Devices that can be used in factory settings : Devices which become available by servo parameter settings
*1 P: Position control mode, S: Speed control mode, T: Torque control mode
Device name Symbol Model I/O signal interface type
Detailed explanation
[G] [B] [A] *1
P S T Malfunction ALM DO-1 Page 98 ALM (Malfunction)
In-position INP DO-1 Page 98 INP (In-position)
Ready RD DO-1 Page 98 RD (Ready)
Speed reached SA DO-1 Page 98 SA (Speed reached)
Warning WNG DO-1 Page 98 WNG (Warning)
Battery warning BWNG DO-1 Page 98 BWNG (Battery warning)
Motor stop warning WNGSTOP DO-1 Page 98 WNGSTOP (Motor stop warning)
Variable gain enabled CDPS DO-1 Page 98 CDPS (Variable gain enabled)
Variable gain enabled 2 CDPS2 DO-1 Page 98 CDPS2 (Variable gain enabled 2)
Absolute position erased ABSV DO-1 Page 98 ABSV (Absolute position erased)
Tough drive in progress MTTR DO-1 Page 98 MTTR (Tough drive in progress)
Fully closed loop control in progress
CLDS DO-1 Page 98 CLDS (Fully closed loop control in progress)
Electromagnetic brake interlock
MBR DO-1 [G]: Page 99 MBR (Electromagnetic brake interlock) [A]: Page 100 MBR (Electromagnetic brake interlock)
Limiting speed VLC DO-1 [G]: Page 99 VLC (Limiting speed) [A]: Page 100 VLC (Limiting speed)
Zero speed detection ZSP DO-1 [G]: Page 99 ZSP (Zero speed detection) [A]: Page 100 ZSP (Zero speed detection)
Limiting torque TLC DO-1 [G]: Page 99 TLC (Limiting torque) [A]: Page 100 TLC (Limiting torque)
ABS transmission data bit 0 ABSB0 DO-1 Page 100 ABSB0 (ABS transmission data bit 0)
ABS transmission data bit 1 ABSB1 DO-1 Page 101 ABSB1 (ABS transmission data bit 1)
ABS transmission data ready ABST DO-1 Page 101 ABST (ABS transmission data ready)
Malfunction/Warning ALMWNG DO-1 Page 101 ALMWNG (Malfunction/ Warning)
AL9F warning BW9F DO-1 Page 101 BW9F (AL9F warning)
Command pulse train input permitted
PENS DO-1 Page 101 PENS (Command pulse train input permitted)
General-purpose output A DOA DO-1 Page 99 DOA (General-purpose output A)/DOB (General-purpose output B)/DOC (General-purpose output C)
General-purpose output B DOB
General-purpose output C DOC
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Output device explanation ALM (Malfunction) If the protective circuit operates and shuts off the base circuit, ALM will turn off. If an alarm is not occurring, ALM will turn on in 2.5 s to 3.5 s after power-on (or in 3.5 s to 4.0 s for a multi-axis servo amplifier). For details, refer to "Alarm function" in the following manual. MR-J5 User's Manual (Function)
INP (In-position) If droop pulses are within the in-position range, INP will turn on. The in-position range can be changed with [Pr. PA10]. When the servo motor is operated at low speed by increasing the in-position range, INP may remain on. The device cannot be used in the velocity mode or torque mode. For details, refer to "In-position range setting" in the following manual. MR-J5 User's Manual (Function)
RD (Ready) When the servo amplifier is switched to the servo-on state, RD switches on.
SA (Speed reached) At servo-off, SA is off. When the servo motor speed reaches the following range, SA turns on. Set speed ((Set speed 0.05) + 20) r/min (mm/s) When the set speed is 20 r/min (mm/s) or less, SA is always on. The device cannot be used in the position mode and torque mode. For the MR-J5-_A_ servo amplifier, SA does not turn ON even when the servo motor speed reaches the set speed by external force when both ST1 (forward rotation start) and ST2 (reverse rotation start) are off.
WNG (Warning) WNG turns on when a warning occurs. If a warning is not occurring, WNG will turn off in 2.5 s to 3.5 s after power-on (or in 3.5 s to 4.0 s for a multi-axis servo amplifier).
BWNG (Battery warning) If [AL. 092 Battery cable disconnection warning] or [AL. 09F Battery warning] occurs, BWNG will turn on. If a battery warning is not occurring, BWNG will turn off in 2.5 s to 3.5 s after power-on (or in 3.5 s to 4.0 s for a multi-axis servo amplifier). In an absolute position detection system with a battery-less ABS encoder, BWNG is always off.
WNGSTOP (Motor stop warning) WNGSTOP will turn on if a warning that the motor cannot be driven occurs. If a motor stop warning is not occurring, WNGSTOP will turn off in 2.5 s to 3.5 s after power-on (or in 3.5 s to 4.0 s for a multi-axis servo amplifier).
CDPS (Variable gain enabled) When the gain of "Gain switching" is enabled, CDPS is on.
CDPS2 (Variable gain enabled 2) If the gain of "Gain switching 2" is enabled, CDPS2 will turn on.
ABSV (Absolute position erased) ABSV turns on when the absolute position is undetermined. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
MTTR (Tough drive in progress) When a tough drive is set to "Enabled" in [Pr. PA20], activating the instantaneous power failure tough drive turns on MTTR. For details, refer to "Instantaneous power failure tough drive" in the following manual. MR-J5 User's Manual (Function)
CLDS (Fully closed loop control in progress) When the fully closed loop control is in progress, the CLDS is on. The output device is available on servo amplifiers with firmware version A5 or later.
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Output device explanation [G] [B] MBR (Electromagnetic brake interlock) MBR is off in the servo-off state or at an alarm occurrence. If using the device, set an operation delay time of the electromagnetic brake in [Pr. PC02]. For details. refer to "Electromagnetic brake interlock function" in the following manual. MR-J5 User's Manual (Function)
VLC (Limiting speed) If the speed reaches the speed limit value in the torque mode, VLC will turn on. VLC will turn off in the servo-off state. The device cannot be used in the position mode or the velocity mode. For details, refer to "Speed limit" in the following manual. MR-J5 User's Manual (Function)
ZSP (Zero speed detection) If the servo motor speed is the zero speed or less, ZSP will turn on. The zero speed can be changed with [Pr. PC07]. The following shows an example when the initial value (50) is set in [Pr. PC07].
ZSP will turn on when the servo motor speed is reduced to 50 r/min (at (1)), and will turn off when the servo motor is increased to 70 r/min again (at (2)). ZSP will turn on when the servo motor is decelerated again to 50 r/min (at (3)), and will turn off when the servo motor speed reaches -70 r/min (at (4)). The range from the point when the servo motor speed has reached the on-level and ZSP turns on, to the point when the speed has increased again and reached the off-level is called a hysteresis width. The hysteresis width is 20 r/min for this servo amplifier. If using a linear servo motor, replace [r/min] with [mm/s].
TLC (Limiting torque) If the torque reaches the torque limit value when torque is generated, TLC will turn on. TLC will turn off in the servo-off state. In the torque mode, TLC is off. For details, refer to "Torque limit" in the following manual. MR-J5 User's Manual (Function)
DOA (General-purpose output A)/DOB (General-purpose output B)/DOC (General-purpose output C)
For the MR-J5_-_B_, this device cannot be used. The pins to which the device is assigned can be switched on/off with the object "Digital outputs". For details, refer to "[Digital outputs (Obj. 60FEh)]" in the User's Manual (Object Dictionary). The output device is available on servo amplifiers with firmware version B6 or later.
OFF ON
20 r/min
[Pr. PC07]
20 r/min
-70 r/min
-50 r/min
50 r/min
70 r/min
0 r/min
[Pr. PC07]
ZSP
(1)
(2)
(4)
(3)OFF level
Fo rw
ar d
ro ta
tio n
di re
ct io
n
(Hysteresis width) ON level
Servo motor speed
ON level
R ev
er se
ro
ta tio
n di
re ct
io n
(Hysteresis width) OFF level
(Zero speed detection)
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Output device explanation [A] MBR (Electromagnetic brake interlock) MBR is off in the servo-off state or at an alarm occurrence. If using the device, set an operation delay time of the electromagnetic brake in [Pr. PC16]. For details. refer to "Electromagnetic brake interlock function" in the following manual. MR-J5 User's Manual (Function)
VLC (Limiting speed) In the torque mode, VLC will turn on if the speed reaches the value limited with any of [Pr. PC05] to [Pr. PC11] or VLA (Analog speed limit). VLC will turn off in the servo-off state. For details, refer to "Speed limit" in the following manual. MR-J5 User's Manual (Function)
ZSP (Zero speed detection) If the servo motor speed is the zero speed or less, ZSP will turn on. The zero speed can be changed with [Pr. PC17]. The following shows an example when the initial value (50) is set in [Pr. PC17].
ZSP will turn on when the servo motor speed is reduced to 50 r/min (at (1)), and will turn off when the servo motor is increased to 70 r/min again (at (2)). ZSP will turn on when the servo motor is decelerated again to 50 r/min (at (3)), and will turn off when the servo motor speed reaches -70 r/min (at (4)). The range from the point when the servo motor speed has reached the on-level and ZSP turns on, to the point when the speed has increased again and reached the off-level is called a hysteresis width. The hysteresis width is 20 r/min for this servo amplifier. If using a linear servo motor, replace [r/min] with [mm/s].
TLC (Limiting torque) When torque is generated, TLC will turn on if the torque reaches the torque limit value set with any of [Pr. PA11], [Pr. PA12], or TLA (Analog torque limit). For details, refer to "Torque limit" in the following manual. MR-J5 User's Manual (Function)
ABSB0 (ABS transmission data bit 0) This is used to output ABS transmission data bit 0. If the absolute position detection system by DIO is selected while [Pr. PA03.0] is set to "1", ABSB0 will be assigned to the CN3-22 pin only in the ABS transfer mode. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
OFF ON
20 r/min
[Pr. PC17]
20 r/min
-70 r/min
-50 r/min
50 r/min
70 r/min
0 r/min
[Pr. PC17]
ZSP
(1)
(2)
(4)
(3)OFF level
Fo rw
ar d
ro ta
tio n
di re
ct io
n
(Hysteresis width) ON level
Servo motor speed
ON level
R ev
er se
ro
ta tio
n di
re ct
io n
(Hysteresis width) OFF level
(Zero speed detection)
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ABSB1 (ABS transmission data bit 1) This is used to output ABS transmission data bit 0. If the absolute position detection system by DIO is selected while [Pr. PA03.0] is set to "1", ABSB1 will be assigned to the CN3-23 pin only in the ABS transfer mode. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
ABST (ABS transmission data ready) This is used to output ABS transmission data ready. If the absolute position detection system by DIO is selected while [Pr. PA03.0] is set to "1", ABST will be assigned to the CN3-25 pin only in the ABS transfer mode. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
ALMWNG (Malfunction/Warning) When an alarm occurs, ALMWNG turns off. When a warning occurs (except for [AL. 09F Battery warning]), ALMWNG turns on and off repeatedly approximately every 1 s. When neither an alarm nor a warning is occurring, ALMWNG will turn on in 2.5 s to 3.5 s after power-on.
BW9F (AL9F warning) When [AL. 9F Battery warning] occurs, BW9F turns on. In the absolute position detection system with a battery-less ABS encoder, BW9F is always off.
PENS (Command pulse train input permitted) While the command pulse train input can be received, PENS is on. In addition, if PEN has not been assigned to the input device, PENS is on. The output device is available on servo amplifiers with firmware version A5 or later. For details, refer to "Command pulse train monitoring function" in the following manual. MR-J5 User's Manual (Function)
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Input signal
List of supported input signals
Input signal explanation [A] TLA (Analog torque limit) When TLA is enabled, all the torque generated by the servo motor is limited. Apply 0 V DC to +10 V DC between TLA and LG. Connect the positive terminal of the power supply to TLA. The maximum torque is generated at +10 V. For details, refer to "Torque limit" in the following manual. MR-J5 User's Manual (Function) If a value equal to or larger than the maximum torque is input to TLA, the value is clamped at the maximum torque. Resolution: 12 bits
TC (Analog torque command) This is used to control all the torque generated by the servo motor. Apply 0 V DC to 8 V DC between TC and LG. The maximum torque is generated at 8 V. The torque at 8 V can be changed with [Pr. PC13]. For details, refer to "Torque control mode (T)" in the following manual. MR-J5 User's Manual (Function) If a value equal to or larger than the maximum torque is input to TC, the value is clamped at the maximum torque.
VC (Analog speed command) Apply 0 V DC to 10 V DC between VC and LG. At 10 V, the servo motor speed is the value set in [Pr. PC12]. For details, refer to "Speed control mode (S)" in the following manual. MR-J5 User's Manual (Function) If a value equal to or larger than the maximum speed is input to VC, the value is clamped at the maximum speed. When changing the speed to the permissible speed, change the setting value in [Pr. PA28.4]. Resolution: 14 bits or its equivalent (MR-J5-_A_-RJ_: 16 bits or its equivalent) For the MR-J5-_A_-RJ_ servo amplifiers, setting [Pr. PC60.1] to "2" changes the analog input resolution to 14 bits.
Device name Symbol Model I/O signal interface type
Detailed explanation
[G] [B] [A]
P S T Analog torque limit TLA AI-1 Page 102 TLA (Analog torque limit)
Analog torque command TC AI-1 Page 102 TC (Analog torque command)
Analog speed command VC AI-1 Page 102 VC (Analog speed command)
Analog speed limit VLA AI-1 Page 103 VLA (Analog speed limit)
Forward/reverse rotation pulse train
PP/NP/PP2/ NP2/PG/NG
DI-2 Page 103 PP/NP/PP2/NP2/PG/NG (Forward/reverse rotation pulse train)
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VLA (Analog speed limit) Apply 0 V DC to 10 V DC between VLA and LG. At 10 V, the servo motor speed is the value set in [Pr. PC12]. For details, refer to "Speed limit" in the following manual. MR-J5 User's Manual (Function) If a value equal to or larger than the maximum speed is input to VLA, the value is clamped at the maximum speed. When changing the speed to the permissible speed, change the setting value in [Pr. PA28.4]. Resolution: 14 bits or its equivalent (MR-J5-_A_-RJ_: 16 bits or its equivalent) For the MR-J5-_A_-RJ_ servo amplifiers, setting [Pr. PC60.1] to "2" changes the analog input resolution to 14 bits.
PP/NP/PP2/NP2/PG/NG (Forward/reverse rotation pulse train) This is used to enter a command pulse train. For open-collector type (sink input interface) The maximum input frequency is 200 kpulses/s. For A-phase and B-phase pulse trains, 200 kpulses/s will be the frequency after multiplication by four. Input the forward rotation pulse train between PP and DOCOM. Input the reverse rotation pulse train between NP and DOCOM. For open-collector type (source input interface) The maximum input frequency is 200 kpulses/s. For A-phase and B-phase pulse trains, 200 kpulses/s will be the frequency after multiplication by four. Input the forward rotation pulse train between PP2 and PG. Input the reverse rotation pulse train between NP2 and NG. For differential receiver type The maximum input frequency is 4 Mpulses/s. For A-phase and B-phase pulse trains, 4 Mpulses/s will be the frequency after multiplication by four. Input the forward rotation pulse train between PG and PP. Input the reverse rotation pulse train between NG and NP. The command input pulse train form, pulse train logic, and command input pulse train filter are changed in [Pr. PA13]. When the command pulse train exceeds 1 Mpulse/s and is 4 Mpulses/s or less, set [Pr. PA13.2] to "0". For details, refer to "Position control mode (P)" in the following manual. MR-J5 User's Manual (Function)
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Output signal
Output signal explanation LA/LAR (Encoder A-phase pulse (differential line driver))/LB/LBR (Encoder B-phase pulse
(differential line driver)) These devices output encoder output pulses set in [Pr. PA15] and [Pr. PA16] in the differential line driver type. When the servo motor rotates in the CCW direction, the encoder B-phase pulse lags the encoder A-phase pulse by a phase of 90 degrees. The relation between rotation direction and phase difference of the A-phase and B-phase pulses can be changed with the servo parameter "Encoder output pulse - Phase selection". [G] [B]: [Pr. PC03.0] [A]: [Pr. PC19.0] Output pulse setting, dividing ratio setting, and electronic gear setting can be selected. The maximum output frequency is 4.6 Mpulses/s. For details, refer to "A/B/Z-phase pulse output function" in the following manual. MR-J5 User's Manual (Function)
LZ/LZR (Encoder Z-phase pulse (differential line driver)) The encoder zero-point signal is output in the differential line driver type. One pulse is output per servo motor revolution. LZ/ LZR are on at the zero-point position. The minimum pulse width is about 400 s. For homing using this pulse, set the creep speed to 100 r/min or less. Multi-axis servo amplifiers do not support this output signal. For details, refer to "A/B/Z-phase pulse output function" in the following manual. MR-J5 User's Manual (Function)
MO1 (Analog monitor 1) For the MR-J5W_-_B_, this pin cannot be used. This signal outputs the data set in the servo parameter "Analog monitor 1 output selection" to between MO1 and LG in terms of voltage. [G] [B]: [Pr. PC09.0-1] [A]: [Pr. PC14.0-1] Output voltage: 10 V Resolution: 10 bits or its equivalent For details, refer to "Analog monitor" in the following manual. MR-J5 User's Manual (Function)
MO2 (Analog monitor 2) For the MR-J5W_-_B_, this pin cannot be used. This signal outputs the data set in the servo parameter "Analog monitor 2 output selection" to between MO2 and LG in terms of voltage. [G] [B]: [Pr. PC10.0-1] [A]: [Pr. PC15.0-1] Output voltage: 10 V Resolution: 10 bits or its equivalent For details, refer to "Analog monitor" in the following manual. MR-J5 User's Manual (Function)
4 3 SIGNALS AND WIRING 3.5 Signal (device) explanation
3
Output signal explanation [A] OP (Encoder Z-phase pulse (open collector)) The encoder zero-point signal is output in the open-collector type. One pulse is output per servo motor revolution. OP is on at the zero-point position. For details, refer to "A/B/Z-phase pulse output function" in the following manual. MR-J5 User's Manual (Function)
3 SIGNALS AND WIRING 3.5 Signal (device) explanation 105
10
Power supply
Power supply explanations DICOM (Digital input I/F power supply) Input 24 V DC (24 V DC 10 %) for I/O interface. The power supply capacity varies depending on the number of I/O interface points to be used. It is 300 mA for the MR-J5-_G_, and it is 500 mA for the MR-J5-_A_. For sink interfaces, connect the positive terminal of the 24 V DC external power supply. For source interfaces, connect the negative terminal of the 24 V DC external power supply.
DOCOM (Digital output I/F power supply) Input 24 V DC (24 V DC 10 %) for I/O interface. The power supply capacity varies depending on the number of I/O interface points to be used. It is 300 mA for the MR-J5-_G_, and it is 500 mA for the MR-J5-_A_. For sink interfaces, connect the negative terminal of the 24 V DC external power supply. For source interfaces, connect the positive terminal of the 24 V DC external power supply.
LG (Monitor common) LG is a common terminal of MO1 and MO2.
SD (Shield) Connect the external conductor of a shielded wire to SD.
Power supply explanation [A] OPC (Open-collector - Sink interface power supply input) Position control mode When inputting a pulse train in the open-collector type with sink interface, supply the positive power of 24 V DC to this terminal. Speed control mode/torque control mode Supply the positive (+) power of 24 V DC to this terminal if using the CN3-10 pin and CN3-35 pin for DI. The CN3-10 pin and CN3-35 pin can be used on the MR-J5-_A_-RJ_ servo amplifiers.
P15R (15 V DC Power supply output) This outputs 15 V DC to between P15R and LG. This is available as a power supply for TC/TLA/VC/VLA. Permissible current: 30 mA
LG (Control common) This is a common terminal of TLA/TC/VC/VLA/OP/MO1/MO2/P15R. Each pin is connected internally.
6 3 SIGNALS AND WIRING 3.5 Signal (device) explanation
3
3.6 Interface Internal connection diagram [G]
Refer to the following for the CN8 connector. Page 392 USING STO FUNCTION
1-axis servo amplifier
3
CN3 6 16 7 17 8 18
LA LAR LB
LBR LZ
LZR
2 4
7 8
MR MRR
MX MXR
LG PE
M
CN2
LG11
CN3
3
13
9
15
DOCOM
INP *2
ALM
USB D+ GND
D- 2 3 5
CN5
MBR
MR2 MRR2
MX2 MXR2
CN2L *4
RA1
RA3
RA2
*3
3
2 4
7 8
LG
CN6
MO1
MO2
LG
3
2
1
EM2
CN3
20
LSP 2
LSN 12
DOG 19
TPR1 10 *5
1 *5
5
TPR2
DICOM
*3
Servo amplifier
24 V DC *1
Isolated
Differential line driver output (35 mA or less)
Servo motor
Encoder
External encoder
Encoder
Analog monitor
Forced stop Approx. 6.2 k
Approx. 4.3 k
Approx. 4.3 k
24 V DC *1
10 V DC 10 V DC
Approx. 6.2 k
Approx. 6.2 k
Approx. 6.2 k *7
3 SIGNALS AND WIRING 3.6 Interface 107
10
*1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
*2 The signal cannot be used in the velocity mode and torque mode. *3 This diagram shows a sink I/O interface. For the source I/O interface, refer to the following.
Page 121 Source I/O interface *4 Refer to "Parts identification" in User's Manual (Introduction) for connecting an external encoder. *5 Some pin functions are limited by the firmware version and the date of manufacture of the servo amplifier being used.
For details, refer to "Model designation" in the User's Manual (Introduction). *6 Approximately 4.3 k for the MR-J5-_G_-RJ_.
8 3 SIGNALS AND WIRING 3.6 Interface
3
Multi-axis servo amplifier
EM2
CN3
DICOM 23
CN3
*1
USB D+ GND
D- 2 3 5
CN5
*2
DI1-A
DI2-A
DI3-A
DI1-B
DI2-B
DI3-B
10
7
8
9
20
21
22
DI1-C 1
DI2-C 2
DI3-C 15
25
13
11
24
MBR-B
12 MBR-A
26 DOCOM
MBR-C
CALM
*4
*2
RA1
RA5
CN3 3 16 4 17 5 18
LA-A
3
2 4
7 8
MR MRR
MX MXR
LG
PE M
CN2A
6 19
LAR-A LB-A
LBR-A
LA-B LAR-B
LB-B LBR-B
14 LG
CNP3A 2A
3
2 4
7 8
MR MRR
MX MXR
LG
PE M
CN2B
CNP3B 2A
3
2 4
7 8
MR MRR
MX MXR
LG
PE M
CN2C
CNP3C 2A
RA2
RA3
RA4
CN6
MO1
MO2
LG
3
2
1
Servo amplifier
24 V DC *6
24 V DC *6
Approx. 6.2 k
Approx. 4.3 k
Approx. 6.2 k
Approx. 4.3 k
Approx. 6.2 k
Approx. 6.2 k
Approx. 4.3 k
Approx. 6.2 k
Approx. 6.2 k
Approx. 4.3 k
Differential line driver output (35 mA or less) *5
Isolated
A-axis servo motor
Encoder
B-axis servo motor
Encoder
C-axis servo motor *3
Encoder
Analog monitor
10 V DC 10 V DC
3 SIGNALS AND WIRING 3.6 Interface 109
11
*1 Signals can be assigned to these pins with servo parameters ([Pr. PD03] to [Pr. PD05]). *2 This diagram shows a sink I/O interface. For the source I/O interface, refer to the following.
Page 121 Source I/O interface *3 The diagram is for 3-axis servo amplifiers. *4 In the initial setting, CINP (AND in-position) is assigned to this pin. The device of the pin can be changed with [Pr. PD08.0]. *5 This signal cannot be used on 3-axis servo amplifiers. *6 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes,
the system can be configured to use a single 24 V DC power supply.
0 3 SIGNALS AND WIRING 3.6 Interface
3
Internal connection diagram [B]
1-axis servo amplifier
*1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
*2 The signal cannot be used in the velocity mode and torque mode. *3 This diagram shows a sink I/O interface. For the source I/O interface, refer to the following.
Page 121 Source I/O interface *4 Refer to "Parts identification" in the User's Manual (Introduction) for connecting an external encoder.
3
CN3 6 16 7 17 8 18
LA LAR LB
LBR LZ
LZR
2 4
7 8
MR MRR
MX MXR
LG PE
M
CN2
LG11
CN3
3
13
9
15
DOCOM
INP *2
ALM
USB D+ GND
D- 2 3 5
CN5
MBR
MR2 MRR2
MX2 MXR2
CN2L *4
RA1
RA3
RA2
*3
3
2 4
7 8
LG
CN3
MO1
MO2
LG
4
14
1
EM2
CN3
20
DI1 2
DI2 12
DI3 19
5
10
DICOM
DICOM
*3
Servo amplifier
24 V DC *1
Isolated
Differential line driver output (35 mA or less)
Servo motor
Encoder
External encoder
Encoder
Analog monitor
Forced stop Approx. 6.2 k
Approx. 4.3 k
Approx. 4.3 k
24 V DC *1
10 V DC 10 V DC
Approx. 6.2 k
Approx. 6.2 k
Approx. 6.2 k *7
3 SIGNALS AND WIRING 3.6 Interface 111
11
Multi-axis servo amplifier
EM2
CN3
DICOM 23
CN3
*1
USB D+ GND
D- 2 3 5
CN5
*2
DI1-A
DI2-A
DI3-A
DI1-B
DI2-B
DI3-B
10
7
8
9
20
21
22
DI1-C 1
DI2-C 2
DI3-C 15
25
13
11
24
MBR-B
12 MBR-A
26 DOCOM
MBR-C
CALM
*4
*2
RA1
CN3 3 16 4 17 5 18
LA-A
3
2 4
7 8
MR MRR
MX MXR
LG
PE M
CN2A
6 19
LAR-A LB-A
LBR-A
LA-B LAR-B
LB-B LBR-B
14 LG
CNP3A 2A
3
2 4
7 8
MR MRR
MX MXR
LG
PE M
CN2B
CNP3B 2A
3
2 4
7 8
MR MRR
MX MXR
LG
PE M
CN2C
CNP3C 2A
RA5
RA3
RA4
RA2
Servo amplifier
24 V DC *6
24 V DC *6
Approx. 6.2 k
Approx. 4.3 k
Approx. 6.2 k
Approx. 4.3 k
Approx. 6.2 k
Approx. 6.2 k
Approx. 4.3 k
Approx. 6.2 k
Approx. 6.2 k
Approx. 4.3 k
Differential line driver output (35 mA or less) *5
Isolated
A-axis servo motor
Encoder
B-axis servo motor
Encoder
C-axis servo motor *3
Encoder
2 3 SIGNALS AND WIRING 3.6 Interface
3
*1 Signals can be assigned to these pins with the controller setting. For details on the signals, refer to each controller manual. *2 This diagram shows a sink I/O interface. For the source I/O interface, refer to the following.
Page 121 Source I/O interface *3 For the MR-J5 3-axis servo amplifier *4 In the initial setting, CINP (AND in-position) is assigned to this pin. The device of the pin can be changed with [Pr. PD08]. *5 This signal cannot be used for the MR-J5W3-_B. *6 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes,
the system can be configured to use a single 24 V DC power supply.
3 SIGNALS AND WIRING 3.6 Interface 113
11
Internal connection diagram [A]
Refer to the following for the CN8 connector. Page 392 USING STO FUNCTION
4 3 SIGNALS AND WIRING 3.6 Interface
3
3
SON SON SON
CN3
15
SP2 SP2 16
PC ST1 RS2 17
TL ST2 RS1 18
RES RES 19
CR SP1 41
EM2 42
LSP 43
LSN 44
LOP 45
OPC 12 20 21
LSP
LSN
LOP
DICOM DICOM
LOP
50
RES
SP1
P S T CN3
46
22
23
24
25
48
49
13 *7*8
*7*814
DOCOM
47 DOCOM
INP SA
ZSP
INP
TLC
RD
ZSP
TLC
ALM
RD
ZSP
TLC
RD
SA
CN3 P S T 4 5 6 7 8 9
33 34
CN3
LA LAR LB
LBR LZ
LZR OP LG
SDP SDN RDP RDN LG
CN6
MO1
MO2
LG
3
2
1
CN3P T
2VC VLA
27TLA TLA TC
1P15R
3LG 28LG 30LG
SD
RS-422/RS-485
CN2
2 4
7 8
MR MRR
MX MXR
LG
*3
*1
*1
P S T
*1
PP 10
PG 11 NP 35
PP2 37
NP2 38 NG 36
*2
*1
*8
*8
S
29 32 39 40 28
P S T
*1
P S T
*1
P S T
*1
E M
USB D+ GND
D- 2 3 5
CN5
MR2 MRR2
MX2 MXR2
CN2L *4*6
3
2 4
7 8
LG
P S T
P S T
*1
RA1
RA2
RA3
RA4
RA5
RA6
RA7
RA8
*3
TRE31 *9
Servo amplifier
Approx. 6.2 k
Approx. 6.2 k
Approx. 6.2 k
Approx. 6.2 k
Approx. 6.2 k
Approx. 6.2 k
Approx. 6.2 k
Approx. 6.2 k
Approx. 6.2 k
24 V DC *5
Approx. 6.2 k
Approx. 4.3 k
24 V DC *5
Approx. 1.2 kApprox. 100
Approx. 1.2 k
Approx. 1.2 kApprox. 100
Approx. 1.2 k
Differential line driver output (35 mA or less)
Isolated Open-collector output
15 V DC
Analog monitorCase
Servo motor
Encoder
External encoder
Encoder
10 V DC 10 V DC
3 SIGNALS AND WIRING 3.6 Interface 115
11
*1 P: Position control mode, S: Speed control mode, T: Torque control mode *2 This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.
*3 This diagram shows a sink I/O interface. For the source I/O interface, refer to the following. Page 121 Source I/O interface
*4 This is for the MR-J5-_A_-RJ_ servo amplifier. The MR-J5-_A_ servo amplifier does not have the CN2L connector. *5 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes,
the system can be configured to use a single 24 V DC power supply. *6 Refer to "Parts identification" in User's Manual (Introduction) for connecting an external encoder. *7 Output devices are not assigned by default. Assign the output devices with [Pr. PD47] as necessary. *8 If the MR-J5-_A_-RJ_ is used, the values in the CN3-16 pin and the CN3-45 pin are approximately 4.3 k. *9 When using the RS-422/RS-485 communication function, connect between TRE and RDN of the final axis servo amplifier. For details,
refer to "COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC AC SERVO PROTOCOL) [A]" in the following manual. MR-J5 User's Manual (Function)
DOCOM OPC 12
20 47
PP 10
PG 11 NP 35
NG 36
DICOM DOCOM
PP2 37
NP2 38
DOCOM OPC 12
20 47
PP 10
PG 11 NP 35
NG 36
DICOM DOCOM
PP2 37
NP2 38
24 V DC24 V DC
For sink input interface For source input interface
6 3 SIGNALS AND WIRING 3.6 Interface
3
Detailed explanation of interfaces The details of I/O signal interfaces stated in the following section (refer to the I/O signal interface type in the table) are as follows. Refer to the section and connect them with external devices. Page 87 Signal (device) explanation
Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal. Transmit signals from a sink (open- collector) type transistor output, relay switch, etc. The following connection diagram is for sink input.
*1 For interfaces of the CN3-1 pin, CN3-10 pin, and CN3-19 pin of the MR-J5-_G_-RJ_, approximately 4.3 k. For interfaces of the CN3-7 pin, CN3-9 pin, CN3-15 pin, and CN3-22 pin of the MR-J5W_-_G_, approximately 4.3 k. For interfaces of the CN3-16 pin, CN3-45 pin, and CN3-50 pin of the MR-J5-_A_-RJ_, approximately 4.3 k. Page 107 Internal connection diagram [G] Page 114 Internal connection diagram [A]
*2 It is 500 mA for the MR-J5-_A_. The following diagram is for when the CN3-10 pin and the CN3-35 pin are used as digital input interfaces.
Refer to the following for source input. Page 121 Source I/O interface
TR
300 mA *2
EM2
DICOM
10 %
VCES 1.0 V ICEO 100 A
Servo amplifier For transistor
Approx. 5 mA etc.
Approx. 6.2 k *1
Switch
24 V DC
OPC
DOCOM
SD VCES 1.0 V ICEO 100 A
CN3-10, CN3-35
Approx. 1.2 k
Servo amplifier 24 V DC 10 % 500 mA
Approx. 20 mA
10 m or less
3 SIGNALS AND WIRING 3.6 Interface 117
11
Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current flows to the collector terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in the servo amplifier. The following connection diagram is for the sink output.
*1 If the voltage drop (a maximum of 2.6 V) interferes with the relay operation, apply high voltage (a maximum of 26.4 V) from an external source.
*2 It is 500 mA for the MR-J5-_A_. Refer to the following for the source output. Page 121 Source I/O interface
Pulse train input interface DI-2 [A] Give a pulse train signal in the differential line driver type or open-collector type.
Differential line driver type Interface
*1 A photocoupler is used as the pulse train input interface. Therefore this circuit may not operate properly due to reduction in current if a resistor is connected to the pulse train signal line.
*2 Set [Pr. PA13.2] to "0" to use the input pulse frequency of 4 Mpulses/s. Input pulse condition
ALM
DOCOM
300 mA *2 10 % *1
Servo amplifier
If polarity of diode is reversed, servo amplifier will malfunction.Load
etc.
24 V DC
SD
PG (NG)
PP (NP)
VOH: 2.5 V
*1
VOL: 0.5 V
Servo amplifier
Max. input pulse frequency 4 Mpulses/s *210 m or less
Approx. 100
Am26LS31 or equivalent
0.9 0.1
tc tLH
tc tHL
tF
PP/PG
NP/NG
tLH = tHL < 50 ns tc > 75 ns tF > 3 s
8 3 SIGNALS AND WIRING 3.6 Interface
3
Open-collector type Interface
*1 A photocoupler is used as the pulse train input interface. Therefore this circuit may not operate properly due to reduction in current if a resistor is connected to the pulse train signal line.
Input pulse condition
Encoder output pulse DO-2 Differential line driver type Interface Maximum output current: 35 mA
Output pulse
OPC
SD
DOCOM
*1
PP, NP
Servo amplifier
Max. input pulse frequency 200 kpulses/s24 V DC
Approx. 1.2 k
2 m or less
0.9 0.1
tc tLH
tc tHL
tF
PP
NP
tLH = tHL < 0.2 s tc > 2 s tF > 3 s
150
LA (LB, LZ)
LAR (LBR, LZR)
SD LG
100
LAR (LBR, LZR)
SD
LA (LB, LZ)
Servo amplifier Servo amplifier Am26LS32 or equivalent
High-speed photocoupler
T
LA
LAR
LB
LBR
LZ LZR
/2
Servo motor CCW rotation
400 s or more
3 SIGNALS AND WIRING 3.6 Interface 119
12
Open-collector type Interface Maximum output current: 35 mA
Analog input AI-1 Input impedance 10 k to 12 k
Analog output AO-1
*1 The output voltage varies depending on the output contents.
SD
LG
OP
SD
LG
OP
Servo amplifier Servo amplifier
Photocoupler
5 V to 24 V DC
SD
LG
P15R
2 k
Servo amplifier
Upper limit setting: 2 k VC etc.
Approx. 10 k
+ 15 V DC
LG
MO1 (MO2)
Servo amplifier
Output voltage: 10 V *1 Maximum output current: 1 mA Resolution: 10 bits or its equivalent
0 3 SIGNALS AND WIRING 3.6 Interface
3
Source I/O interface For the servo amplifiers in this manual, source type I/O interfaces can be used.
Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc.
*1 For interfaces of the CN3-1 pin and CN3-10 pin of the MR-J5-_G_, approximately 4.3 k. For interfaces of the CN3-1 pin, CN3-10 pin, and CN3-19 pin of the MR-J5-_G_-RJ_, approximately 4.3 k. For interfaces of the CN3-7 pin, CN3-9 pin, CN3-15 pin, and CN3-22 pin of the MR-J5W_-_G_, approximately 4.3 k. For interfaces of the CN3-16 pin, CN3-45 pin, and CN3-50 pin of the MR-J5-_A_-RJ_, approximately 4.3 k. Page 107 Internal connection diagram [G] Page 114 Internal connection diagram [A]
*2 It is 500 mA for the MR-J5-_A_.
Digital output interface DO-1 This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, the current flows from the output terminal to a load. A maximum of 2.6 V voltage drop occurs in the servo amplifier.
*1 If the voltage drop (a maximum of 2.6 V) interferes with the relay operation, apply high voltage (a maximum of 26.4 V) from an external source.
TR
300 mA *2
EM2
DICOM
10 %
VCES 1.0 V ICEO 100 A
Servo amplifier For transistor
etc.
Approx. 6.2 k *1
Switch
24 V DC Approx. 5 mA
ALM
DOCOM
300 mA 10 % *1
Servo amplifier
If polarity of diode is reversed, servo amplifier will malfunction.Load
etc.
24 V DC
3 SIGNALS AND WIRING 3.6 Interface 121
12
Pulse train input interface DI-2 [A] Transmit a pulse train signal in the open-collector type. Interface
*1 A photocoupler is used as the pulse train input interface. Therefore this circuit may not operate properly due to reduction in current if a resistor is connected to the pulse train signal line.
Input pulse condition
PG
SD
NP2
NG
PP2
500 mA 10 %
*1
*1
VCES 1.0 V ICEO 100 A
VCES 1.0 V ICEO 100 A
Servo amplifier
Max. input pulse frequency 200 kpulses/s
Approx. 20 mA
Approx. 1.2 k
Approx. 20 mA
Approx. 1.2 k
24 V DC
0.9 0.1
tc tLH
tc tHL
tF
PP2
NP2
tLH = tHL < 0.2 s tc > 2 s tF > 3 s
2 3 SIGNALS AND WIRING 3.6 Interface
3
3.7 Servo motor with an electromagnetic brake Precautions
For specifications such as the power supply capacity and operation delay time of the electromagnetic brake, and for selecting the surge absorber for the electromagnetic brake, refer to "Characteristics of electromagnetic brake" in the following manual.
Rotary Servo Motor User's Manual (For MR-J5) The electromagnetic brake on the servo motor is designed to hold the motor shaft. Do not use it for normal braking. Incorrect wiring, service life, or the mechanical structure (e.g. when coupled via a timing belt) may cause the
electromagnetic brake to be unable to hold the motor shaft. To ensure safety, install a stopper on the machine side. If it is assumed that a hazardous situation may arise when the equipment power is off or a product malfunction occurs, use
a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.
Configure an electromagnetic brake circuit that interlocks with the external emergency stop switch. Before operating the servo motor, confirm that the electromagnetic brake operates properly. For the power supply of the electromagnetic brake, use the power supply designed exclusively for the electromagnetic
brake. If using EM2 (Forced stop 2), use MBR (Electromagnetic brake interlock) for operating the electromagnetic brake. If using the servo motor with the electromagnetic brake, the electromagnetic brake will operate when the power (24 V DC)
turns off. If using the servo motor with the electromagnetic brake, turn off the servo-on command after the servo motor stops.
Connection diagram
1-axis servo amplifier
*1 Configure a circuit which interlocks with an emergency stop switch to shut off. *2 Do not use the 24 V DC interface power supply for the electromagnetic brake.
B1
B2
ALM
MBR
DOCOM
MBR RA1 *1
RA1 BU
Servo amplifier
Servo motor24 V DC *2 (Malfunction)
24 V DC
3 SIGNALS AND WIRING 3.7 Servo motor with an electromagnetic brake 123
12
Multi-axis servo amplifier
*1 Do not use the 24 V DC interface power supply for the electromagnetic brake. *2 Configure a circuit which interlocks with an emergency stop switch to shut off. *3 This connection is for the MR-J5W3-_ servo amplifier. *4 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes,
the system can be configured to use a single 24 V DC power supply.
CALM
DOCOM
MBR-A
EM2
DICOM RA1
RA2
B
RA5 *2
B2
U
B1 EM2
RA3
RA4
MBR-B
MBR-C
B
B2
U
B1
CALM RA1
MBR-A RA2
MBR-B RA3
B
B2
U
B1 MBR-C
RA4
*3
Servo amplifier 24 V DC *4
24 V DC for electromagnetic brake *1
24 V DC *4
A-axis servo motor
B-axis servo motor
C-axis servo motor
4 3 SIGNALS AND WIRING 3.7 Servo motor with an electromagnetic brake
3
3.8 SSCNET III cable connection [B]
Do not look directly at the light emitted from the CN1A and CN1B connectors of the servo amplifier or the end of the SSCNET III cable. The light may cause discomfort when it enters your eyes.
SSCNET III cable connection Connect the SSCNET III cable connected to the controller or the preceding servo amplifier to the CN1A connector. Connect the SSCNET III cable connected to the succeeding servo amplifier to the CN1B connector. Put the cap that came with the servo amplifier on the CN1B connector of the final axis servo amplifier.
CN1B
CN1A
CN1B
CN1A
CN1B
CN1A
Cap
SSCNET III cable Controller
SSCNET III cableSSCNET III cable
The last axis servo amplifierThe second axis servo amplifierThe first axis servo amplifier
3 SIGNALS AND WIRING 3.8 SSCNET III cable connection [B] 125
12
How to connect/disconnect cable
Caps are put on the CN1A and CN1B connectors of the servo amplifier to protect the optical devices inside the connectors from dust and dirt. For this reason, do not remove the caps until immediately before connecting the SSCNET III cable. Also, put the caps right after disconnecting the SSCNET III cable.
While the CN1A and CN1B connectors are connected with the SSCNET III cable, keep the connector caps and the optical cord end protecting tube of the SSCNET III cable in the plastic bag with a slide fastener that came with the SSCNET III cable to prevent them from dirt.
When having the servo amplifier repaired due to a malfunction or similar problem, put the caps on the CN1A and CN1B connectors. Failing to do so may damage the optical devices during transportation. In this case, replacing the optical devices is required.
Connection 1. For the SSCNET III cable shipped from the factory, the tube for protecting the optical cord end covers the end of the
connector. Remove the tube.
2. Remove the caps for the CN1A and CN1B connectors of the servo amplifier.
3. While holding the tabs of the SSCNET III cable connector, insert the connector into the CN1A and CN1B connectors of the servo amplifier until the tabs click. If the optical cord ends are dirty, optical transmission is interrupted, causing a malfunction. If they are dirty, wipe the dirt off with a nonwoven wiper, etc. Do not use a solvent such as alcohol.
Disconnection Hold the tabs of the SSCNET III cable connector and pull out the connector. After pulling out the SSCNET III cable from the servo amplifier, put the caps on the connectors of the servo amplifier to protect them from dirt. For the SSCNET III cable, cover the end of the connectors with the tube for protecting the optical cord end.
CN1A
CN1B
CN1A
CN1B
Click
Tab
Servo amplifier Servo amplifier
6 3 SIGNALS AND WIRING 3.8 SSCNET III cable connection [B]
3
3.9 Grounding The servo amplifier supplies power to the servo motor by switching on and off a power transistor. Depending on the wiring and ground wire routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and ground it. For information on how to comply with the EMC Directive, refer to the following guidelines. EMC Installation Guidelines
V
U U
E
V
WW
CN2
L11
L1
L2
L3
L21
MCMCCB
M
Cabinet
Servo amplifier Servo motor
Encoder
Power supply
Outer box Protective earth (PE)
To ground the servo motor, connect the grounding lead wire to the servo amplifier, then connect the wire from the servo amplifier to the ground via the protective earth (PE) terminal of the cabinet. Do not connect the wire directly to the protective earth (PE) terminal of the cabinet.
Li ne
n oi
se fi
lte r
3 SIGNALS AND WIRING 3.9 Grounding 127
12
4 DIMENSIONS
4.1 MR-J5-_G_
The following are examples of the MR-J5-_G-RJ servo amplifiers.
200 V class
MR-J5-10G_/MR-J5-20G_/MR-J5-40G_
MR-J5-60G_
15 6
10 6
CNP2
CNP1
CNP3 17 2
16 5
40 6 135
6
16 8
15 6
0.
5
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
CN6 CN5
CN8
CN3 CN2
CN1A CN1B
CN2L
CN4
6
6 mounting hole
Grounding terminal
Approx. 80
Ap pr
ox .
6
Approx. 6 Approx. 40
Ap pr
ox . 1
68 Ap
pr ox
. 6
2-M5 screw
Locking tab Terminal assignment
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
10 6
17 2
16 5
40 6
6
170
16 8
CNP2
CNP1
CNP3
15 6
0.
5
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
CN6 CN5
CN8
CN3
CN2
CN1A
CN1B
CN2L
CN4
6
6 mounting hole
Grounding terminal
Approx. 80
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
2-M5 screwApprox. 6 Approx. 40
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment Locking tab
8 4 DIMENSIONS 4.1 MR-J5-_G_
4
MR-J5-70G_/MR-J5-100G_
MR-J5-200G_/MR-J5-350G_
15 6
6 10
6
4212
60 12
17 2
16 5
185
16 8
CNP2
CNP1
CNP3
CN6 CN5
CN8
CN3 CN2
CN1A
CN1B
CN2L
CN4
15 6
0.
5
42 0.3
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
6
6 mounting hole
Grounding terminal
Approx. 80
Exhaust Cooling fan
Intake
3-M5 screw
Approx. 6Approx. 12
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
Approx. 60
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
Locking tab
6 10
15 6
90 6
6
6 78 6
17 2
16 5
195
16 8
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
CN2 CN2L
CN6 CN5
CN8 CN3
CN1A CN1B
CN4
CNP1
CNP2
CNP3 15 6
0.
5
78 0.3
6 Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Grounding terminal
Exhaust Cooling fan
Intake
Approx. 6
Approx. 90
Approx. 6
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
3-M5 screw
Locking tab
6 mounting hole Approx. 80
4 DIMENSIONS 4.1 MR-J5-_G_ 129
13
MR-J5-500G_
MR-J5-700G_
105
93 66
67. 5
23 5
7. 5
25 0
6
200
6
CNP1A
CNP1B
CNP2
CNP3
CN1A CN1B CN5 CN6
CN3 CN8
CN2 CN2L CN4
23 5
0.
5
93 0.5
PE
P4 P3 N-
CNP1B L1
L3 L2
CNP1A CNP2 CNP3 P+
D
L21
C
L11
U
W V
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Exhaust Cooling fan
Intake
Approx. 80 Approx. 105 Approx.
6 Approx.
6
Ap pr
ox .
7. 5
Ap pr
ox . 2
50
4-M5 screw
Ap pr
ox .
7. 5
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment
Locking tab
Grounding terminal
6 mounting hole
200 6
170 160 55
57. 5
28 5
7. 5
30 0
5
CNP1A
CNP1B
CNP2
CNP3
CN1A
CN1B CN5 CN6 CN8 CN3
CN2 CN2L CN4
28 5
0.
5
160 0.5
PE
P4 P3 N-
CNP1B L1
L3 L2
CNP1A CNP2 CNP3 P+
D
L21
C
L11
U
W V
6 mounting hole
Grounding terminal
Approx. 80
Exhaust Cooling fan
Intake
Approx. 5
Approx. 5
Approx. 170
4-M5 screw
Ap pr
ox . 3
00 Ap
pr ox
. 7.
5
Locking tab
Ap pr
ox .
7. 5
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
0 4 DIMENSIONS 4.1 MR-J5-_G_
4
400 V class
MR-J5-60G4_/MR-J5-100G4_
MR-J5-200G4_/MR-J5-350G4_
17 2
16 5
60
12
4212 42 0.3
195
15 6
10 6
CNP2
CNP1
CNP3
6
16 8
15 6
0.
5
P4
L1
L3 P3
L2
N- CNP1 CNP2 CNP3
P+
D
L21
C
L11
U
W V
PE
PULL
6
6 mounting hole
Grounding terminal
Approx. 80
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
3-M5 screw
Approx. 60
Approx. 6Approx. 12
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment
Locking tab
17 2
16 5
90 6
786 6
78 0.3
15 6
10 6
CNP2
CNP1
CNP3
6
16 8
15 6
0.
5
P4
L1
L3 P3
L2
N- CNP1 CNP2 CNP3
P+
D
L21
C
L11
U
W V
PE
PULL
195
6
6 mounting hole
Grounding terminal
Approx. 80
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
2-M5 screw
Approx. 90
Approx. 6Approx. 6
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
Cooling fan
Locking tab Exhaust
Intake
4 DIMENSIONS 4.1 MR-J5-_G_ 131
13
4.2 MR-J5W_-_G_
MR-J5W2-22G_/MR-J5W2-44G_
*1 Only the MR-J5W2-44G_ servo amplifiers have a cooling fan.
MR-J5W2-77G_/MR-J5W2-1010G_
6
6 10
15 6
60 6
17 2
195
6
6
16 8
CNP1
CNP2
CNP3A
CNP3B
CN8 CN5
CN3
CN1A
CN1B
CN2B CN2A
CN4
CN6
15 6
0.
5
PE
P4
L1
L3 L2
N-
CNP1 CNP2 P+
D
L21
C
L11 W
V U
2 1
A B
CNP3A
CNP3B
W V U
2 1
A B
6 mounting hole
Grounding terminal
Approx. 80
Cooling fan *1
Intake 2-M5 screw
Approx. 60
Approx. 6
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
Locking tab
Locking tab
Exhaust
6
6 10
15 6
85 6
6
6 73 6
17 2
195
16 8
CNP1
CNP2
CNP3A
CNP3B
CN8 CN5
CN3
CN1A
CN1B
CN2B CN2A
CN4
CN6
15 6
0.
5
73 0.3
PE
P4
L1
L3 L2
N-
CNP1 CNP2 P+
D
L21
C
L11 W
V U
2 1
A B
CNP3A
CNP3B
W V U
2 1
A B
Grounding terminal
6 mounting hole
Approx. 80
Intake
Exhaust Cooling fan
Locking tab
Locking tab
Approx. 85
Approx. 6
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
3-M5 screw
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
2 4 DIMENSIONS 4.2 MR-J5W_-_G_
4
MR-J5W3-222G_/MR-J5W3-444G_
6
10 15
6
75 6
17 2
195
6
6 63 6
6
16 8
CNP1
CNP2
CNP3A CNP3B
CNP3C
CN8 CN5
CN3
CN1A
CN1B
CN2B CN2C
CN2A
CN4
CN6
15 6
0.
5
63 0.5
PE
P4
L1
L3 L2
N-
CNP1 CNP2 P+
D
L21
C
L11 W
V U
2 1
A B
CNP3A
CNP3B
W V U
2 1
A B
CNP3C
W V U
2 1
A B
6 mounting hole
Grounding terminal
Locking tab
Locking tab
Approx. 80
Exhaust Cooling fan
Intake
Approx. 75
Ap pr
ox .
6 Ap
pr ox
. 1 68
Approx. 6Ap pr
ox .
6
3-M5 screw
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
4 DIMENSIONS 4.2 MR-J5W_-_G_ 133
13
4.3 MR-J5-_B_
The following are examples of the MR-J5-_B-RJ servo amplifiers.
200 V class
MR-J5-10B_/MR-J5-20B_/MR-J5-40B_
MR-J5-60B_
15 6
10 6
CNP2
CNP1
CNP3 17 2
16 5
40 6 135
6
16 8
15 6
0.
5
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
CN5
CN8
CN3 CN2
CN1A CN1B
CN2L
CN4
6
6 mounting hole
Grounding terminal
Approx. 80
Ap pr
ox .
6
Approx. 6 Approx. 40
Ap pr
ox . 1
68 Ap
pr ox
. 6
2-M5 screw
Locking tab Terminal assignment
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
15 6
10 6
17 2
16 5
40 6
6
170
16 8
CNP2
CNP1
CNP3
15 6
0.
5
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
CN5
CN8
CN3
CN2
CN1A
CN1B
CN2L
CN4
6
6 mounting hole
Grounding terminal
Approx. 80
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
2-M5 screwApprox. 6 Approx. 40
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment Locking tab
4 4 DIMENSIONS 4.3 MR-J5-_B_
4
MR-J5-70B_/MR-J5-100B_
MR-J5-200B_/MR-J5-350B_
15 6
6 10
6
4212
60 12
17 2
16 5
185
16 8
CNP2
CNP1
CNP3
CN5
CN8
CN3 CN2
CN1A
CN1B
CN2L
CN4
15 6
0.
5
42 0.3
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
6
6 mounting hole
Grounding terminal
Approx. 80
Exhaust Cooling fan
Intake
3-M5 screw
Approx. 6Approx. 12
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
Approx. 60
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
Locking tab
6 10
15 6
90 6
6 6 78 6
17 2
16 5
195
16 8
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
CN2 CN2L
CN5
CN8 CN3
CN1A CN1B
CN4
CNP1
CNP2
CNP3 15 6
0.
5
78 0.3
6 Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Grounding terminal
Exhaust Cooling fan
Intake
Approx. 6
Approx. 90
Approx. 6
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
3-M5 screw
Locking tab
6 mounting hole Approx. 80
4 DIMENSIONS 4.3 MR-J5-_B_ 135
13
MR-J5-500B_
MR-J5-700B_
105
93 66
67. 5
23 5
7. 5
25 0
6
200
6
CNP1A
CNP1B
CNP2
CNP3
CN1A CN1B
CN5
CN3 CN8
CN2 CN2L CN4
23 5
0.
5
93 0.5
PE
P4 P3 N-
CNP1B L1
L3 L2
CNP1A CNP2 CNP3 P+
D
L21
C
L11
U
W V
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Exhaust Cooling fan
Intake
Approx. 80 Approx. 105 Approx.
6 Approx.
6
Ap pr
ox .
7. 5
Ap pr
ox . 2
50
4-M5 screw
Ap pr
ox .
7. 5
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment
Locking tab
Grounding terminal
6 mounting hole
200 6
170 160 55
57. 5
28 5
7. 5
30 0
5
CNP1A
CNP1B
CNP2
CNP3
CN1A
CN1B
CN5
CN8 CN3
CN2 CN2L CN4
28 5
0.
5
160 0.5
PE
P4 P3 N-
CNP1B L1
L3 L2
CNP1A CNP2 CNP3 P+
D
L21
C
L11
U
W V
6 mounting hole
Grounding terminal
Approx. 80
Exhaust Cooling fan
Intake
Approx. 5
Approx. 5
Approx. 170
4-M5 screw
Ap pr
ox . 3
00 Ap
pr ox
. 7.
5
Locking tab
Ap pr
ox .
7. 5
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
6 4 DIMENSIONS 4.3 MR-J5-_B_
4
400 V class
MR-J5-60B4_/MR-J5-100B4_
MR-J5-200B4_/MR-J5-350B4_
17 2
16 5
60
12
4212 42 0.3
195
15 6
10 6
CNP2
CNP1
CNP3
6
16 8
15 6
0.
5
P4
L1
L3 P3
L2
N- CNP1 CNP2 CNP3
P+
D
L21
C
L11
U
W V
PE
6
CN2 CN2L
CN5
CN8 CN3
CN1A CN1B
CN4
6 mounting hole
Grounding terminal
Approx. 80
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
3-M5 screw
Approx. 60
Approx. 6Approx. 12
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment
Locking tab
CNP1
CNP2
CNP3
6 10
15 6
6
6 6 78 6
17 2
16 5
78 0.3
195
15 6
0.
5
16 8
90
P4
N-
L2
P3
L1
L3
P+
D
L21
C
L11
U
W V
PE CNP1 CNP2 CNP3
6
CN2 CN2L
CN5
CN8 CN3
CN1A CN1B
CN4 3-M5 SCREW
Grounding terminal
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment
Approx. 80
Ap pr
ox .
6
Apprrox. 90
Ap pr
ox .
6
Approx. 6 Approx. 6
Ap pr
ox . 1
68
6 mounting hole
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Locking tab Exhaust
Intake
Cooling fan *1
4 DIMENSIONS 4.3 MR-J5-_B_ 137
13
4.4 MR-J5W_-_B_
MR-J5W2-22B_/MR-J5W2-44B_
*1 Only the MR-J5W2-44B_ servo amplifiers have a cooling fan.
MR-J5W2-77B_/MR-J5W2-1010B_
6
6 10
15 6
60 6
17 2
195
6
6
16 8
CNP1
CNP2
CNP3A
CNP3B
CN8
CN3
CN1A
CN1B
CN2B CN2A
CN4
15 6
0.
5
PE
P4
L1
L3 L2
N-
CNP1 CNP2 P+
D
L21
C
L11 W
V U
2 1
A B
CNP3A
CNP3B
W V U
2 1
A B
(6)
6 mounting hole
Grounding terminal
Approx. 80
Cooling fan *1
Intake 2-M5 screw
Approx. 60
Approx. 6
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
Locking tab
Locking tab
Exhaust
6
6 10
15 6
85 6
6 6 73 6
17 2
195
16 8
CNP1
CNP2
CNP3A
CNP3B
CN8
CN3
CN1A
CN1B
CN2B CN2A
CN4
15 6
0.
5
73 0.3
PE
P4
L1
L3 L2
N-
CNP1 CNP2 P+
D
L21
C
L11 W
V U
2 1
A B
CNP3A
CNP3B
W V U
2 1
A B
Grounding terminal
6 mounting hole
Approx. 80
Intake
Exhaust Cooling fan
Locking tab
Locking tab
Approx. 85
Approx. 6
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
3-M5 screw
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment
8 4 DIMENSIONS 4.4 MR-J5W_-_B_
4
MR-J5W3-222B_/MR-J5W3-444B_
6
10 15
6
75 6
17 2
195
6 6 63 6
6
16 8
CNP1
CNP2
CNP3A CNP3B
CNP3C
CN8
CN3
CN1A
CN1B
CN2B CN2C
CN2A
CN4
15 6
0.
5
63 0.5
PE
P4
L1
L3 L2
N-
CNP1 CNP2 P+
D
L21
C
L11 W
V U
2 1
A B
CNP3A
CNP3B
W V U
2 1
A B
CNP3C
W V U
2 1
A B
6 mounting hole
Grounding terminal
Locking tab
Locking tab
Approx. 80
Exhaust Cooling fan
Intake
Approx. 75
Ap pr
ox .
6 Ap
pr ox
. 1 68
Approx. 6
Ap pr
ox .
6
3-M5 screw
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment
4 DIMENSIONS 4.4 MR-J5W_-_B_ 139
14
4.5 MR-J5-_A_
The following are examples of the MR-J5-_A-RJ servo amplifiers.
200 V class
MR-J5-10A_/MR-J5-20A_/MR-J5-40A_
MR-J5-60A_
15 6
10 6
17 2
16 5
40 6 135
6
16 8
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
CNP2
CNP1
CNP3
CN8 CN6
CN3
CN2
CN1 CN5
CN2L
CN4
15 6
0.
5
6
Terminal assignment
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
6 mounting hole
Grounding terminal
Approx. 80 Approx. 40
Approx. 6
Ap pr
ox .
6
2-M5 screw
Ap pr
ox . 1
68 Ap
pr ox
. 6
Locking tab
15 6
10 6
17 2
16 5
40 6
6
170
16 8
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
CNP2
CNP1
CNP3
CN5 CN6 CN8
CN3
CN2
CN1
CN2L
CN4
15 6
0.
5
6
Terminal assignment
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Locking tab
6 mounting hole
Grounding terminal
Approx. 80 Approx. 40
2-M5 screwApprox. 6
Ap pr
ox .
6 Ap
pr ox
. 1 68
Ap pr
ox .
6
0 4 DIMENSIONS 4.5 MR-J5-_A_
4
MR-J5-70A_/MR-J5-100A_
MR-J5-200A_/MR-J5-350A_
15 6
6 10
6
4212
60 12
17 2
16 5
185
16 8
CNP2
CNP1
CNP3
CN5 CN6 CN8
CN3
CN2
CN1
CN2L
CN4
42 0.3
15 6
0.
5
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
6
6 mounting hole
Locking tab
Grounding terminal
Approx. 80
Exhaust Cooling fan
Intake
Approx. 60
Ap pr
ox .
6 Ap
pr ox
. 1 68
Ap pr
ox .
6
Approx. 6Approx. 12
3-M5 screw
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
6 10
15 6
90 6
6
6 78 6
17 2
16 5
195
16 8CNP2
CNP1
CNP3
CN8 CN6
CN3
CN2
CN1 CN5
CN2L CN4
15 6
0.
5
78 0.3
P4
L1
L3
P3
L2
N-
CNP1 CNP2 CNP3 P+
D
L21
C
L11
U
W V
PE
6
Locking tab
6 mounting hole
Grounding terminal
Approx. 80
Exhaust
Cooling fan
Intake
Ap pr
ox .
6 Ap
pr ox
. 1 68
Approx. 90
3-M5 screw
Approx. 6Approx. 6
Ap pr
ox .
6
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
4 DIMENSIONS 4.5 MR-J5-_A_ 141
14
MR-J5-500A_
MR-J5-700A_
105
93 66
67. 5
23 5
25 0
6
200
6
7. 5
93 0.5
23 5
0.
5
PE
P4 P3 N-
CNP1B L1
L3 L2
CNP1A CNP2 CNP3 P+
D
L21
C
L11
U
W V
CNP1A
CNP1B
CNP2
CNP3
CN1 CN5 CN6
CN3
CN8
CN2 CN2L CN4
6 mounting hole
Grounding terminal
Approx. 80
Exhaust Cooling fan
Approx. 105 Approx.
6 Approx.
6
4-M5 screw
Ap pr
ox .
7. 5
Ap pr
ox . 2
50
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
Intake
Locking tab
Ap pr
ox .
7. 5
200 6
170 160 55
57. 5
28 5
7. 5
30 0
5
CNP1A
CNP1B
CNP2
CNP3
CN1 CN5 CN6 CN8
CN3
CN2 CN2L CN4
28 5
0.
5
160 0.5
PE
P4 P3 N-
CNP1B L1
L3 L2
CNP1A CNP2 CNP3 P+
D
L21
C
L11
U
W V
6 mounting hole
Locking tab
Grounding terminal
Exhaust Cooling fan
Approx. 80
Intake
Ap pr
ox . 3
00
Approx. 5
Approx. 5
Approx. 170
Ap pr
ox .
7. 5
4-M5 screw
Ap pr
ox .
7. 5
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
2 4 DIMENSIONS 4.5 MR-J5-_A_
4
400 V class
MR-J5-60A4_/MR-J5-100A4_
MR-J5-200A4_/MR-J5-350A4_
42 0.3
15 6
0.
5
CNP2
CNP1
CNP3
15 6
6 10
6
4212
60 12
17 2
16 5
195
16 8
L1
L2
L3
P3
P4
P+
C
D
L11
L21
U
V
W
N-
C N 4
C N 2
C N 1
C N 5 C N 6 C N 8
C N 3
C N 2 L
P4
N
L2
P3
L1
L3
P+
D
L21
C
L11
U
W V
PE
6
Grounding terminal
6 mounting hole
Approx. 80 Approx. 60
Approx. 6
Ap pr
ox .
6 Ap
pr ox
. 6
Ap pr
ox . 1
68
3-M5 screw
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]Screw size: M4
Tightening torque: 1.2 [Nm]
Terminal assignment
Approx. 12
Locking tab
CNP1
CNP2
CNP3
6 10
15 6
6
6 6 78 6
17 2
16 5
L1
L2
L3
P3
P4
N-
P+
C
D
L11
L21
U
V
W C N 4
C N 1
C N 5 C N 6 C N 8
C N 3
C N 2 C N 2 L
78 0.3
195
15 6
0.
5
16 8
90
P4
N
L2
P3
L1
L3
P+
D
L21
C
L11
U
W V
PE CNP1 CNP2 CNP3
6
3-M5 SCREW
Grounding terminal
Screw size: M4 Tightening torque: 1.2 [Nm]
Terminal assignment
Approx. 80
Ap pr
ox .
6
Apprrox. 90
Ap pr
ox .
6
Approx. 6
Approx. 6
Ap pr
ox . 1
68
6 mounting hole
Mounting hole location diagram Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
Locking tab Exhaust
Intake
Cooling fan
4 DIMENSIONS 4.5 MR-J5-_A_ 143
14
4.6 Connector Precautions
Obtain the wiring instructions from the manufacturer and wire connectors appropriately.
MR-J5_-_G_
CN2 connector SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008
34.8
39.5 22
.4 11
.0
[Unit: mm]
4 4 DIMENSIONS 4.6 Connector
4
CN3 connector (1-axis servo amplifier) Miniature delta ribbon (MDR) system (3M) One-touch lock type
Jack screw M2.6 type This connector is not available as an option.
Connector Shell kit Variable dimensions
A B C D E 10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0
Connector Shell kit Variable dimensions
A B C D E F 10120-3000PE 10320-52A0-008 22.0 33.3 14.0 10.0 12.0 27.4
E
B
A
23 .8
39 .0
12.7
C
D
[Unit: mm]
Logo or others are indicated here.
E
B
A
23 .8
39 .0
12.7
C
5. 2
F
D
[Unit: mm]
Logo or others are indicated here.
4 DIMENSIONS 4.6 Connector 145
14
CN3 connector (multi-axis servo amplifier) Miniature delta ribbon (MDR) system (3M) One-touch lock type
Jack screw M2.6 type This connector is not available as an option.
Connector Shell kit Variable dimensions
A B C D E 10126-3000PE 10326-52F0-008 25.8 37.2 14.0 10.0 12.0
Connector Shell kit Variable dimensions
A B C D E F 10126-3000PE 10326-52A0-008 25.8 37.2 14.0 10.0 12.0 31.3
E
B
A
23 .8
39 .0
12.7
C
D
[Unit: mm]
Logo or others are indicated here.
E
B
A
23 .8
39 .0
12.7
C
5. 2
F
D
[Unit: mm]
Logo or others are indicated here.
6 4 DIMENSIONS 4.6 Connector
4
MR-J5_-_B_
CN1_ connector F0-PF2D103
F0-CF2D103-S
CN2_ connector Page 144 CN2 connector
CN3 connector (1-axis servo amplifier) Page 145 CN3 connector (1-axis servo amplifier)
CN3 connector (multi-axis servo amplifier) Page 146 CN3 connector (multi-axis servo amplifier)
20.9 0.2 17.6 0.2 8
2.3
1.7
4.8 13
.4 15
6. 7
9. 3
[Unit: mm]
20.9 0.2 17.6 0.2 8
2.3
1.7
4.8
13 .4
15 6.
7 9.
3
[Unit: mm]
4 DIMENSIONS 4.6 Connector 147
14
MR-J5-_A_
CN2 connector Page 144 CN2 connector
CN3 connector Miniature delta ribbon (MDR) system (3M) One-touch lock type
Jack screw M2.6 type This connector is not available as an option.
Connector Shell kit Variable dimensions
A B C D E 10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0
Connector Shell kit Variable dimensions
A B C D E F 10150-3000PE 10350-52A0-008 41.1 52.4 18.0 14.0 17.0 46.5
E
B
A
23 .8
39 .0
12.7
C
D
[Unit: mm]
Logo or others are indicated here.
E
B
A
23 .8
39 .0
12.7
C
5. 2
F
D
[Unit: mm]
Logo or others are indicated here.
8 4 DIMENSIONS 4.6 Connector
5
5 CHARACTERISTICS
The HK-ST7M2UW_ and HK-ST172UW_ will be available in the future.
For the characteristics of the linear servo motor and the direct drive motor, refer to the following. Page 466 Characteristics Page 502 Characteristics
5.1 Overload protection characteristics Precautions
Servo amplifiers running firmware version A7 or later have improved overload protection for rotary servo motors. Overload protection is triggered in a shorter period of time compared to servo amplifiers running version A6 or earlier so depending on the operation pattern, overload warnings and alarms will easily occur. To prevent warnings or alarms from easily occurring, try extending acceleration/deceleration times or revising the operation pattern. If any problems are caused by the changes made to the characteristics of overload protection, contact your local sales representative.
Outline An electronic thermal protection is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads. In this section, overload protection characteristics refer to the overload protection characteristics of servo amplifiers and servo motors. [AL. 050 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown below. [AL. 051 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. Use the equipment within the overload protection level indicated on the left side of the continuous or dotted lines in the following graphs. For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. This servo amplifier has a servo motor overload protection function. (The servo motor overload current is set on the basis of 120 % rated current (full load current) of the servo amplifier.) The servo amplifier may malfunction regardless of the electronic thermal protection if torque exceeding 100 % of the rated torque is generated too frequently while the servo motor is stopped (servo-lock status) or being operated at low speeds of 50 r/min or less.
5 CHARACTERISTICS 5.1 Overload protection characteristics 149
15
Graph of overload protection characteristics The following table lists servo motors and corresponding graphs of overload protection characteristics. The overload protection characteristics depend on the servo motor.
Rotary servo motor Graph of overload protection characteristics
HK-KT HK-MT HK-ST HK-RT
053W 13W 13UW
053W 13W 053VW 13VW
7M2UW Page 151 Characteristic a
1M3W 23W 43W 63W 7M3W 103W 153W 203W 202W 434W 634W 7M34W 1034W 1534W 2034W 2024W 23UW 43UW 63UW 7M3UW 103UW 634UW 1034UW
1M3W 23W 43W 63W 7M3W 103W 1M3VW 23VW 43VW 63VW 7M3VW 103VW
52W 102W 172W 302W 172UW 202W 352W 353W 524W 1024W 1724W 3024W 2024W 3524W 3534W 5024W 202AW 2024AW
103W 153W 203W 353W 1034W 1534W 2034W 3534W
Page 151 Characteristic b
502W 503W 702W 7024W
503W 703W
Page 151 Characteristic c
0 5 CHARACTERISTICS 5.1 Overload protection characteristics
5
Characteristic a
Characteristic b
Characteristic c
100 200 300 400 500 6000
10
1
100
1000
O pe
ra tin
g tim
e [s
]
Load ratio (rated current ratio of rotary servo motor) [%]
: In servo-lock : In operation
100 200 300 400 500 6000
10
1
100
1000
0.1
O pe
ra tin
g tim
e [s
]
Load ratio (rated current ratio of rotary servo motor) [%]
: In servo-lock : In operation
100 200 300 400 500 6000
10
1
100
1000
0.1
O pe
ra tin
g tim
e [s
]
Load ratio (rated current ratio of rotary servo motor) [%]
: In servo-lock : In operation
5 CHARACTERISTICS 5.1 Overload protection characteristics 151
15
5.2 Power supply capacity and generated loss Power supply capacity The following table indicates power supply capacities of servo amplifiers. When the servo motor runs at less than the rated speed, the power supply capacity is smaller than the value in the table.
200 V class 1-axis servo amplifier Rotary servo motor Servo amplifier Power supply capacity [kVA] *1
HK-KT series HK-KT053W MR-J5-10_ 0.3
MR-J5-20_ 0.3
MR-J5-40_ 0.3
HK-KT13W MR-J5-10_ 0.3
MR-J5-20_ 0.3
MR-J5-40_ 0.3
HK-KT1M3W MR-J5-20_ 0.5
MR-J5-40_ 0.5
MR-J5-60_ 0.5
HK-KT13UW MR-J5-10_ 0.3
MR-J5-20_ 0.3
MR-J5-40_ 0.3
HK-KT23W MR-J5-20_ 0.5
MR-J5-40_ 0.5
MR-J5-60_ 0.5
HK-KT43W MR-J5-40_ 0.9
MR-J5-60_ 0.9
MR-J5-70_ 0.9
HK-KT63W MR-J5-70_ 1.3
MR-J5-100_ 1.3
MR-J5-200_ 1.3
HK-KT23UW MR-J5-20_ 0.5
MR-J5-40_ 0.5
MR-J5-60_ 0.5
HK-KT43UW MR-J5-40_ 0.8
MR-J5-60_ 0.8
MR-J5-70_ 0.8
HK-KT7M3W MR-J5-70_ 1.3
MR-J5-100_ 1.3
MR-J5-200_ 1.3
HK-KT103W MR-J5-100_ 1.9
MR-J5-200_ 1.9
MR-J5-350_ 2.0
HK-KT7M3UW MR-J5-70_ 1.3
MR-J5-100_ 1.3
MR-J5-200_ 1.3
HK-KT103UW MR-J5-100_ 1.8
MR-J5-200_ 1.8
MR-J5-350_ 1.8
HK-KT153W MR-J5-200_ 2.6
MR-J5-350_ 2.8
2 5 CHARACTERISTICS 5.2 Power supply capacity and generated loss
5
HK-KT series HK-KT203W MR-J5-200_ 3.2
MR-J5-350_ 3.6
HK-KT202W MR-J5-200_ 3.3
MR-J5-350_ 3.6
HK-KT63UW MR-J5-60_ 1.3
MR-J5-70_ 1.3
MR-J5-100_ 1.1
HK-KT434W MR-J5-20_ 0.6
MR-J5-40_ 0.6
MR-J5-60_ 0.6
HK-KT634W MR-J5-40_ 0.8
MR-J5-60_ 0.8
MR-J5-70_ 0.8
HK-KT7M34W MR-J5-40_ 0.9
MR-J5-60_ 0.9
MR-J5-70_ 0.9
HK-KT1034W MR-J5-60_ 1.1
MR-J5-70_ 1.1
MR-J5-100_ 1.1
HK-KT1534W MR-J5-70_ 1.5
MR-J5-100_ 1.5
MR-J5-200_ 1.5
HK-KT2034W MR-J5-100_ 1.9
MR-J5-200_ 1.9
MR-J5-350_ 2.0
HK-KT2024W MR-J5-100_ 1.9
MR-J5-200_ 1.9
MR-J5-350_ 2.1
Rotary servo motor Servo amplifier Power supply capacity [kVA] *1
5 CHARACTERISTICS 5.2 Power supply capacity and generated loss 153
15
HK-MT series HK-MT053W MR-J5-10_ 0.3
MR-J5-20_ 0.3
MR-J5-40_ 0.3
HK-MT053VW MR-J5-10_ 0.3
MR-J5-20_ 0.3
MR-J5-40_ 0.3
HK-MT13W MR-J5-10_ 0.3
MR-J5-20_ 0.4
MR-J5-40_ 0.4
HK-MT13VW MR-J5-10_ 0.3
MR-J5-20_ 0.4
MR-J5-40_ 0.4
HK-MT1M3W MR-J5-20_ 0.5
MR-J5-40_ 0.5
HK-MT1M3VW MR-J5-20_ 0.5
MR-J5-40_ 0.5
HK-MT23W MR-J5-20_ 0.5
MR-J5-40_ 0.6
HK-MT23VW MR-J5-20_ 0.5
MR-J5-40_ 0.6
HK-MT43W MR-J5-40_ 0.9
MR-J5-70_ 0.9
HK-MT43VW MR-J5-60_ 0.9
MR-J5-70_ 0.9
HK-MT63W MR-J5-70_ 1.2
MR-J5-200_ 1.2
HK-MT63VW MR-J5-70_ 1.2
MR-J5-200_ 1.2
HK-MT7M3W MR-J5-70_ 1.3
MR-J5-200_ 1.6
HK-MT7M3VW MR-J5-70_ 1.3
MR-J5-200_ 1.6
HK-MT103W MR-J5-100_ 1.8
MR-J5-200_ 2.0
HK-MT103VW MR-J5-200_ 2.0
MR-J5-350_ 2.0
Rotary servo motor Servo amplifier Power supply capacity [kVA] *1
4 5 CHARACTERISTICS 5.2 Power supply capacity and generated loss
5
HK-ST series HK-ST52W MR-J5-60_ 1.0
MR-J5-70_ 1.0
MR-J5-100_ 1.0
HK-ST102W MR-J5-100_ 1.7
MR-J5-200_ 1.7
MR-J5-350_ 1.8
HK-ST172W *2 MR-J5-200_ 3.0
MR-J5-350_ 3.2
HK-ST202AW MR-J5-200_ 3.5
MR-J5-350_ 3.5
HK-ST302W MR-J5-350_ 4.9
MR-J5-500_ 4.9
HK-ST7M2UW MR-J5-70_ 1.3
MR-J5-100_ 1.3
MR-J5-200_ 1.3
HK-ST172UW MR-J5-200_ 3.0
MR-J5-350_ 3.2
HK-ST202W MR-J5-200_ 3.5
MR-J5-350_ 3.5
HK-ST352W MR-J5-350_ 5.5
MR-J5-500_ 5.5
HK-ST502W MR-J5-500_ 7.5
MR-J5-700_ 7.8
HK-ST702W MR-J5-700_ 10
HK-ST353W MR-J5-350_ 5.5
MR-J5-500_ 7.4
HK-ST503W MR-J5-500_ 7.5
MR-J5-700_ 10
HK-ST524W MR-J5-40_ 0.7
MR-J5-60_ 0.7
MR-J5-70_ 0.7
HK-ST1024W MR-J5-60_ 1.3
MR-J5-70_ 1.3
MR-J5-100_ 1.3
HK-ST1724W MR-J5-100_ 1.7
MR-J5-200_ 1.7
MR-J5-350_ 1.8
HK-ST2024AW MR-J5-100_ 1.9
MR-J5-200_ 1.9
MR-J5-350_ 2.0
HK-ST3024W MR-J5-200_ 2.6
MR-J5-350_ 2.8
HK-ST2024W MR-J5-200_ 2.1
MR-J5-350_ 2.2
HK-ST3524W MR-J5-200_ 3.2
MR-J5-350_ 3.5
HK-ST5024W MR-J5-350_ 4.9
MR-J5-500_ 5.0
HK-ST7024W MR-J5-500_ 6.6
MR-J5-700_ 6.9
Rotary servo motor Servo amplifier Power supply capacity [kVA] *1
5 CHARACTERISTICS 5.2 Power supply capacity and generated loss 155
15
*1 The power supply capacity will vary according to the power impedance. *2 The power supply capacity of the HK-ST152G_ is 2.5 kVA.
HK-RT series HK-RT103W MR-J5-100_ 1.7
MR-J5-200_ 1.7
HK-RT153W MR-J5-200_ 2.5
MR-J5-500_ 3.1
HK-RT203W MR-J5-200_ 3.5
MR-J5-350_ 3.5
HK-RT353W MR-J5-350_ 5.5
MR-J5-500_ 6.4
HK-RT503W MR-J5-500_ 7.5
MR-J5-700_ 8.8
HK-RT703W MR-J5-700_ 13.3
Rotary servo motor Servo amplifier Power supply capacity [kVA] *1
6 5 CHARACTERISTICS 5.2 Power supply capacity and generated loss
5
Multi-axis servo amplifiers The values in the table are the required power supply capacities per servo motor. Calculate the power supply capacity of a multi-axis servo amplifier with the following formula. Power supply capacity [kVA] = Sum of power supply capacities [kVA] of the connected servo motors
Rotary servo motor Servo amplifier Power supply capacity [kVA] *1
HK-KT series HK-KT053W MR-J5W2-22_ 0.3
MR-J5W2-44_ 0.3
MR-J5W3-222_ 0.3
MR-J5W3-444_ 0.3
HK-KT13W MR-J5W2-22_ 0.3
MR-J5W2-44_ 0.3
MR-J5W3-222_ 0.3
MR-J5W3-444_ 0.3
HK-KT1M3W MR-J5W2-22_ 0.5
MR-J5W2-44_ 0.5
MR-J5W3-222_ 0.5
MR-J5W3-444_ 0.5
HK-KT13UW MR-J5W2-22_ 0.3
MR-J5W2-44_ 0.3
MR-J5W3-222_ 0.3
MR-J5W3-444_ 0.3
HK-KT23W MR-J5W2-22_ 0.5
MR-J5W2-44_ 0.5
MR-J5W3-222_ 0.5
MR-J5W3-444_ 0.5
HK-KT43W MR-J5W2-44_ 0.9
MR-J5W2-77_ 0.9
MR-J5W2-1010_ 0.9
MR-J5W3-444_ 0.9
HK-KT63W MR-J5W2-77_ 1.3
MR-J5W2-1010_ 1.3
HK-KT23UW MR-J5W2-22_ 0.5
MR-J5W2-44_ 0.5
MR-J5W3-222_ 0.5
MR-J5W3-444_ 0.5
HK-KT43UW MR-J5W2-44_ 0.8
MR-J5W2-77_ 0.8
MR-J5W2-1010_ 0.8
MR-J5W3-444_ 0.8
HK-KT7M3W MR-J5W2-77_ 1.3
MR-J5W2-1010_ 1.3
HK-KT103W MR-J5W2-1010_ 1.9
HK-KT7M3UW MR-J5W2-77_ 1.3
MR-J5W2-1010_ 1.3
HK-KT103UW MR-J5W2-1010_ 1.3
HK-KT63UW MR-J5W2-77_ 1.3
MR-J5W2-1010_ 1.3
5 CHARACTERISTICS 5.2 Power supply capacity and generated loss 157
15
HK-KT series HK-KT434W MR-J5W2-22_ 0.6
MR-J5W2-44_ 0.6
MR-J5W3-222_ 0.6
MR-J5W3-444_ 0.6
HK-KT634W MR-J5W2-44_ 0.8
MR-J5W2-77_ 0.8
MR-J5W2-1010_ 0.8
MR-J5W3-444_ 0.8
HK-KT7M34W MR-J5W2-44_ 0.9
MR-J5W2-77_ 0.9
MR-J5W2-1010_ 0.9
MR-J5W3-444_ 0.9
HK-KT1034W MR-J5W2-77_ 1.1
MR-J5W2-1010_ 1.1
HK-KT1534W MR-J5W2-77_ 1.5
MR-J5W2-1010_ 1.5
HK-KT2034W MR-J5W2-1010_ 1.9
HK-KT2024W MR-J5W2-1010_ 1.9
Rotary servo motor Servo amplifier Power supply capacity [kVA] *1
8 5 CHARACTERISTICS 5.2 Power supply capacity and generated loss
5
HK-MT series HK-MT053W MR-J5W2-22_ 0.3
MR-J5W2-44_ 0.3
MR-J5W3-222_ 0.3
MR-J5W3-444_ 0.3
HK-MT053VW MR-J5W2-22_ 0.3
MR-J5W2-44_ 0.3
MR-J5W3-222_ 0.3
MR-J5W3-444_ 0.3
HK-MT13W MR-J5W2-22_ 0.4
MR-J5W2-44_ 0.4
MR-J5W3-222_ 0.4
MR-J5W3-444_ 0.4
HK-MT13VW MR-J5W2-22_ 0.4
MR-J5W2-44_ 0.4
MR-J5W3-222_ 0.4
MR-J5W3-444_ 0.4
HK-MT1M3W MR-J5W2-22_ 0.5
MR-J5W2-44_ 0.5
MR-J5W3-222_ 0.5
MR-J5W3-444_ 0.5
HK-MT1M3VW MR-J5W2-22_ 0.5
MR-J5W2-44_ 0.5
MR-J5W3-222_ 0.5
MR-J5W3-444_ 0.5
HK-MT23W MR-J5W2-22_ 0.5
MR-J5W2-44_ 0.5
MR-J5W3-222_ 0.5
MR-J5W3-444_ 0.5
HK-MT23VW MR-J5W2-22_ 0.5
MR-J5W2-44_ 0.5
MR-J5W3-222_ 0.5
MR-J5W3-444_ 0.5
HK-MT43W MR-J5W2-44_ 0.9
MR-J5W2-77_ 0.9
MR-J5W2-1010_ 0.9
MR-J5W3-444_ 0.9
HK-MT43VW MR-J5W2-77_ 0.9
MR-J5W2-1010_ 0.9
HK-MT63W MR-J5W2-77_ 1.2
MR-J5W2-1010_ 1.2
HK-MT63VW MR-J5W2-77_ 1.2
MR-J5W2-1010_ 1.2
HK-MT7M3W MR-J5W2-77_ 1.3
MR-J5W2-1010_ 1.3
HK-MT7M3VW MR-J5W2-77_ 1.3
MR-J5W2-1010_ 1.3
HK-MT103W MR-J5W2-1010_ 1.8
Rotary servo motor Servo amplifier Power supply capacity [kVA] *1
5 CHARACTERISTICS 5.2 Power supply capacity and generated loss 159
16
*1 The power supply capacity will vary according to the power impedance.
HK-ST series HK-ST52W MR-J5W2-77_ 1.0
MR-J5W2-1010_ 1.0
HK-ST102W MR-J5W2-1010_ 1.7
HK-ST7M2UW MR-J5W2-77_ 1.3
MR-J5W2-1010_ 1.3
HK-ST524W MR-J5W2-44_ 0.7
MR-J5W2-77_ 0.7
MR-J5W3-444_ 0.7
HK-ST1024W MR-J5W2-77_ 1.3
MR-J5W2-1010_ 1.3
HK-ST1724W MR-J5W2-1010_ 1.7
HK-ST2024AW MR-J5W2-1010_ 1.9
HK-RT series HK-RT103W MR-J5W2-1010_ 1.7
Rotary servo motor Servo amplifier Power supply capacity [kVA] *1
0 5 CHARACTERISTICS 5.2 Power supply capacity and generated loss
5
400 V class Rotary servo motor Servo amplifier Power supply capacity [kVA] *1
HK-KT series HK-KT053W MR-J5-60_4_ 0.3
MR-J5-100_4_ 0.3
HK-KT13W MR-J5-60_4_ 0.5
MR-J5-100_4_ 0.4
HK-KT1M3W MR-J5-60_4_ 0.6
MR-J5-100_4_ 0.6
HK-KT634UW MR-J5-60_4 1.3
MR-J5-100_4 1.3
MR-J5-200_4 1.5
HK-KT1034UW MR-J5-100_4 1.7
MR-J5-200_4 2.3
MR-J5-350_4 2.3
HK-KT434W MR-J5-60_4_ 1.2
MR-J5-100_4_ 1.1
MR-J5-200_4_ 1.1
HK-KT634W MR-J5-100_4_ 1.5
MR-J5-200_4_ 1.6
MR-J5-350_4_ 1.6
HK-KT7M34W MR-J5-100_4_ 1.8
MR-J5-200_4_ 1.8
MR-J5-350_4_ 1.7
HK-KT1034W MR-J5-100_4_ 2.3
MR-J5-200_4_ 2.3
MR-J5-350_4_ 2.3
HK-KT1534W MR-J5-200_4_ 3.1
MR-J5-350_4_ 3.1
HK-KT2034W MR-J5-200_4_ 4.0
MR-J5-350_4_ 4.0
HK-KT2024W MR-J5-200_4_ 4.0
MR-J5-350_4_ 4.0
HK-ST series HK-ST524W MR-J5-60_4_ 1.0
MR-J5-100_4_ 1.0
MR-J5-200_4_ 1.0
HK-ST1024W MR-J5-100_4_ 1.7
MR-J5-200_4_ 1.7
MR-J5-350_4_ 1.7
HK-ST1724W *2 MR-J5-200_4_ 3.2
MR-J5-350_4_ 3.3
HK-ST2024AW MR-J5-200_4_ 3.5
MR-J5-350_4_ 3.5
HK-ST2024W MR-J5-200_4_ 3.5
MR-J5-350_4_ 3.5
HK-ST3024W MR-J5-350_4_ 4.9
HK-ST3524W MR-J5-350_4_ 5.5
HK-ST3534W MR-J5-350_4 5.5
HK-RT series HK-RT1034W MR-J5-100_4_ 2.2
MR-J5-200_4_ 2.2
HK-RT1534W MR-J5-200_4_ 3.1
HK-RT2034W MR-J5-200_4_ 3.9
MR-J5-350_4_ 3.9
HK-RT3534W MR-J5-350_4_ 6.2
5 CHARACTERISTICS 5.2 Power supply capacity and generated loss 161
16
*1 The power supply capacity will vary according to the power impedance. *2 The power supply capacity of the HK-ST1524G_ is 2.5 kVA.
2 5 CHARACTERISTICS 5.2 Power supply capacity and generated loss
5
Generated loss
Servo amplifier generated heat The following tables indicate the losses generated by servo amplifiers under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the worst operating conditions including environments and operation patterns. The actual amount of generated heat depends on the frequency of operation and will be between the "At rated output" and "At servo-off" values.
200 V class 1-axis servo amplifier
Multi-axis servo amplifier
*1 The values stated for heat generated by the servo amplifier do not take into account the heat generated during regeneration. To calculate heat generated by the regenerative option, refer to the following. Page 240 Regenerative option
400 V class
*1 The values stated for heat generated by the servo amplifier do not take into account the heat generated during regeneration. To calculate heat generated by the regenerative option, refer to the following. Page 240 Regenerative option
Servo amplifier Servo amplifier-generated heat [W] *1 Area required for heat dissipation [m2]At rated output At servo-off
MR-J5-10_ 25 15 0.5
MR-J5-20_ 25 15 0.5
MR-J5-40_ 35 15 0.7
MR-J5-60_ 40 15 0.8
MR-J5-70_ 50 15 1.0
MR-J5-100_ 50 15 1.0
MR-J5-200_ 90 20 1.8
MR-J5-350_ 130 20 2.6
MR-J5-500_ 195 25 3.9
MR-J5-700_ 300 25 6.0
Servo amplifier Servo amplifier-generated heat [W] *1
At rated output At servo-off MR-J5W2-22_ Connected to one axis: 30
Connected to two axes: 40 20
MR-J5W2-44_ Connected to one axis: 40 Connected to two axes: 60
20
MR-J5W2-77_ Connected to one axis: 55 Connected to two axes: 90
20
MR-J5W2-1010_ Connected to one axis: 55 Connected to two axes: 90
20
MR-J5W3-222_ Connected to one axis: 35 Connected to two axes: 45 Connected to three axes: 55
25
MR-J5W2-444_ Connected to one axis: 45 Connected to two axes: 65 Connected to three axes: 85
25
Servo amplifier Servo amplifier-generated heat [W] *1 Area required for heat dissipation [m2]At rated output At servo-off
MR-J5-60_4_ 40 18 0.8
MR-J5-100_4_ 60 18 1.2
MR-J5-200_4_ 90 20 1.8
MR-J5-350_4_ 160 20 2.7
5 CHARACTERISTICS 5.2 Power supply capacity and generated loss 163
16
Heat dissipation area for enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet) that stores the servo amplifier should be designed to ensure that its internal temperature rise is within +15 C at an ambient temperature of 40 C. Calculate the necessary heat dissipation area of the cabinet with the equation below (10.1) while allowing a margin of approximately 5 C for a maximum ambient temperature of 60 C.
A: Heat dissipation area [m2] P: Loss generated in the cabinet [W] T: Difference between internal and ambient temperatures [C] K: Heat dissipation coefficient [5 to 6] When calculating the heat dissipation area with the equation (10.1), assume that P is the sum of all losses generated in the cabinet. Refer to the following for details about the heat generated by the servo amplifier. Page 163 Servo amplifier generated heat "A" indicates the effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra amount must be added to the cabinet's surface area. The required heat dissipation area will vary with the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a cooling fan should be considered. Refer to the following section for information on the required heat dissipation area (estimated) of servo amplifier cabinets when operating amplifiers at a rated load in ambient temperatures of 40 C. Page 163 Servo amplifier generated heat
When air flows along the outer wall of the cabinet, effective heat exchange is possible, because the temperature slope inside and outside the cabinet is steeper.
Using servo amplifier with DC power supply input The power supply capacity is the same as that for the AC power supply input. Page 152 Power supply capacity and generated loss
K T PA = (10.1)
(Outside the cabinet) (Inside the cabinet)
Air flow
4 5 CHARACTERISTICS 5.2 Power supply capacity and generated loss
5
5.3 Dynamic brake characteristics
The coasting distance is a theoretically calculated value that does not consider the running load such as friction. Since the coasting distance changes depending on the load moment of inertia, perform a test operation to check the actual braking distance. If the braking distance is too long, a moving part may crash into the stroke end. Install an anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.
The dynamic brake is a function used to stop in an emergency and should not be used to stop during normal operations.
For a machine operating at the recommended load to motor inertia ratio or less, the dynamic brake can be used approximately 1000 times if the dynamic brake is used to stop the motor from the rated speed once every 10 minutes.
If using EM1 (Forced stop 1) frequently in non-emergency situations, enable EM1 (Forced stop 1) after the servo motor has come to a complete stop.
Servo motors for MR-J5 may have the different coasting distance from that of the previous model. The time constant "" for the electronic dynamic brake will be shorter than that of the normal dynamic brake.
Therefore, the coasting distance will be shorter than that of a normal dynamic brake. For how to set the electronic dynamic brake, refer to [Pr. PF06] and [Pr. PF12] in the following manual.
MR-J5-G/MR-J5W-G User's Manual (Parameters) MR-J5-B/MR-J5W-B User's Manual (Parameters) MR-J5-A User's Manual (Parameters)
Precautions relating to the dynamic brake characteristics The electronic dynamic brake operates in the initial state for the HK series servo motors listed below.
Series Servo motor HK-KT HK-KT053W/HK-KT13W/HK-KT1M3W/HK-KT13UW/HK-KT23W/HK-KT43W/HK-KT63W/HK-KT23UW/HK-KT43UW
HK-ST HK-ST52W/HK-ST1024W
HK-MT HK-MT053W/HK-MT13W/HK-MT1M3W/HK-MT23W/HK-MT43W/HK-MT053VW/HK-MT13VW/HK-MT1M3VW/HK-MT23VW/HK- MT43VW
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 165
16
Dynamic brake operation
Calculation of coasting distance The following figure shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use the equation (10.2) to calculate the approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. Page 167 Dynamic brake time constant A working part generally has a friction force. Therefore, the actual coasting distance will be shorter than the maximum coasting distance calculated with the following equation.
Lmax: Maximum coasting distance [mm] V0: Machine's fast feed speed [mm/min] JM: Moment of inertia of the servo motor [ 10-4 kgm2] JL: Load moment of inertia converted into equivalent value on servo motor shaft [ 10-4 kgm2] : Dynamic brake time constant [s] te: Delay time of control section [s] There is an internal relay delay time of about 10 ms.
te
V0
ON
OFF EM1 (Forced stop 1)
Dynamic brake time constant
Machine speed
Time
JM te + 1 +
JL
60 V0
Lmax = (10.2)
6 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
Dynamic brake time constant The following shows dynamic brake time constant that is necessary to calculate the equation (10.2).
200 V class servo amplifier Servo motor Servo amplifier Waveform HK-KT053W MR-J5-10_
MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
HK-KT13W MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
HK-KT1M3W MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
HK-KT13UW MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
0
2
4
6
8
10
12
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
1
2
3
4
5
6
7
8
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
1
2
3
4
5
6
7
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
35
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 167
16
HK-KT23W MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
HK-KT43W MR-J5-40_ MR-J5-60_ MR-J5W2-44_ MR-J5W3-444_
MR-J5-70_ MR-J5W2-77_
MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0
5
10
15
20
25
0 2000 4000 6000 8000 Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
5
10
15
20
25
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
12
14
16
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
12
14
16
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
8 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT63W MR-J5-70_ MR-J5W2-77_
MR-J5-100_ MR-J5W2-1010_
MR-J5-200_
HK-KT23UW MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
Servo motor Servo amplifier Waveform
0
2
4
6
8
10
12
14
16
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
19.5
20
20.5
21
21.5
22
22.5
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
1
2
3
4
5
6
7
8
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
20
40
60
80
100
120
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 169
17
HK-KT43UW MR-J5-40_ MR-J5-60_ MR-J5W2-44_ MR-J5W3-444_
MR-J5-70_ MR-J5W2-77_ MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0 10 20 30 40 50 60 70 80 90
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
35
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT7M3W MR-J5-70_ MR-J5W2-77_
MR-J5-100_ MR-J5W2-1010_
MR-J5-200_
Servo motor Servo amplifier Waveform
0
5
10
15
20
25
30
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
29.5 30
30.5 31
31.5 32
32.5 33
33.5 34
34.5 35
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
12
14
16
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 171
17
HK-KT103W MR-J5-100_ MR-J5W2-1010_
MR-J5-200_ MR-J5-350_
Servo motor Servo amplifier Waveform
0 1000 2000 3000 4000 5000 6000 7000 23
24
25
26
27
28
29
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
12
14
16
0 1000 2000 3000 4000 5000 6000 7000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
2 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT63UW MR-J5-60_
MR-J5-70_ MR-J5W2-77_
MR-J5-100_ MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0
10
20
30
40
50
60
70
80
0 1000 2000 3000 4000 5000 6000 7000 Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
10
20
30
40
50
60
70
80
0 2000 4000 6000 8000 Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
10
20
30
40
50
60
70
80
0 2000 4000 6000 8000 Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 173
17
HK-KT7M3UW MR-J5-70_ MR-J5W2-77_
MR-J5-100_ MR-J5W2-1010_
MR-J5-200_
Servo motor Servo amplifier Waveform
0
5
10
15
20
25
30
35
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 5
10 15 20 25 30 35 40 45
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
4 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT103UW MR-J5-100_ MR-J5W2-1010_
MR-J5-200_ MR-J5-350_
HK-KT153W MR-J5-200_ MR-J5-350_
HK-KT203W MR-J5-200_ MR-J5-350_
Servo motor Servo amplifier Waveform
36 36.5
37 37.5
38 38.5
39 39.5
40 40.5
41 41.5
0 1000 2000 3000 4000 5000 6000 7000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
12
14
16
0 1000 2000 3000 4000 5000 6000 7000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
14
12
16
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
14
12
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 175
17
HK-KT202W MR-J5-200_ MR-J5-350_
HK-KT434W MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
Servo motor Servo amplifier Waveform
0
1
2
3
4
5
6
7
0 500 1000 1500 2000 2500 3000 3500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 1 2 3 4 5 6 7 8 9
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
6 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT634W MR-J5-40_ MR-J5-60_ MR-J5W2-44_ MR-J5W3-444_
MR-J5-70_ MR-J5W2-77_
MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0 1 2 3 4 5 6 7 8 9
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
1
2
3
4
5
6
7
8
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 0.5
1 1.5
2 2.5
3 3.5
4 4.5
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 177
17
HK-KT7M34W MR-J5-40_ MR-J5-60_ MR-J5W2-44_ MR-J5W3-444_
MR-J5-70_ MR-J5W2-77_
MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0
5
10
15
20
25
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
12
14
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
1
2
3
4
5
6
7
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
8 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT1034W MR-J5-60_
MR-J5-70_ MR-J5W2-77_
MR-J5-100_ MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0 2 4 6 8
10 12 14 16 18
0 500 1000 1500 2000 2500 3000 3500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
12
0 500 1000 1500 2000 2500 3000 3500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
12
0 500 1000 1500 2000 2500 3000 3500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 179
18
HK-KT1534W MR-J5-70_ MR-J5W2-77_
MR-J5-100_ MR-J5W2-1010_
MR-J5-200_
Servo motor Servo amplifier Waveform
22
22.5
23
23.5
24
24.5
25
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
32.4
32.6
32.8
33
33.2
33.6
33.8
33.4
34
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
1
2
3
4
6
5
7
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT2034W MR-J5-100_ MR-J5W2-1010_
MR-J5-200_ MR-J5-350_
HK-KT2024W MR-J5-100_ MR-J5W2-1010_
MR-J5-200_ MR-J5-350_
Servo motor Servo amplifier Waveform
33.2
33.4
33.6
33.8
34
34.4
34.6
34.2
34.8
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
1
2
3
4
6
5
7
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
11.5 11.6 11.7 11.8 11.9
12 12.1 12.2 12.3 12.4 12.5
0 500 1000 1500 2000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
0.5
1
1.5
2
2.5
3
3.5
0 500 1000 1500 2000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 181
18
HK-MT053W MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
HK-MT13W MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
HK-MT1M3W MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
HK-MT23W MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
Servo motor Servo amplifier Waveform
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
2 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-MT43W MR-J5-40_
MR-J5-70_ MR-J5W2-77_
MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 183
18
HK-MT63W MR-J5-70_ MR-J5W2-77_
MR-J5-200_
MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
4 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-MT7M3W MR-J5-70_ MR-J5W2-77_
MR-J5-200_
MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 185
18
HK-MT103W MR-J5-100_ MR-J5W2-1010_
MR-J5-200_
HK-MT053VW MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
HK-MT13VW MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
Servo motor Servo amplifier Waveform
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
6 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-MT1M3VW MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
HK-MT23VW MR-J5-20_ MR-J5-40_ MR-J5W2-22_ MR-J5W2-44_ MR-J5W3-222_ MR-J5W3-444_
Servo motor Servo amplifier Waveform
0
30
20
10
40
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
50
40
30
20
10
60
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 187
18
HK-MT43VW MR-J5-60_
MR-J5-70_ MR-J5W2-77_
MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0
50
40
30
20
10
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
50
40
30
20
10
60
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
50
40
30
20
10
60
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
8 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-MT63VW MR-J5-70_ MR-J5W2-77_
MR-J5-200_
MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0
50
40
30
20
10
60
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
50
40
30
20
10
60
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
50
40
30
20
10
60
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 189
19
HK-MT7M3VW MR-J5-70_ MR-J5W2-77_
MR-J5-200_
MR-J5W2-1010_
HK-MT103VW MR-J5-200_ MR-J5-350_
Servo motor Servo amplifier Waveform
0
60
40
20
80
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
60
40
20
80
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
60
40
20
80
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000 10000 12000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-ST52W MR-J5-60_
MR-J5-70_ MR-J5W2-77_
MR-J5-100_ MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0
50
100
150
200
250
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
10
20
30
40
50
60
70
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
10
20
30
40
50
60
70
80
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 191
19
HK-ST102W MR-J5-100_ MR-J5W2-1010_
MR-J5-200_ MR-J5-350_
HK-ST172W MR-J5-200_ MR-J5-350_
HK-ST202AW MR-J5-200_ MR-J5-350_
Servo motor Servo amplifier Waveform
0
10
20
30
40
50
60
70
80
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 5
10 15 20 25 30 35 40 45
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
35
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
2 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-ST302W MR-J5-350_
MR-J5-500_
HK-ST353W MR-J5-350_
MR-J5-500_
Servo motor Servo amplifier Waveform
0 2 4 6 8
10 12 14 16 18
0 500 1000 1500 2000 2500 3000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
0 500 1000 1500 2000 2500 3000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
10
20
30
40
50
60
70
80
0 2000 4000 6000 8000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
10
20
30
40
50
60
70
80
0 2000 4000 6000 8000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 193
19
HK-ST503W MR-J5-500_
MR-J5-700_
Servo motor Servo amplifier Waveform
0
10
20
30
40
50
60
0 1000 2000 3000 4000 5000 6000 7000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
10
20
30
40
50
60
0 2000 4000 6000 8000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
4 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-ST7M2UW MR-J5-70_
MR-J5-100_
MR-J5-200_
HK-ST172UW MR-J5-200_ MR-J5-350_
Servo motor Servo amplifier Waveform
0
50
100
150
200
0 500 1000 1500 2000 2500 3000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
50
100
150
200
0 500 1000 1500 2000 2500 3000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
20
40
80
60
100
0 500 1000 1500 2000 2500 3000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
40
20
60
80
100
0 500 1000 1500 2000 2500 3000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 195
19
HK-ST202W MR-J5-200_ MR-J5-350_
HK-ST353W MR-J5-350_
MR-J5-500_
Servo motor Servo amplifier Waveform
0
10
20
30
40
50
60
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
20
40
60
80
0 2000 4000 6000 8000 Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
20
40
60
80
0 2000 4000 6000 8000 Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
6 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-ST352W MR-J5-350_
MR-J5-500_
HK-ST503W MR-J5-500_
MR-J5-700_
Servo motor Servo amplifier Waveform
0
5
10
15
20
25
30
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
10
20
30
40
50
60
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
10
20
30
40
50
60
0 2000 4000 6000 8000 Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
10
20
30
40
50
60
0 2000 4000 6000 8000 Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 197
19
HK-ST502W MR-J5-500_
MR-J5-700_
HK-ST702W MR-J5-700_
Servo motor Servo amplifier Waveform
0
10
20
30
40
50
60
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 1000 2000 3000 4000 5000 0 5
10 15 20 25 30 35 40 45 50
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 1000 2000 3000 4000 0
5
10
15
20
25
30
35
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
8 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-ST524W MR-J5-40_ MR-J5-60_ MR-J5W2-44_ MR-J5W3-444_
MR-J5-70_ MR-J5W2-77_
Servo motor Servo amplifier Waveform
0
10
20
30
40
50
60
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
35
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 199
20
HK-ST1024W MR-J5-60_
MR-J5-70_ MR-J5W2-77_
MR-J5-100_ MR-J5W2-1010_
Servo motor Servo amplifier Waveform
0
10
20
30
40
50
60
70
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-ST1724W MR-J5-100_ MR-J5W2-1010_
MR-J5-200_ MR-J5-350_
HK-ST2024AW MR-J5-100_ MR-J5W2-1010_
MR-J5-200_ MR-J5-350_
Servo motor Servo amplifier Waveform
0
5
10
15
20
25
30
35
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2 4 6 8
10 12 14 16 18 20
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
30
31
32
33
34
35
36
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
12
14
16
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 201
20
HK-ST3024W MR-J5-200_ MR-J5-350_
HK-ST2024W MR-J5-200_ MR-J5-350_
HK-ST3524W MR-J5-200_ MR-J5-350_
Servo motor Servo amplifier Waveform
0 1 2 3 4 5 6 7 8 9
0 200 400 600 800 1000 1200 1400
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
35
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2 4 6 8
10 12 14 16 18 20
0 500 1000 1500 2000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
2 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-ST5024W MR-J5-350_
MR-J5-500_
HK-ST7024W MR-J5-500_
MR-J5-700_
Servo motor Servo amplifier Waveform
0
5
10
15
20
25
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
35
0 500 1000 1500 2000 2500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 500 1000 1500 2000 0
5
10
15
20
25
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 500 1000 1500 2000 0
5
10
15
20
25
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 203
20
HK-RT103W MR-J5-100_ *1
MR-J5-200_
HK-RT153W MR-J5-200_
MR-J5-500_
Servo motor Servo amplifier Waveform
10
10.5
11
11.5
12
12.5
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 8000 0
1
2
3
4
5
6
7
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 8000 0
2
4
6
8
10
12
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 8000 0
5
10
15
20
25
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
4 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-RT203W MR-J5-200_ MR-J5-350_
HK-RT353W MR-J5-350_
MR-J5-500_
Servo motor Servo amplifier Waveform
0 2000 4000 6000 8000 0
1
2
3
4
5
6
7
8
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 8000 0
2
4
6
8
10
12
14
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
0 1000 2000 3000 4000 5000 6000 7000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 205
20
*1 The dynamic brake time constant is longer than when the HG-RR103 and MR-J4-200_ are used in combination. To obtain the dynamic brake time constant equivalent to the combination of the HG-RR103 and MR-J4-200_, use the HK-RT103W and MR-J5-200_ in combination.
HK-RT503W MR-J5-500_
MR-J5-700_
HK-RT703W MR-J5-700_
Servo motor Servo amplifier Waveform
0 2000 4000 6000 8000 0
2
4
6
8
10
12
14
16
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 1000 2000 3000 4000 5000 6000 7000 0
2
4
6
8
10
12
14
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8
10
12
0 1000 2000 3000 4000 5000 6000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
6 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
400 V class servo amplifier Servo motor Servo amplifier Waveform HK-KT053W MR-J5-60_4_
MR-J5-100_4_
HK-KT13W MR-J5-60_4_ MR-J5-100_4_
HK-KT1M3W MR-J5-60_4_ MR-J5-100_4_
0 2000 4000 6000 8000 0
2
4
6
8
10
12
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 8000 0
1
2
3
4
5
6
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 8000 0
1
2
3
4
5
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 207
20
HK-KT434W MR-J5-60_4_ MR-J5-100_4_
MR-J5-200_4_
Servo motor Servo amplifier Waveform
0 2000 4000 6000 8000 0
2
4
6
8
10
12
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
2
4
6
8 9
1
3
5
7
10
0 1000 2000 3000 4000 5000 6000 7000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
8 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT634W MR-J5-100_4_
MR-J5-200_4_
MR-J5-350_4_
Servo motor Servo amplifier Waveform
0 2000 4000 6000 8000 0 1 2 3 4 5 6 7 8 9
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 80001000 3000 5000 7000 0
1
2
3
4
5
6
7
8
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 8000 0 1 2 3 4 5 6 7 8 9
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 209
21
HK-KT7M34W MR-J5-100_4_
MR-J5-200_4_
MR-J5-350_4_
Servo motor Servo amplifier Waveform
0 2000 4000 6000 8000 0
5
10
15
20
25
30
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 80001000 3000 5000 7000 0 2 4 6 8
10 12 14 16 18
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 8000 0 2 4 6 8
10 12 14 16 18 20
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT1034W MR-J5-100_4_
MR-J5-200_4_
MR-J5-350_4_
Servo motor Servo amplifier Waveform
0
5
10
15
20
25
0 1000 2000 3000 4000 5000 6000 7000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8
10 12 14 16 18
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8
10 12 14 16 18 20
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 211
21
HK-KT634UW MR-J5-60_4_ MR-J5-100_4_
MR-J5-200_4_
Servo motor Servo amplifier Waveform
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
35
40
0 1000 2000 3000 4000 5000 6000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
2 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT1034UW MR-J5-100_4_
MR-J5-200_4_
MR-J5-350_4_
Servo motor Servo amplifier Waveform
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
35
40
0 1000 2000 3000 4000 5000 6000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
5
10
15
20
25
30
35
40
0 1000 2000 3000 4000 5000 6000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 213
21
HK-KT1534W MR-J5-200_4_
MR-J5-350_4_
HK-KT2034W MR-J5-200_4_
MR-J5-350_4_
Servo motor Servo amplifier Waveform
0 2000 4000 6000 80001000 3000 5000 7000 0
2
4
6
8
10
12
14
16
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 8000 0 2 4 6 8
10 12 14 16 18
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 1000 2000 3000 4000 5000 6000 7000 0
2
4
6
8
10
12
14
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 1000 2000 3000 4000 5000 6000 7000 0
2
4
6
8
10
12
14
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
4 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-KT2024W MR-J5-200_4_
MR-J5-350_4_
HK-ST524W MR-J5-60_4_ MR-J5-100_4_
MR-J5-200_4_
Servo motor Servo amplifier Waveform
0
1
2
3
4
5
6
7
0 500 1000 1500 2000 2500 3000 3500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
1
2
3
4
5
6
7
0 500 1000 1500 2000 2500 3000 3500
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
10
20
30
40
50
60
70
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 5
10 15 20 25 30 35 40 45 50
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 215
21
HK-ST1024W MR-J5-100_4_
MR-J5-200_4_
MR-J5-350_4_
Servo motor Servo amplifier Waveform
0
10
20
30
40
50
60
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 5
10 15 20 25 30 35 40 45 50
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
10
20
30
40
50
60
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
6 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-ST1724W MR-J5-200_4_
MR-J5-350_4_
HK-ST2024AW MR-J5-200_4_
MR-J5-350_4_
Servo motor Servo amplifier Waveform
0
5
10
15
20
25
30
35
40
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5 10
15 20 25
30
35
40
45
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
5
10
15
20
25
30
35
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 217
21
HK-ST3024W MR-J5-350_4_
HK-ST3534W MR-J5-350_4_
HK-ST2024W MR-J5-200_4_
MR-J5-350_4_
Servo motor Servo amplifier Waveform
0
5
10
15
20
25
0 500 1000 1500 2000 2500 3000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
10
20
30
40
50
60
0 2000 4000 6000 8000
Servo motor speed [r/min]
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
0
10
20
30
40
50
60
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
10
20
30
40 50
60
70
80
0 1000 2000 3000 4000 5000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
8 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
HK-ST3524AW MR-J5-350_4_
HK-RT1034W MR-J5-100_4_
MR-J5-200_4_
Servo motor Servo amplifier Waveform
0 5
10 15 20 25 30 35 40 45 50
0 1000 2000 3000 4000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 80001000 3000 5000 7000 0
5
10
15
20
25
30
35
40
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 80001000 3000 5000 7000 0
5
10
15
20
25
30
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 219
22
HK-RT1534W MR-J5-200_4_
MR-J5-350_4_
HK-RT2034W MR-J5-200_4_
MR-J5-350_4_
Servo motor Servo amplifier Waveform
0 2000 4000 6000 80001000 3000 5000 7000 0
2
4
6
8
10
12
14
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0
30
20
10
40
0 2000 4000 6000 8000
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 80001000 3000 5000 7000 0 1 2 3 4 5 6 7 8 9
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 2000 4000 6000 8000 0
2
4
6
8
10
12
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
0 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
200 V class servo amplifier
HK-RT3534W MR-J5-350_4_
Series Model Permissible load to motor inertia ratio [multiplier]
HK-KT HK-KT053W 34
HK-KT13W 34
HK-KT13UW 10
HK-KT1M3W 25
HK-KT23W 23 (when 6000 r/min or less: 28)
HK-KT23UW 10
HK-KT43W 23
HK-KT43UW 10
HK-KT63W 30
HK-KT63UW 20 (when 3000 r/min or less: 30)
HK-KT7M3W 20
HK-KT7M3UW 10
HK-KT103W 20
HK-KT103UW 20
HK-KT153W 30
HK-KT203W 30
HK-KT202W 30
HK-KT434W 30
HK-KT634W 30
HK-KT7M34W 20
HK-KT1034W 30
HK-KT1534W 30
HK-KT2034W 30
HK-KT2024W 30
Servo motor Servo amplifier Waveform
0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8
10 12 14 16 18 20
D yn
am ic
b ra
ke ti
m e
co ns
ta nt
[m
s]
Servo motor speed [r/min]
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 221
22
HK-MT HK-MT053W 35
HK-MT13W 35
HK-MT1M3W 35
HK-MT23W 35
HK-MT43W 35
HK-MT63W 35
HK-MT73W 35
HK-MT103W 35
HK-MT053VW 24
HK-MT13VW 24
HK-MT1M3VW 24
HK-MT23VW 24
HK-MT43VW 24
HK-MT63VW 30
HK-MT73VW 30
HK-MT103VW 30
HK-ST HK-ST52W 15 (when 3000 r/min or less: 19)
HK-ST7M2UW 31
HK-ST102W 23
HK-ST172W 30
HK-ST172UW 36
HK-ST202AW 30
HK-ST202W 15 (when 3000 r/min or less: 20)
HK-ST302W 30
HK-ST352W 12 (when 3000 r/min or less: 22)
HK-ST353W 10 (when 3000 r/min or less: 30)
HK-ST502W 10
HK-ST503W 10 (when 3000 r/min or less: 30)
HK-ST702W 8
HK-ST524W 15
HK-ST1024W 40
HK-ST1724W 40
HK-ST2024AW 20
HK-ST2024W 38
HK-ST3024W 30
HK-ST3524W 44
HK-ST5024W 23
HK-ST7024W 22
HK-RT HK-RT103W 63
HK-RT153W 63
HK-RT203W 29
HK-RT353W 29
HK-RT503W 29
HK-RT703W 42
Series Model Permissible load to motor inertia ratio [multiplier]
2 5 CHARACTERISTICS 5.3 Dynamic brake characteristics
5
400 V class servo amplifier Series Model Permissible load to motor inertia ratio
[multiplier] HK-KT HK-KT053W 20
HK-KT13W 20
HK-KT1M3W 20
HK-KT434W 30
HK-KT634W 20 (when 3000 r/min or less: 30)
HK-KT634UW 20 (when 3000 r/min or less: 30)
HK-KT7M34W 7 (when 3000 r/min or less: 20)
HK-KT1034W 7 (when 3000 r/min or less: 30)
HK-KT1034UW 25 (when 3000 r/min or less: 30)
HK-KT1534W 10 (when 3000 r/min or less: 30)
HK-KT2034W 10 (when 3000 r/min or less: 30)
HK-KT2024W 30
HK-ST HK-ST524W 4 (when 2000 r/min or less: 19)
HK-ST1024W 4 (when 2000 r/min or less: 23)
HK-ST1724W 4 (when 2000 r/min or less: 24)
HK-ST2024AW 8 (when 2000 r/min or less: 24)
HK-ST2024W 4 (when 2000 r/min or less: 20)
HK-ST3024W 30
HK-ST3524W 5 (when 2000 r/min or less: 22)
HK-ST3534W 10 (when 3000 r/min or less: 30)
HK-RT HK-RT1034W 18
HK-RT1534W 60
HK-RT2034W 29
HK-RT3534W 20
5 CHARACTERISTICS 5.3 Dynamic brake characteristics 223
22
5.4 Cable flex life The flex life of the cables is shown below. This graph shows calculated values and not guaranteed values. The cable flex life factors in conductor and insulation breakage. The values are calculated from fully disconnected cables and do not take into account wear from electrical characteristics, sheath abrasion, or insulation deterioration. Allow for a deviation in these values.
a1 108
5 107
1 107
5 106
1 106
5 105
1 105
5 104
1 104
5 103
1 103
4 7 10 20 40 70 100 200
b
a:
b:
N um
be r o
f b en
di ng
ti m
es [t
im e]
Bend radius [mm]
High flex life cable (for moving parts)
Standard cable (for fixed parts)
4 5 CHARACTERISTICS 5.4 Cable flex life
5
5.5 Inrush currents at power-on of main circuit and control circuit
A molded-case circuit breaker and magnetic contactor may fail or malfunction due to an inrush current flowing through the servo amplifier's power lines (input lines) at power on. Therefore, use products with the specifications described on the following page. Page 283 Molded-case circuit breakers, fuses, magnetic contactors When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used.
200 V class The following shows the inrush currents (reference data) that will flow when 240 V AC is applied. Even when a 1-phase 200 V AC power supply is used with MR-J5-10_ to MR-J5-200_, the inrush currents of the main circuit power supply will be the same.
1-axis servo amplifier
Multi-axis servo amplifier
400 V class The following shows the inrush currents (reference data) that will flow when 480 V AC is applied.
Servo amplifier Inrush currents (A0-P)
Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21) MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5-60_
17 A (attenuated to approx. 3 A in 20 ms) 20 A to 30 A (attenuated to approx. 1 A in 20 ms)
MR-J5-70_ MR-J5-100_
17 A (attenuated to approx. 7 A in 20 ms)
MR-J5-200_ 24 A (attenuated to approx. 11 A in 20 ms)
MR-J5-350_ 85 A (attenuated to approx. 10 A in 20 ms)
MR-J5-500_ 42 A (attenuated to approx. 20 A in 20 ms) 34 A (attenuated to approx. 2 A in 20 ms)
MR-J5-700_ 85 A (attenuated to approx. 20 A in 30 ms)
Servo amplifier Inrush currents (A0-P)
Main circuit power supply (L1/L2) Control circuit power supply (L11/L21) MR-J5W2-22_ MR-J5W2-44_
23 A (attenuated to approx. 9 A in 20 ms) 20 A to 35 A (attenuated to approx. 3 A in 20 ms)
MR-J5W2-77_ MR-J5W2-1010_
36 A (attenuated to approx. 13 A in 20 ms)
MR-J5W3-222_ MR-J5W3-444_
23 A (attenuated to approx. 6 A in 20 ms)
Servo amplifier Inrush currents (A0-P)
Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21) MR-J5-60_4_ MR-J5-100_4_
21 A (attenuated to approx. 4 A in 10 ms) 40 A to 50 A (attenuated to approx. 0 A in 20 ms)
MR-J5-200_4_ 26 A (attenuated to approx. 10 A in 10 ms)
MR-J5-350_4_ 78 A (attenuated to approx. 10 A in 10 ms)
5 CHARACTERISTICS 5.5 Inrush currents at power-on of main circuit and control circuit 225
22
6 OPTIONS AND PERIPHERAL EQUIPMENT
Precautions HIV wires are recommended to wire the servo amplifiers, options, and peripheral equipment. Therefore, the recommended
wire sizes may differ from those used for the previous generation servo amplifiers. To prevent an electric shock or a fire, correctly wire options and peripheral equipment, etc. in the correct combination.
6.1 Cables/connector sets
The IP rating indicated for cables and connectors is their protection against ingress of dust and water drops when they are connected to a servo amplifier or servo motor. If the IP ratings of the cables, connectors, servo amplifier, and servo motor differ, the overall IP rating is determined by the lowest IP rating of all the components.
Purchase the cable and connector options indicated in this section for this servo amplifier. Use a cable supplied by Mitsubishi Electric or Mitsubishi Electric System & Service Co., Ltd. When fabricating a cable, select wires in accordance with the uses. For selection example, NFPA 79 (2018 Edition) in North America demands the use of a listed, certified product that has a thermoset insulator and is compliant with the NEC standard RHH, RHW, RHW-2, XHH, XHHW, or XHHW-2. For information on options for servo motor power supplies, electromagnetic brakes, servo motor encoders, and load-side encoders, refer to "WIRING OPTION" in the following manual. Rotary Servo Motor User's Manual (For MR-J5) For options for linear encoders, refer to "OPTION CABLES/CONNECTOR SETS" in the following manual. MR-J5 Partner's Encoder User's Manual Refer to "WIRING OPTION" in the following manual for options for direct drive motor power supplies and options for encoders. Direct Drive Motor User's Manual
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets
6
Combinations of cables/connector sets
MR-J5-_G_
*1 For MR-J5-500_ and MR-J5-700_ servo amplifiers, the CNP1 connector is divided into two: CNP1A connector (L1/L2/L3) and CNP1B connector (N1/P3/P4).
*2 Refer to the following page for information on Ethernet cable specifications. Page 237 Ethernet cable [G]
*3 This part is required to configure an absolute position detection system by using a direct drive motor. For configuration of an absolute position detection system, refer to the following. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
(1) (11)
(2)
(4)
(6)
(3)
(7) *3
(8) *3
(10)
CNP2
CNP1
CN5
CN6
CN3
CN8
CN1A
CN1B
CN2
CN2L
CN4
CNP3
CNP2
CNP1
CN5
CN6
CN3
CN8
CN1A
CN1B
CN2
CN2L
CN4
CNP3
PS7DW-20V14B-F
MR-J3-D05
(5) (5) CN9
CN10
*1
Junction terminal block
Ethernet cable *2
To servo motor power supply
Setup software MR Configurator2
To servo motor encoder
To load-side encoder Battery: MR-BAT6V1SET or MR-BAT6V1SET-A *3
Servo amplifier Servo amplifier
(Toho Technology)
Controller
Battery case: MR-BT6VCASE *3 Battery: MR-BAT6V1 5 pcs. *3
Network
Safety logic unit
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets 227
22
MR-J5W_-_G_
*1 Refer to the following page for information on Ethernet cable specifications. Page 237 Ethernet cable [G]
*2 This part is required to configure an absolute position detection system by using a direct drive motor. For configuration of an absolute position detection system, refer to the following. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
(1) (11)
(6) CNP2
CNP1
CN5
CN6
CN3
CN8
CN1A
CN1B
CN2B
CN2A
CN2C
CN4
CNP3A
(7) *2
(8) *2
(9)
CNP3B
CNP3C
MR-TB26A
CNP2
CNP1
CN5
CN3
CN8
CN1A
CN1B
CN2B
CN2A
CN2C
CN4
CNP3A
CNP3B
CNP3C (4)
(3)
(2)
MR-J3-D05
(5) (5) CN9
CN10
Ethernet cable *1
To C-axis servo motor power supply
To B-axis servo motor power supply
To A-axis servo motor power supply
Setup software MR Configurator2
To C-axis servo motor encoder
To B-axis servo motor encoder
To A-axis servo motor encoder
Servo amplifier Controller
Junction terminal block
Servo amplifier
Battery case: MR-BT6VCASE *2 Battery: MR-BAT6V1 5 pcs. *2
Network
Safety logic unit
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets
6
MR-J5-_B_
*1 For MR-J5-500_ and MR-J5-700_ servo amplifiers, the CNP1 connector is divided into two: CNP1A connector (L1/L2/L3) and CNP1B connector (N1/P3/P4).
*2 This part is required to configure an absolute position detection system by using a direct drive motor. For configuration of an absolute position detection system, refer to the following. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
(1) (11)
(2)
(4)
(6)
(3)
(7) *2
(8) *2
CNP2
CNP1
CN5
CN3
CN8
CN1A
CN1B
CN2
CN2L
CN4
CNP3
CNP2
CNP1
CN5
CN3
CN8
CN1A
CN1B
CN2
CN2L
CN4
CNP3
PS7DW-20V14B-F
MR-J3-D05
(5) (5) CN9
CN10
*1
(12) (13) (14) (12) (13) (14)
SSCNET III/H
Junction terminal block
SSCNET III cable
To servo motor power supply
Setup software MR Configurator2
To servo motor encoder
To load-side encoder Battery: MR-BAT6V1SET or MR-BAT6V1SET-A *2
Servo amplifier Servo amplifier
(Toho Technology)
Controller
Battery case: MR-BT6VCASE *2 Battery: MR-BAT6V1 5 pcs. *2
Safety logic unit
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets 229
23
MR-J5W_-_B_
*1 This part is required to configure an absolute position detection system by using a direct drive motor. For configuration of an absolute position detection system, refer to the following. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
MR-J5-_A_
*1 For MR-J5-500_ and MR-J5-700_ servo amplifiers, the CNP1 connector is divided into two: CNP1A connector (L1/L2/L3) and CNP1B connector (N1/P3/P4).
*2 This part is required to configure an absolute position detection system by using a direct drive motor. For configuration of an absolute position detection system, refer to the following. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
(1) (11)
(6) CNP2
CNP1
CN5 CN5
CN3
CN8
CN1A
CN1B
CN2B
CN2A
CN2C
CN4
CNP3A
(7) *1
(8) *1
CNP3B
CNP3C
MR-TB26A
CNP2
CNP1
CN3
CN8
CN1A
CN1B
CN2B
CN2A
CN2C
CN4
CNP3A
CNP3B
CNP3C (4)
(3)
(2)
MR-J3-D05
(5) (5) CN9
CN10
(12) (13) (14) (12) (13) (14)
SSCNET III/H
SSCNET III cable
To C-axis servo motor power supply
To B-axis servo motor power supply
To A-axis servo motor power supply
Setup software MR Configurator2
To C-axis servo motor encoder
To B-axis servo motor encoder
To A-axis servo motor encoder
Servo amplifier Controller
Junction terminal block
Servo amplifier
Battery case: MR-BT6VCASE *1 Battery: MR-BAT6V1 5 pcs. *1
Safety logic unit
(1) (11)
*1
(2)
(6)
(7) *2
(8) *2
(10) CNP2
CNP1 CN5
CN6
CN3
CN8
CN1
CN2
CN2L
CN4
CNP3
(3)
(4)
MR-J3-D05
(5) (5) CN9
CN10
To servo motor power supply
Setup software MR Configurator2
To servo motor encoder
To load-side encoder
Battery case: MR-BT6VCASE *2 Battery: MR-BAT6V1 5 pcs. *2
Battery: MR-BAT6V1SET or MR-BAT6V1SET-A *2
Servo amplifier
Controller
To next-axis servo amplifier
To next-axis servo amplifier
Safety logic unit
Ethernet cable
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets
6
List of cables/connector sets No. Product name Model Description Remark (1) Servo amplifier
power connector set
CNP1 connector 06JFAT-SAXGDK-K7.5 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
CNP2 connector 05JFAT-SAXGDK-K5.0 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
CNP3 connector 03JFAT-SAXGDK-K7.5 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
Supplied with 200 V class 1-axis servo amplifiers with a capacity of 1 kW or less
Open tool: J-FAT-OT-K (JST)
CNP1 connector 06JFAT-SAXGFK-XL (LA) (JST) Applicable wire size: 1.25 mm2 to 5.5 mm2
(AWG 16 to 10) Insulator OD: Up to 4.7 mm
CNP2 connector 05JFAT-SAXGDK-H5.0 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
CNP3 connector 03JFAT-SAXGFK-XL (LA) (JST) Applicable wire size: 1.25 mm2 to 5.5 mm2
(AWG 16 to 10) Insulator OD: Up to 4.7 mm
Supplied with 200 V class 1-axis servo amplifiers with capacities of 2 kW and 3.5 kW
Open tool: J-FAT-OT-EXL (JST)
CNP1A connector 03JFAT-SAXGDK-P15 (LA) (JST) Applicable wire size: 0.8 mm2 to 8.0 mm2
(AWG 18 to 8) Insulator OD: Up to 7.6 mm
CNP2 connector 05JFAT-SAXGDK-H5.0 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
CNP3 connector 03JFAT-SAZGDK-P15 (LC) (JST) Applicable wire size: 0.8 mm2 to 8.0 mm2
(AWG 18 to 8) Insulator OD: Up to 7.6 mm
Supplied with 200 V class 1-axis servo amplifiers with capacities of 5 kW and 7 kW
CNP1B connector 03JFAT-SAYGDK-P15 (LB) (JST) Applicable wire size: 0.8 mm2 to 8.0 mm2
(AWG 18 to 8) Insulator OD: Up to 7.6 mm
Open tool: J-FAT-OT-P (JST)
Open tool: J-FAT-OT (N) (JST)
Open tool: J-FAT-OT-P (JST)
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets 231
23
(1) Servo amplifier power connector set
CNP1 connector 06JFAT-SAXGDK-K7.5 (LB) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
CNP2 connector 05JFAT-SAXGDK-K5.0 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
CNP3 connector 04JFAT-SAGG-G-KK (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
Supplied with multi- axis servo amplifiers of 400 W or less
Open tool: J-FAT-OT-K (JST)
CNP1 connector 06JFAT-SAXGFK-XL (LB) (JST) Applicable wire size: 1.25 mm2 to 5.5 mm2
(AWG 16 to 10) Insulator OD: Up to 4.7 mm
CNP2 connector 05JFAT-SAXGDK-H5.0 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
CNP3 connector 04JFAT-SAGG-G-KK (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
Supplied with multi- axis servo amplifiers of 750 W or more
Open tool: J-FAT-OT-EXL (JST)
CNP1 connector 06JFAT- SAXGDKHT10.5 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
CNP2 connector 05JFAT-SAXGDKHT7.5 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
CNP3 connector 03JFAT- SAXGDKHT10.5 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
Supplied with 400 V class servo amplifiers with a capacity of 3.5 kW or less
Open tool: J-FAT-OT-XL (JST)
(2) USB cable MR-J3USBCBL3M cable length: 3 m
(a) CN5 connector: mini-B connector (5 pins) (b) Personal computer connector: Connector A
For connection with PC-AT compatible personal computer
No. Product name Model Description Remark
(a) (b)
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets
6
(3) Connector set MR-CCN1
Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent)
For MR-J5-_G_ For MR-J5-_B_
MR-J3CN1
Connector: 10150-3000PE Shell kit: 10350-52F0-008 (3M or equivalent)
For MR-J5-_A_
MR-J2CMP2
Connector: 10126-3000PE Shell kit: 10326-52F0-008 (3M or equivalent)
For MR-J5W_-_G_ Quantity: 1 For MR-J5W_-_B_
MR-ECN1
Connector: 10126-3000PE Shell kit: 10326-52F0-008 (3M or equivalent)
For MR-J5W_-_G_ Quantity: 20 For MR-J5W_-_B_
(4) Junction terminal block cable
MR-J2HBUS_M Cable length: 0.5 m, 1 m, 5 m
(a) MR-J2HBUS_M (b) PS7DW-20V14B-F (Toho Technology Corp., Kyoto factory) Junction terminal block PS7DW-20V14B-F is not available as an option. To use the junction terminal block, option MR-J2HBUS_M is required.
For MR-J5-_G_ For MR-J5-_B_
MR-J2M- CN1TBL_M Cable length: 0.5 m, 1 m
(a) Junction terminal block connector Connector: D7950-B500FL (3M) (b) CN3 connector Connector: 10150-6000EL Shell kit: 10350-3210-000 (3M or equivalent)
For MR-J5-_A_
MR-TBNATBL_M Cable length: 0.5 m, 1 m
(a) Junction terminal block connector Connector: 10126-6000EL Shell kit: 10326-3210-000 (3M or equivalent) (b) CN3 connector Connector: 10126-6000EL Shell kit: 10326-3210-000 (3M or equivalent)
For MR-J5W_-_G_ For MR-J5W_-_B_
(5) STO cable MR-D05UDL3M-B
(a) Connector set: 2069250-1 (TE Connectivity)
Connection cable for the CN8 connector
(6) Short-circuit connector
Supplied with servo amplifiers
No. Product name Model Description Remark
(a)
(b)
(a) (b)
(a) (b)
(a)
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets 233
23
(7) Battery cable MR-BT6V1CBL_M Cable length: 0.3 m, 1 m
(a) Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST) (b) Connector: 10114-3000PE Shell kit: 10314-52F0-008 (3M or equivalent)
For connection with battery unit Page 512 Battery
(8) Junction battery cable
MR-BT6V2CBL_M Cable length: 0.3 m, 1 m
(a) Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST) (b) Housing: PALR-02VF-O Contact: SPAL-001GU-P0.5 (JST) (c) Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST)
Page 512 Battery
(9) Monitor cable MR-J3CN6CBL1M
CN6 connector Housing: 51004-0300 Contact: 50011-8100 (Molex)
For MR-J5W_-_G_
(10) MR-ACN6CBL1M
CN6 connector Housing: SHR-03V-S Contact: SSH-003T-P0.2-H (JST)
For MR-J5-_G_ For MR-J5-_A_
(11) Daisy chain power connector
MR-J5CNP12-J1
CNP1 connector 06JFAT-SAXGDK-KC7.5 (LA) (JST) Applicable wire size: 0.8 mm2 to 5.5 mm2
(AWG 18 to 10) Insulator OD: Up to 4.7 mm
CNP2 connector 05JFAT-SAXGDK-KC5.0 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
Used for connecting the simple converter when a 1-axis servo amplifier of 1 kW or less or a multi-axis servo amplifier of 400 W or less is used. Page 255 MR- CM simple converter
MR-J5CNP12-J2
CNP1 connector 06JFAT-SAXGFK-XLC (LA) (JST) Applicable wire size: 1.25 mm2 to 5.5 mm2
(AWG 16 to 10) Insulator OD: Up to 4.7 mm
CNP2 connector 05JFAT-SAXGDK-HC5.0 (LA) (JST) Applicable wire size: 0.8 mm2 to 2.1 mm2
(AWG 18 to 14) Insulator OD: Up to 3.9 mm
Used for connecting the simple converter when a 1-axis servo amplifier of 2 kW or less or a 2-axis servo amplifier of 750 W or more is used. Page 255 MR- CM simple converter
No. Product name Model Description Remark
(a) (b)
(a) (c)
(b)
3 (red) 2 (white) 1 (black)
3 (red) 2 (white) 1 (black)
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets
6
(12) SSCNET III cable MR-J3BUS_M Cable length: 0.15 m to 3 m Page 238 SSCNET III cable [B]
(a) (b) Connector: PF-2D103 (JAE)
Standard cord inside cabinet
(13) MR-J3BUS_M-A Cable length: 5 m to 20 m Page 238 SSCNET III cable [B]
Standard cable outside cabinet
(14) MR-J3BUS_M-B Cable length: 30 m to 50 m Page 238 SSCNET III cable [B]
(a) (b) Connector: CF-2D103-S (JAE)
Long distance cable
No. Product name Model Description Remark
(a) (b)
(a) (b)
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets 235
23
MR-D05UDL3M-B STO cable This cable is for connecting an external device to the CN8 connector.
*1 Standard OD. The maximum OD is about 10 % greater for dimensions without tolerances.
System architecture
Internal wiring diagram
*1 Do not use the two core wires with orange insulators (with red or black dots).
Cable model Cable length Cable OD *1 Application MR-D05UDL3M-B 3 m 5.7 mm Connection cable for the CN8 connector
CN8 MR-D05UDL3M-B
1 2 3
6 7
STO2 TOFB1 TOFB2
STO1
TOFCOM8
4 5
STOCOM
*1 2 1
64 8 3 5 7
CN8 connector
Yellow (dots: black) Yellow (dots: red) Gray (dots: black)
Viewed from the connection part. Gray (dots: red) White (dots: black) White (dots: red)
Plate Shield
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets
6
Ethernet cable [G] For Ethernet cables used for network wiring, refer to "Communication specifications" in the User's Manual (Communication Function). A commercially available product example is as follows. For the latest product information, contact the manufacturer.
For commercial cables other than the above, refer to the CC-Link Partner Association website. https://www.cc-link.org/en/
Precautions When branching the CC-Link IE TSN network using a switching hub, use a switching hub (Class B) that is recommended by
the CC-Link Partner Association. Although a switching hub (Class A) can also be used, there are restrictions on the type of topology that can be used. For further information, refer to "MELSEC iQ-R Motion Module User's Manual (Startup)".
When branching the CC-Link IE Field Network Basic network using a switching hub, use a switching hub with a transmission speed of 100 Mbps or more. When using a switching hub without the auto-negotiation function, set the transmission speed to 100 Mbps and half duplex.
Product name Model Specifications Ethernet cable For indoor use SC-E5EW-S_M "_" in the model represents the cable length (0.5 m,
1 to 100 m (in 1 m increments)). Double shielded (Category 5e)
For moving parts used indoors
SC-E5EW-S_M-MV "_" in the model represents the cable length (0.1, 0.2, 0.3, 0.5 m, 1 to 45 m (in 1 m increments)).
For indoor and outdoor use
SC-E5EW-S_M-L "_" in the model represents the cable length (1 to 100 m (in 1 m increments)).
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets 237
23
SSCNET III cable [B]
Do not look directly at the light emitted from the CN1A and CN1B connectors of the servo amplifier or the end of the SSCNET III cable. The light may cause discomfort when it enters your eyes.
For the long distance cable longer than 50 m and the ultra-high flex life cable, refer to the following. Page 355 Cables manufactured by Mitsubishi Electric System & Service Co., Ltd.
Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the numbers are available.
*1 For cables shorter than 30 m, contact your local sales office.
Specifications
*1 The operating temperature range is the value for the SSCNET III cable (cord) only. The temperature conditions for the connector is the same as those for the servo amplifier.
Cable model
Cable length Flex type Application/remark
0.15 m
0.3 m 0.5 m 1 m 3 m 5 m 10 m 20 m 30 m 40 m 50 m
MR- J3BUS_M
015 03 05 1 3 Standard (for fixed parts)
Standard cord inside cabinet
MR- J3BUS_M- A
5 10 20 Standard (for fixed parts)
Standard cable outside cabinet
MR- J3BUS_M- B *1
30 40 50 High flex life (for moving parts)
Long distance cable
Item Description SSCNET III cable model MR-J3BUS_M MR-J3BUS_M-A MR-J3BUS_M-B
SSCNET III cable length 0.15 m 0.3 m to 3 m 5 m to 20 m 30 m to 50 m
Optical cable (cord)
Minimum bend radius
25 mm Cable with reinforced sheath: 50 mm Cord: 25 mm
Cable with reinforced sheath: 50 mm Cord: 30 mm
Tension strength 70 N 140 N 420 N (Cable with reinforced sheath)
980 N (Cable with reinforced sheath)
Operating temperature range *1
-40 C to 85 C -20 C to 70 C
Ambience Indoors (no direct sunlight), no solvent or oil
External appearance [mm]
2.2 0.07 4.4 0.1
2. 2
0.
07
4.4 0.1
2. 2
0.
07
6.0 0.2
4.4 0.4
2. 2
0.
2
7.6 0.5
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets
6
Dimensions MR-J3BUS015M
MR-J3BUS03M to MR-J3BUS3M For the cable length (L), refer to the following. Page 238 Model explanations
*1 The dimension of the connector is the same as that of the MR-J3BUS015M.
MR-J3BUS5M-A to MR-J3BUS20M-A/MR-J3BUS30M-B to MR-J3BUS50M-B For the cable length (L), refer to the following. Page 238 Model explanations
*1 The dimension of the connector is the same as that of the MR-J3BUS015M.
SSCNET III cable Variable dimensions [mm]
A B MR-J3BUS5M-A to MR-J3BUS20M-A 100 30
MR-J3BUS30M-B to MR-J3BUS50M-B 150 50
8+0
150+50 -0
Protective tube Approx. 37.65
Approx. 15
Ap pr
ox .
20 .9
Approx. 13.4
Approx. 6.7
Ap pr
ox .
2. 3
Ap pr
ox .
1. 7
*1
L
Approx. 100Approx. 100
Protective tube
*1
L
Approx. AApprox. A
Protective tube
Approx. B Approx. B
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets 239
24
6.2 Regenerative option Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers.
200 V class
*1 Install a cooling fan when using this regenerative option. *2 Depending on the operating conditions, a cooling fan must be installed.
Page 248 Connection of regenerative option *3 Available on servo amplifiers with firmware version B6 or later.
400 V class
*1 Install a cooling fan.
Servo amplifier
Regenerative power [W]
Built-in regenerative resistor
MR- RB032 [40 ]
MR- RB12 [40 ]
MR- RB14 [26 ]
MR- RB30 [13 ] *2
MR- RB3N [9 ] *2
MR- RB31 [6.7 ] *2
MR- RB3Z [5.5 ] *2*3
MR- RB34 [26 ] *2
MR- RB50 [13 ] *1
MR- RB5N [9 ] *1
MR- RB51 [6.7 ] *1
MR- RB5Z [5.5 ] *1*3
MR-J5-10_ 30
MR-J5-20_ 10 30 100
MR-J5-40_ 10 30 100
MR-J5-60_ 10 30 100
MR-J5-70_ 30 100 300
MR-J5-100_ 30 100 300
MR-J5-200_ 100 300 500
MR-J5-350_ 100 300 500
MR-J5-500_ 130 300 500
MR-J5-700_ 170 300 500
MR-J5W2- 22_
20 100
MR-J5W2- 44_
20 100
MR-J5W2- 77_
100 300
MR-J5W2- 1010_
100 300
MR-J5W3- 222_
30 100 300
MR-J5W3- 444_
30 100 300
Servo amplifier
Regenerative power [W]
Built-in regenerative resistor
MR-RB1H-4 [82 ]
MR-RB3M-4 [120 ] *1
MR-RB3G-4 [47 ] *1
MR-RB5G-4 [47 ] *1
MR-RB3Y-4 [36 ] *1
MR-RB5Y-4 [36 ] *1
MR-J5- 60_4_
15 100 300
MR-J5- 100_4_
15 100 300
MR-J5- 200_4_
100 300 500
MR-J5- 350_4_
120 300 500
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option
6
Selection of the regenerative option (1-axis servo amplifier) A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section. To select a regenerative option precisely, use the capacity selection software.
Rotary servo motor Regenerative energy calculation
V: Feed speed of moving part [mm/min] N: Servo motor speed (N = V/S) [r/min] S: Travel distance per servo motor revolution (S = PB) [mm/rev] PB: Ball screw lead [mm] LB: Ball screw length [mm] DB: Ball screw diameter [mm] WL: Moving part mass [kg] FC: Load antidrag setting [N] TL: Load torque converted into equivalent value on servo motor shaft [Nm] : Drive system efficiency : Friction coefficient JL: Load moment of inertia converted into equivalent value on servo motor shaft [kgcm2] JM: Moment of inertia of the servo motor [kgcm2] : Pi constant g: Gravitational acceleration [m/s2]
N V
WL
FC
(2)
(1) V
(3)
(4)
(6)
(5) (7)
(8)
tpsa1 t1 tpsd1 t2 tpsa2 t3 t4tpsd2
Servo motor Feed speed of moving part
Forward rotation
Time
Moving part Reverse rotation
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option 241
24
*1 Load torque converted into equivalent value on servo motor shaft TL can be calculated with the following formula. TL = {(FC + ( WL g)) S} / (2000 )
*2 Load moment of inertia converted into equivalent value on servo motor shaft JL can be calculated with the following formula. JL = JL1 + JL2 + JL3 JL1 is the load moment of inertia of the moving part, JL2 is the load moment of inertia of the ball screw, and JL3 is the load moment of inertia of the coupling. JL1 and JL2 can be calculated with the following formulas. JL1 = WL (S / (20 ))2
JL2 = {( 0.0078 (LB / 10)) / 32} (DB / 10)4
From the calculation results in (1) to (8), find the absolute value (Es) of the sum total of negative energies.
Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
Inverse efficiency (m): Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Efficiency varies with the servo motor speed and generated torque. Because the characteristics of the electrolytic capacitor change with time, allow inverse efficiency of approximately 10 % higher than those shown above. Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier Multiply the sum total of regenerative energies by the inverse efficiency, and subtract the capacitor charging from that result to calculate the energy consumed by the regenerative option. ER [J] = m Es - Ec Select a regenerative option that meets the requirements of the system by calculating the power consumption of the regenerative option based on a one-cycle operation period tf [s]. PR [W] = ER/tf
Regenerative power
Torque T applied to servo motor [Nm] *1*2 Energy E [J]
(1)
(2) T2 = TL E2 = 0.1047 N T2 t1 (3)
(4), (8) T4, T8 = 0 E4, E8 = 0 (No regeneration)
(5)
(6) T6 = TL E6 = 0.1047 N T6 t3 (7)
Servo amplifier Inverse efficiency [%] Capacitor charging [J] MR-J5-10_ 70 9
MR-J5-20_ 85 9
MR-J5-40_ 90 11
MR-J5-60_ 90 11
MR-J5-70_ 90 18
MR-J5-100_ 90 18
MR-J5-200_ 90 36
MR-J5-350_ 90 40
MR-J5-500_ 90 45
MR-J5-700_ 90 70
MR-J5-60_4_ 85 9
MR-J5-100_4_ 85 12
MR-J5-200_4_ 85 25
MR-J5-350_4_ 85 35
(JL/ + JM) N 9.55 104 tpsa1
1T1 = + TL 2 0.1047
E1 = N T1 tpsa1
-(JL + JM) N 9.55 104 tpsd1
1T3 = + TL 2 0.1047
E3 = N T3 tpsd1
(JL/ + JM) N 9.55 104 tpsa2
1 T5 = + TL 2
0.1047 E5 = N T5 tpsa2
-(JL + JM) N 9.55 104 tpsd2
1 T7 = + TL 2
0.1047 E7 = N T7 tpsd2
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option
6
For linear servo motors Thrust and energy calculation
The following shows formulas of the linear servo motor thrust and energy at the operation pattern above.
From the calculation results in (1) to (8), find the absolute value (Es) of the sum total of negative energies.
Losses of servo motor and servo amplifier in regenerative mode For inverse efficiency and capacitor charging energy, refer to the following. Page 242 Losses of servo motor and servo amplifier in regenerative mode
Regenerative energy calculation Multiply the sum total of regenerative energies by the inverse efficiency, and subtract the capacitor charging from that result to calculate the energy consumed by the regenerative resistor. ER [J] = Es - Ec From the total of ERs whose subtraction results are positive and one-cycle period, the power consumption PR [W] of the regenerative resistor can be calculated with the following equation. PR [W] = total of positive ERs/one-cycle operation period (tf) Select a regenerative option based on the PR value. The regenerative option is not required when the energy consumption is equal to or less than the regenerative power of the regenerative resistor built into the servo amplifier.
Section Thrust F of linear servo motor [N] Energy E [J] (1) F1 = (M1 + M2) V/tpsa1 + Ft E1 = V/2 F1 tpsa1
(2) F2 = F1 E2 = V F2 t1
(3) F3 = -(M1 + M2) V/tpsd1 + Ft E3 = V/2 F3 tpsd1
(4), (8) F4, F8 = 0 E4, E8 = 0 (No regeneration)
(5) F5 = (M1 + M2) V/tpsa2 + Ft E5 = V/2 F5 tpsa2
(6) F6 = Ft E6 = V F6 t3
(7) F7 = -(M1 + M2) V/tpsd2 + Ft E7 = V/2 F7 tpsd2
V M1 M2
Ft
(2)
(1) V
(3)
(4)
(6)
(5) (7)
(8)
tpsa1 t1 tpsd1 t2 tpsa2 t3 t4tpsd2
Linear servo motor secondary side (magnet)
Linear servo motor feed speed
Load Positive direction
Time
Linear servo motor primary side (coil)
Negative direction
Linear servo motor
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option 243
24
Selection of the regenerative option (multi-axis servo amplifier) A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section. To select a regenerative option precisely, use the capacity selection software.
Rotary servo motor Regenerative energy calculation
V: Feed speed of moving part [mm/min] N: Servo motor speed (N = V/S) [r/min] S: Travel distance per servo motor revolution (S = PB) [mm/rev] PB: Ball screw lead [mm] LB: Ball screw length [mm] DB: Ball screw diameter [mm] WL: Moving part mass [kg] FC: Load antidrag setting [N] TL: Load torque converted into equivalent value on servo motor shaft [Nm] : Drive system efficiency : Friction coefficient JL: Load moment of inertia converted into equivalent value on servo motor shaft [kgcm2] JM: Moment of inertia of the servo motor [kgcm2] : Pi constant g: Gravitational acceleration [m/s2]
N V
WL
FC
(2)
(1) V
(3)
(4)
(6)
(5) (7)
(8)
tpsa1 t1 tpsd1 t2 tpsa2 t3 t4tpsd2
Servo motor Feed speed of moving part
Forward rotation
Time
Moving part Reverse rotation
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option
6
g)) S} / (2000 ) *2 Load moment of inertia converted into equivalent value on servo motor shaft JL can be calculated with the following formula. JL = JL1 +
JL2 + JL3 JL1 is the load moment of inertia of the moving part, JL2 is the load moment of inertia of the ball screw, and JL3 is the load moment of inertia of the coupling. JL1 and JL2 can be calculated with the following formulas. JL1 = WL (S / (20 ))2 JL2 = {( 0.0078 (LB / 10)) / 32} (DB / 10)4
From the calculation results in (1) to (8), find the absolute value (Es) of the sum total of negative energies.
Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
Inverse efficiency (m): Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Efficiency varies with the speed and generated torque. Because the characteristics of the electrolytic capacitor change with time, allow inverse efficiency of approximately 10 % higher than those shown above. Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier
Regenerative power
Torque T applied to servo motor [Nm] *1*2 Energy E [J]
(1)
(2) T2 = TL E2 = 0.1047 N T2 t1 (3)
(4), (8) T4, T8 = 0 E4, E8 = 0 (No regeneration)
(5)
(6) T6 = TL E6 = 0.1047 N T6 t3 (7)
Servo amplifier Inverse efficiency [%] Capacitor charging [J] MR-J5W2-22_ 85 17
MR-J5W2-44_ 90 21
MR-J5W2-77_ 90 44
MR-J5W2-1010_ 90 44
MR-J5W3-222_ 85 21
MR-J5W3-444_ 90 31
(JL/ + JM) N 9.55 104 tpsa1
1T1 = + TL 2 0.1047
E1 = N T1 tpsa1
-(JL + JM) N 9.55 104 tpsd1
1T3 = + TL 2 0.1047
E3 = N T3 tpsd1
(JL/ + JM) N 9.55 104 tpsa2
1 T5 = + TL 2
0.1047 E5 = N T5 tpsa2
-(JL + JM) N 9.55 104 tpsd2
1 T7 = + TL 2
0.1047 E7 = N T7 tpsd2
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option 245
24
Calculation of regenerative energy per cycle As an example, calculate the regenerative energy in the following operation pattern with MR-J5W3-_ servo amplifiers.
Calculate the energy at each timing in one cycle. Energy is a positive value in power running and a negative value in regeneration. Create a table like the one shown below, and write down the energy during power running/regeneration with signs.
Calculate the energy consumed by the regenerative resistor ER [J] with the following formula for the calculation results from E1 to E11 with negative values. When the absolute value of the value in E1 to E11 is assumed to be Es: ER [J] = m Es - Ec If ER values are negative at all timings, the regenerative option is not needed. If the values of ER include positive values, from the total of ERs whose subtraction results are positive and one-cycle period, the power consumption PR [W] of the regenerative resistor can be calculated with the following equation. PR [W] = total of positive ERs/one-cycle operation period (tf) The regenerative option is not required when the PR value is equal to or less than the specification value for the built-in regenerative power of the servo amplifier.
Timing (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) A-axis E1A E2A E3A E4A E5A E6A E7A E8A E9A E10A E11A
B-axis E1B E2B E3B E4B E5B E6B E7B E8B E9B E10B E11B
C-axis E1C E2C E3C E4C E5C E6C E7C E8C E9C E10C E11C
Sum E1 E2 E3 E4 E5 E6 E7 E8 E9 E10 E11
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11)
Servo motor speed tf (one cycle)
A-axis Time
B-axis Time
C-axis Time
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option
6
For linear servo motors Thrust and energy calculation
The following shows formulas of the linear servo motor thrust and energy at the operation pattern above.
From the calculation results in (1) to (8), find the absolute value (Es) of the sum total of negative energies.
Losses of servo motor and servo amplifier in regenerative mode For inverse efficiency and capacitor charging energy, refer to the following. Page 245 Losses of servo motor and servo amplifier in regenerative mode
Regenerative energy calculation Multiply the sum total of regenerative energies by the inverse efficiency, and subtract the capacitor charging from that result to calculate the energy consumed by the regenerative resistor. ER [J] = Es - Ec From the total of ERs whose subtraction results are positive and one-cycle period, the power consumption PR [W] of the regenerative resistor can be calculated with the following equation. PR [W] = total of positive ERs/one-cycle operation period (tf) Select a regenerative option based on the PR value. The regenerative option is not required when the energy consumption is equal to or less than the regenerative power of the regenerative resistor built into the servo amplifier.
Section Thrust F of linear servo motor [N] Energy E [J] (1) F1 = (M1 + M2) V/tpsa1 + Ft E1 = V/2 F1 tpsa1
(2) F2 = Ft E2 = V F2 t1
(3) F3 = -(M1 + M2) V/tpsd1 + Ft E3 = V/2 F3 tpsd1
(4), (8) F4, F8 = 0 E4, E8 = 0 (No regeneration)
(5) F5 = (M1 + M2) V/tpsa2 + Ft E5 = V/2 F5 tpsa2
(6) F6 = Ft E6 = V F6 t3
(7) F7 = -(M1 + M2) V/tpsd2 + Ft E7 = V/2 F7 tpsd2
V M1 M2
Ft
(2)
(1) V
(3)
(4)
(6)
(5) (7)
(8)
tpsa1 t1 tpsd1 t2 tpsa2 t3 t4tpsd2
Linear servo motor secondary side (magnet)
Linear servo motor feed speed
Load Positive direction
Time
Linear servo motor primary side (coil)
Negative direction
Linear servo motor
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option 247
24
Servo parameter setting Set [Pr. PA02] according to the regenerative option to be used. MR-J5-G/MR-J5W-G User's Manual (Parameters) MR-J5-B/MR-J5W-B User's Manual (Parameters) MR-J5-A User's Manual (Parameters)
Connection of regenerative option
If using the MR-RB50, MR-RB5N, MR-RB51, MR-RB5Z, MR-RB3M-4, MR-RB3G-4, MR-RB5G-4, MR-RB3Y- 4, or MR-RB5Y-4, cool it with a cooling fan. The cooling fan should be prepared by the customer. For the wire sizes, refer to the following. Page 280 Selection example of wires
The regenerative option generates heat that is 100 C higher than the ambient temperature. Fully consider heat dissipation, the installation position, wires used, and other relevant areas before installing the option. For wiring, use flame-retardant wires or make the wires flame retardant, and do not let them touch the regenerative option. Use twisted wires with a maximum length of 5 m for a connection with the servo amplifier.
For servo amplifiers of 7 kW or less Remove the wiring between P+ and D and install the regenerative option between P+ and C. G3 and G4 are terminals for the thermal sensor. Between G3 and G4 opens if the regenerative option overheats abnormally.
*1 When using the MR-RB50, MR-RB5N, MR-RB51, MR-RB5Z, MR-RB3M-4, MR-RB3G-4, MR-RB5G-4, MR-RB3Y-4, or MR-RB5Y-4, forcibly cool it with a cooling fan (1.0 m3/min or more, 92 mm 92 mm).
*2 If using the MR-RB30, MR-RB31, MR-RB3Z, MR-RB3N, or MR-RB34 with a regenerative load ratio of higher than 60 % and at an ambient temperature of above 55 C, forcibly cool it with a cooling fan (1.0 m3/min or more, 92 mm 92 mm). A cooling fan is not required if the ambient temperature is 35 C or less. (A cooling fan is required for the shaded area in the following graph.)
*3 Configure a sequence which will switch off the magnetic contactor when abnormal heating occurs. G3-G4 contact specifications Maximum voltage: 120 V AC/DC Maximum current: 0.5 A/4.8 V DC Maximum capacity: 2.4 VA
D
P+
C
G4
G3
C
P
*1*2
*3
Remove the wiring between P+ and D.
Servo amplifier Regenerative option
5 m or less
Cooling fan
100
60
0 0 35 55
A cooling fan is required.
Lo ad
ra tio
[% ]
A cooling fan is not required.
Ambient temperature [C]
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option
6
Mounting direction The mounting direction of the regenerative option is shown below.
Regenerative option Mounting direction MR-RB032 Vertical mounting
MR-RB12 Vertical mounting
MR-RB14 Vertical mounting
MR-RB30 Vertical mounting
MR-RB50 (A cooling fan is required.) Vertical mounting/horizontal mounting
MR-RB31 Vertical mounting
MR-RB51 (A cooling fan is required.) Vertical mounting/horizontal mounting
MR-RB3N Vertical mounting
MR-RB5N (A cooling fan is required.) Vertical mounting/horizontal mounting
MR-RB1H-4 Vertical mounting
MR-RB3M-4 (A cooling fan is required.) Vertical mounting
MR-RB3G-4 (A cooling fan is required.) Vertical mounting
MR-RB5G-4 (A cooling fan is required.) Vertical mounting/horizontal mounting
MR-RB3Y-4 Vertical mounting
MR-RB5Y-4 Vertical mounting/horizontal mounting
MR-RB3Z Vertical mounting
MR-RB34 Vertical mounting
MR-RB5Z (A cooling fan is required.) Vertical mounting/horizontal mounting
Top
Bottom
Top
Bottom
Vertical mounting Horizontal mounting
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option 249
25
Dimensions
MR-RB032 [Unit: mm]
Mass: 0.5 [kg] Terminal TE1
Applicable wire size: 0.2 mm2 to 2.5 mm2 (AWG 24 to 12) Tightening torque: 0.5 to 0.6 [Nm] Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
TE1
30
15
99 1.6
119
6
5
6 15
6
16 8
14 4
12 6 mounting hole
Approx. 20
Ap pr
ox .
12
Ap pr
ox .
6
G3
G4
P
C
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option
6
MR-RB12/MR-RB14 [Unit: mm]
Mass: 1.1 [kg] Terminal TE1
Applicable wire size: 0.2 mm2 to 2.5 mm2 (AWG 24 to 12) Tightening torque: 0.5 to 0.6 [Nm] Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
5
14 4
169
6
36 40
TE1
15
149 2
15 6
16 8
6 12 6 mounting hole
Approx. 20
Ap pr
ox .
6
G3
G4
P
C
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option 251
25
MR-RB1H-4 [Unit: mm]
Mass: 1.1 [kg] Terminal TE1
Applicable wire size: AWG 24 to 10 Tightening torque: 0.5 to 0.6 [Nm] Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
6
14 4
173
6
36 40
TE1
15
149 2
15 6
16 8
6
6 mounting hole
Approx. 24Ap pr
ox .
6
G3
G4
P
C
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option
6
MR-RB30/MR-RB3N/MR-RB31/MR-RB3Z/MR-RB34/MR-RB3Y-4/MR-RB3G-4/MR-RB3M-4 [Unit: mm]
Terminal block
Screw size: M4 Tightening torque: 1.2 [Nm] Mounting screw Screw size: M6 Tightening torque: 5.4 [Nm]
Regenerative option Variable dimensions Mass [kg]
A B MR-RB30 17 335 2.9
MR-RB31
MR-RB3Z
MR-RB34
MR-RB3N
MR-RB3Y-4 23 341
MR-RB3G-4
MR-RB3M-4
8. 5
12 5
8. 5
7 10 90
100 B A 318
14 2
15 0
79 30
101.5 82.5
82 .5
G 4
G 3
C P
2.3
Screw for mounting cooling fan (2-M4 screw)
Intake
Ap pr
ox .
30
P
C
G3
G4
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option 253
25
MR-RB50/MR-RB5N/MR-RB51/MR-RB5Z/MR-RB5G-4/MR-RB5Y-4 [Unit: mm]
Terminal block
Screw size: M4 Tightening torque: 1.2 [Nm] Mounting screw Screw size: M6 Tightening torque: 5.4 [Nm]
Regenerative option Variable dimensions Mass [kg]
A B MR-RB50 17 217 5.6
MR-RB5N
MR-RB51
MR-RB5Z 23 223
MR-RB5G-4
MR-RB5Y-4
G 4
G 3
C P
2.3
49 82.5
200 A
B 8120 10812
7
35 0
16 2.
5 12
.5 12
.5
82 .5
13 3 16
2. 5
Screw for mounting cooling fan (2-M3 screw) opposite side
714 slotted hole
Intake
Approx. 30
P
C
G3
G4
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 Regenerative option
6
6.3 MR-CM simple converter Combination of simple converter and servo amplifier Simple converters cannot be used with 400 V class servo amplifiers.
Selection method Select a servo amplifier for connection that meets the following conditions. Connectable servo amplifier models MR-J5-10_ to MR-J5-200_, MR-J5W2-22_ to MR-J5W2-1010_, MR-J5W3-222_/MR-J5W3-444_ The sum of rated capacities of connected servo amplifiers [kW] 3 kW (MR-CM3K rated output) For multi-axis servo amplifiers, the calculation uses the sum of the rated capacities of all axes as the rated capacity of one servo amplifier. Number of connectable servo amplifiers to one MR-CM3K 6 A multi-axis servo amplifier is counted as one servo amplifier unit, rather than the number of axes.
Servo amplifier setting when using a simple converter When using a simple converter, set [Pr. PA02.4] of the servo amplifier connected in the latter stage to "1" (simple converter is used). If the simple converter is used without setting [Pr. PA02.4], unexpected alarms may occur. The simple converter and the external regenerative option connected to the servo amplifier can be used together. To use an external regenerative option, set [Pr. PA02.0-1]. Note that the simple converter does not have a regenerative function. Also, an external regenerative option cannot be connected to the simple converter.
Simple converter standard specifications
*1 The value when a 3-phase power supply input is used
Model MR-CM3K Converter output Rated voltage 270 V DC to 324 V DC
Rated current 20 A *1
Main circuit power supply input
Voltage/Frequency 3-phase 200 V AC to 240 V AC, 50/60 Hz
Rated current 16 A *1
Permissible voltage fluctuation 3-phase 170 V AC to 264 V AC
Overheat detection function
Thermal sensor The contact between TH1 and TH2 opens if abnormal overheating occurs.
Contact specifications
Maximum voltage 110 V AC/DC
Maximum current 0.3 A/20 V DC
Minimum current 0.1 mA/1 V DC
Maximum capacity 6 VA
Applicable servo amplifier MR-J5-10_ to MR-J5-200_ MR-J5W2-22_ to MR-J5W2-1010_ MR-J5W3-222_, MR-J5W3-444_
Maximum number of connectable servo amplifiers 6
Total capacity of connectable servo amplifiers 3 kW
Continuous rating 3 kW
Instantaneous maximum rating 9 kW
IP rating IP20
Close mounting 3-phase power supply input Possible
Mass 0.7 kg
Wire size L1/L2/L3/PE 2 mm2 to 3.5 mm2 (AWG 14 to 12)
P4/N- 2 mm2 to 3.5 mm2 (AWG 14 to 12)
Total wiring length from P4/N- of simple converter to P4/N- of servo amplifier
5 m or less
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter 255
25
Environment 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 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, 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)
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter
6
External interface
Example of configuration including peripheral equipment For mounting CNP1 and CNP2 to the servo amplifier, use daisy chain power connectors. Do not use the connector set supplied with the servo amplifier. Page 231 List of cables/connector sets
Restrictions When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the
left. Otherwise, the CNP1, CNP2, and CNP3 connectors cannot be removed. When installing a servo amplifier on the left that is deeper than the servo amplifier on the right without close mounting,
leave at least 15 mm of clearance between the servo amplifiers.
*1 Do not remove dummy pins or wires attached to CNP2 connectors. *2 To detach a CNP2 connector when servo amplifiers are closely mounted, detach the CN3 connector of the servo amplifier on the left
side before detaching the CNP2 connector. *3 For the wires between the simple converter and a servo amplifier and between each servo amplifier, twist or bundle them with cable ties
to keep the two wires close to each other. Also, total wiring length from P4/N- of the simple converter to P4/N- of the servo amplifier should be 5 m or less.
L1 L2 L3 N- N-
P4
MCCB
MC
L1
L2
L3
N-
P4
T1
T2
P4
L11
L21
*3
*3
L11
L21
N- N-
P4 P4
L11
L21
L11 L21
CNP1
CNP1CNP1
CNP2 *1 *2 CNP2 *1 *2
CNP2
CN10
CNP3 CNP3
Power supply
EMC filter
Simple converter Servo amplifier Servo amplifier
Power factor improving AC reactor
Line noise filter
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter 257
25
Parts identification 200 V class
Pin assignment CNP1
CNP2
No. Name/Application (1) Main circuit power connector (CNP1)
Connect the input power supply.
(2) PN bus connection connector (CNP2) Connect to P4/N- pin of next-axis servo amplifier.
(3) Overheat detection connector (CN10) If overheating is detected, between terminals changes to "OPEN".
(4) Protective earth PE terminal
Pin No. Signal name Description 1 L1 L1 phase
2 L2 L2 phase
3 L3 L3 phase
Pin No. Signal name Description 1 N- Bus voltage reference potential
2 Unassigned
3 P4 Bus voltage plus potential
(1)
L1
L2
L3
N-
P4
T1
T2
(2)
(3)
(4)
1
2
3
Pin number diagram viewed from Wiring side
1
2
3
Pin number diagram viewed from Wiring side
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter
6
CN10
To wire to CNP1, CNP2, and CN10, use the supplied connectors.
Pin No. Signal name Description 1 TH1 Main circuit overheat protection contact 1
2 Unassigned
3 TH2 Main circuit overheat protection contact 2
Connector Receptacle assembly Applicable wire Stripped length [mm] Open tool Manufacturer
Size Insulator OD CNP1 03JFAT-SAYGFK-XL(LB) AWG 16 to 10 4.7 mm or less 11.5 mm J-FAT-OT-EXL JST
CNP2 02(16.0)JFAT-SAZGFKXL(LA) AWG 16 to 10 4.7 mm or less 11.5 mm
CN10 02(3-2)JFAT-SAYDFK-K7.5 AWG 18 to 14 3.9 mm or less 9 mm
1
2
3
Pin number diagram viewed from Wiring side
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter 259
26
Signals and wiring
200 V class
MC *5
N-
P4
P4
P+
L11
L21
L11
L21
N-
D
C
CNP1 *1
CNP2 *1
MCCB
*2
*8
*7
L1
L2
L3
CN10 TH1
TH2
CNP2
N-
P4
CNP1
*4
RA2
CN3
DOCOM
ALM
*7
RA1
*9
*9
DICOM
EM2
MC SK
MC RA1 RA2
*3
*11
RA3
Simple converter
Malfunction
24 V DC
24 V DC
OFF ON
Emergency stop switch
3-phase 200 V AC to 240 V AC
To next-axis servo amplifier
Main circuit power supply *6
24 V DC (100 V AC compatible)
Servo amplifier
To next-axis servo amplifier
Servo motor overheat protection *10
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter
6
*1 Use daisy chain power connectors for CNP1 and CNP2. Do not use the connector set supplied with the servo amplifier. Page 231 List of cables/connector sets
*2 Connect P+ and D terminals. (factory-wired). *3 Do not remove dummy pins or wires attached to CNP2 connectors. *4 If overheating of the simple converter is detected, the state between TH1 and TH2 is open. Configure wiring that turns off the servo-on
command after deceleration to a stop by an enabled servo forced stop, an enabled controller emergency stop, or others simultaneously with when the main circuit power supply of the simple converter is shut off using a 2a contact relay or the like.
*5 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. The bus voltage may drop depending on the main circuit power supply voltage and operation pattern, causing a dynamic brake deceleration during a forced stop deceleration.
*6 To prevent an unexpected restart of the servo amplifier, configure a circuit to turn off EM2 of the servo amplifier when the main circuit power supply is turned off.
*7 When using multiple servo amplifiers connected to a common bus, configure a circuit that shuts off the main circuit power supply if an alarm occurs in any of the servo amplifiers. (Configure a sequence using an I/O module or equivalent equipment. Alternatively, connect an alarm output contact relay for each servo amplifier in sequence on the coil side of the magnetic contactor to shut off the magnetic contactor.) In addition, stop commands from the controller simultaneously with the main circuit power supply shutting off.
*8 Install an overcurrent protection device (molded-case circuit breaker, fuse, etc.) to protect the branch circuit. *9 For the wires between the simple converter and a servo amplifier and between each servo amplifier, twist or bundle them with cable ties
to keep the two wires close to each other. Also, total wiring length from P4/N- of the simple converter to P4/N- of the servo amplifier should be 5 m or less.
*10 When connecting a linear servo motor that has a thermal protector, add a contact that interlocks with the thermal protector output of the linear servo motor.
*11 Even if the control circuit power supply is separated from the main circuit power supply using an uninterruptible power supply (UPS) or insulation transformer, do not ground L11 and L21.
Connection example of driving on/off of main circuit power supply with DC power supply
*1 When connecting a linear servo motor that has a thermal protector, add a contact that interlocks with the thermal protector output of the linear servo motor.
Magnetic contactor used for driving on/off of main circuit power supply with DC power supply Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
Model Magnetic contactor MR-CM3K SD-T21
MCCB MC L1
L2
L3
CN10 TH1
TH2
CNP2
N-
P4
CNP1
MC SK
MC RA1 RA2 RA3
Emergency stop switch
3-phase 200 V AC to 240 V AC
24 V DC
Simple converter OFF ON
Malfunction
Servo motor overheat protection *1
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter 261
26
Dimensions
6
15 6
0.
5
15 6
10 6
CNP2
CNP1
CN10 17 216 5
40
6 135
6 PE
L1
L2
L3
N-
P4
T1
T2
16 8
2-M5 screw
[Unit: mm]
Mounting hole location diagram
6 mounting hole Approx. 80
Ap pr
ox . 6
Ap pr
ox . 1
68 Ap
pr ox
. 6
Approx. 6
Approx. 40
Screw size: M4 Tightening torque: 1.2 [Nm]
Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter
6
Peripheral equipment
Molded-case circuit breakers, fuses, magnetic contactors Circuit breakers, fuses, or motor circuit breakers (Type E combination motor controllers) that match the sum of the rated capacities [kW] of the connected servo amplifiers can be used. The selection condition is as follows. When using a multi-axis servo amplifier, calculate the sum of the rated capacities of all axes as the rated capacity of the servo amplifier. The sum of rated capacities of connected servo amplifiers [kW] 3 kW (MR-CM3K rated output)
*1 Refer to the following page for compliance with IEC/EN/UL/CSA standards. Page 294 Molded-case circuit breaker/Semiconductor fuse (simple converter)
Motor circuit breaker (Type E combination motor controller)
Power factor improving AC reactor
EMC filter For selection of EMC filters, refer to the following and the EMC Installation Guidelines. Page 316 EMC filter (recommended)
Surge protector Install a surge protector that meets the EMC measures of the servo amplifier to be connected onto the primary (input) side of the simple converter. PSPD series (manufactured by Okaya Electric Industries) or LT-CS-WS series (manufactured by Soshin Electric)
Simple converter
Total servo amplifier capacity
Molded-case circuit breaker *1 Fuse Magnetic contactorFrame, rated current Voltage
AC [V] Class Current
[A] Voltage AC [V]When a reactor
is not used When a reactor is used
AC power supply
DC power supply
MR-CM3K Less than 2 kW 30 to 125 A frame 15 to 20 A
30 to 125 A frame 15 to 20 A
240 T 15 to 30 300 S-T21 SD-T21
2 kW or more 30 to 125 A frame 20 to 30 A
30 to 125 A frame 20 to 30 A
240 T 40 300
Voltage Sum of rated capacities of servo amplifiers [kW]
Input rating [Vac]
Input phase
Motor circuit breaker (Type E combination motor controller)
SCCR [kA]
Model Rating [Vac] Rated current [A] (heater design)
200 V system
100 W 200 to 240 3-phase MMP-T32 240 1.6 50
200 W or less 2.5
400 W or less 4
600 W or less 6.3
750 W or less 6.3
1 kW or less 8
2 kW or less 18
Over 2 kW 25 25
Simple converter Power factor improving AC reactor MR-CM3K FR-HAL-7.5K
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter 263
26
I/O wires The input/output wire size of the simple converter is determined by the sum of the rated input currents of the connected servo amplifiers. The thickness of the output wires of the servo amplifiers that are connected to the simple converter should be the same as that of the servo amplifiers that are not directly connected to the simple converter.
Radio noise filter (FR-BIF(-H)) When using the radio noise filter (FR-BIF(-H)) as an EMC measure for the servo amplifier connected to the simple converter, install the radio noise filter on the primary (input) side of the simple converter.
Line noise filter (FR-BSF01/FR-BLF) When using a line noise filter (FR-BSF01/FR-BLF) as an EMC measure for the servo amplifier connected to the simple converter, install the line noise filter on the primary (input) side of the simple converter.
Mounting direction and clearances
Install the simple converter in the specified direction. Failing to do so may cause the amplifier to malfunction. Mount the simple converter in a cabinet that meets IP54 in the correct vertical direction to maintain pollution degree 2.
Total current of servo amplifiers Wire (75 C) 12 A or less AWG 14 (2 mm2)
Over 12 A AWG 12 (3.5 mm2)
Cabinet Cabinet
40 mm or more Wiring allowance
80 mm or more
10 mm or more
10 mm or more
40 mm or more
Top
Bottom
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 MR-CM simple converter
6
6.4 Multifunction regeneration converter (FR-XC-(H))
For details on the multifunction regeneration converter (FR-XC-(H)), refer to "FR-XC Instruction Manual (IB- 0600668ENG)".
Precautions Set the FR-XC-(H) to the common bus regeneration mode by turning on the switch 1 of the function selecting switch (SW2). Do not apply power to the main circuit power supply terminals (L1/L2/L3) of the servo amplifier. Doing so may fail the servo
amplifier and the FR-XC-(H). Connect the polarities of the DC power supply between the FR-XC-(H) and the servo amplifier correctly. Failing to do so
may fail the FR-XC-(H) and the servo amplifier. Regenerative capacity cannot be enhanced even if two or more FR-XC-(H) are connected. When using the FR-XC-H, the rated voltage and the permissible fluctuation of the input power supply must be within the
following range. Rated voltage: 3-phase, 380 to 480 V, 50 Hz/60 Hz Permissible fluctuation: 3-phase, 323 to 528 V, 50 Hz/60 Hz
Servo amplifier settings When using the FR-XC-(H), set the parameters as follows. [Pr. PA02.0-1]: 01/[Pr. PA02.4]: 0 [Pr. PA04.2]: 0/[Pr. PA04.3]: 0
Capacity selection
Selection conditions The multifunction regeneration converter FR-XC-(H) can be used with 200 V class servo amplifiers with capacities of 100 W to 7 kW and 400 V class servo amplifiers with capacities of 600 W to 3.5 kW. Use the following conditions to select a multifunction regeneration converter. Number of servo amplifiers to be connected to one FR-XC-(H) is 10 or less Total capacity of servo amplifiers [kW] Total capacity of servo amplifiers that can be connected to the FR-XC-(H) [kW] Effective value of total output power of servo motors [kW] Continuous output of the FR-XC-(H) [kW] Maximum value of total output power of servo motors [kW] Instantaneous maximum output of the FR-XC-(H) [kW]
*1 Values in parentheses are when six servo amplifiers or less are connected.
Item FR-XC-(H)-_
7.5K 11K 15K 22K 30K 37K 55K Rated capacity [kW] 7.5 11 15 22 30 37 55
Maximum number of connectable servo amplifiers 10
Total capacity of connectable servo amplifiers [kW] *1 3.5 (5.5) 5.5 (7.5) 7.5 (11) 22 30 37 55
Continuous output [kW] *1 3.5 (5.5) 5.5 (7.5) 7.5 (11) 18.5 22 30 45
Instantaneous maximum output [kW] 11.25 16.5 22.5 33 45 55.5 82.5
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Multifunction regeneration converter (FR-XC-(H)) 265
26
Dedicated stand-alone reactor Install a dedicated stand-alone reactor on the multifunction regeneration converter FR-XC-(H) according to the following table.
Selection example The following information explains how to select a multifunction regeneration converter to connect to the servo amplifiers listed below.
Multifunction regeneration converter Dedicated stand-alone reactor FR-XC-7.5K FR-XCL-7.5K
FR-XC-11K FR-XCL-11K
FR-XC-15K FR-XCL-15K
FR-XC-22K FR-XCL-22K
FR-XC-30K FR-XCL-30K
FR-XC-37K FR-XCL-37K
FR-XC-55K FR-XCL-55K
FR-XC-H7.5K FR-XCL-H7.5K
FR-XC-H11K FR-XCL-H11K
FR-XC-H15K FR-XCL-H15K
FR-XC-H22K FR-XCL-H22K
FR-XC-H30K FR-XCL-H30K
FR-XC-H37K FR-XCL-H37K
FR-XC-H55K FR-XCL-H55K
Servo amplifier Number of units Servo motor Number of units MR-J5-500G 1 HK-ST502W 1
MR-J5-350G 1 HK-ST352W 1
MR-J5-700G 2 HK-ST702W 2
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Multifunction regeneration converter (FR-XC-(H))
6
1. Calculate the running power and regenerative power from the servo motor speed and torque with the following formulas. For rotary servo motors Running power and regenerative power [W] = Servo motor speed [r/min] Torque [Nm]/9.55 For linear servo motors Running power and regenerative power [W] = Servo motor speed [m/s] Thrust [N] (Running power is indicated by positive values, and regenerative power is indicted by negative values.)
2. Calculate the total output power of the servo motors from the running power and regenerative power of each servo motor.
3. Select a multifunction regeneration converter based on the selection conditions. Servo amplifier units: 4 10
Number of servo amplifiers OK. Total capacity of servo amplifiers [kW] = 5 kW + 3.5 kW + 7 kW + 7 kW =22.5 kW
FR-XC-30K or more The effective value of the total servo motor output power [kW]
FR-XC-30K or more Maximum value of the total servo motor output power [kW] = 40 kW
FR-XC-30K or more Therefore, the multifunction regeneration converter selected should be the "FR-XC-30K".
-15 kW
-15 kW-15 kW
0.1 s0.1 s
5 kW 0.1 s
40 kW
0.5 s
0.7 s
0.6 s
0.2 s0.3 s
0.1 s
0.1 s 0.2 s
0.1 s
0.1 s
0.1 s
0.1 s
0.1 s 0.1 s
5 kW
20 kW
20 kW
15 kW
-5 kW
10 kW 0.1 s 0.1 s
0.1 s
-5 kW
10 kW
15 kW
20 kW
MR-J5-350G/ HK-ST-352W
MR-J5-700G/ HK-ST-702W
MR-J5-700G/ HK-ST-702W
0.2 s
0.1 s
0.6 s
0.1 s 0.1 s
0.1 s-5 kW
10 kW 0.1 s 0.1 s
-5 kW
10 kW
MR-J5-500G/ HK-ST-502W
0.1 s
0.6 s
Running power
Regenerative power
Running power
Regenerative power
Running power
Regenerative power
Running power
Regenerative power
1.2 s per cycle
Running power
Regenerative power
Total output power of the servo motors
Add up all the servo motor outputs
(202 0.1 + 52 0.2 + 202 0.5 + 402 0.1 + 52 0.1 + (-15)2 0.1)/1.2 = 18.93 kW=
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Multifunction regeneration converter (FR-XC-(H)) 267
26
Connection diagram
200 V class
*1 Configure a sequence that shuts off the main circuit power supply in the following situations: When an FR-XC or servo amplifier alarm occurs. When EM1 (Forced stop 1) is enabled.
*2 Configure a sequence that shifts the status to servo-on once the FR-XC is ready. *3 Ensure that the servo motor stops by using a forced stop input to the controller when an alarm occurs in the FR-XC. If the controller does
not have an emergency stop input, use the forced stop input of the servo amplifier to stop the servo motor. *4 When using the FR-XC, remove the wire between P3 and P4. *5 To use EM1 (Forced stop 1), set [Pr. PA04.3] and [Pr. PA04.2] to "0". *6 If wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. *7 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes,
the system can be configured to use a single 24 V DC power supply. *8 Remove the R1/L11 and S1/L21 jumpers when using a dedicated power supply for the control circuit. *9 Do not connect anything to the P4 terminal of the FR-XC. *10 Install a fuse on each wire between the FR-XC and servo amplifier. *11 Wire the built-in regenerative resistor when using servo amplifiers with a capacity of 7 kW or less. (factory-wired). *12 The inputs/outputs (main circuit) of the FR-XC and servo amplifier contain high-frequency components which may interfere with the
signals of peripheral communication equipment. Installing a radio noise filter (FR-BIF) or line noise filter (FR-BSF01 or FR-BLF) can help reduce the effects of signal interference.
*13 When connecting a DC power supply between the FR-XC and servo amplifier, the wires should be twisted and the total length should be 5 m or less (3 m or less for compliance with EMC).
*14 Install a dedicated stand-alone reactor (FR-XCL) when using the FR-XC. Do not use a power factor improving AC reactor (FR-HAL) or power factor improving DC reactor (FR-HEL). Page 266 Dedicated stand-alone reactor
*15 Even if the control circuit power supply is separated from the main circuit power supply using an uninterruptible power supply (UPS) or insulation transformer, do not ground L11 and L21.
T/L3
S/L2
R/L1
T2/L32
MCMCCB
S2/L22
R2/L12
FR-XCL *14
MC
RA2RA1 EM1
*1
MC
SK
RA1 *3 EM1
R2/L12
S2/L22
N/-
P4 *9
*2 RYB
RYA
SE
P/+ T2/L32
R/L1
S/L2
T/L3
*1
L11
L21
*10 P4
N-
U
V
W
EM1 *1*5
R1/L11
S1/L21 *8
U
V
W
E
CN2
FR-XC
*4
*15
*6
DICOM
B
C
A RA1
DOCOM
ALM RA2
*13
3-phase 200 V AC to 240 V AC
OFF ON
Servo motorServo amplifier *11*12
Controller
24 V DC *7
24 V DC *7
24 V DC *7
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Multifunction regeneration converter (FR-XC-(H))
6
400 V class
*1 Configure a sequence that shuts off the main circuit power supply in the following situations: When an FR-XC-H or servo amplifier alarm occurs. When EM1 (Forced stop 1) is enabled.
*2 Configure a sequence which will make the servo amplifier servo-on state after the FR-XC-H becomes ready. *3 Configure a sequence which will stop the servo motor using the forced stop input to the controller when an alarm occurs on the FR-XC-
H. If the controller does not have an emergency stop input, use the forced stop input of the servo amplifier to stop the servo motor. *4 When using the FR-XC-H, remove the wire between P3 and P4. *5 To use EM1 (Forced stop 1), set [Pr. PA04.3] and [Pr. PA04.2] to "0". *6 If wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. *7 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes,
the system can be configured to use a single 24 V DC power supply. *8 Remove the R1/L11 and S1/L21 jumpers when using a dedicated power supply for the control circuit. *9 Do not connect anything to the P4 terminal of the FR-XC-H. *10 Install a fuse on each wire between the FR-XC-H and servo amplifier. *11 Wire the built-in regenerative resistor when using servo amplifiers with a capacity of 7 kW or less. (factory-wired). *12 The inputs/outputs (main circuits) of the FR-XC-H and servo amplifier contain harmonics components, which may cause
electromagnetic interference on the peripheral communication equipment. Installing the radio noise filter (FR-BIF-H) or line noise filter (FR-BSF01 or FR-BLF) can reduce the interference.
*13 When connecting a DC power supply between the FR-XC-H and servo amplifier, the wires should be twisted and the total length should be 5 m or less (3 m or less for compliance with EMC).
*14 When using the FR-XC-H, install the dedicated stand-alone reactor (FR-XCL-H). Do not use the power factor improving AC reactor (FR- HAL-H). Page 266 Dedicated stand-alone reactor
*15 Even if the control circuit power supply is separated from the main circuit power supply using an uninterruptible power supply (UPS) or insulation transformer, do not ground L11 and L21.
T/L3
S/L2
R/L1
T2/L32
MCMCCB
S2/L22
R2/L12
FR-XCL-H *14
MC
RA2RA1 EM1
*1
MC
SK
RA1 *3 EM1
R2/L12
S2/L22
N/-
P4 *9
*2 RYB
RYA
SE
P/+ T2/L32
R/L1
S/L2
T/L3
*1
L11
L21
*10*13 P4
N-
U
V
W
EM1 *1*5
R1/L11
S1/L21 *8
U
V
W
E
CN2
FR-XC-H
*4
*6
DICOM
B
C
A RA1
DOCOM
ALM RA2
*15 Servo amplifier *11*12 Servo motor
3-phase 380 V AC to 480 V AC
Step-down transformer
24 V DC *7
24 V DC *7
Controller
OFF ON
24 V DC *7
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Multifunction regeneration converter (FR-XC-(H)) 269
27
Wiring and peripheral options
Wire size
Selection requirements for the wire size are as follows. Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction requirements: Single wire set in midair
Between P/+ to P4 and N/- to N- The following table shows the size of the wire between the FR-XC-(H) and servo amplifier.
Grounding The following table shows the size of the grounding wire for the FR-XC-(H). Use the shortest size wire possible.
Total capacity of servo amplifiers [kW] Wire size [mm2]
200 V class 400 V class 1 or less 2 (AWG 14) 2 (AWG 14)
2 3.5 (AWG 12) 2 (AWG 14)
3.5 5.5 (AWG 10) 3.5 (AWG 12)
5 5.5 (AWG 10) 5.5 (AWG 10)
7 8 (AWG 8) 5.5 (AWG 10)
11 14 (AWG 6) 8 (AWG 8)
15 22 (AWG 4) 8 (AWG 8)
18.5 38 (AWG 2) 8 (AWG 8)
22 50 (AWG 1/0) 14 (AWG 6)
27.5 50 (AWG 1/0) 22 (AWG 4)
30 60 (AWG 2/0) 22 (AWG 4)
37 80 (AWG 3/0) 38 (AWG 2)
45 100 (AWG 4/0) 38 (AWG 2)
55 100 (AWG 4/0) 50 (AWG 1/0)
Multifunction regeneration converter Wire size [mm2]
Rated capacity of multifunction regeneration converter Total capacity of connected servo amplifiers 2
Rated capacity of multifunction regeneration converter < Total capacity of connected servo amplifiers 2
FR-XC-7.5K 8 (AWG 8) 8 (AWG 8)
FR-XC-11K 8 (AWG 8) 14 (AWG 6)
FR-XC-15K 8 (AWG 8) 22 (AWG 4)
FR-XC-22K 22 (AWG 4) 38 (AWG 2)
FR-XC-30K 22 (AWG 4) 38 (AWG 2)
FR-XC-37K 38 (AWG 2) 60 (AWG 2/0)
FR-XC-55K 38 (AWG 2) 80 (AWG 3/0)
FR-XC-H7.5K 3.5 (AWG 12) 3.5 (AWG 12)
FR-XC-H11K 3.5 (AWG 12) 5.5 (AWG 10)
FR-XC-H15K 3.5 (AWG 12) 8 (AWG 8)
FR-XC-H22K 8 (AWG 8) 14 (AWG 6)
FR-XC-H30K 8 (AWG 8) 22 (AWG 4)
FR-XC-H37K 14 (AWG 6) 22 (AWG 4)
FR-XC-H55K 14 (AWG 6) 38 (AWG 2)
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Multifunction regeneration converter (FR-XC-(H))
6
Wire size selection example (between P/+ and P4, between N/- and N-) When connecting multiple servo amplifiers to the FR-XC, use junction terminal blocks for the wiring to terminals P4 and N- on the servo amplifiers. Connect the servo amplifiers in order with the largest capacity first.
200 V class
*1 Wire as short as possible. *2 Select 38 mm2 assuming that the total capacity of servo amplifiers is 18.5 kW since 7 kW + 5 kW + 3.5 kW + 2 kW = 17.5 kW. *3 Select 14 mm2 assuming that the total capacity of servo amplifiers is 11 kW since 5 kW + 3.5 kW + 2 kW = 10.5 kW. *4 Select 8 mm2 assuming that the total capacity of servo amplifiers is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW. *5 Select 3.5 mm2 assuming that the total capacity of servo amplifiers is 2 kW since 2.0 kW = 2.0 kW.
400 V class
*1 Wire as short as possible. *2 Select 8 mm2 assuming that the total capacity of servo amplifiers is 15 kW since 3.5 kW + 3.5 kW + 3.5 kW + 2 kW = 12.5 kW. *3 Select 8 mm2 assuming that the total capacity of servo amplifiers is 11 kW since 3.5 kW + 3.5 kW + 2 kW = 9 kW. *4 Select 5.5 mm2 assuming that the total capacity of servo amplifiers is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW. *5 Select 2 mm2 assuming that the total capacity of servo amplifiers is 2 kW since 2.0 kW = 2.0 kW.
R2/L12
S2/L22
T2/L32
R/L1
S/L2
T/L3
P/+
N/-
8 mm2 *1
14 mm2 *338 mm2 *2FR-XC-30K
P4
N-
5.5 mm2 *1
8 mm2 *4
P4
N-
5.5 mm2 *1
P4
N-
3.5 mm2 *1*5
P4
N-
Overall wiring length 5 m or less
Fourth unit: Servo amplifier (2 kW)
Third unit: Servo amplifier (3 kW)
Second unit: Servo amplifier (5 kW)
First unit: Servo amplifier (7 kW)
R2/L12
S2/L22
T2/L32
R/L1
S/L2
T/L3
P/+
N/-
3.5 mm2 *1
8 mm2 *38 mm2 *2FR-XC-H55K
P4
N-
3.5 mm2 *1
5.5 mm2 *4
P4
N-
3.5 mm2 *1
P4
N-
2 mm2 *1*5
P4
N-
Overall wiring length 5 m or less
Fourth unit: Servo amplifier (2 kW)
Third unit: Servo amplifier (3.5 kW)
Second unit: Servo amplifier (3.5 kW)
First unit: Servo amplifier (3.5 kW)
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Multifunction regeneration converter (FR-XC-(H)) 271
27
Fuses (between P/+ and P4, between N/- and N-) The following table shows the recommended fuses which are to be installed between the FR-XC-(H) and servo amplifier.
*1 Manufacturer: Mersen Fma Japan KK Service inquiries: Sun-wa Technos Corp.
Molded-case circuit breakers/earth-leakage current breakers and magnetic contactors Recommended molded-case circuit breakers/earth-leakage current breakers and magnetic contactors are listed in the table below.
200 V class
*1 Models in parentheses can be used when the rated capacity of multifunction regeneration converter total capacity of connected servo amplifiers 2.
400 V class
*1 Models in parentheses can be used when the rated capacity of multifunction regeneration converter total capacity of connected servo amplifiers 2.
Servo amplifier capacity [kW] 200 V class 400 V class
Fuse rating [A] Model *1 Fuse rating [A] Model *1
0.1 20 6.900CPGR10.38 0020
0.2 20 6.900CPGR10.38 0020
0.4 25 6.900CPGR10.38 0025
0.6 25 6.900CPGR10.38 0025 20 6.900CPGR10.38 0020
0.75 30 6.900CPGR10.38 0030
1 32 6.900CPGR10.38 0032 20 6.900CPGR10.38 0020
2 63 6.9URD30TTF0063 25 6.900CPGR10.38 0025
3.5 80 6.9URD30TTF0080 63 6.9URD30TTF0063
5 160 6.9URD30TTF0160
7 200 6.9URD30TTF0200
Item FR-XC-_
7.5K 11K 15K 22K 30K 37K 55K Molded-case circuit breaker or earth-leakage current breaker *1
100AF 60A (30AF 30A)
100AF 75A (50AF 50A)
225AF 125A (100AF 75A)
225AF 175A (100AF 100A)
225AF 225A (125AF 125A)
400AF 250A (125AF 125A)
400AF 400A (225AF 175A)
Magnetic contactor *1 S-T35 (S-T21)
S-T50 (S-T35)
S-T65 (S-T50)
S-T100 (S-T65)
S-N125 (S-T80)
S-N150 (S-T100)
S-N220 (S-N125)
Item FR-XC-H_
7.5K 11K 15K 22K 30K 37K 55K Molded-case circuit breaker or earth-leakage current breaker *1
30AF 30A (30AF 15A)
50AF 50A (30AF 20A)
100AF 60A (30AF 30A)
100AF 100A (50AF 50A)
225AF 125A (60AF 60A)
225AF 150A (100AF 75A)
225AF 200A (100AF 100A)
Magnetic contactor *1 S-T21 S-T25 (S-T21)
S-T35 (S-T21)
S-T50 (S-T25)
S-T65 (S-T35)
S-T80 (S-T50)
S-N125 (S-T65)
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Multifunction regeneration converter (FR-XC-(H))
6
6.5 PS7DW-20V14B-F junction terminal block (recommended) (1-axis servo amplifier) [G] [B]
Usage Use the junction terminal block (PS7DW-20V14B-F) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below.
For MR-J2HBUS_M, ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN- ESET). For the use of the cable clamp fitting, refer to the following. Page 309 Cable clamp fitting AERSBAN-_SET
Connection of MR-J2HBUS_M cable and junction terminal block For details on I/O signals, refer to the following. Page 51 Example I/O signal connections
*1 Numbers in "_" indicate the cable length. 05: 0.5 m 1: 1 m 5: 5 m
PS7DW-20V14B-F
CN3 MR-J2HBUS_M
(AERSBAN-ESET)
Servo amplifier
Junction terminal block Cable clamp
1 2 3 4
8 7
9
MR-J2HBUS_M *1
5 6
10 11 12 13 14
18 17
19
15 16
20
1 2 3 4
8 7
9
5 6
10 11 12 13 14
18 17
19
15 16
20
1 2 3 4
8 7
9
5 6
10 11 12 13 14
18 17
19
15 16
20
1 2 3 4
8 7
9
5 6
10 11 12 13 14
18 17
19
15 16
20
E
CN3
PS7DW-20V14B-F
1 2 3 4
8 7
9
5 6
10 11 12 13 14
18 17
19
15 16
20
Junction terminal block Servo amplifier
Terminal block
Shell Shell ShellShell
Connector: 52316-2019 (Molex) Shell kit: 52370-2070 (Molex)
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.5 PS7DW-20V14B-F junction terminal block (recommended) (1-axis servo amplifier) [G] [B] 273
27
Dimensions of junction terminal block [Unit: mm]
M3 6L
M3 5L 36
.5 27
.8 18
.8
7.62 44.11
54 63
4.5
4. 5
5
4 60509. 3
27 TB.E (6)
1.426.2
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.5 PS7DW-20V14B-F junction terminal block (recommended) (1-axis servo amplifier) [G] [B]
6
6.6 MR-TB26A junction terminal block (multi-axis servo amplifier) [G] [B]
Usage Use the junction terminal block (MR-TB26A) with the junction terminal block cable (MR-TBNATBL_M) as a set. To use a junction terminal block, mount it to the DIN rail.
The terminal numbers on a junction terminal block correspond with the pin numbers on the CN3 connector of a servo amplifier. The terminal symbol S is for the shield.
Ground the junction terminal block cable using the S terminal of the junction terminal block.
Specifications Item MR-TB26A Rating AC/DC 32 V 0.5 A
Usable wires Stranded wire 0.08 mm2 to 1.5 mm2 (AWG 28 to 14)
Solid wire 0.32 mm to 1.2 mm
Wire insulator OD 3.4 mm or less
Tool 210-619 (WAGO) or equivalent 210-119SB (WAGO) or equivalent
Stripped length 5 mm to 6 mm
Cable length 05: 0.5 m 1: 1 m
CN3
MR-TB26A
(MR-TBNATBL_M)
Servo amplifier Junction terminal block
Junction terminal block cable
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 MR-TB26A junction terminal block (multi-axis servo amplifier) [G] [B] 275
27
Dimensions [Unit: mm]
*1 Values in parentheses are the sizes when installed with a 35 mm DIN rail.
23 .6
141
141
26 .6
26 27
55
57
Ap pr
ox . 3
5 *1
Ap pr
ox . 7
.5 *1
Ap pr
ox . 3
1. 1
*1
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 MR-TB26A junction terminal block (multi-axis servo amplifier) [G] [B]
6
6.7 MR-TB50 junction terminal block [A]
Usage Use the junction terminal block (MR-TB50) with the junction terminal block cable (MR-J2M-CN1TBL_M) as a set.
Ground the junction terminal block cable on the junction terminal block side with the supplied cable clamp fitting (AERSBAN- ESET). For the use of the cable clamp fitting, refer to the following. Page 309 Cable clamp fitting AERSBAN-_SET
Terminal block label Use the following for the junction terminal block. The label is supplied with the junction terminal block MR-TB50.
Dimensions [Unit: mm]
CN3
Servo amplifier
Junction terminal block MR-TB50Cable clamp
Junction terminal block cable (MR-J2M-CN1TBL_M)
SONP15R LG LAR LBR LZR PG PC RES DICOM ZSP TLC TLA OP NP CR LSP LOP DOCOM RD
LA LB LZ PP OPC TL INP INP LG LG NG EMG LSN ALM SDDICOM LG DOCOM
1 2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
Position control mode
SONP15R LG LAR LBR LZR ST1 RES DICOM ZSP TLC TLA OP SP1 LSP LOP DOCOM RD
LAVC LB LZ ST2 SA SASP2 LG LG EMG LSN ALM SDDICOM LG DOCOM
1 2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
Speed control mode
SONP15R LG LAR LBR LZR SR2 RES DICOM ZSP VLC TC OP SP1 LOP DOCOM RD
LAVLA LB LZ RS1SP2 LG LG EMG ALM SDDICOM LG DOCOM
1 2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
Torque control mode
235
50
25 9
2 1
50 49
MITSUBISHI MR-TB50
2-4.5
244 2. 5
46.5
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32
35 37 39 41 43 45 47 49 34 36 38 40 42 44 46 48 50
Terminal screw: M3.5 Applicable wire: 2 mm2
Crimp terminal width: 7.2 mm or less
Ap pr
ox .
25
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.7 MR-TB50 junction terminal block [A] 277
27
Junction terminal block cable MR-J2M-CN1TBL_M Model explanations
05 1
0.5 1
M M MR C N T LJ B12- - _Model:
Symbol Cable length [m]
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.7 MR-TB50 junction terminal block [A]
6
6.8 MR Configurator2 Engineering tool MR Configurator2 (SW1DNC-MRC2-_) can be used with this servo amplifier. For the engineering tool specifications and system configuration, refer to the installation guide of the engineering tool.
Precautions for using USB communication function and Ethernet communication function Note the following to prevent an electric shock or malfunction of the servo amplifier.
Connecting the power of a personal computer Connect the power of a personal computer with the following procedure.
When using a personal computer with an AC power supply When using a personal computer with a three-core power plug or a power plug with a grounding wire, use a three-pin
socket or ground the grounding wire. When your personal computer has a two-core power plug and has no grounding wire, connect the personal computer to the
servo amplifier with the following procedure.
1. Disconnect the power plug of the personal computer from the AC power socket.
2. Check that the power plug has been disconnected and connect the personal computer to the servo amplifier.
3. Connect the power plug of the personal computer to the AC power socket. When using a personal computer with battery The computer can be used as it is.
Connection with other devices using servo amplifier communication function When the servo amplifier is charged with electricity due to connection with a personal computer and the charged servo amplifier is connected with other devices, the servo amplifier or the connected devices may malfunction. Connect the servo amplifier and other devices with the following procedure.
1. Shut off the power of the device to be connected with the servo amplifier.
2. Shut off the power of the servo amplifier that was connected with the personal computer, and check that the charge light is off.
3. Connect the device with the servo amplifier.
4. Turn on the power of the servo amplifier and the connected device.
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.8 MR Configurator2 279
28
6.9 Selection example of wires
To comply with the IEC/EN/UL/CSA standard for wiring, use the wires described in the MR-J5 Safety Instructions and Precautions for AC Servos (IB(NA)-0300391). To comply with other standards, use wires that comply with each standard. Selection requirements for the wire size are as follows. Construction requirements: Single wire set in midair Wiring length: 30 m or less
The following shows the wires used for wiring. Use the wires given in this section or equivalent wires. For the MR-CM simple converter wiring, refer to the following. Page 264 I/O wires For the FR-XC-(H) multifunction regeneration converter wiring, refer to the following. Page 270 Wiring and peripheral options
C
P+
L1
L2
L3
L11
L21
U
V
W
M
(1) Main circuit power supply lead
Servo amplifier Power supply
(2) Control circuit power supply lead
(4) Servo motor power lead
Regenerative option
(3) Regenerative option lead
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.9 Selection example of wires
6
Wire size selection examples Use 600 V Grade heat-resistant polyvinyl chloride insulated wires (HIV wires) for wiring. The following shows the wire size selection examples. The wire size can be selected in accordance with the rated input of the servo motor used. For some combinations of servo amplifiers and servo motors, thinner wires than the ones listed in the table can be used.
200 V class
The alphabetical letters in the table indicate the symbols of the selection example of crimp terminals. Page 282 Selection example of crimp terminals *1 Use the size of 2 mm2 for compliance with the IEC/EN/UL/CSA standard. *2 The wire size shows applicable size of the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer to
the user's manual of each servo motor.
400 V class
*1 Use the size of 2 mm2 for compliance with the IEC/EN/UL/CSA standard. *2 The wire size shows applicable size of the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer to
the user's manual of each servo motor.
Using servo amplifier with DC power supply input The wire selection example is the same as that for the AC power supply input.
Servo amplifier Wire [mm2]
(1) L1/L2/L3/ (2) L11/L21 (3) P+/C (4) U/V/W/E *2
MR-J5-10_ 2 (AWG 14): a 1.25 to 2 (AWG 16 to 14) *1 2 (AWG 14) 0.75 to 2 (AWG 18 to 14)
MR-J5-20_
MR-J5-40_
MR-J5-60_
MR-J5-70_
MR-J5-100_
MR-J5-200_ (3-phase power supply input)
0.75 to 5.5 (AWG 18 to 10)
MR-J5-200_ (1-phase power supply input)
3.5 (AWG 12): b
MR-J5-350_
MR-J5-500_ 5.5 (AWG 10): c 0.75 to 8 (AWG 18 to 8)
MR-J5-700_ 8 (AWG 8): d
MR-J5W2-22_ 2 (AWG 14): a 2 (AWG 14) 0.75 to 2 (AWG 18 to 14)
MR-J5W2-44_
MR-J5W2-77_ 2 (AWG 14): a
MR-J5W2-1010_ 2 (AWG 14): a
MR-J5W3-222_ 2 (AWG 14): a
MR-J5W3-444_ 2 (AWG 14): a
Servo amplifier Wire [mm2]
(1) L1/L2/L3/ (2) L11/L21 (3) P+/C (4) U/V/W/E *2
MR-J5-60_4_ 2 (AWG 14): a 1.25 to 2 (AWG 16 to 14) *1 2 (AWG 14) 0.75 to 2 (AWG 18 to 14)
MR-J5-100_4_
MR-J5-200_4_
MR-J5-350_4_
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.9 Selection example of wires 281
28
Selection example of crimp terminals
Precautions Crimp terminals are used only for ground wiring.
Symbol Servo amplifier-side crimp terminal Manufacturer
Crimp terminal Applicable tool a R2-4 YHT-2210 JST (J.S.T. Mfg. Co., Ltd.)
b 3.5-4 YHT-2210
c R5.5-4 YHT-2210
d 8-4NS, R8-5 YHT-8S, YA-4
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.9 Selection example of wires
6
6.10 Molded-case circuit breakers, fuses, magnetic contactors
When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.
Precautions Select the molded-case circuit breakers specified in this section. Wire the molded-case circuit breaker and magnetic contactor as recommended.
Selection example
For main circuit power supply (1-axis servo amplifier) 200 V class
*1 Refer to the following page for compliance with IEC/EN/UL/CSA standards. Page 292 Example settings that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274
*2 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
Servo amplifier
Molded-case circuit breaker *1 Fuse Magnetic contactor *2Frame, rated current Voltage AC
[V] Class Current
[A] Voltage AC [V]Power factor
improving reactor is not used
Power factor improving reactor is used
MR-J5-10_ 30 to 125 A frame 5 A 30 to 125 A frame 5 A 240 T 10 300 S-T10
MR-J5-20_ 30 to 125 A frame 5 A 30 to 125 A frame 5 A
MR-J5-40_ 30 to 125 A frame 10 A 30 to 125 A frame 5 A 15
MR-J5-60_ 30 to 125 A frame 15 A 30 to 125 A frame 10 A 20
MR-J5-70_ 30 to 125 A frame 15 A 30 to 125 A frame 10 A
MR-J5-100_ (3-phase power supply input)
30 to 125 A frame 15 A 30 to 125 A frame 10 A
MR-J5-100_ (1-phase power supply input)
30 to 125 A frame 15 A 30 to 125 A frame 15 A 30
MR-J5-200_ 30 to 125 A frame 20 A 30 to 125 A frame 20 A 40 S-T10 S-T21
MR-J5-350_ 30 to 125 A frame 30 A 30 to 125 A frame 30 A 70 S-T21
MR-J5-500_ 50 to 125 A frame 50 A 50 to 125 A frame 50 A 125 S-T25 S-T35
MR-J5-700_ 100 to 125 A frame 75 A 60 to 125 A frame 60 A 150 S-T35 S-T50
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors 283
28
400 V class
*1 Refer to the following page for compliance with IEC/EN/UL/CSA standards. Page 292 Example settings that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274
*2 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
A Motor circuit breaker (Type E combination motor controller) can also be used instead of a molded-case circuit breaker. The Motor circuit breaker (Type E combination motor controller) is the product combined with the motor circuit breaker, the short- circuit indicator unit UT-TU, and the line side terminal adapter UT-CV3. Motor circuit breakers (Type E combination motor controllers) cannot be used with 400 V class servo amplifiers.
*1 The values of the SCCR vary depending on the combination with the servo amplifier. *2 1-phase input is not supported.
Servo amplifier
Molded-case circuit breaker *1 Fuse Magnetic contactor *2Frame, rated current Voltage AC
[V] Class Current
[A] Voltage AC [V]Power factor
improving reactor is not used
Power factor improving reactor is used
MR-J5-60_4_ 30 to 125 A frame 5 A 30 to 125 A frame 5 A 480 T 10 600 S-T10
MR-J5-100_4_ 30 to 125 A frame 10 A 30 to 125 A frame 5 A 15
MR-J5-200_4_ 30 to 125 A frame 15 A 30 to 125 A frame 10 A 25
MR-J5-350_4_ 30 to 125 A frame 20 A 30 to 125 A frame 15 A 35 S-T21
Servo amplifier Rated input voltage AC [V]
Input phase *2 Motor circuit breaker (Type E combination motor controller)
SCCR [kA] *1
Model Rated voltage AC [V]
Rated current [A] (heater design)
MR-J5-10_ 200 to 240 3-phase MMP-T32 240 1.6 50
MR-J5-20_ 2.5
MR-J5-40_ 4
MR-J5-60_ 6.3
MR-J5-70_ 6.3
MR-J5-100_ 8
MR-J5-200_ 18
MR-J5-350_ 25 25
MR-J5-500_ 32
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors
6
For main circuit power supply (multi-axis servo amplifier) MR-J5W2-_
*1 To comply with the IEC/EN/UL/CSA standards, refer to the MR-J5 Safety Instructions and Precautions for AC Servos (IB(NA)-0300391) for selection of molded-case circuit breakers and fuses.
*2 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
*3 The molded-case circuit breaker is the same regardless of whether a power factor improving AC reactor is used.
MR-J5W3-_
*1 To comply with the IEC/EN/UL/CSA standards, refer to the MR-J5 Safety Instructions and Precautions for AC Servos (IB(NA)-0300391) for selection of molded-case circuit breakers and fuses.
*2 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
*3 The molded-case circuit breaker is the same regardless of whether a power factor improving AC reactor is used.
A Motor circuit breaker (Type E combination motor controller) can also be used instead of a molded-case circuit breaker. The Motor circuit breaker (Type E combination motor controller) is the product combined with the motor circuit breaker, the short- circuit indicator unit UT-TU, and the line side terminal adapter UT-CV3.
Total output of rotary servo motors
Total continuous thrust of linear servo motors
Total output of direct drive motors
Molded-case circuit breaker *1*3 Fuse Magnetic contactor *2Frame,
Rated current Voltage AC [V]
Class Current [A]
Voltage AC [V]
300 W or less 30 to 125 A frame 5 A 240 T 15 300 S-T10
From over 300 W to 600 W
150 N or less 100 W or less 30 to 125 A frame 10 A 20
Over 600 W 1 kW or less
From over 150 N to 300 N
From over 100 W to 252 W
30 to 125 A frame 15 A 20
Over 1 kW 2 kW or less
From over 300 N to 720 N
From over 252 W to 838 W
30 to 125 A frame 20 A 30 S-T21
Total output of rotary servo motors
Total continuous thrust of linear servo motors
Total output of direct drive motors
Molded-case circuit breaker *1*3 Fuse Magnetic contactor *2Frame,
Rated current Voltage AC [V]
Class Current [A]
Voltage AC [V]
450 W or less 150 N or less 30 to 125 A frame 10 A 240 T 20 300 S-T10
From over 450 W to 800 W
From over 150 N to 300 N
252 W or less 30 to 125 A frame 15 A 20
From over 800 W to 1.5 kW
From over 300 N to 450 N
From over 252 W to 378 W
30 to 125 A frame 20 A 30 S-T21
Servo amplifier Rated input voltage AC [V]
Input phase Motor circuit breaker (Type E combination motor controller)
SCCR [kA]
Model Rated voltage AC [V]
Rated current [A] (heater design)
MR-J5W2-22_ 200 to 240 3-phase MMP-T32 240 6.3 50
MR-J5W2-44_ 8
MR-J5W2-77_ 13
MR-J5W2-1010_ 18
MR-J5W3-222_ 8
MR-J5W3-444_ 13
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors 285
28
For control circuit power supply When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker, fuse, etc.) to protect the branch circuit.
200 V class
*1 To comply with the IEC/EN/UL/CSA standards, refer to the MR-J5 Safety Instructions and Precautions for AC Servos (IB(NA)-0300391) for selection of molded-case circuit breakers and fuses.
400 V class
*1 To comply with the IEC/EN/UL/CSA standards, refer to the MR-J5 Safety Instructions and Precautions for AC Servos (IB(NA)-0300391) for selection of molded-case circuit breakers and fuses.
Servo amplifier Molded-case circuit breaker *1 Fuse (Class T) Fuse (Class K5)
Frame, rated current
Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J5-10_ 30 A frame 5 A 240 1 300 1 250
MR-J5-20_
MR-J5-40_
MR-J5-60_
MR-J5-70_
MR-J5-100_
MR-J5-200_
MR-J5-350_
MR-J5-500_
MR-J5-700_
MR-J5W2-22_
MR-J5W2-44_
MR-J5W2-77_
MR-J5W2-1010_
MR-J5W3-222_
MR-J5W3-444_
Servo amplifier Molded-case circuit breaker *1 Fuse (Class T) Fuse (Class K5)
Frame, rated current
Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J5-60_4_ 30 A frame 5 A 480 1 600 1 600
MR-J5-100_4_
MR-J5-200_4_
MR-J5-350_4_
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors
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Using servo amplifier with DC power supply input When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.
For main circuit power supply (1-axis servo amplifier)
*1 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
For main circuit power supply (multi-axis servo amplifier) MR-J5W2-_
*1 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
MR-J5W3-_
*1 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
Servo amplifier
Molded-case circuit breaker Fuse Magnetic contactor *1Frame, rated current Voltage AC
[V] Class Current [A] Voltage DC
[V]Power factor improving reactor is not used
Power factor improving reactor is used
MR-J5-10_ 30 A frame 5 A 30 A frame 5 A 240 T 10 400 DUD-N30
MR-J5-20_ 30 A frame 5 A 30 A frame 5 A
MR-J5-40_ 30 A frame 10 A 30 A frame 5 A 15
MR-J5-60_ 30 A frame 15 A 30 A frame 10 A 20
MR-J5-70_ 30 A frame 15 A 30 A frame 10 A
MR-J5-100_ (3-phase power supply input)
30 A frame 15 A 30 A frame 10 A
MR-J5-100_ (1-phase power supply input)
30 A frame 15 A 30 A frame 15 A
MR-J5-200_ 30 A frame 20 A 30 A frame 20 A 30
MR-J5-350_ 30 A frame 30 A 30 A frame 30 A 40
MR-J5-500_ 50 A frame 50 A 50 A frame 50 A 60 DUD-N60
MR-J5-700_ 100 A frame 75 A 60 A frame 60 A 80
Total output of rotary servo motors
Total continuous thrust of linear servo motors
Total output of direct drive motors
Molded-case circuit breaker Fuse Magnetic contactor *1Frame,
Rated current Voltage AC [V]
Class Current [A]
Voltage AC [V]
300 W or less 30 A frame 5 A 240 T 15 400 DUD-N30
Over 300 W 600 W or less
150 N or less 100 W or less 30 A frame 10 A 20
Over 600 W 1 kW or less
Over 150 N 300 N or less
Over 100 W 252 W or less
30 A frame 15 A 20
Over 1 kW 2 kW or less
Over 300 N 720 N or less
Over 252 W 838 W or less
30 A frame 20 A 30
Total output of rotary servo motors
Total continuous thrust of linear servo motors
Total output of direct drive motors
Molded-case circuit breaker Fuse Magnetic contactor *1Frame,
Rated current Voltage AC [V]
Class Current [A]
Voltage AC [V]
450 W or less 150 N or less 30 A frame 10 A 240 T 20 400 DUD-N30
Over 450 W 800 W or less
Over 150 N 300 N or less
252 W or less 30 A frame 15 A 20
Over 800 W 1.5 kW or less
Over 300 N 450 N or less
Over 252 W 378 W or less
30 A frame 20 A 30
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors 287
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For control circuit power supply When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit power supply (L1/L2/L3/ N-), install an overcurrent protection device (fuse, etc.) to protect the branch circuit.
Driving on/off of main circuit power supply with DC power supply (1-axis servo amplifier) Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
Driving on/off of main circuit power supply with DC power supply (multi-axis servo amplifier) Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
MR-J5W2-_
MR-J5W3-_
Servo amplifier Fuse (Class T) Fuse (Class K5)
Current [A] Voltage DC [V] Current [A] Voltage DC [V] MR-J5-10_ 1 400 1 400
MR-J5-20_
MR-J5-40_
MR-J5-60_
MR-J5-70_
MR-J5-100_
MR-J5-200_
MR-J5-350_
MR-J5W2-_
MR-J5W3-_
Servo amplifier Magnetic contactor MR-J5-10_ to MR-J5-100_ SD-T12
MR-J5-200_/MR-J5-350_ SD-T21
MR-J5-500_ SD-T35
MR-J5-700_ SD-T50
MR-J5-60_4_ to MR-J5-200_4_ SD-T12
MR-J5-350_4_ SD-T21
Total output of rotary servo motors Total continuous thrust of linear servo motors
Total output of direct drive motors Magnetic contactor
300 W or less SD-T11
From over 300 W to 600 W 150 N or less 100 W or less
From over 600 W to 1 kW From over 150 N to 300 N From over 100 W to 252 W
From over 1 kW to 2 kW From over 300 N to 720 N From over 252 W to 838 W SD-T21
Total output of rotary servo motors Total continuous thrust of linear servo motors
Total output of direct drive motors Magnetic contactor
450 W or less 150 N or less SD-T11
From over 450 W to 800 W From over 150 N to 300 N 252 W or less
From over 800 W to 1.5 kW From over 300 N to 450 N From over 252 W to 378 W SD-T21
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors
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Main circuit wiring (connecting multiple servo amplifiers to one molded-case circuit breaker) When connecting multiple servo amplifiers to one molded-case circuit breaker for reasons such as the ease of installing a molded-case circuit breaker (MCCB) into a cabinet or the cost efficiency, check that the following requirements are satisfied before starting the servo system. The number of servo amplifiers that can be connected to the molded-case circuit breaker is based on the wires to be connected to the molded-case circuit breaker, and can be checked by referring to the operation characteristics of the molded- case circuit breaker and the sum of the inrush currents of the servo amplifiers. The check procedure is as follows.
1. Selecting a wire (thickness) When connecting multiple servo amplifiers, determine the wire thickness based on the total current, which is calculated by multiplying the rated input currents of the servo amplifiers by the coefficient (125 %).
1.25 (125 %) is the coefficient based on UL 508A. For NFPA79, the coefficient is 1.15 (115 %). The coefficient varies depending on the selection conditions and standards. The permissible current for the wire (insulated conductor) varies depending on the usage conditions (ambient temperature, number of wires bundled, and so on). If the selection result is a wire that is too thick to be wired to the servo amplifier, multiple servo amplifiers cannot be connected to one molded-case circuit breaker. Reduce the number of servo amplifiers until the wire size is acceptable for the servo amplifier, or install a molded-case circuit breaker separately.
2. Selecting a molded-case circuit breaker Select a molded-case circuit breaker whose permissible current is equal to or less than the permissible current of the wire selected in "Selecting a wire (thickness)". Note that a molded-case circuit breaker whose rated current is greater than the permissible current of the wire cannot be selected. Doing so may cause the wire to burn.
3. Checking the number of servo amplifiers to connect to the molded-case circuit breaker Check that the sum of the inrush currents of the servo amplifiers to be connected is equal to or smaller than six times the rated current of the molded-case circuit breaker.
4. Selecting a magnetic contactor (MC) Select a magnetic contactor based on the permissible current for the selected wire. Configure a system so that the magnetic contactor is shut off by an alarm output of the connected servo amplifiers.
Total current of multiple servo amplifiers [A] = 1.25 Servo amplifier k [A]
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors 289
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Related supplementary information Permissible current of wire The following table shows permissible currents of wire based on Table 28.1 of UL 508A and Table 40.3 of UL 508C. The permissible current values listed in this table are for when the number of wires bundled is three or less. When the number of wires bundled is four to six, the permissible current values are 80 % of the values in the table. Permissible currents of copper wire (insulated conductor)
Rated input current of servo amplifier The following table shows the 3-phase rated input currents and maximum wire sizes for the MR-J5 series. 3-phase rated input currents, inrush currents, and maximum wire sizes for servo amplifiers
Wire size 60 C (140 F) 75 C (167 F)
AWG Actual cross-sectional area [mm2]
Nominal cross- sectional area [mm2]
[A] [A]
14 2.1 2 15 15
12 3.3 3.5 20 20
10 5.3 5.5 30 30
8 8.4 8 40 50
6 13.3 14 55 65
4 21.2 22 70 85
2 33.6 38 95 115
1 42.4 110 130
Model Input current [A] Inrush current [A] Maximum AWG MR-J5-10_ 0.9 17 14
MR-J5-20_ 1.5 17 14
MR-J5-40_ 2.6 17 14
MR-J5-60_ 3.2 17 14
MR-J5-70_ 3.8 17 14
MR-J5-100_ 5 17 14
MR-J5-200_ 10.5 24 14
MR-J5-350_ 16 85 12
MR-J5-500_ 21.7 42 10
MR-J5-700_ 28.9 85 8
MR-J5W2-22_ 2.9 23 14
MR-J5W2-44_ 5.2 23 14
MR-J5W3-222_ 4.3 23 14
MR-J5W3-444_ 7.8 23 14
MR-J5W2-77_ 7.5 36 14
MR-J5W2-1010_ 9.8 36 14
MR-J5-60_4_ 1.4 16 14
MR-J5-100_4_ 2.5 16 14
MR-J5-200_4_ 5.1 22 14
MR-J5-350_4_ 7.9 72 14
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors
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Molded-case circuit breakers (MCCB) and magnetic contactors (MC) The following tables show lists of rated currents for the Mitsubishi Electric UL 489 Listed molded-case circuit breakers and for magnetic contactors. List of rated currents for molded-case circuit breakers (MCCB)
*1 For molded-case circuit breakers that support the current values enclosed in brackets "( )" in the rated current column, contact your local sales office.
List of rated currents for magnetic contactors (MC)
Model Rated voltage AC [V] Rated current [A] *1
NF125-SVU 480 15, 20, 30, 40, 50, 60, (70), 75, (80), (90), 100, 125
MS-T series Frame T10 T12 T20 T21 T25 N35 N50 N65 N80 N125 AC3 class [kW/A] 220 V 2.2 2.7 3.7 4 5.5 7.5 11 15 19 30
440 V 2.7 4 7.5 7.5 11 15 22 30 37 60
Thermal current [A] 20 20 20 32 32 60 80 100 120 150
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors 291
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Example settings that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274 The molded-case circuit breakers, semiconductor fuses, and recommended wire gauges in the tables are selections based on the rated I/O of the servo amplifier.
Molded-case circuit breaker/Semiconductor fuse 200 V class
*1 Use a semiconductor fuse to make the servo amplifier comply with UL/CSA standards.
Servo amplifier Molded-case circuit breaker (240 V AC) SCCR 50 kA
Semiconductor fuse (700 V) SCCR 100 kA (Manufactured by Bussmann)
MR-J5-10_ NF125-SVU-15A (125 A frame 15 A)
170M1408 (10 A)MR-J5-20_
MR-J5-40_
MR-J5-60_ (3-phase power supply input)
MR-J5-60_ (1-phase power supply input) 170M1409 (16 A)
MR-J5-70_ (3-phase power supply input) 170M1408 (10 A)
MR-J5-70_ (1-phase power supply input) 170M1409 (16 A)MR-J5-100_ (3-phase power supply input)
MR-J5-100_ (1-phase power supply input) 170M1412 (32 A)MR-J5-200_ (3-phase power supply input)
MR-J5-200_ (1-phase power supply input) NF125-SVU-20A (125 A frame 20 A)
170M1413 (40 A)MR-J5-350_
MR-J5-500_ NF125-SVU-30A *1
(125 A frame 30 A) 170M1415 (63 A)
MR-J5-700_ NF125-SVU-40A *1
(125 A frame 40 A) 170M1416 (80 A)
MR-J5W2-22_ (3-phase power supply input) NF125-SVU-15A (125 A frame 15 A)
170M1408 (10 A)
MR-J5W2-22_ (1-phase power supply input) 170M1409 (16 A)MR-J5W2-44_ (3-phase power supply input)
MR-J5W2-44_ (1-phase power supply input) 170M1412 (32 A)MR-J5W2-77_ (3-phase power supply input)
MR-J5W2-77_ (1-phase power supply input) NF125-SVU-20A (125 A frame 20 A)
170M1413 (40 A)
MR-J5W2-1010_ NF125-SVU-15A (125 A frame 15 A)
170M1412 (32 A)
MR-J5W3-222_ (3-phase power supply input) 170M1409 (16 A)
MR-J5W3-222_ (1-phase power supply input) NF125-SVU-15A (125 A frame 15 A)
170M1412 (32 A)MR-J5W3-444_ (3-phase power supply input)
MR-J5W3-444_ (1-phase power supply input) NF125-SVU-20A (125 A frame 20 A)
170M1413 (40 A)
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors
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400 V class
*1 Use a semiconductor fuse to make the servo amplifier comply with UL/CSA standards.
Recommended wire 200 V class
400 V class
Servo amplifier Molded-case circuit breaker (480 V AC) SCCR 30 kA
Semiconductor fuse (700 V) SCCR 100 kA (Manufactured by Bussmann)
MR-J5-60_4_ NF125-SVU-15A *1
(125 A frame 15 A) 170M1408 (10 A)MR-J5-100_4_
MR-J5-200_4_ NF125-SVU-15A *1
(125 A frame 15 A) 170M1409 (16 A)
MR-J5-350_4_ NF125-SVU-15A *1
(125 A frame 15 A) 170M1412 (32 A)
Servo amplifier 75 C Stranded wire [AWG]
L1/L2/L3 L11/L21 P+/C U/V/W/E MR-J5-10_ 14 14 14 14
MR-J5-20_
MR-J5-40_
MR-J5-60_
MR-J5-70_
MR-J5-100_
MR-J5-200_ (3-phase power supply input)
MR-J5-200_ (1-phase power supply input)
12
MR-J5-350_ 12
MR-J5-500_ 10 8
MR-J5-700_ 8
MR-J5W2-22_ 14 14
MR-J5W2-44_
MR-J5W2-1010_
MR-J5W2-77_
MR-J5W3-222_
MR-J5W3-444_
Servo amplifier 75 C Stranded wire [AWG]
L1/L2/L3 L11/L21 P+/C U/V/W/E MR-J5-60_4_ 14 14 14 14
MR-J5-100_4_
MR-J5-200_4_
MR-J5-350_4_
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Molded-case circuit breaker/Semiconductor fuse (simple converter)
Recommended wire (simple converter)
*1 Wire sizes differ depending on the total current of the connected servo amplifiers. Use 12 AWG wire if the total current exceeds 12 A.
Simple converter
Total servo amplifier capacity
Molded-case circuit breaker (240 V AC) SCCR 50 kA
Semiconductor fuse (700 V) SCCR 100 kA (Manufactured by Bussmann)
Magnetic contactor
Frame, rated current Voltage AC [V]
AC power supply
DC power supply
MR-CM3K Less than 2 kW NF125-SUV-15A (125 A frame 15 A) 240 170M1409 (16 A) S-T21 SD-T21
2 kW or more NF125-SUV-20A (125 A frame 20 A) 240 170M1413 (40 A)
Simple converter 75 C Stranded wire [AWG]
L1/L2/L3 P4/N- MR-CM3K 14 /12 *1 14 /12 *1
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.10 Molded-case circuit breakers, fuses, magnetic contactors
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6.11 Power factor improving DC reactor
Advantages It improves the power factor by increasing the form factor of the servo amplifier's input current. It decreases the power supply capacity. The input power factor is improved to about 85 %. As compared to the power factor improving AC reactor (FR-HAL-(H)), it decreases the loss.
Restrictions When connecting the power factor improving DC reactor to the servo amplifier, disconnect P3 and P4. If it remains connected, the effect of the power factor improving DC reactor is not produced. When used, the power factor improving DC reactor generates heat. To dissipate heat, therefore, maintain a minimum clearance of 10 cm each at the top and bottom, and 5 cm at the sides.
200 V class
*1 When using the power factor improving DC reactor, remove the short-circuit bar between P3 and P4. *2 Maximum dimensions. The dimensions vary depending on the curvature of the input/output lines. *3 Selection requirements for the wire size are as follows.
Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction requirements: Single wire set in midair
Servo amplifier Power factor improving DC reactor
Dimensions [mm] Mass [kg]
Wire [mm2] *3
D *2 D1 W W1 H H1 H2
MR-J5-10_ MR-J5-20_
FR-HEL-0.4K 61 28 70 60 71 61 48 0.4 2 (AWG 14)
MR-J5-40_ FR-HEL-0.75K 61 28 85 74 81 71 59 0.5
MR-J5-60_ MR-J5-70_
FR-HEL-1.5K 70 33 85 74 81 71 59 0.8
MR-J5-100_ FR-HEL-2.2K 70 33 85 74 81 71 59 0.9
*1 P3P1
P P4
FR-HEL
W1 D1
P1P
W
H
H 2 H
1
M4
M4 M4 8
Servo amplifier
5 m or less
Mounting screw
D or less
Grounding terminal
Terminal screw
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.11 Power factor improving DC reactor 295
29
*1 When using the power factor improving DC reactor, remove the short-circuit bar between P3 and P4. *2 Maximum dimensions. The dimensions vary depending on the curvature of the input/output lines. *3 Selection requirements for the wire size are as follows.
Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction requirements: Single wire set in midair
Servo amplifier Power factor improving DC reactor
Dimensions [mm] Mass [kg]
Wire [mm2] *3
D *2 D1 D2 D3
MR-J5-200_ FR-HEL-3.7K 82 39 66 56 1.4 2 (AWG 14)
*1 P3
P4
FR-HEL P1
P
M4
M4 M4 8
D1
P
76
D 3
55
D 2
72
9 4
84
P1
Servo amplifier
5 m or less
Mounting screw
D or less
Grounding terminal
Terminal screw
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.11 Power factor improving DC reactor
6
*1 When using the power factor improving DC reactor, remove the short-circuit bar between P3 and P4. *2 Maximum dimensions. The dimensions vary depending on the curvature of the input/output lines. *3 Selection requirements for the wire size are as follows.
Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction requirements: Single wire set in midair
Servo amplifier Power factor improving DC reactor
Mass [kg]
Wire [mm2] *3
MR-J5-350_ FR-HEL-7.5K 2.3 3.5 (AWG 12)
*1 P3
P4
FR-HEL P1
P
M4
M5
M4 8
42
P
86
7 3
60
8 3
81
1 22
10 4
P1
Servo amplifier
5 m or less
Mounting screw
98 or less *2
Grounding terminal
Terminal screw
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.11 Power factor improving DC reactor 297
29
*1 When using the power factor improving DC reactor, remove the short-circuit bar between P3 and P4. *2 Maximum dimensions. The dimensions vary depending on the curvature of the input/output lines. *3 Selection requirements for the wire size are as follows.
Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction requirements: Single wire set in midair
Servo amplifier Power factor improving DC reactor
Dimensions [mm] Mass [kg]
Wire [mm2] *3
D *2 D1 D2 D3 H H1
MR-J5-500_ FR-HEL-11K 112 47 92 78 138 118 3.1 5.5 (AWG 10)
MR-J5-700_ FR-HEL-15K 115 49 97 83 142 120 3.8 8 (AWG 8)
*1 P3
P4
FR-HEL P1
P
M6
M6
M6 12
D1
P
105
D 3
64
D 2
10 1
H H
1
P1
Servo amplifier
5 m or less
Mounting screw
D or less
Grounding terminal
Terminal screw
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.11 Power factor improving DC reactor
6
400 V class
*1 When using the power factor improving DC reactor, remove the short-circuit bar between P3 and P4. *2 Maximum dimensions. The dimensions vary depending on the curvature of the input/output lines. *3 Selection requirements for the wire size are as follows.
Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction requirements: Single wire set in midair
Servo amplifier Power factor improving DC reactor
Dimensions [mm] Mass [kg]
Wire [mm2] *3
D *2 D1 D2 D3 W H H1 H2
MR-J5-60_4_ FR-HEL-H1.5K 80 36 74 54 66 100 87 75 1.0 2 (AWG 14)
MR-J5-100_4_ FR-HEL-H2.2K 80 38 74 54 76 110 97 85 1.3 2 (AWG 14)
W
50
H H
1 H
2 D
2 D
3
D1
P P1
FR-HEL-H
*1 P3
P4
P1
P
M4
M3.5 M4 8 D or less
Servo amplifier
5 m or less
Mounting screw
Grounding terminalTerminal screw
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.11 Power factor improving DC reactor 299
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*1 When using the power factor improving DC reactor, remove the short-circuit bar between P3 and P4. *2 Maximum dimensions. The dimensions vary depending on the curvature of the input/output lines. *3 Selection requirements for the wire size are as follows.
Wire type: 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Construction requirements: Single wire set in midair
Servo amplifier
Power factor improving DC reactor
Dimensions [mm] Mounting screw
Groundin g terminal
Mass [kg]
Wire [mm2] *3
D *2 D1 D2 D3 W W1 H H1 H2
MR-J5-200_4_ FR-HEL-H3.7K 95 39 89 69 86 55 128 114 94 M4 M4 8 2.3 2 (AWG 14)
MR-J5-350_4_ FR-HEL-H7.5K 105 47 100 80 96 60 136 122 102 M5 M5 10 3.5 2 (AWG 14)
P P1
*1 P3
P4
P1
P
FR-HEL-H
M4 H
H 2 H
1 D
3 D
2
D1
W W1
D or less Servo amplifier
5 m or less
Mounting screw
Grounding terminal
Terminal screw
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.11 Power factor improving DC reactor
6
6.12 Power factor improving AC reactor
Advantages It improves the power factor by increasing the form factor of the servo amplifier's input current. It decreases the power supply capacity. The input power factor is improved to about 80 %.
Restrictions When using power factor improving AC reactors for two servo amplifiers or more, connect a power factor improving AC reactor to each servo amplifier. If one unit of power factor improving reactor is used for multiple servo amplifiers, the power factor cannot be improved sufficiently unless all servo amplifiers are operated.
200 V class (1-axis servo amplifier)
*1 Use this for grounding. *2 For FR-HAL-0.4K to FR-HAL-1.5K, the W dimension is "W 2". *3 For 1-phase 200 V AC to 240 V AC power supply, connect the power supply to L1 and L3. Leave L2 open. *4 Maximum dimensions. The dimensions vary depending on the curvature of the input/output lines.
Servo amplifier Power factor improving AC reactor
Dimensions [mm] Terminal size
Mass [kg]
W W1 H D *4 D1 D2 d
MR-J5-10_ MR-J5-20_
FR-HAL-0.4K 104 84 99 72 51 40 M5 M4 0.6
MR-J5-40_ FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8
MR-J5-60_ MR-J5-70_
FR-HAL-1.5K 104 84 99 77 61 50 M5 M4 1.1
MR-J5-100_ (3-phase power supply input)
FR-HAL-2.2K 115 *4 40 115 77 71 57 M6 M4 1.5
MR-J5-100_ (1-phase power supply input) MR-J5-200_ (3-phase power supply input)
FR-HAL-3.7K 115 *4 40 115 83 81 67 M6 M4 2.2
MR-J5-200_ (1-phase power supply input)
FR-HAL-5.5K 115 *4 40 115 83 81 67 M6 M4 2.3
R X ZS Y T
W1
D1
D2
H
Y
Z
S
T
MCMCCB FR-HAL
XR L1
L2
L3
L1
L2
L3
Y
Z
S
T
MCMCCB FR-HAL
XR
Servo amplifier 3-phase 200 V classTerminal assignment
4-d mounting hole (Varnish is removed only from bottom right (face and back side)) *1
3-phase 200 V AC to 240 V AC
D or less
Servo amplifier 1-phase 200 V class
1-phase *3 200 V AC to 240 V AC
W or less *2
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30
*1 Use this for grounding. *2 Maximum dimensions. The dimensions vary depending on the curvature of the input/output lines.
200 V class (multi-axis servo amplifier) When using a combination of the rotary servo motor, linear servo motor, and direct drive motor, select a power factor improving AC reactor tentatively, assuming one type of the servo motors is used for 2 or 3 axes. After the tentative selections are made for all types of the servo motors, use the largest among all power factor improving AC reactors. Dimensions Refer to the following. Page 301 200 V class (1-axis servo amplifier) MR-J5W2-_
MR-J5W3-_
Servo amplifier Power factor improving AC reactor
Dimensions [mm] Terminal size
Mass [kg]
W W1 H D *2 D1 D2 d
MR-J5-350_ FR-HAL-7.5K 130 50 135 100 98 86 M6 M5 4.2
MR-J5-500_ FR-HAL-11K 160 75 164 111 109 92 M6 M6 5.2
MR-J5-700_ FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
Total output of rotary servo motors
Total continuous thrust of linear servo motors
Total output of direct drive motors
Power factor improving AC reactor
450 W or less 150 N or less 100 W or less FR-HAL-0.75K
From over 450 W to 600 W From over 150 N to 240 N From over 100 W to 377 W FR-HAL-1.5K
From over 600 W to 1 kW From over 240 N to 300 N From over 377 W to 545 W FR-HAL-2.2K
From over 1 kW to 2.0 kW From over 300 N to 720 N From over 545 W to 838 W FR-HAL-3.7K
Total output of rotary servo motors
Total continuous thrust of linear servo motors
Total output of direct drive motors
Power factor improving AC reactor
450 W or less 150 N or less FR-HAL-0.75K
From over 450 W to 600 W From over 150 N to 240 N 378 W or less FR-HAL-1.5K
From over 600 W to 1 kW From over 240 N to 300 N FR-HAL-2.2K
From over 1 kW to 2.0 kW From over 300 N to 450 N FR-HAL-3.7K
L1
L2
L3
R X ZS Y T
W 2
H
D1 W1 D2
Y
Z
S
T
MCMCCB FR-HAL
XR
Terminal assignment
4-d mounting hole (Varnish is removed only from bottom right (face and back side)) *1
D or less Servo amplifier 3-phase 200 V class
3-phase 200 V AC to 240 V AC
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.12 Power factor improving AC reactor
6
400 V class (1-axis servo amplifier)
*1 Use this for grounding. *2 Maximum dimensions. The dimensions vary depending on the curvature of the input/output lines.
*1 Use this for grounding. *2 Maximum dimensions. The dimensions vary depending on the curvature of the input/output lines.
Servo amplifier Power factor improving AC reactor
Dimensions [mm] Terminal size
Mass [kg]
W W1 H D *2 D1 D2 d
MR-J5-60_4_ FR-HAL-H1.5K 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J5-100_4_ FR-HAL-H2.2K 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J5-200_4_ FR-HAL-H3.7K 135 120 115 69 70.6 57 M4 M3.5 2.5
Servo amplifier Power factor improving AC reactor
Dimensions [mm] Terminal size
Mass [kg]
W W1 H D *2 D1 D2 d
MR-J5-350_4_ FR-HAL-H7.5K 160 145 142 91 91 75 M4 M4 5.0
W 0.5 W1
R X ZS Y T
H
5
D1 D2
Y
Z
S
T
MCMCCB FR-HAL-H
XR L1
L2
L3
4-d mounting hole *1
(5 slot)
Servo amplifier 3-phase 400 V classD or less
3-phase 380 V AC to 480 V AC
W 0.5 W1
D1 D2
H
5
125 150
ZY TR X S
Y
Z
S
T
MCMCCB FR-HAL-H
XR L1
L2
L3
4-d mounting hole *1
(6 slot)
Servo amplifier 3-phase 400 V classD or less
3-phase 380 V AC to 480 V AC
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.12 Power factor improving AC reactor 303
30
6.13 Relay (recommended) The following relays should be used with each interface.
6.14 Noise reduction techniques Noises are classified into external noises, which enter the servo amplifier to cause it to malfunction, and those radiated by the servo amplifier to cause peripheral equipment to malfunction. Because the servo amplifier is an electronic device that handles small signals, the following general noise reduction techniques are required. The servo amplifier can also be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral equipment malfunctions due to noise produced by the servo amplifier, take measures to reduce the noise. The reduction techniques will vary slightly with the routes of noise transmission.
Noise reduction techniques
General reduction techniques Avoid bundling power lines (input/output lines) and signal cables together or running them in parallel to each other.
Separate the power lines from the signal cables. Use a shielded twisted pair cable for connection with the encoder and for control signal transmission, and connect the
external conductor of the cable to the SD terminal. For grounding, refer to the following Page 127 Grounding
Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays) that make a large amount of noise near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required. Provide surge killers on the noise sources to suppress noise. Attach data line filters to the signal cables. Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings. Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large
exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended.
Interface Selection example Digital input signal (interface DI-1) Relay used for digital input command signals
To prevent loose connections, use a relay for small signal (twin contacts). (Ex.) Omron: type G2A, type MY
Digital output signal (interface DO-1) Relay used for digital output signals
Small relay with 12 V DC or 24 V DC of rated current 40 mA or less (Ex.) Omron: type MY
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.13 Relay (recommended)
6
Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input/output), those induced electromagnetically or statically by the signal cables of the peripheral equipment located near the main circuit cables, and those transmitted through the power supply cables.
Noise generated by servo amplifier Noise radiated directly from servo amplifier Route (1)Noises transmitted
in the air
Noise radiated from the power cable Route (2)
Noise radiated from servo motor cable Route (3)
Magnetic induction noise Routes (4) and (5)
Static induction noise Route (6)
Noise transmitted through electric channels Noise transmitted through power cable Route (7)
Noise sneaking from grounding cable due to leakage current Route (8)
(7)
(1)
(3)
(2)
(4)
(7)
(6)
(2)
(3)
(8)
(5)
(7)
M
Sensor power supply
Servo amplifier
Instrument Receiver
Sensor
Servo motor
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.14 Noise reduction techniques 305
30
Noise reduction techniques for the network cable
Take measures against noise for both ends of the network cable.
If using the network cable in an environment with excessive noise, directly connect the shield of the cable to the ground plate with cable clamp fittings at a place 200 mm to 300 mm or less from the servo amplifier. When connecting the network cable from outside the cabinet, connect it to the ground plate at a place 5 mm to 10 mm away from the cabinet entrance. To reinforce noise reduction techniques, installing a data line filter (TDK ZCAT1730-0730) to the network cable is recommended. Install the data line filter to a place 80 mm or less from the servo amplifier.
Inside the cabinet When using cable clamp fittings
Noise transmission route
Suppression techniques
(1), (2), (3) A malfunction due to noise transmitted through the air may occur in devices which handle weak signals and are susceptible to noise, such as measuring instruments, receivers and sensors. In addition, a malfunction may also occur when their signal cables are stored in a cabinet together with the servo amplifier or when the signal cables run near the servo amplifier. Take the following measures to prevent a malfunction: Provide maximum clearance between easily affected devices and the servo amplifier. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier. Avoid bundling power lines (input/output lines of the servo amplifier) and signal cables together or running them in parallel to
each other. Insert a line noise filter to the I/O cables or a radio noise filter on the input line to reduce radiated noise from the cables. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
(4), (5), (6) When power cables and signal cables are laid side by side or bundled together, electromagnetic and static induction noise is transmitted to the signal cables, causing malfunctions. Take the following precautions to protect the signal cables against noise. Provide maximum clearance between easily affected devices and the servo amplifier. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier. Avoid bundling power lines (input/output lines of the servo amplifier) and signal cables together or running them in parallel to
each other. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
(7) When the power supply of peripheral equipment is connected to the power supply of the servo amplifier system, noise produced by the servo amplifier may be transmitted back through the power supply cable, and the equipment may malfunction. The following techniques are required. Install the radio noise filter (FR-BIF(-H)) on the power lines (input lines) of the servo amplifier. Install the line noise filter (FR-BSF01/FR-BLF) on the power lines of the servo amplifier.
(8) If the grounding wires of the peripheral equipment and the servo amplifier make a closed loop circuit, leakage current may flow through, causing the equipment to malfunction. In this case, the malfunction may be prevented by disconnecting the grounding wires from the equipment.
Servo amplifier Cable clamp fitting
200 mm to 300 mm
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.14 Noise reduction techniques
6
When using a data line filter
Outside the cabinet When using cable clamp fittings
When using a data line filter
Servo amplifier Data line filter
80 mm or less
Inside the cabinet Outside the cabinet Servo amplifier
Cable clamp fitting
Locate 5 mm to 10 mm away from the cabinet entrance.
Inside the cabinet Outside the cabinet Servo amplifier
Data line filter
80 mm or less
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.14 Noise reduction techniques 307
30
Noise reduction products
Data line filter (recommended) Noise can be prevented by installing a data line filter onto cables such as the encoder cable. For example, ZCAT3035-1330 by TDK, ESD-SR-250 by TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters. As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below. These impedances are reference values and not guaranteed values.
[Unit: mm]
Surge killer (recommended) Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo amplifier. Use the following surge killer or equivalent.
Ex.
CR-50500 (Okaya Electric Industries)
Note that a diode should be installed to a DC relay or the like. Maximum voltage: Not less than four times the drive voltage of the relay or the like Maximum current: Not less than two times the drive current of the relay or the like
Impedance []
10 MHz to 100 MHz 100 MHz to 500 MHz 80 150
Rated voltage AC [V]
C [F 20 %]
R [ 30 %]
Test voltage Dimensions [Unit: mm]
250 0.5 50 (1/2W) Between terminals: 625 V AC, 50 Hz/60 Hz 60 s Between terminal and case: 2000 V AC 50/60 Hz 60 s
1 3
1
3 0
1
34 1 39 1 Loop for
fixing cable band
Product name
Lot number
Dimensions (ZCAT3035-1330)
MC SK
MC OFF
ON
Relay Surge killer
Surge killer
20 cm or less
(1
8. 5
+ 2)
1
6 1
15 1
48 1.5
6 1
16 1
3.6
Mounting band AWG 18 stranded wire
Soldered
300 or more 300 or more (18.5 + 5) or less
-+
RA
Diode
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.14 Noise reduction techniques
6
Cable clamp fitting AERSBAN-_SET Generally, connecting the grounding wire of the shielded wire to the SD terminal of the connector provides a sufficient effect. However, the effect can be increased when the shielded wire is connected directly to the ground plate as shown below. Install the ground plate near the servo amplifier for the encoder cable. Peel part of the cable insulator to expose the external conductor, and press that part against the ground plate with the cable clamp. If the cable is thin, clamp several cables in a bunch. The cable clamp comes as a set with the grounding plate.
Dimensions [Unit: mm]
*1 Screw hole for grounding. Connect it to the ground plate of the cabinet.
Precautions The motor cable (single cable type) has no shield on the outermost circumference. Therefore, to ground the motor cable
with a cable clamp, use a motor cable (dual cable type).
Model A B C Accessory fittings AERSBAN-DSET 100 86 30 Clamp A: 2 pcs.
AERSBAN-ESET 70 56 Clamp B: 1 pc.
Clamp fitting L A 70
B 45
40 mm
Strip the cable insulator of the clamped area. Cutter
Cable Clamp fittings (A, B) Grounding plate
Cable
External conductor Clamp section diagram
11
24 03
7
35 C A
17.5
6 35
22
6
B
0. 3
30
10
24 +0
.3 0 -0 .2
Grounding plate Clamp fitting 2-5 hole Mounting hole
L or less
M4 screw *1
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.14 Noise reduction techniques 309
31
Line noise filter (FR-BSF01/FR-BLF) This filter is effective in suppressing noise radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It is especially effective for noise between 0.5 MHz and 5 MHz band.
Radio noise filter (FR-BIF(-H)) This filter is effective in suppressing noise radiated from the power supply side of the servo amplifier, especially in 10 MHz and lower radio frequency bands. The FR-BIF(-H) is designed for the input only. 200 V class: FR-BIF 400 V class: FR-BIF-H
Connection diagram Dimensions [Unit: mm] The line noise filters can be mounted on lines of the main circuit power supply (L1/L2/L3) and of the servo motor power supply (U/V/W). Pass each of the wires through the line noise filter the same number of times in the same direction. For wires of the main circuit power supply, the effect of the filter rises as the number of passes increases, but generally four passes would be appropriate. For the servo motor power supply lines, passes must be four times or less. Do not pass the grounding wire through the filter. Otherwise, the effect of the filter will drop. Wind the wires through the line noise filter to satisfy the required number of passes, as shown in Example 1. If the wires are too thick to wind, use two or more line noise filters to have the required number of passes, as shown in Example 2. Place the line noise filters as close to the servo amplifier as possible for their best performance. Noise-reducing effect will be enhanced.
FR-BSF01 (for wire size 3.5 mm2 (AWG 12) or less)
FR-BLF (for wire size 5.5 mm2 (AWG 10) or more)
Connection diagram Dimensions [Unit: mm] Make the connection cables as short as possible. Grounding is required. When using the FR-BIF(-H) with a single-phase power supply, insulate unconnected lead wires.
MCMCCB
L1 L2 L3
MCMCCB
L1 L2 L3
Example 1 Servo amplifier
Power supply
Line noise Filter
(Number of passes: 4)
Example 2
Servo amplifier Power supply
Line noise Filter
For two filters (Total number of passes: 4)
11 .2
5
0. 5
2-595 0.5
33
4. 5
Approx. 110
Ap pr
ox . 2
2. 5
Approx. 65
Ap pr
ox . 6
5
130 85
35
31 .5
7
80 2.
3 160 180
7
MCMCCB
L3
L2
L1
Terminal block Servo amplifier
Power supply
Radio noise filter
42
29 44
7
4
58
29
Leakage current: 4 mA Red White Blue Green
Ap pr
ox . 3
00
5 hole
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.14 Noise reduction techniques
6
Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noise and lightning surges from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K, and TND20V-102K manufactured by Nippon Chemi-Con are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.
[Unit: mm]
*1 For special purpose items for lead length (L), contact the manufacturer.
Power supply voltage
Varistor Maximum rating Maximum limit voltage
Static capacity (referenc e value)
Varistor voltage rating (range) V1 mAPermissible
circuit voltage Surge current immunity
Energy immunit y
Rated pulse power
[A] [V]
AC [Vrms]
DC [V] 8/20 s [A] 2 ms [J] [W] [pF] [V]
200 V TND20V-431K 275 350 10000/1 time 7000/2 times
195 1.0 100 710 1300 430 (387 to 473)
TND20V-471K 300 385 215 775 1200 470 (423 to 517)
400 V TND20V-102K 625 825 7500/1 time 6500/2 times
400 1.0 100 1650 560 1000 (900 to 1100)
Model D Max. H Max. T Max. E 1.0 L Min.*1 d 0.05 W 1.0 TND20V-431K 21.5 24.5 6.4 3.3 20 0.8 10.0
TND20V-471K 6.6 3.5
TND20V-102K 22.5 25.5 9.5 6.4 20 0.8 10.0
W E
H
D
L
T
d
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.14 Noise reduction techniques 311
31
6.15 Earth-leakage current breaker Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonics contents are larger than those of the motor, which runs on AC power. Select an earth-leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely. To minimize leakage currents, make the input and output wires as short as possible, and keep a distance of 30 cm or longer between the wires and ground. MR-J5-_G_, MR-J5-_B_ or MR-J5-_A_ Rated sensitivity current 10 {Ig1 + Ign + Iga + K (Ig2 + Igm)} [mA] . . . (6.1)
MR-J5W_-_ Rated sensitivity current 10 {Ig1 + Ign + Iga + K (Ig2 (A-axis) + Igm (A-axis) + Ig2 (B-axis) + Igm (B-axis) + Ig2 (C-axis) + Igm (C-axis))} [mA] . . . (6.2)
Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input terminals of the servo amplifier Page 313 Example of leakage current (Ig1, Ig2) per km of CV cable run in metal conduit Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Page 313 Example of leakage current (Ig1, Ig2) per km of CV cable run in metal conduit Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF(-H)) Iga: Servo amplifier leakage current Page 313 Servo amplifier leakage current example (Iga) Igm: Servo motor leakage current Page 313 Servo motor leakage current example (Igm)
Earth-leakage current breaker K
Type Mitsubishi Electric products Models provided with harmonics and surge reduction techniques
NV-SP NV-SW NV-CP NV-CW NV-HW
1
General models BV-C1 NFB NV-L
3
IgnIg1 Iga Ig2 Igm
M
NV Cable
Noise filter CableServo
amplifier
IgnIg1 Iga
Ig2 Igm
Ig2 Igm
Ig2 Igm
M
NV
M
M
Cable A-axis
Cable Noise filter
CableServo amplifier B-axis
Cable C-axis
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.15 Earth-leakage current breaker
6
Example of leakage current (Ig1, Ig2) per km of CV cable run in metal conduit 200 V class
400 V class
Servo motor leakage current example (Igm)
Servo amplifier leakage current example (Iga)
Servo motor output [kW] Leakage current [mA] 0.05 to 1 0.1
1.2 to 2 0.2
3 to 3.5 0.3
4.2 to 5 0.5
6 to 7 0.7
Servo amplifier Leakage current [mA] MR-J5-10_ MR-J5-20_ MR-J5-40_ MR-J5-60_ MR-J5-70_ MR-J5-100_
0.16
MR-J5-200_ MR-J5-350_
0.22
MR-J5-500_ MR-J5-700_
2
MR-J5W2-22_ MR-J5W2-44_
0.1
MR-J5W2-77_ MR-J5W2-1010_ MR-J5W3-222_ MR-J5W3-444_
0.15
MR-J5-60_4_ MR-J5-100_4_ MR-J5-200_4_ MR-J5-350_4_
0.38
120
100
80
60
40
20
0 2 5.5 14 3.5 8
38 100 22
30 60 150 80
Le ak
ag e
cu rre
nt [m
A]
Wire size [mm]
120
100
80
60
40
20
0 2
3.5 5.5
8 14
22 38
80 150
30 60
100
Le ak
ag e
cu rre
nt [m
A]
Wire size [mm2]
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.15 Earth-leakage current breaker 313
31
Earth-leakage current breaker selection example
Selection example This section shows examples of selecting an earth-leakage current breaker under the following conditions.
1-axis servo amplifier
Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find each term of formula (6.1) from the diagram.
Ign = 0 (not used) Iga = 0.1 [mA] Igm = 0.1 [mA] Insert these values in formula (6.1). Ig 10 {0.1 + 0 + 0.1 + 1 (0.1 + 0.1)} Ig 4 [mA] According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity current (Ig) of 4.0 mA or more. Use an earth-leakage current breaker having Ig of 15 mA for the NV-SP/SW/CP/CW/HW series.
Servo amplifier Rated sensitivity current of earth-leakage current breaker [mA] MR-J5-10_ to MR-J5-350_ 15
MR-J5-500_ 30
MR-J5-700_ 50
MR-J5W2-_ 15
MR-J5W3-_ 30
MR-J5-60_4_ to MR-J5-350_4_ 15
HK-KT43
2 mm2 5 m 2 mm2 5 m
NV
Ig1 Iga Ig2 Igm
MR-J5-40G MServo amplifier Servo motor
5 1000
Ig1 = 20 = 0.1 [mA]
5 1000
Ig2 = 20 = 0.1 [mA]
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.15 Earth-leakage current breaker
6
Multi-axis servo amplifier
Use an earth-leakage current breaker designed for suppressing harmonics/surges. Find each term of formula (6.1) from the diagram.
Ign = 0 (not used) Iga = 0.15 [mA] Igm = 0.1 [mA] Insert these values in formula (6.1). Ig 10 {0.1 + 0 + 0.15 + 1 (0.1 + 0.1 + 0.1 + 0.1 + 0.1 + 0.1)} Ig 8.5 [mA] According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity current (Ig) of 8.5 mA or more. Use an earth-leakage current breaker having Ig of 15 mA for the NV-SP/SW/CP/CW/HW series.
2 mm2 5 m
NV
Ig1 Iga
MR-J5W3-222G
Ig2 Igm
M
Ig2 Igm
M
HK-KT23
HK-KT23
Ig2 Igm
M HK-KT23
2 mm2 5 m
Cable A-axis servo motor
CableServo amplifier B-axis servo motor
Cable C-axis servo motor
5 1000
Ig1 = 20 = 0.1 [mA]
5 1000
Ig2 = 20 = 0.1 [mA]
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.15 Earth-leakage current breaker 315
31
6.16 EMC filter (recommended) It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have a large leakage current. When connecting one or more servo amplifiers to one EMC filter, satisfy the following conditions: Rated voltage of the EMC filter [V] Rated voltage of the servo amplifiers [V] Rated current of the EMC filter [A] Total rated current of the servo amplifiers connected to the EMC filter [A]
200 V class
*1 Category C2: intended for use in the first environment (residential environment) only when installed by professional personnel or for use in the second environment (commercial, light industry and industrial environments) Category C3: intended for use in the second environment (commercial, light industry and industrial environments)
400 V class
*1 Category C2: intended for use in the first environment (residential environment) only when installed by professional personnel or for use in the second environment (commercial, light industry and industrial environments) Category C3: intended for use in the second environment (commercial, light industry and industrial environments)
Application environment
Total length of servo motor power cable
EMC filter
Model Rated current [A]
Rated voltage [VAC]
Operating temperature [C]
Mass [kg]
Manufacturer
IEC/EN 61800-3 Category C2, C3 *1
50 m or less FSB-10-254-HU 10 250 -40 to 85 1.8 COSEL Co., Ltd.FSB-20-254-HU 20
FSB-30-254-HU 30
FSB-40-324-HU 40 250 3.3
IEC/EN 61800-3 Category C3 *1
HF3010C-SZB 10 500 -20 to 50 0.9 Soshin Electric Co., Ltd.HF3020C-SZB 20 1.3
HF3030C-SZB 30
HF3040C-SZB 40 2.0
100 m or less HF3030C-SZL 30 500 -20 to 50 1.3 Soshin Electric Co., Ltd.200 m or less HF3060C-SZL 60 2.1
250 m or less HF3100C-SZL 100 5.8
250 m or less HF3150C-SZL 150 9.0
Application environment
Total length of servo motor power cable
EMC filter
Model Rated current [A]
Rated voltage [VAC]
Operating temperature [C]
Mass [kg]
Manufacturer
IEC/EN 61800-3 Category C2, C3 *1
50 m or less FSB-10-355 10 500 -40 to 85 1.8 COSEL Co., Ltd.FSB-20-355 20
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.16 EMC filter (recommended)
6
Connection example For 3-phase 200 V AC to 240 V AC power supply
*1 When a surge protector is used.
For 1-phase 200 V AC to 240 V AC power supply
*1 Connect the power supply to L1 and L3. Leave L2 open. *2 When a surge protector is used.
For 3-phase 380 V AC to 480 V AC power supply
*1 When a surge protector is used.
MCCB
1 2 3
1
2
3
4
5
6
MC L1
L2
L3
L11
L21
Servo amplifier
Surge protector *1
EMC filter
200 V AC to 240 V AC 3-phase
MCCB 1
2
3
1 2 3
4
5
6
MC L1
L2
L3
L11
L21
Servo amplifier
Surge protector *2
EMC filter
1-phase *1 200 V AC to 240 V AC
MCCB
1 2 3
1
2
3
4
5
6
MC L1
L2
L3
L11
L21
Servo amplifier
Surge protector *1
EMC filter
380 V AC to 480 V AC 3-phase
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.16 EMC filter (recommended) 317
31
Dimensions EMC filter FSB-10-254-HU/FSB-20-254-HU/FSB-30-254-HU/FSB-10-355/FSB-20-355 [Unit: mm]
FSB-40-324-HU [Unit: mm]
3-M4
3-M4
2-5.5
9. 7
5. 5
5. 5
2
11 .5
2.5
240
19
87.5
55 66
208
230
10 0
+4 -1
Terminal block cover
Protective earth (PE) Mounting hole
Output
Input
Protective earth (PE) Mounting plate t = 1.2
M4
M4
+3 90
-1
80
21 .5
+4290-1
17 1 -
0. 5
+1 .5
12 5 -
1+4
11 .5
259
t = 1.2
275
2-5.5 7M4
3-M5
2-5.5
3-M5 114-1 +2
1
2
3
4
5
6
M4
Protective earth
Input
Protective earth
Mounting hole
Terminal cover
Mounting plate
Mounting hole
Output
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.16 EMC filter (recommended)
6
HF3010C-SZB/HF3020C-SZB/HF3030C-SZB [Unit: mm]
HF3040C-SZB [Unit: mm]
HF3030C-SZL/HF3060C-SZL [Unit: mm]
*1 For the HF3030C-SZL. The mounting plate thickness of HF3060C-SZL is 1.2 mm.
4.5
R2.2 5 6
220 4 210 2
66
4 55
2
78 4
Ap pr
ox . 1
0. 5
Ap pr
ox . 1
2. 5
Ap pr
ox . 1
2. 5
Mounting plate t = 1.0
R2.75 7
5.5
(1 3)
80
4
270 4
(1 6)
(1 6)
70
2
260 2
84 4
1. 2
(246)
(6 .5
)
(6 .5
)
(69.5) 10 1
4.5
66
4 55
2
78 4 220 4 210 2
R2.2 5 6
Ap pr
ox . 1
0. 5
Ap pr
ox . 1
2. 5
Ap pr
ox . 1
2. 5
Mounting plate t = 1.0 *1
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.16 EMC filter (recommended) 319
32
HF3100C-SZL [Unit: mm]
HF3150C-SZL [Unit: mm]
290 2 310 5
75
2 10
0
5
6.5
(1 7.
5)(2 0.
5) (2
0. 5)
6. 5
172 5 (196)
210 5
(1 7.
5)
(1 7)
(245)
2
375 2
395 5
(3 2) 80
2
11 0
5
(3 2)
24 5
(208)
230 5
6. 5
6.5
(2 9) 2
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.16 EMC filter (recommended)
6
Surge protector (recommended)
To use an EMC filter on the servo amplifier, a surge protector is required.
To prevent damage due to surges (such as lightning and sparks) applied to the AC power supply lines, connect the following surge protectors to the main circuit power supply (L1/L2/L3).
RSPD series (Okaya Electric Industries) [Unit: mm]
LT-CS-WS series (Soshin Electric)
Surge protector model
Maximum continuous operating voltage 50/60 Hz
DC operating start voltage
Voltage protection level
Nominal discharge current 8/20 s
Maximum discharge current 8/20 s
Impulse current life 8/20 s - 1000 A
Manufacturer
RSPD-250-U4 3-phase 250 V AC
700 V 25 % 1300 V 2500 A 5000 A About 300 times Okaya Electric Industries Co., Ltd.
RSPD-500-U4 3-phase 500 V AC
1300 V 25 % 2000 V 2500 A 5000 A About 300 times Okaya Electric Industries Co., Ltd.
LT-CS32G801WS 3-phase 275 V AC
660 V 10 % 1400 V 5000 A 8000 A About 1000 times Soshin Electric Co., Ltd.
41 1
28 .5
1
2 8
1
4.2 0.5 5. 5
1
11
1 +3
0 0
20 0
4. 5
0.
51 32
Resin
Lead
Case
19
38
28 25
0
22.5
8. 5
254
4.3
4
Operation status display
Vinyl wire
Grounding wire
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.16 EMC filter (recommended) 321
32
6.17 MR-J3-D05 safety logic unit Contents of the package Open the package and check the contents.
Terms related to safety
Stop function for IEC/EN 61800-5-2 STO function (Refer to IEC/EN 61800-5-2: 2016 4.2.2.2 STO.) This is a function of MR-J5 series servo amplifiers. The STO function shuts off energy to servo motors, thus removing torque. For MR-J5 series servo amplifiers, the energy is shut off by turning off the power supply electronically in the servo amplifier. The purpose of this function is as follows. Uncontrolled stop according to stop category 0 of IEC/EN 60204-1 Preventing unexpected restart
SS1 function (Refer to IEC/EN 61800-5-2: 2016 4.2.2.3C Safe stop 1 temporal delay.) The SS1 function activates the STO function after the predetermined delay time passes from the start of deceleration. The delay time can be set with the MR-J3-D05. The purpose of this function is as follows. This function is available when the MR-J3-D05 and an MR-J5 series servo amplifier are combined. Controlled stop according to stop category 1 of IEC/EN 60204-1
Emergency operation for IEC/EN 60204-1 Emergency stop (Refer to IEC/EN 60204-1: 2016 9.2.5.4.2 Emergency Stop.) In every operation mode, this must take precedence over all the other functions and operations. Stop category 0 or 1 must apply to the power supply for the mechanical drive part, which can be the cause of hazardous situations. Even if the cause of the emergency state has been removed, the power must not be restarted.
Emergency shut-off (Refer to IEC/EN 60204-1: 2016 9.2.5.4.3 Emergency Switching OFF.) This shuts off energy to all or part of the equipment when there is a risk of electric shock or any other electrical-based issue.
Packed articles Quantity MR-J3-D05 safety logic unit 1
CN9 connector (1-1871940-4 TE Connectivity) 1
CN10 connector (1-1871940-8 TE Connectivity) 1
MR-J3-D05 safety logic unit installation guide 1
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit
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Precautions The following basic safety instructions must be read carefully and fully to prevent injury to persons or damage to property. Only qualified personnel are authorized to install, startup, repair, or adjust the machines in which these components are installed. They must be familiar with all applicable local regulations and laws in which machines with these components are installed, particularly the standards mentioned in this user's manual and the requirements described in ISO/EN ISO 13849-1:2015, IEC 61508, IEC/EN 61800-5-2, and IEC/EN 60204-1. The staff responsible for this work must be given express permission from the company to perform startup, programming, configuration, and maintenance of the machine in accordance with the safety standards. As described in IEC/EN 61800-5-2, the STO function (Safe Torque Off) only prevents the supply of energy from the MR-J5 series servo amplifier to the servo motor. Therefore, in situations where another power source may independently operate the servo motor, additional safety measures, such as brakes and counterweights, must be implemented.
Residual risks Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO/EMG functions. Mitsubishi Electric is not liable for any accidents such as damage and injuries caused by these risks. The SS1 function only guarantees the delay time before STO/EMG becomes enabled. The company, group, or individuals
in charge of installation and delegation of the safety systems are fully responsible for correctly setting this delay time. In addition, certification regarding safety standards over the whole system is required.
The servo motor stops with a dynamic brake or by coasting in any of the following cases: when the SS1 delay time is shorter than the servo motor deceleration time, when the forced stop function has a problem, or when STO/EMG is enabled during servo motor rotation.
For proper installation, wiring, and adjustment, thoroughly read the installation guide of each individual safety related component.
For all devices related to safety, such as relays and sensors, use devices that satisfy the safety standards. A Certification Body has confirmed that the Mitsubishi Electric safety-related components mentioned in this manual satisfy ISO/EN ISO 13849-1:2015 Category 3, PL d and IEC 61508 SIL 2.
Safety is not assured until the safety-related components of the system are completely installed and adjusted. When replacing an MR-J5 series servo amplifier or the MR-J3-D05, confirm that the new servo amplifier or the new unit is
the same as the one being replaced. Once installed, verify the performance of the functions before commissioning the system.
Perform all risk assessments and obtain safety level certifications on the machine or the whole system. As the final safety certification of the system, we recommend using a Certification Body.
To prevent malfunctions from accumulating, perform the appropriate malfunction checks at the regular intervals defined in the safety standards. Regardless of the system safety level, malfunction checks should be performed at least once per year.
If the upper and lower power modules in the servo amplifier are shorted and damaged simultaneously, the servo motor may make a half revolution at a maximum.
WARNING An inappropriately installed safety device or system may lead to an operation status where safety cannot be assured, and a serious or fatal accident may
occur.
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit 323
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Block diagram and timing chart
Function block diagram
Operation sequence
*1 Refer to the following. Page 336 Rotary switch settings
Maintenance and disposal The MR-J3-D05 is provided with an LED display to check abnormalities for maintenance. When disposing of this unit, follow the laws and regulations of each country (region).
SDI1A- SDI2A- SDI1B- SDI2B- STO1A- STO2A- SDO1A- SDO2A-
SRESA+ SRESA- TOF1A TOF2A STO1A+ STO2A+TOFA
0V
+24V
TIMER1
TIMER2
SW1 SW2
SDO1A+ SDO2A+
DC-DC power supply
Safety logic
A-axis circuit
B-axis circuit
SDI
SRES
STO
A-axis shut-off 1 and 2 Energization (closed)
Shut-off (open)
Release (closed)
Normal (open)
Normal (closed)
Shut-off (open)
A-axis shut-off release
B-axis shut-off release
B-axis shut-off 1 and 2
A-axis STO1 and 2
B-axis STO1 and 2
Shut-off delay (SW1 and SW2) *1
STO stateControllable stateSTO state
Power supply
Controllable state
10 ms or shorter
50 ms or longer
15 ms or longer
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit
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Functions and configuration
Outline The MR-J3-D05 has two systems of output for the SS1 function (delay time) and the STO function each.
Specifications
*1 An inrush current of approximately 1.5 A flows momentarily at power-on. Take the inrush current into account when selecting a power supply.
*2 The service life lasts until the power is turned on 100,000 times. *3 A number and axis name are put in the _ portion of a signal name. *4 For details of test pulse input, contact your local sales office.
Safety logic unit model MR-J3-D05 Control circuit power supply
Voltage DC 24 V
Permissible voltage fluctuation 24 V DC 10 %
Required current capacity [A] 0.5 *1*2
Supported system 2 systems (A-axis, B-axis independent)
Shut-off input 4-point (2 points x 2 systems) SDI_: Source/sink supported *3
Shut-off release input 2-point (1 point x 2 systems) SRES_: Source/sink supported *3
Feedback input 2-point (1 point x 2 systems) TOF_: Source supported *3
Input method Photocoupler insulation, 24 V DC (externally supplied), 5.4 k internal resistance
Shut-off output 8-point (4 points x 2 systems) STO_: Source supported *3
8-point (4 points x 2 systems) SDO_: Source/sink supported *3
Output method Photocoupler insulation, open-collector type Permissible current: 40 mA or less per point, inrush current: 100 mA or less per point
Delay setting time A-axis: Select from 0 s,1.4 s, 2.8 s, 5.6 s, 9.8 s, and 30.8 s. B-axis: Select from 0 s,1.4 s, 2.8 s, 9.8 s, and 30.8 s. Accuracy: 2 %
Safety sub-function STO, SS1 (IEC/EN 61800-5-2) EMG STOP, EMG OFF (IEC/EN 60204-1)
Safety performance
Satisfied standards ISO 13849-1: 2015 Category 3 PL d, IEC 61508 SIL 2, IEC 62061 SIL CL 2, IEC 61800-5-2
Response performance (when the delay setting time is 0 s) *4
10 ms or less (STO input off shut-off output off)
Mean time to dangerous failure (MTTFd)
MTTFd 100 [years] (516a)
Diagnostic coverage (DC) DC = Medium, 93.1 [%]
Probability of dangerous Failure per Hour (PFH)
PFH = 4.75 10-9 [1/h]
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
Structure Natural cooling, open (IP rating: IP00)
Environment Ambient temperature Operation: 0 C to 55 C (non-freezing), Storage: -20 C to 65 C (non-freezing)
Ambient humidity Operation: 5 %RH to 90 %RH (non-condensing), Storage: 5 %RH to 90 %RH (non-condensing)
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 1000 m or less
Vibration resistance 5.9 m/s2, 10 Hz to 55 Hz (in each of the X, Y, and Z directions)
Mass [kg] 0.2 (including CN9 and CN10 connectors)
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit 325
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When using MR-J3-D05 for MR-J5 series servo amplifiers System configuration example The connection destinations of the STO switch and STO release switch are shown in the following figure.
MR-D05UDL_M (STO cable) cannot be used.
MR-J3-D05
FG
MCCB CN9
CN10
CN8
L1 L2 L3
U V W
CN3
STO switch
STO release switch
Magnetic contactor
Power supply
Servo motor
STO cable MR-D05UDL3M-B
EM2 (Forced stop 2)
Servo amplifier
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit
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Connection example
*1 Set a delay time for STO output with SW1 and SW2. These switches are located in a recessed area in the MR-J3-D05 to prevent accidental setting changes.
*2 To release the STO state (base circuit shut-off), turn on RESA and RESB then turn them off.
STO1
4
5
3
6
7
8
CN3
CN8
SDO1A+4A
4B SDO1A-
SDI1A+1A
1B SDI1A-
SDI2A+
SRESA+
SDO2A+
TOFA
3A
3B
1A
1B
6A
6B
8A
SDI2A-
SDO2A-
SRESA-
CN9
CN10
STO1
TOFB2
TOFCOM
STO2
STOCOM
TOFB1
SW1 *1
FG
4
5
3
6
7
8
CN3
CN8
TOFB2
TOFCOM
STO2
STOCOM
TOFB1
SDO1B+3A
3B SDO1B-
SDI1B+2A
2B SDI1B-
SDI2B+
SRESB+
SDO2B+
TOFB
4A
4B
2A
2B
5A
5B
8B
+24V7A
0V7B
SDI2B-
SDO2B-
SRESB-
CN9
CN10
SW2 *1
MR-J3-D05 S1
24 V
0 V
STOA
S3
STOB
MC
M
MC
M
CN8A
CN8B
RESA *2 RESB *2 S4S2
EM2 (B-axis)
EM2 (A-axis)
Servo motor
Servo motor
Control circuit
Control circuit
EM2 (A-axis)
EM2 (B-axis)
Servo amplifier
Servo amplifier
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit 327
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Signal
Connectors and pin assignment CN8A
CN8B
CN9
Device name Symbol Pin No. Function and usage I/O signal interface type
A-axis STO1 STO1A- STO1A+
1 4
Outputs STO1 to the A-axis drive system. Outputs the same signal as A-axis STO2. STO state (base circuit shut-off): Between STO1A+ and STO1A- becomes open. STO release state (driving): Between STO1A+ and STO1A- becomes closed.
O
A-axis STO2 STO2A- STO2A+
5 6
Outputs STO2 to the A-axis drive system. Outputs the same signal as A-axis STO1. STO state (base circuit shut-off): Between STO2A+ and STO2A- becomes open. STO release state (driving): Between STO2A+ and STO2A- becomes closed.
O
A-axis STO state TOF2A TOF1A
7 8
Inputs the STO state of the A-axis drive system. STO state (base circuit shut-off): Open between TOF2A and TOF1A. STO release state (driving): Close between TOF2A and TOF1A.
I
Device name Symbol Pin No. Function and usage I/O signal interface type
B-axis STO1 STO1B- STO1B+
1 4
Outputs STO1 to the B-axis drive system. Outputs the same signal as B-axis STO2. STO state (base circuit shut-off): Between STO1B+ and STO1B- becomes open. STO release state (driving): Between STO1B+ and STO1B- becomes closed.
O
B-axis STO2 STO2B- STO2B+
5 6
Outputs STO2 to the B-axis drive system. Outputs the same signal as B-axis STO1. STO state (base circuit shut-off): Between STO2B+ and STO2B- becomes open. STO release state (driving): Between STO2B+ and STO2B- becomes closed.
O
B-axis STO state TOF2B TOF1B
7 8
Inputs the STO state of the B-axis drive system. STO state (base circuit shut-off): Open between TOF2B and TOF1B. STO release state (driving): Close between TOF2B and TOF1B.
I
Device name Symbol Pin No. Function and usage I/O signal interface type
A-axis shut-off 1 SDI1A+ SDI1A-
1A 1B
Inputs Safety switch to the A-axis drive system. Input the same signal as A-axis shut-off 2. STO state (base circuit shut-off): Open between SDI1A+ and SDI1A-. STO release state (driving): Close between SDI1A+ and SDI1A-.
DI-1
B-axis shut-off 1 SDI1B+ SDI1B-
2A 2B
Inputs Safety switch to the B-axis drive system. Input the same signal as B-axis shut-off 2. STO state (base circuit shut-off): Open between SDI1B+ and SDI1B-. STO release state (driving): Close between SDI1B+ and SDI1B-.
DI-1
A-axis SDO1 SDO1A+ SDO1A-
4A 4B
Outputs STO1 to the A-axis drive system. Outputs the same signal as A-axis SDO2. STO state (base circuit shut-off): Between SDO1A+ and SDO1A- becomes open. STO release state (driving): Between SDO1A+ and SDO1A- becomes closed.
DO-1
B-axis SDO1 SDO1B+ SDO1B-
3A 3B
Outputs STO1 to the B-axis drive system. Outputs the same signal as B-axis SDO2. STO state (base circuit shut-off): Between SDO1B+ and SDO1B- becomes open. STO release state (driving): Between SDO1B+ and SDO1B- becomes closed.
DO-1
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit
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CN10 Device name Symbol Pin No. Function and usage I/O signal
interface type
A-axis shut-off 2 SDI2A+ SDI2A-
3A 3B
Inputs Safety switch to the A-axis drive system. Input the same signal as A-axis shut-off 1. STO state (base circuit shut-off): Open between SDI2A+ and SDI2A-. STO release state (driving): Close between SDI2A+ and SDI2A-.
DI-1
B-axis shut-off 2 SDI2B+ SDI2B-
4A 4B
Inputs Safety switch to the B-axis drive system. Input the same signal as B-axis shut-off 1. STO state (base circuit shut-off): Open between SDI2B+ and SDI2B-. STO release state (driving): Close between SDI2B+ and SDI2B-.
DI-1
A-axis shut-off release
SRESA+ SRESA-
1A 1B
Releases the STO state (base circuit shut-off) of the A-axis drive system. Turning the state between SRESA+ and SRESA- from on (connected) to off (released) releases the STO state (base circuit shut-off) of the A-axis drive system.
DI-1
B-axis shut-off release
SRESB+ SRESB-
2A 2B
Releases the STO state (base circuit shut-off) of the B-axis drive system. Turning the state between SRESB+ and SRESB- from on (connected) to off (released) releases the STO state (base circuit shut-off) of the B-axis drive system.
DI-1
A-axis SDO2 SDO2A+ SDO2A-
6A 6B
Outputs STO2 to the A-axis drive system. Outputs the same signal as A-axis SDO1. STO state (base circuit shut-off): Between SDO2A+ and SDO2A- becomes open. STO release state (driving): Between SDO2A+ and SDO2A- becomes closed.
DO-1
B-axis SDO2 SDO2B+ SDO2B-
5A 5B
Outputs STO2 to the B-axis drive system. Outputs the same signal as B-axis SDO1. STO state (base circuit shut-off): Between SDO2B+ and SDO2B- becomes open. STO release state (driving): Between SDO2B+ and SDO2B- becomes closed.
DO-1
Control circuit power supply
+24V 7A Connect the positive side of the 24 V DC power supply.
Control circuit power supply GND
0V 7B Connect the negative side of the 24 V DC power supply.
A-axis STO state TOFA 8A Connected with TOF2A internally.
B-axis STO state TOFB 8B Connected with TOF2B internally.
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit 329
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Interface For the MR-J3-D05, source type I/O interfaces can be used.
Sink I/O interface (CN9, CN10 connectors) Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal. Transmit signals from a sink (open- collector) type transistor output, relay switch, etc.
Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current flows to the collector terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs internally.
*1 If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
VCES 1.0 V ICEO 100 A
TR
200 mA
MR-J3-D05
Approx. 5.4 k
Approximately 5 mA
Switch
For transistor SRESA-, etc.
SRESA+, etc.
24 V DC 10 %
MR-J3-D05
200 mA
If polarity of diode is reversed, MR-J3-D05 will malfunction.SDO2B+,
etc.
SDO2B-, etc.
Load
24 V DC 10 % *1
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit
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Source I/O interface (CN9, CN10 connectors) Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc.
Digital output interface DO-1 This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, the current flows from the output terminal to a load. A maximum of 2.6 V voltage drop occurs in the MR-J3-D05.
*1 If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
Wiring CN9, CN10 connectors Be careful when handling tools during wiring work.
Stripping wire Use wire of applicable wire size from AWG 24 to 20 (0.22 mm2 to 0.5 mm2) (recommended wire: UL 1007 recommended),
and process it so that its stripped length is 7.0 mm 0.3 mm. Before using, check the length of the stripped section with a gage or other tool.
If the stripped wire is bent, frayed, or wound too thick, correct it by lightly twisting the wire or manipulating it as necessary, and check the length of the stripped section before using it. In addition, do not use excessively deformed wire.
When processing the cut surface of wire and the stripped surface of conductor, make them smooth.
Connecting wires When connecting wires, do so with the receptacle assembly pulled out of the head connector. Wiring while connectors are inserted in the servo amplifier may damage the connectors or the board. Connecting wires with insertion/extraction tool (1891348-1 or 2040798-1) Dimensions and mass
VCES 1.0 V ICEO 100 A
200 mA
MR-J3-D05
Approximately 5 mA 24 V DC 10 %
Switch
SRESA-, etc.
SRESA+, etc.
Approx. 5.4 k
MR-J3-D05
200 mA
If polarity of diode is reversed, MR-J3-D05 will malfunction.
24 V DC 10 % *1
LoadSDO2B+, etc.
SDO2B-, etc.
100
15
7
[Unit: mm]
Mass: Approx. 20 g
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit 331
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Connecting wires
1. Check the model numbers of the housing, contact, and tool to be used.
2. Insert the tool diagonally in relation to the terminal block.
3. Insert the tool until it touches the surface of the terminal block. The tool becomes perpendicular to the terminal block at this point.
4. Insert the wire until it reaches the stop. When doing so, slightly twist the core wire so that it does not fray.
It is easier to insert the wire by inserting it diagonally while twisting the tool a little.
5. Pull out the tool.
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit
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Connecting wires with a screwdriver If using a screwdriver when connecting wires, do not insert the screwdriver with too much force. Doing so may damage the housing or spring. Be careful when working.
Applicable screwdrivers
Connecting wires
1. Insert the screwdriver at a slight diagonal into the front slot, push the spring up as if prying it, and in that state, insert the wire until it reaches the stop. Take care not to insert the screwdriver with too much force as this may damage the housing or spring. Never insert a screwdriver into the round hole for wire. Doing so will damage the connector.
2. Continue to press on the wire and pull out the screwdriver to complete the wire connection.
3. Pull the wire lightly to confirm that the wire is surely connected.
4. To remove the wire, as when connecting the wire, push the spring down with a screwdriver and pull the wire out.
Screwdriver shape 2.3 mm Screwdriver shape 2.5 mm Shaft diameter: 2.3 mm 0.05 mm Length: 120 mm or less Blade width: 2.3 mm Blade thickness: 0.25 mm Tip inclination: 18 1
Shaft diameter: 2.5 mm 0.05 mm Length: 120 mm or less Blade width: 2.5 mm Blade thickness: 0.3 mm Tip inclination: 12 1
2.3 mm 0.05 mm
0.25 mm
2.3 mm
18 1
0.3 mm
2.5 mm
2.5 mm 0.05 mm 12 1
Tool insertion slot
Screw driver
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit 333
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Inserting the connector Ensure the connector is straight, then insert it into the socket until you hear and feel it click into place. When removing the connector, press down the locking part completely, then pull out the connector. If the connector is pulled out while the locking part pressed down only partway, the lock may get caught and cause damage to the housing, contacts, or wires.
Applicable wires The following table lists applicable wires that can be used.
Other precautions Fix a cable tie at a distance of A x 1.5 or more from the connector end surface.
Prevent the wire from being pulled excessively after the connecter is inserted in the servo amplifier.
Wiring FG
Usable wire range Solid wire: 0.4 mm to 1.2 mm (AWG 26 to 16) Stranded wire: 0.2 mm2 to 1.25 mm2 (AWG 24 to 16), wire strand diameter 0.18 mm or more
Conductor area
mm2 AWG 0.22 24
0.34 22
0.50 20
A
A 1.5 or more
Bottom face
Lead wire
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit
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LED display The LEDs show I/O statuses and faults for the A-axis and B-axis and whether power is being supplied.
LED Description LED
Column A Column B SRES Shut-off release monitor LED
Off: Shut-off release is off. (The switch contact is open.) On: Shut-off release is on. (The switch contact is closed.)
A-axis B-axis
SDI1 Shut-off 1 monitor LED Off: Shut-off 1 is off. (The switch contact is closed.) On: Shut-off 1 is on. (The switch contact is open.)
SDI2 Shut-off 2 monitor LED Off: Shut-off 2 is off. (The switch contact is closed.) On: Shut-off 2 is on. (The switch contact is open.)
TOF STO status monitor LED Off: Not in the STO state. On: In the STO state.
SDO1 SDO1 monitor LED Off: Not in the STO state. On: In the STO state.
SDO2 SDO2 monitor LED Off: Not in the STO state. On: In the STO state.
SW Shut-off delay setting check monitor LED Off: The settings of SW1 and SW2 do not match. On: The settings of SW1 and SW2 are the same.
FAULT FAULT LED Off: Operating as specified. (STO monitoring state) On: FAULT has occurred.
POWER Power supply Off: MR-J3-D05 power shut-off. On: MR-J3-D05 power on.
MR-J3-D05
SRES
A B
SDI1 SDI2 TOF
SDO1 SDO2 SW
FAULT
POWER
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit 335
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Rotary switch settings The rotary switches are used for shutting off the power after a control stop by the SS1 function. Set the delay time from when the STO shut-off switch is pressed until STO is output. In addition, set SW1 and SW2 to the same value. The table below lists the combinations of delay times according to settings. Note that the settings cannot be changed while the power is on. Also, take actions such as sealing the switches with stickers so that the settings will not be changed after shipment, and inform the end user that changing settings is prohibited. 0 to F in the table are the setting values for the rotary switches (SW1 and SW2).
Troubleshooting If the power does not turn on or if the FAULT LED is on, take corrective actions according to the following table.
Rotary switch settings and A- axis/B-axis delay time [s]
B-axis
0 s 1.4 s 2.8 s 5.6 s 9.8 s 30.8 s A-axis 0 s 0 1 2 3 4
1.4 s 5 6 7
2.8 s 8 9 A
5.6 s B C
9.8 s D E
30.8 s F
Event Description Cause Action The power does not turn on.
Even when the power is turned on, the power supply 3-digit, 7-segment LED does not light up.
1. The 24 V DC power supply has malfunctioned.
Replace the 24 V DC power supply.
2. The wiring between the MR-J3-D05 and the 24 V DC power supply is disconnected or is in contact with other wiring.
Check the wiring.
3. The MR-J3-D05 has malfunctioned. Replace the MR-J3-D05.
The FAULT LED is on. The FAULT 3-digit, 7-segment LED for A-axis or B-axis remains on and does not turn off.
1. Delay time setting mismatch Check the settings of the rotary switches.
2. Switch input error Check the input signal wiring or input signal sequence.
3. TOF signal error Check the connection with the servo amplifier.
4. The MR-J3-D05 has malfunctioned. Replace the MR-J3-D05.
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit
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Dimensions
5 18
2 5
19 2
5
FG
9.75
12 16
8
6 86
80 9.75
18 2
19.5 22.5
C N
8A C
N 8B
C N
9 C
N 10
Rating plate
5 mounting hole
2-M4 screw
Mounting hole process drawing
[Unit: mm]
Approx. 22.5
Ap pr
ox . 1
92 Ap
pr ox
. 5 Ap
pr ox
. 5
Approx. 80
7 8 7 8 TOF2A TOF1A TOF2B TOF1B
5 6 5 6 STO2A- STO2A+ STO2B- STO2B+
3 4 3 4 STO1A+ STO1B+
1 2 1 2 STO1A- STO1B-
1A 1B
1A 1B
SDI1A+ SDI1A-
SRESA+ SRESA-
2A 2B
2A 2B
SDI1B+ SDI1B-
SRESB+ SRESB-
3A 3B
3A 3B
SDO1B+ SDO1B-
SDI2A+ SDI2A-
4A 4B
4A 4B
SDO1A+ SDO1A-
SDI2B+ SDI2B-
5A 5B SDO2B+ SDO2B-
6A 6B SDO2A+ SDO2A-
7A 7B +24V 0V
8A 8B TOFA TOFB
CN8A CN8B
CN9
CN10 Pin assignment Mounting screw
Screw size: M4
Tightening torque: 1.2 Nm
Mass: 0.2 [kg]
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit 337
33
Installation Install the MR-J3-D05 in the specified orientation. Leave clearance between the MR-J3-D05 and the cabinet or other equipment.
M R
-J 3-
D 05
M R
-J 3-
D 05
MR-J3-D05
Cabinet
10 mm or longer
80 mm or longer for wiring
30 mm or longer
10 mm or longer
Top
Bottom 40 mm or longer
40 mm or longer
40 mm or longer
30 mm or longer
100 mm or longer 10 mm or longer
CabinetCabinet
O th
er d
ev ic
e
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit
6
Combinations of cables and connectors
MR-D05UDL_M (STO cable) cannot be used.
No. Product name
Model Description
(1) Connector Supplied with the MR-J3-D05
CN9 connector: 1-1871940-4 (TE Connectivity)
CN10 connector: 1-1871940-8 (TE Connectivity)
(2) STO cable MR-D05UDL3M-B Cable length: 3 m
Connector set: 2069250-1 (TE Connectivity)
CN9
CN10
MR-J3-D05
(2)
(2)
CN8
(1)
CN8
MR-J3-D05 attachment connector
Servo amplifier
Servo amplifier
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.17 MR-J3-D05 safety logic unit 339
34
6.18 J5-CHP07-10P cabinet-mounting attachment Using the cabinet-mounting attachment to install the servo amplifier into a cabinet enables you to tighten the installation screw with the screwdriver held horizontally.
Compatible models MR-J5-10_ to MR-J5-350_ MR-J5W2-22_ to MR-J5W2-1010_ MR-J5W3-222_, MR-J5W3-444_ MR-CM3K MR-J5-60_4_ to MR-J5-350_4_
Dimensions [Unit: mm]
Plating: Trivalent chrome plated
View when installed
2. 3
2.3
2.3
11 .5
0
.2 3.7
12 .7
26 .5
15 5.
5
5
10
6 hole
Ap pr
ox . 6
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment
6
Fitting method Install the attachment onto the servo amplifier before installing the servo amplifier into the cabinet.
*1 Use one of the flat head screws included with the attachment. (Tightening torque: 1.2 [Nm])
Installation precautions Ensure that the attachment is installed perfectly straight so that it does not protrude beyond the side of the module. If the attachment is not straight, the hole in the bracket may not alight with the screw hole. The attachment may come loose if it is installed at an angle and then forcibly moved into position. Loosen the screw before adjusting the position of the attachment.
*1
Cabinet-mounting attachment
Install the cabinet-mounting attachment perfectly straight so that it does not protrude beyond the side of the module.
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment 341
34
Components Components are listed in the following table.
Installation dimensions
Exterior dimensions at installation
The following are examples of the MR-J5-10A servo amplifiers.
[Unit: mm]
Packed articles Quantity Cabinet-mounting attachment 10
Flat head screw (M4) 10
Servo amplifier Variable dimensions
A B C MR-J5_10_ 6 182.3 6
MR-J5_20_
MR-J5_40_
MR-J5_60_
MR-J5_70_ 12 12
MR-J5_100_
MR-J5_200_ 6 6
MR-J5_350_
MR-J5W2_22_
MR-J5W2_44_
MR-J5W2_77_
MR-J5W2_1010_
MR-J5W3_222_
MR-J5W3_444_
MR-J5_60_4_ 12 183 12
MR-J5_100_4_
MR-J5_200_4_ 6 6
MR-J5_350_4_
MR-CM3K
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment
6
15 6
6
A
14 .3 14
.3
10
B
C
6 mounting hole
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment 343
34
Installation hole dimensions MR-J5-10_/MR-J5-20_/MR-J5-40_/MR-J5-60_/MR-CM3K [Unit: mm]
MR-J5-70_/MR-J5-100_ [Unit: mm]
17 1+0
.5 -0
2-M5 screw
Approx. 6
Ap pr
ox . 6
Approx. 40
Ap pr
ox . 6
Ap pr
ox . 1
83
42 0.3
17 1+0
.5 -0
Ap pr
ox . 6
Ap pr
ox . 6
Ap pr
ox . 1
83
3-M5 screw
Approx. 6Approx. 12
Approx. 60
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment
6
MR-J5-200_/MR-J5-350_/MR-J5-200_4_/MR-J5-350_4_ [Unit: mm]
MR-J5W2-22_/MR-J5W2-44_/MR-J5-60_4_/MR-J5-100_4_ [Unit: mm]
17 1+0
.5 -0
78 0.3
Ap pr
ox . 6
Ap pr
ox . 6
3-M5 screw
Ap pr
ox . 1
83
Approx. 6Approx.6
Approx. 90
17 1+0
.5 -0
Ap pr
ox . 6
Ap pr
ox . 6
Ap pr
ox . 1
83
Approx. 6
Approx. 60
2-M5 screw
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment 345
34
MR-J5W2-77_/MR-J5W2-1010_ [Unit: mm]
MR-J5W3-222_/MR-J5W3-444_ [Unit: mm]
17 1+0
.5 -0
73 0.3
Ap pr
ox . 6
Ap pr
ox . 6
3-M5 screw
Ap pr
ox . 1
83
Approx.6
Approx. 85
17 1+0
.5 -0
63 0.5
Ap pr
ox . 6
Ap pr
ox . 6
3-M5 screw
Ap pr
ox . 1
83
Approx.6
Approx. 75
6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.18 J5-CHP07-10P cabinet-mounting attachment
6
6.19 J5-CHP08 grounding terminal attachment Using the grounding terminal attachment allows wiring of the grounding terminal on the front of the servo amplifier. It also allows the cable to be secured to the front of the servo amplifier.
Precautions Ensure that the cable does not apply excessive stress to the attachment.
Compatible models MR-J5-10_ to MR-J5-350_ MR-J5-60_4_ to 350_4_
Restrictions The grounding terminal attachment cannot be installed when the MR-BAT6V1SET or MR-BAT6V1SET-A batteries are
used. Remove the cable clamp before removing the CN2L connector.
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment 347
34
Appearance and dimensions
Appearance Without cable clamp
With cable clamp
Material: SPHC-P Plating: Trivalent chrome plated
Dimensions [Unit: mm]
Screws for cable clamp (main circuit/motor power cable)
Screws for protective earth
PE 40
10 5.5
19.5
31 .9
109.3
12 .6
22 .5
6 mounting hole
8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment
6
View when installed
*1 The recommended screw tightening torque is 1.5 0.1 Nm.
*1
*1
Protective earth (PE)
Motor power cable clamp
Main circuit cable clamp
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment 349
35
Components Components are listed in the following table. The attachment, cable clamp, and screws do not come pre-installed.
ALC series aluminum clamps (manufactured by Takeuchi Industry Co., Ltd.) can also be used. For details, contact the manufacturer.
Installation dimensions
Exterior dimensions at installation MR-J5-10_/MR-J5-20_/MR-J5-40_ [Unit: mm]
Packed articles Quantity Grounding terminal attachment 1
Cable clamp (manufactured by: Takeuchi Industry Co., Ltd. ALC-7/bundle diameter 6.5 mm to 7.5 mm) 2
Flat head screw (M4) 4
32 .6
40
10 15
6 6
17 2
6
40
6 PE
CN1
CN5
CN6
CN8
CN3
CN2
CN2L
CN4
CNP1
CNP2
CNP3
13519.3
41109.3
16 816
5
6 mounting hole
Approx. 23.2
Cable clamp
0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment
6
MR-J5-60_ [Unit: mm]
17019.3 76109.3
16 816
5 32
.6
40
10 15
6 6
17 2
6 40
6 PE
CN1
CN5
CN6
CN8
CN3
CN2
CN2L
CN4
CNP1
CNP2
CNP3
6 mounting hole
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment 351
35
MR-J5-70_/MR-J5-100_ [Unit: mm]
16 5
32 .6
40
10 15
6 6
17 2
12 60
12 42
6 9.5
PE
CN1
CN5
CN6 CN8
CN3
CN2
CN2L
CN4
CNP1
CNP2
CNP3
6
18519.3 91109.3
16 8
6 mounting hole
2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment
6
MR-J5-200_/MR-J5-350_ [Unit: mm]
MR-J5-60_4_/MR-J5-100_4_ [Unit: mm]
10 15
6 6
6 90
CNP1
CNP2
CNP3
6
78
6
6 409.5
16 5
32 .6
17 2
CN1
CN5
CN6 CN8
CN3
CN2 CN2L
CN4
19519.3 109.3
16 8
101
6 mounting hole
16 5
PE
10 15
6 6
17 2
12 60
32 .6
40 12 42
6 9.5
6
CNP1
CNP2
CNP3 CN2 CN2L
CN4
CN3
CN5
CN6
CN1A
CN1B
CN8
19519.3 101109.3
16 8
6 mounting hole
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment 353
35
MR-J5-200_4_/MR-J5-350_4_ [Unit: mm]
16 5
10 15
6 6
6 90
6
78
6
6 4017.2
32 .6
17 2
CNP1
CNP2
CNP3 CN2 CN2L
CN4
CN3
CN5
CN6
CN1A
CN1B
CN8
19519.3 109.3
16 8
101
6 mounting hole
4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.19 J5-CHP08 grounding terminal attachment
6
6.20 Cables manufactured by Mitsubishi Electric System & Service Co., Ltd.
SSCNET III cable [B]
For details on the SSCNET III cable, contact Mitsubishi Electric System & Service Co., Ltd. Do not look directly at the light emitted from the CN1A and CN1B connectors of the servo amplifier or the
end of the SSCNET III cable. The light may cause discomfort when it enters your eyes.
The cable length is from 1 m to 100 m in increments of 1 m. "_" in the cable model indicates the cable length (1 to 100).
Cable model Flex type Application/remark SC-J4BUS_M-A Standard
(for fixed parts) For standard cables outside cabinet
SC-J3BUS_M-C Ultra-high flex life (for moving parts)
For long distance cables
6 OPTIONS AND PERIPHERAL EQUIPMENT 6.20 Cables manufactured by Mitsubishi Electric System & Service Co., Ltd. 355
35
7 ABSOLUTE POSITION DETECTION SYSTEM Precautions
If [AL. 025 Absolute position erased] or [AL. 0E3 Absolute position counter warning] occurs, execute homing again. For the replacement procedure of the battery, refer to the following. Page 512 Battery When the servo motor that requires a battery for the absolute position detection system is used, disconnection of the
encoder cable or replacement of the battery while the control circuit power supply is off causes the encoder to erase the absolute position data. If the absolute position data is erased, execute home position setting before operation.
When the battery is used out of specification, the absolute position data may be erased.
7.1 Outline Characteristics The encoder consists of a circuit designed to detect a position within one revolution and the number of revolutions. The absolute position detection system always detects and memorize the absolute position of the machine, regardless of whether the controller power is on/off. Therefore, once homing is performed at the time of machine installation, homing is not needed when power is switched on thereafter. Even if a power failure or a malfunction occurs, the system can be easily restored.
Restrictions [G] The absolute position detection system cannot be configured in the following conditions. When an incremental type encoder is being used When semi closed/fully closed switching is enabled Stroke-less coordinate system (except degree unit setting) for infinite positioning and the like in combination with a
controller other than a Mitsubishi Electric controller
Restrictions [B] The absolute position detection system cannot be configured in the following conditions. When an incremental type encoder is being used When semi closed/fully closed switching is enabled When a controller that does not support the infinite feed function is used in a stroke-less coordinate system such as a
degree axis
Restrictions [A] The absolute position detection system cannot be configured in the following conditions. When an incremental type encoder is being used Speed control mode and torque control mode Infinite long positioning and the like, stroke-less coordinate system Changing electronic gear after homing The absolute position detection system by DIO cannot be configured in the following conditions. Control switching mode (position/speed, speed/torque, and torque/position) The test operation cannot be performed in the absolute position detection system by DIO. To perform the test operation, select the incremental system in [Pr. PA03].
6 7 ABSOLUTE POSITION DETECTION SYSTEM 7.1 Outline
7
Precautions [G] [A] Even when using a servo motor with battery-less absolute position encoder, absolute position data is erased under the following conditions. If the absolute position data is erased, perform homing again. The servo motor or servo amplifier is replaced. The incremental system is enabled. [Pr. PA01 Operation mode selection] is changed. [AL. 025 Absolute position erased] occurs. [AL. 0E3 Absolute position counter warning] occurs. [AL. 02B Encoder counter error] occurs. Connecting a servo motor other than the one with a batteryless absolute position encoder that was connected at the startup of the absolute position detection system triggers [AL. 01A Servo motor combination error]. In such cases, reconnect the servo motor that was connected at the startup of the absolute position detection system to operate without losing the absolute position data. When replacing a servo motor, refer to the following. Page 361 Procedure of replacing a servo motor with battery-less absolute position encoder When [Pr. PF63.0 [AL. 01A.5 Servo motor combination error 3] selection] is set to "1" (disabled), connecting a servo motor that had not been connected at the startup of the absolute position detection system will cause [AL. 025 Absolute position erased], erasing absolute position data. Therefore, check if a correct servo motor is connected.
Precautions [B] Even when using a servo motor with battery-less absolute position encoder, absolute position data is erased under the following conditions. If the absolute position data is erased, the homing request signal turns on on the controller side. Perform homing again. The servo motor or servo amplifier is replaced. [AL. 025 Absolute position erased] occurs. [AL. 0E3 Absolute position counter warning] occurs. [AL. 02B Encoder counter error] occurs. The servo amplifier with the absolute position data is used as a slave axis of the master-slave operation function. For the conditions for the homing request signal to be turned on due to controller factors, refer to each controller manual. Connecting a servo motor other than the one with a batteryless absolute position encoder that was connected at the startup of the absolute position detection system triggers [AL. 01A Servo motor combination error]. In such cases, reconnect the servo motor that was connected at the startup of the absolute position detection system to operate without losing the absolute position data. When replacing a servo motor, refer to the following. Page 361 Procedure of replacing a servo motor with battery-less absolute position encoder When [Pr. PF63.0 [AL. 01A.5 Servo motor combination error 3] selection] is set to "1" (disabled), connecting a servo motor that had not been connected at the startup of the absolute position detection system will cause [AL. 025 Absolute position erased], erasing absolute position data. Therefore, check if a correct servo motor is connected.
7 ABSOLUTE POSITION DETECTION SYSTEM 7.1 Outline 357
35
System architecture The following shows the architecture of the absolute position detection system.
When connecting the battery-less absolute position encoder
When connecting the battery backup type absolute position encoder For each battery connection, refer to the following. Page 512 Battery
Servo parameter setting [G] Set [Pr. PA03.0 Absolute position detection system selection] to "1" (enabled (absolute position detection system)). When an absolute position detection system is configured in the cyclic synchronous mode with a Motion module manufactured by Mitsubishi Electric, set [Pr. PC29.5 [AL. 0E3 Absolute position counter warning] selection] to "0" (disabled).
Servo parameter setting [B] Set [Pr. PA03.0 Absolute position detection system selection] to "1" (enabled (absolute position detection system)).
Servo parameter setting [A] Set [Pr. PA03.0 Absolute position detection system selection] to "1" (enabled (absolute position detection system by DIO)).
CN1_ CN2/CN2A/CN2B/CN2C
CN4
Controller Servo amplifier
Servo motor
Do not connect anything.
CN1_ CN2/CN2A/CN2B/CN2C
CN4
Controller Servo amplifier
Battery Servo motor
8 7 ABSOLUTE POSITION DETECTION SYSTEM 7.1 Outline
7
Homing [G] [A] After the absolute position detection system is enabled, [AL. 025 Absolute position erased] occurs at the initial startup. Then, ABSV (Absolute position erased) turns on. Refer to "CONTROL MODE" in the following manual and perform homing. MR-J5 User's Manual (Function)
Homing [B] After the absolute position detection system is enabled, [AL. 025 Absolute position erased] occurs at the initial startup. Then, ABSV (Absolute position erased) turns on. For the homing method, refer to each controller manual.
Checking the detected absolute position data Absolute position data can be checked with MR Configurator2. Choose "Monitor" and "ABS Data Display" to open the absolute position data display screen.
ABS data display [G] [A]
*1 Refer to the following for the system architecture. Page 363 Connecting the battery-less encoder
No. Item Screen operation
MR Configurator2 System architecture *1
(1) Motor (machine) side pulse unit value
Acquires the value in the unit of the servo motor (machine) side pulses from the servo amplifier of the specified axis and displays it.
(2) Command pulse unit value Current position
Acquires the command pulse unit value from the servo amplifier for the specified axis and displays it.
(3) CYC 1X [G]: Acquires the position within one revolution in the unit of the servo motor (machine) side pulses from the servo amplifier of the specified axis and displays it. [A]: Acquires the command pulse data of the position within one-revolution from the servo amplifier of the specified axis and displays it.
(4) ABS LS Acquires the multi-revolution counter travel distance from the absolute home position from the servo amplifier of the specified axis and displays it.
(5) CYC0 1XO [G]: Acquires the home position within one revolution in the unit of the servo motor (machine) side pulses from the servo amplifier of the specified axis and displays it. [A]: Acquires the command pulse data of the home position within one-revolution from the servo amplifier of the specified axis and displays it.
(6) ABS0 LSO Acquires the multi-revolution counter value of the absolute home position from the servo amplifier of the specified axis and displays it.
7 ABSOLUTE POSITION DETECTION SYSTEM 7.1 Outline 359
36
ABS data display [B]
*1 Refer to the following for the system architecture. Page 363 Connecting the battery-less encoder
No. Item Screen operation
MR Configurator2 System architecture *1
(1) Motor (machine) side pulse unit value
Acquires the value in the unit of the servo motor (machine) side pulses from the servo amplifier of the specified axis and displays it.
(2) Command pulse unit value Current position
Acquires the command pulse unit value from the servo amplifier for the specified axis and displays it.
(3) CYC 1X [B]: Acquires the position within one revolution in the unit of the servo motor (machine) side pulses from the servo amplifier of the specified axis and displays it.
(4) ABS LS Acquires the multi-revolution counter travel distance from the absolute home position from the servo amplifier of the specified axis and displays it.
(5) CYC0 1XO [B]: Acquires the home position within one revolution in the unit of the servo motor (machine) side pulses from the servo amplifier of the specified axis and displays it.
(6) ABS0 LSO Acquires the multi-revolution counter value of the absolute home position from the servo amplifier of the specified axis and displays it.
0 7 ABSOLUTE POSITION DETECTION SYSTEM 7.1 Outline
7
Procedure of replacing a servo motor with battery-less absolute position encoder To replace a servo motor with battery-less absolute position encoder, use the following procedure.
Servo motor replacement procedure 1. Replacing the servo motor Turn off the power supply of the servo amplifier and replace the servo motor.
2. Canceling [AL. 01A Servo motor combination error] When the power supply of the servo amplifier is turned on, [AL. 01A.5 Servo motor combination error 3] occurs. After setting [Pr. PA03.1 Servo motor replacement preparation] to "1" (enabled), cycle the power of the servo amplifier and then deactivate [AL. 01A.5].
3. Homing The absolute position data is erased by servo motor replacement. Before starting operation, perform homing.
Procedure of replacing the servo motor without changing the servo parameter setting By setting [Pr. PF63.0 [AL. 01A.5 Servo motor combination error 3] selection] to "1" (disabled) while the absolute position detection system is enabled, an in-use servo motor with a batteryless absolute position encoder can be replaced without changing the setting value of [Pr. PA03.1 Servo motor replacement preparation]. Connecting a servo motor that had not been connected at the startup of the absolute position detection system will cause [AL. 025 Absolute position erased], erasing absolute position data. Therefore, check if a correct servo motor is connected. To replace the servo motor without changing the servo parameter setting, refer to the following procedure. Set [Pr. PF63.0] to "1" (disabled) in advance, and reset the controller or cycle the power.
1. Replacing the servo motor Turn off the power supply of the servo amplifier and replace the servo motor.
2. Canceling [AL. 025 Absolute position erased] When the power supply of the servo amplifier is turned on, [AL. 025.1 Servo motor encoder absolute position erased] occurs. Cycle the power of the servo amplifier to deactivate [AL. 025.1].
3. Homing When [AL. 025] occurs, the absolute position data is erased. Before starting operation, perform homing.
7 ABSOLUTE POSITION DETECTION SYSTEM 7.1 Outline 361
36
Procedure of replacing a servo amplifier without losing the absolute position data [B]
When using existing parameter settings for a servo amplifier with factory settings, check that the settings of [Pr. PC84 Servo amplifier replacement data 1] to [Pr. PC91 Servo amplifier replacement data 8] are "0" before connecting the servo amplifier to the controller. Otherwise, [AL. 01A.5 Servo motor combination error 3] may occur. When [AL. 01A.5] occurs, after changing the setting value of [Pr. PA03.1 Servo motor replacement preparation] to "1" (enabled), cycle the power and then deactivate [AL. 01A Servo motor combination error]. Perform homing again. After connecting the servo amplifier to the controller, servo parameters will be set automatically.
To replace a servo amplifier that uses a servo motor with batteryless absolute position encoder as the absolute position detection system due to a servo amplifier malfunction, use the following procedure.
1. Setting the parameter After the communication between the controller and the servo amplifier is established, set [Pr. PF63.2 Servo amplifier replacement data save selection] to "1" (enabled). After setting, cycle the power, or reset either the controller or the software to reflect the setting.
2. Checking the setting values of the controller After the communication between the controller and the servo amplifier is established, check that the value is reflected to the following parameters with the controller. Applicable parameters depend on the control mode. Semi closed loop control mode: [Pr. PC84 Servo amplifier replacement data 1] to [Pr. PC87 Servo amplifier replacement
data 4] Fully closed loop control mode: [Pr. PC88 Servo amplifier replacement data 5] to [Pr. PC91 Servo amplifier replacement
data 8]
3. Replacing the servo amplifier Turn off the power supply of the servo amplifier and replace the servo amplifier. The absolute position will not be erased. This enables positioning operation without performing homing again.
2 7 ABSOLUTE POSITION DETECTION SYSTEM 7.1 Outline
7
7.2 Configuration and specifications Connecting the battery-less encoder The following shows an example of battery-less encoder connection.
System architecture [G] [A]
System architecture [B]
LSO 1XO
Controller Servo amplifier
Home position data Command
position Current position
Backup at power off Control
1X Detecting the position within one revolution
LS Detecting the
number of revolutions
Servo motor
Cumulative revolution counter (1 pulse/rev)
High speed serial
communication
One-revolution counter
Non-volatile memory
1XO LSO
Current position
Home position data
Position data
Servo amplifierServo system controller
1X Detecting the position within one revolution
LS Detecting the
number of revolutions
Control
High speed serial
communication
Servo motor
Cumulative revolution counter (1 pulse/rev)
One-revolution counter
7 ABSOLUTE POSITION DETECTION SYSTEM 7.2 Configuration and specifications 363
36
Specification list
*1 Maximum speed available when the shaft is rotated by external force at the time of power failure. Also, if power is switched on when the servo motor is rotated by an external force at a speed of 3000 r/min or higher, position mismatch may occur.
Item Description System Electronic, battery backup type
Maximum revolution range Home position 32767 rev
Maximum speed at power failure [r/min] *1
Rotary servo motor manufactured by Mitsubishi Electric
8000 (only when the acceleration/deceleration time until 8000 r/min is 0.2 s or longer)
4 7 ABSOLUTE POSITION DETECTION SYSTEM 7.2 Configuration and specifications
7
Connecting the battery backup type absolute position encoder The following shows an example of battery backup type absolute position encoder connection.
Using the MR-BAT6V1SET/MR-BAT6V1SET-A battery System architecture [G] [A]
System architecture [B]
MR-BAT6V1SET-A
LSO 1XO
(6 V 3.4 V)
Controller Servo amplifier
Home position data
Command position Current
position
Backup at power off Control
1X Detecting the position within one revolution
LS Detecting the
number of revolutionsStep-down
circuit
High speed serial
communication
Direct drive motor
Cumulative revolution counter (1 pulse/rev)
One-revolution counter
Non-volatile memory
1XO LSO
MR-BAT6V1SET-A
(6 V 3.4 V)
Current position
Home position data
Position data
Servo amplifierServo system controller
Step-down circuit
Cumulative revolution counter (1 pulse/rev)
One-revolution counter
Direct drive motor
1X Detecting the position within one revolution
LS Detecting the
number of revolutions
Control
High speed serial
communication
7 ABSOLUTE POSITION DETECTION SYSTEM 7.2 Configuration and specifications 365
36
Specification list
*1 Maximum speed available when the shaft is rotated by external force at the time of power failure. *2 The data-retention time with the MR-BAT6V1SET-A. Replace the batteries within three years since the operation start regardless of the
power supply of the servo amplifier on/off. If the battery is used outside of specification range, [AL. 025 Absolute position erased] may occur.
*3 Power-on ratio of 25 % is the equivalent to power-on for 8 hours on weekdays and power-off on weekends.
Item Description System Electronic, battery backup type
Maximum revolution range Home position 32767 rev
Maximum speed at power failure [r/min] *1
Direct drive motor manufactured by Mitsubishi Electric
500 (only when the acceleration/deceleration time until 500 r/min is 0.1 s or longer)
Battery backup time *2 Direct drive motor manufactured by Mitsubishi Electric
Approximately 5000 hours (when the equipment power is off, and the ambient temperature is 20 C) Approximately 15000 hours (when the power-on ratio is 25 %, and the ambient temperature is 20 C) *3
6 7 ABSOLUTE POSITION DETECTION SYSTEM 7.2 Configuration and specifications
7
Using the MR-BT6VCASE battery case One MR-BBT6VCASE can hold the absolute position data of up to 8-axis servo motors. Install five MR-BAT6V1 batteries to MR-BT6VCASE.
System architecture [G] [A]
System architecture [B]
MR-BT6VCASE
LSO 1XO
(6 V 3.4 V)
Controller Servo amplifier
Home position data
Command position Current position
Backup at power off Control
1X Detecting the position within one revolution
LS Detecting the
number of revolutionsStep-down
circuit
MR-BAT6V1 5
Cumulative revolution counter (1 pulse/rev)
High speed serial
communication
One-revolution counter
Direct drive motor
Non-volatile memory
1XO LSO
(6 V 3.4 V)
MR-BT6VCASE
Current position
Home position data
Position data
Servo amplifierServo system controller
Step-down circuit
Cumulative revolution counter (1 pulse/rev)
One-revolution counter
Direct drive motor
1X Detecting the position within one revolution
LS Detecting the
number of revolutions
Control
High speed serial
communication
MR-BAT6V1 5
7 ABSOLUTE POSITION DETECTION SYSTEM 7.2 Configuration and specifications 367
36
Specification list
*1 Maximum speed available when the shaft is rotated by external force at the time of power failure. *2 The data-retention time with five MR-BAT6V1. The battery life varies depending on the number of target axes (including axis for using in
the incremental system). Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used outside of specification range, [AL. 025 Absolute position erased] may occur.
*3 Power-on ratio of 25 % is the equivalent to power-on for 8 hours on weekdays and power-off on weekends.
Item Description System Electronic, battery backup type
Maximum revolution range Home position 32767 rev
Maximum speed at power failure [r/min] *1
Direct drive motor manufactured by Mitsubishi Electric
500 (only when the acceleration/deceleration time until 500 r/min is 0.1 s or longer)
Battery backup time *2 Direct drive motor manufactured by Mitsubishi Electric
Approximately 10000 hours/2 axes or less, 7000 hours/3 axes, or 5000 hours/4 axes (when the equipment power is off, and the ambient temperature is 20 C) Approximately 15000 hours/2 axes or less, 13000 hours/3 axes, or 10000 hours/4 axes (When the power-on ratio: 25 %, and the ambient temperature is 20 C) *3
8 7 ABSOLUTE POSITION DETECTION SYSTEM 7.2 Configuration and specifications
7
7.3 Absolute position detection system by DIO [A] The absolute position detection system by DIO establishes the absolute position between the controller and servo amplifier, by transferring the absolute position information from the servo amplifier to the controller using the DIO signal.
Standard connection example
*1 During operation, always turn on LSP and LSN.
CR DOCOM
20 46DOCOM
43LSP 44LSN 18TL 19RES 46DOCOM
15SON 42EM2
17ABSM 18ABSR 22ABSB0 23ABSB1 25ABST
DICOM
DOCOM 47
21DICOM 49RD 1P15R 33OP 41 47
10PP 11PG 35NP 36NG
1P15R 27TLA 28LG
SD
CN3
RA2
Servo amplifier
Forward rotation stroke end *1
Reverse rotation stroke end External torque limit selection
Reset
Forced stop 2 Output
Servo-onElectromagnetic brake output
ABS transfer mode
ABS request
ABS transmission data bit 0 Input
Reset ABS transmission data bit 1
ABS transmission data ready
I/O module
DogPositioning module Proximity signal
StopStop signal Power supply (24 V)
Ready
Zero-point signal
Clear
For the command
pulse differential
line driver type
Upper limit setting
Analog torque limit +10 V/maximum torque
Plate
24 V DC
7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A] 369
37
Signal explanation When the absolute value data is transferred, the signals of connector CN3 change as follows. On completion of data transfer, the signal returns to the previous status. Other signals do not change.
*1 When "Used in absolute position detection system" is selected in [Pr. PA03], pin 17 acts as ABSM and pin 18 as ABSR. They do not return to the original signals even if data transfer is completed.
Signal name Symbol CN3 connector pin No.
Function and application I/O signal interface type
Control mode
ABS transfer mode ABSM 17 *1 While ABSM is on, the servo amplifier is in the ABS transfer mode, and the functions of CN3-22, CN3-23, and CN3-25 pins change as indicated in this table.
DI-1 P (Position control)
ABS request ABSR 18 *1 Turn on ABSR to request the absolute position data during ABS transfer mode.
DI-1
ABS transmission data bit 0
ABSB0 22 Indicates the lower bit of the absolute position data (2 bits) which is sent from the servo to the programmable controller in the ABS transfer mode. When there is a signal, ABSB0 is on.
DO-1
ABS transmission data bit 1
ABSB1 23 Indicates the upper bit of the absolute position data (2 bits) which is sent from the servo to the programmable controller in the ABS transfer mode. When there is a signal, ABSB1 is on.
DO-1
ABS transmission data ready
ABST 25 Indicates ABS transmission data ready during ABS transfer mode. When ready, ABST is on.
DO-1
Homing CR 41 When CR is turned on, the position control counter is cleared and the home position data is stored into the non-volatile memory (backup memory).
DI-1
0 7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A]
7
Startup procedure 1. Battery installation (when using a direct drive motor) Refer to the following. Page 512 Battery
2. Servo parameter setting Set [Pr. PA03.0] to "1" and cycle the power.
3. Canceling [AL. 025 Absolute position erased] After the encoder cable is connected, [AL. 025] occurs at initial power-on. Cycle the power to deactivate the alarm.
4. Confirmation of absolute position data transfer When SON is turned on, the absolute position data is transferred to the programmable controllers. Transferring the proper absolute position data will trigger the following. RD (Ready) turns on. The absolute position data ready setting of the programmable controller turns on. The ABS data display window in MR Configurator2 and programmable controller side ABS position data registers show the
same value (at the home position address of 0). If a warning such as [AL. 0E5 ABS time-out warning] or a programmable controller transfer error occurs, refer to the following page and take corrective action.
Page 385 Absolute position data transfer errors MR-J5 User's Manual (Troubleshooting)
5. Homing Homing is required in the following case. At system set-up At servo amplifier replacement At servo motor replacement When [AL. 025 Absolute position erased] has occurred In the absolute position detection system, by executing a homing at system set-up, the absolute position coordinates is configured. The servo motor shaft may operate unexpectedly if the positioning operation is performed without homing. Perform homing before starting.
7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A] 371
37
Absolute position data transfer protocol The following shows the data transfer procedure. After switching on ABSM, turn on SON. When ABSM is off, turning on SON does not switch on the base circuit.
Data transfer procedure Each time SON is turned on, such as when the power is switched on, the current position data in the servo amplifier is read to the programmable controllers. Time-out monitoring is performed on the programmable controllers side.
Servo amplifier Programmable controller
SON (Servo-on) on
ABSM (ABS transfer mode) on
St ar
t p ro
ce ss
in g
Each time SON is turned on, ABSM is turned on and data transfer is ready.DIO assignment change
ABST (ABS transmission data ready) on
ABSR (ABS request) on
R ep
ea te
d fo
r 3 2
bi tsTransmission data set Monitoring timer
ABST (ABS transmission data ready) off
16 timesReading 2 bits
Shift and add ABSR (ABS request) off
ABST (ABS transmission data ready) on
ABSR (ABS request) on
R ep
ea te
d fo
r 6 b
its
two bits, and the read data is shifted by two bits to the right and written as the lowest bits. This step is repeated until 6-bit data is configured.
ABST (ABS transmission data ready) off 3 times
Reading 2 bits
Shift and add ABSR (ABS request) off
ABST (ABS transmission data ready) on
Current position set A sum check is executed for the received 32-bit data. After the programmable controller makes sure that there are no errors in the transfer data, the current position is set.
En d
pr oc
es si
ng
Sum check ABSM (ABS transfer mode) off
DIO assignment change ABST (ABS transmission data ready) off
2 7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A]
7
Transfer method The following shows the procedure for turning on the base circuit again from when the base circuit is in off status because the SON and EM2 are off, or alarm occurred. In the absolute position detection system, every time SON signal is turned on, turn on ABSM to read the current position in the servo amplifier to the controller. In the servo amplifier, the current position latched on the timing when the ABSM turns on from off, are sent to the controller side. At the same time, this data is set as a position command value inside the servo amplifier. Unless ABSM is turned on, the base circuit cannot be turned on.
At power-on [Timing chart]
After the absolute position data is transmitted, RD turns on by ABSM-off. When RD is on, ABSM-on is not received. (1) Even if SON is turned on before ABSM is turned on, the base circuit is not turned on until ABSM is turned on. If an alarm occurs, ABSM transfer is not received. If a warning occurs, ABSM transfer can be received. (2) If ABSM is turned off during the ABSM transfer mode, the ABS transfer mode is interrupted and [AL. 0E5 ABS time-out warning] occurs. (3) If SON is turned off, RES is turned on, or EM2 is turned off during the ABS transfer mode, [AL. 0E5] occurs. The output signal functions of ABST, ABSB0, and ABSB1 are switched by the following conditions. (4)
ABSM transfer cannot receive while the base circuit is on. For re-transferring, turn off SON signal and keep the base circuit in the off state for 20 ms or longer. (5)
CN3 pin No. Output signal
ABSM (ABS transfer mode): Off ABSM (ABS transfer mode): On 22 In-position ABS transmission data bit 0
23 Zero speed detection ABS transmission data bit 1
25 Limiting torque ABS transmission data ready
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
100 ms 100 ms
*1
*1
*1
*1
*1
*1
(2) (3)
(1)
Power supply
When SON turned on before ABSM input
SON (Servo-on)
ABSM (ABS transfer mode) (4) During ABS transfer During ABS transfer
ABSR (ABS request)
ABST (ABS transmission data ready)
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
Absolute position data
Absolute position data
Base circuit
Operation possibleRD (Ready) Operation
possible
7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A] 373
37
Detailed explanation of absolute position data transfer
*1 If SON does not turn on within 1 s after ABSM on, [AL. 0EA ABS servo-on warning] will occur. However, the alarm will not influence the transfer. SON on will cancel [AL. 0EA] automatically.
The programmable controller turns on ABSM and SON at the rising edge of the internal servo-on. (1) In response to the ABS transfer mode, the servo detects and calculates the absolute position, then turns on ABST to notify the programmable controller that the servo is ready for data transmission. (2) After recognizing that ABST has turned on, the programmable controller will turn on ABSR. (3) In response to ABSR, the servo outputs the lower 2 bits of ABS and turns off ABST. (4) The programmable controllers recognizes that the ABST has turned off (ABS 2 bits data have been output), reads the lower 2 bits of ABST and turns off ABSR. (5) The servo turns on ABST to respond to the next request. Step (3) to (6) are repeated until 32-bit data and the 6-bit checksum have been transmitted. (6) After receiving of the checksum, the programmable controller confirms that the 19th ABST is turned on, and then turns off ABSM. If ABSM is turned off during data transmission, the ABS transfer mode is interrupted and [AL. 0E5] occurs. (7)
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
(3)
(4)
(5)
(7)
*1
(1)
(2) (6)
1 2 18 19
Servo-on in programmable controller
SON (Servo-on)
ABSM (ABS transfer mode) During ABS transfer
ABSR (ABS request)
ABST (ABS transmission data ready)
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
Lower 2 bits
Upper 2 bits of checksum
4 7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A]
7
Checksum The checksum is the code which is used by the programmable controller to check for errors in the received absolute position data. The 6-bit checksum is transmitted following the 32-bit absolute value data. Calculate the sum of the received absolute position data using the sequence program and compare it with the checksum code sent from the servo. The following shows how to calculate the checksum. The checksum will add every ABS 2-bit data input to the total. The checksum is 6-bit data. (Example) Absolute value data: -10 (FFFFFFF6h)
Therefore, the checksum of -10 is "2Dh".
1111 1111 1111 0110
-10
FFFF FFF6
10b
01b
11b
11b
11b
11b
11b
11b
11b
11b
11b
11b
11b
11b
11b
11b
101101b +
Hexadecimal
Binary
The binary addition result is 101101b.
7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A] 375
37
Transmission error In the ABS transfer mode, the servo amplifier processes time-out below, and displays [AL. 0E5] when a time-out error occurs. [AL. 0E5 ABS time-out warning] is canceled when ABSM changes from off to on. ABS request off-time time-out check (applied to 32-bit absolute position data in 2-bit units + checksum) If the ABS request signal from the programmable controller is not turned on within 5 s after ABST is turned on, this will be treated as a transmission error and [Al. 0E5 ABS time-out warning] occurs.
ABS request on-time time-out check (applied to 32-bit absolute position data in 2-bit units + checksum) If the ABSR is not turned off by the programmable controller within 5 s after ABST is turned off, this will be treated as a transmission error and [AL. 0E5] occurs.
OFF
ON
OFF
ON
OFF
ON
5 s
ABSM (ABS transfer mode)
ABSR (ABS request)
Does not turn ON
ABST (ABS transmission data ready)
Alarm [AL. 0E5 ABS time-out warning]
No alarm
OFF
ON
OFF
ON
OFF
ON
5 s
ABSM (ABS transfer mode)
ABSR (ABS request)
Does not turn OFF
ABST (ABS transmission data ready)
Alarm [AL. 0E5 ABS time-out warning]
No alarm
6 7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A]
7
ABS transfer mode finish-time time-out check If ABSM is not turned off within 5 s after the last ABS transmission data ready (19th signal for absolute position data transmission) is turned on, this will be treated as a transmission error and [AL. 0E5] occurs.
ABSM-off check during the ABS transfer If the ABS transfer mode is turned on, and after the transfer starts, if the ABSM is turned off before the 19th ABS transmission data ready, this will be treated as a transmission error and [AL. 0E5] occurs.
OFF
ON
OFF
ON
OFF
ON
5 s
1 2 3 4 18 19
1 2 3 4 18 19
ABSM (ABS transfer mode)
Does not turn OFF
ABSR (ABS request)
ABST (ABS transmission data ready)
Alarm [AL. 0E5 ABS time-out warning]
No alarm
OFF
ON
OFF
ON
OFF
ON
1 2 3 4 18 19
1 2 3 4 18 19
ABSM (ABS transfer mode)
ABSR (ABS request)
ABST (ABS transmission data ready)
Alarm [AL. 0E5 ABS time-out warning]
No alarm
7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A] 377
37
SON-off, RES-on, and EM2-off check during the ABS transfer If the ABS transfer mode is turned on, and after the transfer starts, if SON-off, RES-on, or EM2-off before the 19th ABST is on, this will be treated as a transmission error and [AL. 0E5] occurs.
Checksum error If the checksum error is detected, retry the transmission of the absolute position data. Using the sequence check program of the programmable controllers, turn off ABSM, and after a lapse of 10 ms or longer, turn SON off once (off time longer than 20 ms is required), then turn on SON again. If the absolute position data transmission is not completed normally even after retry, perform the ABS checksum error and error processing. When a checksum error occurs, the start command should be interlocked with ABST to disable the positioning operation. The following shows an example of three retries are performed.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
1 2 3 4 18 19
1 2 3 4 18 19
SON (Servo-on)
ABSM (ABS transfer mode)
ABSR (ABS request)
ABST (ABS transmission data ready)
Alarm [AL. 0E5 ABS time-out warning]
No alarm
OFF
ON
OFF
ON
OFF
ON
OFF
ON
20 ms or more 20 ms or more20 ms or more
Retry 1 Retry 2 Retry 3SON (Servo-on)
10 ms or more 10 ms or more 10 ms or more 10 ms or more
ABSM (ABS transfer mode)
ABSR (ABS request)
ABST (ABS transmission data ready)
Alarm ABS checksum error
No alarm
8 7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A]
7
Alarm cancellation If an alarm occurs, detect ALM and turn off SON. While an alarm is occurring, ABSM is not received. After removing the alarm factor, cancel the alarm and then turn on ABSM. During reset, ABSM is received.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
100 ms
OFF
ON
OFF
ON
OFF
ON
SON (Servo-on)
RES (Reset)
ABSM (ABS transfer mode) During ABS transfer
ABSR (ABS request)
ABST (ABS transmission data ready)
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
Absolute position data
Base circuit
ALM (Malfunction)
RD (Ready) Operation possible
Alarm occurrence
7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A] 379
38
During forced stop release When power is switched on in a forced stop status Even if forced stop is canceled during absolute position data transfer, there is no problem with the transfer. If forced stop is canceled during the absolute position data transfer, the base circuit turns on 200 ms to 450 ms after the cancellation. If ABSM is off, RD is turned on 5 ms after the base circuit turns on. If ABSM is on, RES is turned on after ABSM is turned off. ABS transfer can be done even after forced stop cancellation. The current position in the servo amplifier is updated even during a forced stop. As shown in the following diagram, when SON or ABSM is turned on at forced stop, at the timing of when ABSM switches from off to on, the servo amplifier simultaneously send the latched current position to the controller side, and the servo amplifier sets this data as the position command value. However, since the base circuit is off during a forced stop, the status does not switch to servo-lock. Therefore, if the servo motor is rotated by external force or the like after ABSM is turned on, this travel distance is accumulated in the servo amplifier as droop pulses. If the forced stop is canceled at this status, the base circuit turns on and returns to the original position rapidly to compensate for the droop pulses. To avoid this status, read the absolute position data again before canceling the forced stop.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
5 ms
OFF
ON Power supply
SON (Servo-on)
Released
EM2 (Forced stop 2)
ABSM (ABS transfer mode) During ABS transfer
ABSR (ABS request)
ABST (ABS transmission data ready)
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
Absolute position data
200 to 450 ms
Base circuit
RD (Ready) Operation possible
0 7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A]
7
If forced stop is activated during servo-on ABSM can be received during forced stop. However, the base circuit and RD turn on after the forced stop is canceled.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
100 ms
OFF
ON
OFF
ON
SON (Servo-on)
RES (Reset)
ABSM (ABS transfer mode) During ABS transfer
ABSR (ABS request)
ABST (ABS transmission data ready)
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
Absolute position data
Base circuit
RD (Ready) Operation possible
7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A] 381
38
Homing Dog type homing Set the creep speed of homing in advance to prevent shock from hitting the machine. On detection of a zero pulse, CR (homing) is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the home position absolute position data. CR should be turned on after checking that INP has turned on. If this condition is not satisfied, [AL. 096 Home position setting warning] occurs. If homing is performed correctly, the alarm is automatically canceled.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Servo motor
Proximity dog
DOG (Proximity dog)
INP (In-position)
CR (Home position setting)
20 ms or more20 ms or more
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
Update
ABSV (Absolute position erased)
Control circuit power supply
2 7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A]
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Data set type homing Move the machine to the position where the home position is to be set by performing the manual operation such as JOG operation. When CR is on for longer than 20 ms, the stop position is stored into the non-volatile memory as the home position absolute position data. CR during servo-on should be turned on after checking that INP has turned on. If this condition is not satisfied, [AL. 096 Home position setting warning] occurs. If homing is performed correctly, the alarm is automatically canceled. Homing can be performed during the servo-off.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Manual feeding with JOG operation or others
Servo motor
INP (In-position)
CR (Home position setting)
20 ms or more
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1) Update
ABSV (Absolute position erased)
Control circuit power supply
7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A] 383
38
Using a servo motor with an electromagnetic brake The following shows the timing chart at power on/off and SON on/off. Preset [Pr. PD23] to [Pr. PD26], [Pr. PD28], and [Pr. PD47] of the servo amplifier to enable MBR. When MBR is set for the CN3-23 pin, turning ABSM on will change the CN3-23 pin to ABSB1 (ABS transmission data bit 1). Therefore, configure an external sequence to generate the electromagnetic brake torque at ABSM or MBR off.
How to process the absolute position data at stroke end detection The servo amplifier stops receiving the command pulse when LSP or LSN off is detected, and at the same time clears the droop pulses, and stops the servo motor. At this time, the programmable controllers continue outputting the command pulse. Since this causes a discrepancy between the absolute position data of the servo amplifier and the programmable controller, position mismatch will occur if the operation is continued. When the servo amplifier has detected the stroke end, release stroke end detection by JOG operation and the like, urn on SON again or cycle the power. By cycling the power, the absolute position data of the servo amplifier is transferred to the programmable controllers, and the normal absolute position data is restored.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
5 ms
OFF
ON
5 ms
Tb Tb
100 ms 100 ms
Power supply
SON (Servo-on)
ABSM (ABS transfer mode) During ABS transfer During ABS transfer
ABSR (ABS request)
ABST (ABS transmission data ready)
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
Absolute position data
Absolute position data
Base circuit
RD (Ready)
MBR (Electromagnetic brake interlock)
Electromagnetic brake torque
4 7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A]
7
Absolute position data transfer errors 1. The off period of output ABS transmission data ready from the servo amplifier is checked. When the off period of ABS transmission data ready is 1 s or longer, this will be treated as a transmission error and as such, perform ABS communication error. Generate the ABS communication error if [AL. 0E5 ABS time-out warning] occurs in the servo amplifier due to an ABS request on-time time-out.
2. After the ABS transfer mode signal turns on, check the time it takes to turn off (ABS transfer time). If the ABS transfer time is longer than 5 s, this will be treated as a transmission error and as such, perform ABS communication error. Perform the ABS communication error if [AL. 0E5] occurs in the servo amplifier due to an ABS transfer mode completion-time time-out.
OFF
ON
OFF
ON
OFF
ON
1 s
ABSM (ABS transfer mode)
ABSR (ABS request)
ABST (ABS transmission data ready)
Does not turn ON
Alarm ABS communication error
No alarm
OFF
ON
OFF
ON
OFF
ON
5 s
1 2 3 4 18 19
1 2 3 4 18 19
ABSM (ABS transfer mode)
Does not turn OFF
ABSR (ABS request)
ABST (ABS transmission data ready)
Alarm ABS communication error
No alarm
7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A] 385
38
3. After the ABS request signal turns on, check the time it takes to turn off (ABS transfer time). [AL. 0E5 ABS time-out warning] occurrence in the servo amplifier is detected. If the ABS request time is longer than 1 s, this will be treated as an error in ABSR or ABST and as such, perform ABS communication error. Perform the ABS communication error if [AL. 0E5] occurs in the servo amplifier due to ABS request off-time time-out.
OFF
ON
OFF
ON
OFF
ON
1 s
ABSM (ABS transfer mode)
ABSR (ABS request)
Does not turn OFF
ABST (ABS transmission data ready)
Alarm ABS communication error
No alarm
6 7 ABSOLUTE POSITION DETECTION SYSTEM 7.3 Absolute position detection system by DIO [A]
7
7.4 Absolute position detection system via communication [A]
The absolute position detection system via communication is available on servo amplifiers with firmware version B6 or later.
The absolute position detection system via communication establishes the absolute position between the controller and servo amplifier, by transferring the absolute position information from the servo amplifier to the controller using the serial communication.
Serial communication command The following shows the commands to read absolute position data using the serial communication function. When reading the data, ensure that the station No. of the servo amplifier is correct. Sending the data No. from the master station to the slave station (servo amplifier) returns the data value to the master station.
Transmission Transmit the command [0] [2] + data No. [9] [1].
Return The servo amplifier returns the absolute position data in the command pulse unit in hexadecimal.
32 bit-wide data (in hexadecimal)
7 ABSOLUTE POSITION DETECTION SYSTEM 7.4 Absolute position detection system via communication [A] 387
38
Absolute position data transfer protocol
Data transfer procedure Each time SON is turned on, such as when the power is switched on, the controller needs to read the current position data in the servo amplifier. If this operation is not performed, position mismatch may occur. Perform time-out monitoring on the controller side.
Servo amplifier Controller
SON on
RD on
Absolute position data command transmission
Command [0] [2] + data No. [9] [1]
Absolute position data acquisition Monitoring timer
Absolute position data return
Current position acquisition
Current value change Position command start
8 7 ABSOLUTE POSITION DETECTION SYSTEM 7.4 Absolute position detection system via communication [A]
7
Transfer method The following shows the procedure for turning on the base circuit again from when the base circuit is in off status because the SON and EM2 are off, or alarm occurred. In the absolute position detection system, read the current position in the servo amplifier to the controller using the serial communication command each time RD is turned on. The servo amplifier transmits the current position at the time of command reception to the controller side. At the same time, this data is set as a position command value inside the servo amplifier.
Sequence processing at power-on
1. The base circuit turns on after 100 ms.
2. After the base circuit turns on, RD turns on.
3. After RD turns on, the controller acquires the absolute position data. Then, give a command pulse to the servo amplifier. If a command pulse is given before the controller acquires the absolute position data, position mismatch may occur.
Communication errors If a communication error occurs between the controller and servo amplifier, the servo amplifier transmits a corresponding error code. The descriptions of the error codes are the same as the error codes in the communication function. For details, refer to "Mitsubishi Electric AC servo protocol" in the following manual. MR-J5 User's Manual (Function) If a communication error occurs, execute retry. If the communication does not terminate normally even after retrying several times, perform error processing.
OFF
100 ms
ON
OFF
ON
OFF
ON
OFF
ON 5 ms
Power supply
SON (Servo-on)
Base circuit
RD (Ready)
Absolute position data command transmission
Absolute position data reception
Current position change Current position
Absolute position data
Pulse train command
Acquire the absolute position data within this period.
7 ABSOLUTE POSITION DETECTION SYSTEM 7.4 Absolute position detection system via communication [A] 389
39
Alarm cancellation If an alarm occurs, detect ALM and turn off SON. After removing the cause of the alarm and deactivating the alarm, acquire the absolute position data from the servo amplifier again with the following procedure. Page 389 Sequence processing at power-on
During forced stop release Releasing the forced stop turns on the base circuit after approximately 200 to 450 ms, then RD turns on 5 ms after the base circuit turns on. Acquire the current position before RD triggers the position command. When power is switched on in a forced stop status
ON
100 ms
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
5 ms
SON (Servo-on)
RES (Reset)
Base circuit
ALM (Malfunction)
RD (Ready)
Absolute position data command transmission
Absolute position data reception
Current position change Absolute position
data Current position
Pulse train command
Acquire the absolute position data within this period.
OFF
ON
OFF
ON
OFF
ON
OFF
ON 5 ms
Power supply
SON (Servo-on)
ON (Disabled)EM2 (Forced stop 2) OFF (Enabled)
Approximately 200 to 450 ms
Base circuit
RD (Ready)
Absolute position data command transmission
Absolute position data reception
Current position change Current position
Absolute position data
Pulse train command
Acquire the absolute position data within this period.
0 7 ABSOLUTE POSITION DETECTION SYSTEM 7.4 Absolute position detection system via communication [A]
7
If forced stop is activated during servo-on
100 ms
ON
OFF
ON
OFF
ON
OFF
5 ms
SON (Servo-on)
ON (Disabled)EM2 (Forced stop 2) OFF (Enabled)
Base circuit
RD (Ready)
Absolute position data command transmission
Absolute position data reception
Current position change Absolute position
data Current position
Pulse train command
Acquire the absolute position data within this period.
7 ABSOLUTE POSITION DETECTION SYSTEM 7.4 Absolute position detection system via communication [A] 391
39
8 USING STO FUNCTION Precautions
In the torque mode, the forced stop deceleration function cannot be used.
8.1 Introduction This section provides the cautions of the STO function. For information on implementing functional safety, refer to the following page. Page 406 USING FUNCTIONAL SAFETY [G] For details, refer to "STO function" in the following manual. MR-J5 User's Manual (Function)
Precautions Do not improperly install safety-related components or systems. Installation should be performed by qualified personnel.
Outline This servo amplifier complies with the following safety standards.
Terms related to safety The STO function shuts off energy to servo motors, thus removing torque. MR-J5 shuts off the energy by turning off the power supply electronically in the servo amplifier. The purpose of this function is as follows. Uncontrolled stop according to stop category 0 of IEC/EN 60204-1 Preventing unexpected restart
Precautions The following basic safety instructions must be read carefully and fully to prevent injury to persons or damage to property. Only qualified personnel are authorized to install, startup, repair, or adjust the machines in which these components are installed. They must be familiar with all applicable local regulations and laws in which machines with these components are installed, particularly the standards mentioned in this user's manual. The staff responsible for this work must be given express permission from the company to perform startup, programming, configuration, and maintenance of the machine in accordance with the safety standards. This servo amplifier satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by preventing the energy supply from the servo amplifier to the servo motor. If an external force acts upon the drive axis, additional safety measures, such as brakes or counterbalances must be used.
Item MR-J5-_G(4)/MR-J5-_B_/MR-J5W_-_B_/MR-J5- _A_
MR-J5-_G(4)-RJ/MR-J5W_-_G
Safety sub-function STO (IEC/EN 61800-5-2)
Satisfied standards EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2
EN ISO 13849-1:2015 Category 4 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2
2 8 USING STO FUNCTION 8.1 Introduction
8
Residual risks of the STO function Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi Electric is not liable for any damages or injuries caused by these risks. The STO function disables energy supply to the servo motor by electrical shut-off. The function does not mechanically
disconnect electricity from the motor. Therefore, this function cannot prevent exposure to electric shock. To prevent an electric shock, install a magnetic contactor or a molded-case circuit breaker to the main circuit power supply (L1/L2/L3) of the servo amplifier.
The STO function disables energy supply to the servo motor by electrical shut-off. It does not guarantee stop control or deceleration control of the servo motor.
For proper installation, wiring, and adjustment, thoroughly read the installation guide of each individual safety related component.
In the safety circuit, use components that are confirmed safe or meet the required safety standards. The STO function does not guarantee that the drive part of the servo motor will not rotate due to external or other forces. Safety is not assured until safety-related components of the system are completely installed or adjusted. When replacing this servo amplifier, confirm that the new servo amplifier is exactly the same model as that being replaced.
After the replacement, check the performance of the functions before using the system. Perform all risk assessments to the machine or the entire system. To prevent accumulation of malfunctions, perform function checks at regular intervals based on the risk assessments of the
machine or the system. Regardless of the system safety level, malfunction checks should be performed at least once per year.
If the upper and lower power modules in the servo amplifier are shorted and damaged simultaneously, the servo motor may make a half revolution at a maximum. For a linear servo motor, the primary side will move the distance of the pole pitch.
Supply the STO input signals (STO1, STO2) from one power source. Otherwise, the STO function may not function properly due to a sneak current, failing to bring the STO shut-off state.
For the I/O signals of the STO function, supply power by using a safety extra low voltage (SELV) power supply with the reinforced insulation.
Specifications
Servo amplifier specifications For servo amplifier specifications, refer to "Functional safety" in the User's Manual (Introduction).
8 USING STO FUNCTION 8.1 Introduction 393
39
Function block diagram (STO function)
Operation sequence (STO function)
Maintenance This servo amplifier has alarms and warnings for maintenance compatible with the Mitsubishi Electric Drive Safety function. MR-J5 User's Manual (Troubleshooting)
CN8
M
Base power supply for upper arm
Shut-off signal (STO1) Shut- offMonitor signal (TOFB1)
Base power supply for lower arm
Power moduleShut-off signal (STO2) Shut-
offMonitor signal (TOFB2)
Servo motor
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0 r/min
(8 ms)
EM2 (Forced stop 2)
Magnetic contactor
Base circuit (Energy supply to the servo motor)
Servo motor speed
4 8 USING STO FUNCTION 8.1 Introduction
8
8.2 Functional safety I/O signal connector (CN8) and pin assignments
Pin assignment
The pin assignments of the connectors are as viewed from the cable connector wiring section.
Signal (device) explanation
I/O device Signal name
Connector pin No.
Description I/O signal interface type
STOCOM CN8-3 Common terminal for the STO1 and STO2 input signals DI-1
STO1 CN8-4 Input the STO status of STO1. STO state (base circuit shut-off): Open between STO1 and STOCOM. STO release state (in driving): Close between STO1 and STOCOM. Before turning off STO1, stop the servo motor in the servo-off state or with forced stop deceleration by turning off EM2 (Forced stop 2).
DI-1
STO2 CN8-5 Input the STO status of STO2. STO state (base circuit shut-off): Open between STO2 and STOCOM. STO release state (in driving): Close between STO2 and STOCOM. Before turning off STO2, stop the servo motor in the servo-off state or with forced stop deceleration by turning off EM2 (Forced stop 2).
DI-1
TOFCOM CN8-8 Common terminal for the TOFB1 and TOFB2 output signals DO-1
TOFB1 CN8-6 Outputs the STO status of STO1. STO state (base circuit shut-off): Closed between TOFB1 and TOFCOM. STO release state (in driving): Open between TOFB1 and TOFCOM.
DO-1
TOFB2 CN8-7 Outputs the STO status of STO2. STO state (base circuit shut-off): Closed between TOFB2 and TOFCOM. STO release state (in driving): Open between TOFB2 and TOFCOM.
DO-1
CN8
TOFB2
STO2TOFB1
STO1 STOCOM
2 1
4 3
6 5
8 7 TOFCOM
Servo amplifier
Functional safety I/O signal connector
8 USING STO FUNCTION 8.2 Functional safety I/O signal connector (CN8) and pin assignments 395
39
Signals and STO status The following table shows the status of TOFB and STO for when STO1 and STO2 are ON (closed) or OFF (open) while the power is turned on in an operation with no alarms or warnings.
*1 Between TOFB1 and TOFB2 is off, but the servo amplifier is in the STO state.
Test pulse of STO input signal Set the test pulse off time inputted from outside to 1 ms or less.
How to pull out the STO cable The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier. With the clip (1) of the STO cable plug pressed in the direction of the arrow, hold the plug (2) and pull out.
Input signal Status
STO1 STO2 Between TOFB1 and TOFCOM (STO1 state)
Between TOFB2 and TOFCOM (STO2 state)
Between TOFB1 and TOFB2 (STO state)
STO
OFF OFF ON: STO state ON: STO state ON STO state
OFF ON ON: STO state OFF: STO release state OFF *1 STO state
ON OFF OFF: STO release state ON: STO state OFF *1 STO state
ON ON OFF: STO release state OFF: STO release state OFF STO release state
(1)
(2)
6 8 USING STO FUNCTION 8.2 Functional safety I/O signal connector (CN8) and pin assignments
8
8.3 Connection example Precautions for compliance with stop category 1 (IEC/EN 60204- 1)
Before turning off STO (STO1 and STO2), stop the servo motor in the servo-off state or by turning off EM2 (Forced stop 2) (delay by SS1). Configure an external sequence that has the timings shown below by using an external device.
If STO is turned off during operation, the servo motor stops with the dynamic brake stop (stop category 0).
Precautions for compliance with stop category 0 (IEC/EN 60204- 1)
Before turning off STO (STO1 and STO2), make the servo-off state or turn off EM1 (Forced stop 1). If servo parameter "STO timing error selection" is set to "1 (Not detected)", wiring to EM1 can be omitted. Configure an external sequence that has the timings shown below by using an external device.
ON OFF
STO1/STO2
ON OFF
EM2
0 r/min
Servo motor speed
ON OFF
EM1
ON OFF
STO1/STO2
0 r/min
Servo motor speed
8 USING STO FUNCTION 8.3 Connection example 397
39
Connection example for CN8 connector This servo amplifier is equipped with the connector (CN8) which enables the STO function. When this connector is used with a certified external safety relay, power to the motor can be safely removed and unexpected restart can be prevented. The safety relay used should meet the applicable safety standards and have forcibly guided contacts or mirror contacts for the purpose of error detection. The following diagram is for source interfaces. For sink interfaces, refer to the following. Page 403 Sink I/O interface
*1 With TOFB, whether the servo is in the STO state can be confirmed. Refer to the following for a connection example. Page 401 External I/O signal connection example using an external safety relay unit The safety level depends on the setting values of [Pr. PF18 STO diagnosis error detection time] and [Pr. PSD18_Permissible time for mismatches DI1] and whether STO input diagnosis by TOFB output is performed or not. For details, refer to [Pr. PF18] and [Pr. PSD18] in the following manuals. MR-J5-G/MR-J5W-G User's Manual (Parameters) MR-J5-B/MR-J5W-B User's Manual (Parameters) MR-J5-A User's Manual (Parameters)
*2 When using the STO function, turn off STO1 and STO2 at the same time. Also, before turning off STO1 and STO2, stop the servo motor in the servo-off state or with forced stop deceleration by turning off EM2 (Forced stop 2).
*3 Configure the interlock circuit so that the door opens after the servo motor stops.
External I/O signal connection example using the MR-J3-D05 safety logic unit
This connection is for source interfaces. For the other I/O signals, refer to the following connection examples. Page 51 Example I/O signal connections
STO1
STO2 *2
*2
*3
STO1
CN8
4
STO2 5
STOCOM 3
CN8
8
6
TOFCOM
7 TOFB2
TOFB1
*1
Servo amplifier
Approx. 3.0 k
Approx. 3.0 k
Door Open
24 V DC
8 8 USING STO FUNCTION 8.3 Connection example
8
Connection example
*1 Set a delay time for STO output with SW1 and SW2. These switches are located in a recessed area in the MR-J3-D05 to prevent accidental setting changes.
*2 To release the STO state (base circuit shut-off), turn on RESA and RESB then turn them off.
STO1
4
5
3
6
7
8
CN3
CN8
SDO1A+4A
4B SDO1A-
SDI1A+1A
1B SDI1A-
SDI2A+
SRESA+
SDO2A+
TOFA
3A
3B
1A
1B
6A
6B
8A
SDI2A-
SDO2A-
SRESA-
CN9
CN10
STO1
TOFB2
TOFCOM
STO2
STOCOM
TOFB1
SW1 *1
FG
4
5
3
6
7
8
CN3
CN8
TOFB2
TOFCOM
STO2
STOCOM
TOFB1
SDO1B+3A
3B SDO1B-
SDI1B+2A
2B SDI1B-
SDI2B+
SRESB+
SDO2B+
TOFB
4A
4B
2A
2B
5A
5B
8B
+24V7A
0V7B
SDI2B-
SDO2B-
SRESB-
CN9
CN10
SW2 *1
MR-J3-D05 S1
24 V
0 V
RESA *2
STOA
S3
RESB *2
STOB
MC
M
MC
M
S4S2
CN8A
CN8B
EM2 (B-axis)
Servo amplifier
EM2 (A-axis)
Servo amplifier
Servo motor
Servo motor
Control circuit
Control circuit
EM2 (A-axis)
EM2 (B-axis)
8 USING STO FUNCTION 8.3 Connection example 399
40
Basic operation example STOA is connected to the servo amplifier via MR-J3-D05. STOB is connected to the servo amplifier via MR-J3-D05.
0 r/min
A-axis shutdown 1 and 2
B-axis shutdown 1 and 2
Stop
Operation
Energizing (close)
Shut-off (open)
EM2 input
STO shut-off Normal (close)
Shut-off (open)
Servo motor drivable
Servo motor speed
Servo amplifier
Shut off delay
STO status
STO1, STO2
0 8 USING STO FUNCTION 8.3 Connection example
8
External I/O signal connection example using an external safety relay unit
This connection is for source interfaces. For the other I/O signals, refer to the following connection examples. Page 51 MR-J5-_G_ Page 54 MR-J5W_-_G_ Page 57 MR-J5-_B_ Page 60 MR-J5W_-_B_ Page 63 MR-J5-_A_
This connection example complies with the requirements up to ISO/EN ISO 13849-1:2015 category 3 PL e and IEC/EN 62061 SIL CL 3. For details, refer to the safety relay module user's manual. The safety level depends on the setting values of [Pr. PF18 STO diagnosis error detection time] and [Pr. PSD18_Permissible time for mismatches DI1] and whether STO input diagnosis by TOFB output is performed or not.
24 V
0 V
S2 K3
+24V XS0 XS1 Z00 Z10 Z20
X0COM024G X1COM1 Z01 Z11 Z21
K3
CN8
KM1
CN3 EM1
EM2
STO1
TOFB1
TOFCOM TOFB2
STO2
STOCOM
M
KM1
KM1
EMGS4S3
Fuse
Safety relay module MELSEC (QS90SR2S)
Power supply
Control circuit
Servo amplifier
Control circuit
S1 or EMG *1
S1: STO shut-off switch (STO switch) S2: Start switch (STO release switch) S3: ON switch S4: OFF switch KM1: Magnetic contactor K3: Safety relay EMG: Emergency stop switch
or
Servo motor
8 USING STO FUNCTION 8.3 Connection example 401
40
*1 To enable "Emergency switching off" for the shut-off by the STO function of the servo amplifier, change S1 to EMG. The stop category at this time is "0". Page 397 Precautions for compliance with stop category 1 (IEC/EN 60204-1)
2 8 USING STO FUNCTION 8.3 Connection example
8
8.4 Detailed explanation of interfaces The details of I/O signal interfaces stated in the following section (refer to the I/O signal interface type in the table) are as follows. Refer to the section and connect them with external devices. Page 395 Functional safety I/O signal connector (CN8) and pin assignments
Sink I/O interface
Digital input interface DI-1 This is an input circuit in which the photocoupler cathode side is the input terminal. Transmit signals from a sink (open- collector) type transistor output, relay switch, etc.
VCES 1.0 V ICEO 100 A
STO1 STO2
STOCOM TR
Servo amplifier For transistor
Approx. 5 mA
Approx. 3.0 k
Switch
24 V DC 10 % 300 mA
8 USING STO FUNCTION 8.4 Detailed explanation of interfaces 403
40
Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current flows to the collector terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 5.2 V voltage drop occurs in the servo amplifier.
When outputting each of two STO states by using each TOFB
*1 If the voltage drop (a maximum of 2.6 V) interferes with the relay operation, apply high voltage (a maximum of 26.4 V) from an external source.
When outputting two STO states by using one TOFB
*1 If the voltage drop (a maximum of 5.2 V) interferes with the relay operation, apply high voltage (a maximum of 26.4 V) from an external source.
TOFCOM
TOFB2
TOFB1
Servo amplifier If polarity of diode is reversed, servo amplifier will malfunction.Load
Load
24 V DC 10 % *1 300 mA
TOFCOM
TOFB2
TOFB1
Servo amplifier If polarity of diode is reversed, servo amplifier will malfunction.Load
24 V DC 10 % *1 300 mA
4 8 USING STO FUNCTION 8.4 Detailed explanation of interfaces
8
Source I/O interface For the servo amplifiers in this manual, source type I/O interfaces can be used.
Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc.
Digital output interface DO-1 This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, the current flows from the output terminal to a load. A maximum of 5.2 V voltage drop occurs in the servo amplifier.
When outputting each of two STO states by using each TOFB
*1 If the voltage drop (a maximum of 2.6 V) interferes with the relay operation, apply high voltage (a maximum of 26.4 V) from an external source.
When outputting two STO states by using one TOFB
*1 If the voltage drop (a maximum of 5.2 V) interferes with the relay operation, apply high voltage (a maximum of 26.4 V) from an external source.
VCES 1.0 V ICEO 100 A
STO1 STO2
STOCOM
Servo amplifier
Approx. 3.0 k
Switch
Approx. 5 mA 24 V DC 10 % 300 mA
TOFCOM
TOFB2
TOFB1
Servo amplifier If polarity of diode is reversed, servo amplifier will malfunction.Load
Load
24 V DC 10 % *1 300 mA
TOFCOM
TOFB2
TOFB1
Servo amplifier If polarity of diode is reversed, servo amplifier will malfunction.Load
24 V DC 10 % *1 300 mA
8 USING STO FUNCTION 8.4 Detailed explanation of interfaces 405
40
9 USING FUNCTIONAL SAFETY [G]
9.1 Introduction For details, refer to "STO function" in the following manual. MR-J5 User's Manual (Function)
6 9 USING FUNCTIONAL SAFETY [G] 9.1 Introduction
9
Safety sub-function control by input device This figure shows a function block configured to allow input devices assigned to the CN8 connector pins to execute safety sub-functions. The safety level Category 4 PL e, SIL 3 can be achieved with input signal diagnostics.
*1 Safety switches, safety relays, etc.
MCCB MC L1
L2
L3
L11 L21
B1
B2
RA
C N
2
USB
C N
1A C
N 1B
C N
5
C N
8
B
C N
8
M
U
V
W
E
U
V
W
Power supply
Servo amplifier Servo motor
Gate circuitControl circuit power supply 24 V DC
Electromagnetic brake
Encoder Control
Output signal *1
Self-diagnosis
Parameter
Safety sub-function STO function SS1 function SS2 function SBC function SLS function SSM function SOS function SLI function SDI function SLT function SM function
Safety sub-function processing part 1
CC-Link IE TSN networkController or CC-Link
IE TSN network equipment
CC-Link IE TSN network
Controller or CC-Link IE TSN network equipment
Parameter settings
Output device control
Input device control
Self-diagnosis
Parameter
Safety sub-function STO function SS1 function SS2 function SBC function SLS function SSM function SOS function SLI function SDI function SLT function SM function
Safety sub-function processing part 2
Output device control
Input device control
Input signal *1
9 USING FUNCTIONAL SAFETY [G] 9.2 Function block diagram 407
40
Safety sub-function control by network This figure shows a function block configured to allow safety sub-functions to be executed via CC-Link IE TSN Network. Wiring can be reduced using this method.
*1 Safety switches, safety relays, etc. *2 Signal input from CN8 is disabled when using the safety sub-functions over a network. Wire the block so that signals can be input from
a controller. The safety sub-functions can still be used even if a short-circuit connector is connected to CN8. CN8 output signals can also be used.
MCCB MC L1
L2
L3
L11 L21
B1
B2
RA
C N
2
USB
C N
1A C
N 1B
C N
5
C N
8
RD78G_/ RJ71G N11-T2
B
C N
8
M
U
V
W
E
U
V
W
Power supply
Servo amplifier Servo motor
Gate circuitControl circuit power supply 24 V DC
Electromagnetic brake
Control
Output signal *1
Self-diagnosis
Parameter
Safety sub-function STO function SS1 function SS2 function SBC function SLS function SSM function SOS function SLI function SDI function SLT function SM function
Safety sub-function processing part 1
CC-Link IE TSN network
CC-Link IE TSN networkCC-Link IE TSN
network equipment
Parameter settings
MELSEC iQ-R series safety remote I/O module
Output device control
Input device control
Not used *2
Self-diagnosis
Parameter
Safety sub-function STO function SS1 function SS2 function SBC function SLS function SSM function SOS function SLI function SDI function SLT function SM function
Safety sub-function processing part 2
Output device control
Input device control
Safety function module R6SFM
MELSEC iQ-R series safety CPU
MELSEC iQ-R series safety CPU
Encoder
Safety remote I/O module
NZ2GNSS2-16DTE
Main input module
NZ2GNSS2-8D
I/O signals *1 Input signal *1
8 9 USING FUNCTIONAL SAFETY [G] 9.2 Function block diagram
9
Safety sub-function control by input device
CN5 MR Configurator2
CN6
CN8
CN3
CN2
W
V
U
CN2L
CN1B
CN1A
Personal computer
Analog monitor
Junction terminal block
Servo motor
Controller or servo amplifier
Controller or servo amplifier
Safety light curtain
Emergency stop switch
Safety signal
Safety programmable controller
9 USING FUNCTIONAL SAFETY [G] 9.3 System architecture 409
41
Safety sub-function control by network
CN5 MR Configurator2
CN6
CN8
CN3
CN2
W
V
U
CN2L
CN1B
CN1A
Personal computer
Analog monitor
Junction terminal block
Servo motor
CC-Link IE TSN network
CC-Link IE TSN network
Safety light curtain
Emergency stop switch
Safety signal
0 9 USING FUNCTIONAL SAFETY [G] 9.3 System architecture
9
9.5 Connectors and pin assignments
The pin assignments of the connectors are as viewed from the cable connector wiring section.
Signal device explanations
Signal name Connector pin No. Description I/O signal interface type
SDICOM CN8-3 Common terminal for the SDIA and SDIB input signals. DI-1
SDIA CN8-4 Input the status of SDIA. Turning off SDIA: Open between SDIA and SDICOM. Turning on SDIA: Close between SDIA and SDICOM.
DI-1
SDIB CN8-5 Input the status of SDIB. Turning off SDIB: Open between SDIB and SDICOM. Turning on SDIB: Close between SDIB and SDICOM.
DI-1
SDOCOM CN8-8 Common terminal for the SDOA and SDOB output signals. DO-1
SDOA CN8-6 The signal that outputs the status assigned to SDOA. SDOA turned on: Closes between SDOA and SDOCOM. SDOA turned off: Opens between SDOA and SDOCOM.
DO-1
SDOB CN8-7 The signal that outputs the status assigned to SDOB. SDOB turned on: Closes between SDOB and SDOCOM. SDOB turned off: Opens between SDOB and SDOCOM.
DO-1
CN8
SDOB
SDIBSDOA
SDIA SDICOM
2 1
4 3
6 5
8 7 SDOCOM
Functional safety I/O signal connector
Servo amplifier
9 USING FUNCTIONAL SAFETY [G] 9.4 Specifications 411
41
9.6 Example I/O signal connections This is only a connection example for CN8. Refer to the following for other connection examples. Page 51 Example I/O signal connections
Input signal There is a delay of up to 5 ms from input to output.
For source input interface
*1 Separate the external input wiring into two routes, SDIA and SDIB. *2 Supply 24 V DC 10 % to interfaces from an external source. If all the I/O points have been used there must be a total current capacity
of 0.2 A remaining. Reducing the number of I/O points decreases the current capacity. Refer to section 9.6 for information on the voltages required for interfaces. Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
For sink input interface
*1 Separate the external input wiring into two routes, SDIA and SDIB. *2 Supply 24 V DC 10 % to interfaces from an external source. If all the I/O points have been used there must be a total current capacity
of 0.2 A remaining. Reducing the number of I/O points decreases the current capacity. Refer to section 9.6 for information on the voltages required for interfaces. Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
3 CN8
5 4
SDICOM
SDIB SDIA*1
24 V DC *2
10 m or less
3 CN8
5 4
SDICOM
SDIB SDIA*1
24 V DC *2
10 m or less
2 9 USING FUNCTIONAL SAFETY [G] 9.6 Example I/O signal connections
9
For source output interface
*1 Separate the external output wiring into two routes, SDOA and SDOB. *2 Supply 24 V DC 10 % to interfaces from an external source. If all the I/O points have been used there must be a total current capacity
of 0.2 A remaining. Reducing the number of I/O points decreases the current capacity. Refer to section 9.6 for information on the voltages required for interfaces. Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
For sink output interface
*1 Separate the external output wiring into two routes, SDOA and SDOB. *2 Supply 24 V DC 10 % to interfaces from an external source. If all the I/O points have been used there must be a total current capacity
of 0.2 A remaining. Reducing the number of I/O points decreases the current capacity. Refer to section 9.6 for information on the voltages required for interfaces. Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes, the system can be configured to use a single 24 V DC power supply.
8
7
6
SDOCOM
SDOB
CN8
SDOA *1
10 m or less
24 V DC *2
Load
Load
If polarity of diode is reversed, servo amplifier will malfunction.
8
7
6
SDOCOM
SDOB
CN8
SDOA *1
10 m or less
24 V DC *2
Load
Load
If polarity of diode is reversed, servo amplifier will malfunction.
9 USING FUNCTIONAL SAFETY [G] 9.6 Example I/O signal connections 413
41
9.7 Connecting I/O interfaces Refer to this section before connecting I/O interfaces to external devices.
Source input This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from a source (open- collector) type transistor output, relay switch, etc.
Sink input This is an input circuit in which the photocoupler cathode side is the input terminal. Transmit signals from a sink (open- collector) type transistor output, relay switch, etc.
SDICOM
SDIA
SDIB 24 V IN
0 V IN
Approx. 4.4 k
Approx. 4.4 k
24 V DC Control output 1
Control output 2
External device 24 V DC, 5 mA
24 V DC, 5 mA
SDICOM
SDIA
SDIB 24 V IN
0 V IN
Approx. 4.4 k
Approx. 4.4 k 24 V DC
Control output 1
Control output 2
External device 24 V DC, 5 mA
24 V DC, 5 mA
4 9 USING FUNCTIONAL SAFETY [G] 9.7 Connecting I/O interfaces
9
This function only guarantees that the power supply for the mechanical brake is correct. It cannot detect brake wear. Check the mechanical brake periodically to ensure it is functioning correctly.
To use SBCS (SBC output), connect it to the electromagnetic brake of the servo motor. Wire the system so that the electromagnetic brake activates when SBCS (SBC output) turns off. There is no need to use the MBR (Electromagnetic brake interlock) of the servo amplifier. For information on the operation sequence when the SBC function is used, refer to "SBC function" in the following manual. MR-J5 User's Manual (Function)
*1 Configure a circuit which interlocks with an emergency stop switch to shut off. *2 Do not use the 24 V DC interface power supply for the electromagnetic brake.
SDOB
B2
B1
RA2
U B
*1RA1
SDOCOM
SDOA
CN8
RA1
RA2
ALM
Servo amplifier
24 V DC
Servo motor
24 V DC *2
(Malfunction)
9 USING FUNCTIONAL SAFETY [G] 9.8 Wiring the SBC output 415
41
9.9 Noise reduction techniques This section provides information on measures that prevent the servo amplifier malfunctioning when it is installed next to peripheral devices that emit a large amount of noise. Ground shielded cables close to the servo amplifier. Ensure that the part of the cable before the grounding point does not induce electromagnetic noise to the section of the cable after the grounding point. Strip part of the shielded cable, then ground the exposed portion of the cable on a large surface of the cabinet. A metal cable clamp can also be used to ground the cable (shown below). Mask the painted internal wall of the cabinet that touches the cable clamp. Exposed shield
Grounding the shield
Ground the both ends of the CN8 cable with the cable clamp. The shield length from the servo amplifier to the cable clamp should be within 30 cm.
Shielded part
Screw
Clamp fitting
Shielded cable
Masked paint part
CN8
Inside the cabinet
20 cm to 30 cm
Servo amplifier
Cable clamp
6 9 USING FUNCTIONAL SAFETY [G] 9.9 Noise reduction techniques
9
Safety sub-function control by input device This figure shows the connection that allows execution of safety sub-functions from the safety controller using the input device assigned to pins of the CN8 connector. The safety level Category 4 PL e, SIL 3 can be achieved with input signal diagnostics.
A1 (24 V)
A2 (0 V)
24 V
0 V
FLEXB US+
FLEXB US+
24 V 0 V
X1
X2
A1 (24 V)
Q1
Q2
Q3
A2 (0 V)
W S0
-C PU
0
W S0
-X TI
O
SDOCOM
CN8
CN8
SDOA
SDOB
SDICOM
SDIA
SDIB
S1
CN1A
CN8
KM1
QX_
COM
I1
I2
I3
I4
Safety controller MELSEC-WS series
Safety I/O module WS0-XTIO CPU module WSO-CPU0
Ap pl
ic at
io n
Ap pl
ic at
io n
Sa fe
ty s
ub -fu
nc tio
n
C on
tro l c
irc ui
t
Servo amplifier
Deceleration command
Controller
KM1: Magnetic contactor S1: Safety switch
Servo motor
9 USING FUNCTIONAL SAFETY [G] 9.10 Example of connection with other devices 417
41
Safety sub-function control by network This figure shows connection that allows execution of safety sub-functions via CC-Link IE TSN Network. Wiring can be reduced using this method.
CN1A CN1B
KM1
P1/P2 P1/P2
X0 X1
T0 T1
R6SFM
RD78G/ RJ71GN11-T2
NZ2GNSS2-16DTE/ NZ2GNSS2-8D
S1
MELSEC iQ-R series safety CPU
Sa fe
ty s
ub -fu
nc tio
n
C on
tro l c
irc ui
t
Servo motor
KM1: Magnetic contactor S1: Safety switch
CC-Link IE TSN network
8 9 USING FUNCTIONAL SAFETY [G] 9.10 Example of connection with other devices
10
10 USING A LINEAR SERVO MOTOR
10.1 Functions and configuration Outline The following shows the differences between the linear servo motor and the rotary servo motor.
Category Item Differences Remark
Linear servo motor Rotary servo motor Servo motor magnetic pole alignment
Magnetic pole detection Required Not required (adjusted before shipping)
Automatically executed at the first servo-on after the power is turned on. For the absolute position linear encoder, [Pr. PL01] can disable the magnetic pole detection. The timing of magnetic pole detection can be changed with [Pr. PL01]. Page 428 Magnetic pole detection method setting
Homing Reference home position 1048576 pulses unit (initial value)
One servo motor revolution unit
Homing pitch can be changed with servo parameter setting. Page 428 Magnetic pole detection method setting
Absolute position detection system
Absolute position encoder battery
Not required Differs depending on the servo motor.
The following alarms and warnings are not detected. [AL. 025 Absolute position erased] [AL. 092 Battery cable disconnection
warning] [AL. 09F Battery warning] [AL. 0E3 Absolute position counter
warning]
Auto tuning Load to motor inertia ratio (J) Load to motor mass ratio
Load to motor inertia ratio
Machine diagnosis Gear failure diagnosis function Unavailable Available
Belt diagnosis function Unavailable Available
MR Configurator2 (SW1DNC-MRC2-_)
Servo motor speed (Data display and setting)
mm/s unit r/min unit
Test operation function
Positioning operation
Motor-less operation
JOG operation
Program operation
10 USING A LINEAR SERVO MOTOR 10.1 Functions and configuration 419
42
Configuration including peripheral equipment
LM-H3 series/LM-U2 series/LM-F series/LM-K2 series
*1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. *2 For the branch cable, use the MR-J4THCBL03M (optional). *3 Connect the thermistor to THM of the branch cable and connect the encoder cable to SCALE correctly. Incorrect connection triggers [AL.
016]. *4 This is for the MR-J5-_A-RJ_ servo amplifier. The MR-J5-_A_ servo amplifier does not have the CN2L connector.
*1
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
(MCCB)
R S T
P+
C
L11
L21
P3
P4
W
V
U L1 L2 L3
(MC)
(FR-BSF01)
(FR-HEL)
CN5 MR Configurator2
CN6
CN8
CN3
CN2
CN2L *4
SCALE
THM*2
*3
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
Thermistor
Regenerative option
Linear servo motor
Encoder cable
Serial linear encoder
0 10 USING A LINEAR SERVO MOTOR 10.1 Functions and configuration
10
LM-AJ series/LM-AU series
*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 the CN2L connector.
*1
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
(MCCB)
R S T
P+
C
L11
L21
P3
P4
W
V
U L1 L2 L3
(MC)
(FR-BSF01)
(FR-HEL)
CN5 MR Configurator2
CN6
CN8
CN3
CN2
CN2L *2
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
Regenerative option
Linear servo motor
Encoder cable
Linear encoder
Protective circuit for the thermal protector
Thermal switch
10 USING A LINEAR SERVO MOTOR 10.1 Functions and configuration 421
42
10.2 Startup [G] [B] When using a linear servo motor, set [Pr. PA01.1 Operation mode selection] to "4" (Linear servo motor control mode). When using the MR-J5_-_B_, the terms below have the following meanings. LSP (Forward rotation stroke end) FLS (Upper stroke limit) LSN (Reverse rotation stroke end) RLS (Lower stroke limit)
Startup procedure Start up the linear servo system with the following procedure.
*1 Use MR Configurator2.
Installation and wiring
Setting of linear servo motor series and linear servo motor type
Setting of linear encoder direction and linear servo motor direction *1
What is the type of the linear encoder?
Incremental linear encoder Absolute position linear encoder
Linear encoder resolution setting *1
Perform the magnetic pole detection. *1
Change the setting to disable the magnetic pole detection.
Positioning operation check in test operation mode *1
Positioning operation check with the controller
Homing operation
Positioning operation
2 10 USING A LINEAR SERVO MOTOR 10.2 Startup [G] [B]
10
Setting
Setting of linear servo motor series and linear servo motor type Set the linear servo motor series and linear servo motor type with [Pr. PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting].
Setting of linear encoder direction and linear servo motor direction Set [Pr. PC27.0 Encoder pulse count polarity selection] so that the positive direction of the linear servo motor matches the increasing direction of the linear encoder feedback.
Servo parameter setting method 1. Confirm the positive direction of the linear servo motor. [Pr. PA14] determines the relation of the travel direction of the
linear servo motor under commands. Refer to the following table.
The positive and negative directions of the linear servo motor are as follows.
2. Check the increasing direction of the linear encoder.
3. If the positive direction of the linear servo motor matches the increasing direction of the linear encoder, set [Pr. PC27.0 Encoder pulse count polarity selection] to "0" (encoder pulse increasing direction in the servo motor CCW or positive direction). If the positive direction of the linear servo motor does not match the increasing direction of the linear encoder, set [Pr. PC27.0] to "1" (encoder pulse decreasing direction in the servo motor CCW or positive direction).
Servo parameter Description PC27.0 Encoder pulse count polarity selection
0: Encoder pulse increasing direction in the servo motor CCW or positive direction 1: Encoder pulse decreasing direction in the servo motor CCW or positive direction Initial value: 0 (encoder pulse increasing direction in the servo motor CCW or positive direction)
Setting value of [Pr. PA14] Travel direction of linear servo motor
Address increasing command Address decreasing command 0 Positive direction Negative direction
1 Negative direction Positive direction
Negative direction
Negative direction
Secondary side
Positive directionSecondary
side Table Positive direction
Primary side
Secondary sidePositive
directionPrimary side
Primary sideNegative
direction LM-H3 series/LM-F series
Positive direction Secondary
sideNegative direction
Primary side
LM-AJ seriesLM-U2 series/LM-AU series LM-K2 series
10 USING A LINEAR SERVO MOTOR 10.2 Startup [G] [B] 423
42
Confirmation method Confirm the positive direction of the linear servo motor and the increasing direction of the linear encoder in the following procedure.
1. In servo-off status, move the linear servo motor in the positive direction manually.
2. Confirm the servo motor speed (in the positive and negative directions) at that time with MR Configurator2.
3. The servo motor speed is a positive value when [Pr. PC27.0 Encoder pulse count polarity selection] is set to "0" (encoder pulse increasing direction in the servo motor CCW or positive direction), the positive direction of the linear servo motor matches the increasing direction of the linear encoder, and the linear servo motor is operated in the positive direction. If the positive direction of the linear servo motor does not match the increasing direction of the linear encoder, the servo motor speed will be a negative value. The servo motor speed is a negative value when [Pr. PC27.0 Encoder pulse count polarity selection] is set to "1" (encoder pulse decreasing direction in the servo motor CCW or positive direction), the positive direction of the linear servo motor matches the increasing direction of the linear encoder, and the linear servo motor is operated in the positive direction.
Linear encoder resolution setting Set the ratio to the linear encoder resolution with [Pr. PL02 Linear encoder resolution setting - Numerator] and [Pr. PL03 Linear encoder resolution setting - Denominator].
Precautions The setting values of these servo parameters are enabled after the power is cycled or the software is reset. If incorrect values are set for [Pr. PL02] and [Pr. PL03], the linear servo motor may not operate properly, or [AL. 027] or [AL.
042] may occur in the positioning operation and the magnetic pole detection.
Servo parameter setting Set the values that apply to the following equation.
Servo parameter setting example When the linear encoder resolution is 0.5 m
The following shows the simplified chart for the setting values of [Pr. PL02] and [Pr. PL03].
Settings when connecting the LM-AJ series/LM-AU series The LM-AJ series and LM-AU series are not equipped with a thermistor that can be connected to a servo amplifier. They are equipped only with a thermal protector that can be connected to an external relay. Configure a relay circuit that shuts off the power supply when the thermal switch opens due to overheating. In addition, when driving the LM-AJ series or LM-AU series, set [Pr. PD12.3 Servo motor thermistor - Enabled/disabled selection] to "1" to disable the thermistor. If this setting is not configured, [AL. 046.3 Thermistor disconnected error] will occur.
Linear encoder resolution [m]
0.01 0.02 0.05 0.1 0.2 0.5 1.0 2.0 Setting value [Pr. PL02] 1 1 1 1 1 1 1 2
[Pr. PL03] 100 50 20 10 5 2 1 1
[Pr. PL02 Linear encoder resolution setting - Numerator] = Linear encoder resolution [m]
[Pr. PL03 Linear encoder resolution setting - Denominator]
[Pr. PL02] [Pr. PL03]
= Linear encoder resolution = 0.5 m = 1 2
4 10 USING A LINEAR SERVO MOTOR 10.2 Startup [G] [B]
10
Magnetic pole detection
Outline of magnetic pole detection Before the positioning operation of the linear servo motor, perform the magnetic pole detection. When [Pr. PL01.0] is set to the initial value, perform the magnetic pole detection only at the first servo-on after the power is turned on. The magnetic pole detection includes the following two methods. Each method has advantages and disadvantages. Select a magnetic pole detection method suitable for the usage. In the initial value, the position detection method is selected.
Precautions on magnetic pole detection For the magnetic pole detection, the linear servo motor automatically starts to move simultaneously with turning-on of the
servo-on command. If the magnetic pole detection is not executed properly, the linear servo motor may operate unexpectedly. Establish the machine configuration to use LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). The
machine may be damaged due to a collision without LSP and LSN. Assign LSP and LSN, and perform the magnetic pole detection also in the torque mode. At the magnetic pole detection, whether the direct drive motor moves in the positive or negative direction is unpredictable. Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage level], an overload, overcurrent, magnetic pole
detection alarm, or others may occur. When performing the positioning operation from a controller, use the sequence which confirms the normal completion of the
magnetic pole detection and the servo-on status, then outputs the positioning command. If the controller outputs the positioning command before RD (Ready) turns on, the command may not be accepted or an alarm may occur.
If the linear encoder is installed incorrectly, an alarm may occur. If the linear encoder resolution setting ([Pr. PL02 Linear encoder resolution setting - Numerator] and [Pr. PL03 Linear
encoder resolution setting - Denominator]) or the setting value of [Pr. PL09] is incorrect, an alarm may occur. For the machine whose friction becomes 30 % or more of the continuous thrust, the direct drive motor may not operate
properly after the magnetic pole detection. For the horizontal shaft of the machine whose unbalanced thrust becomes 20 % or more of the continuous thrust, the direct
drive motor may not operate properly after the magnetic pole detection. The magnetic pole detection may fail if performed simultaneously with multiple axes connected to each other (e.g. a
tandem configuration). Perform the magnetic pole detection for each axis. At this time, set the axes for which the magnetic pole detection is not performed to servo-off.
During the magnetic pole detection, the value of [Pr. PE47 Unbalanced torque offset] is regarded as "0". When detecting magnetic poles on the vertical axis, use a counterweight or the like to prevent the linear servo motor from
moving with the force of gravity.
Magnetic pole detection Advantage Disadvantage Position detection method 1. The magnetic pole detection has a high degree
of accuracy. 2. The adjustment procedure at the magnetic pole
detection is simple.
1. The travel distance at the magnetic pole detection is long.
2. For equipment with small friction, the initial magnetic pole detection error may occur.
Minute position detection method 1. The travel distance at the magnetic pole detection is short.
2. Even for equipment with small friction, the magnetic pole detection is available.
1. The adjustment procedure at the magnetic pole detection is complex.
2. If a disturbance occurs during the magnetic pole detection, [AL. 027 Initial magnetic pole detection error] may occur.
10 USING A LINEAR SERVO MOTOR 10.2 Startup [G] [B] 425
42
Magnetic pole detection procedure
When using a controller manufactured by Mitsubishi Electric, the servo parameter setting values are overwritten from the controller. Once magnetic pole detection is complete, note down the changed servo parameter setting values, and set the same values in the controller.
Magnetic pole detection by position detection method
*1 For the incremental system, the setting of [Pr. PL01] is not required.
NO
YES
YES
NO
YES
NO
Magnetic pole detection
Set [Pr. PL08.0 Magnetic pole detection method selection] to "0" (position detection method).
Set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "1" (Magnetic pole detection at initial servo-on after cycling the power). *1
Set [Pr. PL09 Magnetic pole detection voltage level] to "10" as a guide value.
Execute "positive direction travel" or "negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is performed.
Is [Pr. PL09] the final value?
Perform one of the following operations: alarm reset, servo amplifier power cycling, or software reset.
Has [AL. 027 Initial magnetic pole detection error] occurred?
Increase the value of [Pr. PL09] by five.
Have [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], and [AL. 0E1 Overload warning 1] occurred?
Cycle the power of the servo amplifier or reset the software.
Set approximately 70 % of the value set for [Pr. PL09] as the final setting value. If [AL. 027] occurs with this value, specify a value intermediate between the value set at [AL. 0E1] and the value set at [AL. 027] as the final setting value.
Perform one of the following operations: alarm reset, servo amplifier power cycling, or software reset.
Set [Pr. PL01.0] to "0" (Magnetic pole detection disabled). *1
End
Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software.
Turn "ON (up)" the DIP switch (SW3-1). Then, cycle the power of the servo amplifier or reset software.
Cycle the power of the servo amplifier or reset software.
Turn "OFF (down)" the DIP switch (SW3-1). Then, cycle the power of the servo amplifier or reset software.
6 10 USING A LINEAR SERVO MOTOR 10.2 Startup [G] [B]
10
Magnetic pole detection by minute position detection method
YES
YES
YES
NO
YES
NO
NO
NO YES
NO
Magnetic pole detection
Set [Pr. PL08.0 Magnetic pole detection method selection] to "4" (minute position detection method).
Set [Pr. PL01.0 Servo motor magnetic pole detection setting] to "1" (Magnetic pole detection at initial servo-on after cycling the power). *1
Set the load to mass of the linear servo motor primary-side ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. *2
Execute "positive direction travel" or "negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is performed.
Is the value of [Pr. PL17.0 Response selection] the final value?
Has an abnormal sound or vibration occurred during the magnetic pole detection?
Set the value of [Pr. PL17.0] decreased by two as the final setting value.
Have [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], and [AL. 0E1 Overload warning 1] occurred?
Decrease the value of [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude] by five.
Not acceptableIs the travel distance during the magnetic pole detection acceptable? *3
Increase the value of [Pr. PL17.0] by one.
Acceptable
Is the setting value of [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection] correct?
Has [AL. 027 Initial magnetic pole detection error] occurred?
Set [Pr. PL01.0] to "0" (Magnetic pole detection disabled). *1 Set [Pr. PL08.0] to "0" (position detection method).
End
Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software.
Turn "ON (up)" the DIP switch (SW3-1). Then, cycle the power of the servo amplifier or reset software.
Cycle the power of the servo amplifier or reset software.
Turn "OFF (down)" the DIP switch (SW3-1). Then, cycle the power of the servo amplifier or reset software.
10 USING A LINEAR SERVO MOTOR 10.2 Startup [G] [B] 427
42
*1 For the incremental system, the setting of [Pr. PL01] is not required. *2 If the load to mass of the linear servo motor primary-side ratio is unknown, perform the magnetic pole detection by the position detection
method, and then perform the auto tuning to set an estimated value. *3 For the magnetic pole detection by the minute position detection method, the maximum travel distance at the magnetic pole detection
must be 0.5 mm or less. To shorten the travel distance, increase the value of [Pr. PL17.0].
Stroke limit disabled setting at magnetic pole detection When performing a magnetic pole detection without LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection].
Preparation for magnetic pole detection For the magnetic pole detection, use the test operation mode (positioning operation) of MR Configurator2. Turn off the servo amplifier power, and turn on the DIP switch (SW3-1). Turning on the power enables the test operation mode.
Magnetic pole detection method setting Set the magnetic pole detection method by using [Pr. PL08.0 Magnetic pole detection method selection]. In the following cases, set the magnetic pole detection method to the minute position detection method. When a shortened travel distance at the magnetic pole detection is required When the magnetic pole detection by the position detection method is not completed properly
For an absolute position linear encoder, set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "1" (magnetic pole detection at initial servo-on after cycling the power). After the completion of the magnetic pole detection, change [Pr. PL01.0] to "0" (magnetic pole detection disabled).
Servo parameter Description PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection
0: Enabled 1: Disabled Initial value: 0 (enabled)
Servo parameter Description PL08.0 Magnetic pole detection method selection
0: Position detection method 4: Minute position detection method Initial value: 0 (position detection method)
Servo parameter Description PL01.0 Servo motor magnetic pole detection selection
0: Magnetic pole detection disabled 1: Magnetic pole detection at initial servo-on after cycling the power 5: Magnetic pole detection at every servo-on Initial value: 1 (magnetic pole detection at initial servo-on after cycling the power)
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Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
Guideline of servo parameter setting Set the parameters by referring to the following table.
Setting procedure 1. Detect the magnetic poles, then increase the setting value of [Pr. PL09 Magnetic pole detection voltage level] until [AL.
050 Overload 1], [AL. 051 Overload 2], [AL. 033 Overvoltage], [AL. 0E1 Overload warning 1], and [AL. 0EC Overload warning 2] occur. Increase the setting value by five as a guide value. When these alarms and warnings occur during the magnetic pole detection with MR Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off state is established.
2. Set the value to approximately 70 % of the value which triggers [AL. 050], [AL. 051], [AL. 033], [AL. 0E1], and [AL. 0EC]. If [AL. 027 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at occurrence of [AL. 050], [AL. 051], [AL. 033], [AL. 0E1], and [AL. 0EC] and the value set at the magnetic pole detection alarm occurrence as the final setting value.
3. Perform the magnetic pole detection again with the final setting value, and make sure that the accuracy of the magnetic pole detection is as required.
Setting example
In this example, set the final setting value of [Pr. PL09 Magnetic pole detection voltage level] to 49 (setting value at the alarm occurrence = 70 0.7).
Servo status Small Medium Large (10 or less (initial value) 50 or more)
Thrust at operation Small Large
Overload, overcurrent alarm Hardly occurs Easily occurs
Magnetic pole detection alarm Easily occurs Hardly occurs
Magnetic pole detection accuracy Low High
30 35 40 45 65 70
Linear encoder magnetic pole detection
Setting value of [Pr. PL09]
Occurring Alarm Not occurring
While increasing the setting value of [Pr. PL09], carry out the magnetic pole detection repeatedly.
An alarm has occurred when the setting value of [Pr. PL09] is set to "70".
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Setting of response performance and load to motor mass ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection] and set the load to motor mass ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. If the load to mass of the linear servo motor primary-side ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value. [Pr. PL17.0 Response selection]
Initial value: 0 [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]
Initial value: 0
Setting value Responsiveness 0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Setting value Load to motor mass ratio/load to motor inertia ratio 0 10 times or less
1 10 multiplier
2 20 multiplier
3 30 multiplier
4 40 multiplier
5 50 multiplier
6 60 multiplier
7 70 multiplier
8 80 multiplier
9 90 multiplier
A 100 multiplier
B 110 multiplier
C 120 multiplier
D 130 multiplier
E 140 multiplier
F 150 times or more
Low response
Middle response
High response
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Setting of identification signal amplitude by minute position detection method If [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], or [AL. 0E1 Overload warning 1] occurs at the magnetic pole detection by the minute position detection method, set a smaller value for [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude]. Basically, [Pr. PL18] does not need to be changed from the initial value.
Operation at magnetic pole detection
Precautions After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of
MR Configurator2. When the absolute position linear encoder is used, if a gap is generated to the positional relation between the linear
encoder and the linear servo motor, perform the magnetic pole detection again. The magnetic pole detection improves in accuracy when performed with no load.
For incremental encoder For the incremental linear encoder, the magnetic pole detection is required every time the power is turned on or the software is reset. By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set [Pr. PL01.0 Servo motor magnetic pole detection selection] for executing magnetic pole detection. Timing chart
*1 The magnetic pole detection time indicates the operation time when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on.
ON OFF
ON OFF
ON OFF
100 ms Servo-on command
Base circuit
RD (Ready)
15 s or less Magnetic pole detection time *1
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Linear servo motor movement (when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on)
*1 When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off during the magnetic pole detection, the operation of the magnetic pole detection is carried on to the opposite direction. When both LSP and LSN are off, [AL. 027 Initial magnetic pole detection error] occurs.
*2 The following shows the pitch against the magnetic pole.
Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off) When LSP or LSN is off at servo-on, the magnetic pole detection is performed as follows.
*1 The following shows the pitch against the magnetic pole.
Linear servo motor series LM-H3 LM-F
LM-U2 LM-K2 LM-AJ LM-AU
Medium thrust (Continuous thrust: Less than 400 N)
Large thrust (Continuous thrust: 400 N or more)
Pitch against magnetic pole [mm] 48 30 60 48 20 60
Linear servo motor series LM-H3 LM-F
LM-U2 LM-K2 LM-AJ LM-AU
Medium thrust (Continuous thrust: Less than 400 N)
Large thrust (Continuous thrust: 400 N or more)
Pitch against magnetic pole [mm] 48 30 60 48 20 60
LSN *1 LSP *1
Servo-on position (Magnetic pole detection start position)
Magnetic pole detection completion position *2
LSN LSP
The linear servo motor moves to the magnetic pole detection start position upon servo-on, and the magnetic pole detection is executed.
Magnetic pole detection start position
Magnetic pole detection completion position *1
The linear servo motor reciprocates several times and returns to the magnetic pole detection start position to complete the magnetic pole detection, and then changes into the servo-lock status. At this time, there may be a gap, approximately a quarter of the pitch against magnetic pole, from the start position.
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For absolute position linear encoder The magnetic pole detection is required in the following cases. When the system is set up (at initial startup of equipment) After a servo amplifier is replaced After a linear servo motor (primary-side or secondary-side) is replaced After a linear encoder (scale or head) is replaced or remounted If a gap is generated to the positional relation between the linear encoder and the linear servo motor, perform the magnetic pole detection again.
1. Execute the magnetic pole detection. Page 431 For incremental encoder
2. After the completion of the magnetic pole detection, change [Pr. PL01.0 Servo motor magnetic pole detection selection] to "0" (magnetic pole detection disabled).
When [Pr. PL01.0 Servo motor magnetic pole detection selection] is set to "0" (magnetic pole detection disabled) after the magnetic pole detection, the magnetic pole detection after each power-on is not required.
Servo parameter Description PL01.0 Servo motor magnetic pole detection selection
0: Magnetic pole detection disabled 1: Magnetic pole detection at initial servo-on after cycling the power 5: Magnetic pole detection at every servo-on Initial value: 1 (magnetic pole detection at initial servo-on after cycling the power)
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How to replace servo amplifier without magnetic pole detection When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole detection cannot be performed, write the magnetic pole information from the servo amplifier before replacement to the one after replacement by using MR Configurator2.
Procedure 1. Read the magnetic pole information of the servo amplifier before replacement.
2. Write the read magnetic pole information to the servo amplifier after replacement.
3. To ensure safety, perform the test operation with the torque limited and confirm that the servo motor can be operated safely.
Migration method of the magnetic pole information How to read magnetic pole information from servo amplifier before replacement 1. Open the project in MR Configurator2 and select the model.
2. Check that the personal computer is connected with the servo amplifier, and select "Diagnosis" and then "Linear diagnosis".
3. Click "Magnetic Pole Information" to open the magnetic pole information window.
4. Click "Read" in the magnetic pole information window.
5. Note down the values shown in data 1 of the magnetic pole information window.
How to write magnetic pole information to servo amplifier after replacement 1. Open the project in MR Configurator2 and select the model.
2. Check that the personal computer is connected with the servo amplifier, and select "Diagnosis" and then "Linear diagnosis".
3. Click "Magnetic Pole Information" to open the magnetic pole information window.
4. To data 1 of the magnetic pole information window, input the values of the magnetic pole information which were noted down.
5. Click "Write" in the magnetic pole information window.
6. Cycle the power of the servo amplifier.
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10.3 Startup [A] When using a linear servo motor, set [Pr. PA01.1 Operation mode selection] to "4" (Linear servo motor control mode).
Startup procedure Start up the linear servo system with the following procedure.
*1 Use MR Configurator2.
Installation and wiring
Setting of linear servo motor series and linear servo motor type
Setting of linear encoder direction and linear servo motor direction *1
What is the type of the linear encoder?
Incremental linear encoder Absolute value linear encoder
Linear encoder resolution setting *1
Perform the magnetic pole detection. *1
Change the setting to disable the magnetic pole detection.
Positioning operation check in test operation mode *1
Positioning operation check with the controller
Homing operation
Positioning operation
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Setting
Setting of linear servo motor series and linear servo motor type Set the linear servo motor series and linear servo motor type with [Pr. PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting].
Setting of linear encoder direction and linear servo motor direction Set [Pr. PC45.0 Encoder pulse count polarity selection] so that the positive direction of the linear servo motor matches the increasing direction of the linear encoder feedback.
Servo parameter setting method 1. Confirm the positive direction of the linear servo motor. [Pr. PA14 Travel direction selection] determines the relation of the
travel direction of the linear servo motor under commands as follows.
The positive and negative directions of the linear servo motor are as follows.
2. Check the increasing direction of the linear encoder.
3. If the positive direction of the linear servo motor matches the increasing direction of the linear encoder, set [Pr. PC45.0 Encoder pulse count polarity selection] to "0" (encoder pulse increasing direction in the servo motor CCW or positive direction). If the positive direction of the linear servo motor does not match the increasing direction of the linear encoder, set [Pr. PC45.0] to "1" (encoder pulse decreasing direction in the servo motor CCW or positive direction).
Servo parameter Description PC45.0 Encoder pulse count polarity selection
0: Encoder pulse increasing direction in the servo motor CCW or positive direction 1: Encoder pulse decreasing direction in the servo motor CCW or positive direction Initial value: 0 (encoder pulse increasing direction in the servo motor CCW or positive direction)
Setting value of [Pr. PA14] Travel direction of linear servo motor
Address increasing command Address decreasing command 0 Positive direction Negative direction
1 Negative direction Positive direction
Negative direction
Negative direction
Secondary side
Positive directionSecondary
side Table Positive direction
Primary side
Secondary sidePositive
directionPrimary side
Primary sideNegative
direction LM-H3 series/LM-F series
Positive direction Secondary
sideNegative direction
Primary side
LM-AJ seriesLM-U2 series/LM-AU series LM-K2 series
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Confirmation method Confirm the positive direction of the linear servo motor and the increasing direction of the linear encoder in the following procedure.
1. In servo-off status, move the linear servo motor in the positive direction manually.
2. Confirm the servo motor speed (in the positive and negative directions) at that time with MR Configurator2.
3. The servo motor speed is a positive value when [Pr. PC45.0 Encoder pulse count polarity selection] is set to "0" (encoder pulse increasing direction in the servo motor CCW or positive direction), the positive direction of the linear servo motor matches the increasing direction of the linear encoder, and the linear servo motor is operated in the positive direction. If the positive direction of the linear servo motor does not match the increasing direction of the linear encoder, the servo motor speed will be a negative value. The servo motor speed is a negative value when [Pr. PC45.0] is set to "1" (encoder pulse decreasing direction in the servo motor CCW or positive direction), the positive direction of the linear servo motor matches the increasing direction of the linear encoder, and the linear servo motor is operated in the positive direction.
Linear encoder resolution setting Set the ratio to the linear encoder resolution with [Pr. PL02 Linear encoder resolution setting - Numerator] and [Pr. PL03 Linear encoder resolution setting - Denominator].
Precautions The setting values of these servo parameters are enabled after the power is cycled or the software is reset. If incorrect values are set for [Pr. PL02] and [Pr. PL03], the linear servo motor may not operate properly, or [AL. 027] or [AL.
042] may occur in the positioning operation and the magnetic pole detection.
Servo parameter setting Set the values that apply to the following equation.
Servo parameter setting example When the linear encoder resolution is 0.5 m
The following shows the simplified chart for the setting values of [Pr. PL02] and [Pr. PL03].
Settings when connecting the LM-AJ series/LM-AU series The LM-AJ series and LM-AU series are not equipped with a thermistor that can be connected to a servo amplifier. They are equipped only with a thermal protector that can be connected to an external relay. Configure a relay circuit that shuts off the power supply when the thermal switch opens due to overheating. In addition, when driving the LM-AJ series or LM-AU series, set [Pr. PD12.3 Servo motor thermistor - Enabled/disabled selection] to "1" to disable the thermistor. If this setting is not configured, [AL. 046.3 Thermistor disconnected error] will occur.
Linear encoder resolution [m]
0.01 0.02 0.05 0.1 0.2 0.5 1.0 2.0 Setting value [Pr. PL02] 1 1 1 1 1 1 1 2
[Pr. PL03] 100 50 20 10 5 2 1 1
[Pr. PL02 Linear encoder resolution setting - Numerator] = Linear encoder resolution [m]
[Pr. PL03 Linear encoder resolution setting - Denominator]
= Linear encoder resolution = 0.5 m = 1 2
[Pr. PL02] [Pr. PL03]
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Magnetic pole detection
Outline of magnetic pole detection Before the positioning operation of the linear servo motor, perform the magnetic pole detection. When [Pr. PL01] is set to the initial value, perform magnetic pole detection only at the first servo-on after the power is turned on. The magnetic pole detection includes the following two methods. Each method has advantages and disadvantages. Select a magnetic pole detection method suitable for the usage. In the initial value, the position detection method is selected.
Precautions on magnetic pole detection For the magnetic pole detection, the linear servo motor automatically starts to move simultaneously with turning-on of the
servo-on command. If the magnetic pole detection is not executed properly, the linear servo motor may operate unexpectedly. Establish the machine configuration to use LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). The
machine may be damaged due to a collision without LSP and LSN. Assign LSP and LSN, and perform the magnetic pole detection also in the torque mode. At the magnetic pole detection, whether the direct drive motor moves in the positive or negative direction is unpredictable. Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage level], an overload, overcurrent, magnetic pole
detection alarm, or others may occur. When performing the positioning operation from a controller, use the sequence which confirms the normal completion of the
magnetic pole detection and the servo-on status, then outputs the positioning command. If the controller outputs the positioning command before RD (Ready) turns on, the command may not be accepted or an alarm may occur.
If the linear encoder is installed incorrectly, an alarm may occur. If the linear encoder resolution setting ([Pr. PL02 Linear encoder resolution setting - Numerator] and [Pr. PL03 Linear
encoder resolution setting - Denominator]) or the setting value of [Pr. PL09] is incorrect, an alarm may occur. For the machine whose friction becomes 30 % or more of the continuous thrust, the direct drive motor may not operate
properly after the magnetic pole detection. For the horizontal shaft of the machine whose unbalanced thrust becomes 20 % or more of the continuous thrust, the direct
drive motor may not operate properly after the magnetic pole detection. The magnetic pole detection may fail if performed simultaneously with multiple axes connected to each other (e.g. a
tandem configuration). Perform the magnetic pole detection for each axis. At this time, set the axes for which the magnetic pole detection is not performed to servo-off.
During the magnetic pole detection, the value of [Pr. PE47 Unbalanced torque offset] is regarded as "0". When detecting magnetic poles on the vertical axis, use a counterweight or the like to prevent the linear servo motor from
moving with the force of gravity.
Magnetic pole detection Advantage Disadvantage Position detection method 1. The magnetic pole detection has a high degree
of accuracy. 2. The adjustment procedure at the magnetic pole
detection is simple.
1. The travel distance at the magnetic pole detection is long.
2. For equipment with small friction, the initial magnetic pole detection error may occur.
Minute position detection method 1. The travel distance at the magnetic pole detection is short.
2. Even for equipment with small friction, the magnetic pole detection is available.
1. The adjustment procedure at the magnetic pole detection is complex.
2. If a disturbance occurs during the magnetic pole detection, [AL. 027 Initial magnetic pole detection error] may occur.
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Magnetic pole detection procedure Magnetic pole detection by position detection method
*1 For the incremental system, the setting of [Pr. PL01] is not required.
NO
YES
YES
NO
YES
NO
Magnetic pole detection
Set [Pr. PL08.0 Magnetic pole detection method selection] to "0" (position detection method).
Set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "1" (Magnetic pole detection at initial servo-on after cycling the power). *1
Set [Pr. PL09 Magnetic pole detection voltage level] to "10" as a guide value.
Execute "positive direction travel" or "negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is performed.
Is [Pr. PL09] the final value?
Perform one of the following operations: alarm reset, servo amplifier power cycling, or software reset.
Has [AL. 027 Initial magnetic pole detection error] occurred?
Increase the value of [Pr. PL09] by five.
Have [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], and [AL. 0E1 Overload warning 1] occurred?
Cycle the power of the servo amplifier or reset the software.
Set approximately 70 % of the value set for [Pr. PL09] as the final setting value. If [AL. 027] occurs with this value, specify a value intermediate between the value set at [AL. 0E1] and the value set at [AL. 027] as the final setting value.
Perform one of the following operations: alarm reset, servo amplifier power cycling, or software reset.
Set [Pr. PL01.0] to "0" (Magnetic pole detection disabled). *1
End
Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software.
Cycle the power of the servo amplifier or reset software.
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Magnetic pole detection by minute position detection method
*1 For the incremental system, the setting of [Pr. PL01] is not required. *2 If the load to mass of the linear servo motor primary-side ratio is unknown, perform the magnetic pole detection by the position detection
method, and then perform the auto tuning to set an estimated value. *3 For the magnetic pole detection by the minute position detection method, the maximum travel distance at the magnetic pole detection
must be 0.5 mm or less. To shorten the travel distance, increase the value of [Pr. PL17.0].
YES
YES
YES
NO
YES
NO
NO
NO YES
NO
Magnetic pole detection
Set [Pr. PL08.0 Magnetic pole detection method selection] to "4" (minute position detection method).
Set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "1" (Magnetic pole detection at initial servo-on after cycling the power). *1
Set the load to mass of the linear servo motor primary-side ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. *2
Execute "positive direction travel" or "negative direction travel" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is performed.
Is the value of [Pr. PL17.0 Response selection] the final value?
Has an abnormal sound or vibration occurred during the magnetic pole detection?
Set the value of [Pr. PL17.0] decreased by two as the final setting value.
Have [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], and [AL. 0E1 Overload warning 1] occurred?
Decrease the value of [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude] by five.
Not acceptableIs the travel distance during the magnetic pole detection acceptable? *3 Increase the value of [Pr. PL17.0] by one.
Acceptable
Is the setting value of [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection] correct?
Has [AL. 027 Initial magnetic pole detection error] occurred?
Set [Pr. PL01.0] to "0" (Magnetic pole detection disabled). *1 Set [Pr. PL08.0] to "0" (position detection method).
End
Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software.
Cycle the power of the servo amplifier or reset software.
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Stroke limit disabled setting at magnetic pole detection When performing a magnetic pole detection without LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection].
Magnetic pole detection method setting Set the magnetic pole detection method by using [Pr. PL08.0 Magnetic pole detection method selection]. In the following cases, set the magnetic pole detection method to the minute position detection method. When a shortened travel distance at the magnetic pole detection is required When the magnetic pole detection by the position detection method is not completed properly
For an absolute position linear encoder, set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "1" (magnetic pole detection at initial servo-on after cycling the power). After the completion of the magnetic pole detection, change [Pr. PL01.0] to "0" (magnetic pole detection disabled).
Servo parameter Description PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection
0: Enabled 1: Disabled Initial value: 0 (enabled)
Servo parameter Description PL08.0 Magnetic pole detection method selection
0: Position detection method 4: Minute position detection method Initial value: 0 (position detection method)
Servo parameter Description PL01.0 Servo motor magnetic pole detection selection
0: Magnetic pole detection disabled 1: Magnetic pole detection at initial servo-on after cycling the power 5: Magnetic pole detection at every servo-on Initial value: 1 (magnetic pole detection at initial servo-on after cycling the power)
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Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
Guideline of servo parameter setting Set the parameters by referring to the following table.
Setting procedure 1. Detect the magnetic poles, then increase the setting value of [Pr. PL09 Magnetic pole detection voltage level] until [AL.
050 Overload 1], [AL. 051 Overload 2], [AL. 033 Overvoltage], [AL. 0E1 Overload warning 1], and [AL. 0EC Overload warning 2] occur. Increase the setting value by five as a guide value. When these alarms and warnings occur during the magnetic pole detection with MR Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off state is established.
2. Set the value to approximately 70 % of the value which triggers [AL. 050], [AL. 051], [AL. 033], [AL. 0E1], and [AL. 0EC]. If [AL. 027 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at occurrence of [AL. 050], [AL. 051], [AL. 033], [AL. 0E1], and [AL. 0EC] and the value set at the magnetic pole detection alarm occurrence as the final setting value.
3. Perform the magnetic pole detection again with the final setting value, and make sure that the accuracy of the magnetic pole detection is as required.
Setting example
In this example, set the final setting value of [Pr. PL09] to 49 (setting value at the alarm occurrence = 70 0.7).
Servo status Small Medium Large (10 or less (initial value) 50 or more)
Thrust at operation Small Large
Overload, overcurrent alarm Hardly occurs Easily occurs
Magnetic pole detection alarm Easily occurs Hardly occurs
Magnetic pole detection accuracy Low High
30 35 40 45 65 70
Linear encoder magnetic pole detection
Setting value of [Pr. PL09]
Occurring Alarm Not occurring
While increasing the setting value of [Pr. PL09], carry out the magnetic pole detection repeatedly.
An alarm has occurred when the setting value of [Pr. PL09] is set to "70".
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Setting of response performance and load to motor mass ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection], the load to motor mass ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio]. If the load to mass of the linear servo motor primary-side ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value. [Pr. PL17.0 Response selection]
Initial value: 0 [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]
Initial value: 0
Setting of identification signal amplitude by minute position detection method If [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], or [AL. 0E1 Overload warning 1] occurs at the magnetic pole detection by the minute position detection method, set a smaller value for [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude]. Basically, [Pr. PL18] does not need to be changed from the initial value.
Setting value Responsiveness 0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Setting value Load to motor mass ratio/load to motor inertia ratio 0 10 times or less
1 10 multiplier
2 20 multiplier
3 30 multiplier
4 40 multiplier
5 50 multiplier
6 60 multiplier
7 70 multiplier
8 80 multiplier
9 90 multiplier
A 100 multiplier
B 110 multiplier
C 120 multiplier
D 130 multiplier
E 140 multiplier
F 150 times or more
Low response
Middle response
High response
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Operation at magnetic pole detection
Precautions After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of
MR Configurator2. When the absolute position linear encoder is used, if a gap is generated to the positional relation between the linear
encoder and the linear servo motor, perform the magnetic pole detection again. The magnetic pole detection improves in accuracy when performed with no load.
For incremental encoder For the incremental linear encoder, the magnetic pole detection is required every time the power is turned on or the software is reset. By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set [Pr. PL01.0 Servo motor magnetic pole detection selection] for executing magnetic pole detection. Timing chart
*1 The magnetic pole detection time indicates the operation time when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on.
Linear servo motor movement (when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on)
*1 When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off during the magnetic pole detection, the operation of the magnetic pole detection is carried on to the opposite direction. When both LSP and LSN are off, [AL. 027 Initial magnetic pole detection error] occurs.
*2 The following shows the pitch against the magnetic pole.
Linear servo motor series LM-H3 LM-F
LM-U2 LM-K2 LM-AJ LM-AU
Medium thrust (Continuous thrust: Less than 400 N)
Large thrust (Continuous thrust: 400 N or more)
Pitch against magnetic pole [mm] 48 30 60 48 20 60
ON OFF
ON OFF
ON OFF
100 ms Servo-on command
Base circuit
RD (Ready)
15 s or less Magnetic pole detection time *1
LSN *1 LSP *1
Servo-on position (Magnetic pole detection start position)
Magnetic pole detection completion position *2
4 10 USING A LINEAR SERVO MOTOR 10.3 Startup [A]
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Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off) When LSP or LSN is off at servo-on, the magnetic pole detection is performed as follows.
*1 The following shows the pitch against the magnetic pole.
For absolute position linear encoder The magnetic pole detection is required in the following cases. When the system is set up (at initial startup of equipment) After a servo amplifier is replaced After a linear servo motor (primary-side or secondary-side) is replaced After a linear encoder (scale or head) is replaced or remounted If a gap is generated to the positional relation between the linear encoder and the linear servo motor, perform the magnetic pole detection again.
1. Execute the magnetic pole detection. Page 431 Operation at magnetic pole detection Page 431 For incremental encoder
2. After the completion of the magnetic pole detection, change [Pr. PL01.0 Servo motor magnetic pole detection selection] to "0" (magnetic pole detection disabled).
When [Pr. PL01.0] is set to "0" (magnetic pole detection disabled) after the magnetic pole detection, the magnetic pole detection at each power-on is not required.
How to replace servo amplifier without magnetic pole detection Refer to the following. Page 434 How to replace servo amplifier without magnetic pole detection
Linear servo motor series LM-H3 LM-F
LM-U2 LM-K2 LM-AJ LM-AU
Medium thrust (Continuous thrust: Less than 400 N)
Large thrust (Continuous thrust: 400 N or more)
Pitch against magnetic pole [mm] 48 30 60 48 20 60
Servo parameter Description PL01.0 Servo motor magnetic pole detection selection
0: Magnetic pole detection disabled 1: Magnetic pole detection at initial servo-on after cycling the power 5: Magnetic pole detection at every servo-on Initial value: 1 (magnetic pole detection at initial servo-on after cycling the power)
LSN LSP
The linear servo motor moves to the magnetic pole detection start position upon servo-on, and the magnetic pole detection is executed.
Magnetic pole detection start position Servo-on position
Magnetic pole detection completion position *1
The linear servo motor reciprocates several times and returns to the magnetic pole detection start position to complete the magnetic pole detection, and then changes into the servo-lock status. At this time, there may be a gap, approximately a quarter of the pitch against magnetic pole, from the start position.
10 USING A LINEAR SERVO MOTOR 10.3 Startup [A] 445
44
10.4 Basic functions Operation from controller For the incremental system, the magnetic pole detection is automatically performed at the first servo-on after power-on. Before performing the positioning operation, check that the servo amplifier is in servo-on status.
Setting the number of pulses (AP) and travel distance (AL)
Calculate the number of linear encoder pulses (AP) and travel distance (AL) with the following condition. Linear encoder resolution: 0.05 m
Homing [G] Precautions
The incremental linear encoder and the absolute position linear encoder have different reference home positions at homing.
For the incremental linear encoder, a home position (reference mark) of the linear encoder is necessary in the homing direction.
To execute homing securely in the following example, move the linear servo motor to LSN with an operation such as the JOG operation, then start homing.
AP AL
AP AL
-
+ Controller Servo amplifier
Linear servo motor
Linear encoder
User
Command [mm]
Position feedback [mm]
Speed feedback [mm/s]
Differ- entiation
Number of pulses (AP) [pulse] Travel distance (AL) [m]
= = 20 1
1 0.05
LSN LSP
Returnable area: Homing is possible when homing is started from this area.
Non-returnable area: Homing is not possible when homing is started from this area.
Dog
Homing direction Home position of linear encoder (reference mark)
6 10 USING A LINEAR SERVO MOTOR 10.4 Basic functions
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Homing setting method Incremental linear encoder Interval setting of homing When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with [Pr. PL01.2 Homing stop interval setting]) with reference to the linear encoder home position (reference mark) that passed through first after a homing start. Change the setting value of [Pr. PL01] according to the linear encoder resolution.
The following shows the relation between the stop interval at the homing and the linear encoder resolution. For example, when the linear encoder resolution is 0.001 m and [Pr. PL01.2 Homing stop interval setting] = "5" (16777216 pulses), the linear encoder resolution is 16.777 mm. [Unit: mm]
Multipoint Z-phase input - Function selection When two or more reference marks exist during the full stroke of the linear encoder, set "1" (enabled) in [Pr. PC17.1 Linear encoder multipoint Z-phase input function selection].
Servo parameter Description PL01.2 Homing stop interval setting
0: 213 (= 8192) pulses 1: 217 (= 131072) pulse 2: 218 (= 262144) pulse 3: 220 (= 1048576) pulse 4: 222 (= 4194304) pulse 5: 224 (= 16777216) pulse 6: 226 (= 67108864) pulse 7: 230 (= 1073741824) pulse Initial value: 3 (220 (= 1048576) pulses)
Pr. PL01.2 Stop interval [pulse]
Linear encoder resolution
0.001 m 0.005 m 0.01 m 0.02 m 0.05 m 0 8192 0.008 0.041 0.082 0.164 0.410
1 131072 0.131 0.655 1.311 2.621 6.554
2 262144 0.262 1.311 2.621 5.243 13.107 (Recommended value)
3 1048576 1.049 5.243 10.486 (Recommended value)
20.972 (Recommended value)
52.429
4 4194304 4.194 20.972 (Recommended value)
41.943 83.886 209.715
5 16777216 16.777 (Recommended value)
83.886 167.772 335.544 838.861
6 67108864 67.109 335.544 671.089 1342.177 3355.443
7 1073741824 1073.742 5368.700 10737.418 21474.836 53687.091
Pr. PL01.2 Stop interval [pulse]
Linear encoder resolution
0.1 m 0.2 m 0.5 m 1 m 2 m 0 8192 0.819 1.638 4.096
(Recommended value)
8.192 (Recommended value)
16.384 (Recommended value)
1 131072 13.107 (Recommended value)
26.214 (Recommended value)
65.536 131.072 262.144
2 262144 26.214 52.429 131.072 262.144 524.288
3 1048576 104.858 209.715 524.288 1048.576 2097.152
4 4194304 419.430 838.861 2097.152 4194.304 8388.608
5 16777216 1677.722 3355.443 8388.608 16777.216 33554.432
6 67108864 6710.886 13421.773 33554.432 67108.864 134217.728
7 1073741824 107374.182 214748.364 536870.912 1073741.824 2147483.648
10 USING A LINEAR SERVO MOTOR 10.4 Basic functions 447
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Absolute position linear encoder The reference home position using an absolute position linear encoder is per 1048576 pulses based on the linear encoder home position (absolute position data = 0). The stop intervals at homing can be changed with [Pr. PL01.2 Homing stop interval setting]. For the specifications of the stop intervals at homing, refer to the following. Page 447 Incremental linear encoder The specifications are the same as the ones when an incremental encoder is used.
Homing operation
Precautions To execute homing securely, move the linear servo motor to the opposite stroke end with the JOG operation from the
controller or by other means, then start homing. Change the setting value of [Pr. PL01.2 Homing stop interval setting] in accordance with the linear encoder resolution.
Incremental linear encoder When the linear encoder home position (reference mark) exists in the homing direction The position obtained by moving the home position shift distance from the linear encoder home position (reference mark) is set as the home position.
Ex.
Homing methods 33 and 34 The following figure shows the operation of Homing method 34. The operation of Homing method 33 is opposite to that of Homing method 34.
*1 Home position shift distance can be changed with [Pr. PT07 Home position shift distance]. When the stroke end is detected
0 r/min
Homing direction
Homing speed
Home position shift distance *1
Servo motor speed
Creep speed
Machine position Home position Linear encoder home position
Stroke endHoming direction
Homing start position Stop due to occurrence of [AL. 90]
8 10 USING A LINEAR SERVO MOTOR 10.4 Basic functions
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Ex.
Homing methods -11 and -43 The following figure shows the operation of Homing method -11. The operation of Homing method -43 is opposite to that of Homing method -11.
*1 Home position shift distance can be changed with [Pr. PT07 Home position shift distance]. When the servo motor returns at the stroke end
*1 This cannot be used with the software limit. When the linear encoder home position does not exist in the homing direction If the homing is performed from the position where the linear encoder home position does not exist in the homing direction, an error may occur. If an error occurs, change the homing method or move the linear servo motor to the stroke end on the opposite side of the homing direction with operations such as the JOG operation from the controller, then start homing.
Caution for passing the home position (reference mark) An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoder.) MR-J5 Partner's Encoder User's Manual
0 r/min
Homing direction
Creep speed
Home position shift distance *1
Servo motor speed
Creep speed
Machine position Home position Linear encoder home position
0 r/min
Stroke end *1
Homing direction Homing start position
Forward rotation
Servo motor speed Reverse rotation Linear encoder home position
Homing automatically starts from here.
ON OFF
0 mm/s
Homing direction Homing speed
Creep speedLinear servo motor speed
JOG operation
Proximity dog signal
Linear servo motor position
Stroke end Linear encoder home position Home position
Home position returnable area Home position non-returnable area
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Example: When the Z-phase is recognized at startup
The position where LZ (Encoder Z-phase pulse) is turned on depends on the direction of home position passing. In cases where each homing is required to be completed at the same position, such as dog type homing, start homing with the same direction. Point to note for linear encoder without home position (reference mark) For the linear encoder without home position (reference mark), LZ (Encoder Z-phase pulse) of the servo amplifier is not outputted. Check the specifications of the controller for whether LZ (Encoder Z-phase pulse) is necessary or not for homing.
Absolute position linear encoder When using an absolute position linear encoder, the data set type homing can also be carried out. For proximity dog type homing For a proximity dog type homing, the nearest reference home position after proximity dog off is the home position. The linear encoder home position can be set in any position. LZ (Encoder Z-phase pulse) is outputted based on the set value of [Pr. PL01.2 Homing stop interval setting].
*1 This can be changed with [Pr. PL01].
B A
Home position signal
A recognized as ON position B recognized as ON position
ON OFF
1048576 pulses *1
0 mm/s
Homing direction
Homing speed
Creep speedLinear servo motor speed
Proximity dog signal
Reference home position
1048576 pulses n
Linear servo motor position
Linear encoder home position Home position
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Homing [B] Precautions
The incremental linear encoder and the absolute position linear encoder have different reference home positions at homing.
For the incremental linear encoder, a home position (reference mark) of the linear encoder is necessary in the homing direction.
To execute homing securely in the following example, move the linear servo motor to RLS with an operation such as the JOG operation, then start homing.
RLS FLS
Returnable area: Homing is possible when homing is started from this area.
Non-returnable area: Homing is not possible when homing is started from this area.
Dog
Homing direction Home position of linear encoder (reference mark)
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Homing setting method Incremental linear encoder Interval setting of homing When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with [Pr. PL01.2 Homing stop interval setting]) with reference to the linear encoder home position (reference mark) that passed through first after a homing start. Change the setting value of [Pr. PL01] according to the linear encoder resolution.
The following shows the relation between the stop interval at the homing and the linear encoder resolution. For example, when the linear encoder resolution is 0.001 m and [Pr. PL01.2 Homing stop interval setting] = "5" (16777216 pulses), the linear encoder resolution is 16.777 mm. [Unit: mm]
Multipoint Z-phase input - Function selection When two or more reference marks exist during the full stroke of the linear encoder, set "1" (enabled) in [Pr. PC17.1 Linear encoder multipoint Z-phase input function selection].
Servo parameter Description PL01.2 Homing stop interval setting
0: 213 (= 8192) pulses 1: 217 (= 131072) pulse 2: 218 (= 262144) pulse 3: 220 (= 1048576) pulse 4: 222 (= 4194304) pulse 5: 224 (= 16777216) pulse 6: 226 (= 67108864) pulse 7: 230 (= 1073741824) pulse Initial value: 3 (220 (= 1048576) pulses)
Pr. PL01.2 Stop interval [pulse]
Linear encoder resolution
0.001 m 0.005 m 0.01 m 0.02 m 0.05 m 0 8192 0.008 0.041 0.082 0.164 0.410
1 131072 0.131 0.655 1.311 2.621 6.554
2 262144 0.262 1.311 2.621 5.243 13.107 (Recommended value)
3 1048576 1.049 5.243 10.486 (Recommended value)
20.972 (Recommended value)
52.429
4 4194304 4.194 20.972 (Recommended value)
41.943 83.886 209.715
5 16777216 16.777 (Recommended value)
83.886 167.772 335.544 838.861
6 67108864 67.109 335.544 671.089 1342.177 3355.443
7 1073741824 1073.742 5368.700 10737.418 21474.836 53687.091
Pr. PL01.2 Stop interval [pulse]
Linear encoder resolution
0.1 m 0.2 m 0.5 m 1 m 2 m 0 8192 0.819 1.638 4.096
(Recommended value)
8.192 (Recommended value)
16.384 (Recommended value)
1 131072 13.107 (Recommended value)
26.214 (Recommended value)
65.536 131.072 262.144
2 262144 26.214 52.429 131.072 262.144 524.288
3 1048576 104.858 209.715 524.288 1048.576 2097.152
4 4194304 419.430 838.861 2097.152 4194.304 8388.608
5 16777216 1677.722 3355.443 8388.608 16777.216 33554.432
6 67108864 6710.886 13421.773 33554.432 67108.864 134217.728
7 1073741824 107374.182 214748.364 536870.912 1073741.824 2147483.648
2 10 USING A LINEAR SERVO MOTOR 10.4 Basic functions
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Absolute position linear encoder The reference home position using an absolute position linear encoder is per 1048576 pulses based on the linear encoder home position (absolute position data = 0). The stop intervals at homing can be changed with [Pr. PL01.2 Homing stop interval setting]. For the specifications of the stop intervals at homing, refer to the following. Page 447 Incremental linear encoder The specifications are the same as the ones when an incremental encoder is used.
Homing operation
Precautions To execute homing securely, move the linear servo motor to the opposite stroke limit with the JOG operation from the
controller or by other means, then start homing. Change the setting value of [Pr. PL01.2 Homing stop interval setting] in accordance with the linear encoder resolution.
Incremental linear encoder When the linear encoder home position (reference mark) exists in the homing direction For a proximity dog type homing, the nearest reference home position after proximity dog off is the home position. Set one linear encoder home position in the full stroke, and set it in the position to be passed after the homing start. LZ (Encoder Z-phase pulse) cannot be used.
*1 This can be changed with [Pr. PL01].
ON OFF
1048576 pulses *1
0 mm/s
Homing direction
Homing speed
Creep speedLinear servo motor speed
Proximity dog signal
Reference home position
1048576 pulses n
Linear servo motor position
Linear encoder home position Home position
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When the linear encoder home position does not exist in the homing direction If homing is performed from a position where the linear encoder home position does not exist in the homing direction, a homing error may occur in the controller depending on the homing method. Error details differ depending on the controller being used. If an error occurs, move the linear servo motor to the stroke end on the opposite side of the homing direction with operations such as the JOG operation from the controller, then start homing.
Caution for passing the home position (reference mark) An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoder.) MR-J5 Partner's Encoder User's Manual Example: When the Z-phase is recognized at startup
The position where LZ (Encoder Z-phase pulse) is turned on depends on the direction of home position passing. In cases where each homing is required to be completed at the same position, such as dog type homing, start homing with the same direction. Point to note for linear encoder without home position (reference mark) For the linear encoder without home position (reference mark), LZ (Encoder Z-phase pulse) of the servo amplifier is not outputted. Check the specifications of the controller for whether LZ (Encoder Z-phase pulse) is necessary or not for homing.
ON OFF
0 mm/s
Homing direction Homing speed
Creep speedLinear servo motor speed
JOG operation
Proximity dog signal
Linear servo motor position
Stroke limit Linear encoder home position Home position
Home position returnable area Home position non-returnable area
B A
Home position signal
A recognized as ON position B recognized as ON position
4 10 USING A LINEAR SERVO MOTOR 10.4 Basic functions
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Absolute position linear encoder When using an absolute position linear encoder, the data set type homing can also be carried out. For proximity dog type homing For a proximity dog type homing, the nearest reference home position after proximity dog off is the home position. The linear encoder home position can be set in any position. LZ (Encoder Z-phase pulse) is outputted based on the set value of [Pr. PL01.2 Homing stop interval setting].
*1 This can be changed with [Pr. PL01].
ON OFF
1048576 pulses *1
0 mm/s
Homing direction
Homing speed
Creep speedLinear servo motor speed
Proximity dog signal
Reference home position
1048576 pulses n
Linear servo motor position
Linear encoder home position Home position
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Homing [A] Precautions
The incremental linear encoder and the absolute position linear encoder have different reference home positions at homing.
For the incremental linear encoder, a home position (reference mark) of the linear encoder is necessary in the homing direction.
To execute homing securely in the following example, move the linear servo motor to LSN with an operation such as the JOG operation, then start homing.
LSN LSP
Returnable area: Homing is possible when homing is started from this area.
Non-returnable area: Homing is not possible when homing is started from this area.
Proximity dog
Homing direction Home position of linear encoder (reference mark)
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Homing setting method Incremental linear encoder Interval setting of homing When an incremental linear encoder is used, the home position is the position per 1048576 pulses (changeable with [Pr. PL01.2 Homing stop interval setting]) with reference to the linear encoder home position (reference mark) that passed through first after a homing start. Change the setting value of [Pr. PL01.2] according to the linear encoder resolution.
The following shows the relation between the stop interval at the homing and the linear encoder resolution. For example, when the linear encoder resolution is 0.001 m and [Pr. PL01.2 Homing stop interval setting] = "5" (16777216 pulses), the linear encoder resolution is 16.777 mm. [Unit: mm]
Multipoint Z-phase input - Function selection When two or more reference marks exist in the full stroke of the linear encoder, set "1" (enabled) in [Pr. PC28.3 Linear encoder multipoint Z-phase input function selection].
Servo parameter Description PL01.2 Homing stop interval setting
0: 213 (= 8192) pulses 1: 217 (= 131072) pulse 2: 218 (= 262144) pulse 3: 220 (= 1048576) pulse 4: 222 (= 4194304) pulse 5: 224 (= 16777216) pulse 6: 226 (= 67108864) pulse 7: 230 (= 1073741824) pulse Initial value: 3 (220 (= 1048576) pulses)
Pr. PL01.2 Stop interval [pulse]
Linear encoder resolution
0.001 m 0.005 m 0.01 m 0.02 m 0.05 m 0 8192 0.008 0.041 0.082 0.164 0.410
1 131072 0.131 0.655 1.311 2.621 6.554
2 262144 0.262 1.311 2.621 5.243 13.107 (Recommended value)
3 1048576 1.049 5.243 10.486 (Recommended value)
20.972 (Recommended value)
52.429
4 4194304 4.194 20.972 (Recommended value)
41.943 83.886 209.715
5 16777216 16.777 (Recommended value)
83.886 167.772 335.544 838.861
6 67108864 67.109 335.544 671.089 1342.177 3355.443
7 1073741824 1073.742 5368.700 10737.418 21474.836 53687.091
Pr. PL01.2 Stop interval [pulse]
Linear encoder resolution
0.1 m 0.2 m 0.5 m 1 m 2 m 0 8192 0.819 1.638 4.096
(Recommended value)
8.192 (Recommended value)
16.384 (Recommended value)
1 131072 13.107 (Recommended value)
26.214 (Recommended value)
65.536 131.072 262.144
2 262144 26.214 52.429 131.072 262.144 524.288
3 1048576 104.858 209.715 524.288 1048.576 2097.152
4 4194304 419.430 838.861 2097.152 4194.304 8388.608
5 16777216 1677.722 3355.443 8388.608 16777.216 33554.432
6 67108864 6710.886 13421.773 33554.432 67108.864 134217.728
7 1073741824 107374.182 214748.364 536870.912 1073741.824 2147483.648
10 USING A LINEAR SERVO MOTOR 10.4 Basic functions 457
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Absolute position linear encoder The reference home position using an absolute position linear encoder is per 1048576 pulses based on the linear encoder home position (absolute position data = 0). The stop intervals at homing can be changed with [Pr. PL01.2 Homing stop interval setting]. For the specifications of the stop intervals at homing, refer to the following. Page 447 Homing setting method The specifications are the same as the ones when an incremental encoder is used.
Homing operation
Precautions To execute homing securely, move the linear servo motor to the opposite stroke end with the JOG operation from the
controller or by other means, then start homing. Change the setting value of [Pr. PL01.2 Homing stop interval setting] in accordance with the linear encoder resolution.
Incremental linear encoder When the linear encoder home position (reference mark) exists in the homing direction In the case of a dog type homing, after the proximity dog signal rear end is detected, the nearest reference home position shifted by the home position shift distance is used as the home position. Set one linear encoder home position in the full stroke, and set it in the proximity dog signal detection position.
*1 This can be changed with [Pr. PL01]. *2 Home position shift distance can be changed with [Pr. PT07].
ON OFF
0 mm/s
1048576 pulses *1
Homing direction
Homing speed Home position shift distance Creep speedLinear servo motor speed
Proximity dog signal
Reference home position
1048576 pulses n + Home position shift distance *2
Linear servo motor position
Linear encoder home position Home position
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When the linear encoder home position does not exist in the homing direction If the homing is performed from the position where the linear encoder home position does not exist in the homing direction, an error may occur. If an error occurs, change the homing method or move the linear servo motor to the stroke end on the opposite side of the homing direction with operations such as the JOG operation from the controller, then start homing.
Caution for passing the home position (reference mark) An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoder.) MR-J5 Partner's Encoder User's Manual Example: When the Z-phase is recognized at startup
The position where LZ (Encoder Z-phase pulse) is turned on depends on the direction of home position passing. In cases where each homing is required to be completed at the same position, such as dog type homing, start homing with the same direction. Point to note for linear encoder without home position (reference mark) For the linear encoder without home position (reference mark), LZ (Encoder Z-phase pulse) of the servo amplifier is not outputted. Check the specifications of the controller for whether LZ (Encoder Z-phase pulse) is necessary or not for homing.
ON OFF
0 mm/s
Homing direction Homing speed
Creep speedLinear servo motor speed
JOG operation
Proximity dog signal
Linear servo motor position
Stroke end Linear encoder home position Home position
Home position returnable area Home position non-returnable area
B A
Home position signal
A recognized as ON position B recognized as ON position
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Absolute position linear encoder When using an absolute position linear encoder, the data set type homing can also be carried out. For proximity dog type homing For a proximity dog type homing, the nearest reference home position after proximity dog off is the home position. The linear encoder home position can be set in any position. LZ (Encoder Z-phase pulse) is outputted based on the set value of [Pr. PL01.2 Homing stop interval setting].
*1 This can be changed with [Pr. PL01]. For data set type homing For data set type homing, when CR (Clear) is turned on, the position control counter is cleared and the current position is stored in the non-volatile memory (backup memory) as home position data.
*1 This can be changed with [Pr. PL01].
ON OFF
1048576 pulses *1
0 mm/s
Homing direction
Homing speed
Creep speedLinear servo motor speed
Proximity dog signal
Reference home position
1048576 pulses n
Linear servo motor position
Linear encoder home position Home position
ON
OFF
1048576 pulses *1
0 mm/s Linear servo motor speed
CR (Clear)
Reference home position
Linear servo motor position
Home positionLinear encoder home position
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Linear servo control error detection function If the linear servo control becomes unstable for some reason, the linear servo motor may not operate properly. To detect this state and to stop operation, the linear servo control error detection function is used as a protective function. The linear servo control error detection function has three types of detection methods: the position deviation, speed deviation, and thrust deviation. An error is detected when each method is enabled with [Pr. PL04.0 [AL. 042 Servo control error] detection function selection]. The detection level can be changed with [Pr. PL05 Position deviation error detection level], [Pr. PL06 Speed deviation error detection level], and [Pr. PL07 Torque deviation error detection level].
Precautions For the linear servo control error detection function, the position and speed deviation error detections are enabled before
shipping. ([Pr. PL04.0]: 3)
Linear servo control error detection selection function Select the linear servo control error detection function. [Pr. PL04.0 [AL. 042 Servo control error] detection function selection] Refer to the following table.
Initial value: 3
Position deviation error detection Set [Pr. PL04.0 [AL. 042 Servo control error] detection function selection] to "1" to enable the position deviation error detection.
If the difference between the model feedback position (1) and the feedback position (2) in the figure is equal to or more than the value of [Pr. PL05 Position deviation error detection level] (1 mm to 1000 mm), [AL. 042.1 Servo control error based on position deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 50 mm. Change the setting value as necessary.
Setting value Position deviation error detection Speed deviation error detection Thrust deviation error detection 1 Enabled Disabled Disabled
2 Disabled Enabled Disabled
3 Enabled Enabled Disabled
4 Disabled Disabled Enabled
5 Enabled Disabled Enabled
6 Disabled Enabled Enabled
7 Enabled Enabled Enabled
Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection
1: Position deviation error detection enabled
Servo amplifier
Servo amplifier internal value Linear servo motor(1) Model feedback position [mm]
(3) Model feedback speed [mm/s] (5) Command thrust [%]
Linear encoder Linear encoder
(2) Feedback position [mm] (4) Feedback speed [mm/s] (6) Feedback thrust [%]
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Speed deviation error detection Set [Pr. PL04.0] to "2" to enable the speed deviation error detection.
If the difference between the model feedback speed (3) and the feedback speed (4) in the figure is equal to or more than the value of [Pr. PL06 Speed deviation error detection level] (1 mm/s to 5000 mm/s), [AL. 042.2 Servo control error based on speed deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 1000 mm/s. Change the setting value as necessary.
Thrust deviation error detection Set [Pr. PL04.0] to "4" to enable the thrust deviation error detection.
If the difference between the command thrust (5) and the feedback thrust (6) in the figure is equal to or more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1 % to 1000 %), [AL. 042.3 Servo control error based on torque/thrust deviation] will occur and the linear servo motor will stop. The initial value of this detection level is 100 %. Change the setting value as necessary.
Detecting multiple deviation errors When [Pr. PL04.0 [AL. 042 Servo control error] detection function selection] is set as follows, multiple deviation errors can be detected. Refer to the following for the error detection method. Page 461 Position deviation error detection Page 462 Speed deviation error detection Page 462 Thrust deviation error detection [Pr. PL04.0 [AL. 042 Servo control error] detection function selection]
Initial value: 3
Linear servo control error controller reset condition selection Select the reset condition of the linear servo control error.
When [Pr. PL04.3 [AL. 042 Servo control error] detection controller reset condition selection] is set to "1" (reset enabled), [AL. 042.1 Servo control error based on position deviation], [AL. 042.2 Servo control error based on speed deviation], and [AL. 042.3 Servo control error based on torque/thrust deviation] can be canceled by resetting the controller. When [Pr. PL04.3] is set to "0" (reset disabled (reset by powering off/on or software reset enabled)), [AL. 042.1], [AL. 042.2], and [AL. 042.3] can be canceled only by cycling the servo amplifier power or resetting the software.
Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection
2: Speed deviation error detection enabled
Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection
4: Thrust deviation error detection enabled
Setting value Position deviation error detection Speed deviation error detection Thrust deviation error detection 1
2
3
4
5
6
7
Servo parameter Description PL04.3 [AL. 042 Servo control error] detection controller reset condition selection
0: Reset disabled (reset by powering off/on or software reset enabled) 1: Reset enabled Initial value: 0 (Reset disabled)
2 10 USING A LINEAR SERVO MOTOR 10.4 Basic functions
10
About MR Configurator2 With MR Configurator2, the servo parameters can be checked if set correctly, and the servo motor and the load-side encoder can be checked if operated properly. This section explains the Linear Diagnosis screen.
Symbol Name Explanation Unit (1) Cumulative feedback pulses Feedback pulses from the linear encoder are counted and displayed.
The displayed value returns to "0" when "999999999" is exceeded. Click "Clear" to reset the value to "0". In reverse rotation, the value is negative.
pulse
(2) Droop pulse Droop pulses of the deviation counter between a linear servo motor-side position and a command are displayed. In reverse rotation, the value is negative.
pulse
(3) Cumulative command pulses Position command input pulses are counted and displayed. Click "Clear" to reset the value to "0". Under reverse command, the value is negative.
pulse
(4) Encoder information The linear encoder information is displayed. The display contents differ depending on the linear encoder type. ID: The ID No. of the linear encoder is displayed. Data 1: For an incremental type linear encoder, the counter from powering on is displayed. For
an absolute position type linear encoder, absolute position data is displayed. Data 2: For the incremental type linear encoder, the distance (number of pulses) from the
reference mark (Z-phase) is displayed. For the absolute position type linear encoder, "00000000" is displayed.
(5) Polarity For the address increasing direction in the linear servo motor positive direction, "+" is displayed, and for the address decreasing direction in the linear servo motor negative direction, "-" is displayed.
(6) Z-phase pass status The Z-phase pass status of the linear encoder is displayed.
(7) Parameter Setting (Resolution setting)
The servo parameters for the resolution of the linear encoder ([Pr. PL02] and [Pr. PL03]) can be displayed and set. Page 424 Servo parameter setting
(8) Parameter Setting (Homing stop interval)
The servo parameter for the homing can be displayed and set.
(9) Parameter Setting (Linear encoder magnetic pole detection)
The servo parameter for the magnetic pole detection can be displayed and set.
(11) (2) (9)
(8)
(3)
(10)
(4)
(5)(7)(1)(6)
10 USING A LINEAR SERVO MOTOR 10.4 Basic functions 463
46
(10) Magnetic Pole Information The magnetic pole information can be displayed and set.
(11) Parameter Setting (Electronic gear)
The servo parameters for the electronic gear ([Pr. PA06] and [Pr. PA07]) can be displayed and set.
Symbol Name Explanation Unit
4 10 USING A LINEAR SERVO MOTOR 10.4 Basic functions
10
10.5 Adjustment Auto tuning function Although the auto tuning function during the linear servo motor operation is the same as that of the rotary servo motor, the calculation method of the load to motor mass ratio (J ratio) is different. The load to motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass of the linear servo motor primary side.
Ex.
Mass of linear servo motor primary side = 2 kg Load mass (excluding the mass of the linear servo motor primary side) = 4 kg Mass ratio = 4/2 = 2 times For other servo parameters set with the auto tuning function, refer to "Auto tuning mode 1" and "Auto tuning mode 2" in the following manual. MR-J5 User's Manual (Adjustment)
Precautions for the auto tuning function If the following conditions are not satisfied, the auto tuning mode 1 may not operate properly. Time to reach 2000 mm/s is the acceleration/deceleration time constant of 5 s or less. The linear servo motor speed is 50 mm/s or higher. The load to mass of the linear servo motor primary-side ratio is 100 times or less. The acceleration/deceleration thrust is 10 % or higher of the continuous thrust.
Machine analyzer function Perform the machine analyzer function after the magnetic pole detection. If the magnetic pole detection is not performed, the machine analyzer function may not operate properly. The stop position at the completion of the machine analyzer function is arbitrary.
10 USING A LINEAR SERVO MOTOR 10.5 Adjustment 465
46
10.6 Characteristics Overload protection characteristics
LM-H3 series/LM-K2 series
LM-U2 series
50 100 150 200 250 3000 0.1
10
1
100
1000
[%]
O pe
ra tin
g tim
e [s
]
Load ratio
: In operation : In servo-lock
0 0.1
10
1
100
1000
[%] 100 200 300 400
Load ratio
: In operation : In servo-lock
O pe
ra tin
g tim
e [s
]
6 10 USING A LINEAR SERVO MOTOR 10.6 Characteristics
10
LM-F series (natural cooling)
LM-F series (liquid cooling)
100 200 300 400 500 6000 0.1
10
1
100
1000
[%]Load ratio
: In operation : In servo-lock
O pe
ra tin
g tim
e [s
]
50 100 150 200 250 3000 0.1
10
1
100
1000
[%]Load ratio
: In operation : In servo-lock
O pe
ra tin
g tim
e [s
]
10 USING A LINEAR SERVO MOTOR 10.6 Characteristics 467
46
LM-AJ series
0
0.1
10
1
100
1000
[%] 100 200 300 40050 150 250 350
Load ratio
: In operation : In servo-lock
O pe
ra tin
g tim
e [s
]
8 10 USING A LINEAR SERVO MOTOR 10.6 Characteristics
10
LM-AU series Graph of overload protection characteristics The following table lists the LM-AU series and corresponding graphs of overload protection characteristics. The overload protection characteristics depend on the linear servo motor.
Characteristic a
Characteristic b
LM-AU (primary side) Graph of overload protection characteristics LM-AUP3A-03V-JSS0 LM-AUP3B-06V-JSS0 LM-AUP3C-09V-JSS0 LM-AUP3D-11R-JSS0 LM-AUP4A-04R-JSS0 LM-AUP4B-09R-JSS0 LM-AUP4C-13P-JSS0 LM-AUP4D-18M-JSS0
Page 469 Characteristic a
LM-AUP4F-26P-JSS0 LM-AUP4H-35M-JSS0
Page 469 Characteristic b
1000
0.1
10
1
100
1000
[%] 200 300 400 500 600
Load ratio
: In operation : In servo-lock
O pe
ra tin
g tim
e [s
]
0 0.1
10
1
100
1000
[%] 200 300 500100 400 600
Load ratio
: In operation : In servo-lock
O pe
ra tin
g tim
e [s
]
10 USING A LINEAR SERVO MOTOR 10.6 Characteristics 469
47
Power supply capacity and generated loss (1-axis servo amplifier) Linear servo motor (primary side)
Servo amplifier Power supply capacity [kVA]
Servo amplifier-generated heat [W] Area required for heat dissipation [m2]
At rated output At servo-off
LM-H3P2A-07P-BSS0 MR-J5-40_ 0.9 35 15 0.7
LM-H3P3A-12P-CSS0 0.9 35 15 0.7
LM-H3P3B-24P-CSS0 MR-J5-70_ 1.3 50 15 1.0
LM-H3P3C-36P-CSS0 1.9 50 15 1.0
LM-H3P3D-48P-CSS0 MR-J5-200_ 3.5 90 20 1.8
LM-H3P7A-24P-ASS0 MR-J5-70_ 1.3 50 15 1.0
LM-H3P7B-48P-ASS0 MR-J5-200_ 3.5 90 20 1.8
LM-H3P7C-72P-ASS0 3.8 90 20 1.8
LM-H3P7D-96P-ASS0 MR-J5-350_ 5.5 130 20 2.6
LM-U2PAB-05M-0SS0 MR-J5-20_ 0.5 25 15 0.5
LM-U2PAD-10M-0SS0 MR-J5-40_ 0.9 35 15 0.7
LM-U2PAF-15M-0SS0 0.9 35 15 0.7
LM-U2PBB-07M-1SS0 MR-J5-20_ 0.5 25 15 0.5
LM-U2PBD-15M-1SS0 MR-J5-60_ 1.0 40 15 0.8
LM-U2PBF-22M-1SS0 MR-J5-70_ 1.3 50 15 1.0
LM-U2P2B-40M-2SS0 MR-J5-200_ 3.5 90 20 1.8
LM-U2P2C-60M-2SS0 MR-J5-350_ 5.5 130 20 2.6
LM-U2P2D-80M-2SS0 MR-J5-500_ 7.5 195 25 3.9
LM-FP2B-06M-1SS0 MR-J5-200_ 3.5 90 20 1.8
LM-FP2D-12M-1SS0 MR-J5-500_ 7.5 195 25 3.9
LM-FP2F-18M-1SS0 MR-J5-700_ 10 300 25 6.0
LM-FP4B-12M-1SS0 MR-J5-500_ 7.5 195 25 3.9
LM-FP4D-24M-1SS0 MR-J5-700_ 10 300 25 6.0
LM-K2P1A-01M-2SS1 MR-J5-40_ 0.9 35 15 0.7
LM-K2P1C-03M-2SS1 MR-J5-200_ 3.5 90 20 1.8
LM-K2P2A-02M-1SS1 MR-J5-70_ 1.3 50 15 1.0
LM-K2P2C-07M-1SS1 MR-J5-350_ 5.5 130 20 2.6
LM-K2P2E-12M-1SS1 MR-J5-500_ 7.5 195 25 3.9
LM-K2P3C-14M-1SS1 MR-J5-350_ 5.5 130 20 2.6
LM-K2P3E-24M-1SS1 MR-J5-500_ 7.5 195 25 3.9
LM-AJP1B-07K-JSS0 MR-J5-40_ 0.9 35 15 0.7
LM-AJP1D-14K-JSS0 MR-J5-70_ 1.3 50 15 1.0
LM-AJP2B-12S-JSS0 MR-J5-40_ 0.9 35 15 0.7
LM-AJP2D-23T-JSS0 MR-J5-70_ 1.3 50 15 1.0
LM-AJP3B-17N-JSS0 MR-J5-40_ 0.9 35 15 0.7
LM-AJP3D-35R-JSS0 MR-J5-70_ 1.3 50 15 1.0
LM-AJP4B-22M-JSS0 MR-J5-40_ 0.9 35 15 0.7
LM-AJP4D-45N-JSS0 MR-J5-70_ 1.3 50 15 1.0
LM-AUP3A-03V-JSS0 MR-J5-40_ 0.9 35 15 0.7
LM-AUP3B-06V-JSS0 0.9 35 15 0.7
LM-AUP3C-09V-JSS0 0.9 35 15 0.7
LM-AUP3D-11R-JSS0 1.2 35 15 0.7
LM-AUP4A-04R-JSS0 MR-J5-70_ 1.3 50 15 1.0
LM-AUP4B-09R-JSS0 1.3 50 15 1.0
LM-AUP4C-13P-JSS0 1.3 50 15 1.0
LM-AUP4D-18M-JSS0 1.3 50 15 1.0
LM-AUP4F-26P-JSS0 MR-J5-200_ 3.5 90 20 1.8
LM-AUP4H-35M-JSS0 3.5 90 20 1.8
0 10 USING A LINEAR SERVO MOTOR 10.6 Characteristics
10
Power supply capacity and generated loss (multi-axis servo amplifier) The following tables indicate the losses generated by servo amplifiers under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the worst operating conditions including environments and operation patterns. The actual amount of generated heat depends on the frequency of operation and will be between the "At rated output" and "At servo-off" values. When the linear servo motor is run at less than the rated speed, the power supply capacity will be smaller than the calculated value, but the servo amplifier's generated heat will not change.
Calculation method of power supply capacity Calculate the power supply capacity for one servo amplifier from the following tables.
Power supply capacity for one servo amplifier at rated output
*1 The power supply capacity will vary according to the power impedance. This value is applicable when the power factor improving reactor is not used.
Servo amplifier power supply capacity for one linear servo motor
Servo amplifier Power supply capacity [kVA] *1
MR-J5W2-22_ Total power supply capacity of all linear servo motors to be connected (A)
MR-J5W2-44_
MR-J5W2-77_
MR-J5W2-1010_
MR-J5W3-222_
MR-J5W3-444_
Linear servo motor Power supply capacity [kVA] (A) LM-H3P2A-07P-BSS0 0.9
LM-H3P3A-12P-CSS0 0.9
LM-H3P3B-24P-CSS0 1.3
LM-H3P3C-36P-CSS0 1.9
LM-H3P7A-24P-ASS0 1.3
LM-U2PAB-05M-0SS0 0.5
LM-U2PAD-10M-0SS0 0.9
LM-U2PAF-15M-0SS0 0.9
LM-U2PBB-07M-1SS0 0.5
LM-U2PBD-15M-1SS0 1.0
LM-U2PBF-22M-1SS0 1.3
LM-K2P1A-01M-2SS1 0.9
LM-K2P2A-02M-1SS1 1.3
LM-AJP1B-07K-JSS0 0.9
LM-AJP1D-14K-JSS0 1.3
LM-AJP2B-12S-JSS0 0.9
LM-AJP2D-23T-JSS0 1.3
LM-AJP3B-17N-JSS0 0.9
LM-AJP3D-35R-JSS0 1.3
LM-AJP4B-22M-JSS0 0.9
LM-AJP4D-45N-JSS0 1.3
LM-AUP3A-03V-JSS0 0.9
LM-AUP3B-06V-JSS0 0.9
LM-AUP3C-09V-JSS0 0.9
LM-AUP3D-11R-JSS0 1.2
LM-AUP4A-04R-JSS0 1.3
LM-AUP4B-09R-JSS0 1.3
LM-AUP4C-13P-JSS0 1.3
10 USING A LINEAR SERVO MOTOR 10.6 Characteristics 471
47
LM-AUP4D-18M-JSS0 1.3
LM-AUP4F-26P-JSS0 3.5
LM-AUP4H-35M-JSS0 3.5
Linear servo motor Power supply capacity [kVA] (A)
2 10 USING A LINEAR SERVO MOTOR 10.6 Characteristics
10
Calculation method of the amount of heat generated by the servo amplifier Calculate the amount of heat generated by one servo amplifier from the following tables.
Amount of heat generated by one servo amplifier at rated output
*1 The values stated for heat generated by the servo amplifier do not take into account the heat generated during regeneration. To calculate heat generated by the regenerative option, refer to the following. Page 240 Regenerative option
Amount of heat generated by one servo amplifier for one linear servo motor
Servo amplifier Servo amplifier-generated heat [W] *1
At servo-off (C) At rated output MR-J5W2-22_ 20 Sum of the total amount of heat generated by the servo amplifier for all linear servo
motors to be connected (B) and the amount of heat generated by the servo amplifier at servo-off (C)
MR-J5W2-44_ 20
MR-J5W2-77_ 20
MR-J5W2-1010_ 20
MR-J5W3-222_ 25
MR-J5W3-444_ 25
Linear servo motor Servo amplifier-generated heat [W] (B) LM-H3P2A-07P-BSS0 35
LM-H3P3A-12P-CSS0 35
LM-H3P3B-24P-CSS0 50
LM-H3P3C-36P-CSS0 75
LM-H3P7A-24P-ASS0 50
LM-U2PAB-05M-0SS0 25
LM-U2PAD-10M-0SS0 35
LM-U2PAF-15M-0SS0 35
LM-U2PBB-07M-1SS0 25
LM-U2PBD-15M-1SS0 40
LM-U2PBF-22M-1SS0 50
LM-K2P1A-01M-2SS1 35
LM-K2P2A-02M-1SS1 50
LM-AJP1B-07K-JSS0 35
LM-AJP1D-14K-JSS0 50
LM-AJP2B-12S-JSS0 35
LM-AJP2D-23T-JSS0 50
LM-AJP3B-17N-JSS0 35
LM-AJP3D-35R-JSS0 50
LM-AJP4B-22M-JSS0 35
LM-AJP4D-45N-JSS0 50
LM-AUP3A-03V-JSS0 35
LM-AUP3B-06V-JSS0 35
LM-AUP3C-09V-JSS0 35
LM-AUP3D-11R-JSS0 35
LM-AUP4A-04R-JSS0 50
LM-AUP4B-09R-JSS0 50
LM-AUP4C-13P-JSS0 50
LM-AUP4D-18M-JSS0 50
LM-AUP4F-26P-JSS0 90
LM-AUP4H-35M-JSS0 90
10 USING A LINEAR SERVO MOTOR 10.6 Characteristics 473
47
Dynamic brake characteristics The approximate coasting distance from when the dynamic brake is activated until when the linear servo motor stops can be calculated with the equation below. Lmax = V0 (0.03 + M (A + B V0
2)) Lmax: Coasting distance of the machine [m] V0: Speed when the brake is activated [m/s] M: Full mass of the moving part [kg] A: Coefficient (Refer to the following table.) B: Coefficient (Refer to the following table.)
Linear servo motor (primary side) Coefficient A Coefficient B LM-H3P2A-07P-BSS0 7.15 10-3 2.94 10-3
LM-H3P3A-12P-CSS0 2.81 10-3 1.47 10-3
LM-H3P3B-24P-CSS0 7.69 10-3 2.27 10-4
LM-H3P3C-36P-CSS0 7.22 10-3 1.13 10-4
LM-H3P3D-48P-CSS0 1.02 10-3 2.54 10-4
LM-H3P7A-24P-ASS0 7.69 10-3 2.14 10-4
LM-H3P7B-48P-ASS0 9.14 10-4 2.59 10-4
LM-H3P7C-72P-ASS0 7.19 10-4 1.47 10-4
LM-H3P7D-96P-ASS0 6.18 10-4 9.59 10-5
LM-U2PAB-05M-0SS0 5.72 10-2 1.72 10-4
LM-U2PAD-10M-0SS0 2.82 10-2 8.60 10-5
LM-U2PAF-15M-0SS0 1.87 10-2 5.93 10-5
LM-U2PBB-07M-1SS0 3.13 10-2 1.04 10-4
LM-U2PBD-15M-1SS0 1.56 10-2 5.18 10-5
LM-U2PBF-22M-1SS0 4.58 10-2 1.33 10-5
LM-U2P2B-40M-2SS0 1.47 10-3 1.27 10-5
LM-U2P2C-60M-2SS0 1.07 10-3 7.66 10-6
LM-U2P2D-80M-2SS0 9.14 10-4 5.38 10-6
LM-FP2B-06M-1SS0 8.96 10-4 1.19 10-3
LM-FP2D-12M-1SS0 5.55 10-4 4.81 10-4
LM-FP2F-18M-1SS0 4.41 10-4 2.69 10-4
LM-FP4B-12M-1SS0 5.02 10-4 4.36 10-4
LM-FP4D-24M-1SS0 3.55 10-4 1.54 10-4
LM-FP4F-36M-1SS0 1.79 10-4 1.36 10-4
LM-FP4H-48M-1SS0 1.15 10-4 1.19 10-4
LM-FP5H-60M-1SS0 1.95 10-4 4.00 10-5
LM-K2P1A-01M-2SS1 5.36 10-3 6.56 10-3
LM-K2P1C-03M-2SS1 1.17 10-3 3.75 10-4
LM-K2P2A-02M-1SS1 2.49 10-2 1.02 10-3
LM-K2P2C-07M-1SS1 6.85 10-4 2.80 10-4
LM-K2P2E-12M-1SS1 5.53 10-4 1.14 10-4
LM-K2P3C-14M-1SS1 2.92 10-4 1.16 10-4
LM-K2P3E-24M-1SS1 2.53 10-4 5.52 10-5
LM-AJP1B-07K-JSS0 6.85 10-3 3.70 10-3
LM-AJP1D-14K-JSS0 4.08 10-2 3.42 10-4
LM-AJP2B-12S-JSS0 3.42 10-3 2.06 10-3
LM-AJP2D-23T-JSS0 1.35 10-2 2.48 10-4
LM-AJP3B-17N-JSS0 2.24 10-3 1.47 10-3
LM-AJP3D-35R-JSS0 6.61 10-3 2.23 10-4
LM-AJP4B-22M-JSS0 1.65 10-3 1.12 10-3
LM-AJP4D-45N-JSS0 4.03 10-3 1.94 10-4
LM-AUP3A-03V-JSS0 2.80 10-2 4.60 10-5
4 10 USING A LINEAR SERVO MOTOR 10.6 Characteristics
10
LM-AUP3B-06V-JSS0 1.36 10-2 2.30 10-5
LM-AUP3C-09V-JSS0 9.10 10-3 1.49 10-5
LM-AUP3D-11R-JSS0 6.70 10-3 1.13 10-5
LM-AUP4A-04R-JSS0 5.89 10-2 7.86 10-6
LM-AUP4B-09R-JSS0 1.76 10-2 5.77 10-6
LM-AUP4C-13P-JSS0 9.01 10-2 4.62 10-6
LM-AUP4D-18M-JSS0 5.76 10-3 3.77 10-6
LM-AUP4F-26P-JSS0 7.13 10-4 1.10 10-6
LM-AUP4H-35M-JSS0 5.15 10-4 8.86 10-7
Linear servo motor (primary side) Coefficient A Coefficient B
10 USING A LINEAR SERVO MOTOR 10.6 Characteristics 475
47
Permissible load to motor mass ratio when the dynamic brake is used Linear servo motor (primary side) Permissible load to motor mass ratio [Multiplier] LM-H3 series 40
LM-U2 series 100
LM-F series
LM-K2 series 50
LM-AJP1B-07K-JSS0 15
LM-AJP1D-14K-JSS0 30
LM-AJP2B-12S-JSS0 25
LM-AJP2D-23T-JSS0 30
LM-AJP3B-17N-JSS0 35
LM-AJP3D-35R-JSS0 35
LM-AJP4B-22M-JSS0 35
LM-AJP4D-45N-JSS0 35
LM-AUP3A-03V-JSS0 35
LM-AUP3B-06V-JSS0 35
LM-AUP3C-09V-JSS0 25
LM-AUP3D-11R-JSS0 20
LM-AUP4A-04R-JSS0 35
LM-AUP4B-09R-JSS0 35
LM-AUP4C-13P-JSS0 35
LM-AUP4D-18M-JSS0 35
LM-AUP4F-26P-JSS0 35
LM-AUP4H-35M-JSS0 35
6 10 USING A LINEAR SERVO MOTOR 10.6 Characteristics
10
10.7 Absolute position detection system When the linear servo motor is used with the absolute position detection system, an absolute position linear encoder is required.
Operating conditions of absolute position detection system Use an absolute position type linear encoder. Perform magnetic pole detection in the incremental system, and disable magnetic pole detection after detection. Enable the absolute position detection system with [Pr. PA03 Absolute position detection system].
Alarm detection [AL. 025 Absolute position erased], [AL. 092 Battery cable disconnection warning], [AL. 09F Battery warning], and [AL. 0E3 Absolute position counter warning] are not detected.
Backup The linear encoder backs up the absolute position data. Therefore, the encoder battery need not be installed to the servo amplifier.
10 USING A LINEAR SERVO MOTOR 10.7 Absolute position detection system 477
47
11 USING A DIRECT DRIVE MOTOR
11.1 Functions and configuration Outline The following shows the differences between the direct drive motor and the rotary servo motor.
Category Item Differences Remark
Direct drive motor Rotary servo motor Servo motor magnetic pole alignment
Magnetic pole detection Required Not required (adjusted before shipping)
Automatically executed at the first servo-on after the power is turned on. In the absolute position detection system, the magnetic pole detection can be disabled with [Pr. PL01]. Page 485 Magnetic pole detection method setting
Absolute position detection system
Absolute position encoder battery
Required Differs depending on the servo motor.
Absolute position storage unit (MR-BTAS01)
Required Not required
8 11 USING A DIRECT DRIVE MOTOR 11.1 Functions and configuration
11
Configuration including peripheral equipment
*1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. *2 The battery unit is used for the absolute position detection system.
Page 356 ABSOLUTE POSITION DETECTION SYSTEM *3 The absolute position storage unit is used for the absolute position detection system. *4 This is for the MR-J5-_A-RJ_ servo amplifier. The CN2L connector is not used for the direct drive servo system.
*1
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
CN5
P+
C
L11
L21
P3
P4
MR Configurator2
CN6
CN8
CN3
CN2
W
V
U L1 L2 L3
(MC)
CN2L *4
(FR-BSF01)
(FR-HEL)
(MCCB)
Power supply
Molded-case circuit breaker
Magnetic contactor
Analog monitor
Safety relay
Line noise filter
Junction terminal block
Power factor improving DC reactor
Absolute position storage unit *3 MR-BTAS01Battery unit *2Regenerative
option
Personal computer
Direct drive motor
11 USING A DIRECT DRIVE MOTOR 11.1 Functions and configuration 479
48
11.2 Startup [G] [B] When using the MR-J5_-_B_, the terms below have the following meanings. LSP (Forward rotation stroke end) FLS (Upper stroke limit) LSN (Reverse rotation stroke end) RLS (Lower stroke limit) When using a direct drive motor, set [Pr. PA01.1 Operation mode selection] to "6" (Direct drive motor control mode). After power-on, the Z-phase mark of the direct drive motor manufactured by Mitsubishi Electric must pass the connector area once. In a system which prevents the direct drive motor from making a full rotation or more, install the direct drive motor in a position where the Z-phase mark can pass over the connector area.
0 11 USING A DIRECT DRIVE MOTOR 11.2 Startup [G] [B]
11
Startup procedure Start up the direct drive servo system with the following procedure.
*1 Use MR Configurator2. *2 In the absolute position detection system, turn on the Z-phase pulse of the direct drive motor while the servo amplifier power is on, and
then cycle the power of the servo amplifier. Cycling the power confirms the absolute position. Without this operation, the absolute position will not be restored properly, and a warning will occur at the controller.
*3 If the Z-phase pulse of the direct drive motor can be turned on manually, the Z-phase pulse does not have to be turned on by the magnetic pole detection or the JOG operation. For this operation, connect the direct drive motor encoder and the servo amplifier, and turn on only the control circuit power supply of the servo amplifier (L11/L21) (turn off the main circuit power supply L1/L2/L3). Ensure the safety at this time.
*4 After the servo amplifier is connected to the direct drive motor with an encoder cable, [AL. 025 Absolute position erased] occurs at the initial power-on. Cancel the alarm by turning off/on the power.
No
Yes
Installation and wiring
Absolute position detection systemIncremental system Absolute position detection system?
Set [Pr. PA03.0 Absolute position detection system selection] to "1".
Cancel [AL. 025 Absolute position erased]. *4
Can the Z-phase pulse of the direct drive motor manufactured
by Mitsubishi Electric be turned on manually?
Perform the magnetic pole detection. *1
Turn on the Z-phase pulse of the direct drive motor by using the JOG operation. *1, *2
Manually turn on the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric.
Change the setting to disable the magnetic pole detection.
Cycle the power of the servo amplifier or reset the software. *2
Positioning operation check in test operation mode *1
Positioning operation check with the controller (Refer to the manual of the controller used.)
Homing operation
Positioning operation
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Magnetic pole detection Precautions
The magnetic pole detection is not required for the configured absolute position detection system where the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric can be turned on manually. For this operation, connect the direct drive motor encoder and the servo amplifier, and turn on the control circuit power supply of the servo amplifier. Ensure the safety at this time.
For the magnetic pole detection of vertical axis with direct drive motors, refer to "Equipment configuration" in the following manual.
Direct Drive Motor User's Manual
Outline of magnetic pole detection Before the positioning operation of the direct drive motor, perform the magnetic pole detection. When starting up the equipment, use the test operation mode (positioning operation) of MR Configurator2. The magnetic pole detection includes the position detection method and minute position detection method. Each method has advantages and disadvantages. Refer to the following for the characteristics of each method. Page 425 Outline of magnetic pole detection Select a magnetic pole detection method suitable for the usage. In the initial value, the position detection method is selected.
Precautions on magnetic pole detection For the magnetic pole detection, the direct drive motor automatically starts to move simultaneously with turning-on of the
servo-on command. If the magnetic pole detection is not executed properly, the direct drive motor may operate unexpectedly. Establish the machine configuration to use LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). The
machine may be damaged due to a collision without LSP and LSN. Assign LSP and LSN, and perform the magnetic pole detection also in the torque mode. At the magnetic pole detection, whether the direct drive motor moves in the positive or negative direction is unpredictable. Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage level], an overload, overcurrent, magnetic pole
detection alarm, or others may occur. When performing the positioning operation from a controller, use the sequence which confirms the normal completion of the
magnetic pole detection and the servo-on status, then outputs the positioning command. If the controller outputs the positioning command before RD (Ready) turns on, the command may not be accepted or an alarm may occur.
For the machine whose friction becomes 30 % or more of the continuous thrust, the direct drive motor may not operate properly after the magnetic pole detection.
For the horizontal shaft of the machine whose unbalanced thrust becomes 20 % or more of the continuous thrust, the direct drive motor may not operate properly after the magnetic pole detection.
The magnetic pole detection may fail if performed simultaneously with multiple axes connected to each other (e.g. a tandem configuration). Perform the magnetic pole detection for each axis. At this time, set the axes for which the magnetic pole detection is not performed to servo-off.
During the magnetic pole detection, the value of [Pr. PE47 Unbalanced torque offset] is regarded as "0".
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Magnetic pole detection procedure
When using a controller manufactured by Mitsubishi Electric, the servo parameter setting values are overwritten from the controller. Once magnetic pole detection is complete, note down the changed servo parameter setting values, and set the same values in the controller.
Magnetic pole detection by position detection method
*1 For the incremental system, the setting of [Pr. PL01] is not required.
NO
YES
YES
NO
YES
NO
Magnetic pole detection
Set [Pr. PL08.0 Magnetic pole detection method selection] to "0" (position detection method).
Set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "1" (Magnetic pole detection at initial servo-on after cycling the power). *1
Set [Pr. PL09 Magnetic pole detection voltage level] to "10" as a guide value.
Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is performed.
Is [Pr. PL09] the final value?
Perform one of the following operations: alarm reset, servo amplifier power cycling, or software reset.
Has [AL. 027 Initial magnetic pole detection error] occurred?
Increase the value of [Pr. PL09] by five.
Have [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2],
and [AL. 0E1 Overload warning 1] occurred?
Cycle the power of the servo amplifier or reset the software.
Set approximately 70 % of the value set for [Pr. PL09] as the final setting value. If [AL. 027] occurs with this value, specify a value intermediate between the value set at [AL. 0E1] and the value set at [AL. 027] as the final setting value.
Perform one of the following operations: alarm reset, servo amplifier power cycling, or software reset.
Set [Pr. PL01.0] to "0" (Magnetic pole detection disabled). *1
End
Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software.
Turn "ON (up)" the DIP switch (SW3-1). Then, cycle the power of the servo amplifier or reset software.
Cycle the power of the servo amplifier or reset software.
Turn "OFF (down)" the DIP switch (SW3-1). Then, cycle the power of the servo amplifier or reset software.
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Magnetic pole detection by minute position detection method
YES
YES
YES
NO
YES
NO
NO
NO YES
NO
Magnetic pole detection
Set [Pr. PL08.0 Magnetic pole detection method selection] to "4" (minute position detection method).
Set [Pr. PL01.0 Servo motor magnetic pole detection setting] to "1" (Magnetic pole detection at initial servo-on after cycling the power). *1
Set the moment of inertia ratio for the direct drive motor with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. *2
Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is performed.
Is the value of [Pr. PL17.0 Response selection] the final value?
Has an abnormal sound or vibration occurred during the
magnetic pole detection? Set the value of [Pr. PL17.0] decreased by two as the final setting value.
Have [AL. 032 Overcurrent], [AL. 050 Overload 1],
[AL. 051 Overload 2], and [AL. 0E1 Overload warning 1]
occurred?
Decrease the value of [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude] by five.
Not acceptableIs the travel distance during the magnetic pole detection
acceptable? *3 Increase the value of [Pr. PL17.0] by one.
Acceptable
Is the setting value of [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection] correct?
Has [AL. 027 Initial magnetic pole detection error] occurred?
Set [Pr. PL01.0] to "0" (Magnetic pole detection disabled). *1 Set [Pr. PL08.0] to "0" (position detection method).
End
Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software.
Cycle the power of the servo amplifier or reset software.
Turn "OFF (down)" the DIP switch (SW3-1). Then, cycle the power of the servo amplifier or reset software.
Turn "ON (up)" the DIP switch (SW3-1). Then, cycle the power of the servo amplifier or reset software.
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*1 For the incremental system, the setting of [Pr. PL01] is not required. *2 If the load to mass of the direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection
method, and then perform the auto tuning to set an estimated value. *3 For the magnetic pole detection by the minute position detection method, the maximum travel distance at the magnetic pole detection
must be 0.5 mm or less. To shorten the travel distance, increase the value of [Pr. PL17.0].
Stroke limit disabled setting at magnetic pole detection When performing a magnetic pole detection without LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection].
Preparation for magnetic pole detection For the magnetic pole detection, use the test operation mode (positioning operation) of MR Configurator2. Turn off the servo amplifier power, and turn on the DIP switch (SW3-1). Turning on the power enables the test operation mode.
Magnetic pole detection method setting Set the magnetic pole detection method by using [Pr. PL08.0 Magnetic pole detection method selection]. In the following cases, set the magnetic pole detection method to the minute position detection method. When a shortened travel distance at the magnetic pole detection is required When the magnetic pole detection by the position detection method is not completed properly
For an absolute position detection system, set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "1" (Magnetic pole detection at initial servo-on after cycling the power). After the completion of the magnetic pole detection, change [Pr. PL01.0] to "0" (magnetic pole detection disabled).
Servo parameter Description PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection
0: Enabled 1: Disabled Initial value: 0 (enabled)
Servo parameter Description PL08.0 Magnetic pole detection method selection
0: Position detection method 4: Minute position detection method Initial value: 0 (position detection method)
Servo parameter Description PL01.0 Servo motor magnetic pole detection selection
0: Magnetic pole detection disabled 1: Magnetic pole detection at initial servo-on after cycling the power 5: Magnetic pole detection at every servo-on Initial value: 1 (magnetic pole detection at initial servo-on after cycling the power)
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Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
Guideline of servo parameter setting Set the parameters by referring to the following table.
Setting procedure 1. Detect the magnetic poles, then increase the setting value of [Pr. PL09 Magnetic pole detection voltage level] until [AL.
050 Overload 1], [AL. 051 Overload 2], [AL. 033 Overvoltage], [AL. 0E1 Overload warning 1], and [AL. 0EC Overload warning 2] occur. Increase the setting value by five as a guide value. When these alarms and warnings occur during the magnetic pole detection with MR Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off state is established.
2. Set the value to approximately 70 % of the value which triggers [AL. 050], [AL. 051], [AL. 033], [AL. 0E1], and [AL. 0EC]. If [AL. 027 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at occurrence of [AL. 050], [AL. 051], [AL. 033], [AL. 0E1], and [AL. 0EC] and the value set at the magnetic pole detection alarm occurrence as the final setting value.
3. Perform the magnetic pole detection again with the final setting value, and make sure that the accuracy of the magnetic pole detection is as required.
Setting example
In this example, set the final setting value of [Pr. PL09 Magnetic pole detection voltage level] to 49 (setting value at the alarm occurrence = 70 0.7).
Servo status Small Medium Large (10 or less (initial value) 50 or more) Torque required for operation Small Large
Overload, overcurrent alarm Hardly occurs Easily occurs
Magnetic pole detection alarm Easily occurs Hardly occurs
Magnetic pole detection accuracy Low High
30 35 40 45 65 70
Magnetic pole detection
Setting value of [Pr. PL09]
Occurring Alarm Not occurring
While increasing the setting value of [Pr. PL09], carry out the magnetic pole detection repeatedly.
An alarm has occurred when the setting value of [Pr. PL09] is set to "70".
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Setting of response performance and load to motor inertia ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection] and set the load to motor inertia ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. If the load to mass of the direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value. [PL17.0 Response selection]
Initial value: 0 [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]
Initial value: 0
Setting of identification signal amplitude by minute position detection method If [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], or [AL. 0E1 Overload warning 1] occurs at the magnetic pole detection by the minute position detection method, set a smaller value for [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude]. Basically, [Pr. PL18] does not need to be changed from the initial value.
Setting value Responsiveness 0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Setting value Load to motor mass ratio/load to motor inertia ratio 0 10 times or less
1 10 multiplier
2 20 multiplier
3 30 multiplier
4 40 multiplier
5 50 multiplier
6 60 multiplier
7 70 multiplier
8 80 multiplier
9 90 multiplier
A 100 multiplier
B 110 multiplier
C 120 multiplier
D 130 multiplier
E 140 multiplier
F 150 times or more
Low response
Middle response
High response
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Operation at magnetic pole detection
Precautions After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of
MR Configurator2. The magnetic pole detection improves in accuracy when performed with no load.
For incremental system For the incremental system, the magnetic pole detection is required every time the power is turned on or the software is reset. By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set [Pr. PL01.0 Servo motor magnetic pole detection selection] for executing magnetic pole detection. Timing chart
*1 The magnetic pole detection time indicates the operation time when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on.
Direct drive motor movement (when LSP and LSN are on)
*1 When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off during the magnetic pole detection, the magnetic pole detection is carried on to the opposite direction. When both LSP and LSN are off, [AL. 027 Initial magnetic pole detection error] occurs.
Direct drive motor movement (when LSP or LSN is off) When LSP or LSN is off at servo-on, the magnetic pole detection is performed as follows.
ON OFF
ON OFF
ON OFF
100 ms Servo-on command
Base circuit
RD (Ready)
15 s or less Magnetic pole detection time *1
LSP *1LSN *1
Center of the direct drive motor rotation part
Servo-on position (Magnetic pole detection start position)
Magnetic pole detection completion position
10 degrees or less
LSP LSN
Center of the direct drive motor rotation part
Servo-on position
After the motor moves to the position where LSP or LSN is set, the magnetic pole detection starts.Magnetic pole
detection start position Magnetic pole detection completion position
10 degrees or less
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For absolute position detection system The magnetic pole detection is required in the following cases. When the system is set up (at initial startup of equipment) When the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric is not turned on at the system setup
(When the Z-phase pulse of the direct drive motor can be turned on manually, the magnetic pole detection is not required.) After a direct drive motor is replaced When [AL. 025 Absolute position erased] has occurred Turn on the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric in the JOG operation from the controller after the magnetic pole detection.
1. Execute the magnetic pole detection. Refer to the following. Page 488 For incremental system
2. After the completion of the magnetic pole detection, change [Pr. PL01.0 Servo motor magnetic pole detection selection] to "0" (magnetic pole detection disabled).
To omit magnetic pole detection at each power-on, after magnetic pole detection, turn on the Z-phase pulse of the direct drive motor in the JOG operation and set [Pr. PL01.0] to "0". The setting value "0" of [Pr. PL01.0] can be used on MR-J5-_G_ and MR-J5W_-_G_ servo amplifiers with firmware version D0 or later when the fully closed loop system is used with a Mitsubishi Electric-manufactured direct drive motor connected in the direct drive motor control mode. Refer to the following for details. Page 527 USING A FULLY CLOSED LOOP SYSTEM
11.3 Startup [A] When using a direct drive motor, set [Pr. PA01.1 Operation mode selection] to "6" (Direct drive motor control mode). After power-on, the Z-phase mark of the direct drive motor manufactured by Mitsubishi Electric must pass the connector area once. In a system which prevents the direct drive motor from making a full rotation or more, install the direct drive motor in a position where the Z-phase mark can pass over the connector area.
Servo parameter Description PL01.0 Servo motor magnetic pole detection selection
0: Magnetic pole detection disabled 1: Magnetic pole detection at initial servo-on after cycling the power 5: Magnetic pole detection at every servo-on Initial value: 1 (magnetic pole detection at initial servo-on after cycling the power)
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Startup procedure Start up the direct drive servo system with the following procedure.
No
Yes
Installation and wiring
Perform the magnetic pole detection. *1, *4
Positioning operation check in test operation mode *1, *4
Absolute position detection systemIncremental system Absolute position detection
system?
Set [Pr. PA03.0] to "1".
Cancel [AL. 025 Absolute position erased]. *5
Can the Z-phase pulse of the direct drive motor manufactured by Mitsubishi
Electric be turned on manually?
Perform the magnetic pole detection. *6 Transfer of absolute position data
Cancel [AL. 093 ABS data transfer warning]. *7
Turn on the Z-phase pulse of the direct drive motor by using the JOG operation of the controller. *1, *2
Manually turn on the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric.
Change the setting to disable the magnetic pole detection.
Positioning operation check with the controller
Homing operation
Positioning operation
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*1 Use MR Configurator2. *2 In the absolute position detection system, turn on the Z-phase pulse of the direct drive motor while the servo amplifier power is on, and
then cycle the power of the servo amplifier. Cycling the power confirms the absolute position. Without this operation, the absolute position will not be restored properly, and a warning will occur at the controller.
*3 If the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric can be turned on manually, the Z-phase pulse does not have to be turned on by the magnetic pole detection or JOG operation. For this operation, connect the encoder of the direct drive motor (manufactured by Mitsubishi Electric) and the servo amplifier, and turn on only the control circuit power supply of the servo amplifier (L11/L21) (turn off the main circuit power supply L1/L2/L3). Ensure safety at this time.
*4 Test operation cannot be performed in the absolute position detection system. To perform the test operation, set [Pr. PA03.0 Absolute position detection system selection] to "0" (Incremental system).
*5 After the servo amplifier is connected to the direct drive motor with an encoder cable, [AL. 025 Absolute position erased] occurs at the initial power-on. Cancel the alarm by turning off/on the power.
*6 When the magnetic pole detection is performed with the absolute position detection system by DIO transfer, [AL. 093 ABS data transfer warning] occurs. Page 509 Absolute position detection system [G] [B] Page 510 Absolute position detection system [A]
*7 To cancel [AL. 093 ABS data transfer warning], cycle SON (Servo-on) or perform homing.
Magnetic pole detection Precautions
The magnetic pole detection is not required for the configured absolute position detection system where the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric can be turned on manually. For this operation, connect the direct drive motor encoder and the servo amplifier, and turn on the control circuit power supply of the servo amplifier. Ensure the safety at this time.
For the magnetic pole detection of vertical axis with direct drive motors, refer to "Equipment configuration" in the following manual.
Direct Drive Motor User's Manual
Outline of magnetic pole detection Before the positioning operation of the direct drive motor, perform the magnetic pole detection. When starting up the equipment, use the test operation mode (positioning operation) of MR Configurator2. The magnetic pole detection includes the position detection method and minute position detection method. Each method has advantages and disadvantages. Refer to the following for the characteristics of each method. Page 425 Outline of magnetic pole detection Select a magnetic pole detection method suitable for the usage. In the initial value, the position detection method is selected.
Precautions on magnetic pole detection For the magnetic pole detection, the direct drive motor automatically starts to move simultaneously with turning-on of the
servo-on command. If the magnetic pole detection is not executed properly, the direct drive motor may operate unexpectedly. Establish the machine configuration to use LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end). The
machine may be damaged due to a collision without LSP and LSN. Assign LSP and LSN, and perform the magnetic pole detection also in the torque mode. At the magnetic pole detection, whether the direct drive motor moves in the positive or negative direction is unpredictable. Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage level], an overload, overcurrent, magnetic pole
detection alarm, or others may occur. For the machine whose friction becomes 30 % or more of the continuous thrust, the direct drive motor may not operate
properly after the magnetic pole detection. For the horizontal shaft of the machine whose unbalanced thrust becomes 20 % or more of the continuous thrust, the direct
drive motor may not operate properly after the magnetic pole detection. The magnetic pole detection may fail if performed simultaneously with multiple axes connected to each other (e.g. a
tandem configuration). Perform the magnetic pole detection for each axis. At this time, set the axes for which the magnetic pole detection is not performed to servo-off.
During the magnetic pole detection, the value of [Pr. PE47 Unbalanced torque offset] is regarded as "0".
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Magnetic pole detection procedure Magnetic pole detection by position detection method
*1 For the incremental system, the setting of [Pr. PL01] is not required.
NO
YES
YES
NO
YES
NO
Magnetic pole detection
Set [Pr. PL08.0 Magnetic pole detection method selection] to "0" (position detection method).
Set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "1" (Magnetic pole detection at initial servo-on after cycling the power). *1
Set [Pr. PL09 Magnetic pole detection voltage level] to "10" as a guide value.
Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is performed.
Is [Pr. PL09] the final value?
Perform one of the following operations: alarm reset, servo amplifier power cycling, or software reset.
Has [AL. 027 Initial magnetic pole detection error] occurred?
Increase the value of [Pr. PL09] by five.
Have [AL. 032 Overcurrent], [AL. 050 Overload 1],
[AL. 051 Overload 2], and [AL. 0E1 Overload warning 1]
occurred?
Cycle the power of the servo amplifier or reset the software.
Set approximately 70 % of the value set for [Pr. PL09] as the final setting value. If [AL. 027] occurs with this value, specify a value intermediate between the value set at [AL. 0E1] and the value set at [AL. 027] as the final setting value.
Perform one of the following operations: alarm reset, servo amplifier power cycling, or software reset.
Set [Pr. PL01.0] to "0" (Magnetic pole detection disabled). *1
End
Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software.
Cycle the power of the servo amplifier or reset software.
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Magnetic pole detection by minute position detection method
*1 For the incremental system, the setting of [Pr. PL01] is not required. *2 If the load to mass of the direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection
method, and then perform the auto tuning to set an estimated value. *3 For the magnetic pole detection by the minute position detection method, the maximum travel distance at the magnetic pole detection
must be 0.5 mm or less. To shorten the travel distance, increase the value of [Pr. PL17.0].
YES
YES
YES
NO
YES
NO
NO
NO YES
NO
Magnetic pole detection
Set [Pr. PL08.0 Magnetic pole detection method selection] to "4" (minute position detection method).
Set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "1" (Magnetic pole detection at initial servo-on after cycling the power). *1
Set the load to mass of the direct drive motor inertia ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. *2
Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is performed.
Is the value of [Pr. PL17.0 Response selection]
the final value?
Has an abnormal sound or vibration occurred during the
magnetic pole detection? Set the value of [Pr. PL17.0] decreased by two as the final setting value.
Have [AL. 032 Overcurrent], [AL. 050 Overload 1],
[AL. 051 Overload 2], and [AL. 0E1 Overload warning 1]
occurred?
Decrease the value of [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude] by five.
Not acceptableIs the travel distance during the magnetic pole detection
acceptable? *3 Increase the value of [Pr. PL17.0] by one.
Acceptable
Is the setting value of [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection] correct?
Has [AL. 027 Initial magnetic pole detection error] occurred?
Set [Pr. PL01.0] to "0" (Magnetic pole detection disabled). *1 Set [Pr. PL08.0] to "0" (position detection method).
End
Check if LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced stop 2) have been turned on. Then, cycle the power of the servo amplifier or reset software.
Cycle the power of the servo amplifier or reset software.
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Stroke limit disabled setting at magnetic pole detection When performing a magnetic pole detection without LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection].
Magnetic pole detection method setting Set the magnetic pole detection method by using [Pr. PL08.0 Magnetic pole detection method selection]. In the following cases, set the magnetic pole detection method to the minute position detection method. When a shortened travel distance at the magnetic pole detection is required When the magnetic pole detection by the position detection method is not completed properly
For an absolute position detection system, set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "1" (Magnetic pole detection at initial servo-on after cycling the power). After the completion of the magnetic pole detection, change [Pr. PL01.0] to "0" (magnetic pole detection disabled).
Servo parameter Description PL08.2 Magnetic pole detection - Stroke limit enabled/disabled selection
0: Enabled 1: Disabled Initial value: 0 (enabled)
Servo parameter Description PL08.0 Magnetic pole detection method selection
0: Position detection method 4: Minute position detection method Initial value: 0 (position detection method)
Servo parameter Description PL01.0 Servo motor magnetic pole detection selection
0: Magnetic pole detection disabled 1: Magnetic pole detection at initial servo-on after cycling the power 5: Magnetic pole detection at every servo-on Initial value: 1 (magnetic pole detection at initial servo-on after cycling the power)
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Setting of magnetic pole detection voltage level by position detection method For magnetic pole detection using the position detection method, set the voltage level with [Pr. PL09 Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.
Guideline of servo parameter setting Set the parameters by referring to the following table.
Setting procedure 1. Detect the magnetic poles, then increase the setting value of [Pr. PL09 Magnetic pole detection voltage level] until [AL.
050 Overload 1], [AL. 051 Overload 2], [AL. 033 Overvoltage], [AL. 0E1 Overload warning 1], and [AL. 0EC Overload warning 2] occur. Increase the setting value by five as a guide value. When these alarms and warnings occur during the magnetic pole detection with MR Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off status is established.
2. Set the value to approximately 70 % of the value which triggers [AL. 050], [AL. 051], [AL. 033], [AL. 0E1], and [AL. 0EC]. If [AL. 027 Initial magnetic pole detection error] occurs with this value, specify a value intermediate between the value set at occurrence of [AL. 050], [AL. 051], [AL. 033], [AL. 0E1], and [AL. 0EC] and the value set at the magnetic pole detection alarm occurrence as the final setting value.
3. Perform the magnetic pole detection again with the final setting value, and make sure that the accuracy of the magnetic pole detection is as required.
Setting example
In this example, set the final setting value of [Pr. PL09] to 49 (setting value at the alarm occurrence = 70 0.7).
Servo status Small Medium Large (10 or less (initial value) 50 or more)
Torque required for operation Small Large
Overload, overcurrent alarm Hardly occurs Easily occurs
Magnetic pole detection alarm Easily occurs Hardly occurs
Magnetic pole detection accuracy Low High
30 35 40 45 65 70
Magnetic pole detection
Setting value of [Pr. PL09]
Occurring Alarm Not occurring
While increasing the setting value of [Pr. PL09], carry out the magnetic pole detection repeatedly.
An alarm has occurred when the setting value of [Pr. PL09] is set to "70".
11 USING A DIRECT DRIVE MOTOR 11.3 Startup [A] 495
49
Setting of response performance and load to motor inertia ratio by minute position detection method When using the minute position detection method, set the response performance with [Pr. PL17.0 Response selection], the load to motor inertia ratio with [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]. If the load to mass of the direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value. [PL17.0 Response selection]
Initial value: 0 [Pr. PL17.1 Load to motor mass ratio/load to motor inertia ratio selection]
Initial value: 0
Setting of identification signal amplitude by minute position detection method If [AL. 032 Overcurrent], [AL. 050 Overload 1], [AL. 051 Overload 2], or [AL. 0E1 Overload warning 1] occurs at the magnetic pole detection by the minute position detection method, set a smaller value for [Pr. PL18 Magnetic pole detection - Minute position detection method - Identification signal amplitude]. Basically, [Pr. PL18] does not need to be changed from the initial value.
Setting value Responsiveness 0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Setting value Load to motor mass ratio/load to motor inertia ratio 0 10 times or less
1 10 multiplier
2 20 multiplier
3 30 multiplier
4 40 multiplier
5 50 multiplier
6 60 multiplier
7 70 multiplier
8 80 multiplier
9 90 multiplier
A 100 multiplier
B 110 multiplier
C 120 multiplier
D 130 multiplier
E 140 multiplier
F 150 times or more
Low response
Middle response
High response
6 11 USING A DIRECT DRIVE MOTOR 11.3 Startup [A]
11
Operation at magnetic pole detection
Precautions After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of
MR Configurator2. The magnetic pole detection improves in accuracy when performed with no load.
For incremental system For the incremental system, the magnetic pole detection is required every time the power is turned on or the software is reset. By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set [Pr. PL01.0 Servo motor magnetic pole detection selection] for executing magnetic pole detection. Timing chart
*1 The magnetic pole detection time indicates the operation time when LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) are on.
Direct drive motor movement (when LSP and LSN are on)
*1 When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off during the magnetic pole detection, the magnetic pole detection is carried on to the opposite direction. When both LSP and LSN are off, [AL. 027 Initial magnetic pole detection error] occurs.
Direct drive motor movement (when LSP or LSN is off) When LSP or LSN is off at servo-on, the magnetic pole detection is performed as follows.
ON OFF
ON OFF
ON OFF
100 ms Servo ON command
Base circuit
RD (Ready)
15 s or less Magnetic pole detection time *1
LSP *1LSN *1
Center of the direct drive motor rotation part
Servo-on position (Magnetic pole detection start position)
Magnetic pole detection completion position
10 degrees or less
LSP LSN
Center of the direct drive motor rotation part
Servo-on position
After the motor moves to the position where LSP or LSN is set, the magnetic pole detection starts.Magnetic pole
detection start position Magnetic pole detection completion position
10 degrees or less
11 USING A DIRECT DRIVE MOTOR 11.3 Startup [A] 497
49
For absolute position detection system The magnetic pole detection is required in the following cases. When the system is set up (at initial startup of equipment) When the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric is not turned on at the system setup
(When the Z-phase pulse of the direct drive motor can be turned on manually, the magnetic pole detection is not required.) After a direct drive motor is replaced When [AL. 025 Absolute position erased] has occurred Turn on the Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric in the JOG operation from the controller after the magnetic pole detection.
1. Execute the magnetic pole detection. Refer to the following. Page 488 Operation at magnetic pole detection
2. After the completion of the magnetic pole detection, change [Pr. PL01.0 Servo motor magnetic pole detection selection] to "0" (magnetic pole detection disabled).
To omit magnetic pole detection at each power-on, after magnetic pole detection, turn on the Z-phase pulse of the direct drive motor in the JOG operation and set [Pr. PL01.0] to "0". The setting value "0" of [Pr. PL01.0] can be used on servo amplifiers with firmware version D0 or later when the fully closed loop system is used with a Mitsubishi Electric-manufactured direct drive motor connected in the direct drive motor control mode. Refer to the following for details. Page 527 USING A FULLY CLOSED LOOP SYSTEM
Servo parameter Description PL01.0 Servo motor magnetic pole detection selection
0: Magnetic pole detection disabled 1: Magnetic pole detection at initial servo-on after cycling the power 5: Magnetic pole detection at every servo-on Initial value: 1 (magnetic pole detection at initial servo-on after cycling the power)
8 11 USING A DIRECT DRIVE MOTOR 11.3 Startup [A]
11
11.4 Basic functions Operation from controller For the incremental system, the magnetic pole detection is automatically performed at the first servo-on after power-on. Before performing the positioning operation, check that the servo amplifier is in servo-on status.
Servo control error detection function If the servo control becomes unstable for some reason, the direct drive motor may not operate properly. To detect this state and to stop operation, the servo control error detection function is used as a protective function. The servo control error detection function has three types of detection methods: position deviation, speed deviation, and torque deviation. An error is detected when each method is enabled with [Pr. PL04.0]. The detection level can be changed with [Pr. PL05], [Pr. PL06], and [Pr. PL07].
Precautions For the servo control error detection function, the position and speed deviation error detections are enabled by default. ([Pr.
PL04.0 [AL. 042 Servo control error] detection function selection]: 3)
Servo control error detection selection function Select the servo control error detection function. [Pr. PL04.0 [AL. 042 Servo control error] detection function selection] Refer to the following table.
Initial value: 3
Setting value Position deviation error detection Speed deviation error detection Torque deviation error detection 1 Enabled Disabled Disabled
2 Disabled Enabled Disabled
3 Enabled Enabled Disabled
4 Disabled Disabled Enabled
5 Enabled Disabled Enabled
6 Disabled Enabled Enabled
7 Enabled Enabled Enabled
Direct drive motor Servo amplifier
Servo amplifier internal value (1) Model feedback position [rev] (3) Model feedback speed [r/min] (5) Command torque [%]
Encoder Encoder (2) Feedback position [rev] (4) Feedback speed [r/min] (6) Feedback torque [%]
11 USING A DIRECT DRIVE MOTOR 11.4 Basic functions 499
50
Position deviation error detection Set [Pr. PL04.0 [AL. 042 Servo control error] detection function selection] to "1" to enable the position deviation error detection.
If the difference between the model feedback position (1) and the feedback position (2) in the figure is equal to or more than the value of [Pr. PL05 Position deviation error detection level] (1 (0.01 rev) to 1000 (10 rev)), [AL. 042.1 Servo control error based on position deviation] will occur and the direct drive motor will stop. The initial value of this detection level is 0.09 rev. Change the setting value as necessary.
Speed deviation error detection Set [Pr. PL04.0] to "2" to enable the speed deviation error detection.
If the difference between the model feedback speed (3) and the feedback speed (4) in the figure is equal to or more than the value of [Pr. PL06 Speed deviation error detection level] (1 r/min to 2000 r/min), [AL. 042.2 Servo control error based on speed deviation] will occur and the direct drive motor will stop. The initial value of this detection level is 100 r/min. Change the setting value as necessary.
Torque deviation error detection Set [Pr. PL04.0] to "4" to enable torque deviation error detection.
If the difference between the command torque (5) and the feedback torque (6) in the figure is equal to or more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1 % to 1000 %), [AL. 042.3 Servo control error based on torque/ thrust deviation] will occur and the direct drive motor will stop. The initial value of this detection level is 100 %. Change the setting value as necessary.
Detecting multiple deviation errors When [Pr. PL04.0] is set as follows, multiple deviation errors can be detected. Refer to the following for the error detection method. Page 500 Position deviation error detection Page 500 Speed deviation error detection Page 500 Torque deviation error detection [Pr. PL04.0 [AL. 042 Servo control error] detection function selection]
Initial value: 3
Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection
1: Position deviation error detection enabled
Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection
2: Speed deviation error detection enabled
Servo parameter Description PL04.0 [AL. 042 Servo control error] detection function selection
4: Torque deviation error detection enabled
Setting value Position deviation error detection Speed deviation error detection Torque deviation error detection 1
2
3
4
5
6
7
0 11 USING A DIRECT DRIVE MOTOR 11.4 Basic functions
11
Servo control error reset by controller reset [G] [B]
When [Pr. PL04.3 [AL. 042 Servo control error] detection controller reset condition selection] is set to "1" (reset enabled), [AL. 042.1 Servo control error based on position deviation], [AL. 042.2 Servo control error based on speed deviation], and [AL. 042.3 Servo control error based on torque/thrust deviation] can be canceled by resetting the controller. When [Pr. PL04.3] is set to "0" (reset disabled (reset by powering off/on or software reset enabled)), [AL. 042.1], [AL. 042.2], and [AL. 042.3] can be canceled only by cycling the servo amplifier power or resetting the software.
Servo parameter Description PL04.3 [AL. 042 Servo control error] detection controller reset condition selection
0: Reset disabled (reset by powering off/on or software reset enabled) 1: Reset enabled Initial value: 0 (reset disabled)
11 USING A DIRECT DRIVE MOTOR 11.4 Basic functions 501
50
11.5 Characteristics Overload protection characteristics
Characteristic a
Direct drive motor Graph of overload protection characteristics
TM-RFM002C20 TM-RFM004C20 TM-RFM006C20 TM-RFM006E20 TM-RFM012E20 TM-RFM018E20 TM-RFM012G20 TM-RFM040J10
Page 502 Characteristic a
TM-RFM048G20 TM-RFM072G20 TM-RFM120J10
Page 503 Characteristic b
TM-RFM240J10 Page 503 Characteristic c
TM-RG2M002C30 TM-RU2M002C30 TM-RG2M004E30 TM-RU2M004E30 TM-RG2M009G30 TM-RU2M009G30
Page 504 Characteristic d
1000
100
10
1
0.1 0 50 150 200 250 300100
[%]Load ratio
: In operation : In servo-lock
O pe
ra tin
g tim
e [s
]
2 11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics
11
Characteristic b
Characteristic c
1000
100
10
1
0.1 0 50 150 200 250 300100
[%]Load ratio
: In operation : In servo-lock
O pe
ra tin
g tim
e [s
]
10000
1000
100
10
1 0 50 150 200 250 300100
[%]Load ratio
: In operation : In servo-lock
O pe
ra tin
g tim
e [s
]
11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics 503
50
Characteristic d
Power supply capacity and generated loss (1-axis servo amplifier) Direct drive motor Servo amplifier Power supply
capacity [kVA] Servo amplifier-generated heat [W] Area required for
heat dissipation [m2]
At rated output At servo-off
TM-RG2M002C30 MR-J5-20_ 0.25 25 15 0.5
TM-RU2M002C30
TM-RG2M004E30 MR-J5-20_ 0.5 25 15 0.5
TM-RU2M004E30
TM-RG2M004E30 MR-J5-40_ 0.7 35 15 0.7
TM-RU2M004E30
TM-RG2M009G30 0.9 35 15 0.7
TM-RU2M009G30
TM-RFM002C20 MR-J5-20_ 0.25 25 15 0.5
TM-RFM004C20 MR-J5-40_ 0.38 35 15 0.7
TM-RFM006C20 MR-J5-60_ 0.53 40 15 0.8
TM-RFM006E20 0.46 40 15 0.8
TM-RFM012E20 MR-J5-70_ 0.81 50 15 1.0
TM-RFM018E20 MR-J5-100_ 1.3 50 15 1.0
TM-RFM012G20 MR-J5-70_ 0.71 50 15 1.0
TM-RFM048G20 MR-J5-350_ 2.7 130 20 2.6
TM-RFM072G20 3.8 130 20 2.6
TM-RFM040J10 MR-J5-70_ 1.2 50 15 1.0
TM-RFM120J10 MR-J5-350_ 3.4 130 20 2.6
TM-RFM240J10 MR-J5-500_ 6.6 160 25 3.2
0 50 100 150 200 250 300 350
1000
100
10
1
[%]
0.1
Load ratio
: In operation : In servo-lock
O pe
ra tin
g tim
e [s
]
4 11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics
11
Power supply capacity and generated loss (multi-axis servo amplifier) The following tables indicate the losses generated by servo amplifiers under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the worst operating conditions including environments and operation patterns. The actual amount of generated heat depends on the frequency of operation and will be between the "At rated output" and "At servo-off" values. When the direct drive motor is run at less than the rated speed, the power supply capacity will be smaller than the calculated value, but the servo amplifier's generated heat will not change.
Calculation method of power supply capacity Calculate the power supply capacity for one servo amplifier from the following tables.
Power supply capacity for one servo amplifier at rated output
*1 The power supply capacity will vary according to the power impedance. This value is applicable when the power factor improving reactor is not used.
Servo amplifier power supply capacity for one direct drive motor
*1 The value inside ( ) applies when the torque is increased.
Servo amplifier Power supply capacity [kVA] *1
MR-J5W2-22_ Total power supply capacity of all direct drive motors to be connected (A)
MR-J5W2-44_
MR-J5W2-77_
MR-J5W2-1010_
MR-J5W3-222_
MR-J5W3-444_
Direct drive motor Power supply capacity [kVA] (A) *1
TM-RFM002C20 0.25
TM-RFM004C20 0.38
TM-RFM006C20 0.53
TM-RFM006E20 0.46
TM-RFM012E20 0.81
TM-RFM018E20 1.3
TM-RFM012G20 0.71
TM-RFM040J10 1.2
TM-RG2M002C30 0.25
TM-RU2M002C30 0.25
TM-RG2M004E30 0.5 (0.7)
TM-RU2M004E30 0.5 (0.7)
TM-RG2M009G30 0.9
TM-RU2M009G30 0.9
11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics 505
50
Calculation method of the amount of heat generated by the servo amplifier Calculate the amount of heat generated by one servo amplifier from the following tables.
Amount of heat generated by one servo amplifier at rated output
*1 The values stated for heat generated by the servo amplifier do not take into account the heat generated during regeneration. To calculate heat generated by the regenerative option, refer to the following. Page 240 Regenerative option
Amount of heat generated by one servo amplifier for one direct drive motor
*1 The value inside ( ) applies when the torque is increased.
Servo amplifier Servo amplifier-generated heat [W] *1
At servo-off (C) At rated output MR-J5W2-22_ 20 Sum of the total amount of heat generated by the servo amplifier for all direct drive
motors to be connected (B) and the amount of heat generated by the servo amplifier at servo-off (C)
MR-J5W2-44_ 20
MR-J5W2-77_ 20
MR-J5W2-1010_ 20
MR-J5W3-222_ 25
MR-J5W3-444_ 25
Direct drive motor Servo amplifier-generated heat [W] (B) *1
TM-RFM002C20 25
TM-RFM004C20 35
TM-RFM006C20 40
TM-RFM006E20 40
TM-RFM012E20 50
TM-RFM018E20 50
TM-RFM012G20 50
TM-RFM040J10 50
TM-RG2M002C30 25
TM-RU2M002C30 25
TM-RG2M004E30 25 (35)
TM-RU2M004E30 25 (35)
TM-RG2M009G30 35
TM-RU2M009G30 35
6 11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics
11
Dynamic brake characteristics
TM-RFM_C20
TM-RFM_E20
TM-RFM_G20
TM-RFM_J10
0
[r/min] 0
5
15
20
25
30
10
100 200 300
002
006
400
004
500
Ti m
e co
ns ta
nt
[m s]
Speed
0
[r/min] 0
10
40
50 60 70
30
20
100 200 300
018
006
012
400 500
Ti m
e co
ns ta
nt
[m s]
Speed
0
[r/min] 0
10
30
40
50
60
072
048 20
012
100 200 300 400 500
Ti m
e co
ns ta
nt
[m s]
Speed
[r/min]
0 0
60
120
040
240
50 100 150 200
70 80
50 40 30 20 10
Ti m
e co
ns ta
nt
[m s]
Speed
11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics 507
50
TM-RG2M002C30, TM-RU2M002C30
TM-RG2M004E30, TM-RU2M004E30
TM-RG2M009G30, TM-RU2M009G30
[r/min]
0
25
30
20
15
10
5
0 100 200 300 400 500 600
Ti m
e co
ns ta
nt
[m s]
Speed
[r/min]
0
5
15
20
25
30
10
0 100 200 300 400 500 600
Ti m
e co
ns ta
nt
[m s]
Speed
[r/min]
0
60 70 80
50 40 30 20 10
0 100 200 300 400 500 600
Ti m
e co
ns ta
nt
[m s]
Speed
8 11 USING A DIRECT DRIVE MOTOR 11.5 Characteristics
11
Permissible load to motor inertia ratio when the dynamic brake is used
11.6 Absolute position detection system [G] [B] Page 356 ABSOLUTE POSITION DETECTION SYSTEM
Precautions To configure the absolute position detection system by using the direct drive motor manufactured by Mitsubishi Electric,
batteries and the absolute position storage unit (MR-BTAS01) are required. For the encoder cable and the absolute position storage unit, refer to "WIRING OPTION". Direct Drive Motor User's Manual If the absolute position storage unit (MR-BTAS01) is replaced, the absolute position is erased. In this case, start up the
direct drive motor again and perform homing. Replace the battery while the control circuit power is on. If the battery is replaced with the control circuit power supply
turned off, [AL. 025 Absolute position erased] occurs. A battery cannot be replaced using the battery connection cable (MR- J3BTCBL03M).
If the encoder cable is disconnected, [AL. 25 Absolute position erased] occurs.
Direct drive motor Permissible load to motor inertia ratio [multiplier] TM-RFM_C20 100 (300)
TM-RFM_E20
TM-RG2M002C30
TM-RU2M002C30
TM-RFM_G20 50 (300)
TM-RFM_J10 50 (200)
TM-RG2M_E30 20 (80)
TM-RG2M_G30
TM-RU2M_E30
TM-RU2M_G30
11 USING A DIRECT DRIVE MOTOR 11.6 Absolute position detection system [G] [B] 509
51
11.7 Absolute position detection system [A] When the system is used with absolute position detection system by DIO ([Pr. PA03.0 Absolute position detection system selection] set to "1" (Enabled)) with the following conditions, the initial servo-on after power-on triggers the magnetic pole detection and [AL. 093 ABS data transfer warning] will occur. The magnetic pole detection is enabled at initial servo-on ([Pr. PL01.0 Servo motor magnetic pole detection selection] set to
"1" (Magnetic pole detection at initial servo-on after cycling the power). The Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric has not turned on. When the magnetic pole detection is performed with the absolute position detection system by DIO, a deviation occurs between the absolute position data of the servo amplifier side and controller side. If the operation is continued, position mismatch occurs. Therefore, [AL. 093 ABS data transfer warning] occurs on the servo amplifier side. To cancel [AL. 093 ABS data transfer warning], cycle SON (Servo-on) or perform homing.
Precautions To configure the absolute position detection system by using the direct drive motor manufactured by Mitsubishi Electric,
batteries and the absolute position storage unit (MR-BTAS01) are required. For the encoder cable and the absolute position storage unit, refer to "WIRING OPTION". Direct Drive Motor User's Manual If the absolute position storage unit (MR-BTAS01) is replaced, the absolute position is erased. In this case, start up the
direct drive motor again and perform homing. Replace the battery while the control circuit power is on. If the battery is replaced with the control circuit power supply
turned off, [AL. 25 Absolute position erased] occurs. A battery cannot be replaced using the battery connection cable (MR- J3BTCBL03M).
If the encoder cable is disconnected, [AL. 025 Absolute position erased] occurs. Timing chart at power-on under the condition of performing magnetic pole detection
0 11 USING A DIRECT DRIVE MOTOR 11.7 Absolute position detection system [A]
11
*1 Page 372 Absolute position data transfer protocol *2 When the magnetic pole detection is performed, [AL. 093 ABS data transfer warning] occurs.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
100 ms 100 ms
*1
*1
*1
*1
*1
*1
*2
Power supply
First servo-on after power on Second or later servo-on
SON (Servo-on)
ABSM (ABS transfer mode) During ABS transfer During ABS transfer
ABSR (ABS request)
ABST (ABS transmission data ready)
ABSB0 (ABS transmission data bit 0) ABSB1 (ABS transmission data bit 1)
Absolute position data
Absolute position data
Base circuit
15 s or less Magnetic pole detection time Operation
possibleRD (Ready) Operation possible
Occurring Warning
Not occurring
11 USING A DIRECT DRIVE MOTOR 11.7 Absolute position detection system [A] 511
51
11.8 Battery
Unlock and then pull out the battery or other option that is connected to the CN4 connector. For battery transportation and the new EU Battery Directive, refer to "COMPLIANCE WITH GLOBAL
STANDARDS" in User's Manual (Introduction).
Use a battery when connecting a direct drive motor to configure an absolute position detection system. For configuration of an absolute position detection system, refer to the following. Page 356 ABSOLUTE POSITION DETECTION SYSTEM
Selection of battery Applicable batteries differ depending on servo amplifiers. Select a proper battery.
Applications of the batteries
Combination of battery and servo amplifier
MR-BAT6V1SET battery
For the specifications and the date of manufacture of the built-in MR-BAT6V1 battery, refer to the following. Page 525 MR-BAT6V1 battery
Parts identification and dimensions [Unit: mm]
Mass: 55 [g] (including the MR-BAT6V1 battery)
Model Name Application Built-in battery MR-BAT6V1SET MR-BAT6V1SET-A
Battery For absolute position data backup MR-BAT6V1
MR-BT6VCASE Battery case For absolute position data backup of multi-axis servo motor
MR-BAT6V1
Model MR-J5-_G_ MR-J5-_B_ MR-J5-_A_ MR-J5W_-_G_ MR-J5W_-_B_ MR-BAT6V1SET
MR-BAT6V1SET-A
MR-BT6VCASE
28 69.3
38 .5
Connector for servo amplifier
Case
Rating plate
2 11 USING A DIRECT DRIVE MOTOR 11.8 Battery
11
Battery connection Connect as follows.
Battery replacement procedure Replace the battery while only the control circuit power supply is on. Replacing the battery with the control circuit power supply on triggers [AL. 09F.1 Low battery]. However, the absolute position data will not be erased.
Precautions Turn off the power and wait for 15 minutes or more until the charge light of the servo amplifier turns off. Checking the voltage between P+ and N- using the tester, etc. is recommended. 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. Replacing batteries with the control circuit power supply off will erase the absolute position data. Before replacing batteries, check that the new battery is within battery life.
CN4
CN2/CN2A/CN2B/CN2C
MR-BAT6V1SET
Direct drive motor
Absolute position storage unit
Servo amplifier
Encoder cable
11 USING A DIRECT DRIVE MOTOR 11.8 Battery 513
51
Battery installation and removal procedure Fitting method
Removal procedure
Precautions Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo
amplifier or the connector of the battery.
Install a battery, and insert the plug into the CN4 connector.
While pressing the lock release lever, pull out the connector.
While pressing the lock release lever, slide the battery case toward you.
4 11 USING A DIRECT DRIVE MOTOR 11.8 Battery
11
Replacing the built-in battery When the MR-BAT6V1SET reaches the end of its service life, replace the built-in MR-BAT6V1 battery.
1. While pressing the locking part, open the cover.
2. Replace the battery with a new MR-BAT6V1 battery.
3. Press the cover until it is fixed with the projection of the locking part to close the cover.
Cover
Locking part
MR-BAT6V1
Projection
11 USING A DIRECT DRIVE MOTOR 11.8 Battery 515
51
MR-BAT6V1SET-A battery
For the specifications and the date of manufacture of the built-in MR-BAT6V1 battery, refer to the following. Page 525 MR-BAT6V1 battery
Parts identification and dimensions [Unit: mm]
Mass: 55 [g] (including the MR-BAT6V1 battery)
Battery connection Connect as follows.
27.4 51
37 .5
Connector for servo amplifier
Case
CN4
CN2
MR-BAT6V1SET-A
Direct drive motor
Absolute position storage unit
Servo amplifier
Encoder cable
6 11 USING A DIRECT DRIVE MOTOR 11.8 Battery
11
Battery replacement procedure Replace the battery while only the control circuit power supply is on. Replacing the battery with the control circuit power supply on triggers [AL. 09F.1 Low battery]. However, the absolute position data will not be erased.
Precautions Turn off the power and wait for 15 minutes or more until the charge light of the servo amplifier turns off. Checking the voltage between P+ and N- using the tester, etc. is recommended. 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. Replacing batteries with the control circuit power supply off will erase the absolute position data. Before replacing batteries, check that the new battery is within battery life.
Battery installation and removal procedure Fitting method
Servo amplifiers with a battery holder on the bottom cannot have wiring for grounding when batteries are mounted. Mount the battery after grounding the servo amplifier.
Mount a battery, and insert the plug into the CN4 connector. Removal procedure
Precautions Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo
amplifier or the connector of the battery.
While pressing the lock release lever, pull out the connector.
Press down the lock release lever, and slide the battery toward you.
11 USING A DIRECT DRIVE MOTOR 11.8 Battery 517
51
Replacing the built-in battery When the MR-BAT6V1SET-A reaches the end of its service life, replace the built-in MR-BAT6V1 battery.
1. While pressing the locking part, open the cover.
2. Replace the battery with a new MR-BAT6V1 battery.
3. Press the cover until it is fixed with the projection of the locking part to close the cover.
Tab
Cover
Projection (four places)
8 11 USING A DIRECT DRIVE MOTOR 11.8 Battery
11
MR-BT6VCASE battery case
The battery unit consists of an MR-BT6VCASE battery case and five MR-BAT6V1 batteries. For the specifications and the date of manufacture of the MR-BAT6V1 battery, refer to the following. Page 525 MR-BAT6V1 battery
MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. No batteries are included in the battery case. Prepare MR-BAT6V1 batteries separately.
Number of connectable servo motors One MR-BT6VCASE can hold the absolute position data of up to four axes of direct drive motors. Direct drive motors in the incremental system are included as the axis numbers. Linear servo motors are not counted as the axis numbers.
Dimensions [Unit: mm]
Mass: 0.18 [kg]
12 0
0.
5
5
5
5 130
25
13 0
4.6
12 0
5
2-5 mounting hole 2-M4 screw
Mounting hole process drawing
Mounting screw Screw size: M4
Approx. 25
Ap pr
ox .
5
Ap pr
ox .
5
Ap pr
ox . 1
30
Approx. 70
11 USING A DIRECT DRIVE MOTOR 11.8 Battery 519
52
Battery connection When using 1-axis servo amplifier
When using up to 4-axis servo amplifiers
CN4
CN10 MR-BT6VCASE
MR-BT6V1CBL_M
Servo amplifier
CN4
CN10 MR-BT6VCASE
MR-BT6V1CBL_M
MR-BT6V2CBL_M MR-BT6V2CBL_M
CN4 CN4
Servo amplifier (First)
Servo amplifier (Second)
Servo amplifier (Last)
0 11 USING A DIRECT DRIVE MOTOR 11.8 Battery
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Battery replacement procedure
Replacing batteries with the control circuit power supply off will erase the absolute position data. Before replacing batteries, check that the new battery is within battery life.
Replace the battery while only the control circuit power supply is on. Replacing the battery with the control circuit power supply on triggers [AL. 09F.1 Low battery]. However, the absolute position data will not be erased.
Assembly of the battery unit
Replace all the batteries with new ones at the same time at battery replacement. Install five MR-BAT6V1 batteries to the MR-BT6VCASE battery case.
Things to be prepared
Product name Model Quantity Remark Battery case MR-BT6VCASE 1 MR-BT6VCASE is a case used for connecting and
mounting five MR-BAT6V1 batteries.
Battery MR-BAT6V1 5 Lithium battery (primary battery, nominal + 6 V)
11 USING A DIRECT DRIVE MOTOR 11.8 Battery 521
52
Disassembly and assembly of the battery case MR-BT6VCASE Disassembly of the case MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be disassembled.
1. Remove the two screws using a Phillips head screwdriver.
2. Remove the cover.
Screw
Cover
CON2
CON3
CON1
CON4
CON5
BAT1
BAT2 BAT3
BAT4 BAT5
Parts identification
2 11 USING A DIRECT DRIVE MOTOR 11.8 Battery
11
Mounting MR-BAT6V1
1. Securely mount an MR-BAT6V1 to the BAT1 holder.
2. Insert the MR-BAT6V1 connector mounted on the BAT1 holder to CON1.
Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect direction, the connector will break. Place the MR-BAT6V1 lead wire in the duct designed to store lead wires. Insert MR-BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5. 3. Bring out the lead wire from the space between the ribs, and bend
the wire as shown in the figure to store the wire in the duct. Connect the lead wire to the connector.
Be careful not to get the lead wire caught in the case or other parts. When the lead wire is damaged, external short circuit may occur, and the battery can become hot.
BAT1
CON1
Click
11 USING A DIRECT DRIVE MOTOR 11.8 Battery 523
52
Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 Nm.
Be careful not to trap the lead wires when installing the screws and re-installing the cover.
Precautions for removal of battery The connector attached to the MR-BAT6V1 battery has the lock release lever. When removing the connector, pull out the connector while pressing the lock release lever. Battery cable removal
Precautions Pulling out the connector of the MR-BT6V1CBL and MR-BT6V2CBL without the lock release lever pressed may damage
the CN4 connector of the servo amplifier or the connector of the MR-BT6V1CBL or MR-BT6V2CBL.
Screw
While pressing the lock release lever, pull out the connector.
Battery cable
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11
MR-BAT6V1 battery The MR-BAT6V1 lithium primary battery is for MR-BAT6V1SET-A and MR-BT6VCASE. Store the MR-BAT6V1 in the case to use. The date of manufacture of the MR-BAT6V1 battery is indicated on the battery label.
*1 Quality of the batteries degrades by the storage condition. The battery life is 5 years from the date of manufacture regardless of the connection status.
Item Description Battery pack 2CR17335A (CR17335A 2 pcs. connected in series)
Nominal voltage [V] 6
Nominal capacity [mAh] 1650
Storage temperature [C] 0 to 55
Operating temperature [C] 0 to 55
Lithium content [g] 1.2
Mercury content Less than 1 ppm
Dangerous goods class Not subject to the dangerous goods (Class 9) For details, refer to "Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods" in User's Manual (Introduction).
Operating humidity and storage humidity
5 %RH to 90 %RH (non-condensing)
Battery life *1 Five years after the date of manufacture
Mass [g] 34
2CR17335A WK17
11-04 6 V 1650 mAh
Plate
Date of manufacture
11 USING A DIRECT DRIVE MOTOR 11.8 Battery 525
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Battery cable and junction battery cable
Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the numbers are available.
MR-BT6V1CBL_M Appearance
Internal wiring diagram
MR-BT6V2CBL_M Appearance
Internal wiring diagram
Cable model Cable length Flex life Application/remark
0.3 m 1 m MR-BT6V1CBL_M 03 1 Standard For connecting to MR-BT6VCASE
MR-BT6V2CBL_M 03 1 Standard For junction
Figure Components Description (1) Cable VSVC 7/0.18 2C
(2) Connector Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST)
(3) Connector Connector: 10114-3000PE Shell kit: 10314-52F0-008 (3M or equivalent)
Figure Components Description (1) Cable VSVC 7/0.18 2C
(2) Cable
(3) Connector Housing: PAP-02V-O Contact: SPHD-001G-P0.5 (JST)(4) Connector
(5) Connector Housing: PALR-02VF-O Contact: SPAL-001GU-P0.5 (JST)
(2) (1) (3)
BT LG
7 14
1 2 LG
BT
(1)(2) (3)
SD
White
Black
Plate
(1)
(2) (3)(4) (5)
BT LG
1 2
1 2 LG
BT
(3)
1 2 LG
BT
(1)(4)
(2) (5)
White
Black
White
Black
6 11 USING A DIRECT DRIVE MOTOR 11.8 Battery
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12 USING A FULLY CLOSED LOOP SYSTEM
12.1 Precautions A fully closed loop system cannot be used for a 3-axis servo amplifier. If the fully closed loop system is enabled for a 3-axis
servo amplifier, [AL. 037 Parameter error] occurs. Fully closed loop systems can be used with servo amplifiers running firmware version A5 or later. A fully closed loop system can be used in the position mode and positioning mode. Select a load-side encoder of which the number of load-side encoder pulses per servo motor revolution satisfies the
following conditions. 4096 (212) Number of load-side encoder pulses per servo motor revolution 67108864 (226) Load-side encoders support HK series servo motors and linear scale and A/B/Z-phase differential output type encoders.
For load-side encoders that can be used with the MR-J5 series, contact your local sales office. [G]: When a fully closed loop system is used for a 1-axis servo amplifier, if a communication cycle shorter than 125 s is
set, [AL. 09E.A Communication cycle setting warning] occurs. [G]: When a fully closed loop system is used for a 2-axis servo amplifier, if a communication cycle shorter than 250 s is
set, [AL. 09E.A] occurs. A/B/Z-phase differential output rotary encoders cannot be connected to the servo motor side. [G] [A]: In the direct drive motor control mode, when the fully closed loop system is used, the magnetic pole detection is
required every time the power is cycled. [G] [A]: The setting value "0" (magnetic pole detection disabled) of [Pr. PL01.0 Servo motor magnetic pole detection
selection] can be used on servo amplifiers with firmware version D0 or later when the fully closed loop system is used with a Mitsubishi Electric-manufactured direct drive motor connected in the direct drive motor control mode.
When the servo amplifier is in the factory settings and the controller is connected to it for the first time, turning on the power in the fully closed loop control mode with the absolute position detection system enabled may trigger [AL. 1A.5 Servo motor combination error 3]. After setting [Pr. PA03.1 Servo motor replacement preparation] to "1" (enabled), cycle the power and then deactivate [AL. 1A.5]. After deactivating [AL. 1A.5], perform homing again.
When a fully closed loop system is configured with equipment other than the MR-J5-_- RJ servo amplifier When a fully closed loop system is configured with equipment other than the MR-J5-_-RJ servo amplifier, the following restrictions apply. A/B/Z-phase differential output type encoders cannot be used. Only the load-side encoders and servo motor encoders with the two-wire type communication method can be used. The
load-side encoders and servo motor encoders with the four-wire type communication method cannot be used. When HK series rotary servo motors are used for drive and load-side encoders, four-wire type encoder cables cannot be
used.
12 USING A FULLY CLOSED LOOP SYSTEM 12.1 Precautions 527
52
12.2 Functions and configuration Outline Either a semi closed loop system or a fully closed loop system can be selected as a control method for this servo amplifier. In addition, the semi closed loop control, fully closed loop control, or dual feedback control can be selected by the setting of [Pr. PE08 Fully closed loop dual feedback filter] in the fully closed loop system.
The following table lists the characteristics of each control method.
Control Description Semi closed loop control Feature The position is controlled with servo motor-side information.
Advantage Because this control method is not susceptible to machine resonance, it can increase the gain of the servo amplifier and shorten the settling time.
Disadvant age
Even when the servo motor side is stopped, the load side may vibrate or accuracy at the load side may not be achieved.
Dual feedback control Feature The position is controlled with servo motor-side information and load-side information.
Advantage The gain during operation can be increased and thus the settling time can be shorten by switching the information type to control the position as follows: the servo motor-side information during operation and the load-side information during stops. When the servo motor stops, it stops with the accuracy at the load side.
Fully closed loop control Feature The position is controlled with load-side information.
Advantage Accuracy at the load side is achieved not only during stops, but also during operation.
Disadvant age
Because this control method is susceptible to machine resonance, it may be unable to increase the gain of the servo amplifier.
"4500"
([Pr. PE01.0])
([Pr. PA01.4])
"1"
"0"
"0"
"1"
([Pr. PE08])
Semi closed/fully closed loop switching command
Fully closed loop function selection
Fully closed loop operation mode selection
Fully closed loop control
Semi closed loop control
Servo amplifier
(Refer to "Selecting an operation mode")
(Refer to "Selecting semi closed/ fully closed loop control")
OFF
ON
Dual feedback control
Semi closed loop control
Fully closed loop system
Fully closed loop dual feedback filter
Semi closed loop system
"1 to 4499"
8 12 USING A FULLY CLOSED LOOP SYSTEM 12.2 Functions and configuration
12
Function block diagram
Fully closed loop system block diagram A fully closed loop system block diagram is shown below. For a fully closed loop system, the position is controlled in the units of the load-side encoder.
MR-J5-_G_/MR-J5W_-_G_/MR-J5-_B_/MR-J5W_-_B_
MR-J5-_A_
*1 A switch between semi closed loop control and fully closed loop control can be set with [Pr. PE01.0 Fully closed loop function selection]. For semi closed loop control, regardless of whether the servo motor stops or rotates, the position is always controlled based on servo motor encoder position information.
*2 For fully closed loop control, dual feedback control, which combines servo motor feedback signals and load-side encoder feedback signals, can be enabled with [Pr. PE08 Fully closed loop dual feedback filter]. When dual feedback control is enabled, the control performance is improved by switching the control method to fully closed loop control when the servo motor is stopped and to semi closed loop control when the servo motor is operating. When [Pr. PE08] is set to "4500", fully closed loop control is always enabled.
FBD+
-
FBN
CDV CMX
S
+
-
+
-
+
+
-
+
-
+
Servo motor-side feedback pulses (load-side resolution unit)
(Servo motor-side) Droop pulses
(Servo motor-side) Cumulative feedback pulses
Load-side encoder droop pulses
Load-side encoder cumulative feedback pulses
Fully closed loop dual feedback filter ([Pr. PE08]) *2
Servo motor
Linear encoder
Controller
Electronic gear
Fully closed loop function selection ([Pr. PE01.0]) *1
Encoder pulse setting ([Pr. PA15], [Pr. PA16], and [Pr. PC03])
Fully closed loop control error - Detection function selection ([Pr. PE03.0])
Control Monitor
Load-side feedback pulses
FBD+
-
FBN
CDV CMX
S
+
-
+
-
+
+
-
+
-
+
Servo motor-side feedback pulses (load-side resolution unit)
(Servo motor-side) Droop pulses
(Servo motor-side) Cumulative feedback pulses
Load-side encoder droop pulses
Load side encoder cumulative feedback pulses
Fully closed loop dual feedback filter ([Pr. PE08]) *2
Servo motor
Linear encoder
Controller
Electronic gear
Encoder pulse setting ([Pr. PA15], [Pr. PA16], and [Pr. PC19])
Fully closed loop control error - Detection function selection ([Pr. PE03.0])
Control Monitor
Load-side feedback pulse Fully closed loop function selection ([Pr. PE01.0]) *1
12 USING A FULLY CLOSED LOOP SYSTEM 12.2 Functions and configuration 529
53
Dual feedback filter equivalent block diagram The following shows a dual feedback filter equivalent block diagram for dual feedback control.
*1 Set "" (dual feedback filter band) with [Pr. PE08 Fully closed loop dual feedback filter].
+
+
+
-
*1
At servo motor stop (1 to ) Fully closed loop control During operation ( or higher) Semi closed loop control
Semi closed loop control
Fully closed loop control
Dual feedback filter
Servo motor
Linear encoder
Position control unit
High-pass filter
Low-pass filter
Frequency [rad/s]
Operation status Control status
0 12 USING A FULLY CLOSED LOOP SYSTEM 12.2 Functions and configuration
12
Operation mode and load-side encoder combinations [G] [A] Refer to the following table for availability of the fully closed loop system.
*1 Can be used with servo amplifiers that have a CN2L connector. If servo amplifiers do not have a CN2L connector, [AL. 070] will occur. For servo amplifiers without a CN2L connector, use two-wire type encoder cables. Note that four-wire type serial interface- compatible encoders and A/B/Z-phase pulse train interface-compatible encoders cannot be used.
Operation mode and load-side encoder combinations [B] Refer to the following table for availability of the fully closed loop system.
*1 Can be used with servo amplifiers that have a CN2L connector. If servo amplifiers do not have a CN2L connector, [AL. 070] will occur. For servo amplifiers without a CN2L connector, use two-wire type encoder cables. Note that four-wire type serial interface- compatible encoders and A/B/Z-phase pulse train interface-compatible encoders cannot be used.
Load-side encoder [Pr. PA01.1 Operation mode selection]
"0" Standard control mode
"4" Linear servo motor control mode
"6" Direct drive motor control mode
Linear encoder [AL. 037.2]
Rotary servo motor manufactured by Mitsubishi Electric [AL. 037.2]
Direct drive motor manufactured by Mitsubishi Electric [AL. 01A.3] [AL. 037.2] [AL. 01A.3]
A/B/Z-phase differential output rotary encoder *1 [AL. 037.2] [AL. 01A.3]
Load-side encoder [Pr. PA01.1 Operation mode selection]
"0" Standard control mode
"4" Linear servo motor control mode
"6" Direct drive motor control mode
Linear encoder [AL. 037.2] [AL. 037.2]
Rotary servo motor manufactured by Mitsubishi Electric [AL. 037.2] [AL. 037.2]
Direct drive motor manufactured by Mitsubishi Electric [AL. 01A.3] [AL. 037.2] [AL. 01A.3]
A/B/Z-phase differential output rotary encoder *1 [AL. 037.2] [AL. 01A.3]
12 USING A FULLY CLOSED LOOP SYSTEM 12.2 Functions and configuration 531
53
System architecture
For linear encoders Servo amplifier without CN2L
*1 When using an absolute position linear encoder, an absolute position detection system can be supported. In that case, batteries are unnecessary.
Servo amplifier with CN2L
*1 When using an absolute position linear encoder, an absolute position detection system can be supported. In that case, batteries are unnecessary.
CN2
Servo amplifierController
Position command control signal
Table
Linear encoder compatible with two-wire type serial interface *1
Load-side encoder signal Servo motor encoder signal
Linear encoder head
Servo motor
CN2 CN2L
Servo amplifierController
Position command control signal
Table
Linear encoder compatible with A/B/Z-phase pulse train interface, linear encoder compatible with two-wire or four-wire type serial interface *1
Load-side encoder signal (A/B/Z-phase pulse train interface or serial interface)
Servo motor encoder signal
Linear encoder head
Servo motor
2 12 USING A FULLY CLOSED LOOP SYSTEM 12.2 Functions and configuration
12
For rotary encoders Servo amplifier without CN2L
*1 Use a two-wire type encoder cable. A four-wire type encoder cable cannot be used. *2 When using an HK-KT servo motor, an absolute position detection system can be supported without using batteries.
Servo amplifier with CN2L
*1 When using an HK-KT servo motor, an absolute position detection system can be supported without using batteries.
*1
*2 Servo motor
Two-wire type rotary encoder
Driving part
Load-side encoder signal
Servo motor encoder signal
Controller
Position command control signal
Servo amplifier
*1
A/B/Z-phase differential output encoder, two-wire type or four-wire type rotary encoder, or synchronous encoder
Load-side encoder signal
Servo motor encoder signal
Servo motor
Driving part
Controller
Position command control signal
Servo amplifier
12 USING A FULLY CLOSED LOOP SYSTEM 12.2 Functions and configuration 533
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12.3 Signals and wiring
Use the load side encoder cables specified in this section. Using products other than those specified may cause a malfunction.
Contact the manufacturer of the load-side encoder being used for information on specifications, performance, and guarantees.
Encoder cable configuration diagram Configuration diagrams of the servo amplifier and load-side encoder are shown below. The cable to be used differs depending on the load-side encoder.
Encoder cable configuration diagram for linear encoders Refer to the following manual for the linear encoder cables. MR-J5 Partner's Encoder User's Manual The encoder cable to be used differs depending on the load-side encoder.
Servo amplifier without CN2L
Servo amplifier with CN2L The linear encoder can be connected without using an MR-J4FCCBL03M branch cable. In addition, a four-wire type linear encoder can also be used.
CN2 CN2 MOTOR
SCALE
Servo amplifier
Linear encoder
MR-J4FCCBL03M branch cable
Encoder of rotary servo motor
Encoder cable
Load-side encoder
CN2
CN2L
Servo amplifier
Linear encoder Encoder of rotary servo motor
Encoder cable
Load-side encoder
4 12 USING A FULLY CLOSED LOOP SYSTEM 12.3 Signals and wiring
12
Encoder cable configuration diagram for rotary encoders
When using a rotary encoder as the load-side encoder, use an HK-KT servo motor as the encoder. Use a two-wire type encoder cable. When using an A/B/Z-phase differential output rotary encoder, refer to "A/B/Z-phase differential output type
encoder" in the following manual. MR-J5 Partner's Encoder User's Manual
For cables for rotary encoders, refer to "Motor cables/connector sets" and "Encoder cable" in the following manual. Rotary Servo Motor User's Manual (For MR-J5)
Servo amplifier without CN2L
*1 Use a two-wire type encoder cable. A four-wire type encoder cable cannot be used. *2 When the motor type of the servo motor is "HK-KT_W", a maximum of 240 V is output from the power cable, and when the motor type is
"HK-KT_4_W", a maximum of 480 V is output. Insulation is therefore required. Apply insulation protection according to the maximum voltage to U, V, W, and each grounding wire. Do not disconnect the power cable during the insulation protection.
*3 Use the servo motor in the range not exceeding the maximum servo motor speed described in "Standard specifications list" in the following manual. Rotary Servo Motor User's Manual (For MR-J5)
Servo amplifier with CN2L The linear encoder can be connected without using an MR-J4FCCBL03M branch cable. In addition, a four-wire type linear encoder can also be used.
*1 When the motor type of the servo motor is "HK-KT_W", a maximum of 240 V is output from the power cable, and when the motor type is "HK-KT_4_W", a maximum of 480 V is output. Insulation is therefore required. Apply insulation protection according to the maximum voltage to U, V, W, and each grounding wire. Do not disconnect the power cable during the insulation protection.
*2 Use the servo motor in the range not exceeding the maximum servo motor speed described in "Standard specifications list" in the following manual. Rotary Servo Motor User's Manual (For MR-J5)
CN2 CN2 MOTOR
SCALE
*2
*2
Servo amplifier MR-J4FCCBL03M branch cable
Encoder of rotary servo motor *1
Load-side encoder
Servo motor *3 HK-KT
Motor cable/Encoder cable (Refer to "Rotary Servo Motor User's Manual (For MR-J5)")
CN2
CN2L *1
*1
Servo amplifier
Load-side encoder
Servo motor *2 HK-KT
Encoder of rotary servo motor
Motor cable/Encoder cable (Refer to "Rotary Servo Motor User's Manual (For MR-J5)")
12 USING A FULLY CLOSED LOOP SYSTEM 12.3 Signals and wiring 535
53
12.4 Startup Servo parameter setting
Selecting a fully closed loop system With the settings of [Pr. PA01], [Pr. PE01], and the controller control command, a control method can be selected as described in the following table.
*1 Can be supported when the load-side encoder is an absolute position encoder.
Selecting an operation mode Select an operation mode. [Pr. PA01.4 Fully closed loop operation mode selection]
Selecting semi closed/fully closed loop control [G] [A] Select semi closed/fully closed loop control. [Pr. PE01.0 Fully closed loop function selection] If this servo parameter is set to "1" while [Pr. PA03.0 Absolute position detection system selection] has been set to "1" (enabled (absolute position detection system)), [AL. 037 Parameter error] will occur. 0: Always enabled 1: Switching by "fully closed loop selection" from the controller (C_CLD) and by the input device "fully closed loop selection" (CLD)
*1 This is always off if the CLD (fully closed loop selection) is not assigned to an input device. This setting is enabled when "1" (enabled (fully closed loop control mode)) is selected in [Pr. PA01.4 Fully closed loop operation selection].
[Pr. PA01.4 Fully closed loop operation mode selection]
[Pr. PE01.0 Fully closed loop function selection]
Semi closed loop control/fully closed loop control switching signal
Command unit Control method Absolute position detection system
"0" Semi closed loop system
Servo motor encoder unit
Semi closed loop control
"1" Fully closed loop system
"0" Load-side encoder unit
Dual feedback control (Fully closed loop control)
*1
"1" OFF Semi closed loop control
ON Dual feedback control (Fully closed loop control)
Setting value Operation mode Control unit 0 Semi closed loop system Servo motor-side resolution unit
1 Fully closed loop system Load-side resolution unit
Fully closed loop selection Control method
Command from controller CLD (fully closed loop selection) *1
OFF OFF Semi closed loop control
ON OFF Fully closed loop control
OFF ON
ON ON
6 12 USING A FULLY CLOSED LOOP SYSTEM 12.4 Startup
12
Selecting semi closed/fully closed loop control [B] Select semi closed/fully closed loop control. [Pr. PE01.0 Fully closed loop function selection] If this servo parameter is set to "1" while [Pr. PA03.0 Absolute position detection system selection] has been set to "1" (enabled (absolute position detection system)), [AL. 037 Parameter error] will occur. 0: Always enabled 1: Switching by fully closed loop selection command from the controller
This setting is enabled when "1" (enabled (fully closed loop control mode)) is selected in [Pr. PA01.4 Fully closed loop operation selection].
Fully closed loop selection Control method
Command from controller OFF Semi closed loop control
ON Fully closed loop control
12 USING A FULLY CLOSED LOOP SYSTEM 12.4 Startup 537
53
Load-side encoder communication method selection [G] [B] The communication method differs depending on the load-side encoder type. For details on each load-side encoder communication method, refer to "External encoder connector" in the "User's Manual (Introduction)" and "Compatible encoder list" in the "MR-J5 Partner's Encoder User's Manual". Select a cable to be connected to the CN2L connector with [Pr. PC26 Function selection C-8].
[Pr. PC26.3 Load-side encoder cable communication method selection] 0: Two-wire type 1: Four-wire type When using an A/B/Z-phase differential input interface, set "0". The incorrect setting triggers [AL. 070] or [AL. 071]. Setting "1" on servo amplifiers other than the MR-J5-_G_-RJ or the MR-J5-_B_-RJ triggers [AL. 037 Parameter error].
[Pr. PC27.2 ABZ phase input interface encoder ABZ phase connection assessment function selection]
This servo parameter is enabled only when an A/B/Z-phase input interface encoder is used.
Load-side encoder communication method selection [A] The communication method differs depending on the load-side encoder type. For details on each load-side encoder communication method, refer to "External encoder connector" in the "User's Manual (Introduction)" and "Compatible encoder list" in the "MR-J5 Partner's Encoder User's Manual". Select a cable to be connected to the CN2L connector with [Pr. PC44 Function selection C-9].
[Pr. PC44.3 Load-side encoder cable communication method selection] 0: Two-wire type 1: Four-wire type When using an A/B/Z-phase differential input interface, set "0". The incorrect setting triggers [AL. 070] or [AL. 071]. Setting "1" on servo amplifiers other than the MR-J5-_A_-RJ triggers [AL. 037 Parameter error].
[Pr. PC45.2 ABZ phase input interface encoder ABZ phase connection assessment function selection]
This servo parameter is enabled only when an A/B/Z-phase input interface encoder is used.
Setting value Detection of disconnection Alarm status
Z-phase-side non-signal Fully closed loop control mode 0 Enabled [AL. 071.6] (Z-phase)
1 Disabled
Setting value Detection of disconnection Alarm status
Z-phase-side non-signal Fully closed loop control mode 0 Enabled [AL. 071.6 Load-side encoder normal communication -
Transmission data error 2] (Z-phase)
1 Disabled
8 12 USING A FULLY CLOSED LOOP SYSTEM 12.4 Startup
12
Setting the polarity of the load-side encoder [G] [B]
Precautions Do not set the incorrect direction in [Pr. PC27.0 Encoder pulse count polarity selection]. If the correct direction is not set, the encoder will not operate correctly, possibly causing a collision that results in an accident or damage to other devices. [Pr. PC27.0 Encoder pulse count polarity selection] is not related to [Pr. PA14 Travel direction selection]. Set this parameter according to the relationship between the servo motor and the linear encoder /rotary encoder. Do not set the incorrect direction in [Pr. PC27.0 Encoder pulse count polarity selection]. During the positioning operation, [AL. 042 Fully closed loop control error] may occur.
Servo parameter Set the polarity of the load-side encoder that is connected to the CN2L connector so that the CCW direction of the servo motor matches the increasing direction of the load-side encoder feedback. [Pr. PC27.0 Encoder pulse count polarity selection] 0: Load-side encoder pulse increasing direction in the servo motor CCW 1: Load-side encoder pulse decreasing direction in the servo motor CCW
Checking the feedback direction of the load-side encoder Refer to the following for checking the feedback direction of the load-side encoder. Page 544 Checking position data of the load-side encoder
Servo motor
Linear encoder Address increasing direction of linear encoder
Servo motor CCW direction
12 USING A FULLY CLOSED LOOP SYSTEM 12.4 Startup 539
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Setting the polarity of the load-side encoder [A]
Precautions Do not set the incorrect direction in [Pr. PC45.0 Encoder pulse count polarity selection]. If the correct direction is not set, the encoder will not operate correctly, possibly causing a collision that results in an accident or damage to other devices. [Pr. PC45.0 Encoder pulse count polarity selection] is not related to [Pr. PA14 Travel direction selection]. Set this parameter according to the relationship between the servo motor and the linear encoder /rotary encoder. Do not set the incorrect direction in [Pr. PC45.0 Encoder pulse count polarity selection]. During the positioning operation, [AL. 042 Fully closed loop control error] may occur.
Servo parameter Set the polarity of the load-side encoder that is connected to the CN2L connector so that the CCW direction of the servo motor matches the increasing direction of the load-side encoder feedback. [Pr. PC45.0 Encoder pulse count polarity selection] 0: Load-side encoder pulse increasing direction in the servo motor CCW 1: Load-side encoder pulse decreasing direction in the servo motor CCW
Checking the feedback direction of the load-side encoder Refer to the following for checking the feedback direction of the load-side encoder. Page 544 Checking position data of the load-side encoder
Servo motor
Linear encoder Address increasing direction of linear encoder
Servo motor CCW direction
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Setting the feedback pulse electronic gear
Precautions If an incorrect value is set for the feedback pulse electronic gear ([Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 - Numerator] or [Pr. PE05 Fully closed loop control - Feedback pulse electronic gear 1 - Denominator]), [AL. 037 Parameter error] may occur and prevent normal operation. In addition, [AL. 042.8 Fully closed loop control error based on position deviation] may occur during the positioning operation. For servo motor-side encoder pulses, set the numerator [Pr. PE04] and denominator [Pr. PE05] of the electronic gear. Set the electronic gear so that the number of servo motor encoder pulses per servo motor revolution is converted into the number of load-side encoder pulses. The relation is as follows.
Select a load-side encoder of which the number of load-side encoder pulses per servo motor revolution is within the following range. 4096 (212) Number of load-side encoder pulses per servo motor revolution 67108864 (226)
Example settings of a ball screw (direct connection) with a linear encoder resolution of 0.05 m
Conditions Servo motor resolution: 67108864 pulses/rev Servo motor reduction ratio: 1/11 Ball screw lead: 20 mm Linear encoder resolution: 0.05 m
Calculate the number of linear encoder pulses per ball screw revolution. Number of linear encoder pulses per ball screw revolution = Ball screw lead/Linear encoder resolution = 20 mm/0.05 m = 400000 pulses
[Pr. PE04]
[Pr. PE05] =
The number of load-side encoder pulses per servo motor revolution
The number of servo motor encoder pulses per servo motor revolution
Geared servo motor Table
Linear encoder
Linear encoder head
[Pr. PE04] [Pr. PE05]
400000 67108864
3125 524288
1 11
= = 1 11
3125 5767168
=
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Example settings when using a rotary encoder as the load-side encoder of a roll feeder Conditions Servo motor resolution: 67108864 pulses/rev Servo motor-side pulley diameter: 30 mm Rotary encoder side pulley diameter: 20 mm Rotary encoder resolution: 67108864 pulses/rev
If the pulley ratio or reduction ratio is not one-to-one, calculate the electronic gear by taking that into consideration.
d2 = 20 mm
d1 = 30 mm
Servo motor
Rotary encoder
Driving part
Pulley diameter
Pulley diameter
[Pr. PE04]
[Pr. PE05] = =
67108864 30 67108864 20
1 1
3 2
= 3 2
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Setting the fully closed loop dual feedback filter Use auto tuning or a similar mode to adjust the gain in the same way as when using semi closed loop control while [Pr. PE08 Fully closed loop dual feedback filter] is being set to the initial value (setting value = 10). Adjust the dual feedback filter while observing the servo operation waveforms with the graph function or a similar function of MR Configurator2. The operation status of the dual feedback filter varies depending on the setting value as shown below.
When the setting value for the dual feedback filter is increased, the settling time becomes shorter. However the vibration of the servo motor will be larger because the servo motor becomes susceptible to the vibrations of the load-side encoder. For the dual feedback filter, set a value that is equal to or smaller than a half of the setting value for PG2. To shorten the settling time: Increase the value for the dual feedback filter.
To suppress vibration: Decrease the value for the dual feedback filter.
Load-side encoder resolution setting When using an A/B/Z-phase differential output rotary encoder, set the resolution in [Pr. PE51 Load-side encoder resolution setting]. When using an A/B/Z-phase differential output linear encoder, set [Pr. PE51] to "0". [Pr. PE51 Load-side encoder resolution setting] Set the resolution of the A/B/Z-phase differential output rotary encoder used on the load-side. When an A/B/Z-phase differential output type encoder is connected, the value set to this servo parameter is used to determine whether it is a rotary encoder or a linear encoder. 0: Linear encoder Other than 0: Rotary encoder
Setting value of [Pr. PE08] Control mode Vibration Settling time 1 to 4499
Dual feedback Hardly occurs to Easily occurs
Longer to shorter
4500 Fully closed
Droop pulses
Command
Droop pulses
Command
TimeTime
Droop pulses
Command
Droop pulses
Command
TimeTime
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Checking position data of the load-side encoder
Precautions Depending on the check items, MR Configurator2 may be used. Refer to "Help" of MR Configurator2 for the data displayed on the MR Configurator2. Check the load-side encoder mounting and parameter settings for any problems.
No. Check item Confirmation method and description 1 Reading the position data of the load-
side encoder When a load-side encoder that is installed and connected correctly is operated, the value for load side encoder cumulative feedback pulses is counted correctly. If the value is not counted correctly, the following are likely causes. (1) An alarm occurred. (2) The load-side encoder is not installed correctly. (3) The encoder cable is not wired correctly.
2 Reading the home position of the load- side encoder (reference mark, Z-phase)
If the home position (reference mark, or Z-phase) of the load-side encoder is in a normal condition (mounting, connection, etc.), the value of load-side encoder information 1 is cleared to 0 when the load-side encoder is moved to pass through the home position (reference mark, or Z-phase). If the value is not cleared, the following are likely causes. (1) The load-side encoder is not installed correctly. (2) The encoder cable is not wired correctly.
3 Checking the load-side encoder feedback direction (setting the polarity of the load-side encoder)
Move the device (load-side encoder) manually in servo-off status to confirm that the directions of the cumulative feedback pulses of the servo motor encoder (after taking the gear into consideration) and the load-side cumulative feedback pulses are matched. If the directions are mismatched, reverse the polarity.
4 Setting the electronic gear for the load- side encoder
When the servo motor and the load-side encoder move synchronously, the servo motor-side cumulative feedback pulses (after taking the gear into consideration) and load side encoder cumulative feedback pulses increase by the same amount. If the cumulative feedback pulses are mismatched, use the following procedure to review the settings of the fully closed loop control feedback electronic gear ([Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 - Numerator] and [Pr. PE05 Fully closed loop control - Feedback pulse electronic gear 1 - Denominator]). (1) Check the servo motor-side cumulative feedback pulses (before taking the gear into consideration). (2) Check the load-side cumulative feedback pulses. (3) Check that the ratio of (1) to (2) mentioned above is the same as the feedback electronic gear ratio.
+
- Servo motor
Linear encoder Servo motor-side cumulative feedback pulses (after gear)
(3) Electronic gear
(2) Load-side encoder cumulative feedback pulses
Command
(1) Servo motor-side cumulative feedback pulses (before gear)
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12.5 Basic functions Homing [G] [A] Homing is performed based on the load-side encoder feedback data regardless of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. The types and methods of homing are basically the same as in semi closed loop control.
In the case of homing with a dog signal, the home position (reference mark) must be passed through when an incremental type linear encoder is used, or the Z-phase must be passed through when a rotary encoder is used, during a period from a home position return start until the dog signal turns off.
For the linear encoder, a home position (reference mark) of the linear encoder is necessary in the homing direction. In addition, place the proximity dog position one half of the rotation or more before the reference mark.
Precautions To execute homing securely in the following example, start homing after moving the servo motor to LSN with the JOG operation.
LSPLSN
Returnable area: Homing is enabled if started from this area.
Homing direction Home position of linear encoder (reference mark)
Non-returnable area: Homing is disabled if started from this area.
Proximity dog
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Reference home position Absolute position linear encoder The reference home position for an absolute position linear encoder is every position per servo motor revolution starting from the linear encoder home position (absolute position data = 0). In the case of Method -1 (dog type homing), the nearest position after the proximity dog signal turned off is the home position. The linear encoder home position can be set in any position.
Incremental linear encoder
Precautions To execute homing securely, start homing after moving the servo motor to the opposite stroke end with the JOG operation
from the controller or other methods. If the linear encoder home position (reference mark) does not exist on the incremental linear encoder, only the homing
methods that do not use the Z-phase can be executed. Do not set multiple homing positions (reference marks). An interval for turning on home position (reference mark) signal of the linear encoder has a certain width. (Specifications differ depending on the linear encoder.) Example: When the Z-phase is recognized at startup
The position where the signal turns on depends on the direction in which the home position is passed through. In a case where homing is always required to be completed at the same position (such as dog type homing), start homing with the same direction. The reference home position for an incremental linear encoder is every position per servo motor revolution starting from the first linear encoder home position which has been passed through after the power-on. (reference mark). In the case of Method -1 (dog type homing), the nearest reference home position after the proximity dog signal rear end is detected is the home position.
ON OFF
0 r/min
Linear encoder home position Home position
Homing speed
Creep speed
Homing direction
Proximity dog signal
Servo motor speed
Reference home position
Machine position
Equivalent to one servo motor revolution
B A
Home position signal A is recognized as the ON position
B is recognized as the ON position
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When the linear encoder home position (reference mark) exists in the homing direction The position obtained by moving the home position shift distance from the linear encoder home position (reference mark) is set as the home position. The following figure shows the operation of Homing method 34. The homing direction of Homing method 33 is opposite to that of Homing method 34.
*1 Home position shift distance can be changed with [Pr. PT07 Home position shift distance]. When the stroke end is detected
The following figure shows the operation of Homing method -11. The homing direction of Homing method -43 is opposite to that of Homing method -11.
*1 Home position shift distance can be changed with [Pr. PT07]. When the servo motor returns at the stroke end
*1 This cannot be used with the software limit.
0 r/min
Linear encoder home position
Creep speed
Creep speed
Home position shift distance *1
Home position
Homing direction
Servo motor speed
Machine position
Forward rotation
Reverse rotation
Stroke endHoming direction
Homing start position Stop due to occurrence of [AL. 90]
0 r/min
Forward rotation
Reverse rotation
Homing direction
Homing speed
Home position shift distance *1
Servo motor speed
Creep speed
Machine position
Home position Linear encoder home position
0 r/min
Stroke end *1Homing direction
Homing start position Forward rotation
Servo motor speed Reverse rotation Linear encoder home position
Homing automatically starts from here.
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54
When the linear encoder home position does not exist in the homing direction If homing is performed from a position where the linear encoder home position does not exist in the homing direction, an error may occur depending on the homing method. If an error occurs, change the homing method or temporarily move the servo motor to the stroke end opposite of homing with the JOG operation or other methods from the controller, then perform homing.
Rotary encoder of a serial communication servo motor If using the rotary encoder of a serial communication servo motor as the load-side encoder, the home position is at the load side Z-phase position.
ON OFF
0 r/min
Stroke end Home position
Homing speed
Creep speed
Homing direction
Proximity dog signal
Machine position Linear encoder home position
JOG operation
Homing enabled area Homing disabled area
Servo motor speed
ON OFF
Servo amplifier power-on position Home position
Load-side encoder Z-phase signal
Reference home position
Machine position
Equivalent to one load-side revolution
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Homing [B] Homing is performed based on the load-side encoder feedback data regardless of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. The types and methods of homing are basically the same as in semi closed loop control.
In the case of homing with a dog signal, the home position (reference mark) must be passed through when an incremental type linear encoder is used, or the Z-phase must be passed through when a rotary encoder is used, during a period from a home position return start until the dog signal turns off.
For the linear encoder, a home position (reference mark) of the linear encoder is necessary in the homing direction. In addition, place the proximity dog position one half of the rotation or more before the reference mark.
Precautions To execute homing securely in the following example, start homing after moving the linear servo motor to RLS with the JOG operation.
FLSRLS
Returnable area: Homing is enabled if started from this area.
Homing direction Home position of linear encoder (reference mark)
Non-returnable area: Homing is disabled if started from this area.
Proximity dog
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Reference home position Absolute position linear encoder The reference home position for an absolute position linear encoder is every position per servo motor revolution starting from the linear encoder home position (absolute position data = 0). For proximity dog type homing, the nearest reference home position after the proximity dog signal turned off is the home position. The linear encoder home position can be set in any position.
Incremental linear encoder When the linear encoder home position (reference mark) exists in the homing direction The home position for an incremental linear encoder is every position per servo motor revolution starting from the first linear encoder home position which has been passed through after the home position return start (reference mark). For proximity dog type homing, the nearest position after the proximity dog signal turned off is the home position. Set one linear encoder home position in the full stroke, and set it in the position to be passed after the homing start. LZ (Encoder Z-phase pulse) cannot be used.
ON OFF
0 r/min
Linear encoder home position Home position
Homing speed
Creep speed
Homing direction
Proximity dog signal
Servo motor speed
Reference home position
Machine position
Equivalent to one servo motor revolution
ON OFF
0 r/min
Linear encoder home position Home position
Homing speed
Creep speed
Homing direction
Proximity dog signal
Servo motor speed
Reference home position
Machine position
Equivalent to one servo motor revolution
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When the linear encoder home position does not exist in the homing direction If homing is performed from a position where the linear encoder home position does not exist in the homing direction, an error may occur on the controller side depending on the homing method. Error details differ depending on the controller being used. If an error occurs, change the homing method or move the linear servo motor to the stroke limit on the opposite side of the homing direction with operations such as the JOG operation from the controller, then start homing.
Rotary encoder of a serial communication servo motor If using the rotary encoder of a serial communication servo motor as the load-side encoder, the home position is at the load side Z-phase position.
Data set type homing (Common to load-side encoders) Perform data set type homing after the home position (reference mark) and Z-phase signal of the rotary encoder are passed through. For a machine that does not have enough distance for the servo motor encoder to rotate once before the Z-phase of the rotary encoder is passed through, changing the setting of [Pr. PC17.0 Homing condition selection] enables homing even without the home position passed through.
ON OFF
0 r/min
Stroke limit Home position
Homing speed
Creep speed
Homing direction
Proximity dog signal
Machine position Linear encoder home position
JOG operation
Homing enabled area Homing disabled area
Servo motor speed
ON OFF
Servo amplifier power-on position Home position
Load-side encoder Z-phase signal
Reference home position
Machine position
Equivalent to one load-side revolution
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55
Operation from controller The positioning operation from the controller is basically the same as in semi closed loop control.
Fully closed loop control error detection function If fully closed loop control becomes unstable for some reason, the servo motor-side speed may increase abnormally. To detect this state and to stop operation, the fully closed loop control error detection function is used as a protective function. The fully closed loop control error detection function has two types of detection methods: speed deviation and position deviation. Errors are detected only when each method is enabled with [Pr. PE03.0 Fully closed loop control error - Detection function selection]. In addition, the detection level settings can be changed with [Pr. PE06 Fully closed loop control - Speed deviation error detection level] and [Pr. PE07 Fully closed loop control - Position deviation error detection level].
Fully closed loop control error - Detection function selection Select the fully closed loop control error detection function.
Speed deviation error detection Set [Pr. PE03.0 Fully closed loop control error - Detection function selection] to "1" (speed deviation error detection) to enable the speed deviation error detection.
When the difference between the servo motor-side feedback speed (1) and the load-side feedback speed (3) is equal to or more than the value of [Pr. PE06 Fully closed loop control - Speed deviation error detection level] (1 r/min to permissible speed), [AL. 042.9 Servo control error based on speed deviation] occurs, and the servo motor stops. The initial value for [Pr. PE06] is 400 r/min. Change the setting value as necessary.
Servo parameter Description PE03.0 Fully closed loop control error - Detection function selection
0: Disabled 1: Speed deviation error detection 2: Position deviation error detection 3: Speed deviation error, position deviation error detection (initial value)
Servo parameter Description PE03.0 Fully closed loop control error - Detection function selection
1: Speed deviation error detection
Servo motor
Linear encoder
(1) Servo motor-side feedback speed [r/min] (2) Servo motor-side feedback position [pulse]
(Load side equivalent value)
(3) Load-side feedback speed [r/min] (4) Load-side feedback position [pulse]
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Position deviation error detection Set [Pr. PE03.0 Fully closed loop control error - Detection function selection] to "2" (position deviation error detection) to enable the position deviation error detection.
When the difference between the servo motor-side feedback position (2) and the load-side feedback position (4) is equal to or more than the value of [Pr. PE07 Fully closed loop control - Position deviation error detection level] (1 kpulse to 20000 kpulses), [AL. 042.8 Servo control error based on position deviation] occurs, and the servo motor stops. If the difference is equal to or more than the value of [Pr. PE07] at the command stop, [AL. 042.A Fully closed loop control error based on position deviation during command stop] occurs. When [Pr. PE03.1 Position deviation error - Detection method selection] is set to "1" (Detection only at stop), only [AL. 042.A] is detected. The initial value for [Pr. PE07] is 100 kpulses. The setting unit for [Pr. PE07] can be changed with [Pr. PE10.1 Fully closed loop control - Position deviation error detection level - Unit selection]. Change the setting value as necessary.
Detecting multiple deviation errors Multiple deviation errors can be detected when [Pr. PE03.0 Fully closed loop control error - Detection function selection] is set to "3" (speed deviation error detection and position deviation error detection). Refer to the following for the error detection method. Page 552 Speed deviation error detection Page 553 Position deviation error detection
Fully closed loop control error - Reset selection Select the reset condition of fully closed loop control errors.
[Pr. PE03.3 Fully closed loop control error - Reset selection] 0: Reset disabled (reset by cycling the power or software reset) 1: Reset enabled
Motor-side/load-side deviation counter clear [A] The motor-side/load-side position deviation counter, which is used for detecting [AL. 042.A Fully closed loop control error based on position deviation during command stop], can be cleared to "0" if the input device "MECR" is turned on. The droop pulses in position control are not affected.
Servo parameter Description PE03.0 Fully closed loop control error - Detection function selection
2: Position deviation error detection
PE03.1 Position deviation error - Detection method selection 0: Continuous detection 1: Detection only at stop (An error is detected if the command is "0".) 2: Detection only at stop 2 (An error is detected during servo-off or if the command is "0" while in servo-on state.)
Servo parameter Description PE10.1 Fully closed loop control - Position deviation error detection level - Unit selection
0: 1 [kpulse] unit 1: 1 [pulse] unit
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About MR Configurator2 With MR Configurator2, the servo parameters can be checked if set correctly, and the servo motor and the load-side encoder can be checked if operated properly. This section explains the Fully Closed Loop Diagnosis screen.
Symbol Name Explanation Unit (a) Servo motor-side cumulative
feedback pulses (after gear)
The feedback pulses from the servo motor encoder are counted and displayed. (load-side encoder unit) When the setting value exceeds 999999999, it starts from 0. Click "Clear" to reset the value to "0". In reverse rotation, the value is negative.
pulse
(b) Servo motor-side droop pulses
Droop pulses of the deviation counter between a servo motor-side position and a command are displayed. In reverse rotation, the value is negative.
pulse
(c) Cumulative command pulses Position command input pulses are counted and displayed. Click "Clear" to reset the value to "0". Under reverse command, the value is negative.
pulse
(d) Load-side encoder cumulative feedback pulses
The feedback pulses from the load-side encoder are counted and displayed. When the setting value exceeds 999999999, it starts from 0. Click "Clear" to reset the value to "0". In reverse rotation, the value is negative.
pulse
(e) Load-side encoder droop pulses
Droop pulses of the deviation counter between a load-side position and a command are displayed. In reverse rotation, the value is negative.
pulse
(f) Servo motor-side cumulative feedback pulses (before gear)
The feedback pulses from the servo motor encoder are counted and displayed. (Servo motor encoder unit) When the setting value exceeds 999999999, it starts from 0. Click "Clear" to reset the value to "0". In reverse rotation, the value is negative.
pulse
(g) Encoder information The load-side encoder information is displayed. The display contents differ depending on the load-side encoder type. ID: The ID No. of the load-side encoder is displayed. Data 1: For an incremental type linear encoder, the counter from powering on is displayed. For an
absolute position type linear encoder, absolute position data is displayed. Data 2: For the incremental type linear encoder, the distance (number of pulses) from the reference
mark (Z-phase) is displayed. For the absolute position type linear encoder, "00000000" is displayed.
(h) Parameter Setting (Polarity)
"+" is displayed for the address increasing direction in the servo motor CCW direction, and "-" is displayed for the address decreasing direction in the servo motor CCW direction.
(m)(n)
(c)
(j)
(i)
(k)
(g)
(f)
(b) (e) (h)(l) (a) (d)
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(i) Z-phase pass status When the fully closed loop system is disabled, the Z-phase pass status of the servo motor encoder is displayed. When the fully closed loop system is enabled or when switching between semi closed loop control and fully closed loop control is enabled, Z-phase pass status of the load-side encoder is displayed.
(j) Fully closed loop changing device
This item is displayed only when switching between semi closed loop control and fully closed loop control is enabled. The state of the semi closed loop control/fully closed loop control switching signal and the internal state when switching between semi closed loop control and fully closed loop control is enabled.
(k) Parameter Setting (F/B pulse electronic gear)
With this servo parameter, the feedback pulse electronic gears ([Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 - Numerator] and [Pr. PE05 Fully closed loop control - Feedback pulse electronic gear 1 - Denominator]) for servo motor encoder pulses can be displayed and set. Page 541 Setting the feedback pulse electronic gear
(l) Parameter Setting (Dual F/B filter)
With this servo parameter, the band for [Pr. PE08 Fully closed loop dual feedback filter] can be displayed and set.
(m) Parameter Setting (Fully closed loop function) [G] [B]
The servo parameters for the fully closed loop control can be displayed and set. Click "Parameter Setting" to display the "Parameter Setting (Function display (List))" window.
Parameter Setting (Fully closed loop function) [A]
The servo parameters for the fully closed loop control can be displayed and set. Click "Parameter Setting" to display the "Parameter Setting (Function display (List))" window.
(n) Parameter Setting (Electronic gear) [G] [B]
Set the servo parameters for the electronic gears. [Pr. PA06 Electronic gear numerator], [Pr. PA07 Electronic gear denominator]
Parameter Setting (Electronic gear) [A]
Set the servo parameters for the electronic gears. [Pr. PA05 Number of command input pulses per revolution], [Pr. PA06 Electronic gear numerator], [Pr. PA07 Electronic gear denominator], [Pr. PA21.3 Electronic gear compatibility selection]
Symbol Name Explanation Unit
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12.6 Options and peripheral equipment MR-J4FCCBL03M branch cable Use an MR-J4FCCBL03M branch cable to connect a rotary encoder and load-side encoder to the CN2 connector. When fabricating a branch cable by using an MR-J3THMCN2 connector set, refer to "Fabricating a branch cable for a fully closed loop system" in the following manual. MR-J5 Partner's Encoder User's Manual
*1 Receptacle: 36210-0100PL, Shell kit: 36310-3200-008 (3M) *2 Plug: 36110-3000FD, Shell kit: 36310-F200-008 (3M)
LG4 MRR
2 LG 8
6
1 P5
5
10
3 MR
7 9
THM2
THM1
MXR SEL THM2
THM1
SEL
MX BAT
SD
3 4
1
CN2 *1 MOTOR *2
0.3 m
MR
P5
MRR
SD
MR
P5
MRR 3 4
1
4 MRR
2 8
6
1 P5
5
10
3 MR
7 9
4 2
8 6
15
10
37 9
BAT
2
THM2 6 7MX
LG LG2
MXR 8 BAT SEL
9 10
5THM1 5 THM1 6 THM2
9 BAT 10 SEL
SCALE *2
P5 SD
SEL
LG 1 2
10
4 MXR BAT9
3 MX BAT
SEL LG
P5
MXR
MX
View seen from wiring side.
Plate
Plate Plate
View seen from wiring side.
View seen from wiring side.
6 12 USING A FULLY CLOSED LOOP SYSTEM 12.6 Options and peripheral equipment
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12.7 Absolute position detection system
Structure An absolute position linear encoder is required to configure an absolute position detection system under fully closed loop control using a linear encoder. In this case, an encoder battery need not be installed to the servo amplifier. When a battery backup type rotary encoder is used, an absolute position detection system can be configured by installing the encoder battery to the servo amplifier. When a batteryless rotary encoder is used, the encoder battery need not be mounted to the servo amplifier.
Use an absolute position type encoder for the load-side encoder. Using an incremental type encoder triggers [AL. 037 Parameter error]. When using the Mitsubishi Electric direct drive motor for the load-side encoder, the Z-phase must be passed
through before homing. Switching between semi closed loop control and fully closed loop control cannot be performed. Set [Pr.
PE01.0 Fully closed loop function selection] to "0" (Always enabled). If [Pr. PE01.0] is set to "1" (switching by "fully closed loop selection" from the controller (C_CLD) and by the input device "fully closed loop selection" (CLD)), [AL. 037] occurs. Use the encoder within the range of 32-bit absolute position data. When the degree unit is used, the infinite
feed function is enabled. For details, refer to "Infinite feed function" in the following manual. MR-J5 User's Manual (Function) When a linear encoder is used for the load-side encoder, absolute position-related alarms ([AL. 025
Absolute position erased]) and warnings ([AL. 092 Battery cable disconnection warning] and [AL. 09F Battery warning]) are not detected.
Precautions When the absolute position detection system is configured with a rotary encoder, the battery life will be shorten because the current consumption is increased as the power from the battery is supplied to both the servo motor-side and the load-side encoder. To set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "0" by using the direct drive motor manufactured by Mitsubishi Electric, connect batteries and the absolute position storage unit (MR-BTAS01). Otherwise, [AL. 092 Battery cable disconnection warning] or [AL. 09F Battery warning] is detected. When [AL. 092] or [AL. 09F] occurs, setting [Pr. PL01.0] to "0" may not disable the magnetic pole detection. When the fully closed loop system is used with a Mitsubishi Electric-manufactured direct drive motor connected to the servo motor side and an absolute position type linear encoder connected to the load side and [Pr. PL01.0] is set to "0", set [Pr. PA03.0 Absolute position detection system selection] to "1" (enabled (absolute position detection system)), and reset the controller or cycle the power to reflect the parameter setting. After reflecting the setting, cycle the power and turn on the Z- phase.
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558
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)-030298ENG-A First edition
January 2020 SH(NA)-030298ENG-B Information on the following functions is added: Fully closed loop system, touch probe, MR-J3-D05 safety logic unit Added/edited: Section 3.5, Section 6.16, Chapter 11
February 2020 SH(NA)-030298ENG-C Modified overload protection characteristics Edited: Section 5.1
July 2020 SH(NA)-030298ENG-D Items related to the following functions and models are added: Functional safety, MR-J5-500_ servo amplifier, MR-J5-700_ servo amplifier, FR-XC multifunction regeneration converter, J5-CHP07-10P cabinet-mounting attachment, J5-CHP08 grounding terminal attachment Added/edited: Section 1.2, Section 3.3, Chapter 4, Chapter 5, Section 6.1, Section 6.4, Section 6.10, Section 6.18, Section 6.19, Chapter 9
November 2020 SH(NA)-030298ENG-E Items related to the following functions and models are added: 400 V class servo amplifier, MR-RB3Z, MR-RB3Y-4, MR-RB3M-4, MR-RB3G-4, MR-RB5Z, MR- RB5G-4, MR-RB5Y-4, general-purpose output A, general-purpose output B, general-purpose output C, absolute position detection system via communication Added/edited: Section 1.2, Chapter 2, Section 2.4, Section 3.1, Section 3.3, Section 3.4, Section 3.5, Section 3.6, Section 4.1, Section 4.2, Section 4.3, Section 5.1, Section 5.2, Section 5.3, Section 5.5, Section 6.1, Section 6.2, Section 6.3, Section 6.4, Section 6.10, Section 6.11, Section 6.12, Section 6.14, Section 6.15, Section 6.16, Section 6.18, Section 6.19, Section 7.4
March 2021 SH(NA)-030298ENG-F Combinations with servo amplifiers and motors are added: HK-ST302W, HK-ST352W, HK-ST524W, HK-ST1024W, HK-ST1724W, HK-ST2024AW, HK- ST3024W, HK-ST2024W, HK-ST3524W Added/edited: Section 1.2, Section 2.1, Section 3.1, Section 3.3, Section 3.4, Section 3.5, Section 3.6, Section 3.7, Section 4.1, Section 4.2, Section 4.4, Section 5.2, Section 5.3, Section 5.5, Section 6.1, Section 6.2, Section 6.3, Section 6.4, Section 6.5, Section 6.7, Section 6.9, Section 6.10, Section 6.11, Section 6.12, Section 6.14, Section 6.15, Section 6.16, Section 7.1, Section 8.1, Section 9.1, Section 10.2, Section 10.4, Section 10.6, Section 11.2, Section 11.4, Section 11.5, Section 11.6, Section 12.4, Section 12.5
June 2021 SH(NA)-030298ENG-G The HK-MT series servo motors are added. Edited: Section 1.1, Section 1.2, Section 1.3, Chapter 3, Section 3.1, Section 3.4, Section 3.5, Section 3.6, Section 3.7, Section 3.8, Section 4.1, Section 4.2, Section 4.3, Section 5.1, Section 5.2, Section 5.3, Section 6.1, Section 6.16, Section 6.19, Chapter 7, Section 7.1, Section 8.1, Section 8.2, Section 8.3, Chapter 9, Section 9.2, Section 9.3, Section 10.6, Section 11.2, Section 11.3, Section 11.6, Section 11.8, Section 12.1, Section 12.2, Section 12.4, Section 12.5
July 2022 SH(NA)-030298ENG-H MR-J5_-_B_ is added. Combinations with servo amplifiers and motors are added: HK-ST7M2UW, HK-ST172UW Combinations of servo amplifiers with the following linear servo motor are added: LM-AU Information on the following functions is added: Absolute position detection system Added/edited: SAFETY INSTRUCTIONS, Section 1.1, Section 1.2, Chapter 2, Section 3.1, Section 3.2, Section 3.3, Section 3.4, Section 3.5, Section 3.6, Section 3.8, Section 4.3, Section 4.6, Section 5.1, Section 5.2, Section 5.3, Section 5.4, Chapter 6, Section 7.1, Section 7.2, Chapter 8, Chapter 9, Chapter 10, Chapter 11, Chapter 12
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.
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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.
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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)-030298ENG-H
SH(NA)-030298ENG-H(2207)MEE MODEL: MODEL CODE:
Specifications are subject to change without notice. Compliance with the indicated global standards and regulations is current as of the release date of this manual.
When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS :
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