Mitsubishi Electric PL36 Manual de instrucciones

SH (NA) 030125-C (1403) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.MOD

1 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-40 1.1 Summary...

4. STARTUP 4 - 5 c) When you use a brake unit and power regeneration converter for 5 kW or more servo amplifiers For 5 kW and 7 kW, the lead wire o

4. STARTUP 4 - 6 4.2 Startup Connect the servo motor with a machine after confirming that the servo motor operates properly alone. (1) Power on Whe

4. STARTUP 4 - 7 (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a

4. STARTUP 4 - 8 POINT The control axis No. set to the axis selection rotary switch (SW1) should be the same as the one set to the servo system con

4. STARTUP 4 - 9 4.3.2 Status display of an axis (1) Display sequence Servo system controller power on(SSCNET communication begins)Ready-onReady-onO

4. STARTUP 4 - 10 (2) Indication list Display Status Description Initializing System check in progress A b Initializing The servo amplifier po

4. STARTUP 4 - 11 4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer

4. STARTUP 4 - 12 4.5.1 Test operation mode in MR Configurator POINT When you set the axis selection rotary switch (SW1) to "F", the SSC

4. STARTUP 4 - 13 2) Operation method Operation Screen control Forward rotation start Click the "Forward" button. Reverse rotation start

4. STARTUP 4 - 14 4.5.2 Motor-less operation in controller POINT Motor-less operation cannot be used with MR Configurator. To use motor-less opera

2 3.8.2 Timing chart... 3-

5. PARAMETERS 5 - 1 5. PARAMETERS CAUTION Never make a drastic adjustment or change to the parameter values as doing so will make the operation unst

5. PARAMETERS 5 - 2 5.1.2 Adjustment parameters No. Symbol Name Initial value Unit 12 GD2 Ratio of load inertia to servo motor inertia (load in

5. PARAMETERS 5 - 3 No. Symbol Name Initial value Unit 56 *OP8 Option function 8 0000h 57 For manufacturer setting 0000h 58 *OPA Opt

5. PARAMETERS 5 - 4 5.2 Detailed list of parameters POINT Set a value to each "x" in the "Setting digit" columns. 5.2.1 Basi

5. PARAMETERS 5 - 5 No. Symbol Name and function Initial value[unit] Setting range 2 *REG Regenerative resistor Select the regenerative option. In

5. PARAMETERS 5 - 6 No. Symbol Name and function Initial value[unit] Setting range 6 *FBP Feedback pulse number Set the number of pulses per rev

5. PARAMETERS 5 - 7 No. Symbol Name and function Initial value[unit] Setting range 8 ATU Auto tuning Select the gain adjustment mode. Refer to Na

5. PARAMETERS 5 - 8 No. Symbol Name and function Initial value[unit] Setting range 9 RSP Servo response Set the auto tuning response. If the machi

5. PARAMETERS 5 - 9 5.2.2 Adjustment parameters No. Symbol Name and function Initial value[unit] Setting range 12 GD2 Ratio of load inertia to s

5. PARAMETERS 5 - 10 No. Symbol Name and function Initial value[unit] Setting range 18 NCH Machine resonance suppression filter 1 (notch filter)

3 7.2.2 Function block diagram... 7- 4 7.2.

5. PARAMETERS 5 - 11 No. Symbol Name and function Initial value [Unit] Setting range 21 MBR Electromagnetic brake sequence output Set the delay

5. PARAMETERS 5 - 12 No. Symbol Name and function Initial value [Unit] Setting range 24 *OP2 Option function 2 Select the slight vibration suppr

5. PARAMETERS 5 - 13 No. Symbol Name and function Initial value [Unit] Setting range 32 *OP5 Option function 5 Select the PI-PID switching contr

5. PARAMETERS 5 - 14 No. Symbol Name and function Initial value [Unit] Setting range 38 *ENR Encoder output pulses Set the encoder pulses (A-pha

5. PARAMETERS 5 - 15 No. Symbol Name and function Initial value [Unit] Setting range 49 *CDP Gain switching selection Select the gain switching

5. PARAMETERS 5 - 16 No. Symbol Name and function Initial value [Unit] Setting range 58 *OPA Option function A This is used to select enabled or

5. PARAMETERS 5 - 17 No. Symbol Name and function Initial value[unit] Setting range 61 NH2 Machine resonance suppression filter 2 Select the mac

5. PARAMETERS 5 - 18 MEMO

6. NORMAL GAIN ADJUSTMENT 6 - 1 6. NORMAL GAIN ADJUSTMENT POINT In the torque control mode, you do not need to make gain adjustment. Before making

6. NORMAL GAIN ADJUSTMENT 6 - 2 (2) Adjustment sequence and mode usage Usage Used when you want to match PG1 (position gain) between 2 or more axe

4 11.7 MR Configurator ... 11-4

6. NORMAL GAIN ADJUSTMENT 6 - 3 6.1.2 Adjustment using MR Configurator POINT When using the machine analyzer, set the axis No. of servo amplifier

6. NORMAL GAIN ADJUSTMENT 6 - 4 (2) Auto tuning mode 2 Use "Auto tuning mode 2" when proper gain adjustment cannot be made by "Auto

6. NORMAL GAIN ADJUSTMENT 6 - 5 POINT If sudden disturbance torque is imposed during operation, the load to motor inertia ratio may be misestimated

6. NORMAL GAIN ADJUSTMENT 6 - 6 6.2.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. 9]. As the respo

6. NORMAL GAIN ADJUSTMENT 6 - 7 6.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can ma

6. NORMAL GAIN ADJUSTMENT 6 - 8 (c) Parameter adjustment 1) [Pr. 16 Speed loop gain 2] This parameter determines the response level of the speed co

6. NORMAL GAIN ADJUSTMENT 6 - 9 (c) Parameter adjustment 1) [Pr. 16 Speed loop gain 2] This parameter determines the response level of the speed c

6. NORMAL GAIN ADJUSTMENT 6 - 10 (b) Manually adjusted parameter The following parameters are adjustable manually. Parameter Symbol Name 13 PG1

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used normally. Use them

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 2 (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the

5 App. 7 Special specification...App.-24 Ap

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 3 7.1.2 Low-pass filter POINT In a mechanical system with extremely high rigidity where resonance is difficult

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 4 7.2.2 Function block diagram The control gains and load to motor inertia ratio settings are changed according

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 5 7.2.3 Parameter When using the gain switching function, always select "Manual mode 2 (_ _ _ 2)" of &

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 6 (4) [Pr. 49 Gain switching selection] Set the gain switching condition. Select the switching condition in the

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 7 7.2.4 Gain switching procedure This operation will be described by way of setting examples. (1) When you cho

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 8 (2) When you choose switching by droop pulses (a) Setting Parameter No. Symbol Name Setting value Unit 13 P

8. TROUBLESHOOTING 8 - 1 8. TROUBLESHOOTING 8.1 Alarm and warning list When an error occurs during operation, the corresponding alarm and warning ar

8. TROUBLESHOOTING 8 - 2 8.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm

8. TROUBLESHOOTING 8 - 3 Display Name Description Cause Action 12. _ Memory error 1 RAM memory error Printed board error 1. A part in the servo

8. TROUBLESHOOTING 8 - 4 Display Name Description Cause Action 1. The Encoder connector (CN2) is disconnected. Connect it correctly. 2. The encod

6 MEMO

8. TROUBLESHOOTING 8 - 5 Display Name Description Cause Action 1. The power wire is contacting with the servo motor power output (U, V, and W) of

8. TROUBLESHOOTING 8 - 6 Display Name Description Cause Action There is a mismatch between the built-in regenerative resistor (regenerative optio

8. TROUBLESHOOTING 8 - 7 Display Name Description Cause Action 1. Short occurred in the servo amplifier output phases U, V and W. Correct the wir

8. TROUBLESHOOTING 8 - 8 Display Name Description Cause Action 1. A command given was greater than the maximum speed of the servo motor. Check th

8. TROUBLESHOOTING 8 - 9 Display Name Description Cause Action 1. The servo amplifier is used in excess of its continuous output current. 1. Redu

8. TROUBLESHOOTING 8 - 10 Display Name Description Cause Action 1. A moving part collided against the machine. 1. Check the operation pattern. 2.

8. TROUBLESHOOTING 8 - 11 Display Name Description Cause Action 1. The acceleration/deceleration time constant is too short. Increase the acceler

8. TROUBLESHOOTING 8 - 12 8.3 Remedies for warnings CAUTION If [AL. E3 Absolute position counter warning] occurs, always make home position setting

8. TROUBLESHOOTING 8 - 13 Display Name Description Cause Action [AL.50 Overload 1] or [AL.51 Overload 2] may occur. 1. The load increased to 85%

8. TROUBLESHOOTING 8 - 14 8.4 Troubleshooting at power on When the servo system does not boot and system error occurs at power on of the servo syste

1. FUNCTIONS AND CONFIGURATION 1 - 1 1. FUNCTIONS AND CONFIGURATION 1.1 Summary This Instruction Manual explains about the MR-J4-_B_-RJ020 AC servo

9. DIMENSIONS 9 - 1 9. DIMENSIONS 9.1 Servo amplifier (1) MR-J4-10B-RJ020/MR-J4-20B-RJ020 [Unit: mm] Approx. 80156Approx. 216640661354Approx. 38.5A

9. DIMENSIONS 9 - 2 (2) MR-J4-40B-RJ020/MR-J4-60B-RJ020 [Unit: mm] 16116852Approx. 80 170156640665Approx. 216 Approx. 69.3CNP2CNP1CNP3PEφ6 mounting

9. DIMENSIONS 9 - 3 (3) MR-J4-70B-RJ020/MR-J4-100B-RJ020 [Unit: mm] 15664212660612 Approx. 80Cooling fanair intake1856Approx. 21Approx. 69.3CNP2CNP

9. DIMENSIONS 9 - 4 (4) MR-J4-60B4-RJ020/MR-J4-100B4-RJ020 [Unit: mm] 15664212660612 Approx. 80 1956Approx. 21Approx. 69.3168161CNP1φ6 mounting hol

9. DIMENSIONS 9 - 5 (5) MR-J4-200B-RJ020 [Unit: mm] Approx. 801956Approx. 69.3Approx. 38.5Cooling fanair intakeWith MR-BAT6V1SETExhaustLock knob666

9. DIMENSIONS 9 - 6 (6) MR-J4-200B4-RJ020 [Unit: mm] Approx. 80 1956Approx. 69.3φ6 mounting holeLock knobApprox. 38.5Cooling fanair intakeWith MR-B

9. DIMENSIONS 9 - 7 (7) MR-J4-350B-RJ020 [Unit: mm] Approx. 80 195Cooling fanair intake6Approx. 69.3With MR-BAT6V1SETExhaustMounting holeApprox. 38

9. DIMENSIONS 9 - 8 (8) MR-J4-350B4-RJ020 [Unit: mm] 10593 667.5 2352006Approx. 80Approx. 28107Cooling fanexhaust2-φ6 mounting hole2507.56CNP1CNP2C

9. DIMENSIONS 9 - 9 (9) MR-J4-500B-RJ020 [Unit: mm] 20010593 667.52356Approx. 80Approx. 28107Approx.34Approx.38.52507.56PETE1TE3TE4TE2Cooling fanex

9. DIMENSIONS 9 - 10 (10) MR-J4-500B4-RJ020 [Unit: mm] 66 1181301327.52357.5250200Approx.73.5Approx.69.3Approx.200Approx.28Approx.60Approx.38.5Ap

1. FUNCTIONS AND CONFIGURATION 1 - 2 1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J4-500B-RJ020 or l

9. DIMENSIONS 9 - 11 (11) MR-J4-700B-RJ020/MR-J4-700B4-RJ020 [Unit: mm] 200172160 667.5 2856Approx. 80Approx. 28174TE3TE1TE2PE63007.5Cooling fanexh

9. DIMENSIONS 9 - 12 (12) MR-J4-11KB-RJ020/MR-J4-15KB-RJ020/MR-J4-11KB4-RJ020/MR-J4-15KB4-RJ020 [Unit: mm] 260Approx.8010.5220196 121264002-φ6 moun

9. DIMENSIONS 9 - 13 (13) MR-J4-22KB-RJ020/MR-J4-22KB4-RJ020 [Unit: mm] 260400121212236260188.5223.4235.43761212Approx.80Approx. 28PE5 × 25.5 (= 12

9. DIMENSIONS 9 - 14 (14) MR-J4-10B1-RJ020/MR-J4-20B1-RJ020 [Unit: mm] Approx. 80156Approx. 216640661354Approx. 38.5Approx. 69.3CNP2CNP1CNP3PEφ6 mo

9. DIMENSIONS 9 - 15 (15) MR-J4-40B1-RJ020 [Unit: mm] 16116852Approx. 80 170156640665Approx. 216Approx. 38.5Approx. 69.3CNP2CNP1CNP3PEφ6 mounting h

9. DIMENSIONS 9 - 16 9.2 MR-J4-T20 [Unit: mm] 94.9103.79724.5 114.598.716112205 × 6 mounting hole for groundingRating plate Mass: 0.14 [kg]

9. DIMENSIONS 9 - 17 9.3 Connectors 9.3.1 Servo amplifier side connectors (1) Miniature delta ribbon (MDR) system (3M) for CN3 (a) One-touch lock

9. DIMENSIONS 9 - 18 (2) SCR connector system (3M) for CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 34.839.522.411.0

9. DIMENSIONS 9 - 19 9.3.2 MR-J4-T20 connectors (1) Connector for CN10A/CN10B (Honda Tsushin Kogyo) [Unit: mm] 23.0φ13.0RSApprox. 1Approx. 1 12.21

9. DIMENSIONS 9 - 20 (2) Connector for CN30A (JAE) [Unit: mm] Connector: HDR-E14MG1+ Case: HDR-E14LPA5 2117φ5.625 108.0 Model Number of pins Con

1. FUNCTIONS AND CONFIGURATION 1 - 3 Note 1. The built-in regenerative resistor is not provided for MR-J4-10B-RJ020. 2. For 1-phase 200 V AC

10. CHARACTERISTICS 10 - 1 10. CHARACTERISTICS 10.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to pro

10. CHARACTERISTICS 10 - 2 The following graphs show overload protection characteristics. 10001001010.1100 200 300 350050 150 250Load ratio [%](Note

10. CHARACTERISTICS 10 - 3 1000010001001010 100 200 300OperatingServo-lock50 150 250Operation time [s]Load ratio [%](Note 1)Characteristics e Note

10. CHARACTERISTICS 10 - 4 10.2 Power supply capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 10.1 indicates s

10. CHARACTERISTICS 10 - 5 (Note 2) Servo amplifier generated heat [W] Servo amplifier Servo motor (Note 1) Power supply capacity [kVA] At rated ou

10. CHARACTERISTICS 10 - 6 (2) Heat dissipation area for an enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet) which wi

10. CHARACTERISTICS 10 - 7 10.3 Dynamic brake characteristics POINT Do not use the dynamic brake to stop in a normal operation as it is the functi

10. CHARACTERISTICS 10 - 8 (2) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 10.2. (a) 200

10. CHARACTERISTICS 10 - 9 (b) 400 V class 0 500 1000 1500 2000 2500 3000152450241024524100806040200202435247024Dynamic brake timeconstant [ms]Sp

10. CHARACTERISTICS 10 - 10 10.3.2 Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor in

1. FUNCTIONS AND CONFIGURATION 1 - 4 (2) MR-J4-700B-RJ020/MR-J4-500B4-RJ020/MR-J4-700B4-RJ020 CN5USB D/ACN3L11L21N-CMCMCCBUVWUVWP3 P4 (Note 2)P+++BR

10. CHARACTERISTICS 10 - 11 10.4 Cable bending life The bending life of the cables is shown below. This graph calculated values. Since they are not

10. CHARACTERISTICS 10 - 12 10.5 Inrush currents at power-on of main circuit and control circuit POINT The inrush current values can change depend

10. CHARACTERISTICS 10 - 13 (2) 400 V class The following table indicates the inrush current (reference data) that will flow when 480 V AC is appli

10. CHARACTERISTICS 10 - 14 MEMO

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 1 11. OPTIONS AND PERIPHERAL EQUIPMENT WARNING Before connecting any option or peripheral equipment, turn

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 2 11.1.1 Combinations of cable/connector sets Battery(packed with the servo amplifier)2)CN1ACN1BCN3CNP1CN

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 3 No. Product name Model Description Application1) Servo amplifier power connector set CNP1 c

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 4 No. Product name Model Description ApplicationConnector: HDR-E14MG1+ Case: HDR-E14LPA5 (Honda Tsushi

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 5 11.1.2 SSCNET cable CAUTION If you have fabricated the SSCNET cable, connect it correctly. Otherwise,

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 6 (2) MR-J2HBUS_M (a) Model explanations Model:Symbol Cable length [m]05150.515 (b) Cable internal wirin

A - 1 Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to i

1. FUNCTIONS AND CONFIGURATION 1 - 5 (3) MR-J4-11KB-RJ020/MR-J4-15KB-RJ020/MR-J4-22KB-RJ020/MR-J4-11KB4-RJ020/ MR-J4-15KB4-RJ020/MR-J4-22KB4-RJ020 C

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 7 (3) Q172J2BCBL_M(-B) For the battery unit Q170BAT, use Q172J2BCBL_M-B. For Q170BAT, refer to the "

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 8 (b) Cable internal wiring diagram Q173J2B_CBL_M HDR-E26MG1+ (Connector)HDR-E26LPA5 (Case)10120-6000EL

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 9 11.1.3 RS-232C communication cable This section indicates the cable which connects MR-J4-T20 to a perso

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 10 (b) Cable internal wiring diagram 212111RXDLG131TXDLG148Connector on MR-J4-T20 Junction connectorShel

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 11 11.2 Regenerative option CAUTION Do not use servo amplifiers with regenerative options other than the

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 12 (2) 400 V class Regenerative power [W] Servo amplifier Built-in regenera-tive resistor M

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 13 11.2.2 Selection of the regenerative option Use the following method when regeneration occurs continuo

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 14 (2) Losses of the servo motor and servo amplifier in regenerative mode The following table lists the

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 15 11.2.3 Parameter setting Set [Pr.2] according to the option to be used. 00: Regenerative option is not

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 16 11.2.4 Selection of the regenerative option POINT When MR-RB50, MR-RB51, MR-RB5N, MR-RB3M-4, MR-RB3G

1. FUNCTIONS AND CONFIGURATION 1 - 6 Note 1. For power supply specifications, refer to section 1.3.1. 2. MR-J4 servo amplifier has P3 and P4

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 17 (2) MR-J4-700B-RJ020/MR-J4-500B4-RJ020/MR-J4-700B4-RJ020 Always remove the wiring (between P+ and C) o

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 18 (3) MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020/MR-J4-11KB4-RJ020 to qMR-J4-22KB4-RJ020 (when using the supp

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 19 (4) MR-J4-11KB-RZ020 to MR-J4-22KB-RZ020/MR-J4-11KB4-RZ020 to MR-J4-22KB4-RZ020 (when using the regen

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 20 11.2.5 Dimensions (1) MR-RB12 [Unit: mm] 5144Approx. 2016916815661263640φ6 mounting holeTE115Approx. 6

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 21 (3) MR-RB50/MR-RB51/MR-RB5N/MR-RB54-4/MR-RB5G-4/MR-RB5U-4 Terminal block PCG3G4 Terminal screw size:

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 22 (5) MR-RB1H-4 [Unit: mm] 156168144621491736Approx. 6Approx. 24615φ6 mounting hole3640 Terminal PCG3G4

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 23 (6) MR-RB5R/MR-RB9F/MR-RB9T/MR-RB5K-4/MR-RB6K-4 [Unit: mm] 48010260230102-φ10 mounting hole5003042743

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 24 11.3 FR-BU2-(H) brake unit POINT Use a 200 V class brake unit and a resistor unit with a 200 V class

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 25 Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 26 11.3.3 Connection example POINT Connecting the PR terminal of the brake unit to te P+ terminal of th

1. FUNCTIONS AND CONFIGURATION 1 - 7 (4) MR-J4-10B1-RJ020/MR-J4-20B1-RJ020/MR-J4-40B1-RJ020 Model positionCurrentcontrolActualposition controlActual

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 27 2) 400 V class EMG stop switchServo amplifierMCMCCB(Note 1)PowersupplyL1L2L3L11L21(Note 11) AlarmRA1O

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 28 (b) When connecting two brake units to a servo amplifier POINT For 400 V class servo amplifiers, tw

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 29 P3P4N-CEMG stop switchServo amplifier(Note 12)MCMCCB(Note 1)PowersupplyL1L2L3L11L21(Note 13) AlarmRA1O

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 30 (2) Combination with MT-BR5-(H) resistor unit 1) 200 V class EMG stop switchServo amplifierMCMCCB(No

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 31 2) 400 V class EMG stop switch(Note 11) AlarmRA1OFF RA2MCONMCSKSKRA2Servo amplifierMCMCCB(Note 1)L1L2

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 32 (2) Connection instructions The cables between the servo amplifier and the brake unit, and between the

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 33 (b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two s

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 34 11.3.4 Dimensions (1) FR-BU2-(H) brake unit FR-BU2-15K [Unit: mm] Ratingplateφ5 hole(Screw size: M4)

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 35 (2) FR-BR- (H) resistor unit [Unit: mm] H3 ± 1H1 ± 3Approx.H2Approx.H2D1H ± 52-φCControl circuitterm

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 36 11.4 FR-RC-(H) power regenerative converter POINT When using the FR-RC-(H) power regenerative conver

1. FUNCTIONS AND CONFIGURATION 1 - 8 1.3 Standard specifications 1.3.1 Servo amplifier standard specifications (1) 200 V class Model: MR-J4-_-RJ02

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 37 (2) Connection example (a) 200 V class (Note 1)P3 P4CN- P+N/- P/+(Note 4)RDSEReadyAlarm outputRDY out

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 38 (b) 400 V class (Note 1)P3 P4CN- P+N/- P/+(Note 4)RDSEReadyAlarm outputRDY outputMCMCCB(Note 7)Powers

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 39 (3) Dimensions AAACFKEEBABED2-φD holeRating plateFront coverDisplaypanelwindowMounting foot (removable

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 40 11.5 FR-CV-(H) power regenerative common converter POINT For details of the power regenerative commo

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 41 The following table lists the restrictions. FR-CV-_ Item 7.5K 11K 15K 22K 30K 37K 55K Maximum n

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 42 (3) Connection diagram (a) 200 V class MCMCCBR/L113-phase200 V AC to230 V ACS/L21T/L31S2/L22R2/L12T2/

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 43 (b) 400 V class MCMCCBR/L113-phase380 V AC to480 V ACS/L21T/L31S2/L22R2/L12T2/L32FR-CVL-HMCRA2RA1EM1O

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 44 (4) Selection example of wires used for wiring POINT The wire size selection conditions are as foll

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 45 (b) Example of the wire size selection 1) 200 V class When connecting multiple servo amplifiers, alw

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 46 (c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo a

1. FUNCTIONS AND CONFIGURATION 1 - 9 Note 1. When closely mounting the servo amplifier, operate them at the ambient temperatures of 0 ˚C to 45 ˚C

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 47 11.6 Junction terminal block PS7DW-20V14B-F (recommended) (1) Usage Always use the junction terminal b

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 48 (3) Dimensions of the junction terminal block [Unit: mm] M3 × 6LM3 × 5L36.527.818.87.6244.115463φ4.5

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 49 11.7.2 Additional instructions Restrictions Item Description Display MR-J4-_B_-RJ020 MR-J2S-_B_ Batc

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 50 11.7.3 System requirements (1) Components To use MR Configurator (MRZJW3-SETUP161E), the following com

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 51 (a) For Windows Vista® On installation, the following "User Account Control" window is disp

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 52 (3) Help POINT We checked that the Windows Help program (WinHlp32.exe) operates normally with the MR

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 53 11.7.4 Precautions for using RS-232C communication function Note the following to prevent an electric

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 54 11.8 Battery POINT Refer to appendix 3 and 4 for battery transportation and the new EU Battery Direc

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 55 (3) Dimensions [Unit: mm] 34.8 69.338.5Rating plate Mass: 66 [g] 11.9 Selection example of wires PO

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 56 (1) Example of selecting the wire sizes Use the 600 V grade heat-resistant polyvinyl chloride insulat

1. FUNCTIONS AND CONFIGURATION 1 - 10 (2) 400 V class Model: MR-J4-_-RJ020 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4 Rated voltage

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 57 (b) 400 V class Table 11.2 Wire size selection example (HIV wire) Wire [mm2] (Note 1) Servo ampli

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 58 (2) Selection example of crimp terminals (a) 200 V class Servo amplifier-side crimp terminals Appli

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 59 (3) Wires for cables When fabricating a cable, use the wire models given in the following table or eq

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 60 11.10 Molded-case circuit breakers, fuses, magnetic contactors (recommended) (1) For main circuit pow

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 61 (2) For control circuit When the wiring for the control circuit power supply (L11, L21) is thinner th

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 62 11.11 Power factor improving DC reactor The following shows the advantages of using the power factor i

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 63 Dimensions [mm] Servo amplifier Power factor improving DC reactor Dimensions W W1 H D (Note 1)D1 D2

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 64 (2) 400 V class W1D2W ± 2.5H ± 2.5D or less(D3)D1 ± 14-d mounting hole (Note 1)PP1 Fig. 11.4 W1W ± 2

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 65 Dimensions [mm] Servo amplifier Power factor improving DC reactor Dimensions W W1 H D D1 D2 D3 d

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 66 4-d mounting hole(Varnish is removed from front right mountinghole (face and back side).) (Note )Term

1. FUNCTIONS AND CONFIGURATION 1 - 11 (3) 100 V class Model: MR-J4-_-RJ020 10B1 20B1 40B1 Rated voltage 3-phase 170 V AC Output Rated current [A]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 67 (2) 400 V class W ± 0.5W1RX ZSYTH ± 5D1D24-d mounting hole (Note)(φ5 groove)D or less Fig. 11.10 YZS

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 68 Dimensions [mm] Servo amplifier Power factor improving AC reactor DimensionsW W1 H D (Note)D1 D2 d Te

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 69 11.14 Noise reduction techniques Noises are classified into external noises which enter the servo ampl

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 70 Instrument ReceiverServoamplifierServo motor M2)2)8)1)7)7) 7)5)3)4)6)3) Sensor power supplySensor Nois

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 71 (2) Noise reduction techniques (a) Data line filter (recommended) Noise can be prevented by installi

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 72 (c) Cable clamp fitting AERSBAN-_SET Generally, the grounding of the shielded wire may only be connec

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 73 (d) Line noise filter (FR-BSF01/FR-BLF) This filter is effective in suppressing noises radiated from

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 74 (e) Radio noise filter (FR-BIF-(H)) This filter is effective in suppressing noises radiated from the

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 75 (f) Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noise

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 76 11.15 Earth-leakage current breaker (1) Selection method High-frequency chopper currents controlled by

1. FUNCTIONS AND CONFIGURATION 1 - 12 1.3.2 Conversion unit for SSCNET of MR-J2S-B Model MR-J4-T20 Voltage 5 V DC (supplied from the servo amplif

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 77 Table 11.5 Servo motor leakage current example (lgm) Servo motor power [kW] Leakage current [mA] 0.05

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 78 (2) Selection example Indicated below is an example of selecting an earth-leakage current breaker unde

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 79 11.16 EMC filter (recommended) It is recommended that one of the following filters be used to comply w

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 80 (3) Dimensions (a) EMC filter HF3010A-UN [Unit: mm] 32 ± 285 ± 2110 ± 4258 ± 4273 ± 2288 ± 4300 ± 5M4

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 81 HF3100A-UN [Unit: mm] 2-6.5 × 8M82-φ 6.5145 ± 1165 ± 3M6380 ± 1400 ± 5160 ± 3M8 TF3005C-TX/TF3020C-T

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 82 TF3040C-TX/TF3060C-TX [Unit: mm] 180 ± 2Approx. 91.5Approx. 190200 ± 5M6390 ± 2100 ± 1412 ± 5438 ± 5A

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 83 11.17 External dynamic brake CAUTION Use an external dynamic brake for a servo amplifier of MR-J4-11KB

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 84 (2) Connection example (a) 200 V class EMG stop switchL11L21UVWUVWEMServo amplifierServo motorL3L2L1(

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 85 (b) 400 V class EMG stop switchL11L21UVWUVWEMServo amplifierServo motorL3L2L1(Note 3)Powersupply13 U1

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 86 (3) Timing chart Servo motor speedCoastingAlarmONOFFEMG stop switchNot occurringDisabledEnabledShorte

1. FUNCTIONS AND CONFIGURATION 1 - 13 1.4 Combinations of servo amplifiers and servo motors POINT When using the HG series servo motor with the MR

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 87 (4) Dimensions (a) DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm] C100FDD5EEBA52.3G ab13Terminal block14 Screw:

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 88 (b) DBU-11K-4/DBU-22K-4 [Unit: mm] 1551251573.75 72515010200170178.5179.51526028043102-φ7 mounting hol

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 89 11.18 Heat sink outside mounting attachment (MR-J4ACN15K/MR-J3ACN) Use the heat sink outside mounting

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 90 (c) Mounting method AttachmentAttachmentFit using the screwsfor assembling.Servo amplifier a. Assembli

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 91 (d) Mounting dimensional diagram [Unit: mm] 12 510580Approx. 58188145Approx. 40078351962403.2155 108

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 92 (b) How to assemble the attachment for heat sink outside mounting attachment Screw(two places)Attachm

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 93 (d) Mounting dimensional diagram [Unit: mm] Approx. 58580236Approx.26019420145105ServoamplifierAttac

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 94 MEMO

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 1 12. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If [AL. 25 Absolute position erased] or [AL. E3 Absolut

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 2 12.1.2 Structure The following shows a configuration of the absolute position detection system. For th

1. FUNCTIONS AND CONFIGURATION 1 - 14 (3) 100 V class Servo motor Servo amplifier HG-KR HG-MR MR-J4-10B1-RJ020 053 13 053 13 MR-J4-20B1-RJ020 23

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 3 12.1.4 Confirmation of absolute position detection data POINT When using MR Configurator with the MR

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 4 12.2 Battery 12.2.1 Using MR-BAT6V1SET battery (1) Configuration diagram Counter within one revolution

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 5 (2) Specifications (a) Specification list Item Description System Electronic battery backup type B

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 6 (3) Battery replacement procedure WARNING Before replacing a battery, turn off the main circuit powe

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 7 (a) Battery installation and removal procedure 1) Installation procedure POINT For the servo amplif

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 8 (b) Replacement procedure of the battery in the MR-BAT6V1SET When the MR-BAT6V1SET battery reaches th

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 9 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable (1) Configuration diagram Counter within o

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 10 (b) Battery mounting POINT Even if the connector for branch cable connection (black) is not connect

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 11 The MR-BAT6V1BJ battery for junction battery cable can be replaced with the control circuit power sup

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 12 3) Disconnect the connector for servo amplifier connection (orange) of the old MR-BAT6V1BJ battery f

A - 2 1. To prevent electric shock, note the following WARNINGBefore wiring or inspection, turn off the power and wait for 15 minutes or more until

1. FUNCTIONS AND CONFIGURATION 1 - 15 1.5 Function list The following table lists the functions of this servo. For details of the functions, refer t

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 1 13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE POINT The MR-J4-_B

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 2 13.1.2 Switching from the J4 mode to the J2S compatibility mode (1) Turn on the

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 3 13.2.1 Parameter list POINT The parameter whose symbol is preceded by * is ena

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 4 (2) Gain/filter setting parameters ([Pr. PB_ _ ]) Operation mode No. Symbol N

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 5 Operation mode No. Symbol Name Initial value Unit RJ020 Full. Lin. DD PB46 NH3

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 6 Operation mode No. Symbol Name Initial value Unit RJ020 Full. Lin. DD PC21 *BP

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 7 (4) I/O setting parameters ([Pr. PD_ _ ]) Operation mode No. Symbol Name Init

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 8 (5) Extension setting 2 parameters ([Pr. PE_ _ ]) Operation mode No. Symbol N

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 9 Operation mode No. Symbol Name Initial value Unit RJ020 Full. Lin. DD PE51 For

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 10 Operation mode No. Symbol Name Initial value Unit RJ020 Full. Lin. DD PF29 Fo

1. FUNCTIONS AND CONFIGURATION 1 - 16 1.6 Model designation (1) Rating plate The following shows an example of rating plate for explanation of each

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 11 Operation mode No. Symbol Name Initial value Unit RJ020 Full. Lin. DD PL19 Fo

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 12 13.2.2 Detailed list of parameters POINT Set a value to each "x" in

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 13 No. Symbol Name and function Initial value[unit] Setting range PA03 *ABS Ab

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 14 No. Symbol Name and function Initial value[unit] Setting range PA08 ATU Aut

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 15 No. Symbol Name and function Initial value[unit] Setting range PA09 RSP Aut

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 16 No. Symbol Name and function Initial value[unit] Setting range PA14 *POL Ro

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 17 No. Symbol Name and function Initial value[unit] Setting range PA20 *TDS To

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 18 No. Symbol Name and function Initial value[unit] Setting range PA23 DRAT Dr

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 19 (2) Gain/filter setting parameters ([Pr. PB_ _ ]) No. Symbol Name and funct

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 20 No. Symbol Name and function Initial value[unit] Setting range PB06 GD2 Loa

1. FUNCTIONS AND CONFIGURATION 1 - 17 1.7 Structure 1.7.1 Parts identification (1) MR-J4-200B-RJ020 or less/MR-J4-200B4-RJ020 or less/MR-J4-40B1-RJ

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 21 No. Symbol Name and function Initial value[unit] Setting range PB11 VDC Spe

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 22 No. Symbol Name and function Initial value[unit] Setting range PB17 NHF Sha

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 23 No. Symbol Name and function Initial value [Unit] Setting range PB19 VRF11 Vi

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 24 No. Symbol Name and function Initial value [Unit] Setting range PB24 *MVS S

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 25 No. Symbol Name and function Initial value [Unit] Setting range PB30 PG2B P

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 26 No. Symbol Name and function Initial value [Unit] Setting range PB45 CNHF C

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 27 No. Symbol Name and function Initial value[unit] Setting range PB45 CNHF Tabl

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 28 No. Symbol Name and function Initial value[unit] Setting range PB49 NHQ4 No

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 29 No. Symbol Name and function Initial value[unit] Setting range PB53 VRF22 Vib

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 30 No. Symbol Name and function Initial value[unit] Setting range PB59 VRF24B

1. FUNCTIONS AND CONFIGURATION 1 - 18 (2) MR-J4-350B-RJ020 No. Name/Application Detailed explanation (1) Main circuit power connector (CNP1) Connect

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 31 (3) Extension setting parameters ([Pr. PC_ _ ]) No. Symbol Name and functio

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 32 No. Symbol Name and function Initial value[unit] Setting range PC04 **COP1

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 33 No. Symbol Name and function Initial value[unit] Setting range PC09 MOD1 An

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 34 No. Symbol Name and function Initial value[unit] Setting range PC10 MOD2 An

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 35 No. Symbol Name and function Initial value[unit] Setting range PC20 *COP7 F

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 36 No. Symbol Name and function Initial value[unit] Setting range PC29 *COPB F

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 37 (4) I/O setting parameters ([Pr. PD_ _ ]) No. Symbol Name and function Init

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 38 No. Symbol Name and function Initial value[unit] Setting range PD07 *DO1 Ou

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 39 No. Symbol Name and function Initial value[unit] Setting range PD11 *DIF In

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 40 No. Symbol Name and function Initial value[unit] Setting range PD15 *IDCS D

1. FUNCTIONS AND CONFIGURATION 1 - 19 (4) MR-J4-500B-RJ020 POINT The servo amplifier is shown with the front cover open. The front cover cannot be

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 41 No. Symbol Name and function Initial value[unit] Setting range PD20 *SLA1 D

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 42 (5) Extension setting 2 parameters ([Pr. PE_ _ ]) No. Symbol Name and funct

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 43 (6) Extension setting 3 parameters ([Pr. PF_ _ ]) No. Symbol Name and funct

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 44 No. Symbol Name and function Initial value[unit] Setting range PF25 CVAT SE

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 45 13.3 Troubleshooting POINT Refer to "MELSERVO-J4 Servo Amplifier Instruc

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 46 Alarm reset No. Name Detailed display Detail name Stop method(Note 3, 4) Er

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 47 Alarm reset No. Name Detailed display Detail name Stop method(Note 3, 4) Er

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 48 Alarm reset No. Name Detailed display Detail name Stop method(Note 3, 4) Er

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 49 No. Name Detailed display Detail name Stop method (Note 2, 3) 91 Servo ampl

13. USING THE MR-J4-_B_-RJ020 SERVO AMPLIFIER IN THE J4 MODE 13 - 50 13.3.2 Troubleshooting at power on When the servo system does not boot and syst

1. FUNCTIONS AND CONFIGURATION 1 - 20 (5) MR-J4-500B4-RJ020 POINT The servo amplifier is shown without the front cover. For removal of the front c

APPENDIX App. - 1 App. 1 Using the HC series/HA series servo motor POINT When using HC series and HA series servo motors, refer to "Instructio

APPENDIX App. - 2 (2) 400 V class Servo motor Servo amplifier HC-SFS HA-LFS MR-J4-60B4-RJ020 524 MR-J4-100B4-RJ020 1024 MR-J4-200B4-RJ020 1524

APPENDIX App. - 3 App. 2 Peripheral equipment manufacturer (for reference) Names given in the table are as of March 2014. Manufacturer Contact info

APPENDIX App. - 4 (3) Change in regulations The following points are changed for lithium metal batteries transportation by sea or air due to Recomm

APPENDIX App. - 5 App. 4 Symbol for the new EU Battery Directive Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-p

APPENDIX App. - 6 App. 5.2.1 Professional engineer Only professional engineers should mount MR-J4-_B_-RJ020 amplifiers. Here, professional engineers

APPENDIX App. - 7 Table 2. Recommended crimp terminals Servo amplifier-side crimp terminalsSymbol Crimp terminal (Note 2) Applicable tool Manufactur

APPENDIX App. - 8 (b) Selection example of MCCB and fuse Use T class fuses or molded-case circuit breaker (UL489 Listed MCCB) as the following tabl

APPENDIX App. - 9 (d) Grounding To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to

APPENDIX App. - 10 (3) USA/Canada compliance This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No.14. (a) Installation The

1. FUNCTIONS AND CONFIGURATION 1 - 21 (6) MR-J4-700B-RJ020/MR-J4-700B4-RJ020 POINT The servo amplifier is shown without the front cover. For remov

APPENDIX App. - 11 App. 5.2.4 General cautions for safety protection and protective measures Observe the following items to ensure proper use of th

APPENDIX App. - 12 App. 5.3 Mounting/dismounting Installation direction and clearances CAUTION The devices must be installed in the specified direc

APPENDIX App. - 13 App. 5.4 Electrical Installation and configuration diagram WARNING Turn off the molded-case circuit breaker (MCCB) to avoid elec

APPENDIX App. - 14 App. 5.5 Signal App. 5.5.1 Signal The following shows MR-J4-10B-RJ020 signals as a typical example. Refer to section 3.4 for othe

APPENDIX App. - 15 App. 5.6 Maintenance and service WARNING To avoid an electric shock, only qualified personnel should attempt inspections. For re

APPENDIX App. - 16 (5) Check that the wires are not coming out from the connector. (6) Check for dust accumulation on the servo amplifier and MR-

APPENDIX App. - 17 App. 5.7 Transportation and storage CAUTION Transport the products correctly according to their mass. Stacking in excess of the

APPENDIX App. - 18 App. 5.8 Technical data App. 5.8.1 MR-J4 servo amplifier 1) 200 V/100 V class servo amplifier Item MR-J4-10B-RJ020/ MR-J4-20B-RJ

APPENDIX App. - 19 App. 5.8.2 Servo amplifier dimensions (1) 200 V/100 V class servo amplifier Variable dimension table [mm] Servo amplifier W H D

APPENDIX App. - 20 App. 5.8.3 Mounting hole (1) 200 V/100 V class servo amplifier Variable dimensions [mm] Screw size Servo amplifier a a1 b c

1. FUNCTIONS AND CONFIGURATION 1 - 22 (7) MR-J4-11KB-RJ020/MR-J4-15KB-RJ020/MR-J4-11KB4-RJ020/MR-J4-15KB4-RJ020 POINT The servo amplifier is shown

APPENDIX App. - 21 App. 6 Analog monitor POINT A voltage of analog monitor output may be irregular at power-on. Appendix 6 explains when the MR-J4-

APPENDIX App. - 22 (2) Setting The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque to MO2 (A

APPENDIX App. - 23 (3) Analog monitor block diagram Droop pulsesSpeedcommandPositioncontrolSpeedcontrolPWMCurrentcontrolCurrentcommandBus voltageSp

APPENDIX App. - 24 App. 7 Special specification App. 7.1 Amplifier without dynamic brake App. 7.1.1 Summary This section explains servo amplifiers

APPENDIX App. - 25 Setting the following parameter disables the electronic dynamic brake. (1) At J2S compatibility mode Servo amplifier Paramete

APPENDIX App. - 26 App. 8 Setting of added parameters for MR-J4-_B_-RJ020 servo amplifier The following explains the setting procedures of parameter

APPENDIX App. - 27 (2) To display the "Servo Special Parameter Setting" dialog box, double-click the "1 to 75" setting cell of

APPENDIX App. - 28 (4) Write the changed parameter with communication. Clicking "Execute" will start writing. Click

APPENDIX App. - 29 App. 8.2.2 MT Developer (software version 00K or later) (1) Open the "Servo Data Setting" window. (2) To display the

APPENDIX App. - 30 (3) Change any set values of parameters. To enable the settings, change relevant parameters and click "OK". Click The

1. FUNCTIONS AND CONFIGURATION 1 - 23 (8) MR-J4-22KB-RJ020/MR-J4-22KB4-RJ020 POINT The servo amplifier is shown without the front cover. For remov

APPENDIX App. - 31 App. 8.2.3 MT Developer (software version 00H or earlier) or SW3RNC-GSVE POINT Set as follows when the servo system controller

APPENDIX App. - 32 (3) Change any set values of parameters. After the setting of a relevant parameter, click "OK" to write the setting to

REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Jun. 2013 SH(NA)030125-A First edi

Print Data *Manual Number Revision Aug. 2013 SH(NA)030125-B Section 10.3.2 Section 10.5 Section 11.1.2 Section 11.2.1 (1), (2) Section 11.2.2

Print Data *Manual Number Revision Mar. 2014 SH(NA)030125-C Section 1.7.3 Section 1.8 Section 1.9 (1) to (8) Section 1.9 (9) Chapter 2 Section 2.

Print Data *Manual Number Revision Mar. 2014 SH(NA)030125-C Chapter 12 Chapter 13 Section 13.1.1 Section 13.1.2 Section 13.2 Section 13.2.2 (1)

Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel Fax

Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment her

SH (NA) 030125-C (1403) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.MOD

1. FUNCTIONS AND CONFIGURATION 1 - 24 1.7.2 Parts identification of MR-J4-T20 No. Name/Application Detailed explanation(1) SSCNET cable connector (

A - 3 3. To prevent injury, note the following CAUTIONOnly the voltage specified in the Instruction Manual should be applied to each terminal. Other

1. FUNCTIONS AND CONFIGURATION 1 - 25 1.7.3 Removal and reinstallation of the front cover CAUTION Before removing or installing the front cover, tu

1. FUNCTIONS AND CONFIGURATION 1 - 26 Reinstallation of the front cover Front coversetting tab A)A) 1) Insert the front cover setting tabs into the

1. FUNCTIONS AND CONFIGURATION 1 - 27 1.8 Installation and removal of MR-J4-T20 WARNING Before installing or removing MR-J4-T20, turn off the power

1. FUNCTIONS AND CONFIGURATION 1 - 28 (1) For MR-J4-350B-RJ020 or less/MR-J4-200B4-RJ020 or less/MR-J4-40B1-RJ020 or less POINT The cap on the CN

1. FUNCTIONS AND CONFIGURATION 1 - 29 (b) Removal of MR-J4-T20 1)d)c)a)2)b) 1) Remove the installing screw. 2) Keep pushing the knobs ( a), b), c

1. FUNCTIONS AND CONFIGURATION 1 - 30 (2) For MR-J4-500B-RJ020 to MR-J4-700B-RJ020 and MR-J4-350B4-RJ020 to MR-J4-700B4-RJ020 (a) Removal of the s

1. FUNCTIONS AND CONFIGURATION 1 - 31 (d) Installation of the side cover Side cover setting taba)1)1) 1) Insert the side cover setting tabs into t

1. FUNCTIONS AND CONFIGURATION 1 - 32 1.9 Configuration including peripheral equipment CAUTION Connecting a servo motor of the incorrect axis to U,

1. FUNCTIONS AND CONFIGURATION 1 - 33 (2) MR-J4-350B-RJ020 P+CL11L21P3P4MR Configurator(MRZJW3-SETUP161E)CN3CN2WVUL1L2L3CN4RSTMR-J4-T20CN30CN10ACN10

1. FUNCTIONS AND CONFIGURATION 1 - 34 (3) MR-J4-350B4-RJ020 P+CL11L21P3P4WVUL1L2L3RS TCN2CN4CN3CN10ACN10BCN30MR-J4-T20Line noisefilter(FR-BSF01)Rege

A - 4 CAUTIONWhen fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting

1. FUNCTIONS AND CONFIGURATION 1 - 35 (4) MR-J4-500B-RJ020 CN2CN4P+CL11L21P3P4WVUL1L2L3RS TMR-J4-T20CN3CN10ACN10BCN30Line noisefilter(FR-BLF)Regener

1. FUNCTIONS AND CONFIGURATION 1 - 36 (5) MR-J4-500B4-RJ020 L21L11CN2L1L2L3P3P4CN4RS TP+ CWVUCN3CN10ACN10BCN30MR-J4-T20Junction terminal blockServo

1. FUNCTIONS AND CONFIGURATION 1 - 37 (6) MR-J4-700B-RJ020/MR-J4-700B4-RJ020 The diagram shows MR-J4-700B-RJ020. P+CCN2WVUCN4L11L21P3P4L3L2L1RS TMR-

1. FUNCTIONS AND CONFIGURATION 1 - 38 (7) MR-J4-11KB-RJ020/MR-J4-15KB-RJ020/MR-J4-11KB4-RJ020/MR-J4-15KB4-RJ020 Power factorimproving DC reactor(FR-

1. FUNCTIONS AND CONFIGURATION 1 - 39 (8) MR-J4-22KB-RJ020/MR-J4-22KB4-RJ020 Power factorimproving DC reactor(FR-HEL-(H))P3P4Line noisefilter(FR-BLF

1. FUNCTIONS AND CONFIGURATION 1 - 40 (9) MR-J4-10B1-RJ020/MR-J4-20B1-RJ020/MR-J4-40B1-RJ020 The diagram shows MR-J4-10B1-RJ020. CN4Line noisefilter

2. INSTALLATION 2 - 1 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. CAUTION Stacking in excess of the specif

2. INSTALLATION 2 - 2 2.1 Installation direction and clearances CAUTION The equipment must be installed in the specified direction. Otherwise, it m

2. INSTALLATION 2 - 3 (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo am

2. INSTALLATION 2 - 4 (2) Others When using heat generating equipment such as the regenerative option, install them with full consideration of heat

A - 5 (3) Test run and adjustment CAUTIONBefore operation, check the parameter settings. Improper settings may cause some machines to operate unexp

2. INSTALLATION 2 - 5 2.4 Inspection items WARNING Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or mor

2. INSTALLATION 2 - 6 2.5 Parts having service lives Service lives of the following parts are listed below. However, the service life vary depending

3. SIGNALS AND WIRING 3 - 1 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring should be fully competent to do the work. Before wiri

3. SIGNALS AND WIRING 3 - 2 CAUTION Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do

3. SIGNALS AND WIRING 3 - 3 (1) For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10B-RJ020 to MR-J4-350B-RJ020 (Note 7)MCL1L2L33-phase200 V

3. SIGNALS AND WIRING 3 - 4 (2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10B-RJ020 to MR-J4-70B-RJ020 POINT Connect the 1-phase 200

3. SIGNALS AND WIRING 3 - 5 (3) MR-J4-60B4-RJ020 to MR-J4-350B4-RJ020 (Note 7)MCL1L2L3Servo amplifierP3P4P+L11L21N-DCUVW(Note 1)(Note 10)(Note 2)CN

3. SIGNALS AND WIRING 3 - 6 (4) MR-J4-500B-RJ020 (Note 7)MCL1L2L33-phase200 V AC to240 V ACServo amplifierL11L21P3CN-P+P4UVWServo motorUVWMMotorEnco

3. SIGNALS AND WIRING 3 - 7 (5) MR-J4-700B-RJ020 (Note 3)Encoder cable(Note 5) Forced stop(Note 9)Short-circuit connector(Packed with the servo ampl

3. SIGNALS AND WIRING 3 - 8 (6) MR-J4-500B4-RJ020/MR-J4-700B4-RJ020 (Note 3)Encoder cable(Note 5) Forced stop(Note 9)Short-circuit connector(Packed

A - 6 (6) Maintenance, inspection and parts replacement CAUTIONWith age, the electrolytic capacitor of the servo amplifier will deteriorate. To prev

3. SIGNALS AND WIRING 3 - 9 (7) MR-J4-11KB-RJ020 to MR-J4-22KB-RJ020 (Note 3)Encoder cable(Note 5) Forced stop(Note 9)Short-circuit connector(packe

3. SIGNALS AND WIRING 3 - 10 (8) MR-J4-11KB4-RJ020 to MR-J4-22KB4-RJ020 (Note 3)Encoder cable(Note 5) Forced stop(Note 9)Short-circuit connector(pa

3. SIGNALS AND WIRING 3 - 11 (9) MR-J4-10B1-RJ020/MR-J4-20B1-RJ020/MR-J4-40B1-RJ020 MC (Note 7)L1L21-phase100 V AC to120 V ACServo amplifierP+L11L21

3. SIGNALS AND WIRING 3 - 12 3.2 I/O signal connection example 3.2.1 For sink I/O interface 20EM1Servo amplifierCN3(Note 11)Encoder A-phase pulse(di

3. SIGNALS AND WIRING 3 - 13 Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo ampl

3. SIGNALS AND WIRING 3 - 14 3.2.2 For source I/O interface POINT For notes, refer to section 3.2.1. 1010 m or less10 m or less20EM1Forced stopS

3. SIGNALS AND WIRING 3 - 15 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of connector and terminal block,

3. SIGNALS AND WIRING 3 - 16 Symbol Connection target (application) Description Supply the following power to L11 and L21. Servo amplifierPower MR

3. SIGNALS AND WIRING 3 - 17 3.3.2 Power-on sequence CAUTION The following shows the initialization time (from turning on power until receiving ser

3. SIGNALS AND WIRING 3 - 18 3.3.3 Wiring CNP1, CNP2, and CNP3 POINT For the wire sizes used for wiring, refer to section 11.9. MR-J4-500B-RJ020 o

A - 7 «About the manuals» You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo

3. SIGNALS AND WIRING 3 - 19 (c) MR-J4-60B4-RJ020 to MR-J4-350B4-RJ020 CNP2CNP1CNP3Servo amplifier Table 3.3 Connector and applicable wire Applicab

3. SIGNALS AND WIRING 3 - 20 (2) Cable connection procedure (a) Fabrication on cable insulator Refer to table 3.1 to 3.4 for stripped length of ca

3. SIGNALS AND WIRING 3 - 21 3.4 Connectors and pin assignment POINT The pin assignment of the connectors are as viewed from the cable connector w

3. SIGNALS AND WIRING 3 - 22 The servo amplifier front view shown is that of the MR-J4-20B-RJ020 and MR-J4-T20. Refer to chapter 9 DIMENSIONS for th

3. SIGNALS AND WIRING 3 - 23 Note. The CN3 connector pin assignment is different between MR-J4-_B_-RJ020 and MR-J2S-_B_. Refer to the following tabl

3. SIGNALS AND WIRING 3 - 24 3.5.3 Output signal Signal name Symbol Connector pin No. Function and application Encoder A-phase pulse (differential

3. SIGNALS AND WIRING 3 - 25 3.6 Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation s

3. SIGNALS AND WIRING 3 - 26 3.7 Interfaces 3.7.1 Internal connection diagram ± 10 V DC± 10 V DCApprox. 6.2 kΩEncoder3CN3616717818LALARLBLBRLZLZRDif

3. SIGNALS AND WIRING 3 - 27 3.7.2 Detailed explanation of interfaces This section provides the details of the I/O signal interfaces (refer to the I

3. SIGNALS AND WIRING 3 - 28 (3) Encoder output pulses DO-2 (differential line driver type) (a) Interface Maximum output current: 35 mA 150 Ω100 ΩA

A - 8 MEMO

3. SIGNALS AND WIRING 3 - 29 3.7.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interf

3. SIGNALS AND WIRING 3 - 30 3.8 Servo motor with an electromagnetic brake 3.8.1 Safety precautions CAUTION Configure an electromagnetic brake circ

3. SIGNALS AND WIRING 3 - 31 3.8.2 Timing chart (1) Servo-on command (from controller) on/off When servo-on command is turned off, the servo lock w

3. SIGNALS AND WIRING 3 - 32 (3) Alarm occurrence The operation status during an alarm is the same as section 3.6. (4) Both main and control circu

3. SIGNALS AND WIRING 3 - 33 (6) Ready-off command from controller Electromagnetic brakeMBR(Electromagneticbrake interlock)Base circuitServo motor

3. SIGNALS AND WIRING 3 - 34 3.9 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connec

4. STARTUP 4 - 1 4. STARTUP WARNING Do not operate the switches with wet hands. Otherwise, it may cause an electric shock. CAUTION Before startin

4. STARTUP 4 - 2 4.1 Switching power on for the first time When switching power on for the first time, follow this section to make a startup. 4.1.1

4. STARTUP 4 - 3 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check t

4. STARTUP 4 - 4 (c) When you use an option and peripheral equipment 1) 200 V class a) When you use a regenerative option for 5 kW or less servo a