Contents

Mitsubishi MR-J5D MR-J5D-G-N1 Servo System User's Manual PDF

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Summary of Content for Mitsubishi MR-J5D MR-J5D-G-N1 Servo System User's Manual PDF

MR-J5D User's Manual (Hardware)

-MR-J5D_-_G_ -MR-J5D_-_G_-_N1

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 .

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[Transportation]

[Installation/wiring]

[Setting/adjustment]

[Operation]

[Maintenance]

CAUTION To prevent injury, transport the products correctly according to their mass.

WARNING To prevent an electric shock, turn off the power and wait for 20 minutes or more before starting wiring

and/or inspection. To prevent an electric shock, ground the converter unit/drive unit. 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, do not attempt to wire the converter unit/drive unit until it has been

mounted. To prevent an electric shock, connect the protective earth (PE) terminal of the converter unit/drive unit

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).

Rotary Servo Motor

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

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

Converter Unit

The manual is necessary for operating drive units. For the usage of each function, refer to this manual.

It describes the parameters of the drive units.

It describes the objects for the drive units.

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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 9 1.1 Wiring procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.2 Combination with converter units and drive units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Combination with power regeneration converter units and drive units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.3 Combination with drive units and servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Rotary servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.4 Wiring check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Power supply system wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 I/O signal wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1.5 Surrounding environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

CHAPTER 2 INSTALLATION 17 2.1 Mounting direction and clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Mounting hole location diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.2 Keeping out foreign materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.3 Cable stress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.4 Fan unit replacement procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

List of applicable fan units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Fan unit removal procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Fan unit installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.5 IP20 compatible terminal block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Side protection cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Side protection cover installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.6 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m . . . . . . . . . . . . 26 2.7 Installing the mounting attachment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Selection of attachment for power regeneration converter units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Selecting the attachment for drive units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Dimensions when installing the mounting attachment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

CHAPTER 3 SIGNALS AND WIRING 41 3.1 Example power circuit connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Drive unit termination settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 How to use the bus bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3.2 Example I/O signal connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 MR-J5D1-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 MR-J5D2-_G_/MR-J5D3-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

3.3 Explanation of power supply system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Explanation of signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Power-on procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Wiring CNP3_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

3.4 Connectors and pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

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6

Connectors and pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 3.5 Signal (device) explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Output device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

3.6 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Internal connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Detailed explanation of interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Source I/O interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

3.7 Servo motor with an electromagnetic brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

3.8 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

CHAPTER 4 DIMENSIONS 85 4.1 400 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 4.2 Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

CN3 connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 SCR connector system (3M) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

CHAPTER 5 CHARACTERISTICS 93 5.1 Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.2 Power supply capacity and generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Power supply capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

5.3 Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Dynamic brake operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

5.4 Cable flex life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 5.5 Inrush currents at power-on of control circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

CHAPTER 6 OPTIONS AND PERIPHERAL EQUIPMENT 115 6.1 Cables/connector sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Combinations of cables/connector sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 MR-D05UDL3M-B STO cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Ethernet cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Bus bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

6.2 MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Engineering tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Precautions for using USB communication function and Ethernet communication function . . . . . . . . . . . . . . . 121

6.3 Selection example of wires. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 6.4 Molded-case circuit breakers, fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Selection example (for control circuit power supply) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Selection examples that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274 . . . . . . . . . . . . . . . . . . . 126

6.5 Relay (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 6.6 Noise reduction techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Noise reduction techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Noise reduction products. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

6.7 Earth-leakage current breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

CHAPTER 7 ABSOLUTE POSITION DETECTION SYSTEM 136

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7.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 Restrictions [G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 Precautions [G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 System architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Servo parameter setting [G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Checking the detected absolute position data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 Procedure of replacing a servo motor with battery-less absolute position encoder . . . . . . . . . . . . . . . . . . . . . 139

7.2 Configuration and specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Connecting the battery-less encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

CHAPTER 8 USING STO FUNCTION 141 8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Terms related to safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Residual risks of the STO function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

8.2 Functional safety I/O signal connector (CN8) and pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 Signal (device) explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 How to pull out the STO cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

8.3 Connection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 Precautions for compliance with stop category 1 (IEC/EN 60204-1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 Precautions for compliance with stop category 0 (IEC/EN 60204-1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 Connection example for CN8 connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 External I/O signal connection example using an external safety relay unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

8.4 Detailed explanation of interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 Sink I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 Source I/O interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

CHAPTER 9 USING FUNCTIONAL SAFETY 152 9.1 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Safety sub-function control by input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 Safety sub-function control by network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

9.2 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Safety sub-function control by input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Safety sub-function control by network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

9.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 9.4 Connectors and pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 9.5 Example I/O signal connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 Output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

9.6 Connecting I/O interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 Source input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 Sink input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

9.7 Wiring the SBC output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 9.8 Noise reduction techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

7

8

9.9 Example of connection with other devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 Safety sub-function control by input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 Safety sub-function control by network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

CHAPTER 10 USING A FULLY CLOSED LOOP SYSTEM 164 10.1 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 10.2 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Operation mode and load-side encoder combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 System architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

10.3 Signals and wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 Encoder cable configuration diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

10.4 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 Servo parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 Checking position data of the load-side encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

10.5 Basic functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 Operation from controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 Fully closed loop control error detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 About MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

10.6 Options and peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 MR-J4FCCBL03M branch cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

10.7 Absolute position detection system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192

1

1 INTRODUCTION

1.1 Wiring procedure Procedure Description Reference

1. Installation Install the converter unit/drive unit. Page 17 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 48 Example I/O signal connections

4. Connecting to the servo motor

Connect the drive unit and servo motor. If using the drive unit in a fully closed loop system, connect the drive unit to a linear encoder or a rotary encoder.

Rotary Servo Motor User's Manual (For MR-J5) Page 164 USING A FULLY CLOSED LOOP SYSTEM

5. Connecting options Connect options. Page 115 OPTIONS AND PERIPHERAL EQUIPMENT

6. Other precautions If using the absolute position detection system and the functional safety, perform wiring and settings as necessary.

Page 136 ABSOLUTE POSITION DETECTION SYSTEM Page 141 USING STO FUNCTION Page 152 USING FUNCTIONAL SAFETY

7. Wiring check Check that the converter unit, drive unit, and the servo motor are wired correctly by visually inspecting them or by using a method such as the DO forced output function.

Page 14 Wiring check

8. Checking the surrounding environment

Check the environment surrounding the converter unit, drive unit, and servo motor.

Page 16 Surrounding environment

1 INTRODUCTION 1.1 Wiring procedure 9

10

1.2 Combination with converter units and drive units Combination with power regeneration converter units and drive units

Selection method Use the following conditions to select a power regeneration converter unit. By satisfying all the conditions, multiple drive units can be connected to one power regeneration converter unit. When connecting multiple drive units, arrange them in descending order of capacity per axis of the drive unit from the right side of the power regeneration converter unit. Effective value of total output power of servo motors [kW] Continuous rating of the MR-CV_ [kW] Maximum value of total output power of servo motors [kW] 1.2 Instantaneous maximum rating of the MR-CV_ [kW] Total unit width of the MR-J5D_ 1500 mm

Selection example The following information explains how to select a power regeneration converter unit to connect the drive units and servo motors listed below.

MR-CV_ 11K4 18K4 30K4 37K4 45K4 55K4 75K4 Continuous rating [kW] 7.5 11 20 25 25 55 55

Instantaneous maximum rating [kW] 39 60 92 101 125 175 180

Total unit width of the MR-J5D_ 1500 mm or less

Item MR-J5D1-_ MR-J5D2-_ MR-J5D3-_

100G4 200G4 350G4 500G4 700G4 100G4 200G4 350G4 500G4 700G4 100G4 200G4 Unit width [mm] 60 60 75 60

Drive unit Servo motor MR-J5D2-700G4 HK-ST7024W

HK-ST5024W

MR-J5D3-200G4 HK-ST2024W

HK-ST2024W

HK-ST2024W

1 INTRODUCTION 1.2 Combination with converter units and drive units

1

1. Use the following formula to calculate the running power and regenerative power of each servo motor from the servo motor speed and torque.

Running power and regenerative power [W] = Servo motor speed [r/min] Torque [Nm]/9.55

2. Calculate the total output power of the servo motors from the running power and regenerative power of each servo motor.

The effective value of the total servo motor output power [kW]

MR-CV18K4 or more Maximum value of the total servo motor output power [kW] 1.2 = 21 kW 1.2 = 25.2 kW

MR-CV11K4 or more Total drive unit width = 75 mm (MR-J5D2-700G4) + 60 mm (MR-J5D3-200G4) = 135 mm 1500 mm Therefore, the power regeneration converter unit selected should be the "MR-CV18K4".

1 kW 1 kW-3 kW

0.2 s0.1 s 0.1 s 0.1 s

0.1 s

0.3 s 0.3 s

0.2 s 0.3 s

0.2 s

0.2 s

0.3 s

0.2 s

0.2 s

0.1 s 0.1 s

0.2 s0.2 s

0.1 s

0.1 s

0.1 s

0.1 s

0.3 s0.1 s

0.1 s 0.1 s

0.1 s

12 kW 9 kW 7 kW 7 kW 3 kW -5 kW

4 kW

-4 kW 6 kW

0.1 s 0.2 s

-3 kW

21 kW

HK-ST5024W

HK-ST2024W

HK-ST2024W

0.1 s 0.1 s

0.7 s

0.1 s 0.1 s

6 kW

15 kW

0.1 s 0.2 s

4 kW HK-ST7024W 0.7 s

4 kW 2 kW 2 kW

4 kW2 kW 2 kW 2 kW

0.1 s

-4 kW

-4 kW HK-ST2024W

0.2 s

1 kWTotal output power of the servo motors

Add up all the servo motor outputs

Running power

Regenerative power

Running power

Regenerative power

Running power

Regenerative power

Running power

Regenerative power

Running power

Regenerative power

Running power Regenerative power

(212 0.1 + 122 0.1 + 92 0.1 + 72 0.1 + 32 0.1 + (-5)2 0.1 + 72 0.2 + 12 0.1)/1.2 = 8.4 kW

n = 1(Pn tn)/TN 2

=

= (Pn: power running/regenerative power (kW), tn: power output time (s), T: one cycle time (s))

1 INTRODUCTION 1.2 Combination with converter units and drive units 11

12

1.3 Combination with drive units and servo motors By combining a servo motor with a larger capacity drive unit, the maximum torque can be increased to 400 % or 450 %.

Rotary servo motor

As long as the servo motor is compatible with the drive unit, any combination of the servo motor series and capacity is possible.

HK-KT series The combinations of geared servo motors and drive units are the same as those listed in the following table. However, for geared servo motors, the maximum torque does not increase even when they are combined with a drive unit whose combination allows for increased torque as specified in the following table.

400 V class drive unit : Standard torque : Increased torque

*1 Use servo motors manufactured in September 2020 or later. Otherwise, [AL. 01A Servo motor combination error] occurs.

Rotary servo motor Drive unit MR-J5D_-

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 *1

HK-KT634W *1 *1 *1

80 HK-KT7M34W *1 *1 *1

HK-KT1034W *1 *1 *1

90 HK-KT634UW

HK-KT1034UW

HK-KT1534W *1 *1

HK-KT2034W *1 *1

HK-KT2024W *1 *1

1 INTRODUCTION 1.3 Combination with drive units and servo motors

1

HK-ST series The combinations of geared servo motors and drive units are the same as those listed in the following table. However, for geared servo motors, the maximum torque does not increase even when they are combined with a drive unit whose combination allows for increased torque as specified in the following table.

400 V class drive unit : Standard torque : Increased torque

*1 The combinations of the HK-ST1524_G_ and drive units are the same as those for the HK-ST1724W. *2 Use servo motors manufactured in December 2020 or later. Otherwise, [AL. 01A Servo motor combination error] occurs. *3 Use servo motors manufactured in April 2021 or later. Otherwise, [AL. 01A] occurs.

HK-RT series 400 V class drive unit : Standard torque : Increased torque

Rotary servo motor Drive unit MR-J5D_-

100_4 200_4 350_4 500_4 700_4 HK-ST_4_W *1 130 HK-ST524W *2 *2

HK-ST1024W *2 *2 *2

HK-ST1724W *2 *2 *3

HK-ST2024AW *2 *2 *3

HK-ST3024W *2 *3 *3

HK-ST3534W

HK-ST5034W

176 HK-ST2024W *2 *2 *3

HK-ST3524W *2 *3 *3

HK-ST5024W *3 *3

HK-ST7024W *3

Rotary servo motor Drive unit MR-J5D_-

100_4 200_4 350_4 500_4 700_4 HK-RT_4W 90 HK-RT1034W

HK-RT1534W

HK-RT2034W

130 HK-RT3534W

HK-RT5034W

HK-RT7034W

1 INTRODUCTION 1.3 Combination with drive units and servo motors 13

14

1.4 Wiring check Before switching on the main circuit and control circuit power supplies, check the following items.

Power supply system wiring

Power supply system wiring Check that the power supplied to the power input terminals (L11/L21) of the drive unit satisfies the defined specifications.

For the power supply specifications, refer to "Drive unit standard specifications" in User's Manual (Introduction).

Connecting drive units and servo motors Check that the power supplied to the power input terminals (L11/L21) of the drive unit satisfies the defined specifications.

For the power supply specifications, refer to "Drive unit standard specifications" in User's Manual (Introduction). Check that the CNP3A connector of the drive unit and A-axis servo motor, the CNP3B connector and B-axis servo motor,

and the CNP3C connector and C-axis servo motor are connected, and that the phases (U/V/W) of the drive unit power outputs match with the phases (U/V/W) of the power inputs of each servo motor.

*1 For 2-axis drive units *2 For 3-axis drive units

CNP3A

CNP3B *1*2

CNP3C *2

U

V

W M

U

V

W M

U

V

E

E

E

W M

U

V

W

E

U

V

W

E

U

V

W

E

Drive unit A-axis servo motor

B-axis servo motor *1*2

C-axis servo motor *2

1 INTRODUCTION 1.4 Wiring check

1

Check that the power to be supplied to the converter unit is not connected to the power outputs (U/V/W) of the drive unit. Otherwise, the drive unit and the servo motor will malfunction.

Check that the grounding terminal of the servo motor is connected to the grounding terminal of the CNP3_ connector of the drive unit.

Check that the CN2A connector and the encoder of the A-axis servo motor, the CN2B connector and the encoder of the B- axis servo motor, and the CN2C connector and the encoder of the C-axis servo motor are securely connected in the drive unit using a motor cable or encoder cable.

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 48 Example I/O signal connections Check that a voltage exceeding 24 V DC has not been applied to the pins of the CN3 connector.

M

U

V

W

U

V

W

Drive unit Servo motor

M E

E

Drive unit Servo motor

1 INTRODUCTION 1.4 Wiring check 15

16

1.5 Surrounding environment Check the following items about the environment surrounding the converter unit, drive unit, and servo motor.

Handling cables Check that the wiring cables have not been stressed. Check that the encoder cable has been used within its flex life. Page 113 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 1.5 Surrounding environment

2

2 INSTALLATION Precautions

Mount the converter unit and drive unit on incombustible material. Installing them either directly on or near combustibles may lead to smoke or a fire. In addition, the converter unit and drive unit must be installed in a metal cabinet.

Provide adequate protection so as to prevent conductive matter (such as screws and metal fragments) and combustible matter (such as oil) from entering the converter unit and drive unit.

Devices such as the converter unit, drive unit, 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 converter unit and drive unit. Doing so may cause the

drive unit to drop. To prevent a malfunction, do not drop the converter unit, drive unit, or servo motor or subject them to impacts. Install the converter unit, drive unit, 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 and operate a converter unit or drive unit that is missing parts or is damaged. To prevent a malfunction, do not block the intake and exhaust areas of the converter unit and drive unit. 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 "Drive unit 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 drive unit 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 converter unit and drive unit, pay attention to their corners. 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 drive unit in environments where it is exposed to strong magnetic fields, electric fields, or radiation. Doing so

may cause operation failure or malfunction.

2 INSTALLATION 17

18

2.1 Mounting direction and clearances Precautions

The converter unit and drive unit must be installed in the specified direction. To prevent a malfunction, maintain the specified clearances between the converter unit/drive unit and cabinet walls or other

equipment. Circulate air so that the air at the top and bottom of the converter unit and drive unit does not stagnate. When using heat-generating equipment, install it with full consideration of heat generation so that the converter unit and

drive unit are not affected. Mount the converter unit and drive unit on a perpendicular wall in the correct vertical direction.

Installation

MR-CV_ power regeneration converter unit/MR-J5D_ drive unit

Connect the drive unit to the right side of the power regeneration converter unit as shown in the figure.

30 mm or more 30 mm or more

Wiring allowance 40 mm or more

Wiring allowance 120 mm or more

Wiring allowance 100 mm or more

Top

Bottom

2 INSTALLATION 2.1 Mounting direction and clearances

2

Mounting hole location diagram

MR-CV11K4/MR-CV18K4

Drive unit/converter unit Variable dimensions [mm]

W1 W2 W3 W4 W5 MR-CV11K4 90 60 15

MR-CV18K4 90 60 15

MR-J5D (60 width) 60 30

MR-J5D (75 width) 75 30

W1 W3

39 4

W2 W4

W5

36 0

Ap pr

ox . 8

Ap pr

ox . 1

7 Ap

pr ox

. 1 0

Ap pr

ox . 4

10 Ap

pr ox

. 8

Ap pr

ox . 1

0 Ap

pr ox

. 1 7

Approx. W32-M5 screw 2-M5 screw

Ap pr

ox . 3

80

Converter unit Drive unit

2 INSTALLATION 2.1 Mounting direction and clearances 19

20

MR-CV30K4 to MR-CV75K4

Drive unit/converter unit Variable dimensions [mm]

W1 W2 W3 W4 W5 W6 MR-CV30K4 150 90 30

MR-CV37K4 150 90 30

MR-CV45K4 150 90 30

MR-CV55K4 300 240 30

MR-CV75K4 300 240 30

MR-J5D (60 width) 60 30 15

MR-J5D (75 width) 75 45 15

W1 W3

39 4

W2 W4

W6

39 4

W5

Approx. W32-M5 screw

Ap pr

ox . 8

Ap pr

ox . 8

2-M5 screw

Approx. W8

Ap pr

ox . 8

Ap pr

ox . 8

Converter unit Drive unit

Ap pr

ox . 4

10

Ap pr

ox . 4

02

2 INSTALLATION 2.1 Mounting direction and clearances

2

2.2 Keeping out foreign materials When drilling the cabinet for assembly, prevent drill chips and wire fragments from entering the converter unit and drive unit. Prevent foreign matter such as oil, water, and metallic dust from entering the converter unit and drive unit 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 113 Cable flex life

Precautions The cables should not be damaged, stressed, loaded, or pinched.

2.4 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. In addition, shut off the main circuit power supply and control circuit power supply and wait at least 20 minutes before replacing the fan unit.

List of applicable fan units Drive unit Model of fan unit to be replaced MR-J5D1-500G4 MR-J5D1-700G4 MR-J5D2-200G4 MR-J5D2-350G4 MR-J5D3-200G4

MR-J5D-FAN1

MR-J5D2-500G4 MR-J5D2-700G4

MR-J5D-FAN2

2 INSTALLATION 2.2 Keeping out foreign materials 21

22

Fan unit removal procedure The following illustrates an example where the MR-J5D-FAN1 is removed from the MR-J5D1-500G4.

1. Remove the screws that fixed the fan unit. Keep the removed screws for installation of the new fan unit.

2. Pull out the fan unit vertically.

2 INSTALLATION 2.4 Fan unit replacement procedure

2

Fan unit installation procedure The following illustrates an example where the MR-J5D-FAN1 is installed to the MR-J5D1-500G4.

1. Insert the positioning part of the fan unit vertically while aligning it to the positioning part of the main unit case.

2. Tighten the fan unit with screws. Use the same screws as those used for the fan unit before replacement.

2 INSTALLATION 2.4 Fan unit replacement procedure 23

24

2.5 IP20 compatible terminal block Attach the side protection cover (optional) to the rightmost unit and lock the terminal block cover so that the terminal block conforms to IP20. The external dimensions before and after mounting the side protection cover do not change.

Side protection cover

Dimensions

Drive unit Side protection cover model MR-J5D_ MR-J5DCASE01

2 INSTALLATION 2.5 IP20 compatible terminal block

2

Side protection cover installation procedure 1. Set the lock of the terminal block cover to "OPEN". (Turn it counterclockwise.)

2. Open the terminal block cover and insert the side protection cover along the slit on the right side of the terminal block. If the control circuit power supply is wired from the right side, pass the wire through the groove on the side protection cover to prevent it from getting caught.

3. Close the terminal block cover and set the lock of the terminal block cover to "LOCK". (Turn it clockwise.)

2 INSTALLATION 2.5 IP20 compatible terminal block 25

26

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

Refer to "Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m" in the following manual for converter unit restrictions. MR-CV Power Regeneration Converter Unit User's Manual

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.

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.

Drive unit cooling fan There is no restriction.

0 20001000 0

[m]

55 60 70

[C]

Am bi

en t t

em pe

ra tu

re

Altitude

2 INSTALLATION 2.6 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m

2

2.7 Installing the mounting attachment The mounting attachment is required to mount the power regeneration converter unit to the cabinet.

List of applicable mounting attachments Power regeneration converter unit

Attachment for power regeneration converter units

Drive unit Attachment for drive units

MR-CV11K4 MR-CV18K4

MR-ADCACN090 MR-J5D1_ MR-J5D2_ MR-J5D3_

No attachment required

MR-CV30K4 MR-CV37K4 MR-CV45K4

MR-ADCACN150 MR-J5D1_ MR-J5D2-100G4 MR-J5D2-200G4 MR-J5D2-350G4 MR-J5D3_

MR-ADACN060

MR-J5D2-500G4 MR-J5D2-700G4

MR-ADACN075

MR-CV55K4 MR-CV75K4

MR-ADCACN300 MR-J5D1_ MR-J5D2-100G4 MR-J5D2-200G4 MR-J5D2-350G4 MR-J5D3_

MR-ADACN060

MR-J5D2-500G4 MR-J5D2-700G4

MR-ADACN075

2 INSTALLATION 2.7 Installing the mounting attachment 27

28

Selection of attachment for power regeneration converter units

Mounting attachment installation procedure The following shows how to install the mounting attachment to the power regeneration converter unit and then to the cabinet. It is also possible to install the mounting attachment to the cabinet first and then to the converter unit. At the removal, it is possible to remove both the mounting attachment and the converter unit or the converter unit alone.

1. Attach the mounting attachment to the power regeneration converter unit. MR-CV11K4/MR-CV18K4

MR-CV30K4/MR-CV37K4/MR-CV45K4/MR-CV55K4/MR-CV75K4

MR-ADCACN090

Power regeneration converter unit

Mounting screw (2) Screw size: M5 Tightening torque: 3.24 [Nm]

MR-ADCACN150 MR-ADCACN300

Power regeneration converter unit

Mounting screw (4) Screw size: M5 Tightening torque: 3.24 [Nm]

2 INSTALLATION 2.7 Installing the mounting attachment

2

2. Install the power regeneration converter unit to the cabinet. MR-CV11K4/MR-CV18K4

MR-CV30K4/MR-CV37K4/MR-CV45K4/MR-CV55K4/MR-CV75K4

Mounting screw (4) Screw size: M5 Tightening torque: 3.24 [Nm]

Mounting screw (4) Screw size: M5 Tightening torque: 3.24 [Nm]

2 INSTALLATION 2.7 Installing the mounting attachment 29

30

Selecting the attachment for drive units

Mounting attachment installation procedure The following shows how to install the mounting attachment to the drive unit and then to the cabinet. It is also possible to install the mounting attachment to the cabinet first and then to the drive unit. At the removal, it is possible to remove both the mounting attachment and the drive unit or the drive unit alone.

1. Install the mounting attachment to the drive unit.

2. Install the drive unit to the cabinet.

Drive unit

Mounting screw (2) Screw size: M5 Tightening torque: 3.24 [Nm]

Mounting attachment

Mounting screw (4) Screw size: M5 Tightening torque: 3.24 [Nm]

2 INSTALLATION 2.7 Installing the mounting attachment

2

Dimensions when installing the mounting attachment

Power regeneration converter unit MR-CV11K4/MR-CV18K4

8 39

4 8

41 0

6

200

15 5

19 5

2.3180 80

90

16.2 32.4

72.8

39 .4 92

11 24

12 4.

5

68

73.5

25.6258.5

21 6

25 6.

6

255.56

TE3 TE1

TE2

PE

TE1

L21

L11

TE3

L- L+

TE2

PE

L1 L2 L3

Cooling fan exhaust 6 mounting hole

Terminal assignment

Approx. 80

Intake

TE1 Screw size: M5 Tightening torque: 2.0 [Nm] TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

2 INSTALLATION 2.7 Installing the mounting attachment 31

32

MR-CV30K4/MR-CV37K4/MR-CV45K4

180 200

15 5

19 5

2.3 110

28 8

24 2

41 0

8 39

4 8

6 6

150 30 90 30

92 11

12 4.

5

150

26

37 .5

88

1. 5

108 113.5

49 52

24

285.5 288.5

TE3 TE1

TE2

PE

TE1

L21

L11

TE3

L- L+

TE2

PE

L1 L2 L3

2-6 mounting hole

Approx. 80

Intake

Cooling fan

exhaust

Terminal assignment

TE1 Screw size: M8 Tightening torque: 6.0 [Nm] TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M8 Tightening torque: 6.0 [Nm]

2 INSTALLATION 2.7 Installing the mounting attachment

2

MR-CV55K4/MR-CV75K4 8

41 0

300

8

6 6

3024030

15 5

19 5

2.3 200 180

110

26 8.

5

27 1.

5

12 4.

5 24

12 4.

5 24

11

124 52 26

40 .5

223.5

22256 236

38 92

22 22 288.5 285.5

15 2

24030

39 4

TE3

TE2-2 TE2-1

PE

TE1

TE1

L- L+

TE2-2

L- L+

TE2-1

PE

L1 L2 L3 L21

L11

TE3

Cooling fan

exhaust 2-6 mounting hole

Terminal assignment

Approx. 80

Intake

2-M10 (for eyebolt)

TE1 Screw size: M8 Tightening torque: 6.0 [Nm] TE2-1 Screw size: M6 Tightening torque: 3.0 [Nm] TE2-2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M8 Tightening torque: 6.0 [Nm]

2 INSTALLATION 2.7 Installing the mounting attachment 33

34

Drive unit MR-J5D1-100G4 to MR-J5D1-350G4

24 11

13 9.

5 10

7

43.5 38

2.3

CN5 CN3

CN2A

35 0

CN2AL

CNP3A PE

288.5

285.5

CN1A CN1B

CN40A CN40B

CN8

CN4

TE2

TE3

15

39 4

30

60 15

8

41 0

39 4

8

15

30

30

310

30

CNP3A

L21

L11

TE3

L- L+

TE2

PE

W V U E

6 mounting hole

4-M5 Screw

Ap pr

ox . 8 Approx. 60

Approx. 40

Ap pr

ox . 8

Ap pr

ox . 4

10

Ap pr

ox . 1

20 Ap

pr ox

. 1 00

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Terminal block location diagram (drawn with the cover removed)

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Terminal assignment

2 INSTALLATION 2.7 Installing the mounting attachment

2

MR-J5D1-500G4/MR-J5D1-700G4

24 11

13 9.

5 10

7 43.5 38

2.3

CN5 CN3

CN2A

35 0

CN2AL

CNP3A PE

288.5

285.5

CN1A CN1B

CN40A CN40B

CN8

CN4

TE2

TE3

15

39 4

30

60 15

8

41 0

39 4

8

15

30

30

310

30

CNP3A

L21

L11

TE3

L- L+

TE2

PE

W V U E

6 mounting hole

4-M5 Screw

Ap pr

ox . 8 Approx. 60

Approx. 40

Ap pr

ox . 8

Ap pr

ox . 4

10

Ap pr

ox . 1

20 Ap

pr ox

. 1 00

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Terminal block location diagram (drawn with the cover removed)

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Terminal assignment

Intake

Cooling fan exhaust

2 INSTALLATION 2.7 Installing the mounting attachment 35

36

MR-J5D2-100G4

24 11

13 9.

5 10

7 43.5 38

2.3

CN5 CN3

CN2A

35 0

CN2B

CNP3A PE

288.5

285.5

CN1A CN1B

CN40A CN40B

CN8

CN4

TE2

TE3

15

39 4

30

60 15

8

41 0

39 4

8

15

30

30

310

30

CNP3B

CNP3A/CNP3B

L21

L11

TE3

L- L+

TE2

PE

W V U E

6 mounting hole

4-M5 Screw

Ap pr

ox . 8 Approx. 60

Approx. 40

Ap pr

ox . 8

Ap pr

ox . 4

10

Ap pr

ox . 1

20 Ap

pr ox

. 1 00

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Terminal block location diagram (drawn with the cover removed)

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Terminal assignment

2 INSTALLATION 2.7 Installing the mounting attachment

2

MR-J5D2-200G4/MR-J5D2-350G4

24 11

13 9.

5 10

7 43.5 38

2.3

CN5 CN3

CN2A

35 0

CN2B

CNP3A CNP3B PE

288.5

285.5

CN1A CN1B

CN40A CN40B

CN8

CN4

TE2

TE3

15

39 4

30

60 15

8

41 0

39 4

8

15

30

30

310

30

CNP3A/CNP3B

L21

L11

TE3

L- L+

TE2

PE

W V U E

6 mounting hole

4-M5 Screw

Ap pr

ox . 8 Approx. 60

Approx. 40

Ap pr

ox . 8

Ap pr

ox . 4

10

Ap pr

ox . 1

20 Ap

pr ox

. 1 00

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Terminal block location diagram (drawn with the cover removed)

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Terminal assignment

Cooling fan exhaust

Intake

2 INSTALLATION 2.7 Installing the mounting attachment 37

38

MR-J5D2-500G4/MR-J5D2-700G4

CNP3A/CNP3B

L21

L11

TE3

L- L+

TE2

PE

W V U E

75 15 2.3

15

39 4

CN5 CN3

35 0

288.5

285.5 CN4

TE2

TE3

CN2A

CNP3A PECNP3B

CN2B

CN1A CN1B

CN40A CN40B

CN8

45

8

41 0

39 4

8

15

45

45

310

10 7

11 13

9. 5

24

53 58.5

30

Ap pr

ox . 8 Approx. 75

Approx. 40

Ap pr

ox . 8

Ap pr

ox . 4

10

Ap pr

ox . 1

20 Ap

pr ox

. 1 00

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Terminal block location diagram (drawn with the cover removed)

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Terminal assignment

Cooling fan exhaust

Intake

4-M5 Screw

6 mounting hole

2 INSTALLATION 2.7 Installing the mounting attachment

2

MR-J5D3-100G4

24 11

13 9.

5 10

7 43.5 38

2.3

CN5 CN3

CN2A CN2B CN2C

35 0

CNP3A CNP3B CNP3C PE

288.5

285.5

CN1A CN1B

CN40A CN40B

CN8

CN4

TE2

TE3

15

39 4

30

60 15

8

41 0

39 4

8

15

30

30

310

CNP3A/CNP3B/ CNP3C

L21

L11

TE3

L- L+

TE2

PE

W V U E

30

6 mounting hole

4-M5 Screw

Ap pr

ox . 8 Approx. 60

Approx. 40

Ap pr

ox . 8

Ap pr

ox . 4

10

Ap pr

ox . 1

20 Ap

pr ox

. 1 00

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Terminal block location diagram (drawn with the cover removed)

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Terminal assignment

2 INSTALLATION 2.7 Installing the mounting attachment 39

40

MR-J5D3-200G4

CNP3A/CNP3B/ CNP3C

L21

L11

TE3

L- L+

TE2

PE

W V U E

24 11

13 9.

5 10

7 43.5 38

2.3

CN5 CN3

35 0

CNP3A PE

288.5

285.5

CN1A CN1B

CN40A CN40B

CN8

CN4

TE2

TE3

15

39 4

30

60 15

8

41 0

39 4

8

15

30

30 30

310

CN2A CN2B CN2C

CNP3B CNP3C

6 mounting hole

4-M5 Screw

Ap pr

ox . 8 Approx. 60

Approx. 40

Ap pr

ox . 8

Ap pr

ox . 4

10

Ap pr

ox . 1

20 Ap

pr ox

. 1 00

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Terminal block location diagram (drawn with the cover removed)

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Terminal assignment

Cooling fan exhaust

Intake

2 INSTALLATION 2.7 Installing the mounting attachment

3

3 SIGNALS AND WIRING Precautions

Insulate the conductive parts of the terminals. Turn off the power and wait for 20 minutes or more until the charge light of the unit turns off. Checking the voltage between

L+ and L- 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_ of the drive unit may cause a malfunction.

Check that no operation signal is being input to the drive unit 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 drive unit according to the EMC guidelines because electromagnetic interference may affect the electronic equipment used near the drive unit.

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

Drive unitDrive unit 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 converter unit to configure a circuit that shuts off the power supply on the converter unit side because failure of the converter unit 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 converter unit 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

converter unit 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. To prevent malfunction, avoid bundling the converter unit/drive unit'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.

Drive unit termination settings Set [Pr. PC46.2] and [Pr. PC46.3] in each drive unit as follows according to the configuration of the converter unit and drive unit.

Number of drive units connected to one converter unit

Drive unit position Servo parameter

[Pr. PC46.2 Protection coordination multiple connections selection]

[Pr. PC46.3 Protection coordination end terminal setting]

1 0 (initial value) Setting disabled

2 or more Far end 1 1

Other than at the far end 0 (initial value)

3 SIGNALS AND WIRING 3.1 Example power circuit connections

3

When the magnetic contactor drive output is enabled

Set the converter setting rotary switch of the power regeneration converter unit to "0" (factory setting).

For crossover wiring of L11/L21

*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. 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.

*2 To prevent an unexpected restart of the drive unit, configure a circuit that turns off EM2 of the drive unit when the main circuit power supply is turned off.

*3 Use a configuration that shuts off the main circuit power supply by turning off CVST (converter stop). Assign CVST with [Pr. PD09 Output device selection 3].

*4 When performing forced stop deceleration using EM2, the converter unit shuts off the main circuit power supply by protection coordination after the servo motor stops.

*5 Install an overcurrent protection device (molded-case circuit breaker, fuse, etc.) to protect the branch circuit. Page 124 Molded-case circuit breakers, fuses

*6 For wire size and overcurrent protection device selection, refer to the following. Page 122 Selection example of wires

*7 Use the MR-ACDL_M for the protection coordination cable between the converter unit and the drive unit. Use the MR-ADDL02M for the protection coordination cable between drive units.

*8 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.

MCCB MC *1 L1

L2

L3

1

3

MC1

MC2

L11

L21

L11

L21

L11

L21

L+

L-

U

V

W

MC

SK

RA1

DOCOM

CVST

14

15

DICOM

EM2

8

13

L+

L- L+

L-

DOCOM

CVST

14

15

DICOM

EM2

8

13

M

U

V

W

E E

M

*4

*3

*4

CN2_ CN2_

*5*6 *8

*8 *8

RA2RA1 *3

CN23

CN4 CN40A CN40B

CN8 CN8

CN40A

CN1A

CN40B

CN1B

CN3 CN3

CN1A CN1B

RA2 *3

AC reactor Drive unitDrive unit

Encoder Encoder

Drive unit error

Ready for operation OFF/ON

Drive unit error

Emergency stop switch

Protection coordination cable *7

Protection coordination cable *7

Controller

Dedicated bus bar

Dedicated bus bar

Short-circuit connector (supplied)

Short-circuit connector (supplied)

Power regeneration converter unit

3 SIGNALS AND WIRING 3.1 Example power circuit connections 43

44

For branch wiring of L11/L21 For notes, refer to the notes in the following section. Page 43 For crossover wiring of L11/L21

MCCB MC *1 L1

L2

L3

1

3

MC1

MC2

L11

L21

L11

L21

L11

L21

L+

L-

U

V

W

MC

SK

RA1

DOCOM

CVST

14

15

DICOM

EM2

8

13

L+

L- L+

L-

DOCOM

CVST

14

15

DICOM

EM2

8

13

M

U

V

W

E E

M

*4

*3

*4

CN2_ CN2_

*5*6

*5*6 *8

*8 *8 *5*6

RA2RA1 *3

CN23

CN4 CN40A CN40B

CN8 CN8

CN40A

CN1A

CN40B

CN1B

CN3 CN3

CN1A CN1B

RA2 *3

AC reactor Drive unitDrive unit

Encoder Encoder

Drive unit error

Ready for operation OFF/ON

Drive unit error

Emergency stop switch

Controller

Dedicated bus bar

Dedicated bus bar

Short-circuit connector (supplied)

Short-circuit connector (supplied)

Protection coordination cable *7

Protection coordination cable *7

Power regeneration converter unit

3 SIGNALS AND WIRING 3.1 Example power circuit connections

3

When the magnetic contactor drive output is disabled

Set the converter setting rotary switch of the power regeneration converter unit to "1".

For crossover wiring of L11/L21 For notes, refer to the notes in the following section. Page 43 For crossover wiring of L11/L21

L1

L2

L3

B

C

B

C

L11

L21

L11

L21

L11

L21

L+

L-

U

V

W

MC

SK

MCCB

DOCOM

CVST

14

15

DICOM

EM2

8

13

L+

L- L+

L-

DOCOM

CVST

14

15

DICOM

EM2

8

13

M

U

V

W

E E

M

*4 *4

CN2_ CN2_

RA2 RA3RA1 *3

MC *1

CN25

CN4 CN40A CN40B

CN8 CN8

CN40A

CN1A

CN40B

CN1B

CN3 CN3

CN1A CN1B

RA3

RA1 *3 RA2 *3

*5*6 *8

*8 *8

Drive unitDrive unit

Encoder Encoder

Drive unit error

Ready for operation OFF/ON

Drive unit error

Emergency stop switch

Controller

AC reactor Dedicated bus bar

Dedicated bus bar

Short-circuit connector (supplied)

Short-circuit connector (supplied)

Converter unit error

Protection coordination cable *7

Protection coordination cable *7

Power regeneration converter unit

3 SIGNALS AND WIRING 3.1 Example power circuit connections 45

46

For branch wiring of L11/L21 For notes, refer to the notes in the following section. Page 43 For crossover wiring of L11/L21

L1

L2

L3

B

C

B

C

L11

L21

L11

L21

L11

L21

L+

L-

U

V

W

MCCB

DOCOM

CVST

1

2

DICOM

EM2

9

8

L+

L- L+

L-

DOCOM

CVST

1

2

DICOM

EM2

9

8

M

U

V

W

E E

M

*4 *4

CN2_ CN2_

*5*6

*5*6 *8

*8 *8 *5*6

MC *1

CN25

CN4 CN40A CN40B

CN8 CN8

CN40A

CN1A

CN40B

CN1B

CN3 CN3

CN1A CN1B

RA3

RA1 *3 RA2 *3

MC

SK

RA2 RA3RA1 *3

Drive unitDrive unit

Encoder Encoder

Controller

AC reactor Dedicated bus bar

Dedicated bus bar

Short-circuit connector (supplied)

Short-circuit connector (supplied)

Protection coordination cable *7

Protection coordination cable *7

Power regeneration converter unit

Drive unit error

Ready for operation OFF/ON

Drive unit error

Converter unit error

Emergency stop switch

3 SIGNALS AND WIRING 3.1 Example power circuit connections

3

How to use the bus bar

Screw the top and bottom bus bar alternately starting from the converter unit side. Overlap and screw the bus bar on the TE2 terminal block of the drive unit. If the number of drive units connected to the converter unit is an even number, there will be a gap between

the TE2 terminal block of the drive unit at the far end and the bus bar by the thickness of the conductor. Insert the adjustment bar (MR-DCBAR024-B05) between the TE2 terminal block and the bus bar and screw it in.

Page 120 Adjustment bar

Connect L+ and L- of the converter unit and L+ and L- of the drive unit using the dedicated bus bar as follows. The figure is drawn with the terminal cover removed. When connecting multiple drive units to the converter unit, arrange them in descending order of capacity per axis of the drive unit from the right side of the converter unit.

L+

L-

Bus bar Bus bar Bus bar Bus bar

Overlap and screw the bus bars.

Adjustment bar If there is a gap between the bus bar at the far end and the TE2 terminal block of the drive unit, overlap and screw the adjustment bars.

3 SIGNALS AND WIRING 3.1 Example power circuit connections 47

48

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 drive unit. Doing so may cause a malfunction.

In the torque mode, EM2 functions the same as EM1.

3 SIGNALS AND WIRING 3.2 Example I/O signal connections

3

MR-J5D1-_G_

Sink I/O interface

*1 To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the symbol) of the drive unit to the protective earth (PE) of the cabinet.

*2 Connect the diode in the correct direction. If it is connected reversely, the drive unit 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 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 77 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, ALM (Malfunction) is on (normally closed contact). *8 In the initial setting, INP (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] to [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 drive unit, 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 drive unit. *13 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. *14 This device is used for forced stop of the drive unit. Perform an emergency stop of the whole system on the controller side.

13EM2

12

29

28

LSP

DOG

LSN

CN3 CN3

15

MBR32

INP16

ALM

23 7

LA

22

LAR

6 LB

21 LBR

5 LZ

LZR 24 LG 18 MO1 19 LG 2 MO2

DOCOM14

CN5

LG

*2

TPR1 11

27TPR2

DICOM 8

CN1A CN1B

RA1

RA2

RA5

CN8

CN40A

CN40B

*1

MR Configurator2 *5

+ 3

MR-J3USBCBL3M

Main circuit power supply *11

Forced stop 2 *3*4*14

Forward rotation stroke end Electromagnetic brake interlock

Reverse rotation stroke end In-position *8Proximity dog *13

Malfunction *7

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Encoder Z-phase pulse (differential line driver)

Control common Analog monitor 1

Analog monitor 2

Short-circuit connector *12

Computer

Network Network

Touch probe1

Touch probe2

10 V DC

10 V DC

*10 *9*13

*13

Protection coordination cable

Protection coordination cableConverter unit or

drive unit

(supplied with the drive unit)

Drive unit

24 V DC *624 V DC *6

10 m or less

2 m or less

10 m or less

USB cable

3 SIGNALS AND WIRING 3.2 Example I/O signal connections 49

50

Source I/O interface For notes, refer to the notes in the following section. Page 49 Sink I/O interface

13EM2

12

29

28

LSP

DOG

LSN

CN3 CN3

15

MBR32

INP16

ALM

23 7

LA

22

LAR

6 LB

21 LBR

5 LZ

LZR 24 LG 18 MO1 19 LG 2 MO2

DOCOM14

CN5

LG

*2

TPR1 11

27TPR2

DICOM 8

CN1A CN1B

RA1

RA2

RA5

CN8

MR-J3USBCBL3M

CN40A

*1

3

CN40B

MR Configurator2 *5

+

Main circuit power supply *11

Forced stop 2 *3*4*14

Forward rotation stroke end Electromagnetic brake interlock

Reverse rotation stroke end In-position *8Proximity dog *13

Malfunction *7

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Encoder Z-phase pulse (differential line driver)

Control common

USB cable

Network Network

Touch probe1

Touch probe2

*10 *9*13

Short-circuit connector *12

Protection coordination cable

Protection coordination cableConverter unit or

drive unit

(supplied with the drive unit)

Drive unit

24 V DC *624 V DC *6

Computer

10 m or less

10 m or less

2 m or less

Analog monitor 1

Analog monitor 2

10 V DC

10 V DC

*13

3 SIGNALS AND WIRING 3.2 Example I/O signal connections

3

MR-J5D2-_G_/MR-J5D3-_G_

Sink I/O interface

MR Configurator2 *5

+

CN3 CN3

15

MBR-A32

MBR-B31

MBR-C30

CINP16

CALM

23 7

LA-A

22 LAR-A

6 LB-A

21 LBR-A

LAR-B LB-B

LBR-B

5 LA-B

24 LG 18 MO1 19 LG 2 MO2

DOCOM14

CN5

LG

*2

CN1A CN1B

RA1

RA2

RA3

RA4

RA5

CN8

MR-J3USBCBL3M

CN40A

*1

20 4

3

CN40B

13EM2

12

29

28

DI1-A

DI3-A

27DI3-B

DI2-A

DI1-B 26

25DI2-B

DICOM 8

10

11

9

DI1-C

DI3-C

DI2-C

Computer

Main circuit power supply *11

Electromagnetic brake interlock for A-axis Electromagnetic brake interlock for B-axis Electromagnetic brake interlock for C-axis

AND malfunction *7

Encoder A-phase pulse for A-axis (differential line driver)

Encoder B-phase pulse for A-axis (differential line driver)

Encoder A-phase pulse for B-axis (differential line driver)

Encoder B-phase pulse for B-axis (differential line driver)

Control common

USB cable

Network Network

*9*13

AND in-position *8

*13

Forced stop 2 *3*4*14

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

*10*13

Short-circuit connector *12

Protection coordination cable

Protection coordination cableConverter unit or

drive unit

(supplied with the drive unit)

Drive unit

24 V DC *624 V DC *6

10 m or less

2 m or less

Analog monitor 1

Analog monitor 2

10 V DC

10 V DC

10 m or less

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 drive unit to the protective earth (PE) of the cabinet.

*2 Connect the diode in the correct direction. If it is connected reversely, the drive unit 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-

J5D2-_G_ and 450 mA maximum for the MR-J5D3-_G_. The amperage will not exceed 350 mA (MR-J5D2-_G_) and 450 mA (MR-J5D3-_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 77 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] to [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 drive unit, 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 drive unit. *13 This signal varies depending on the number of axes. *14 This device is used for forced stop of the drive unit (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

3

Source I/O interface For notes, refer to the notes in the following section. Page 51 Sink I/O interface

CN3 CN3

15

MBR-A32

MBR-B31

MBR-C30

CINP16

CALM

23 7

LA-A

22 LAR-A

6 LB-A

21 LBR-A

LAR-B LB-B

LBR-B

5 LA-B

24 LG 18 MO1 19 LG 2 MO2

DOCOM14

CN5

LG

*2

CN1A CN1B

RA1

RA2

RA3

RA4

RA5

CN8

MR-J3USBCBL3M

CN40A

*1

20 4

3

13EM2

12

29

28

DI1-A

DI3-A

27DI3-B

DI2-A

DI1-B 26

25DI2-B

DICOM 8

10

11

9

DI1-C

DI3-C

DI2-C

CN40B

MR Configurator2 *5

+

Main circuit power supply *11

Electromagnetic brake interlock for A-axis Electromagnetic brake interlock for B-axis Electromagnetic brake interlock for C-axis

AND malfunction *7

Encoder A-phase pulse for A-axis (differential line driver)

Encoder B-phase pulse for A-axis (differential line driver)

Encoder A-phase pulse for B-axis (differential line driver)

Encoder B-phase pulse for B-axis (differential line driver)

Control common

USB cable

Network Network

*9*13

AND in-position *8

*13

Forced stop 2 *3*4*14

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

*10*13

Short-circuit connector *12

Protection coordination cable

Protection coordination cableConverter unit or

drive unit

(supplied with the drive unit)

Drive unit

24 V DC *624 V DC *6

Computer

10 m or less

2 m or less

Analog monitor 1

Analog monitor 2

10 V DC

10 V DC

10 m or less

3 SIGNALS AND WIRING 3.2 Example I/O signal connections 53

54

3.3 Explanation of power supply system Explanation of signals

For the layout of connectors and terminal blocks, refer to the following. Page 85 DIMENSIONS

L+/L- (Connection destination: Converter unit) Connect them with L+ and L- of the converter unit. Use the bus bar.

L11/L21 (Connection destination: Control circuit power supply) Supply 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz power to L11 and L21.

U/V/W/E (Connection destination: Servo motor power supply/servo motor grounding terminal) Connect them to the servo motor power supply inputs (U/V/W) and servo motor grounding terminal (E). Do not connect devices such as magnetic contactors between the motor and drive unit as this will lead to abnormal operation or malfunction.

(Connection destination: Protective earth (PE)) Connect this terminal to the protective earth (PE) of the cabinet.

Power-on procedure

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 converter unit 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) of the converter unit and drive unit 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 drive unit will receive the servo-on command after startup and initial network communication. The startup time for 1-axis drive units is 2.5 s to 3.5 s, and the startup time for multi-axis drive units is 3.5 s to 4.0 s.

3 SIGNALS AND WIRING 3.3 Explanation of power supply system

3

Timing chart

*1 Input the ready-on command simultaneously to all drive units connected with the protection coordination cable. Otherwise, [AL. 0E9 Main circuit off warning] or [AL. 01B Protection coordination error] may occur.

*2 If an alarm occurs, turn off all ready-on commands to the drive units connected with the protection coordination cable. Otherwise, [AL. 0E9] or [AL. 01B] may occur when the alarm is reset.

*3 For a fully closed loop system, this time is 2 s longer. *4 To turn off the ready-on command, first turn off the servo-on command and turn off the ready-on command. Otherwise, [AL. 01B] may

occur.

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

ON OFF

100 ms *4

5 ms

10 ms

100 ms *4

5 ms

100 ms

5 ms

100 ms

5 ms

*1

*2

*1

No alarm (ON) Alarm (OFF)

No alarm (ON) Alarm (OFF)

Drive unit (second unit) Control circuit power supply

Drive unit (first unit) Control circuit power supply

Ready-on command (from controller)

Servo-on command (from controller)

Drive unit (first unit) Base circuit

Drive unit (first unit) Servo-on (RD: Ready)

Drive unit (first unit) ALM (Malfunction)

Drive unit (first unit) CVST (Converter stop)

Drive unit (second unit) Base circuit

Drive unit (second unit) Servo-on (RD: Ready)

Drive unit (second unit) ALM (Malfunction)

Drive unit (second unit) CVST (Converter stop)

Main circuit power supply

Power regeneration converter unit Control circuit power supply

Max. 3 s Max. 3 s

(Startup and initial network communication) *3

3 SIGNALS AND WIRING 3.3 Explanation of power supply system 55

56

Wiring CNP3_

For the wire sizes, refer to the following. Page 122 Selection example of wires When wiring, remove the power connectors from the drive unit. Insert only one wire or ferrule into each wire insertion hole on each power connector.

Use the supplied drive unit power connector for wiring CNP3_. CNP3A/CNP3B/CNP3C connectors all have the same shape. Ensure that they are connected properly.

Connector

*1 For 2-axis drive units *2 For 3-axis drive units

Connector Receptacle assembly Applicable wire Stripped length [mm]

Open tool Manufacturer

Size Insulator OD CNP3A BVF 7.62HP/04/180MSF4

SN BK BX LRP 24 to 8 AWG 10 mm2 or less 12 SDS 0.8X4.5X125 Weidmller

CNP3B

CNP3C

CNP3A

CNP3B *1*2

CNP3C *2

3 SIGNALS AND WIRING 3.3 Explanation of power supply system

3

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 56 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.

Wire size Ferrule model (Phoenix Contact) Crimping tool (Weidmller)

Sleeve without insulation cover

Sleeve with insulation cover

24 to 8 AWG 1.5 mm2 to 10 mm2 1.5 mm2 to 6 mm2 PZ 6/5

Insulator Core

Stripped length

Twist and straighten the strands.Loose and bent strands

3 SIGNALS AND WIRING 3.3 Explanation of power supply system 57

58

Inserting wire Insert only one wire or ferrule into each wire insertion hole on each power connector. For stranded wire connection

1. Insert the open tool all the way into the clamp opening screwdriver insertion hole.

2. Insert a properly stripped wire into the wire insertion hole. The recommended wire strip length is 12 mm 1 mm. 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.

3. Pull out 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.

For solid wire or treated-tip wire If the wiring cannot be performed as shown in the following procedure, perform the wiring following "For stranded wire connection".

1. Insert a solid wire or a wire with a treated tip all the way into the wire insertion hole.

2. Pull the wire lightly to confirm that the wire is surely connected.

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 141 USING STO FUNCTION

3 SIGNALS AND WIRING 3.4 Connectors and pin assignments 59

60

Connectors and pin assignments

1-axis drive unit The front view and bottom view of the drive unit shown below are of MR-J5D1-_G_ drive unit with a rated capacity symbol of 350 or less. Refer to the following for the appearance and connector layout of the other drive units. Page 85 DIMENSIONS The frames of the CN2A and CN2AL connectors are connected to the protective earth terminal in the drive unit.

Front view of drive unit

Bottom view of drive unit

17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

MO1 LG

LZ LB LA

MO2 LG

LZR LBR LAR

LG

TPR2 LSN

TPR3 DOCOM DOCOM

MBR

DICOM

TPR1 LSP EM1

DOCOM ALM INP

No. Symbol Symbol No.

4 MRR

2 LG 8

6

1 P5

5

10

3 MR

7 9

BAT

CN2A

MXR

MX

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

CN2AL CN2AL (when using a serial encoder) (when using an A/B/Z-phase pulse encoder)

3 SIGNALS AND WIRING 3.4 Connectors and pin assignments

3

Multi-axis drive unit The front view and bottom view of the drive unit shown below are of MR-J5D3-_G_ drive unit with a rated capacity symbol of 200 or less. Refer to the following for the appearance and connector layout of the other drive units. Page 85 DIMENSIONS The frames of the CN2A connector, CN2B connector, and CN2C connector are connected to the protective earth terminal in the drive unit.

Front view of drive unit

Bottom view of drive unit

*1 This is for the MR-J5D3-_G_.

17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

MO1 LG

LB-B LA-B LB-A LA-A

MO2 LG

LBR-B LAR-B LBR-A LAR-A

LG DI2-B DI1-B DI3-B DI2-A DI3-A

MBR-C MBR-B MBR-A

DICOM

EM1 DOCOM CALM CINP

DI2-C DI1-C DI3-C DI1-A

No. Symbol Symbol No.

CN2A

4 MRR

2 LG 8

6

1 P5

5

10

3 MR

7 9

BAT

MXR

MX

THM2

THM1

4 MRR

2 LG 8

6

1 P5

5

10

3 MR

7 9

BAT

MXR

MX

THM2

THM1

4 MRR

2 LG 8

6

1 P5

5

10

3 MR

7 9

BAT

MXR

MX

THM2

THM1

CN2B CN2C *1

3 SIGNALS AND WIRING 3.4 Connectors and pin assignments 61

62

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 77 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)

Input device

Input device pins The following shows input device pins and the servo parameters used for setting devices.

MR-J5D1-_G_

MR-J5D2-_G_

MR-J5D3-_G_

Connector pin No. Servo parameter Initially assigned device TPR assignment I/O signal interface type

CN3-11 [Pr. PD38] TPR1 Possible DI-1

CN3-12 [Pr. PD03] LSP Impossible

CN3-13 EM2 Impossible

CN3-27 [Pr. PD39] TPR2 Possible

CN3-28 [Pr. PD04] LSN Impossible

CN3-29 [Pr. PD05] DOG Possible

Connector pin No. Servo parameter Initially assigned device TPR assignment I/O signal interface type

CN3-11 [Pr. PD51] (common to all axes) Possible DI-1

CN3-12 [Pr. PD03] (A-axis) LSP-A Impossible

CN3-13 EM2 Impossible

CN3-25 [Pr. PD04] (B-axis) LSN-B Impossible

CN3-26 [Pr. PD03] (B-axis) LSP-B Impossible

CN3-27 [Pr. PD05] (B-axis) DOG-B Possible

CN3-28 [Pr. PD04] (A-axis) LSN-A Impossible

CN3-29 [Pr. PD05] (A-axis) DOG-A Possible

Connector pin No. Servo parameter Initially assigned device TPR assignment I/O signal interface type

CN3-9 [Pr. PD04] (C-axis) LSN-C Impossible DI-1

CN3-10 [Pr. PD03] (C-axis) LSP-C Impossible

CN3-11 [Pr. PD05] (C-axis) DOG-C Possible

CN3-12 [Pr. PD03] (A-axis) LSP-A Impossible

CN3-13 EM2 Impossible

CN3-25 [Pr. PD04] (B-axis) LSN-B Impossible

CN3-26 [Pr. PD03] (B-axis) LSP-B Impossible

CN3-27 [Pr. PD05] (B-axis) DOG-B Possible

CN3-28 [Pr. PD04] (A-axis) LSN-A Impossible

CN3-29 [Pr. PD05] (A-axis) DOG-A Possible

3 SIGNALS AND WIRING 3.5 Signal (device) explanation

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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 drive unit. Refer to each section indicated in the detailed explanation column.

Input device explanation EM2 (Forced stop 2) When EM2 is turned off (open between commons), the servo motor decelerates to a stop with commands. The forced stop will be deactivated if EM2 is turned on (short between commons) while in the forced stop state. When not using EM2, set [Pr. PA04.3] to "2". For details, refer to "Forced stop deceleration function" in the following manual. MR-J5 User's Manual (Function)

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.

Device name Symbol Availability I/O signal interface type

Detailed explanation

Forced stop 2 EM2 DI-1 Page 63 EM2 (Forced stop 2)

Forced stop 1 EM1 DI-1 Page 63 EM1 (Forced stop 1)

Forward rotation stroke end LSP DI-1 Page 64 LSP (Forward rotation stroke end)/LSN (Reverse rotation stroke end)Reverse rotation stroke end LSN DI-1

Proportional control PC DI-1 Page 64 PC (Proportional control)

Gain switching CDP DI-1 Page 64 CDP (Gain switching)

Gain switching 2 CDP2 DI-1 Page 64 CDP2 (Gain switching 2)

Fully closed loop selection CLD DI-1 Page 64 CLD (fully closed loop selection)

Proximity dog DOG DI-1 Page 64 DOG (Proximity dog)

Touch probe 1 TPR1 *1 DI-1 Page 65 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

Setting value EM2/EM1 Deceleration method

[Pr. PA04.3] [Pr. PA04.2] 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.

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64

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)

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. Page 164 USING A FULLY CLOSED LOOP SYSTEM

DOG (Proximity dog) Turning off DOG will detect a proximity dog. The polarity for the proximity dog can be changed with [Pr. PT29.0].

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)

[Pr. PT29.0] Polarity for proximity dog detection 0 Dog detection with off

1 Dog detection with on

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TPR1 (touch probe 1)/TPR2 (touch probe 2)/TPR3 (touch probe 3) Refer to the following table for drive units 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

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)

Drive unit TPR1 TPR2 TPR3 MR-J5D1-_G_

MR-J5D2-_G_

MR-J5D3-_G_

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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-J5D1-_G_

MR-J5D2-_G_

MR-J5D3-_G_

Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-15 [Pr. PD09] ALM DO-1

CN3-16 [Pr. PD08] INP

CN3-32 [Pr. PD07] MBR

Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-15 [Pr. PD09] (common to all axes) ALM DO-1

CN3-16 [Pr. PD08] (common to all axes) INP

CN3-31 [Pr. PD07] (B-axis) MBR-B

CN3-32 [Pr. PD07] (A-axis) MBR-A

Connector pin No. Servo parameter Initially assigned device I/O signal interface type CN3-15 [Pr. PD09] (common to all axes) ALM DO-1

CN3-16 [Pr. PD08] (common to all axes) INP

CN3-30 [Pr. PD07] (C-axis) MBR-C

CN3-31 [Pr. PD07] (B-axis) MBR-B

CN3-32 [Pr. PD07] (A-axis) MBR-A

3 SIGNALS AND WIRING 3.5 Signal (device) explanation

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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 : Devices that cannot be used

Device name Symbol Availability I/O signal interface type

Detailed explanation

Malfunction ALM DO-1 Page 68 ALM (Malfunction)

In-position INP DO-1 Page 68 INP (In-position)

Ready RD DO-1 Page 68 RD (Ready)

Speed reached SA DO-1 Page 68 SA (Speed reached)

Warning WNG DO-1 Page 68 WNG (Warning)

Battery warning BWNG DO-1 Page 68 BWNG (Battery warning)

Motor stop warning WNGSTOP DO-1 Page 68 WNGSTOP (Motor stop warning)

Variable gain enabled CDPS DO-1 Page 68 CDPS (Variable gain enabled)

Variable gain enabled 2 CDPS2 DO-1 Page 68 CDPS2 (Variable gain enabled 2)

Absolute position erased ABSV DO-1 Page 69 ABSV (Absolute position erased)

Tough drive in progress MTTR DO-1 Page 69 MTTR (Tough drive in progress)

Fully closed loop control in progress CLDS DO-1 Page 69 CLDS (Fully closed loop control in progress)

Converter stop CVST DO-1 Page 69 CVST (Converter stop)

Electromagnetic brake interlock MBR DO-1 [G]: Page 69 MBR (Electromagnetic brake interlock)

Limiting speed VLC DO-1 [G]: Page 69 VLC (Limiting speed)

Zero speed detection ZSP DO-1 [G]: Page 70 ZSP (Zero speed detection)

Limiting torque TLC DO-1 [G]: Page 70 TLC (Limiting torque)

General-purpose output A DOA DO-1 Page 70 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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68

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 drive unit). 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 drive unit 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.

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 drive unit).

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 drive unit). 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 drive unit).

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.

3 SIGNALS AND WIRING 3.5 Signal (device) explanation

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ABSV (Absolute position erased) ABSV turns on when the absolute position is undetermined. Page 136 ABSOLUTE POSITION DETECTION SYSTEM

MTTR (Tough drive in progress) MTTR is always off.

CLDS (Fully closed loop control in progress) When the fully closed loop control is in progress, the CLDS is on.

CVST (Converter stop) CVST turns on when the ready-on command is received. It turns off when an alarm that stops the converter main circuit occurs. MR-J5 User's Manual (Troubleshooting)

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)

3 SIGNALS AND WIRING 3.5 Signal (device) explanation 69

70

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 drive unit.

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)

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).

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 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]: [Pr. PC03.0] 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 drive units 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) 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]: [Pr. PC09.0-1] 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) 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]: [Pr. PC10.0-1] 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)

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72

Power supply

Power supply explanations DICOM (Digital input I/F power supply) Input 24 V DC (24 V DC 10 %, 300 mA) for I/O interfaces. 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 %, 300 mA) for I/O interfaces. 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.

3 SIGNALS AND WIRING 3.5 Signal (device) explanation

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3.6 Interface Internal connection diagram

Refer to the following for the CN8 connector. Page 141 USING STO FUNCTION

1-axis drive unit

3

CN3 23 7

22 6

21 5

LA LAR LB

LBR LZ

LZR

2 4

7 8

MR MRR

MX MXR

LG

E E PE

M

CN2A

CNP3A

LG24

CN3

14

32

15

16

DOCOM

ALM

INP *5

USB D+ GND

D- 2 3 5

CN5

MBR

MR2 MRR2

MX2 MXR2

CN2L *6

RA1

RA3

RA2

*3*4

3

2 4

7 8

LG

CN3

MO1

MO2

LG

18

2

3

EM2

CN3

13

LSP 12

LSN 28

DOG 29

TPR1 11

27

8

TPR2

DICOM

*2*4

Drive unit

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. 6.2 k

Approx. 4.3 k

Approx. 4.3 k

Approx. 4.3 k

24 V DC *1

10 V DC 10 V DC

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74

*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 Signals can be assigned to these pins with servo parameters ([Pr. PD03] to [Pr. PD05]). *3 Signals can be assigned to these pins with servo parameters ([Pr. PD07] to [Pr. PD09]). *4 This diagram shows a sink I/O interface. *5 The signal cannot be used in the velocity mode and torque mode. *6 Refer to "Parts identification" in User's Manual (Introduction) for connecting an external encoder.

3 SIGNALS AND WIRING 3.6 Interface

3

Multi-axis drive unit

EM2

CN3

DICOM 8

CN3

*2*4

USB D+ GND

D- 2 3 5

CN5

*3*4DI1-A

DI2-A

DI3-A

DI1-B

DI2-B

DI3-B

13

12

28

29

26

25

27

DI1-C 10

DI2-C 9

DI3-C 11

31

30

15

16

MBR-B

32 MBR-A

14 DOCOM

MBR-C

CALM

CINP

RA1

RA2

RA3

RA4

RA5

CN3 23 7

22 6

21 5

LA-A

3

2 4

7 8

MR MRR

MX MXR

LG

E M

CN2A

20 4

LAR-A LB-A

LBR-A

LA-B LAR-B

LB-B LBR-B

24 LG

CNP3A E

3

2 4

7 8

MR MRR

MX MXR

LG

E M

CN2B

CNP3B

3

2 4

7 8

MR MRR

MX MXR

LG

E M

CN2C

CNP3C

CN3

MO1

MO2

LG

18

2

3

E

E E

E E

Drive unit

24 V DC *1

24 V DC *1

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)

Isolated

A-axis servo motor

Encoder

B-axis servo motor

Encoder

C-axis servo motor *5

Encoder

Analog monitor

10 V DC 10 V DC

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76

*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 Signals can be assigned to these pins with servo parameters ([Pr. PD03] to [Pr. PD05]). *3 Signals can be assigned to these pins with servo parameters ([Pr. PD07] to [Pr. PD09]). *4 This diagram shows a sink I/O interface. *5 For 3-axis drive units.

3 SIGNALS AND WIRING 3.6 Interface

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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 62 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 CN3-13 pin and CN3-28 pin, approximately 6.2 k. For interfaces of the CN3-9 pin, CN3-10 pin, CN3-13 pin, CN3-25 pin, CN3-26 pin, and CN3-28 pin of the MR-J5D2-_G_/MR-J5D3-_G_, approximately 6.2 k. Page 73 Internal connection diagram

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 drive unit. 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.

Refer to the following for the source output. Page 80 Source I/O interface

TR

300 mA

EM2

DICOM

10 %

VCES 1.0 V ICEO 100 A

For transistor

Approx. 5 mA etc.

Switch

24 V DC

Drive unit

Approx. 4.3 k *1

ALM

DOCOM

300 mA 10 % *1

Load etc.

24 V DC

Drive unit

If the polarity of the diode is reversed, the drive unit will malfunction.

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78

Encoder output pulse DO-2 Differential line driver type Interface Maximum output current: 35 mA

Output pulse

Open-collector type Interface Maximum output current: 35 mA

150

LA (LB, LZ)

LAR (LBR, LZR)

SD LG

100

LAR (LBR, LZR)

SD

LA (LB, LZ)

Am26LS32 or equivalent

High-speed photocoupler

Drive unit Drive unit

T

LA

LAR

LB

LBR

LZ LZR

/2

Servo motor CCW rotation

400 s or more

SD

LG

OP

SD

LG

OP

Photocoupler

5 V to 24 V DC

Drive unit Drive unit

3 SIGNALS AND WIRING 3.6 Interface

3

Analog output AO-1

*1 The output voltage varies depending on the output contents.

LG

MO1 (MO2)

Output voltage: 10 V *1 Maximum output current: 1 mA Resolution: 10 bits or its equivalent

Drive unit

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80

Source I/O interface For this drive unit, 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 CN3-13 pin and CN3-28 pin, approximately 6.2 k. For interfaces of the CN3-9 pin, CN3-10 pin, CN3-13 pin, CN3-25 pin, CN3-26 pin, and CN3-28 pin of the MR-J5D2-_G_/MR-J5D3-_G_, approximately 6.2 k. Page 73 Internal connection diagram

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 drive unit.

*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

EM2

DICOM

10 %

VCES 1.0 V ICEO 100 A

For transistor

etc.

Switch

24 V DC Approx. 5 mA

Drive unit

Approx. 4.3 k *1

ALM

DOCOM

300 mA 10 % *1

Load etc.

24 V DC

Drive unit

If the polarity of the diode is reversed, the drive unit will malfunction.

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 drive unit

*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 motor24 V DC *2 (Malfunction)

24 V DC

Drive unit

3 SIGNALS AND WIRING 3.7 Servo motor with an electromagnetic brake 81

82

Multi-axis drive unit

*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 a 3-axis drive unit. *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

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

Drive unit

3 SIGNALS AND WIRING 3.7 Servo motor with an electromagnetic brake

3

3.8 Grounding The drive unit supplies power to the servo motor by switching on and off a power transistor. Depending on the wiring and ground wire routing, the drive unit may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and ground it. For information on how to comply with the EMC Directive, refer to the following guidelines. EMC Installation Guidelines

L1

L2

L3

L+L-

L+L-

L+L-

MCMCCB

L+L-

*2

V

U U

E

V

WW

CN2A

M

*2

V

U U

E

V

WW

E

E

CN2A

M

Power supply *1

Cabinet

Line noise filter AC reactor *3

Drive unitController

Drive unit

Outer box Protective earth (PE)

Servo motor

Encoder

Servo motor

Encoder

Converter unit

3 SIGNALS AND WIRING 3.8 Grounding 83

84

*1 For the power supply specifications, refer to "Drive unit standard specifications" in the User's Manual (Introduction) and "Standard specifications" in the "MR-CV Power Regeneration Converter Unit User's Manual".

*2 To ground the servo motor, connect the grounding lead wire to the drive unit, and then connect the wire from the drive unit 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.

*3 Install the MR-AL-_ AC reactor.

3 SIGNALS AND WIRING 3.8 Grounding

4

4 DIMENSIONS

4.1 400 V class

MR-J5D1-100G4 to MR-J5D1-350G4

60 30

10

38 0

36 0

10 30

5.5

30

36 0

CN5 CN3

CN2A

35 0

CN2AL

CN4

TE2

TE3

CNP3A

258.5

255.5

CN1A CN1B

CN40A CN40B

CN8

280

92 11

12 4.

5 24

38

43.5

PE CNP3A

L21

L11

TE3

L- L+

TE2

PE

W V U E

6 mounting hole

2-M5 Screw

Approx. 40

Ap pr

ox . 1

0

Ap pr

ox . 3

80

Ap pr

ox . 1

20 Ap

pr ox

. 1 00

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Approx. 60

Ap pr

ox . 1

0

Terminal assignment

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Terminal block location diagram (drawn with the cover removed)

4 DIMENSIONS 4.1 400 V class 85

86

MR-J5D1-500G4/MR-J5D1-700G4

11 92

38

43.5

12 4.

5 24

CN1A CN1B

CN40A CN40B

CN8

60

30

10

38 0

36 0

10 30

5.5

30

36 0

CN5 CN3

CN2A

35 0

CN2AL

CN4

TE2

TE3

CNP3A

258.5

255.5

280

CNP3A

L21

L11

TE3

L- L+

TE2

PE

W V U E

PE

6 mounting hole

2-M5 ScrewAp pr

ox . 1

0

Approx. 60

Approx. 40

Ap pr

ox . 1

0

Ap pr

ox . 3

80

Ap pr

ox . 1

20

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Terminal assignment

Ap pr

ox . 1

00

Cooling fan exhaust

Intake

Terminal block location diagram (drawn with the cover removed)

4 DIMENSIONS 4.1 400 V class

4

MR-J5D2-100G4

43.5

38

60

30

10

38 0

36 0

10 30

5.5

30

36 0

CN5 CN3

35 0

CN4

TE2

TE3

258.5

255.5

CN2A

CNP3A CNP3B

CN2B

CN1A CN1B

CN40A CN40B

CN8

280

92 12 4.

5

11

24

CNP3A, 3B

L21

L11

TE3

L- L+

TE2

PE

W V U E

PE

6 mounting hole Approx. 40 Ap

pr ox

. 1 00

Ap pr

ox . 1

20

Ap pr

ox . 1

0 Ap

pr ox

. 1 0

2-M5 Screw

Approx. 60

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Terminal assignment

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Ap pr

ox . 3

80

Terminal block location diagram (drawn with the cover removed)

4 DIMENSIONS 4.1 400 V class 87

88

MR-J5D2-200G4/MR-J5D2-350G4

43.5

38

92 11

12 4.

5 24

CN1A CN1B

CN40A CN40B

CN8

60

30

10

38 0

36 0

10 30

5.5

30

36 0

CN5 CN3

35 0

CN4

TE2

TE3

258.5

255.5

CN2A

CNP3A CNP3B

CN2B

280

CNP3A, 3B

L21

L11

TE3

L- L+

TE2

PE

W V U E

PE

6 mounting hole

Terminal assignment

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Cooling fan exhaust

Intake

Ap pr

ox . 1

0 Ap

pr ox

. 1 0

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Mounting hole location diagram

Ap pr

ox . 3

80

Ap pr

ox . 1

00 Ap

pr ox

. 1 20

Approx. 40

Approx. 60

2-M5 Screw Terminal block location diagram (drawn with the cover removed)

4 DIMENSIONS 4.1 400 V class

4

MR-J5D2-500G4/MR-J5D2-700G4

75 30

10

38 0

36 0

10 30

5.5

30

36 0

CN5 CN3

35 0

258.5

255.5 CN4

TE2

TE3

CN2A

CNP3A CNP3B

CN2B

CN1A

CN1B

CN40A CN40B CN8

280

92 11

12 4.

5 24

53 58.5

PE CNP3A, 3B

L21

L11

TE3

L- L+

TE2

PE

W V U E

Ap pr

ox . 1

00 Ap

pr ox

. 1 20

Approx. 75

Ap pr

ox . 3

80

Ap pr

ox . 1

0 Ap

pr ox

. 1 0

Approx. 40

2-M5 Screw

6 mounting hole

Cooling fan exhaust

Intake

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Terminal assignment

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Terminal block location diagram (drawn with the cover removed)

4 DIMENSIONS 4.1 400 V class 89

90

MR-J5D3-100G4

43.5

38

92 11

12 4.

5 24

60 30

10

38 0

36 0

10 30

5.5

30

36 0

CN5 CN3

35 0

CN4

TE2

TE3

258.5

255.5

CN2A

CNP3A CNP3B

CNP3C

CN2B CN2C

CN1A CN1B

CN40A CN40B

CN8

280

CNP3A, 3B, 3C

L21

L11

TE3

L- L+

TE2

PE

W V U E

PE

Approx. 40 Ap

pr ox

. 1 00

Ap pr

ox . 1

20

Ap pr

ox . 1

0 Ap

pr ox

. 1 0 Approx. 60

Ap pr

ox . 3

80

2-M5 Screw

6 mounting hole

Terminal assignment

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Mounting hole location diagram

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Terminal block location diagram (drawn with the cover removed)

4 DIMENSIONS 4.1 400 V class

4

MR-J5D3-200G4

43.5

38

92 11

24 12

4. 5

CN1A CN1B

CN40A CN40B

CN8

60

30

10

38 0

36 0

10 30

5.5

30

36 0

CN5 CN3

35 0

CN4

TE2

TE3

258.5

255.5

CN2A

CNP3A CNP3B CNP3C

CN2B CN2C

280

CNP3A, 3B, 3C

L21

L11

TE3

L- L+

TE2

PE

W V U E

PE

Terminal assignment

TE2 Screw size: M6 Tightening torque: 3.0 [Nm] TE3 Screw size: M4 Tightening torque: 1.2 [Nm] PE Screw size: M5 Tightening torque: 2.0 [Nm]

Ap pr

ox . 1

00 Ap

pr ox

. 1 20

Cooling fan exhaust

Intake

2-M5 ScrewAp pr

ox . 1

0 Ap

pr ox

. 1 0

Approx. 60

6 mounting hole

Mounting screw Screw size: M5 Tightening torque: 3.24 [Nm]

Mounting hole location diagram

Approx. 40

Ap pr

ox . 3

80

Terminal block location diagram (drawn with the cover removed)

4 DIMENSIONS 4.1 400 V class 91

92

4.2 Connector Precautions

Obtain the wiring instructions from the manufacturer and wire connectors appropriately.

CN3 connector

SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008

1 16

22.65

15.6

13 .2

5

63

3.5

2.15

52.5

3.5 17 32

34.8

39.5

22 .4

11 .0

[Unit: mm]

4 DIMENSIONS 4.2 Connector

5

5 CHARACTERISTICS

5.1 Overload protection characteristics

Outline An electronic thermal protection is built in the drive unit to protect the servo motor, drive unit and servo motor power wires from overloads. In this section, overload protection characteristics refer to the overload protection characteristics of drive units 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 drive unit 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 drive unit.) The drive unit 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.

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 characteristicsHK-KT HK-ST HK-RT

053W 13W

Page 94 Characteristic a

1M3W 434W 634W 7M34W 1034W 634UW 1034UW 1534W 2034W 2024W

524W 1024W 1724W 3024W 2024W 3524W 2024AW 3534W

1034W 1534W 2034W 3534W

Page 94 Characteristic b

5024W 7024W 5034W

5034W 7034W

Page 94 Characteristic c

5 CHARACTERISTICS 5.1 Overload protection characteristics 93

94

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

5

5.2 Power supply capacity and generated loss Power supply capacity Calculate the power supply capacity from the capacity of the converter unit. MR-CV Power Regeneration Converter Unit User's Manual

Generated loss

Amount of heat generated by the drive unit The following tables indicate the losses generated by drive units under rated load. For thermal design of an enclosed type cabinet, use the values in the tables in consideration for the harshest conditions with regard to the environment and operation pattern. 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.

400 V class 1-axis drive unit

Multi-axis drive unit

Drive unit Drive unit generated heat [W] Area required for heat dissipation [m2]At rated output At servo-off

MR-J5D1-100_ 100 30 2.0

MR-J5D1-200_ 150 30 3.0

MR-J5D1-350_ 210 30 4.2

MR-J5D1-500_ 380 30 7.6

MR-J5D1-700_ 450 30 9.0

Drive unit Drive unit generated heat [W] Area required for heat dissipation [m2]At rated output At servo-off

MR-J5D2-100_ Connected to one axis: 100 Connected to two axes: 170

30 3.4

MR-J5D2-200_ Connected to one axis: 150 Connected to two axes: 270

30 5.4

MR-J5D2-350_ Connected to one axis: 210 Connected to two axes: 390

30 7.8

MR-J5D2-500_ Connected to one axis: 380 Connected to two axes: 730

30 14.6

MR-J5D2-700_ Connected to one axis: 450 Connected to two axes: 870

30 17.4

MR-J5D3-100_ Connected to one axis: 100 Connected to two axes: 170 Connected to three axes: 240

30 4.8

MR-J5D3-200_ Connected to one axis: 150 Connected to two axes: 270 Connected to three axes: 390

30 7.8

5 CHARACTERISTICS 5.2 Power supply capacity and generated loss 95

96

Heat dissipation area for enclosed type cabinet For the heat dissipation area of the converter unit, refer to "Heat dissipation area for enclosed type cabinet" in the following manual. MR-CV Power Regeneration Converter Unit User's Manual The enclosed type cabinet (hereafter called the cabinet) that stores the drive unit 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. For the amount of heat generated by the drive unit, refer to the following. Page 95 Amount of heat generated by the drive unit "A" indicates the effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra amount must be added to the cabinet's surface area. The required heat dissipation area will vary with the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a cooling fan should be considered. Refer to the following section for information on the required heat dissipation area (estimated) of drive unit cabinets when operating amplifiers at a rated load in ambient temperatures of 40 C. Page 95 Amount of heat generated by the drive unit

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.

K T PA = (10.1)

(Outside the cabinet) (Inside the cabinet)

Air flow

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 running loads 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 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) The MR-J5D_ drive unit has a different dynamic brake time constant from the MR-J5_ servo amplifier.

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-ST HK-ST1024W

5 CHARACTERISTICS 5.3 Dynamic brake characteristics 97

98

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 99 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)

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).

400 V class Servo motor Drive unit Waveform HK-KT053W MR-J5D_-100G4

HK-KT13W MR-J5D_-100G4

HK-KT1M3W MR-J5D_-100G4

HK-KT434W MR-J5D_-100G4 MR-J5D_-200G4

6.6

6.8

7

7.2

7.4

7.6

7.8

8

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

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]

0 1000 2000 3000 4000 5000 6000 7000 0

1

2

3

4

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

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 99

10

HK-KT634W MR-J5D_-100G4 MR-J5D_-200G4

MR-J5D_-350G4

HK-KT7M34W MR-J5D_-100G4 MR-J5D_-200G4

MR-J5D_-350G4

Servo motor Drive unit Waveform

0 1000 2000 3000 4000 5000 6000 7000 0

2

4

6

8

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

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

5

10

15

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

5

10

15

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-J5D_-100G4 MR-J5D_-200G4

MR-J5D_-350G4

HK-KT634UW MR-J5D_-100G4 MR-J5D_-200G4

Servo motor Drive unit Waveform

0 1000 2000 3000 4000 5000 6000 7000 0

5

10

15

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

5

10

15

20

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

5

10

15

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 101

10

HK-KT1034UW MR-J5D_-100G4 MR-J5D_-200G4

MR-J5D_-350G4

HK-KT1534W MR-J5D_-200G4

MR-J5D_-350G4

Servo motor Drive unit Waveform

0 1000 2000 3000 4000 5000 6000 7000 0

5

10

15

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

5

10

15

20

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

5

10

15

20

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

5

10

15

20

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-KT2034W MR-J5D_-200G4

MR-J5D_-350G4

HK-KT2024W MR-J5D_-200G4

MR-J5D_-350G4

Servo motor Drive unit Waveform

0 1000 2000 3000 4000 5000 6000 7000 0

5

10

15

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

5

10

15

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 3500 0

2

4

6

8

500 1500 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 2500 3000 3500 0

2

4

6

8

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 103

10

HK-ST524W MR-J5D_-100G4 MR-J5D_-200G4

HK-ST1024W MR-J5D_-100G4 MR-J5D_-200G4

MR-J5D_-350G4

Servo motor Drive unit Waveform

0 1000 2000 3000 4000 5000 6000 7000 0

10

20

30

40

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

10

20

30

40

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

10

20

30

40

50

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-ST1724W MR-J5D_-200G4

MR-J5D_-350G4 MR-J5D_-500G4

HK-ST2024AW MR-J5D_-200G4

MR-J5D_-350G4 MR-J5D_-500G4

Servo motor Drive unit Waveform

0 1000 2000 3000 4000 5000 6000 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]

0 1000 2000 3000 4000 5000 6000 7000 0

10

20

30

40

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

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 1000 2000 3000 4000 5000 6000 7000 0

10

20

30

40

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 105

10

HK-ST3024W MR-J5D_-350G4 MR-J5D_-500G4

MR-J5D_-700G4

HK-ST2024W MR-J5D_-200G4

MR-J5D_-350G4 MR-J5D_-500G4

Servo motor Drive unit Waveform

0

5

10

15

20

0 500 1000 1500 2000 2500 3000 3500 4000

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

500 1500 2500 3500

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

10

20

30

40

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 5000 6000 7000 0

10

20

30

40

50

60

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-ST3524W MR-J5D_-350G4 MR-J5D_-500G4

MR-J5D_-700G4

HK-ST5024W MR-J5D_-500G4

MR-J5D_-700G4

Servo motor Drive unit Waveform

0 1000 2000 3000 4000 5000 6000 7000 0

10

20

30

40

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 5000 6000 7000 0

10

20

30

40

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 5000 6000 7000 0

10

20

30

40

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 5000 6000 7000 0

10

20

30

40

50

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 107

10

HK-ST7024W MR-J5D_-700G4

HK-ST3534W MR-J5D_-350G4 MR-J5D_-500G4

HK-ST5034W MR-J5D_-500G4

MR-J5D_-700G4

Servo motor Drive unit Waveform

0 1000 2000 3000 3500 0

5

10

15

20

25

30

35

500 1500 2500

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

10

20

30

40

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 5000 6000 7000 0

10

20

30

40

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

10

20

30

40

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-RT1034W MR-J5D_-100G4 MR-J5D_-200G4

HK-RT1534W MR-J5D_-200G4

MR-J5D_-500G4

Servo motor Drive unit Waveform

0 1000 2000 3000 4000 5000 6000 7000 0

5

10

15

20

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

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]

5 CHARACTERISTICS 5.3 Dynamic brake characteristics 109

11

HK-RT2034W MR-J5D_-200G4

MR-J5D_-350G4

HK-RT3534W MR-J5D_-350G4 MR-J5D_-500G4

Servo motor Drive unit Waveform

0 1000 2000 3000 4000 5000 6000 7000 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 1000 2000 3000 4000 5000 6000 7000 0

5

10

15

20

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

5

10

15

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-RT5034W MR-J5D_-500G4

MR-J5D_-700G4

HK-RT7034W MR-J5D_-700G4

Servo motor Drive unit Waveform

0 1000 2000 3000 4000 5000 6000 7000 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 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

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 111

11

Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the dynamic brake may burn. If the ratio exceeds the value, contact your local sales office. The values of the permissible load to motor inertia ratio in the table are the values at the maximum speed of the servo motor.

400 V class Series Model Permissible load to motor inertia ratio

[multiplier] HK-KT HK-KT053W 34

HK-KT13W 34

HK-KT1M3W 34

HK-KT434W 37

HK-KT634W 37

HK-KT7M34W 37

HK-KT1034W 33

HK-KT634UW 27

HK-KT1034UW 24

HK-KT1534W 10

HK-KT2034W 9

HK-KT2024W 29

HK-ST HK-ST524W 26

HK-ST1024W 16

HK-ST1724W 11

HK-ST2024AW 7 (when 2000 r/min or less: 29)

HK-ST3024W 28

HK-ST2024W 2 (when 2000 r/min or less: 12)

HK-ST3524W 4 (when 2000 r/min or less: 14)

HK-ST5024W 2 (when 2000 r/min or less: 10)

HK-ST7024W 2 (when 2000 r/min or less: 7)

HK-ST3534W 3 (when 3000 r/min or less: 20)

HK-ST5034W 2 (when 3000 r/min or less: 12)

HK-RT HK-RT1034W 67

HK-RT1534W 45

HK-RT2034W 34

HK-RT3534W 19

HK-RT5034W 13

HK-RT7034W 16

2 5 CHARACTERISTICS 5.3 Dynamic brake characteristics

5

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 some 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)

5 CHARACTERISTICS 5.4 Cable flex life 113

11

5.5 Inrush currents at power-on of control circuit A molded-case circuit breaker and magnetic contactor may fail or malfunction due to an inrush current flowing through the drive unit's power lines (input lines) at power-on. Therefore, use products with the specifications described on the following page. Page 124 Molded-case circuit breakers, fuses When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used.

400 V class The following shows the inrush currents (reference data) that will flow when 480 V AC is applied.

Drive unit Inrush currents (A0-P)

Control circuit power supply (L11/L21) MR-J5D_ 16 A (attenuated to approx. 2 A in 30 ms)

4 5 CHARACTERISTICS 5.5 Inrush currents at power-on of control circuit

6

6 OPTIONS AND PERIPHERAL EQUIPMENT

Precautions HIV wires are recommended to wire the drive units, options, and peripheral equipment. Therefore, the recommended wire

sizes may differ from those used for previous generation drive units. 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 indicated IP rating is the cable and connector's protection against ingress of dust and water when the cable and connector are connected to a drive unit and servo motor. If the IP ratings of the cables, connectors, drive unit, 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 drive unit. Use the cables provided by Mitsubishi Electric and Mitsubishi Electric System & Service Co., Ltd. When fabricating a cable, select a wire suitable for the application. As an example of selecting a power cable suitable for the application, the 2018 edition of NFPA 79 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

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets 115

11

Combinations of cables/connector sets

*1 Refer to the following page for information on Ethernet cable specifications. Page 119 Ethernet cable

*2 For 2-axis drive units. *3 For 3-axis drive units.

(4) (3)

(6)

(2)

(5)

(7)

MR Congurator2

(1)

(1)

(1)

(1)

Controller

To servo motor encoder

To load-side encoder

To servo motor power supply

To Converter unit

Ethernet cable *1 Ethernet cable *1 Network

Setup software

To C-axis servo motor encoder *3 To B-axis servo motor encoder *2*3

To A-axis servo motor encoder

To A-axis servo motor power supply

To B-axis servo motor power supply *2*3

To C-axis servo motor power supply *3

6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets

6

List of cables/connector sets No. Product name Model Description Remark (1) Drive unit power

connector

CNP3_ connector BVF 7.62HP/04/180MF4 SN BK BX LRP (Weidmller) Applicable wire size: 0.5 mm2 to 10 mm2 (AWG 24 to 8)

Supplied with the drive unit

Open tool: SDS 0.8X4.5X125 (Weidmller)

Not included with the drive unit. Purchase it separately.

(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 a personal computer

(3) STO cable MR-D05UDL3M-B

(a) Connector set: 2069250-1 (TE Connectivity)

Connection cable for the CN8 connector

(4) Short-circuit connector

Supplied with the drive unit

(5) I/O and monitor connector

MR-ADCN3

CN3 connector DFMC1,5/16-STF-3,5 (Phoenix Contact)

With pin number printing

(6) Protection coordination cable

MR-ACDL02M Cable length: 0.2 m

(a) Plug: 10120-3000PE Shell kit: 10320-56F0-008 (3M or equivalent) (b) Plug: HDR-E26MG1+ Shell kit: HDR-E26LPJP+ (Honda Tsushin Kogyo)

For connection of the MR-CV11K4 to MR- CV45K4 and drive unit

MR-ACDL05M Cable length: 0.5 m

For connection of the MR-CV55K4/MR- CV75K4 and drive unit

(7) Protection coordination cable

MR-ADDL02M Cable length: 0.2 m

(a) Connector: IX30G-A-10S-CV(7.0) (Hirose Electric) (b) Plug: HDR-E26MG1+ Shell kit: HDR-E26LPJP+ (Honda Tsushin Kogyo)

For connection between drive units

(a) (b)

(a)

(a) (b)

(a) (b)

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets 117

11

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

Top view of drive unit

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

8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets

6

Ethernet cable 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 commercially available 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 _: cable length (0.5 m, 1 to 100 m (unit: 1 m)) Double shielded cable (category

5e)For moving parts (indoor use)

SC-E5EW-S_M-MV _: cable length (0.1 m, 0.2 m, 0.3 m, 0.5 m, 1 to 45 m (unit: 1 m))

For indoor/outdoor use

SC-E5EW-S_M-L _:cable length (1 to 100 m (Unit: 1 m))

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets 119

12

Bus bar Use a bus bar to connect the L+/L- terminals between the converter unit and the drive unit, and between the drive units. The bus bar to be used is different depending on the width and arrangement of the power regeneration converter unit or the drive unit to be connected.

Bus bar selection list

*1 The left and right indicate the positional relationship when the unit is viewed from the front.

Adjustment bar If the number of drive units connected to the power regeneration converter unit is an even number, there will be a gap between the bus bar of the drive unit at the far end (right end) and the TE2 terminal block by the thickness of the conductor. Therefore, overlap and screw the adjustment bar (MR-DCBAR024-B05). Page 47 How to use the bus bar

Left side unit *1 Right side unit *1 Bus bar model Number of packages per set MR-CV11K4 MR-CV18K4

MR-J5D1_ MR-J5D2-100G4 MR-J5D2-200G4 MR-J5D2-350G4 MR-J5D3_

MR-DCBAR077-B02 2

MR-J5D2-500G4 MR-J5D2-700G4

MR-DCBAR092-B02 2

MR-CV30K4 MR-CV37K4 MR-CV45K4

MR-J5D1_ MR-J5D2-100G4 MR-J5D2-200G4 MR-J5D2-350G4 MR-J5D3_

MR-DCBAR097-B02 2

MR-J5D2-500G4 MR-J5D2-700G4

MR-DCBAR112-B02 2

MR-CV55K4 MR-CV75K4

MR-J5D1_ MR-J5D2-100G4 MR-J5D2-200G4 MR-J5D2-350G4 MR-J5D3_

MR-DCBAR099-B03 2

MR-J5D2-500G4 MR-J5D2-700G4

MR-DCBAR114-B03 2

MR-J5D1_ MR-J5D2_ MR-J5D3_

MR-J5D1_ MR-J5D2-100G4 MR-J5D2-200G4 MR-J5D2-350G4 MR-J5D3_

MR-DCBAR077-B02 2

MR-J5D2-500G4 MR-J5D2-700G4

MR-DCBAR092-B02 2

Bus bar Number of packages per set MR-DCBAR024-B05 2

0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.1 Cables/connector sets

6

6.2 MR Configurator2 Engineering tool MR Configurator2 (SW1DNC-MRC2-_) can be used with this drive unit. 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 drive unit.

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

drive unit 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 computer to the drive unit.

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 drive unit communication function When the drive unit is charged with electricity due to connection with a personal computer and the charged drive unit is connected with other devices, the drive unit or the connected devices may malfunction. Connect the drive unit and other devices with the following procedure.

1. Shut off the power of the device to be connected with the drive unit.

2. Shut off the power of the drive unit that was connected with the personal computer, and check that the charge light is off.

3. Connect the device with the drive unit.

4. Turn on the power of the drive unit and the connected device.

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.2 MR Configurator2 121

12

6.3 Selection example of wires

To comply with the IEC/EN/UL/CSA standard for wiring, use the wires described in the MR-J5D Safety Instructions and Precautions for AC Servos (IB(NA)-0300527). 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.

L11

L21

U

V

W

E

U

V

W

E

M

(1) Control circuit power supply lead

Drive unit

(2) Servo motor power supply lead To control circuit power supply

2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 Selection example of wires

6

Wire size selection examples Selection examples for the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) are indicated below. Refer to the following for selection examples for crossover wiring of the control circuit power supply. Page 124 For crossover wiring of the control circuit power supply

400 V class

*1 The alphabetical letters in the table indicate the symbols of the selection example of crimp terminals. Page 123 Selection example of crimp terminals

*2 For connection to the terminal block, use the screws included with the terminal block. *3 The wires are selected based on the largest rated current among the servo motors to be combined. *4 The minimum wire size required by the National Electrical Code is AWG 14 (2 mm2).

Selection example of crimp terminals

Drive unit *2 Wire [mm2] *1*3

(1) L11/L21/ U/V/W/E MR-J5D1-100G4 1.25 to 2 (AWG 16 to 14): a *4 1.25 to 2 (AWG 16 to 14)

MR-J5D1-200G4

MR-J5D1-350G4

MR-J5D1-500G4 3.5 (AWG 12)

MR-J5D1-700G4 5.5 (AWG 10)

MR-J5D2-100G4 1.25 to 2 (AWG 16 to 14)

MR-J5D2-200G4

MR-J5D2-350G4

MR-J5D2-500G4 3.5 (AWG 12)

MR-J5D2-700G4 5.5 (AWG 10)

MR-J5D3-100G4 1.25 to 2 (AWG 16 to 14)

MR-J5D3-200G4

Symbol Drive unit side crimp terminal Manufacturer

Crimp terminal Applicable tool a FVD2-4 YNT-1614 JST (J.S.T. Mfg. Co., Ltd.)

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.3 Selection example of wires 123

12

6.4 Molded-case circuit breakers, fuses 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. For the molded-case circuit breaker/fuse for the main circuit power supply, refer to "Molded-case circuit breakers, fuses,

magnetic contactors" in the following manual. MR-CV Power Regeneration Converter Unit User's Manual

Selection example (for control circuit power supply) Install an overcurrent protection device (molded-case circuit breaker, fuse, etc.) to protect the branch circuit.

For crossover wiring of the control circuit power supply Wire L11 and L21 as follows. Refer to the following items for wires. Page 125 Molded-case circuit breaker Page 125 Fuse The figure is drawn with the terminal block cover removed.

*1 Install a dedicated molded-case circuit breaker for the control circuit power supply. Do not share the molded-case circuit breaker with the main circuit power supply.

MR-CV11K4 MR-J5D2-700G4

MR-J5D2-500G4 MR-J5D1-200G4

MR-J5D3-100G4

Molded-case circuit breaker (MCCB) *1

Power supply

4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Molded-case circuit breakers, fuses

6

Molded-case circuit breaker Use a molded-case circuit breaker that has operation characteristics that will not be triggered by inrush current.

*1 The alphabetical letters in the table indicate the symbols of the selection example of crimp terminals. Page 125 Selection example of crimp terminals (crossover wiring)

Fuse Use a fuse with a fusing characteristic that will not fuse under repeated inrush currents.

*1 The alphabetical letters in the table indicate the symbols of the selection example of crimp terminals. Page 125 Selection example of crimp terminals (crossover wiring)

Selection example of crimp terminals (crossover wiring)

When the total number of connected units exceeds 14 If the total number of power regeneration converter units and drive units exceeds 14, use two power supplies. The following is an example of wiring the control circuit when 25 drive units are connected.

*1 Install a dedicated molded-case circuit breaker for the control circuit power supply. Do not share the molded-case circuit breaker with the main circuit power supply.

Number of connected converter units/drive units Voltage AC [V]1 2 3 4 5 6 7 8 9 10 11 12 13 14

Molded-case circuit breaker

30 A frame 5A 30 A frame 10A 30 A frame 15A 30 A frame 20A

30 A frame 30A 480

Wire size 2 (AWG 14) 3.5 (AWG 12) 5.5 (AWG 10)

Crimp terminal a *1 b *1

Number of connected converter units/drive units Voltage AC [V]1 2 3 4 5 6 7 8 9 10 11 12 13 14

Fuse [A] 5 10 15 20 25 30 600

Wire size 2 (AWG 14) 3.5 (AWG 12) 5.5 (AWG 10)

Crimp terminal a *1 b *1

Symbol Crimp terminal Applicable tool Manufacturer a FVD2-4 YNT-1614 JST (J.S.T. Mfg. Co., Ltd.)

b FVD5.5-4 YNT-1210S

Power supply Power supply

Molded-case circuit breaker (MCCB) *1

Molded-case circuit breaker (MCCB) *1

Power regeneration converter unit and 12 drive units 13 drive units

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Molded-case circuit breakers, fuses 125

12

For branch wiring of the control circuit power supply 400 V class

*1 To comply with the IEC/EN/UL/CSA standards, refer to the MR-J5D Safety Instructions and Precautions for AC Servos (IB(NA)- 0300527) for selection of molded-case circuit breakers and fuses.

Selection examples that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274 The semiconductor fuses and recommended wire gauges in the tables are selections based on the rated I/O of the converter unit/drive unit.

Semiconductor fuse 400 V class

Recommended wire 400 V class

Drive unit 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-J5D_-_G_ 30 A frame 5 A 480 1 600 1 600

Power regeneration converter unit Semiconductor fuse (700 V) SCCR 100 kA (Manufactured by Bussmann)

MR-CV11K4 170M1413 (40 A)

MR-CV18K4 170M1416 (80 A)

MR-CV30K4 170M1419 (160 A)

MR-CV37K4 170M1419 (160 A)

MR-CV45K4 170M1420 (200 A)

MR-CV55K4 170M1421 (250 A)

MR-CV75K4 170M1422 (315 A)

Drive unit 75 C Stranded wire [AWG]

L11/L21/ U/V/W/E MR-J5D1-100G4 14 14

MR-J5D1-200G4

MR-J5D1-350G4

MR-J5D1-500G4 12

MR-J5D1-700G4 10

MR-J5D2-100G4 14

MR-J5D2-200G4

MR-J5D2-350G4

MR-J5D2-500G4 12

MR-J5D2-700G4 10

MR-J5D3-100G4 14

MR-J5D3-200G4

6 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.4 Molded-case circuit breakers, fuses

6

6.5 Relay (recommended) The following relays should be used with each interface.

6.6 Noise reduction techniques Noises are classified into external noises, which enter the converter unit/drive unit to cause it to malfunction, and those radiated by the converter unit/drive unit to cause peripheral equipment to malfunction. Because the converter unit/drive unit is an electronic device that handles small signals, the following general noise reduction techniques are required. The drive unit 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 drive unit, 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 83 Grounding

Reduction techniques for external noises that cause the converter unit/drive unit to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays) that make a large amount of noise near the converter unit/drive unit and the converter unit/drive unit 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 converter unit, to protect the converter unit/drive unit and other equipment

against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended.

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

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.5 Relay (recommended) 127

12

Techniques for noises radiated by the converter unit/drive unit that cause peripheral equipment to malfunction Noises produced by the converter unit/drive unit are classified into those radiated from the cables connected to the converter unit/drive unit 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.

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)

Directly radiated noise generated from the converter unit/drive unit

Noise generated from the converter unit/drive unit

(7)

(1)

(3)

(2)

(4)

(7)

(6)

(2)

(3)

(8)

(5)

(7)

M

Sensor power supply

Instrument Receiver

Sensor

Servo motor

Converter unit/ drive unit

8 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 Noise reduction techniques

6

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 converter unit/drive unit or when the signal cables run near the converter unit/ drive unit. Take the following measures to prevent a malfunction: Provide maximum clearance between easily affected devices and the converter unit/drive unit. Provide maximum clearance between easily affected signal cables and the I/O cables of the converter unit/drive unit. Avoid bundling power lines (input/output lines of the converter unit/drive unit) 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 converter unit/drive unit. Provide maximum clearance between easily affected signal cables and the I/O cables of the converter unit/drive unit. Avoid bundling power lines (input/output lines of the converter unit/drive unit) 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 converter unit/drive unit system, noise produced by the converter unit/drive unit 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 converter unit/drive unit. Install the line noise filter (FR-BLF) on the power lines of the converter unit/drive unit.

(8) If the grounding wires of the peripheral equipment and the converter unit/drive unit 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.

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 Noise reduction techniques 129

13

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 from the drive unit. When connecting the network cable from outside the cabinet, connect it to the ground plate 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 drive unit.

Inside the cabinet When using cable clamp fittings

When using a data line filter

Cable clamp fitting

200 mm to 300 mmTop view of drive unit

Data line filter

80 mm or lessTop view of drive unit

0 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 Noise reduction techniques

6

Outside the cabinet When using cable clamp fittings

When using a data line filter

Inside the cabinet Outside the cabinet

Cable clamp fitting

Locate 5 mm to 10 mm away from the cabinet entrance.

Top view of drive unit

Inside the cabinet Outside the cabinet

Data line filter

80 mm or lessTop view of drive unit

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 Noise reduction techniques 131

13

Noise reduction products For the noise reduction products to be connected to the converter unit, refer to "Noise reduction products" in the following manual. MR-CV Power Regeneration Converter Unit User's Manual

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]

Impedance []

10 MHz to 100 MHz 100 MHz to 500 MHz 80 150

1 3

1

3 0

1

34 1 39 1 Loop for

fixing cable band

Product name

Lot number

Dimensions (ZCAT3035-1330)

2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 Noise reduction techniques

6

Surge killer (recommended) Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the drive unit. 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

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

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

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 Noise reduction techniques 133

13

Cable clamp fitting 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 drive unit 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 are thin, bunch several cables together and clamp them in place.

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).

AERSBAN-_SET 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.

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

4 6 OPTIONS AND PERIPHERAL EQUIPMENT 6.6 Noise reduction techniques

6

6.7 Earth-leakage current breaker For details on how to select an earth-leakage circuit breaker, refer to "Earth-leakage current breaker" in the following manual. MR-CV Power Regeneration Converter Unit User's Manual

Servo motor leakage current example (Igm)

Drive unit 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

Drive unit Leakage current [mA] MR-J5D1-100_ MR-J5D1-200_ MR-J5D1-350_

0.3

MR-J5D1-500_ MR-J5D1-700_

0.5

MR-J5D2-100_ MR-J5D2-200_ MR-J5D2-350_

0.3

MR-J5D2-500_ MR-J5D2-700_

0.5

MR-J5D3-100_ MR-J5D3-200_

0.3

6 OPTIONS AND PERIPHERAL EQUIPMENT 6.7 Earth-leakage current breaker 135

13

7 ABSOLUTE POSITION DETECTION SYSTEM Precautions

If [AL. 025 Absolute position erased] or [AL. 0E3 Absolute position counter warning] occurs, execute homing again.

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 for infinite positioning and the like in combination with a controller other than a Mitsubishi

Electric motion module

Precautions [G] 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 drive unit 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 139 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 "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.

6 7 ABSOLUTE POSITION DETECTION SYSTEM 7.1 Outline

7

System architecture The following shows the architecture of the absolute position detection system.

When connecting the battery-less absolute position encoder

Servo parameter setting [G] Set [Pr. PA03 Absolute position detection system] to "1" (enabled (absolute position detection system)).

Homing 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)

CN1_

CN2A/ CN2B/ CN2C

CN4

Controller

Servo motor

Do not connect anything.

Drive unit

7 ABSOLUTE POSITION DETECTION SYSTEM 7.1 Outline 137

13

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.

*1 For the structural drawing, refer to the following. Page 140 Connecting the battery-less encoder

No. Item Screen operation

MR Configurator2 System architecture *1

(1) Motor (machine) side pulse unit value

Acquires and displays values in the unit of the servo motor (machine) side pulses from the drive unit of the specified axis.

(2) Command pulse unit value Current position

Acquires and displays the command pulse unit value from the drive unit for the specified axis.

(3) CYC 1X [G]: Acquires and displays the position within one revolution in the unit of the servo motor (machine) side pulses from the drive unit of the specified axis.

(4) ABS LS Acquires and displays the multi-revolution counter travel distance from the absolute home position from the drive unit of the specified axis.

(5) CYC0 1XO [G]: Acquires and displays the home position within one revolution in the unit of the servo motor (machine) side pulses from the drive unit of the specified axis.

(6) ABS0 LSO Acquires and displays the multi-revolution counter value of the absolute home position from the drive unit of the specified axis.

8 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 converter unit, drive unit and replace the servo motor.

2. Canceling [AL. 01A Servo motor combination error] When the power supply of the converter unit and drive unit are 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 converter unit, drive unit 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 converter unit, drive unit and replace the servo motor.

2. Canceling [AL. 025 Absolute position erased] When the power supply of the converter unit and drive unit are turned on, [AL. 025.1 Servo motor encoder absolute position erased] occurs. Cycle the power of the converter unit and drive unit 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 139

14

7.2 Configuration and specifications Connecting the battery-less encoder The following shows an example of battery-less encoder connection.

System architecture

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)

LSO 1XO

Controller

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

Drive unit

0 7 ABSOLUTE POSITION DETECTION SYSTEM 7.2 Configuration and specifications

8

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. To extend functional safety by setting [Pr. PSA01.0] to "1", refer to the following. Page 152 USING FUNCTIONAL SAFETY

Precautions Do not improperly install safety-related components or systems. Installation should be performed by qualified personnel.

Outline This drive unit complies with the following safety standards.

Terms related to safety The STO function shuts off energy to servo motors, thus removing torque. MR-J5D_ shuts off the energy by turning off the power supply electronically in the drive unit. 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 drive unit satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by preventing the energy supply from the drive unit 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-J5D_ Safety sub-function STO (IEC/EN 61800-5-2)

Satisfied standards EN ISO 13849-1:2015 Category 4 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2

8 USING STO FUNCTION 8.1 Introduction 141

14

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 and servo 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 converter unit.

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 drive unit, confirm that the new drive unit 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 drive unit are shorted and damaged simultaneously, the servo motor may make a half revolution at a maximum.

2 8 USING STO FUNCTION 8.1 Introduction

8

Specifications

Drive unit specifications For information on drive unit specifications, refer to "Functional safety" in the User's Manual (Introduction).

Function block diagram (STO function)

Operation sequence (STO function)

Maintenance This drive unit 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

8 USING STO FUNCTION 8.1 Introduction 143

14

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

TOFCOM

STO1STOCOM

STO2 TOFB1

7

CN8

8

5 6

3 4

1 2

TOFB2

Top view of drive unit

Functional safety I/O signal connector

4 8 USING STO FUNCTION 8.2 Functional safety I/O signal connector (CN8) and pin assignments

8

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 drive unit 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 drive unit. 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)

8 USING STO FUNCTION 8.2 Functional safety I/O signal connector (CN8) and pin assignments 145

14

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

6 8 USING STO FUNCTION 8.3 Connection example

8

Connection example for CN8 connector This drive unit 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 149 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 148 External I/O signal connection example using an external safety relay unit The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by TOFB output is performed or not. For details, refer to [Pr. PF18] in the following manual. MR-J5-G/MR-J5W-G 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.

STO1

STO2 *2

*2

*3

STO1

CN8

4

STO2 5

STOCOM 3

CN8

8

6

TOFCOM

7 TOFB2

TOFB1

*1Approx. 3.0 k

Approx. 3.0 k

Door Open

24 V DC

Drive unit

8 USING STO FUNCTION 8.3 Connection example 147

14

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 48 Example I/O signal connections

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.

*1 To enable "Emergency switching off" for the shut-off by the STO function of the drive unit, change S1 to EMG. The stop category at this time is "0". Page 146 Precautions for compliance with stop category 1 (IEC/EN 60204-1)

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

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

Drive unit

8 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 144 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

For transistor

Approx. 5 mA

Approx. 3.0 k

Switch

24 V DC 10 % 300 mA

Drive unit

8 USING STO FUNCTION 8.4 Detailed explanation of interfaces 149

15

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 drive unit.

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 If the polarity of the diode is reversed, the drive unit will malfunction.Load

Load

24 V DC 10 % *1 300 mA

Drive unit

TOFCOM

TOFB2

TOFB1

If the polarity of the diode is reversed, the drive unit will malfunction.Load

24 V DC 10 % *1 300 mA

Drive unit

0 8 USING STO FUNCTION 8.4 Detailed explanation of interfaces

8

Source I/O interface For this drive unit, 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 drive unit.

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

Approx. 3.0 k

Switch

Approx. 5 mA 24 V DC 10 % 300 mA

Drive unit

TOFCOM

TOFB2

TOFB1

If the polarity of the diode is reversed, the drive unit will malfunction.Load

Load

24 V DC 10 % *1 300 mA

Drive unit

TOFCOM

TOFB2

TOFB1

If the polarity of the diode is reversed, the drive unit will malfunction.Load

24 V DC 10 % *1 300 mA

Drive unit

8 USING STO FUNCTION 8.4 Detailed explanation of interfaces 151

15

9 USING FUNCTIONAL SAFETY

9.1 Function block diagram The following are examples of the MR-J5D1-_G_.

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.

L+

L-

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 E

U

V

W

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

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

Drive unit

To MCCB

To L+ of the converter unit

To L- of the converter unit

NetworkController or network device

NetworkController or network device

2 9 USING FUNCTIONAL SAFETY 9.1 Function block diagram

9

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.

L+

L-

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

EE

U

V

W

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

Drive unit

To MCCB

To L+ of the converter unit

To L- of the converter unit

9 USING FUNCTIONAL SAFETY 9.1 Function block diagram 153

15

9.2 System architecture The following are examples of the MR-J5D1-_G_.

Safety sub-function control by input device

CN5

CN3

CN8 CN1A

CN2A

CN1B

MR Configurator2

WVUE

Computer

Servo motor

Safety light curtain

Emergency stop switch

Safety signal

Safety programmable controller

Network

Network

I/O signal

4 9 USING FUNCTIONAL SAFETY 9.2 System architecture

9

Safety sub-function control by network

CN5

CN3

CN1A

CN2A

CN1B

MR Configurator2

WVUE

CC-Link IE TSN

CC-Link IE TSN

Computer

Servo motor

Safety light curtain

Emergency stop switch

Safety signal

I/O signal

Network

Network

9 USING FUNCTIONAL SAFETY 9.2 System architecture 155

15

9.3 Specifications For information on safety sub-function specifications, refer to "Functional safety" in the User's Manual (Introduction).

9.4 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

SDOCOM

SDIASDICOM

SDIB SDOA

7

CN8

8

5 6

3 4

1 2

SDOB

Top view of drive unit

Functional safety I/O signal connector

6 9 USING FUNCTIONAL SAFETY 9.3 Specifications

9

9.5 Example I/O signal connections This is only a connection example for CN8. Refer to the following for other connection examples. Page 48 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

9 USING FUNCTIONAL SAFETY 9.5 Example I/O signal connections 157

15

Output signal

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 the polarity of the diode is reversed, the drive unit will malfunction.

8

7

6

SDOCOM

SDOB

CN8

SDOA *1

10 m or less

24 V DC *2

Load

Load

If the polarity of the diode is reversed, the drive unit will malfunction.

8 9 USING FUNCTIONAL SAFETY 9.5 Example I/O signal connections

9

9.6 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

9 USING FUNCTIONAL SAFETY 9.6 Connecting I/O interfaces 159

16

9.7 Wiring the SBC output

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. It is not necessary to use MBR (electromagnetic brake interlock) of the drive unit. 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

24 V DC

Servo motor

24 V DC *2

(Malfunction)

Drive unit

0 9 USING FUNCTIONAL SAFETY 9.7 Wiring the SBC output

9

9.8 Noise reduction techniques This section provides information on measures that prevent the drive unit malfunctioning when it is installed next to peripheral devices that emit a large amount of noise. Ground shielded cables close to the drive unit. 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 drive unit 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

Cable clamp

Converter unit Drive unit

9 USING FUNCTIONAL SAFETY 9.8 Noise reduction techniques 161

16

9.9 Example of connection with other devices The following are examples of the MR-J5D1-_G_.

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

Deceleration command

Controller

KM1: Magnetic contactor S1: Safety switch

Servo motor

Drive unit

2 9 USING FUNCTIONAL SAFETY 9.9 Example of connection with other devices

9

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

Drive unit

9 USING FUNCTIONAL SAFETY 9.9 Example of connection with other devices 163

16

10 USING A FULLY CLOSED LOOP SYSTEM

10.1 Precautions A fully closed loop system cannot be used for a 3-axis drive unit. If the fully closed loop system is enabled for a 3-axis drive

unit, [AL. 037 Parameter error] occurs. 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, contact your local sales office. When a fully closed loop system is used for a 1-axis drive unit, if a communication cycle shorter than 125 s is set, [AL.

09E.A Communication cycle setting warning] occurs. When a fully closed loop system is used for a 2-axis drive unit, 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. When the drive unit 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.

Restrictions when a fully closed loop system is configured with a 2-axis drive unit 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.

4 10 USING A FULLY CLOSED LOOP SYSTEM 10.1 Precautions

10

10.2 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 drive unit. 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 drive unit and shorten the settling time.

Disadvantage 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.

Disadvantage Because this control method is susceptible to machine resonance, it may be unable to increase the gain of the drive unit.

"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

(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"

Drive unit

10 USING A FULLY CLOSED LOOP SYSTEM 10.2 Functions and configuration 165

16

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.

*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.

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].

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

+

+

+

-

*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

6 10 USING A FULLY CLOSED LOOP SYSTEM 10.2 Functions and configuration

10

Operation mode and load-side encoder combinations Refer to the following table for availability of the fully closed loop system.

*1 It can be used with a 1-axis drive unit. If a 2-axis drive unit is used, [AL. 070] occurs. For a 2-axis drive unit, use a two-wire type encoder cable. 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

Linear encoder

Rotary servo motor manufactured by Mitsubishi Electric

A/B/Z-phase differential output rotary encoder *1

10 USING A FULLY CLOSED LOOP SYSTEM 10.2 Functions and configuration 167

16

System architecture

For linear encoders 1-axis drive unit

*1 When using an absolute position linear encoder, an absolute position detection system can be supported. In that case, batteries are unnecessary.

CNP3A CN2AL

CN2A

Controller

Position command control signal

Table

Servo motor encoder signal

Linear encoder head

Servo motor

Drive unit

Load-side encoder signal (A/B/Z-phase pulse train interface or serial interface)

Linear encoder compatible with A/B/Z-phase pulse train interface, linear encoder compatible with two-wire or four-wire type serial interface *1

8 10 USING A FULLY CLOSED LOOP SYSTEM 10.2 Functions and configuration

10

2-axis drive unit

*1 When using an absolute position linear encoder, an absolute position detection system can be supported. In that case, batteries are unnecessary.

CNP3A

CN2A

Controller

Position command control signal

Table

Servo motor encoder signal

Linear encoder head

Servo motor

Drive unit

Linear encoder compatible with two-wire type serial interface *1

Load-side encoder signal

10 USING A FULLY CLOSED LOOP SYSTEM 10.2 Functions and configuration 169

17

For rotary encoders 1-axis drive unit

*1 When using an HK-KT servo motor, an absolute position detection system can be supported without using batteries.

2-axis drive unit

*1 Use two-wire type encoder cables. Four-wire type encoder cables cannot be used. *2 When using an HK-KT servo motor, an absolute position detection system can be supported without using batteries.

CNP3A CN2AL

CN2A

*1

Controller

Position command control signal

Servo motor encoder signal

Drive unit

Load-side encoder signal Servo motor

A/B/Z-phase differential output encoder, two-wire type or four-wire type rotary encoder, or synchronous encoder

Driving part

CNP3A

CN2A

*1

*2

Controller

Position command control signal

Drive unit

Servo motor

Two-wire type rotary encoder

Driving part

Servo motor encoder signalLoad-side encoder signal

0 10 USING A FULLY CLOSED LOOP SYSTEM 10.2 Functions and configuration

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10.3 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 drive unit 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 For linear encoder cables, refer to "OPTION CABLES/CONNECTOR SETS" in the following manual. MR-J5 Partner's Encoder User's Manual The encoder cable to be used differs depending on the load-side encoder.

1-axis drive unit 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.

2-axis drive unit

CN2A CN2AL

Linear encoder Encoder of rotary servo motor

Encoder cable

Load-side encoder

Drive unit

CN2 MOTOR

SCALE

CN2A

Linear encoder

MR-J4FCCBL03M branch cable

Encoder of rotary servo motor

Encoder cable

Load-side encoder

Drive unit

10 USING A FULLY CLOSED LOOP SYSTEM 10.3 Signals and wiring 171

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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)

1-axis drive unit 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)

*1

*1

CN2A CN2AL

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)")

Drive unit

2 10 USING A FULLY CLOSED LOOP SYSTEM 10.3 Signals and wiring

10

2-axis drive unit

*1 Use two-wire type encoder cables. Four-wire type encoder cables 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)

CN2 MOTOR

SCALE

*2

*2

CN2A 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)")

Drive unit

10 USING A FULLY CLOSED LOOP SYSTEM 10.3 Signals and wiring 173

17

10.4 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 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

4 10 USING A FULLY CLOSED LOOP SYSTEM 10.4 Startup

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Load-side encoder communication method selection 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] and [AL. 071].

[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.

Setting the polarity of the load-side encoder

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 179 Checking position data of the load-side encoder

Setting value Non-signal detection alarm

Z-phase-side non-signal alarm 0 [AL. 071.6]

1 Disabled

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

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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

10 USING A FULLY CLOSED LOOP SYSTEM 10.4 Startup 177

17

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 encoders Other than 0: Rotary encoders

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

8 10 USING A FULLY CLOSED LOOP SYSTEM 10.4 Startup

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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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18

10.5 Basic functions Homing 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 to 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].

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

Homing direction

Homing start position Stop due to [AL. 90]

Stroke end

0 r/min

Linear encoder home position

Creep speed

Home position shift distance *1

Home position

Homing direction

Homing speed

Servo motor speed

Machine position

Forward rotation

Reverse rotation

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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 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.

0 r/min

Homing direction

Linear servo motor speed Reverse rotation

Homing automatically starts from this position.

Homing start positionForward rotation

Stroke end *1

Linear encoder home 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

Home position

Load-side encoder Z-phase signal

Reference home position

Machine position

Equivalent to one load-side revolution

Drive unit power-on position

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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 detection and 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). Page 184 Speed deviation error detection Page 185 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

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 176 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]

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]

Set the servo parameters for the electronic gears. [Pr. PA06 Electronic gear numerator], [Pr. PA07 Electronic gear denominator]

Symbol Name Explanation Unit

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10.6 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.

8 10 USING A FULLY CLOSED LOOP SYSTEM 10.6 Options and peripheral equipment

10

10.7 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 drive unit. When a battery backup type rotary encoder is used, an absolute position detection system can be configured by installing the encoder battery to the drive unit. When a batteryless rotary encoder is used, the encoder battery need not be mounted to the drive unit.

Use an absolute position type encoder for the load-side encoder. Using an incremental type encoder triggers [AL. 037 Parameter error]. 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 using the degree unit, 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.

10 USING A FULLY CLOSED LOOP SYSTEM 10.7 Absolute position detection system 189

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

2021 MITSUBISHI ELECTRIC CORPORATION

Revision date *Manual number Description June 2021 IB(NA)-0300548ENG-A First edition

July 2022 IB(NA)-0300548ENG-B Information on the following functions is added: Absolute position detection system Added/edited: CABLES USED FOR WIRING, Section 1.1, Section 1.2, Section 2.4, Section 2.5, Section 3.1, Section 3.2, Section 3.5, Section 3.7, Section 3.8, Section 5.1, Section 6.1, Section 6.2, Section 7.1, Section 9.2, Section 9.5, Chapter 10

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.

IB(NA)-0300548ENG-B

IB(NA)-0300548ENG-B(2207)MEE MODEL: MODEL CODE:

Specifications are subject to

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